@wandelbots/nova-js 3.13.0-pr.307.07b1ea2 → 3.13.0-pr.307.2abdb29

package/dist/{wandelscriptUtils-BdqeVDCY.cjs → wandelscriptUtils-DcY1aLWu.cjs}

@@ -1,4 +1,5 @@
-const require_context = require("./context-Cu5mXcFZ.cjs");
+const require_context = require("./context-BZELA2eh.cjs");
+const require_converters = require("./converters-EYS27XJE.cjs");
 let axios = require("axios");
 axios = require_context.__toESM(axios, 1);
 let mobx = require("mobx");
@@ -44,7 +45,7 @@ var ConnectedMotionGroup = class ConnectedMotionGroup {
 		if (!controller || !motionGroup) throw new Error(`Controller ${controllerId} or motion group ${motionGroupId} not found`);
 		const motionStateSocket = nova.openReconnectingWebsocket(`/motion-groups/${motionGroupId}/state-stream`);
 		const firstMessage = await motionStateSocket.firstMessage();
-		const initialMotionState = require_context.tryParseJson(firstMessage.data)?.result;
+		const initialMotionState = require_converters.tryParseJson(firstMessage.data)?.result;
 		if (!initialMotionState) throw new Error(`Unable to parse initial motion state message ${firstMessage.data}`);
 		console.log(`Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `, initialMotionState);
 		const isVirtual = (await nova.api.controller.getRobotController(controller.controller)).configuration.kind === "VirtualController";
@@ -58,7 +59,7 @@ var ConnectedMotionGroup = class ConnectedMotionGroup {
 		})();
 		const controllerStateSocket = nova.openReconnectingWebsocket(`/controllers/${controller.controller}/state-stream?response_rate=1000`);
 		const firstControllerMessage = await controllerStateSocket.firstMessage();
-		const initialControllerState = require_context.tryParseJson(firstControllerMessage.data)?.result;
+		const initialControllerState = require_converters.tryParseJson(firstControllerMessage.data)?.result;
 		if (!initialControllerState) throw new Error(`Unable to parse initial controller state message ${firstControllerMessage.data}`);
 		console.log(`Connected controller state websocket to controller ${controller.controller}. Initial state:\n  `, initialControllerState);
 		const { tcps } = await nova.api.motionGroupInfos.listTcps(motionGroupId);
@@ -103,14 +104,14 @@ var ConnectedMotionGroup = class ConnectedMotionGroup {
 		this.rapidlyChangingMotionState = initialMotionState;
 		this.controllerState = initialControllerState;
 		controllerStateSocket.addEventListener("message", (event) => {
-			const data = require_context.tryParseJson(event.data)?.result;
+			const data = require_converters.tryParseJson(event.data)?.result;
 			if (!data) return;
 			(0, mobx.runInAction)(() => {
 				this.controllerState = data;
 			});
 		});
 		motionStateSocket.addEventListener("message", (event) => {
-			const motionStateResponse = require_context.tryParseJson(event.data)?.result;
+			const motionStateResponse = require_converters.tryParseJson(event.data)?.result;
 			if (!motionStateResponse) throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${event.data}`);
 			if (!jointValuesEqual(this.rapidlyChangingMotionState.state.joint_position.joints, motionStateResponse.state.joint_position.joints, MOTION_DELTA_THRESHOLD$1)) (0, mobx.runInAction)(() => {
 				this.rapidlyChangingMotionState.state = motionStateResponse.state;
@@ -336,7 +337,7 @@ var JoggerConnection = class JoggerConnection {
 		if (mode === "cartesian" && !this.cartesianWebsocket) {
 			this.cartesianWebsocket = this.nova.openReconnectingWebsocket(`/motion-groups/move-tcp`);
 			this.cartesianWebsocket.addEventListener("message", (ev) => {
-				const data = require_context.tryParseJson(ev.data);
+				const data = require_converters.tryParseJson(ev.data);
 				if (data && "error" in data) if (this.opts.onError) this.opts.onError(ev.data);
 				else throw new Error(ev.data);
 			});
@@ -344,7 +345,7 @@ var JoggerConnection = class JoggerConnection {
 		if (mode === "joint" && !this.jointWebsocket) {
 			this.jointWebsocket = this.nova.openReconnectingWebsocket(`/motion-groups/move-joint`);
 			this.jointWebsocket.addEventListener("message", (ev) => {
-				const data = require_context.tryParseJson(ev.data);
+				const data = require_converters.tryParseJson(ev.data);
 				if (data && "error" in data) if (this.opts.onError) this.opts.onError(ev.data);
 				else throw new Error(ev.data);
 			});
@@ -413,7 +414,7 @@ var JoggerConnection = class JoggerConnection {
 	*/
 	async runIncrementalCartesianMotion({ currentTcpPose, currentJoints, coordSystemId, velocityInRelevantUnits, axis, direction, motion }) {
 		const commands = [];
-		if (!require_context.isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)) throw new Error(`Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`);
+		if (!require_converters.isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)) throw new Error(`Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`);
 		if (motion.type === "translate") {
 			const targetTcpPosition = Object.assign({}, currentTcpPose.position);
 			targetTcpPosition[axis] += motion.distanceMm * (direction === "-" ? -1 : 1);
@@ -516,7 +517,7 @@ var MotionStreamConnection = class MotionStreamConnection {
 		if (!controller || !motionGroup) throw new Error(`Controller ${controllerId} or motion group ${motionGroupId} not found`);
 		const motionStateSocket = nova.openReconnectingWebsocket(`/motion-groups/${motionGroupId}/state-stream`);
 		const firstMessage = await motionStateSocket.firstMessage();
-		const initialMotionState = require_context.tryParseJson(firstMessage.data)?.result;
+		const initialMotionState = require_converters.tryParseJson(firstMessage.data)?.result;
 		if (!initialMotionState) throw new Error(`Unable to parse initial motion state message ${firstMessage.data}`);
 		console.log(`Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `, initialMotionState);
 		return new MotionStreamConnection(nova, controller, motionGroup, initialMotionState, motionStateSocket);
@@ -535,7 +536,7 @@ var MotionStreamConnection = class MotionStreamConnection {
 		this.motionStateSocket = motionStateSocket;
 		this.rapidlyChangingMotionState = initialMotionState;
 		motionStateSocket.addEventListener("message", (event) => {
-			const motionStateResponse = require_context.tryParseJson(event.data)?.result;
+			const motionStateResponse = require_converters.tryParseJson(event.data)?.result;
 			if (!motionStateResponse) throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${event.data}`);
 			if (!jointValuesEqual(this.rapidlyChangingMotionState.state.joint_position.joints, motionStateResponse.state.joint_position.joints, MOTION_DELTA_THRESHOLD)) (0, mobx.runInAction)(() => {
 				this.rapidlyChangingMotionState.state = motionStateResponse.state;
@@ -1935,7 +1936,7 @@ var NovaClient = class {
 		};
 		this.accessToken = config.accessToken || require_context.availableStorage.getString("wbjs.access_token") || null;
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
-		this.instanceUrl = require_context.parseNovaInstanceUrl(this.config.instanceUrl);
+		this.instanceUrl = require_converters.parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.default.create({
 			baseURL: new URL("/api/v1", this.config.instanceUrl).href,
 			headers: require_context.isLocalhostDev ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
@@ -2095,4 +2096,4 @@ Object.defineProperty(exports, "poseToWandelscriptString", {
 	}
 });
 
-//# sourceMappingURL=wandelscriptUtils-BdqeVDCY.cjs.map
+//# sourceMappingURL=wandelscriptUtils-DcY1aLWu.cjs.map