@wandelbots/nova-js 3.11.2 → 3.11.3-pr.304.8c06a4e

package/dist/v2/index.mjs.map

@@ -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              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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+{"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 { guardedPageReload } from \"../../errorHandling.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                return guardedPageReload(\"503_server_unavailable\")\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 { guardedPageReload } from \"./errorHandling.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                return guardedPageReload(\"503_server_unavailable\")\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/{wandelscriptUtils-dUlZrOhy.cjs → wandelscriptUtils-BdqeVDCY.cjs}

@@ -1,4 +1,4 @@
-const require_context = require("./context-TPb5fGlK.cjs");
+const require_context = require("./context-Cu5mXcFZ.cjs");
 let axios = require("axios");
 axios = require_context.__toESM(axios, 1);
 let mobx = require("mobx");
@@ -1960,7 +1960,7 @@ var NovaClient = class {
 					return Promise.reject(err);
 				}
 				else if (error.response?.status === 503) {
-					if ((await fetch(window.location.href)).status === 503) window.location.reload();
+					if ((await fetch(window.location.href)).status === 503) return require_context.guardedPageReload("503_server_unavailable");
 				}
 			}
 			return Promise.reject(error);
@@ -2095,4 +2095,4 @@ Object.defineProperty(exports, "poseToWandelscriptString", {
 	}
 });
 
-//# sourceMappingURL=wandelscriptUtils-dUlZrOhy.cjs.map
+//# sourceMappingURL=wandelscriptUtils-BdqeVDCY.cjs.map