@wandelbots/nova-js 3.11.1 → 3.11.2-pr.303.fc42d9a

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Files changed (8) hide show
  1. package/dist/v2/index.cjs +17 -8
  2. package/dist/v2/index.cjs.map +1 -1
  3. package/dist/v2/index.d.cts.map +1 -1
  4. package/dist/v2/index.d.mts.map +1 -1
  5. package/dist/v2/index.mjs +17 -8
  6. package/dist/v2/index.mjs.map +1 -1
  7. package/package.json +1 -1
  8. package/src/lib/Nova.ts +19 -9
package/dist/v2/index.cjs CHANGED
@@ -953,14 +953,23 @@ var Nova = class {
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  } catch (err) {
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  return Promise.reject(err);
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  }
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- else if (error.response?.status === 403 && !error.config?.url?.split(/[?#]/)[0]?.endsWith("/session")) try {
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- const session = await this.api.session.getSession();
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- if (session.session_id !== "default" && session.capabilities.length === 0) window.location.href = this.instanceUrl.href;
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- } catch (sessionError) {
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- if ((0, axios.isAxiosError)(sessionError) && sessionError.response?.status === 403) window.location.href = this.instanceUrl.href;
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- }
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- else if (error.response?.status === 503) {
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- if ((await fetch(window.location.href)).status === 503) window.location.reload();
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+ else if (error.response?.status === 403 && !error.config?.url?.split(/[?#]/)[0]?.endsWith("/session")) {
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+ let redirectToAccessDenied = false;
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+ try {
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+ const session = await this.api.session.getSession();
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+ if (session.session_id !== "default" && session.capabilities.length === 0) redirectToAccessDenied = true;
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+ } catch (sessionError) {
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+ if ((0, axios.isAxiosError)(sessionError) && sessionError.response?.status === 403) redirectToAccessDenied = true;
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+ }
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+ if (redirectToAccessDenied) {
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+ window.location.href = this.instanceUrl.href;
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+ return new Promise(() => {});
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+ }
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+ } else if (error.response?.status === 503) {
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+ if ((await fetch(window.location.href)).status === 503) {
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+ window.location.reload();
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+ return new Promise(() => {});
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+ }
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  }
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  }
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  return Promise.reject(error);
package/dist/v2/index.cjs.map CHANGED
@@ -1 +1 @@
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- {"version":3,"file":"index.cjs","names":["SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","ProgramApi","LicenseApi","NOVACloudApi","RobotConfigurationsApi","VersionApi","SessionApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","isLocalhostDev","loginWithAuth0","AutoReconnectingWebsocket","ApplicationApi","BUSInputsOutputsApi","CellApi","ControllerApi","ControllerInputsOutputsApi","JoggingApi","KinematicsApi","LicenseApi","MotionGroupApi","MotionGroupModelsApi","NOVACloudApi","ProgramApi","RobotConfigurationsApi","SessionApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","StoreObjectApi","SystemApi","TrajectoryCachingApi","TrajectoryExecutionApi","TrajectoryPlanningApi","VersionApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","availableStorage","parseNovaInstanceUrl","isLocalhostDev","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../src/lib/mock/getCurrentRobotControllerState.ts","../../src/lib/mock/getMotionGroupDescription.ts","../../src/lib/mock/getMotionGroupKinematicModel.ts","../../src/lib/mock/getRobotController.ts","../../src/lib/mock/listCoordinateSystems.ts","../../src/lib/mock/listRobotControllers.ts","../../src/lib/mock/MockNovaInstance.ts","../../src/lib/deprecated/v2/NovaClient.ts","../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../src/lib/NovaAPIClient.ts","../../src/lib/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n ? (...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaCellAPIClient {\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly motionGroup: WithCellId<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly controller: WithCellId<ControllerApi>\n readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>\n readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>\n readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>\n readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>\n readonly application: WithCellId<ApplicationApi>\n readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly jogging: WithCellId<JoggingApi>\n readonly kinematics: WithCellId<KinematicsApi>\n readonly busInputsOutputs: WithCellId<BUSInputsOutputsApi>\n readonly virtualController: WithCellId<VirtualControllerApi>\n readonly virtualControllerBehavior: WithCellId<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithCellId<VirtualControllerInputsOutputsApi>\n readonly storeObject: WithCellId<StoreObjectApi>\n readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>\n readonly program: WithCellId<ProgramApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n\n readonly cellId: string\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n }\n\n constructor(\n cellId: string,\n opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {\n this.cellId = cellId\n this.opts = opts\n this.system = this.withUnwrappedResponsesOnly(SystemApi)\n this.cell = this.withUnwrappedResponsesOnly(CellApi)\n this.motionGroup = this.withCellId(MotionGroupApi)\n this.motionGroupModels =\n this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n this.controller = this.withCellId(ControllerApi)\n this.controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n this.trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n this.application = this.withCellId(ApplicationApi)\n this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n this.jogging = this.withCellId(JoggingApi)\n this.kinematics = this.withCellId(KinematicsApi)\n this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n this.virtualController = this.withCellId(VirtualControllerApi)\n this.virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n this.virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n this.storeObject = this.withCellId(StoreObjectApi)\n this.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi)\n this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n this.program = this.withCellId(ProgramApi)\n this.license = this.withUnwrappedResponsesOnly(LicenseApi)\n this.novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n this.robotConfigurations = this.withUnwrappedResponsesOnly(\n RobotConfigurationsApi,\n )\n this.version = this.withUnwrappedResponsesOnly(VersionApi)\n this.session = this.withUnwrappedResponsesOnly(SessionApi)\n }\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n}\n","export const getCurrentRobotControllerState = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/state\",\n handle() {\n return {\n mode: \"MODE_CONTROL\",\n last_error: [],\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n controller: \"mock-ur5e\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n velocity_override: 100,\n motion_groups: [\n {\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n motion_group: \"0@mock-ur5e\",\n controller: \"mock-ur5e\",\n joint_position: [\n 1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n 6.034560203552246, 1.4921919107437134, 1.593459963798523,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n joint_torque: [],\n joint_current: [0, 0, 0, 0, 0, 0],\n flange_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n tcp: \"Flange\",\n tcp_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n payload: \"\",\n coordinate_system: \"\",\n standstill: true,\n },\n ],\n }\n },\n}\n","export const getMotionGroupDescription = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n handle() {\n return {\n motion_group_model: \"UniversalRobots_UR5e\",\n mounting: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n tcps: {\n Flange: {\n name: \"Default-Flange\",\n pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n },\n },\n payloads: {\n \"FPay-0\": {\n name: \"FPay-0\",\n payload: 0,\n center_of_mass: [0, 0, 0],\n moment_of_inertia: [0, 0, 0],\n },\n },\n cycle_time: 8,\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n d: 162.25,\n },\n {\n a: -425,\n },\n {\n a: -392.2,\n },\n {\n alpha: 1.5707963267948966,\n d: 133.3,\n },\n {\n alpha: -1.5707963267948966,\n d: 99.7,\n },\n {\n d: 99.6,\n },\n ],\n operation_limits: {\n auto_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n elbow: {\n velocity: 5000,\n },\n flange: {\n velocity: 5000,\n },\n },\n manual_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t1_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t2_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n },\n serial_number: \"WBVirtualRobot\",\n }\n },\n}\n","export const getMotionGroupKinematicModel = {\n method: \"GET\",\n path: \"/motion-group-models/:motionGroupModel/kinematic\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -425.0,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -392.2,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: 0.0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n inverse_solver: \"Universalrobots\",\n }\n },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n}\n","export const listCoordinateSystems = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n handle() {\n return [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n {\n coordinate_system: \"CS-0\",\n name: \"Default-CS\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n ]\n },\n}\n","export const listRobotControllers = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return [\"mock-ur5e\"]\n },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket.ts\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState.ts\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription.ts\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel.ts\"\nimport { getRobotController } from \"./getRobotController.ts\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems.ts\"\nimport { listRobotControllers } from \"./listRobotControllers.ts\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n listRobotControllers,\n getRobotController,\n getMotionGroupDescription,\n getCurrentRobotControllerState,\n listCoordinateSystems,\n getMotionGroupKinematicModel,\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n if (!config.url) {\n throw new Error(\"No url sent with request\")\n }\n const path = config.url.split(\"?\")[0] ?? config.url\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path)\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n }\n\n // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/execution/jogging\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n message: \"string\",\n kind: \"INITIALIZE_RECEIVED\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n description_revision: 0,\n } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"../../availableStorage.ts\"\nimport { parseNovaInstanceUrl } from \"../../converters.ts\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0.ts\"\n\nimport { isLocalhostDev } from \"../../context.ts\"\nimport { MockNovaInstance } from \"../../mock/MockNovaInstance.ts\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient.ts\"\n\n/** @deprecated Use `NovaClientConfig` from `Nova` instead. */\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * Client for connecting to a Nova instance and controlling robots.\n * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n new URL(\n `/api/v2/cells/${this.config.cellId}/${path.replace(/^\\/+/, \"\")}`,\n this.instanceUrl,\n ).href,\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.\n */\nexport function poseToWandelscriptString(\n pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n const position = [\n pose.position?.[0] ?? 0,\n pose.position?.[1] ?? 0,\n pose.position?.[2] ?? 0,\n ]\n\n const orientation = [\n pose.orientation?.[0] ?? 0,\n pose.orientation?.[1] ?? 0,\n pose.orientation?.[2] ?? 0,\n ]\n\n const positionValues = position.map((v) => v.toFixed(1))\n // Rotation needs more precision since it's in radians\n const rotationValues = orientation.map((v) => v.toFixed(4))\n\n return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n}\n\nfunction unwrap<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n const apiClient = new ApiConstructor(\n {\n ...opts,\n isJsonMime: (mime: string) => mime === \"application/json\",\n },\n opts.basePath ?? \"\",\n opts.axiosInstance ?? axios.create(),\n ) as Record<string | symbol, unknown>\n\n for (const key of Reflect.ownKeys(\n Reflect.getPrototypeOf(apiClient) as object,\n )) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key] as (\n ...args: unknown[]\n ) => Promise<{ data: unknown }>\n apiClient[key] = (...args: unknown[]) =>\n originalFunction.apply(apiClient, args).then((res) => res.data)\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance.\n */\nexport class NovaAPIClient {\n readonly opts: NovaAPIClientOpts\n\n readonly application: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly controller: WithUnwrappedAxiosResponse<ControllerApi>\n readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>\n readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>\n readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly program: WithUnwrappedAxiosResponse<ProgramApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>\n readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>\n readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>\n readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>\n readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>\n\n constructor(opts: NovaAPIClientOpts) {\n this.opts = opts\n\n this.application = unwrap(ApplicationApi, opts)\n this.busIOs = unwrap(BUSInputsOutputsApi, opts)\n this.cell = unwrap(CellApi, opts)\n this.controller = unwrap(ControllerApi, opts)\n this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts)\n this.jogging = unwrap(JoggingApi, opts)\n this.kinematics = unwrap(KinematicsApi, opts)\n this.license = unwrap(LicenseApi, opts)\n this.motionGroup = unwrap(MotionGroupApi, opts)\n this.motionGroupModels = unwrap(MotionGroupModelsApi, opts)\n this.novaCloud = unwrap(NOVACloudApi, opts)\n this.program = unwrap(ProgramApi, opts)\n this.robotConfigurations = unwrap(RobotConfigurationsApi, opts)\n this.session = unwrap(SessionApi, opts)\n this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts)\n this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts)\n this.storeObject = unwrap(StoreObjectApi, opts)\n this.system = unwrap(SystemApi, opts)\n this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts)\n this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts)\n this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts)\n this.version = unwrap(VersionApi, opts)\n this.virtualController = unwrap(VirtualControllerApi, opts)\n this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts)\n this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts)\n }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"./AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"./availableStorage.ts\"\nimport { isLocalhostDev } from \"./context.ts\"\nimport { parseNovaInstanceUrl } from \"./converters.ts\"\nimport { loginWithAuth0 } from \"./LoginWithAuth0.ts\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance.ts\"\nimport { NovaAPIClient } from \"./NovaAPIClient.ts\"\n\nexport type NovaConfig = {\n /**\n * Url of the deployed NOVA instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string\n\n /**\n * Access token for Bearer authentication.\n * If running on a NOVA instance, this can be automatically retrieved from\n * the current session when omitted.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n readonly api: NovaAPIClient\n readonly config: NovaConfig\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaConfig) {\n this.config = config\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (\n error.response?.status === 403 &&\n !error.config?.url?.split(/[?#]/)[0]?.endsWith(\"/session\")\n ) {\n // If we hit a 403, the user is authenticated but may lack access\n // to the instance entirely. Check the session to find out.\n try {\n const session = await this.api.session.getSession()\n if (\n session.session_id !== \"default\" &&\n session.capabilities.length === 0\n ) {\n // An authenticated user with no capabilities has no access;\n // send them to the instance url, which renders the access\n // denied screen.\n window.location.href = this.instanceUrl.href\n }\n } catch (sessionError) {\n // The session endpoint itself returns a 403 when the user is\n // not assigned to a cell at all, which is equivalent to an\n // authenticated user with non-default empty capabilities ->\n // send them to the access denied screen.\n if (\n isAxiosError(sessionError) &&\n sessionError.response?.status === 403\n ) {\n window.location.href = this.instanceUrl.href\n }\n // Otherwise couldn't determine access; fall through to bubble\n // the original 403 error below.\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaAPIClient({\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n if (!this.mock) {\n throw new Error(\"Mock adapter used without a mock instance\")\n }\n return this.mock.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(`/api/v2/${path.replace(/^\\/+/, \"\")}`, this.instanceUrl)\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n 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+ {"version":3,"file":"index.cjs","names":["SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","ProgramApi","LicenseApi","NOVACloudApi","RobotConfigurationsApi","VersionApi","SessionApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","isLocalhostDev","loginWithAuth0","AutoReconnectingWebsocket","ApplicationApi","BUSInputsOutputsApi","CellApi","ControllerApi","ControllerInputsOutputsApi","JoggingApi","KinematicsApi","LicenseApi","MotionGroupApi","MotionGroupModelsApi","NOVACloudApi","ProgramApi","RobotConfigurationsApi","SessionApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","StoreObjectApi","SystemApi","TrajectoryCachingApi","TrajectoryExecutionApi","TrajectoryPlanningApi","VersionApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","availableStorage","parseNovaInstanceUrl","isLocalhostDev","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../src/lib/mock/getCurrentRobotControllerState.ts","../../src/lib/mock/getMotionGroupDescription.ts","../../src/lib/mock/getMotionGroupKinematicModel.ts","../../src/lib/mock/getRobotController.ts","../../src/lib/mock/listCoordinateSystems.ts","../../src/lib/mock/listRobotControllers.ts","../../src/lib/mock/MockNovaInstance.ts","../../src/lib/deprecated/v2/NovaClient.ts","../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../src/lib/NovaAPIClient.ts","../../src/lib/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n ? (...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaCellAPIClient {\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly motionGroup: WithCellId<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly controller: WithCellId<ControllerApi>\n readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>\n readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>\n readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>\n readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>\n readonly application: WithCellId<ApplicationApi>\n readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly jogging: WithCellId<JoggingApi>\n readonly kinematics: WithCellId<KinematicsApi>\n readonly busInputsOutputs: WithCellId<BUSInputsOutputsApi>\n readonly virtualController: WithCellId<VirtualControllerApi>\n readonly virtualControllerBehavior: WithCellId<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithCellId<VirtualControllerInputsOutputsApi>\n readonly storeObject: WithCellId<StoreObjectApi>\n readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>\n readonly program: WithCellId<ProgramApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n\n readonly cellId: string\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n }\n\n constructor(\n cellId: string,\n opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {\n this.cellId = cellId\n this.opts = opts\n this.system = this.withUnwrappedResponsesOnly(SystemApi)\n this.cell = this.withUnwrappedResponsesOnly(CellApi)\n this.motionGroup = this.withCellId(MotionGroupApi)\n this.motionGroupModels =\n this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n this.controller = this.withCellId(ControllerApi)\n this.controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n this.trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n this.application = this.withCellId(ApplicationApi)\n this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n this.jogging = this.withCellId(JoggingApi)\n this.kinematics = this.withCellId(KinematicsApi)\n this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n this.virtualController = this.withCellId(VirtualControllerApi)\n this.virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n this.virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n this.storeObject = this.withCellId(StoreObjectApi)\n this.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi)\n this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n this.program = this.withCellId(ProgramApi)\n this.license = this.withUnwrappedResponsesOnly(LicenseApi)\n this.novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n this.robotConfigurations = this.withUnwrappedResponsesOnly(\n RobotConfigurationsApi,\n )\n this.version = this.withUnwrappedResponsesOnly(VersionApi)\n this.session = this.withUnwrappedResponsesOnly(SessionApi)\n }\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n}\n","export const getCurrentRobotControllerState = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/state\",\n handle() {\n return {\n mode: \"MODE_CONTROL\",\n last_error: [],\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n controller: \"mock-ur5e\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n velocity_override: 100,\n motion_groups: [\n {\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n motion_group: \"0@mock-ur5e\",\n controller: \"mock-ur5e\",\n joint_position: [\n 1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n 6.034560203552246, 1.4921919107437134, 1.593459963798523,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n joint_torque: [],\n joint_current: [0, 0, 0, 0, 0, 0],\n flange_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n tcp: \"Flange\",\n tcp_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n payload: \"\",\n coordinate_system: \"\",\n standstill: true,\n },\n ],\n }\n },\n}\n","export const getMotionGroupDescription = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n handle() {\n return {\n motion_group_model: \"UniversalRobots_UR5e\",\n mounting: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n tcps: {\n Flange: {\n name: \"Default-Flange\",\n pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n },\n },\n payloads: {\n \"FPay-0\": {\n name: \"FPay-0\",\n payload: 0,\n center_of_mass: [0, 0, 0],\n moment_of_inertia: [0, 0, 0],\n },\n },\n cycle_time: 8,\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n d: 162.25,\n },\n {\n a: -425,\n },\n {\n a: -392.2,\n },\n {\n alpha: 1.5707963267948966,\n d: 133.3,\n },\n {\n alpha: -1.5707963267948966,\n d: 99.7,\n },\n {\n d: 99.6,\n },\n ],\n operation_limits: {\n auto_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n elbow: {\n velocity: 5000,\n },\n flange: {\n velocity: 5000,\n },\n },\n manual_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t1_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t2_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n },\n serial_number: \"WBVirtualRobot\",\n }\n },\n}\n","export const getMotionGroupKinematicModel = {\n method: \"GET\",\n path: \"/motion-group-models/:motionGroupModel/kinematic\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -425.0,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -392.2,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: 0.0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n inverse_solver: \"Universalrobots\",\n }\n },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n}\n","export const listCoordinateSystems = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n handle() {\n return [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n {\n coordinate_system: \"CS-0\",\n name: \"Default-CS\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n ]\n },\n}\n","export const listRobotControllers = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return [\"mock-ur5e\"]\n },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket.ts\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState.ts\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription.ts\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel.ts\"\nimport { getRobotController } from \"./getRobotController.ts\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems.ts\"\nimport { listRobotControllers } from \"./listRobotControllers.ts\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n listRobotControllers,\n getRobotController,\n getMotionGroupDescription,\n getCurrentRobotControllerState,\n listCoordinateSystems,\n getMotionGroupKinematicModel,\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n if (!config.url) {\n throw new Error(\"No url sent with request\")\n }\n const path = config.url.split(\"?\")[0] ?? config.url\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path)\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n }\n\n // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/execution/jogging\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n message: \"string\",\n kind: \"INITIALIZE_RECEIVED\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n description_revision: 0,\n } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"../../availableStorage.ts\"\nimport { parseNovaInstanceUrl } from \"../../converters.ts\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0.ts\"\n\nimport { isLocalhostDev } from \"../../context.ts\"\nimport { MockNovaInstance } from \"../../mock/MockNovaInstance.ts\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient.ts\"\n\n/** @deprecated Use `NovaClientConfig` from `Nova` instead. */\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * Client for connecting to a Nova instance and controlling robots.\n * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n new URL(\n `/api/v2/cells/${this.config.cellId}/${path.replace(/^\\/+/, \"\")}`,\n this.instanceUrl,\n ).href,\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.\n */\nexport function poseToWandelscriptString(\n pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n const position = [\n pose.position?.[0] ?? 0,\n pose.position?.[1] ?? 0,\n pose.position?.[2] ?? 0,\n ]\n\n const orientation = [\n pose.orientation?.[0] ?? 0,\n pose.orientation?.[1] ?? 0,\n pose.orientation?.[2] ?? 0,\n ]\n\n const positionValues = position.map((v) => v.toFixed(1))\n // Rotation needs more precision since it's in radians\n const rotationValues = orientation.map((v) => v.toFixed(4))\n\n return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n}\n\nfunction unwrap<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n const apiClient = new ApiConstructor(\n {\n ...opts,\n isJsonMime: (mime: string) => mime === \"application/json\",\n },\n opts.basePath ?? \"\",\n opts.axiosInstance ?? axios.create(),\n ) as Record<string | symbol, unknown>\n\n for (const key of Reflect.ownKeys(\n Reflect.getPrototypeOf(apiClient) as object,\n )) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key] as (\n ...args: unknown[]\n ) => Promise<{ data: unknown }>\n apiClient[key] = (...args: unknown[]) =>\n originalFunction.apply(apiClient, args).then((res) => res.data)\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance.\n */\nexport class NovaAPIClient {\n readonly opts: NovaAPIClientOpts\n\n readonly application: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly controller: WithUnwrappedAxiosResponse<ControllerApi>\n readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>\n readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>\n readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly program: WithUnwrappedAxiosResponse<ProgramApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>\n readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>\n readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>\n readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>\n readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>\n\n constructor(opts: NovaAPIClientOpts) {\n this.opts = opts\n\n this.application = unwrap(ApplicationApi, opts)\n this.busIOs = unwrap(BUSInputsOutputsApi, opts)\n this.cell = unwrap(CellApi, opts)\n this.controller = unwrap(ControllerApi, opts)\n this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts)\n this.jogging = unwrap(JoggingApi, opts)\n this.kinematics = unwrap(KinematicsApi, opts)\n this.license = unwrap(LicenseApi, opts)\n this.motionGroup = unwrap(MotionGroupApi, opts)\n this.motionGroupModels = unwrap(MotionGroupModelsApi, opts)\n this.novaCloud = unwrap(NOVACloudApi, opts)\n this.program = unwrap(ProgramApi, opts)\n this.robotConfigurations = unwrap(RobotConfigurationsApi, opts)\n this.session = unwrap(SessionApi, opts)\n this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts)\n this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts)\n this.storeObject = unwrap(StoreObjectApi, opts)\n this.system = unwrap(SystemApi, opts)\n this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts)\n this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts)\n this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts)\n this.version = unwrap(VersionApi, opts)\n this.virtualController = unwrap(VirtualControllerApi, opts)\n this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts)\n this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts)\n }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"./AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"./availableStorage.ts\"\nimport { isLocalhostDev } from \"./context.ts\"\nimport { parseNovaInstanceUrl } from \"./converters.ts\"\nimport { loginWithAuth0 } from \"./LoginWithAuth0.ts\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance.ts\"\nimport { NovaAPIClient } from \"./NovaAPIClient.ts\"\n\nexport type NovaConfig = {\n /**\n * Url of the deployed NOVA instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string\n\n /**\n * Access token for Bearer authentication.\n * If running on a NOVA instance, this can be automatically retrieved from\n * the current session when omitted.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n readonly api: NovaAPIClient\n readonly config: NovaConfig\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaConfig) {\n this.config = config\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (\n error.response?.status === 403 &&\n !error.config?.url?.split(/[?#]/)[0]?.endsWith(\"/session\")\n ) {\n // If we hit a 403, the user is authenticated but may lack access\n // to the instance entirely. Check the session to find out.\n let redirectToAccessDenied = false\n try {\n const session = await this.api.session.getSession()\n if (\n session.session_id !== \"default\" &&\n session.capabilities.length === 0\n ) {\n // An authenticated user with no capabilities has no access.\n redirectToAccessDenied = true\n }\n } catch (sessionError) {\n // The session endpoint itself returns a 403 when the user is\n // not assigned to an instance at all, which we treat as equivalent to\n // an authenticated user with empty capabilities.\n if (\n isAxiosError(sessionError) &&\n sessionError.response?.status === 403\n ) {\n redirectToAccessDenied = true\n }\n // Otherwise couldn't determine access; fall through to bubble\n // the original 403 error below.\n }\n\n if (redirectToAccessDenied) {\n // Send them to the instance url, which renders the access\n // denied screen. Return a promise that never settles so the\n // caller doesn't flash an error state before the navigation\n // takes effect.\n window.location.href = this.instanceUrl.href\n return new Promise(() => {})\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page. Return a promise that never settles so the\n // caller doesn't flash an error state before the reload takes\n // effect.\n window.location.reload()\n return new Promise(() => {})\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaAPIClient({\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n if (!this.mock) {\n throw new Error(\"Mock adapter used without a mock instance\")\n }\n return this.mock.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(`/api/v2/${path.replace(/^\\/+/, \"\")}`, this.instanceUrl)\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n 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package/dist/v2/index.d.cts.map CHANGED
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package/dist/v2/index.mjs CHANGED
@@ -951,14 +951,23 @@ var Nova = class {
951
951
  } catch (err) {
952
952
  return Promise.reject(err);
953
953
  }
954
- else if (error.response?.status === 403 && !error.config?.url?.split(/[?#]/)[0]?.endsWith("/session")) try {
955
- const session = await this.api.session.getSession();
956
- if (session.session_id !== "default" && session.capabilities.length === 0) window.location.href = this.instanceUrl.href;
957
- } catch (sessionError) {
958
- if (isAxiosError(sessionError) && sessionError.response?.status === 403) window.location.href = this.instanceUrl.href;
959
- }
960
- else if (error.response?.status === 503) {
961
- if ((await fetch(window.location.href)).status === 503) window.location.reload();
954
+ else if (error.response?.status === 403 && !error.config?.url?.split(/[?#]/)[0]?.endsWith("/session")) {
955
+ let redirectToAccessDenied = false;
956
+ try {
957
+ const session = await this.api.session.getSession();
958
+ if (session.session_id !== "default" && session.capabilities.length === 0) redirectToAccessDenied = true;
959
+ } catch (sessionError) {
960
+ if (isAxiosError(sessionError) && sessionError.response?.status === 403) redirectToAccessDenied = true;
961
+ }
962
+ if (redirectToAccessDenied) {
963
+ window.location.href = this.instanceUrl.href;
964
+ return new Promise(() => {});
965
+ }
966
+ } else if (error.response?.status === 503) {
967
+ if ((await fetch(window.location.href)).status === 503) {
968
+ window.location.reload();
969
+ return new Promise(() => {});
970
+ }
962
971
  }
963
972
  }
964
973
  return Promise.reject(error);
package/dist/v2/index.mjs.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"index.mjs","names":[],"sources":["../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../src/lib/mock/getCurrentRobotControllerState.ts","../../src/lib/mock/getMotionGroupDescription.ts","../../src/lib/mock/getMotionGroupKinematicModel.ts","../../src/lib/mock/getRobotController.ts","../../src/lib/mock/listCoordinateSystems.ts","../../src/lib/mock/listRobotControllers.ts","../../src/lib/mock/MockNovaInstance.ts","../../src/lib/deprecated/v2/NovaClient.ts","../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../src/lib/NovaAPIClient.ts","../../src/lib/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n ? (...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaCellAPIClient {\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly motionGroup: WithCellId<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly controller: WithCellId<ControllerApi>\n readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>\n readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>\n readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>\n readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>\n readonly application: WithCellId<ApplicationApi>\n readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly jogging: WithCellId<JoggingApi>\n readonly kinematics: WithCellId<KinematicsApi>\n readonly busInputsOutputs: WithCellId<BUSInputsOutputsApi>\n readonly virtualController: WithCellId<VirtualControllerApi>\n readonly virtualControllerBehavior: WithCellId<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithCellId<VirtualControllerInputsOutputsApi>\n readonly storeObject: WithCellId<StoreObjectApi>\n readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>\n readonly program: WithCellId<ProgramApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n\n readonly cellId: string\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n }\n\n constructor(\n cellId: string,\n opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {\n this.cellId = cellId\n this.opts = opts\n this.system = this.withUnwrappedResponsesOnly(SystemApi)\n this.cell = this.withUnwrappedResponsesOnly(CellApi)\n this.motionGroup = this.withCellId(MotionGroupApi)\n this.motionGroupModels =\n this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n this.controller = this.withCellId(ControllerApi)\n this.controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n this.trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n this.application = this.withCellId(ApplicationApi)\n this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n this.jogging = this.withCellId(JoggingApi)\n this.kinematics = this.withCellId(KinematicsApi)\n this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n this.virtualController = this.withCellId(VirtualControllerApi)\n this.virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n this.virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n this.storeObject = this.withCellId(StoreObjectApi)\n this.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi)\n this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n this.program = this.withCellId(ProgramApi)\n this.license = this.withUnwrappedResponsesOnly(LicenseApi)\n this.novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n this.robotConfigurations = this.withUnwrappedResponsesOnly(\n RobotConfigurationsApi,\n )\n this.version = this.withUnwrappedResponsesOnly(VersionApi)\n this.session = this.withUnwrappedResponsesOnly(SessionApi)\n }\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n}\n","export const getCurrentRobotControllerState = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/state\",\n handle() {\n return {\n mode: \"MODE_CONTROL\",\n last_error: [],\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n controller: \"mock-ur5e\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n velocity_override: 100,\n motion_groups: [\n {\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n motion_group: \"0@mock-ur5e\",\n controller: \"mock-ur5e\",\n joint_position: [\n 1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n 6.034560203552246, 1.4921919107437134, 1.593459963798523,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n joint_torque: [],\n joint_current: [0, 0, 0, 0, 0, 0],\n flange_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n tcp: \"Flange\",\n tcp_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n payload: \"\",\n coordinate_system: \"\",\n standstill: true,\n },\n ],\n }\n },\n}\n","export const getMotionGroupDescription = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n handle() {\n return {\n motion_group_model: \"UniversalRobots_UR5e\",\n mounting: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n tcps: {\n Flange: {\n name: \"Default-Flange\",\n pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n },\n },\n payloads: {\n \"FPay-0\": {\n name: \"FPay-0\",\n payload: 0,\n center_of_mass: [0, 0, 0],\n moment_of_inertia: [0, 0, 0],\n },\n },\n cycle_time: 8,\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n d: 162.25,\n },\n {\n a: -425,\n },\n {\n a: -392.2,\n },\n {\n alpha: 1.5707963267948966,\n d: 133.3,\n },\n {\n alpha: -1.5707963267948966,\n d: 99.7,\n },\n {\n d: 99.6,\n },\n ],\n operation_limits: {\n auto_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n elbow: {\n velocity: 5000,\n },\n flange: {\n velocity: 5000,\n },\n },\n manual_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t1_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t2_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n },\n serial_number: \"WBVirtualRobot\",\n }\n },\n}\n","export const getMotionGroupKinematicModel = {\n method: \"GET\",\n path: \"/motion-group-models/:motionGroupModel/kinematic\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -425.0,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -392.2,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: 0.0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n inverse_solver: \"Universalrobots\",\n }\n },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n}\n","export const listCoordinateSystems = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n handle() {\n return [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n {\n coordinate_system: \"CS-0\",\n name: \"Default-CS\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n ]\n },\n}\n","export const listRobotControllers = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return [\"mock-ur5e\"]\n },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket.ts\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState.ts\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription.ts\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel.ts\"\nimport { getRobotController } from \"./getRobotController.ts\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems.ts\"\nimport { listRobotControllers } from \"./listRobotControllers.ts\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n listRobotControllers,\n getRobotController,\n getMotionGroupDescription,\n getCurrentRobotControllerState,\n listCoordinateSystems,\n getMotionGroupKinematicModel,\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n if (!config.url) {\n throw new Error(\"No url sent with request\")\n }\n const path = config.url.split(\"?\")[0] ?? config.url\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path)\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n }\n\n // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/execution/jogging\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n message: \"string\",\n kind: \"INITIALIZE_RECEIVED\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n description_revision: 0,\n } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"../../availableStorage.ts\"\nimport { parseNovaInstanceUrl } from \"../../converters.ts\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0.ts\"\n\nimport { isLocalhostDev } from \"../../context.ts\"\nimport { MockNovaInstance } from \"../../mock/MockNovaInstance.ts\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient.ts\"\n\n/** @deprecated Use `NovaClientConfig` from `Nova` instead. */\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * Client for connecting to a Nova instance and controlling robots.\n * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n new URL(\n `/api/v2/cells/${this.config.cellId}/${path.replace(/^\\/+/, \"\")}`,\n this.instanceUrl,\n ).href,\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.\n */\nexport function poseToWandelscriptString(\n pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n const position = [\n pose.position?.[0] ?? 0,\n pose.position?.[1] ?? 0,\n pose.position?.[2] ?? 0,\n ]\n\n const orientation = [\n pose.orientation?.[0] ?? 0,\n pose.orientation?.[1] ?? 0,\n pose.orientation?.[2] ?? 0,\n ]\n\n const positionValues = position.map((v) => v.toFixed(1))\n // Rotation needs more precision since it's in radians\n const rotationValues = orientation.map((v) => v.toFixed(4))\n\n return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n}\n\nfunction unwrap<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n const apiClient = new ApiConstructor(\n {\n ...opts,\n isJsonMime: (mime: string) => mime === \"application/json\",\n },\n opts.basePath ?? \"\",\n opts.axiosInstance ?? axios.create(),\n ) as Record<string | symbol, unknown>\n\n for (const key of Reflect.ownKeys(\n Reflect.getPrototypeOf(apiClient) as object,\n )) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key] as (\n ...args: unknown[]\n ) => Promise<{ data: unknown }>\n apiClient[key] = (...args: unknown[]) =>\n originalFunction.apply(apiClient, args).then((res) => res.data)\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance.\n */\nexport class NovaAPIClient {\n readonly opts: NovaAPIClientOpts\n\n readonly application: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly controller: WithUnwrappedAxiosResponse<ControllerApi>\n readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>\n readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>\n readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly program: WithUnwrappedAxiosResponse<ProgramApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>\n readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>\n readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>\n readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>\n readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>\n\n constructor(opts: NovaAPIClientOpts) {\n this.opts = opts\n\n this.application = unwrap(ApplicationApi, opts)\n this.busIOs = unwrap(BUSInputsOutputsApi, opts)\n this.cell = unwrap(CellApi, opts)\n this.controller = unwrap(ControllerApi, opts)\n this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts)\n this.jogging = unwrap(JoggingApi, opts)\n this.kinematics = unwrap(KinematicsApi, opts)\n this.license = unwrap(LicenseApi, opts)\n this.motionGroup = unwrap(MotionGroupApi, opts)\n this.motionGroupModels = unwrap(MotionGroupModelsApi, opts)\n this.novaCloud = unwrap(NOVACloudApi, opts)\n this.program = unwrap(ProgramApi, opts)\n this.robotConfigurations = unwrap(RobotConfigurationsApi, opts)\n this.session = unwrap(SessionApi, opts)\n this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts)\n this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts)\n this.storeObject = unwrap(StoreObjectApi, opts)\n this.system = unwrap(SystemApi, opts)\n this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts)\n this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts)\n this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts)\n this.version = unwrap(VersionApi, opts)\n this.virtualController = unwrap(VirtualControllerApi, opts)\n this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts)\n this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts)\n }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"./AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"./availableStorage.ts\"\nimport { isLocalhostDev } from \"./context.ts\"\nimport { parseNovaInstanceUrl } from \"./converters.ts\"\nimport { loginWithAuth0 } from \"./LoginWithAuth0.ts\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance.ts\"\nimport { NovaAPIClient } from \"./NovaAPIClient.ts\"\n\nexport type NovaConfig = {\n /**\n * Url of the deployed NOVA instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string\n\n /**\n * Access token for Bearer authentication.\n * If running on a NOVA instance, this can be automatically retrieved from\n * the current session when omitted.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n readonly api: NovaAPIClient\n readonly config: NovaConfig\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaConfig) {\n this.config = config\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (\n error.response?.status === 403 &&\n !error.config?.url?.split(/[?#]/)[0]?.endsWith(\"/session\")\n ) {\n // If we hit a 403, the user is authenticated but may lack access\n // to the instance entirely. Check the session to find out.\n try {\n const session = await this.api.session.getSession()\n if (\n session.session_id !== \"default\" &&\n session.capabilities.length === 0\n ) {\n // An authenticated user with no capabilities has no access;\n // send them to the instance url, which renders the access\n // denied screen.\n window.location.href = this.instanceUrl.href\n }\n } catch (sessionError) {\n // The session endpoint itself returns a 403 when the user is\n // not assigned to a cell at all, which is equivalent to an\n // authenticated user with non-default empty capabilities ->\n // send them to the access denied screen.\n if (\n isAxiosError(sessionError) &&\n sessionError.response?.status === 403\n ) {\n window.location.href = this.instanceUrl.href\n }\n // Otherwise couldn't determine access; fall through to bubble\n // the original 403 error below.\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaAPIClient({\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n if (!this.mock) {\n throw new Error(\"Mock adapter used without a mock instance\")\n }\n return this.mock.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(`/api/v2/${path.replace(/^\\/+/, \"\")}`, this.instanceUrl)\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n 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+ {"version":3,"file":"index.mjs","names":[],"sources":["../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../src/lib/mock/getCurrentRobotControllerState.ts","../../src/lib/mock/getMotionGroupDescription.ts","../../src/lib/mock/getMotionGroupKinematicModel.ts","../../src/lib/mock/getRobotController.ts","../../src/lib/mock/listCoordinateSystems.ts","../../src/lib/mock/listRobotControllers.ts","../../src/lib/mock/MockNovaInstance.ts","../../src/lib/deprecated/v2/NovaClient.ts","../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../src/lib/NovaAPIClient.ts","../../src/lib/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n ? (...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaCellAPIClient {\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly motionGroup: WithCellId<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly controller: WithCellId<ControllerApi>\n readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>\n readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>\n readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>\n readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>\n readonly application: WithCellId<ApplicationApi>\n readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly jogging: WithCellId<JoggingApi>\n readonly kinematics: WithCellId<KinematicsApi>\n readonly busInputsOutputs: WithCellId<BUSInputsOutputsApi>\n readonly virtualController: WithCellId<VirtualControllerApi>\n readonly virtualControllerBehavior: WithCellId<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithCellId<VirtualControllerInputsOutputsApi>\n readonly storeObject: WithCellId<StoreObjectApi>\n readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>\n readonly program: WithCellId<ProgramApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n\n readonly cellId: string\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n }\n\n constructor(\n cellId: string,\n opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {\n this.cellId = cellId\n this.opts = opts\n this.system = this.withUnwrappedResponsesOnly(SystemApi)\n this.cell = this.withUnwrappedResponsesOnly(CellApi)\n this.motionGroup = this.withCellId(MotionGroupApi)\n this.motionGroupModels =\n this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n this.controller = this.withCellId(ControllerApi)\n this.controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n this.trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n this.application = this.withCellId(ApplicationApi)\n this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n this.jogging = this.withCellId(JoggingApi)\n this.kinematics = this.withCellId(KinematicsApi)\n this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n this.virtualController = this.withCellId(VirtualControllerApi)\n this.virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n this.virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n this.storeObject = this.withCellId(StoreObjectApi)\n this.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi)\n this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n this.program = this.withCellId(ProgramApi)\n this.license = this.withUnwrappedResponsesOnly(LicenseApi)\n this.novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n this.robotConfigurations = this.withUnwrappedResponsesOnly(\n RobotConfigurationsApi,\n )\n this.version = this.withUnwrappedResponsesOnly(VersionApi)\n this.session = this.withUnwrappedResponsesOnly(SessionApi)\n }\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n}\n","export const getCurrentRobotControllerState = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/state\",\n handle() {\n return {\n mode: \"MODE_CONTROL\",\n last_error: [],\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n controller: \"mock-ur5e\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n velocity_override: 100,\n motion_groups: [\n {\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n motion_group: \"0@mock-ur5e\",\n controller: \"mock-ur5e\",\n joint_position: [\n 1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n 6.034560203552246, 1.4921919107437134, 1.593459963798523,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n joint_torque: [],\n joint_current: [0, 0, 0, 0, 0, 0],\n flange_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n tcp: \"Flange\",\n tcp_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n payload: \"\",\n coordinate_system: \"\",\n standstill: true,\n },\n ],\n }\n },\n}\n","export const getMotionGroupDescription = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n handle() {\n return {\n motion_group_model: \"UniversalRobots_UR5e\",\n mounting: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n tcps: {\n Flange: {\n name: \"Default-Flange\",\n pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n },\n },\n payloads: {\n \"FPay-0\": {\n name: \"FPay-0\",\n payload: 0,\n center_of_mass: [0, 0, 0],\n moment_of_inertia: [0, 0, 0],\n },\n },\n cycle_time: 8,\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n d: 162.25,\n },\n {\n a: -425,\n },\n {\n a: -392.2,\n },\n {\n alpha: 1.5707963267948966,\n d: 133.3,\n },\n {\n alpha: -1.5707963267948966,\n d: 99.7,\n },\n {\n d: 99.6,\n },\n ],\n operation_limits: {\n auto_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n elbow: {\n velocity: 5000,\n },\n flange: {\n velocity: 5000,\n },\n },\n manual_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t1_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t2_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n },\n serial_number: \"WBVirtualRobot\",\n }\n },\n}\n","export const getMotionGroupKinematicModel = {\n method: \"GET\",\n path: \"/motion-group-models/:motionGroupModel/kinematic\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -425.0,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: -392.2,\n d: 0.0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0.0,\n a: 0.0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0.0,\n theta: 0.0,\n a: 0.0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n inverse_solver: \"Universalrobots\",\n }\n },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n}\n","export const listCoordinateSystems = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n handle() {\n return [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n {\n coordinate_system: \"CS-0\",\n name: \"Default-CS\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n ]\n },\n}\n","export const listRobotControllers = {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return [\"mock-ur5e\"]\n },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket.ts\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState.ts\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription.ts\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel.ts\"\nimport { getRobotController } from \"./getRobotController.ts\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems.ts\"\nimport { listRobotControllers } from \"./listRobotControllers.ts\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n listRobotControllers,\n getRobotController,\n getMotionGroupDescription,\n getCurrentRobotControllerState,\n listCoordinateSystems,\n getMotionGroupKinematicModel,\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n if (!config.url) {\n throw new Error(\"No url sent with request\")\n }\n const path = config.url.split(\"?\")[0] ?? config.url\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path)\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n }\n\n // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/execution/jogging\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n message: \"string\",\n kind: \"INITIALIZE_RECEIVED\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n description_revision: 0,\n } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"../../availableStorage.ts\"\nimport { parseNovaInstanceUrl } from \"../../converters.ts\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0.ts\"\n\nimport { isLocalhostDev } from \"../../context.ts\"\nimport { MockNovaInstance } from \"../../mock/MockNovaInstance.ts\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient.ts\"\n\n/** @deprecated Use `NovaClientConfig` from `Nova` instead. */\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * Client for connecting to a Nova instance and controlling robots.\n * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n new URL(\n `/api/v2/cells/${this.config.cellId}/${path.replace(/^\\/+/, \"\")}`,\n this.instanceUrl,\n ).href,\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.\n */\nexport function poseToWandelscriptString(\n pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n const position = [\n pose.position?.[0] ?? 0,\n pose.position?.[1] ?? 0,\n pose.position?.[2] ?? 0,\n ]\n\n const orientation = [\n pose.orientation?.[0] ?? 0,\n pose.orientation?.[1] ?? 0,\n pose.orientation?.[2] ?? 0,\n ]\n\n const positionValues = position.map((v) => v.toFixed(1))\n // Rotation needs more precision since it's in radians\n const rotationValues = orientation.map((v) => v.toFixed(4))\n\n return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n LicenseApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n NOVACloudApi,\n ProgramApi,\n RobotConfigurationsApi,\n SessionApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VersionApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n}\n\nfunction unwrap<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n const apiClient = new ApiConstructor(\n {\n ...opts,\n isJsonMime: (mime: string) => mime === \"application/json\",\n },\n opts.basePath ?? \"\",\n opts.axiosInstance ?? axios.create(),\n ) as Record<string | symbol, unknown>\n\n for (const key of Reflect.ownKeys(\n Reflect.getPrototypeOf(apiClient) as object,\n )) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key] as (\n ...args: unknown[]\n ) => Promise<{ data: unknown }>\n apiClient[key] = (...args: unknown[]) =>\n originalFunction.apply(apiClient, args).then((res) => res.data)\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance.\n */\nexport class NovaAPIClient {\n readonly opts: NovaAPIClientOpts\n\n readonly application: WithUnwrappedAxiosResponse<ApplicationApi>\n readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>\n readonly cell: WithUnwrappedAxiosResponse<CellApi>\n readonly controller: WithUnwrappedAxiosResponse<ControllerApi>\n readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>\n readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>\n readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>\n readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>\n readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n readonly program: WithUnwrappedAxiosResponse<ProgramApi>\n readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n readonly session: WithUnwrappedAxiosResponse<SessionApi>\n readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>\n readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>\n readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>\n readonly system: WithUnwrappedAxiosResponse<SystemApi>\n readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>\n readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>\n readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>\n readonly version: WithUnwrappedAxiosResponse<VersionApi>\n readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>\n readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>\n readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>\n\n constructor(opts: NovaAPIClientOpts) {\n this.opts = opts\n\n this.application = unwrap(ApplicationApi, opts)\n this.busIOs = unwrap(BUSInputsOutputsApi, opts)\n this.cell = unwrap(CellApi, opts)\n this.controller = unwrap(ControllerApi, opts)\n this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts)\n this.jogging = unwrap(JoggingApi, opts)\n this.kinematics = unwrap(KinematicsApi, opts)\n this.license = unwrap(LicenseApi, opts)\n this.motionGroup = unwrap(MotionGroupApi, opts)\n this.motionGroupModels = unwrap(MotionGroupModelsApi, opts)\n this.novaCloud = unwrap(NOVACloudApi, opts)\n this.program = unwrap(ProgramApi, opts)\n this.robotConfigurations = unwrap(RobotConfigurationsApi, opts)\n this.session = unwrap(SessionApi, opts)\n this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts)\n this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts)\n this.storeObject = unwrap(StoreObjectApi, opts)\n this.system = unwrap(SystemApi, opts)\n this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts)\n this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts)\n this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts)\n this.version = unwrap(VersionApi, opts)\n this.virtualController = unwrap(VirtualControllerApi, opts)\n this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts)\n this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts)\n }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { AutoReconnectingWebsocket } from \"./AutoReconnectingWebsocket.ts\"\nimport { availableStorage } from \"./availableStorage.ts\"\nimport { isLocalhostDev } from \"./context.ts\"\nimport { parseNovaInstanceUrl } from \"./converters.ts\"\nimport { loginWithAuth0 } from \"./LoginWithAuth0.ts\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance.ts\"\nimport { NovaAPIClient } from \"./NovaAPIClient.ts\"\n\nexport type NovaConfig = {\n /**\n * Url of the deployed NOVA instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string\n\n /**\n * Access token for Bearer authentication.\n * If running on a NOVA instance, this can be automatically retrieved from\n * the current session when omitted.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n readonly api: NovaAPIClient\n readonly config: NovaConfig\n readonly mock?: MockNovaInstance\n readonly instanceUrl: URL\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaConfig) {\n this.config = config\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n // TODO - backend needs to set proper CORS headers for this\n headers: isLocalhostDev\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (\n error.response?.status === 403 &&\n !error.config?.url?.split(/[?#]/)[0]?.endsWith(\"/session\")\n ) {\n // If we hit a 403, the user is authenticated but may lack access\n // to the instance entirely. Check the session to find out.\n let redirectToAccessDenied = false\n try {\n const session = await this.api.session.getSession()\n if (\n session.session_id !== \"default\" &&\n session.capabilities.length === 0\n ) {\n // An authenticated user with no capabilities has no access.\n redirectToAccessDenied = true\n }\n } catch (sessionError) {\n // The session endpoint itself returns a 403 when the user is\n // not assigned to an instance at all, which we treat as equivalent to\n // an authenticated user with empty capabilities.\n if (\n isAxiosError(sessionError) &&\n sessionError.response?.status === 403\n ) {\n redirectToAccessDenied = true\n }\n // Otherwise couldn't determine access; fall through to bubble\n // the original 403 error below.\n }\n\n if (redirectToAccessDenied) {\n // Send them to the instance url, which renders the access\n // denied screen. Return a promise that never settles so the\n // caller doesn't flash an error state before the navigation\n // takes effect.\n window.location.href = this.instanceUrl.href\n return new Promise(() => {})\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page. Return a promise that never settles so the\n // caller doesn't flash an error state before the reload takes\n // effect.\n window.location.reload()\n return new Promise(() => {})\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaAPIClient({\n ...config,\n basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n if (!this.mock) {\n throw new Error(\"Mock adapter used without a mock instance\")\n }\n return this.mock.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n const storedToken = availableStorage.getString(\"wbjs.access_token\")\n if (storedToken && this.accessToken !== storedToken) {\n // Might be newer than the one we have\n this.accessToken = storedToken\n return\n }\n\n // Otherwise, perform login flow\n this.authPromise = loginWithAuth0(this.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(`/api/v2/${path.replace(/^\\/+/, \"\")}`, this.instanceUrl)\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n 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package/package.json CHANGED
@@ -1,7 +1,7 @@
1
1
  {
2
2
  "name": "@wandelbots/nova-js",
3
3
  "type": "module",
4
- "version": "3.11.1",
4
+ "version": "3.11.2-pr.303.fc42d9a",
5
5
  "description": "Official JS client for the Wandelbots API",
6
6
  "sideEffects": false,
7
7
  "packageManager": "pnpm@11.1.3+sha512.c85357fe17ca12dd23dd7071822666dfd7e3cb76fe214e3370b5ea2fb34f2a231185509b63e717f3cd0acb38dd3f8d82bcd5e8172400ae678b70ea4fbed0896d",
package/src/lib/Nova.ts CHANGED
@@ -97,37 +97,47 @@ export class Nova {
97
97
  ) {
98
98
  // If we hit a 403, the user is authenticated but may lack access
99
99
  // to the instance entirely. Check the session to find out.
100
+ let redirectToAccessDenied = false
100
101
  try {
101
102
  const session = await this.api.session.getSession()
102
103
  if (
103
104
  session.session_id !== "default" &&
104
105
  session.capabilities.length === 0
105
106
  ) {
106
- // An authenticated user with no capabilities has no access;
107
- // send them to the instance url, which renders the access
108
- // denied screen.
109
- window.location.href = this.instanceUrl.href
107
+ // An authenticated user with no capabilities has no access.
108
+ redirectToAccessDenied = true
110
109
  }
111
110
  } catch (sessionError) {
112
111
  // The session endpoint itself returns a 403 when the user is
113
- // not assigned to a cell at all, which is equivalent to an
114
- // authenticated user with non-default empty capabilities ->
115
- // send them to the access denied screen.
112
+ // not assigned to an instance at all, which we treat as equivalent to
113
+ // an authenticated user with empty capabilities.
116
114
  if (
117
115
  isAxiosError(sessionError) &&
118
116
  sessionError.response?.status === 403
119
117
  ) {
120
- window.location.href = this.instanceUrl.href
118
+ redirectToAccessDenied = true
121
119
  }
122
120
  // Otherwise couldn't determine access; fall through to bubble
123
121
  // the original 403 error below.
124
122
  }
123
+
124
+ if (redirectToAccessDenied) {
125
+ // Send them to the instance url, which renders the access
126
+ // denied screen. Return a promise that never settles so the
127
+ // caller doesn't flash an error state before the navigation
128
+ // takes effect.
129
+ window.location.href = this.instanceUrl.href
130
+ return new Promise(() => {})
131
+ }
125
132
  } else if (error.response?.status === 503) {
126
133
  // Check if the server as a whole is down
127
134
  const res = await fetch(window.location.href)
128
135
  if (res.status === 503) {
129
- // Go to 503 page
136
+ // Go to 503 page. Return a promise that never settles so the
137
+ // caller doesn't flash an error state before the reload takes
138
+ // effect.
130
139
  window.location.reload()
140
+ return new Promise(() => {})
131
141
  }
132
142
  }
133
143
  }