@wandelbots/nova-js 3.13.0-pr.307.720787b → 3.13.0-pr.307.77e607e

package/dist/experimental/nats/index.cjs

@@ -23,9 +23,10 @@ function buildNatsServerUrl(instanceUrl) {
 */
 function isValidSubjectChar(char) {
 	const code = char.charCodeAt(0);
-	return code >= 48 && code <= 57 || code >= 65 && code <= 90 || code >= 97 && code <= 122 || char === "-" || char === "_" || char === "*";
+	return code >= 48 && code <= 57 || code >= 65 && code <= 90 || code >= 97 && code <= 122 || char === "-" || char === "_";
 }
 function isValidSubjectValue(value) {
+	if (value === "*") return true;
 	if (value.length === 0) return false;
 	for (const char of value) if (!isValidSubjectChar(char)) return false;
 	return true;
@@ -100,6 +101,10 @@ var NovaNatsClient = class {
 	* `"nova.v2.cells.{cell}"`, with `{param}` placeholders filled in from
 	* `params`.
 	*
+	* Errors decoding a message or thrown/rejected by `handler` are caught and
+	* logged per-message, so one bad message doesn't stop later messages on
+	* the same subscription from being handled.
+	*
 	* Returns a function that unsubscribes when called.
 	*/
 	async subscribe(subject, ...args) {
@@ -108,9 +113,13 @@ var NovaNatsClient = class {
 		const resolvedSubject = buildSubject(subject, params);
 		const sub = nc.subscribe(resolvedSubject);
 		(async () => {
-			for await (const msg of sub) handler(msg.json(), msg);
+			for await (const msg of sub) try {
+				await handler(msg.json(), msg);
+			} catch (err) {
+				console.error(`Error handling NATS message on subject "${resolvedSubject}"`, err);
+			}
 		})().catch((err) => {
-			console.error(`Error handling NATS subscription for "${resolvedSubject}"`, err);
+			console.error(`NATS subscription iterator failed for "${resolvedSubject}"`, err);
 		});
 		return () => sub.unsubscribe();
 	}

package/dist/experimental/nats/index.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["parseNovaInstanceUrl"],"sources":["../../../src/lib/experimental/nats/buildNatsServerUrl.ts","../../../src/lib/experimental/nats/buildSubject.ts","../../../src/lib/experimental/nats/NovaNatsClient.ts"],"sourcesContent":["import { parseNovaInstanceUrl } from \"../../converters.ts\"\n\n/**\n * Builds the WebSocket URL for a NOVA instance's NATS gateway from its\n * instance URL, e.g. `https://foo.instance.wandelbots.io` becomes\n * `wss://foo.instance.wandelbots.io/api/nats`.\n *\n * Pass the result as `servers` in the `NovaNatsClientConfig` passed to\n * `NovaNatsClient`.\n */\nexport function buildNatsServerUrl(instanceUrl: string): string {\n  const url = parseNovaInstanceUrl(instanceUrl)\n  const protocol = url.protocol === \"https:\" ? \"wss:\" : \"ws:\"\n  return `${protocol}//${url.host}/api/nats`\n}\n","/**\n * Builds a NATS subject from an AsyncAPI-style channel address template\n * (e.g. `\"{instance}.v2.cells.{cell}\"`) by substituting each `{param}`\n * placeholder with the corresponding value from `params`.\n */\n\nfunction isValidSubjectChar(char: string): boolean {\n  const code = char.charCodeAt(0)\n  return (\n    (code >= 48 && code <= 57) || // 0-9\n    (code >= 65 && code <= 90) || // A-Z\n    (code >= 97 && code <= 122) || // a-z\n    char === \"-\" ||\n    char === \"_\" ||\n    char === \"*\"\n  )\n}\n\nfunction isValidSubjectValue(value: string): boolean {\n  if (value.length === 0) return false\n  for (const char of value) {\n    if (!isValidSubjectChar(char)) return false\n  }\n  return true\n}\n\nexport function buildSubject(\n  template: string,\n  params: Record<string, string>,\n): string {\n  // Scanned manually (rather than with a regex like /\\{([^}]+)\\}/g) to avoid\n  // a polynomial-time backtracking blowup on pathological input, e.g. a\n  // template consisting of many \"{\" characters with no closing \"}\".\n  let result = \"\"\n  let cursor = 0\n\n  while (cursor < template.length) {\n    const openIndex = template.indexOf(\"{\", cursor)\n    if (openIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    const closeIndex = template.indexOf(\"}\", openIndex + 1)\n    if (closeIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    result += template.slice(cursor, openIndex)\n    const paramName = template.slice(openIndex + 1, closeIndex)\n    const value = params[paramName]\n    if (value === undefined) {\n      throw new Error(\n        `Missing value for subject parameter \"${paramName}\" in template \"${template}\"`,\n      )\n    }\n    if (!isValidSubjectValue(value)) {\n      throw new Error(\n        `Invalid value for subject parameter \"${paramName}\": \"${value}\" (must be non-empty and contain only letters, digits, \"-\", and \"_\")`,\n      )\n    }\n    result += value\n\n    cursor = closeIndex + 1\n  }\n\n  return result\n}\n","import {\n  type ConnectionOptions,\n  type Msg,\n  type NatsConnection,\n  wsconnect,\n} from \"@nats-io/nats-core\"\nimport type { Nova } from \"../../Nova.ts\"\nimport { buildNatsServerUrl } from \"./buildNatsServerUrl.ts\"\nimport { buildSubject } from \"./buildSubject.ts\"\nimport type {\n  NatsOperationParams,\n  NatsPublishPayloads,\n  NatsPublishSubject,\n  NatsReplyPayloads,\n  NatsRequestPayloads,\n  NatsRequestSubject,\n  NatsSubscribePayloads,\n  NatsSubscribeSubject,\n} from \"./generated/operations.ts\"\n\nexport type NovaNatsClientConfig = ConnectionOptions\n\ntype NatsMessageHandler<K extends NatsSubscribeSubject> = (\n  payload: NatsSubscribePayloads[K],\n  msg: Msg,\n) => void\n\ntype SubscribeArgs<K extends NatsSubscribeSubject> =\n  keyof NatsOperationParams[K] extends never\n    ? [handler: NatsMessageHandler<K>]\n    : [params: NatsOperationParams[K], handler: NatsMessageHandler<K>]\n\n/**\n * Typed NATS client for the Wandelbots NOVA messaging API, generated from\n * src/asyncapi.yaml (see scripts/generate-nats-client.ts).\n *\n * Connects over WebSocket via `@nats-io/nats-core`'s `wsconnect`.\n */\nexport class NovaNatsClient {\n  readonly config: NovaNatsClientConfig\n  private connectionPromise: Promise<NatsConnection> | null = null\n\n  constructor(nova: Nova, config: NovaNatsClientConfig = {}) {\n    this.config = {\n      servers: buildNatsServerUrl(nova.instanceUrl.href),\n      ...config,\n    }\n  }\n\n  /**\n   * Connects to NATS if not already connected or connecting, and returns the\n   * connection. Safe to call concurrently: all callers share the same\n   * in-flight connection attempt instead of each starting their own.\n   */\n  connect(): Promise<NatsConnection> {\n    if (!this.connectionPromise) {\n      this.connectionPromise = wsconnect(this.config).catch((err: unknown) => {\n        // Allow a subsequent connect() call to retry after a failed attempt.\n        this.connectionPromise = null\n        throw err\n      })\n    }\n    return this.connectionPromise\n  }\n\n  /** Closes the underlying NATS connection, if open or connecting. */\n  async close(): Promise<void> {\n    const connectionPromise = this.connectionPromise\n    this.connectionPromise = null\n    if (!connectionPromise) return\n    try {\n      const nc = await connectionPromise\n      await nc.close()\n    } catch {\n      // Connection never succeeded; nothing to close.\n    }\n  }\n\n  /**\n   * Subscribes to a NATS subject published by the server, invoking `handler`\n   * with the JSON-decoded payload of every message received.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}\"`, with `{param}` placeholders filled in from\n   * `params`.\n   *\n   * Returns a function that unsubscribes when called.\n   */\n  async subscribe<K extends NatsSubscribeSubject>(\n    subject: K,\n    ...args: SubscribeArgs<K>\n  ): Promise<() => void> {\n    const [params, handler] =\n      args.length === 1\n        ? ([{}, args[0]] as const)\n        : ([args[0], args[1]] as const)\n\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const sub = nc.subscribe(resolvedSubject)\n\n    ;(async () => {\n      for await (const msg of sub) {\n        handler(msg.json<NatsSubscribePayloads[K]>(), msg)\n      }\n    })().catch((err: unknown) => {\n      console.error(\n        `Error handling NATS subscription for \"${resolvedSubject}\"`,\n        err,\n      )\n    })\n\n    return () => sub.unsubscribe()\n  }\n\n  /**\n   * Sends a request payload for a NATS subject the server receives, and\n   * waits for the JSON-decoded reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async request<K extends NatsRequestSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsRequestPayloads[K],\n    opts: { timeout?: number } = {},\n  ): Promise<NatsReplyPayloads[K]> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const msg = await nc.request(resolvedSubject, JSON.stringify(payload), {\n      timeout: opts.timeout ?? 5000,\n    })\n    return msg.json<NatsReplyPayloads[K]>()\n  }\n\n  /**\n   * Publishes a JSON payload to any NATS subject defined in the spec,\n   * without waiting for a reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async publish<K extends NatsPublishSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsPublishPayloads[K],\n  ): Promise<void> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    nc.publish(resolvedSubject, JSON.stringify(payload))\n  }\n}\n"],"mappings":";;;;;;;;;;;;AAUA,SAAgB,mBAAmB,aAA6B;CAC9D,MAAM,MAAMA,mBAAAA,qBAAqB,WAAW;CAE5C,OAAO,GADU,IAAI,aAAa,WAAW,SAAS,MACnC,IAAI,IAAI,KAAK;AAClC;;;;;;;;ACRA,SAAS,mBAAmB,MAAuB;CACjD,MAAM,OAAO,KAAK,WAAW,CAAC;CAC9B,OACG,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,OACvB,SAAS,OACT,SAAS,OACT,SAAS;AAEb;AAEA,SAAS,oBAAoB,OAAwB;CACnD,IAAI,MAAM,WAAW,GAAG,OAAO;CAC/B,KAAK,MAAM,QAAQ,OACjB,IAAI,CAAC,mBAAmB,IAAI,GAAG,OAAO;CAExC,OAAO;AACT;AAEA,SAAgB,aACd,UACA,QACQ;CAIR,IAAI,SAAS;CACb,IAAI,SAAS;CAEb,OAAO,SAAS,SAAS,QAAQ;EAC/B,MAAM,YAAY,SAAS,QAAQ,KAAK,MAAM;EAC9C,IAAI,cAAc,IAAI;GACpB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,MAAM,aAAa,SAAS,QAAQ,KAAK,YAAY,CAAC;EACtD,IAAI,eAAe,IAAI;GACrB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,UAAU,SAAS,MAAM,QAAQ,SAAS;EAC1C,MAAM,YAAY,SAAS,MAAM,YAAY,GAAG,UAAU;EAC1D,MAAM,QAAQ,OAAO;EACrB,IAAI,UAAU,KAAA,GACZ,MAAM,IAAI,MACR,wCAAwC,UAAU,iBAAiB,SAAS,EAC9E;EAEF,IAAI,CAAC,oBAAoB,KAAK,GAC5B,MAAM,IAAI,MACR,wCAAwC,UAAU,MAAM,MAAM,qEAChE;EAEF,UAAU;EAEV,SAAS,aAAa;CACxB;CAEA,OAAO;AACT;;;;;;;;;AC9BA,IAAa,iBAAb,MAA4B;CAC1B;CACA,oBAA4D;CAE5D,YAAY,MAAY,SAA+B,CAAC,GAAG;EACzD,KAAK,SAAS;GACZ,SAAS,mBAAmB,KAAK,YAAY,IAAI;GACjD,GAAG;EACL;CACF;;;;;;CAOA,UAAmC;EACjC,IAAI,CAAC,KAAK,mBACR,KAAK,qBAAA,GAAA,mBAAA,WAA8B,KAAK,MAAM,EAAE,OAAO,QAAiB;GAEtE,KAAK,oBAAoB;GACzB,MAAM;EACR,CAAC;EAEH,OAAO,KAAK;CACd;;CAGA,MAAM,QAAuB;EAC3B,MAAM,oBAAoB,KAAK;EAC/B,KAAK,oBAAoB;EACzB,IAAI,CAAC,mBAAmB;EACxB,IAAI;GAEF,OAAM,MADW,mBACR,MAAM;EACjB,QAAQ,CAER;CACF;;;;;;;;;;;CAYA,MAAM,UACJ,SACA,GAAG,MACkB;EACrB,MAAM,CAAC,QAAQ,WACb,KAAK,WAAW,IACX,CAAC,CAAC,GAAG,KAAK,EAAE,IACZ,CAAC,KAAK,IAAI,KAAK,EAAE;EAExB,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,MAAM,MAAM,GAAG,UAAU,eAAe;EAEvC,CAAC,YAAY;GACZ,WAAW,MAAM,OAAO,KACtB,QAAQ,IAAI,KAA+B,GAAG,GAAG;EAErD,GAAG,EAAE,OAAO,QAAiB;GAC3B,QAAQ,MACN,yCAAyC,gBAAgB,IACzD,GACF;EACF,CAAC;EAED,aAAa,IAAI,YAAY;CAC/B;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACA,OAA6B,CAAC,GACC;EAC/B,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EAIpD,QAAO,MAHW,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,GAAG,EACrE,SAAS,KAAK,WAAW,IAC3B,CAAC,GACU,KAA2B;CACxC;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACe;EACf,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,CAAC;CACrD;AACF"}
+{"version":3,"file":"index.cjs","names":["parseNovaInstanceUrl"],"sources":["../../../src/lib/experimental/nats/buildNatsServerUrl.ts","../../../src/lib/experimental/nats/buildSubject.ts","../../../src/lib/experimental/nats/NovaNatsClient.ts"],"sourcesContent":["import { parseNovaInstanceUrl } from \"../../converters.ts\"\n\n/**\n * Builds the WebSocket URL for a NOVA instance's NATS gateway from its\n * instance URL, e.g. `https://foo.instance.wandelbots.io` becomes\n * `wss://foo.instance.wandelbots.io/api/nats`.\n *\n * Pass the result as `servers` in the `NovaNatsClientConfig` passed to\n * `NovaNatsClient`.\n */\nexport function buildNatsServerUrl(instanceUrl: string): string {\n  const url = parseNovaInstanceUrl(instanceUrl)\n  const protocol = url.protocol === \"https:\" ? \"wss:\" : \"ws:\"\n  return `${protocol}//${url.host}/api/nats`\n}\n","/**\n * Builds a NATS subject from an AsyncAPI-style channel address template\n * (e.g. `\"{instance}.v2.cells.{cell}\"`) by substituting each `{param}`\n * placeholder with the corresponding value from `params`.\n */\n\nfunction isValidSubjectChar(char: string): boolean {\n  const code = char.charCodeAt(0)\n  return (\n    (code >= 48 && code <= 57) || // 0-9\n    (code >= 65 && code <= 90) || // A-Z\n    (code >= 97 && code <= 122) || // a-z\n    char === \"-\" ||\n    char === \"_\"\n  )\n}\n\nfunction isValidSubjectValue(value: string): boolean {\n  // A bare \"*\" is the NATS single-token wildcard, allowed on its own (e.g.\n  // subscribing to all cells with `{ cell: \"*\" }\") but not as part of a\n  // larger value, since it wouldn't act as a wildcard there anyway.\n  if (value === \"*\") return true\n  if (value.length === 0) return false\n  for (const char of value) {\n    if (!isValidSubjectChar(char)) return false\n  }\n  return true\n}\n\nexport function buildSubject(\n  template: string,\n  params: Record<string, string>,\n): string {\n  // Scanned manually (rather than with a regex like /\\{([^}]+)\\}/g) to avoid\n  // a polynomial-time backtracking blowup on pathological input, e.g. a\n  // template consisting of many \"{\" characters with no closing \"}\".\n  let result = \"\"\n  let cursor = 0\n\n  while (cursor < template.length) {\n    const openIndex = template.indexOf(\"{\", cursor)\n    if (openIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    const closeIndex = template.indexOf(\"}\", openIndex + 1)\n    if (closeIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    result += template.slice(cursor, openIndex)\n    const paramName = template.slice(openIndex + 1, closeIndex)\n    const value = params[paramName]\n    if (value === undefined) {\n      throw new Error(\n        `Missing value for subject parameter \"${paramName}\" in template \"${template}\"`,\n      )\n    }\n    if (!isValidSubjectValue(value)) {\n      throw new Error(\n        `Invalid value for subject parameter \"${paramName}\": \"${value}\" (must be non-empty and contain only letters, digits, \"-\", and \"_\")`,\n      )\n    }\n    result += value\n\n    cursor = closeIndex + 1\n  }\n\n  return result\n}\n","import {\n  type ConnectionOptions,\n  type Msg,\n  type NatsConnection,\n  wsconnect,\n} from \"@nats-io/nats-core\"\nimport type { Nova } from \"../../Nova.ts\"\nimport { buildNatsServerUrl } from \"./buildNatsServerUrl.ts\"\nimport { buildSubject } from \"./buildSubject.ts\"\nimport type {\n  NatsOperationParams,\n  NatsPublishPayloads,\n  NatsPublishSubject,\n  NatsReplyPayloads,\n  NatsRequestPayloads,\n  NatsRequestSubject,\n  NatsSubscribePayloads,\n  NatsSubscribeSubject,\n} from \"./generated/operations.ts\"\n\nexport type NovaNatsClientConfig = ConnectionOptions\n\ntype NatsMessageHandler<K extends NatsSubscribeSubject> = (\n  payload: NatsSubscribePayloads[K],\n  msg: Msg,\n) => void | Promise<void>\n\ntype SubscribeArgs<K extends NatsSubscribeSubject> =\n  keyof NatsOperationParams[K] extends never\n    ? [handler: NatsMessageHandler<K>]\n    : [params: NatsOperationParams[K], handler: NatsMessageHandler<K>]\n\n/**\n * Typed NATS client for the Wandelbots NOVA messaging API, generated from\n * src/asyncapi.yaml (see scripts/generate-nats-client.ts).\n *\n * Connects over WebSocket via `@nats-io/nats-core`'s `wsconnect`.\n */\nexport class NovaNatsClient {\n  readonly config: NovaNatsClientConfig\n  private connectionPromise: Promise<NatsConnection> | null = null\n\n  constructor(nova: Nova, config: NovaNatsClientConfig = {}) {\n    this.config = {\n      servers: buildNatsServerUrl(nova.instanceUrl.href),\n      ...config,\n    }\n  }\n\n  /**\n   * Connects to NATS if not already connected or connecting, and returns the\n   * connection. Safe to call concurrently: all callers share the same\n   * in-flight connection attempt instead of each starting their own.\n   */\n  connect(): Promise<NatsConnection> {\n    if (!this.connectionPromise) {\n      this.connectionPromise = wsconnect(this.config).catch((err: unknown) => {\n        // Allow a subsequent connect() call to retry after a failed attempt.\n        this.connectionPromise = null\n        throw err\n      })\n    }\n    return this.connectionPromise\n  }\n\n  /** Closes the underlying NATS connection, if open or connecting. */\n  async close(): Promise<void> {\n    const connectionPromise = this.connectionPromise\n    this.connectionPromise = null\n    if (!connectionPromise) return\n    try {\n      const nc = await connectionPromise\n      await nc.close()\n    } catch {\n      // Connection never succeeded; nothing to close.\n    }\n  }\n\n  /**\n   * Subscribes to a NATS subject published by the server, invoking `handler`\n   * with the JSON-decoded payload of every message received.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}\"`, with `{param}` placeholders filled in from\n   * `params`.\n   *\n   * Errors decoding a message or thrown/rejected by `handler` are caught and\n   * logged per-message, so one bad message doesn't stop later messages on\n   * the same subscription from being handled.\n   *\n   * Returns a function that unsubscribes when called.\n   */\n  async subscribe<K extends NatsSubscribeSubject>(\n    subject: K,\n    ...args: SubscribeArgs<K>\n  ): Promise<() => void> {\n    const [params, handler] =\n      args.length === 1\n        ? ([{}, args[0]] as const)\n        : ([args[0], args[1]] as const)\n\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const sub = nc.subscribe(resolvedSubject)\n\n    ;(async () => {\n      for await (const msg of sub) {\n        // Handled per-message: a bad payload or a throwing/rejecting handler\n        // should not stop the subscription from processing later messages.\n        try {\n          await handler(msg.json<NatsSubscribePayloads[K]>(), msg)\n        } catch (err) {\n          console.error(\n            `Error handling NATS message on subject \"${resolvedSubject}\"`,\n            err,\n          )\n        }\n      }\n    })().catch((err: unknown) => {\n      console.error(\n        `NATS subscription iterator failed for \"${resolvedSubject}\"`,\n        err,\n      )\n    })\n\n    return () => sub.unsubscribe()\n  }\n\n  /**\n   * Sends a request payload for a NATS subject the server receives, and\n   * waits for the JSON-decoded reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async request<K extends NatsRequestSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsRequestPayloads[K],\n    opts: { timeout?: number } = {},\n  ): Promise<NatsReplyPayloads[K]> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const msg = await nc.request(resolvedSubject, JSON.stringify(payload), {\n      timeout: opts.timeout ?? 5000,\n    })\n    return msg.json<NatsReplyPayloads[K]>()\n  }\n\n  /**\n   * Publishes a JSON payload to any NATS subject defined in the spec,\n   * without waiting for a reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async publish<K extends NatsPublishSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsPublishPayloads[K],\n  ): Promise<void> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    nc.publish(resolvedSubject, JSON.stringify(payload))\n  }\n}\n"],"mappings":";;;;;;;;;;;;AAUA,SAAgB,mBAAmB,aAA6B;CAC9D,MAAM,MAAMA,mBAAAA,qBAAqB,WAAW;CAE5C,OAAO,GADU,IAAI,aAAa,WAAW,SAAS,MACnC,IAAI,IAAI,KAAK;AAClC;;;;;;;;ACRA,SAAS,mBAAmB,MAAuB;CACjD,MAAM,OAAO,KAAK,WAAW,CAAC;CAC9B,OACG,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,OACvB,SAAS,OACT,SAAS;AAEb;AAEA,SAAS,oBAAoB,OAAwB;CAInD,IAAI,UAAU,KAAK,OAAO;CAC1B,IAAI,MAAM,WAAW,GAAG,OAAO;CAC/B,KAAK,MAAM,QAAQ,OACjB,IAAI,CAAC,mBAAmB,IAAI,GAAG,OAAO;CAExC,OAAO;AACT;AAEA,SAAgB,aACd,UACA,QACQ;CAIR,IAAI,SAAS;CACb,IAAI,SAAS;CAEb,OAAO,SAAS,SAAS,QAAQ;EAC/B,MAAM,YAAY,SAAS,QAAQ,KAAK,MAAM;EAC9C,IAAI,cAAc,IAAI;GACpB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,MAAM,aAAa,SAAS,QAAQ,KAAK,YAAY,CAAC;EACtD,IAAI,eAAe,IAAI;GACrB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,UAAU,SAAS,MAAM,QAAQ,SAAS;EAC1C,MAAM,YAAY,SAAS,MAAM,YAAY,GAAG,UAAU;EAC1D,MAAM,QAAQ,OAAO;EACrB,IAAI,UAAU,KAAA,GACZ,MAAM,IAAI,MACR,wCAAwC,UAAU,iBAAiB,SAAS,EAC9E;EAEF,IAAI,CAAC,oBAAoB,KAAK,GAC5B,MAAM,IAAI,MACR,wCAAwC,UAAU,MAAM,MAAM,qEAChE;EAEF,UAAU;EAEV,SAAS,aAAa;CACxB;CAEA,OAAO;AACT;;;;;;;;;ACjCA,IAAa,iBAAb,MAA4B;CAC1B;CACA,oBAA4D;CAE5D,YAAY,MAAY,SAA+B,CAAC,GAAG;EACzD,KAAK,SAAS;GACZ,SAAS,mBAAmB,KAAK,YAAY,IAAI;GACjD,GAAG;EACL;CACF;;;;;;CAOA,UAAmC;EACjC,IAAI,CAAC,KAAK,mBACR,KAAK,qBAAA,GAAA,mBAAA,WAA8B,KAAK,MAAM,EAAE,OAAO,QAAiB;GAEtE,KAAK,oBAAoB;GACzB,MAAM;EACR,CAAC;EAEH,OAAO,KAAK;CACd;;CAGA,MAAM,QAAuB;EAC3B,MAAM,oBAAoB,KAAK;EAC/B,KAAK,oBAAoB;EACzB,IAAI,CAAC,mBAAmB;EACxB,IAAI;GAEF,OAAM,MADW,mBACR,MAAM;EACjB,QAAQ,CAER;CACF;;;;;;;;;;;;;;;CAgBA,MAAM,UACJ,SACA,GAAG,MACkB;EACrB,MAAM,CAAC,QAAQ,WACb,KAAK,WAAW,IACX,CAAC,CAAC,GAAG,KAAK,EAAE,IACZ,CAAC,KAAK,IAAI,KAAK,EAAE;EAExB,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,MAAM,MAAM,GAAG,UAAU,eAAe;EAEvC,CAAC,YAAY;GACZ,WAAW,MAAM,OAAO,KAGtB,IAAI;IACF,MAAM,QAAQ,IAAI,KAA+B,GAAG,GAAG;GACzD,SAAS,KAAK;IACZ,QAAQ,MACN,2CAA2C,gBAAgB,IAC3D,GACF;GACF;EAEJ,GAAG,EAAE,OAAO,QAAiB;GAC3B,QAAQ,MACN,0CAA0C,gBAAgB,IAC1D,GACF;EACF,CAAC;EAED,aAAa,IAAI,YAAY;CAC/B;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACA,OAA6B,CAAC,GACC;EAC/B,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EAIpD,QAAO,MAHW,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,GAAG,EACrE,SAAS,KAAK,WAAW,IAC3B,CAAC,GACU,KAA2B;CACxC;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACe;EACf,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,CAAC;CACrD;AACF"}

package/dist/experimental/nats/index.d.cts

@@ -13,6 +13,20 @@ import { ConnectionOptions, Msg, NatsConnection } from "@nats-io/nats-core";
 declare function buildNatsServerUrl(instanceUrl: string): string;
 //#endregion
 //#region src/lib/experimental/nats/generated/types.d.ts
+/**
+ * AUTO-GENERATED FILE - DO NOT EDIT.
+ * Generated from src/asyncapi.yaml by scripts/generate-nats-client.ts.
+ * Run `pnpm generate:nats` to regenerate.
+ */
+/**
+ * A unique name for the cell used as an identifier for addressing the cell in all API calls.
+ * It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "CellName".
+ */
+type CellName = string;
 /**
  * A description of the cell.
  *
@@ -58,6 +72,20 @@ type ContainerEnvironment = {
   name: string;
   value: string;
 }[];
+/**
+ * The amount of requested storage capacity.
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Capacity".
+ */
+type Capacity = string;
+/**
+ * The state of a program run.
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "ProgramRunState".
+ */
+type ProgramRunState = "PREPARING" | "RUNNING" | "COMPLETED" | "FAILED" | "STOPPED";
 /**
  * State of the program run.
  */
@@ -107,6 +135,25 @@ type Vector3D = [number, number, number];
  * via the `definition` "RotationVector".
  */
 type RotationVector = [number, number, number];
+/**
+ * A link chain is a kinematic chain of links that is connected via joints.
+ * A motion group can be used to control the motion of the joints in a link chain.
+ *
+ * A link is a group of colliders that is attached to the link reference frame.
+ *
+ * The reference frame of a link is obtained after applying all sets of Denavit-Hartenberg-parameters from base to (including) the link index.
+ *
+ * This means that the reference frame of the link is on the rotation axis of the next joint in the kinematic chain.
+ * Example: For a motion group with 2 joints, the collider reference frame (CRF) for link 1 is on the rotation axis of joint 2. The chain looks like:
+ * - Origin >> Mounting >> Base >> (CRF Base) Joint 0 >> Link 0 >> (CRF Link 0) Joint 1 >> Link 1 >> (CRF Link 1) Flange (CRF Tool) >> TCP
+ *
+ * Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "LinkChain".
+ */
+type LinkChain = CollisionMotionGroupLink[];
 /**
  * The shape of the motion groups links to validate against colliders.
  * Indexed along the kinematic chain, starting with a static base shape before first joint.
@@ -134,6 +181,50 @@ type IOValue = IOBooleanValue | IOIntegerValue | IOFloatValue;
  * via the `definition` "ListIOValuesResponse".
  */
 type ListIOValuesResponse = IOValue[];
+/**
+ * Defines the current system mode of the robot system, including NOVA communicating with the robot controller.
+ *
+ * ### MODE_CONTROLLER_NOT_CONFIGURED
+ *
+ * No controller with the specified identifier is configured. Call [addRobotController](#/operations/addRobotController) to register a controller.
+ *
+ * ### MODE_INITIALIZING
+ *
+ * Indicates that a connection to the robot controller is established or reestablished in case of a disconnect.
+ * On success, the controller is set to MODE_MONITOR.
+ * On failure, the initialization process is retried until successful or cancelled by the user.
+ *
+ * ### MODE_MONITOR
+ *
+ * Read-only mode with an active controller connection.
+ * - Receives robot state and I/O signals
+ * - Move requests are rejected
+ * - No commands are sent to the controller
+ *
+ * ### MODE_CONTROL
+ *
+ * Active control mode.
+ *
+ * **Movement is possible in this mode**
+ *
+ * The robot is cyclically commanded to hold its current position.
+ * The robot state is received in sync with the controller cycle.
+ * Motion and jogging requests are accepted and executed.
+ * Input/Output interaction is enabled.
+ *
+ * ### MODE_FREE_DRIVE
+ *
+ * Read-only mode with servo motors enabled for manual movement (Free Drive).
+ *
+ * Move requests are rejected.
+ *
+ * Not supported by all robots: Use [getSupportedModes](#/operations/getSupportedModes) to check Free Drive availability.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "RobotSystemMode".
+ */
+type RobotSystemMode = "MODE_CONTROLLER_NOT_CONFIGURED" | "MODE_INITIALIZING" | "MODE_MONITOR" | "MODE_CONTROL" | "MODE_FREE_DRIVE";
 /**
  * Current operation mode of the configured robot controller.
  * Operation modes in which the attached motion groups can be moved are:
@@ -160,6 +251,28 @@ type OperationMode = "OPERATION_MODE_UNKNOWN" | "OPERATION_MODE_NO_CONTROLLER" |
  * via the `definition` "SafetyStateType".
  */
 type SafetyStateType = "SAFETY_STATE_UNKNOWN" | "SAFETY_STATE_FAULT" | "SAFETY_STATE_NORMAL" | "SAFETY_STATE_MASTERING" | "SAFETY_STATE_CONFIRM_SAFETY" | "SAFETY_STATE_OPERATOR_SAFETY" | "SAFETY_STATE_PROTECTIVE_STOP" | "SAFETY_STATE_REDUCED" | "SAFETY_STATE_STOP" | "SAFETY_STATE_STOP_0" | "SAFETY_STATE_STOP_1" | "SAFETY_STATE_STOP_2" | "SAFETY_STATE_RECOVERY" | "SAFETY_STATE_DEVICE_EMERGENCY_STOP" | "SAFETY_STATE_ROBOT_EMERGENCY_STOP" | "SAFETY_STATE_VIOLATION";
+/**
+ * This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.
+ *
+ * Float precision is the default.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Joints".
+ */
+type Joints = number[];
+/**
+ * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,
+ *   where `n` denotes the number of motion commands
+ * - Each integer value of the location corresponds to a specific motion command,
+ *   while non-integer values interpolate positions within the segments.
+ * - The location is calculated from the joint path
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Location".
+ */
+type Location = number;
 /**
  * Current joint position of each joint.
  * The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
@@ -1122,6 +1235,20 @@ interface ColliderDictionary {
 interface CollisionMotionGroupLink {
   [k: string]: Collider;
 }
+/**
+ * Defines the shape of a tool.
+ *
+ * A tool is a dictionary of colliders.
+ *
+ * All colliders that make up a tool are attached to the flange frame of the motion group.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Tool".
+ */
+interface CollisionMotionGroupTool {
+  [k: string]: Collider;
+}
 /**
  * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
  * via the `definition` "CollisionSetup".
@@ -1259,6 +1386,20 @@ interface StreamIOValuesResponse {
    */
   sequence_number: number;
 }
+/**
+ * Indicates which joint of the motion group is in a limit.
+ * If a joint is in its limit, only this joint can be moved. Movements that affect any other joints are not executed.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "MotionGroupState_JointLimitReached".
+ */
+interface MotionGroupState_JointLimitReached {
+  /**
+   * If true, operational (soft) jointLimit is reached for specific joint.
+   */
+  limit_reached: boolean[];
+}
 /**
  * Jogging is active.
  *
@@ -1437,6 +1578,24 @@ interface TrajectoryDetails {
    */
   kind: "TRAJECTORY";
 }
+/**
+ * Details about the state of the motion execution.
+ * The details are either for a jogging or a trajectory.
+ * If NOVA is not controlling this motion group at the moment, this field is omitted.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Execute".
+ */
+interface Execute {
+  /**
+   * Commanded joint position of each joint. This command was sent in the time step the corresponding state was received.
+   * The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
+   *
+   */
+  joint_position: number[];
+  details?: JoggingDetails | TrajectoryDetails;
+}
 /**
  * Presents the current state of the motion group.
  *
@@ -3015,7 +3174,7 @@ type NatsPublishSubject = keyof NatsPublishPayloads;
 //#endregion
 //#region src/lib/experimental/nats/NovaNatsClient.d.ts
 type NovaNatsClientConfig = ConnectionOptions;
-type NatsMessageHandler<K extends NatsSubscribeSubject> = (payload: NatsSubscribePayloads[K], msg: Msg) => void;
+type NatsMessageHandler<K extends NatsSubscribeSubject> = (payload: NatsSubscribePayloads[K], msg: Msg) => void | Promise<void>;
 type SubscribeArgs<K extends NatsSubscribeSubject> = keyof NatsOperationParams[K] extends never ? [handler: NatsMessageHandler<K>] : [params: NatsOperationParams[K], handler: NatsMessageHandler<K>];
 /**
  * Typed NATS client for the Wandelbots NOVA messaging API, generated from
@@ -3043,6 +3202,10 @@ declare class NovaNatsClient {
    * `"nova.v2.cells.{cell}"`, with `{param}` placeholders filled in from
    * `params`.
    *
+   * Errors decoding a message or thrown/rejected by `handler` are caught and
+   * logged per-message, so one bad message doesn't stop later messages on
+   * the same subscription from being handled.
+   *
    * Returns a function that unsubscribes when called.
    */
   subscribe<K extends NatsSubscribeSubject>(subject: K, ...args: SubscribeArgs<K>): Promise<() => void>;
@@ -3068,5 +3231,5 @@ declare class NovaNatsClient {
   publish<K extends NatsPublishSubject>(subject: K, params: NatsOperationParams[K], payload: NatsPublishPayloads[K]): Promise<void>;
 }
 //#endregion
-export { type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, NovaNatsClient, type NovaNatsClientConfig, buildNatsServerUrl };
+export { type AbbController, type AddVirtualControllerMotionGroupRequest, type App, type AppCreatedEvent, type AppDeletedEvent, type AppEventData, type AppUpdatedEvent, type Box, type BusIOsState, type BusIOsStateEnum, type Capacity, type Capsule, type CartesianLimits, type Cell, type CellCreatedEvent, type CellCycleEvent, type CellDeletedEvent, type CellDescription, type CellEventData, type CellName, type CellUpdatedEvent, type CloudEvent, type Collider, type ColliderDictionary, type ColliderDictionary1, type ColliderDictionary2, type CollisionMotionGroupLink, type CollisionMotionGroupTool, type CollisionMotionGroupTool1, type CollisionSetup, type ContainerEnvironment, type ContainerImage, type ContainerResources, type ContainerStorage, type ControllerNetworkInterface, type ConvexHull, type Cylinder, type DHParameter, type Execute, type Execute1, type FanucController, type IOBooleanValue, type IOFloatValue, type IOIntegerValue, type IOValue, type ImageCredentials, type JoggingDetails, type JoggingPausedByUser, type JoggingPausedNearCollision, type JoggingPausedNearJointLimit, type JoggingPausedNearSingularity, type JoggingPausedOnIO, type JoggingRunning, type JointLimits, type JointTypeEnum, type Joints, type Joints1, type Joints2, type Joints3, type KukaController, type LimitRange, type LimitSet, type LinkChain, type LinkChain1, type ListIOValuesResponse, type Location, type Manufacturer, type MotionGroupDescription, type MotionGroupFromJSON, type MotionGroupFromModel, type MotionGroupModel, type MotionGroupState, type MotionGroupState1, type MotionGroupState_JointLimitReached, type MotionGroupState_JointLimitReached1, type NatsErrorPayload, type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, type NetworkState, type NetworkStatusChangedEvent, NovaNatsClient, type NovaNatsClientConfig, type OperatingState, type OperationLimits, type OperationMode, type Payload, type PayloadDictionary, type Plane, type Pose, type Pose1, type Pose2, type Pose3, type Pose4, type Pose5, type ProgramRunState, type ProgramRunState1, type ProgramStatus, type Rectangle, type RectangularCapsule, type RobotController, type RobotControllerCreatedEvent, type RobotControllerDeletedEvent, type RobotControllerEventData, type RobotControllerState, type RobotControllerUpdatedEvent, type RobotSystemMode, type RotationVector, type SafetyStateType, type SafetyToolColliders, type SelectIOs, type ServiceGroup, type ServiceStatus, type ServiceStatusList, type ServiceStatusPhase, type ServiceStatusSeverity, type Sphere, type StreamIOValuesResponse, type SystemUpdateCompletedEvent, type SystemUpdateStartedEvent, type TcpOffset, type TcpOffsetDictionary, type TrajectoryDetails, type TrajectoryEnded, type TrajectoryPausedByUser, type TrajectoryPausedOnIO, type TrajectoryRunning, type TrajectoryWaitForIO, type UniversalrobotsController, type Vector3D, type Vector3D1, type Vector3D2, type VirtualController, type YaskawaController, buildNatsServerUrl };
 //# sourceMappingURL=index.d.cts.map

package/dist/experimental/nats/index.d.cts.map

@@ -1 +1 @@
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package/dist/experimental/nats/index.d.mts

@@ -13,6 +13,20 @@ import { ConnectionOptions, Msg, NatsConnection } from "@nats-io/nats-core";
 declare function buildNatsServerUrl(instanceUrl: string): string;
 //#endregion
 //#region src/lib/experimental/nats/generated/types.d.ts
+/**
+ * AUTO-GENERATED FILE - DO NOT EDIT.
+ * Generated from src/asyncapi.yaml by scripts/generate-nats-client.ts.
+ * Run `pnpm generate:nats` to regenerate.
+ */
+/**
+ * A unique name for the cell used as an identifier for addressing the cell in all API calls.
+ * It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "CellName".
+ */
+type CellName = string;
 /**
  * A description of the cell.
  *
@@ -58,6 +72,20 @@ type ContainerEnvironment = {
   name: string;
   value: string;
 }[];
+/**
+ * The amount of requested storage capacity.
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Capacity".
+ */
+type Capacity = string;
+/**
+ * The state of a program run.
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "ProgramRunState".
+ */
+type ProgramRunState = "PREPARING" | "RUNNING" | "COMPLETED" | "FAILED" | "STOPPED";
 /**
  * State of the program run.
  */
@@ -107,6 +135,25 @@ type Vector3D = [number, number, number];
  * via the `definition` "RotationVector".
  */
 type RotationVector = [number, number, number];
+/**
+ * A link chain is a kinematic chain of links that is connected via joints.
+ * A motion group can be used to control the motion of the joints in a link chain.
+ *
+ * A link is a group of colliders that is attached to the link reference frame.
+ *
+ * The reference frame of a link is obtained after applying all sets of Denavit-Hartenberg-parameters from base to (including) the link index.
+ *
+ * This means that the reference frame of the link is on the rotation axis of the next joint in the kinematic chain.
+ * Example: For a motion group with 2 joints, the collider reference frame (CRF) for link 1 is on the rotation axis of joint 2. The chain looks like:
+ * - Origin >> Mounting >> Base >> (CRF Base) Joint 0 >> Link 0 >> (CRF Link 0) Joint 1 >> Link 1 >> (CRF Link 1) Flange (CRF Tool) >> TCP
+ *
+ * Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "LinkChain".
+ */
+type LinkChain = CollisionMotionGroupLink[];
 /**
  * The shape of the motion groups links to validate against colliders.
  * Indexed along the kinematic chain, starting with a static base shape before first joint.
@@ -134,6 +181,50 @@ type IOValue = IOBooleanValue | IOIntegerValue | IOFloatValue;
  * via the `definition` "ListIOValuesResponse".
  */
 type ListIOValuesResponse = IOValue[];
+/**
+ * Defines the current system mode of the robot system, including NOVA communicating with the robot controller.
+ *
+ * ### MODE_CONTROLLER_NOT_CONFIGURED
+ *
+ * No controller with the specified identifier is configured. Call [addRobotController](#/operations/addRobotController) to register a controller.
+ *
+ * ### MODE_INITIALIZING
+ *
+ * Indicates that a connection to the robot controller is established or reestablished in case of a disconnect.
+ * On success, the controller is set to MODE_MONITOR.
+ * On failure, the initialization process is retried until successful or cancelled by the user.
+ *
+ * ### MODE_MONITOR
+ *
+ * Read-only mode with an active controller connection.
+ * - Receives robot state and I/O signals
+ * - Move requests are rejected
+ * - No commands are sent to the controller
+ *
+ * ### MODE_CONTROL
+ *
+ * Active control mode.
+ *
+ * **Movement is possible in this mode**
+ *
+ * The robot is cyclically commanded to hold its current position.
+ * The robot state is received in sync with the controller cycle.
+ * Motion and jogging requests are accepted and executed.
+ * Input/Output interaction is enabled.
+ *
+ * ### MODE_FREE_DRIVE
+ *
+ * Read-only mode with servo motors enabled for manual movement (Free Drive).
+ *
+ * Move requests are rejected.
+ *
+ * Not supported by all robots: Use [getSupportedModes](#/operations/getSupportedModes) to check Free Drive availability.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "RobotSystemMode".
+ */
+type RobotSystemMode = "MODE_CONTROLLER_NOT_CONFIGURED" | "MODE_INITIALIZING" | "MODE_MONITOR" | "MODE_CONTROL" | "MODE_FREE_DRIVE";
 /**
  * Current operation mode of the configured robot controller.
  * Operation modes in which the attached motion groups can be moved are:
@@ -160,6 +251,28 @@ type OperationMode = "OPERATION_MODE_UNKNOWN" | "OPERATION_MODE_NO_CONTROLLER" |
  * via the `definition` "SafetyStateType".
  */
 type SafetyStateType = "SAFETY_STATE_UNKNOWN" | "SAFETY_STATE_FAULT" | "SAFETY_STATE_NORMAL" | "SAFETY_STATE_MASTERING" | "SAFETY_STATE_CONFIRM_SAFETY" | "SAFETY_STATE_OPERATOR_SAFETY" | "SAFETY_STATE_PROTECTIVE_STOP" | "SAFETY_STATE_REDUCED" | "SAFETY_STATE_STOP" | "SAFETY_STATE_STOP_0" | "SAFETY_STATE_STOP_1" | "SAFETY_STATE_STOP_2" | "SAFETY_STATE_RECOVERY" | "SAFETY_STATE_DEVICE_EMERGENCY_STOP" | "SAFETY_STATE_ROBOT_EMERGENCY_STOP" | "SAFETY_STATE_VIOLATION";
+/**
+ * This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.
+ *
+ * Float precision is the default.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Joints".
+ */
+type Joints = number[];
+/**
+ * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,
+ *   where `n` denotes the number of motion commands
+ * - Each integer value of the location corresponds to a specific motion command,
+ *   while non-integer values interpolate positions within the segments.
+ * - The location is calculated from the joint path
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Location".
+ */
+type Location = number;
 /**
  * Current joint position of each joint.
  * The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
@@ -1122,6 +1235,20 @@ interface ColliderDictionary {
 interface CollisionMotionGroupLink {
   [k: string]: Collider;
 }
+/**
+ * Defines the shape of a tool.
+ *
+ * A tool is a dictionary of colliders.
+ *
+ * All colliders that make up a tool are attached to the flange frame of the motion group.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Tool".
+ */
+interface CollisionMotionGroupTool {
+  [k: string]: Collider;
+}
 /**
  * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
  * via the `definition` "CollisionSetup".
@@ -1259,6 +1386,20 @@ interface StreamIOValuesResponse {
    */
   sequence_number: number;
 }
+/**
+ * Indicates which joint of the motion group is in a limit.
+ * If a joint is in its limit, only this joint can be moved. Movements that affect any other joints are not executed.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "MotionGroupState_JointLimitReached".
+ */
+interface MotionGroupState_JointLimitReached {
+  /**
+   * If true, operational (soft) jointLimit is reached for specific joint.
+   */
+  limit_reached: boolean[];
+}
 /**
  * Jogging is active.
  *
@@ -1437,6 +1578,24 @@ interface TrajectoryDetails {
    */
   kind: "TRAJECTORY";
 }
+/**
+ * Details about the state of the motion execution.
+ * The details are either for a jogging or a trajectory.
+ * If NOVA is not controlling this motion group at the moment, this field is omitted.
+ *
+ *
+ * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
+ * via the `definition` "Execute".
+ */
+interface Execute {
+  /**
+   * Commanded joint position of each joint. This command was sent in the time step the corresponding state was received.
+   * The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
+   *
+   */
+  joint_position: number[];
+  details?: JoggingDetails | TrajectoryDetails;
+}
 /**
  * Presents the current state of the motion group.
  *
@@ -3015,7 +3174,7 @@ type NatsPublishSubject = keyof NatsPublishPayloads;
 //#endregion
 //#region src/lib/experimental/nats/NovaNatsClient.d.ts
 type NovaNatsClientConfig = ConnectionOptions;
-type NatsMessageHandler<K extends NatsSubscribeSubject> = (payload: NatsSubscribePayloads[K], msg: Msg) => void;
+type NatsMessageHandler<K extends NatsSubscribeSubject> = (payload: NatsSubscribePayloads[K], msg: Msg) => void | Promise<void>;
 type SubscribeArgs<K extends NatsSubscribeSubject> = keyof NatsOperationParams[K] extends never ? [handler: NatsMessageHandler<K>] : [params: NatsOperationParams[K], handler: NatsMessageHandler<K>];
 /**
  * Typed NATS client for the Wandelbots NOVA messaging API, generated from
@@ -3043,6 +3202,10 @@ declare class NovaNatsClient {
    * `"nova.v2.cells.{cell}"`, with `{param}` placeholders filled in from
    * `params`.
    *
+   * Errors decoding a message or thrown/rejected by `handler` are caught and
+   * logged per-message, so one bad message doesn't stop later messages on
+   * the same subscription from being handled.
+   *
    * Returns a function that unsubscribes when called.
    */
   subscribe<K extends NatsSubscribeSubject>(subject: K, ...args: SubscribeArgs<K>): Promise<() => void>;
@@ -3068,5 +3231,5 @@ declare class NovaNatsClient {
   publish<K extends NatsPublishSubject>(subject: K, params: NatsOperationParams[K], payload: NatsPublishPayloads[K]): Promise<void>;
 }
 //#endregion
-export { type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, NovaNatsClient, type NovaNatsClientConfig, buildNatsServerUrl };
+export { type AbbController, type AddVirtualControllerMotionGroupRequest, type App, type AppCreatedEvent, type AppDeletedEvent, type AppEventData, type AppUpdatedEvent, type Box, type BusIOsState, type BusIOsStateEnum, type Capacity, type Capsule, type CartesianLimits, type Cell, type CellCreatedEvent, type CellCycleEvent, type CellDeletedEvent, type CellDescription, type CellEventData, type CellName, type CellUpdatedEvent, type CloudEvent, type Collider, type ColliderDictionary, type ColliderDictionary1, type ColliderDictionary2, type CollisionMotionGroupLink, type CollisionMotionGroupTool, type CollisionMotionGroupTool1, type CollisionSetup, type ContainerEnvironment, type ContainerImage, type ContainerResources, type ContainerStorage, type ControllerNetworkInterface, type ConvexHull, type Cylinder, type DHParameter, type Execute, type Execute1, type FanucController, type IOBooleanValue, type IOFloatValue, type IOIntegerValue, type IOValue, type ImageCredentials, type JoggingDetails, type JoggingPausedByUser, type JoggingPausedNearCollision, type JoggingPausedNearJointLimit, type JoggingPausedNearSingularity, type JoggingPausedOnIO, type JoggingRunning, type JointLimits, type JointTypeEnum, type Joints, type Joints1, type Joints2, type Joints3, type KukaController, type LimitRange, type LimitSet, type LinkChain, type LinkChain1, type ListIOValuesResponse, type Location, type Manufacturer, type MotionGroupDescription, type MotionGroupFromJSON, type MotionGroupFromModel, type MotionGroupModel, type MotionGroupState, type MotionGroupState1, type MotionGroupState_JointLimitReached, type MotionGroupState_JointLimitReached1, type NatsErrorPayload, type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, type NetworkState, type NetworkStatusChangedEvent, NovaNatsClient, type NovaNatsClientConfig, type OperatingState, type OperationLimits, type OperationMode, type Payload, type PayloadDictionary, type Plane, type Pose, type Pose1, type Pose2, type Pose3, type Pose4, type Pose5, type ProgramRunState, type ProgramRunState1, type ProgramStatus, type Rectangle, type RectangularCapsule, type RobotController, type RobotControllerCreatedEvent, type RobotControllerDeletedEvent, type RobotControllerEventData, type RobotControllerState, type RobotControllerUpdatedEvent, type RobotSystemMode, type RotationVector, type SafetyStateType, type SafetyToolColliders, type SelectIOs, type ServiceGroup, type ServiceStatus, type ServiceStatusList, type ServiceStatusPhase, type ServiceStatusSeverity, type Sphere, type StreamIOValuesResponse, type SystemUpdateCompletedEvent, type SystemUpdateStartedEvent, type TcpOffset, type TcpOffsetDictionary, type TrajectoryDetails, type TrajectoryEnded, type TrajectoryPausedByUser, type TrajectoryPausedOnIO, type TrajectoryRunning, type TrajectoryWaitForIO, type UniversalrobotsController, type Vector3D, type Vector3D1, type Vector3D2, type VirtualController, type YaskawaController, buildNatsServerUrl };
 //# sourceMappingURL=index.d.mts.map

package/dist/experimental/nats/index.d.mts.map

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package/dist/experimental/nats/index.mjs

@@ -22,9 +22,10 @@ function buildNatsServerUrl(instanceUrl) {
 */
 function isValidSubjectChar(char) {
 	const code = char.charCodeAt(0);
-	return code >= 48 && code <= 57 || code >= 65 && code <= 90 || code >= 97 && code <= 122 || char === "-" || char === "_" || char === "*";
+	return code >= 48 && code <= 57 || code >= 65 && code <= 90 || code >= 97 && code <= 122 || char === "-" || char === "_";
 }
 function isValidSubjectValue(value) {
+	if (value === "*") return true;
 	if (value.length === 0) return false;
 	for (const char of value) if (!isValidSubjectChar(char)) return false;
 	return true;
@@ -99,6 +100,10 @@ var NovaNatsClient = class {
 	* `"nova.v2.cells.{cell}"`, with `{param}` placeholders filled in from
 	* `params`.
 	*
+	* Errors decoding a message or thrown/rejected by `handler` are caught and
+	* logged per-message, so one bad message doesn't stop later messages on
+	* the same subscription from being handled.
+	*
 	* Returns a function that unsubscribes when called.
 	*/
 	async subscribe(subject, ...args) {
@@ -107,9 +112,13 @@ var NovaNatsClient = class {
 		const resolvedSubject = buildSubject(subject, params);
 		const sub = nc.subscribe(resolvedSubject);
 		(async () => {
-			for await (const msg of sub) handler(msg.json(), msg);
+			for await (const msg of sub) try {
+				await handler(msg.json(), msg);
+			} catch (err) {
+				console.error(`Error handling NATS message on subject "${resolvedSubject}"`, err);
+			}
 		})().catch((err) => {
-			console.error(`Error handling NATS subscription for "${resolvedSubject}"`, err);
+			console.error(`NATS subscription iterator failed for "${resolvedSubject}"`, err);
 		});
 		return () => sub.unsubscribe();
 	}

package/dist/experimental/nats/index.mjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/experimental/nats/buildNatsServerUrl.ts","../../../src/lib/experimental/nats/buildSubject.ts","../../../src/lib/experimental/nats/NovaNatsClient.ts"],"sourcesContent":["import { parseNovaInstanceUrl } from \"../../converters.ts\"\n\n/**\n * Builds the WebSocket URL for a NOVA instance's NATS gateway from its\n * instance URL, e.g. `https://foo.instance.wandelbots.io` becomes\n * `wss://foo.instance.wandelbots.io/api/nats`.\n *\n * Pass the result as `servers` in the `NovaNatsClientConfig` passed to\n * `NovaNatsClient`.\n */\nexport function buildNatsServerUrl(instanceUrl: string): string {\n  const url = parseNovaInstanceUrl(instanceUrl)\n  const protocol = url.protocol === \"https:\" ? \"wss:\" : \"ws:\"\n  return `${protocol}//${url.host}/api/nats`\n}\n","/**\n * Builds a NATS subject from an AsyncAPI-style channel address template\n * (e.g. `\"{instance}.v2.cells.{cell}\"`) by substituting each `{param}`\n * placeholder with the corresponding value from `params`.\n */\n\nfunction isValidSubjectChar(char: string): boolean {\n  const code = char.charCodeAt(0)\n  return (\n    (code >= 48 && code <= 57) || // 0-9\n    (code >= 65 && code <= 90) || // A-Z\n    (code >= 97 && code <= 122) || // a-z\n    char === \"-\" ||\n    char === \"_\" ||\n    char === \"*\"\n  )\n}\n\nfunction isValidSubjectValue(value: string): boolean {\n  if (value.length === 0) return false\n  for (const char of value) {\n    if (!isValidSubjectChar(char)) return false\n  }\n  return true\n}\n\nexport function buildSubject(\n  template: string,\n  params: Record<string, string>,\n): string {\n  // Scanned manually (rather than with a regex like /\\{([^}]+)\\}/g) to avoid\n  // a polynomial-time backtracking blowup on pathological input, e.g. a\n  // template consisting of many \"{\" characters with no closing \"}\".\n  let result = \"\"\n  let cursor = 0\n\n  while (cursor < template.length) {\n    const openIndex = template.indexOf(\"{\", cursor)\n    if (openIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    const closeIndex = template.indexOf(\"}\", openIndex + 1)\n    if (closeIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    result += template.slice(cursor, openIndex)\n    const paramName = template.slice(openIndex + 1, closeIndex)\n    const value = params[paramName]\n    if (value === undefined) {\n      throw new Error(\n        `Missing value for subject parameter \"${paramName}\" in template \"${template}\"`,\n      )\n    }\n    if (!isValidSubjectValue(value)) {\n      throw new Error(\n        `Invalid value for subject parameter \"${paramName}\": \"${value}\" (must be non-empty and contain only letters, digits, \"-\", and \"_\")`,\n      )\n    }\n    result += value\n\n    cursor = closeIndex + 1\n  }\n\n  return result\n}\n","import {\n  type ConnectionOptions,\n  type Msg,\n  type NatsConnection,\n  wsconnect,\n} from \"@nats-io/nats-core\"\nimport type { Nova } from \"../../Nova.ts\"\nimport { buildNatsServerUrl } from \"./buildNatsServerUrl.ts\"\nimport { buildSubject } from \"./buildSubject.ts\"\nimport type {\n  NatsOperationParams,\n  NatsPublishPayloads,\n  NatsPublishSubject,\n  NatsReplyPayloads,\n  NatsRequestPayloads,\n  NatsRequestSubject,\n  NatsSubscribePayloads,\n  NatsSubscribeSubject,\n} from \"./generated/operations.ts\"\n\nexport type NovaNatsClientConfig = ConnectionOptions\n\ntype NatsMessageHandler<K extends NatsSubscribeSubject> = (\n  payload: NatsSubscribePayloads[K],\n  msg: Msg,\n) => void\n\ntype SubscribeArgs<K extends NatsSubscribeSubject> =\n  keyof NatsOperationParams[K] extends never\n    ? [handler: NatsMessageHandler<K>]\n    : [params: NatsOperationParams[K], handler: NatsMessageHandler<K>]\n\n/**\n * Typed NATS client for the Wandelbots NOVA messaging API, generated from\n * src/asyncapi.yaml (see scripts/generate-nats-client.ts).\n *\n * Connects over WebSocket via `@nats-io/nats-core`'s `wsconnect`.\n */\nexport class NovaNatsClient {\n  readonly config: NovaNatsClientConfig\n  private connectionPromise: Promise<NatsConnection> | null = null\n\n  constructor(nova: Nova, config: NovaNatsClientConfig = {}) {\n    this.config = {\n      servers: buildNatsServerUrl(nova.instanceUrl.href),\n      ...config,\n    }\n  }\n\n  /**\n   * Connects to NATS if not already connected or connecting, and returns the\n   * connection. Safe to call concurrently: all callers share the same\n   * in-flight connection attempt instead of each starting their own.\n   */\n  connect(): Promise<NatsConnection> {\n    if (!this.connectionPromise) {\n      this.connectionPromise = wsconnect(this.config).catch((err: unknown) => {\n        // Allow a subsequent connect() call to retry after a failed attempt.\n        this.connectionPromise = null\n        throw err\n      })\n    }\n    return this.connectionPromise\n  }\n\n  /** Closes the underlying NATS connection, if open or connecting. */\n  async close(): Promise<void> {\n    const connectionPromise = this.connectionPromise\n    this.connectionPromise = null\n    if (!connectionPromise) return\n    try {\n      const nc = await connectionPromise\n      await nc.close()\n    } catch {\n      // Connection never succeeded; nothing to close.\n    }\n  }\n\n  /**\n   * Subscribes to a NATS subject published by the server, invoking `handler`\n   * with the JSON-decoded payload of every message received.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}\"`, with `{param}` placeholders filled in from\n   * `params`.\n   *\n   * Returns a function that unsubscribes when called.\n   */\n  async subscribe<K extends NatsSubscribeSubject>(\n    subject: K,\n    ...args: SubscribeArgs<K>\n  ): Promise<() => void> {\n    const [params, handler] =\n      args.length === 1\n        ? ([{}, args[0]] as const)\n        : ([args[0], args[1]] as const)\n\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const sub = nc.subscribe(resolvedSubject)\n\n    ;(async () => {\n      for await (const msg of sub) {\n        handler(msg.json<NatsSubscribePayloads[K]>(), msg)\n      }\n    })().catch((err: unknown) => {\n      console.error(\n        `Error handling NATS subscription for \"${resolvedSubject}\"`,\n        err,\n      )\n    })\n\n    return () => sub.unsubscribe()\n  }\n\n  /**\n   * Sends a request payload for a NATS subject the server receives, and\n   * waits for the JSON-decoded reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async request<K extends NatsRequestSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsRequestPayloads[K],\n    opts: { timeout?: number } = {},\n  ): Promise<NatsReplyPayloads[K]> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const msg = await nc.request(resolvedSubject, JSON.stringify(payload), {\n      timeout: opts.timeout ?? 5000,\n    })\n    return msg.json<NatsReplyPayloads[K]>()\n  }\n\n  /**\n   * Publishes a JSON payload to any NATS subject defined in the spec,\n   * without waiting for a reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async publish<K extends NatsPublishSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsPublishPayloads[K],\n  ): Promise<void> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    nc.publish(resolvedSubject, JSON.stringify(payload))\n  }\n}\n"],"mappings":";;;;;;;;;;;AAUA,SAAgB,mBAAmB,aAA6B;CAC9D,MAAM,MAAM,qBAAqB,WAAW;CAE5C,OAAO,GADU,IAAI,aAAa,WAAW,SAAS,MACnC,IAAI,IAAI,KAAK;AAClC;;;;;;;;ACRA,SAAS,mBAAmB,MAAuB;CACjD,MAAM,OAAO,KAAK,WAAW,CAAC;CAC9B,OACG,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,OACvB,SAAS,OACT,SAAS,OACT,SAAS;AAEb;AAEA,SAAS,oBAAoB,OAAwB;CACnD,IAAI,MAAM,WAAW,GAAG,OAAO;CAC/B,KAAK,MAAM,QAAQ,OACjB,IAAI,CAAC,mBAAmB,IAAI,GAAG,OAAO;CAExC,OAAO;AACT;AAEA,SAAgB,aACd,UACA,QACQ;CAIR,IAAI,SAAS;CACb,IAAI,SAAS;CAEb,OAAO,SAAS,SAAS,QAAQ;EAC/B,MAAM,YAAY,SAAS,QAAQ,KAAK,MAAM;EAC9C,IAAI,cAAc,IAAI;GACpB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,MAAM,aAAa,SAAS,QAAQ,KAAK,YAAY,CAAC;EACtD,IAAI,eAAe,IAAI;GACrB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,UAAU,SAAS,MAAM,QAAQ,SAAS;EAC1C,MAAM,YAAY,SAAS,MAAM,YAAY,GAAG,UAAU;EAC1D,MAAM,QAAQ,OAAO;EACrB,IAAI,UAAU,KAAA,GACZ,MAAM,IAAI,MACR,wCAAwC,UAAU,iBAAiB,SAAS,EAC9E;EAEF,IAAI,CAAC,oBAAoB,KAAK,GAC5B,MAAM,IAAI,MACR,wCAAwC,UAAU,MAAM,MAAM,qEAChE;EAEF,UAAU;EAEV,SAAS,aAAa;CACxB;CAEA,OAAO;AACT;;;;;;;;;AC9BA,IAAa,iBAAb,MAA4B;CAC1B;CACA,oBAA4D;CAE5D,YAAY,MAAY,SAA+B,CAAC,GAAG;EACzD,KAAK,SAAS;GACZ,SAAS,mBAAmB,KAAK,YAAY,IAAI;GACjD,GAAG;EACL;CACF;;;;;;CAOA,UAAmC;EACjC,IAAI,CAAC,KAAK,mBACR,KAAK,oBAAoB,UAAU,KAAK,MAAM,EAAE,OAAO,QAAiB;GAEtE,KAAK,oBAAoB;GACzB,MAAM;EACR,CAAC;EAEH,OAAO,KAAK;CACd;;CAGA,MAAM,QAAuB;EAC3B,MAAM,oBAAoB,KAAK;EAC/B,KAAK,oBAAoB;EACzB,IAAI,CAAC,mBAAmB;EACxB,IAAI;GAEF,OAAM,MADW,mBACR,MAAM;EACjB,QAAQ,CAER;CACF;;;;;;;;;;;CAYA,MAAM,UACJ,SACA,GAAG,MACkB;EACrB,MAAM,CAAC,QAAQ,WACb,KAAK,WAAW,IACX,CAAC,CAAC,GAAG,KAAK,EAAE,IACZ,CAAC,KAAK,IAAI,KAAK,EAAE;EAExB,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,MAAM,MAAM,GAAG,UAAU,eAAe;EAEvC,CAAC,YAAY;GACZ,WAAW,MAAM,OAAO,KACtB,QAAQ,IAAI,KAA+B,GAAG,GAAG;EAErD,GAAG,EAAE,OAAO,QAAiB;GAC3B,QAAQ,MACN,yCAAyC,gBAAgB,IACzD,GACF;EACF,CAAC;EAED,aAAa,IAAI,YAAY;CAC/B;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACA,OAA6B,CAAC,GACC;EAC/B,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EAIpD,QAAO,MAHW,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,GAAG,EACrE,SAAS,KAAK,WAAW,IAC3B,CAAC,GACU,KAA2B;CACxC;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACe;EACf,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,CAAC;CACrD;AACF"}
+{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/experimental/nats/buildNatsServerUrl.ts","../../../src/lib/experimental/nats/buildSubject.ts","../../../src/lib/experimental/nats/NovaNatsClient.ts"],"sourcesContent":["import { parseNovaInstanceUrl } from \"../../converters.ts\"\n\n/**\n * Builds the WebSocket URL for a NOVA instance's NATS gateway from its\n * instance URL, e.g. `https://foo.instance.wandelbots.io` becomes\n * `wss://foo.instance.wandelbots.io/api/nats`.\n *\n * Pass the result as `servers` in the `NovaNatsClientConfig` passed to\n * `NovaNatsClient`.\n */\nexport function buildNatsServerUrl(instanceUrl: string): string {\n  const url = parseNovaInstanceUrl(instanceUrl)\n  const protocol = url.protocol === \"https:\" ? \"wss:\" : \"ws:\"\n  return `${protocol}//${url.host}/api/nats`\n}\n","/**\n * Builds a NATS subject from an AsyncAPI-style channel address template\n * (e.g. `\"{instance}.v2.cells.{cell}\"`) by substituting each `{param}`\n * placeholder with the corresponding value from `params`.\n */\n\nfunction isValidSubjectChar(char: string): boolean {\n  const code = char.charCodeAt(0)\n  return (\n    (code >= 48 && code <= 57) || // 0-9\n    (code >= 65 && code <= 90) || // A-Z\n    (code >= 97 && code <= 122) || // a-z\n    char === \"-\" ||\n    char === \"_\"\n  )\n}\n\nfunction isValidSubjectValue(value: string): boolean {\n  // A bare \"*\" is the NATS single-token wildcard, allowed on its own (e.g.\n  // subscribing to all cells with `{ cell: \"*\" }\") but not as part of a\n  // larger value, since it wouldn't act as a wildcard there anyway.\n  if (value === \"*\") return true\n  if (value.length === 0) return false\n  for (const char of value) {\n    if (!isValidSubjectChar(char)) return false\n  }\n  return true\n}\n\nexport function buildSubject(\n  template: string,\n  params: Record<string, string>,\n): string {\n  // Scanned manually (rather than with a regex like /\\{([^}]+)\\}/g) to avoid\n  // a polynomial-time backtracking blowup on pathological input, e.g. a\n  // template consisting of many \"{\" characters with no closing \"}\".\n  let result = \"\"\n  let cursor = 0\n\n  while (cursor < template.length) {\n    const openIndex = template.indexOf(\"{\", cursor)\n    if (openIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    const closeIndex = template.indexOf(\"}\", openIndex + 1)\n    if (closeIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    result += template.slice(cursor, openIndex)\n    const paramName = template.slice(openIndex + 1, closeIndex)\n    const value = params[paramName]\n    if (value === undefined) {\n      throw new Error(\n        `Missing value for subject parameter \"${paramName}\" in template \"${template}\"`,\n      )\n    }\n    if (!isValidSubjectValue(value)) {\n      throw new Error(\n        `Invalid value for subject parameter \"${paramName}\": \"${value}\" (must be non-empty and contain only letters, digits, \"-\", and \"_\")`,\n      )\n    }\n    result += value\n\n    cursor = closeIndex + 1\n  }\n\n  return result\n}\n","import {\n  type ConnectionOptions,\n  type Msg,\n  type NatsConnection,\n  wsconnect,\n} from \"@nats-io/nats-core\"\nimport type { Nova } from \"../../Nova.ts\"\nimport { buildNatsServerUrl } from \"./buildNatsServerUrl.ts\"\nimport { buildSubject } from \"./buildSubject.ts\"\nimport type {\n  NatsOperationParams,\n  NatsPublishPayloads,\n  NatsPublishSubject,\n  NatsReplyPayloads,\n  NatsRequestPayloads,\n  NatsRequestSubject,\n  NatsSubscribePayloads,\n  NatsSubscribeSubject,\n} from \"./generated/operations.ts\"\n\nexport type NovaNatsClientConfig = ConnectionOptions\n\ntype NatsMessageHandler<K extends NatsSubscribeSubject> = (\n  payload: NatsSubscribePayloads[K],\n  msg: Msg,\n) => void | Promise<void>\n\ntype SubscribeArgs<K extends NatsSubscribeSubject> =\n  keyof NatsOperationParams[K] extends never\n    ? [handler: NatsMessageHandler<K>]\n    : [params: NatsOperationParams[K], handler: NatsMessageHandler<K>]\n\n/**\n * Typed NATS client for the Wandelbots NOVA messaging API, generated from\n * src/asyncapi.yaml (see scripts/generate-nats-client.ts).\n *\n * Connects over WebSocket via `@nats-io/nats-core`'s `wsconnect`.\n */\nexport class NovaNatsClient {\n  readonly config: NovaNatsClientConfig\n  private connectionPromise: Promise<NatsConnection> | null = null\n\n  constructor(nova: Nova, config: NovaNatsClientConfig = {}) {\n    this.config = {\n      servers: buildNatsServerUrl(nova.instanceUrl.href),\n      ...config,\n    }\n  }\n\n  /**\n   * Connects to NATS if not already connected or connecting, and returns the\n   * connection. Safe to call concurrently: all callers share the same\n   * in-flight connection attempt instead of each starting their own.\n   */\n  connect(): Promise<NatsConnection> {\n    if (!this.connectionPromise) {\n      this.connectionPromise = wsconnect(this.config).catch((err: unknown) => {\n        // Allow a subsequent connect() call to retry after a failed attempt.\n        this.connectionPromise = null\n        throw err\n      })\n    }\n    return this.connectionPromise\n  }\n\n  /** Closes the underlying NATS connection, if open or connecting. */\n  async close(): Promise<void> {\n    const connectionPromise = this.connectionPromise\n    this.connectionPromise = null\n    if (!connectionPromise) return\n    try {\n      const nc = await connectionPromise\n      await nc.close()\n    } catch {\n      // Connection never succeeded; nothing to close.\n    }\n  }\n\n  /**\n   * Subscribes to a NATS subject published by the server, invoking `handler`\n   * with the JSON-decoded payload of every message received.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}\"`, with `{param}` placeholders filled in from\n   * `params`.\n   *\n   * Errors decoding a message or thrown/rejected by `handler` are caught and\n   * logged per-message, so one bad message doesn't stop later messages on\n   * the same subscription from being handled.\n   *\n   * Returns a function that unsubscribes when called.\n   */\n  async subscribe<K extends NatsSubscribeSubject>(\n    subject: K,\n    ...args: SubscribeArgs<K>\n  ): Promise<() => void> {\n    const [params, handler] =\n      args.length === 1\n        ? ([{}, args[0]] as const)\n        : ([args[0], args[1]] as const)\n\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const sub = nc.subscribe(resolvedSubject)\n\n    ;(async () => {\n      for await (const msg of sub) {\n        // Handled per-message: a bad payload or a throwing/rejecting handler\n        // should not stop the subscription from processing later messages.\n        try {\n          await handler(msg.json<NatsSubscribePayloads[K]>(), msg)\n        } catch (err) {\n          console.error(\n            `Error handling NATS message on subject \"${resolvedSubject}\"`,\n            err,\n          )\n        }\n      }\n    })().catch((err: unknown) => {\n      console.error(\n        `NATS subscription iterator failed for \"${resolvedSubject}\"`,\n        err,\n      )\n    })\n\n    return () => sub.unsubscribe()\n  }\n\n  /**\n   * Sends a request payload for a NATS subject the server receives, and\n   * waits for the JSON-decoded reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async request<K extends NatsRequestSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsRequestPayloads[K],\n    opts: { timeout?: number } = {},\n  ): Promise<NatsReplyPayloads[K]> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    const msg = await nc.request(resolvedSubject, JSON.stringify(payload), {\n      timeout: opts.timeout ?? 5000,\n    })\n    return msg.json<NatsReplyPayloads[K]>()\n  }\n\n  /**\n   * Publishes a JSON payload to any NATS subject defined in the spec,\n   * without waiting for a reply.\n   *\n   * `subject` is the subject template as it appears on the wire, e.g.\n   * `\"nova.v2.cells.{cell}.bus-ios.ios.set\"`, with `{param}` placeholders\n   * filled in from `params`.\n   */\n  async publish<K extends NatsPublishSubject>(\n    subject: K,\n    params: NatsOperationParams[K],\n    payload: NatsPublishPayloads[K],\n  ): Promise<void> {\n    const nc = await this.connect()\n    const resolvedSubject = buildSubject(subject, params)\n    nc.publish(resolvedSubject, JSON.stringify(payload))\n  }\n}\n"],"mappings":";;;;;;;;;;;AAUA,SAAgB,mBAAmB,aAA6B;CAC9D,MAAM,MAAM,qBAAqB,WAAW;CAE5C,OAAO,GADU,IAAI,aAAa,WAAW,SAAS,MACnC,IAAI,IAAI,KAAK;AAClC;;;;;;;;ACRA,SAAS,mBAAmB,MAAuB;CACjD,MAAM,OAAO,KAAK,WAAW,CAAC;CAC9B,OACG,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,MACtB,QAAQ,MAAM,QAAQ,OACvB,SAAS,OACT,SAAS;AAEb;AAEA,SAAS,oBAAoB,OAAwB;CAInD,IAAI,UAAU,KAAK,OAAO;CAC1B,IAAI,MAAM,WAAW,GAAG,OAAO;CAC/B,KAAK,MAAM,QAAQ,OACjB,IAAI,CAAC,mBAAmB,IAAI,GAAG,OAAO;CAExC,OAAO;AACT;AAEA,SAAgB,aACd,UACA,QACQ;CAIR,IAAI,SAAS;CACb,IAAI,SAAS;CAEb,OAAO,SAAS,SAAS,QAAQ;EAC/B,MAAM,YAAY,SAAS,QAAQ,KAAK,MAAM;EAC9C,IAAI,cAAc,IAAI;GACpB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,MAAM,aAAa,SAAS,QAAQ,KAAK,YAAY,CAAC;EACtD,IAAI,eAAe,IAAI;GACrB,UAAU,SAAS,MAAM,MAAM;GAC/B;EACF;EAEA,UAAU,SAAS,MAAM,QAAQ,SAAS;EAC1C,MAAM,YAAY,SAAS,MAAM,YAAY,GAAG,UAAU;EAC1D,MAAM,QAAQ,OAAO;EACrB,IAAI,UAAU,KAAA,GACZ,MAAM,IAAI,MACR,wCAAwC,UAAU,iBAAiB,SAAS,EAC9E;EAEF,IAAI,CAAC,oBAAoB,KAAK,GAC5B,MAAM,IAAI,MACR,wCAAwC,UAAU,MAAM,MAAM,qEAChE;EAEF,UAAU;EAEV,SAAS,aAAa;CACxB;CAEA,OAAO;AACT;;;;;;;;;ACjCA,IAAa,iBAAb,MAA4B;CAC1B;CACA,oBAA4D;CAE5D,YAAY,MAAY,SAA+B,CAAC,GAAG;EACzD,KAAK,SAAS;GACZ,SAAS,mBAAmB,KAAK,YAAY,IAAI;GACjD,GAAG;EACL;CACF;;;;;;CAOA,UAAmC;EACjC,IAAI,CAAC,KAAK,mBACR,KAAK,oBAAoB,UAAU,KAAK,MAAM,EAAE,OAAO,QAAiB;GAEtE,KAAK,oBAAoB;GACzB,MAAM;EACR,CAAC;EAEH,OAAO,KAAK;CACd;;CAGA,MAAM,QAAuB;EAC3B,MAAM,oBAAoB,KAAK;EAC/B,KAAK,oBAAoB;EACzB,IAAI,CAAC,mBAAmB;EACxB,IAAI;GAEF,OAAM,MADW,mBACR,MAAM;EACjB,QAAQ,CAER;CACF;;;;;;;;;;;;;;;CAgBA,MAAM,UACJ,SACA,GAAG,MACkB;EACrB,MAAM,CAAC,QAAQ,WACb,KAAK,WAAW,IACX,CAAC,CAAC,GAAG,KAAK,EAAE,IACZ,CAAC,KAAK,IAAI,KAAK,EAAE;EAExB,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,MAAM,MAAM,GAAG,UAAU,eAAe;EAEvC,CAAC,YAAY;GACZ,WAAW,MAAM,OAAO,KAGtB,IAAI;IACF,MAAM,QAAQ,IAAI,KAA+B,GAAG,GAAG;GACzD,SAAS,KAAK;IACZ,QAAQ,MACN,2CAA2C,gBAAgB,IAC3D,GACF;GACF;EAEJ,GAAG,EAAE,OAAO,QAAiB;GAC3B,QAAQ,MACN,0CAA0C,gBAAgB,IAC1D,GACF;EACF,CAAC;EAED,aAAa,IAAI,YAAY;CAC/B;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACA,OAA6B,CAAC,GACC;EAC/B,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EAIpD,QAAO,MAHW,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,GAAG,EACrE,SAAS,KAAK,WAAW,IAC3B,CAAC,GACU,KAA2B;CACxC;;;;;;;;;CAUA,MAAM,QACJ,SACA,QACA,SACe;EACf,MAAM,KAAK,MAAM,KAAK,QAAQ;EAC9B,MAAM,kBAAkB,aAAa,SAAS,MAAM;EACpD,GAAG,QAAQ,iBAAiB,KAAK,UAAU,OAAO,CAAC;CACrD;AACF"}

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "3.13.0-pr.307.720787b",
+  "version": "3.13.0-pr.307.77e607e",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
   "packageManager": "pnpm@11.9.0+sha512.bd682d5d03fe525ef7c9fd6780c6884d1e756ac4c9c9fe00c538782824310dcf90e3ddc4f53835f06dfaebd5085e41855e0bcbb3b60de2ac5bbab89e5036f03b",
@@ -56,7 +56,6 @@
   "devDependencies": {
     "@asyncapi/parser": "^3.6.0",
     "@biomejs/biome": "^2.4.16",
-    "@types/lodash-es": "^4.17.12",
     "@types/node": "^25.9.1",
     "@types/ws": "^8.18.1",
     "concurrently": "^10.0.3",
@@ -64,7 +63,6 @@
     "jsdom": "^29.1.1",
     "json-schema-to-typescript": "^15.0.4",
     "knip": "^6.15.0",
-    "lodash-es": "^4.18.1",
     "nodemon": "^3.1.14",
     "semantic-release": "^25.0.3",
     "semantic-release-export-data": "^1.2.0",

package/src/experimental/nats/index.ts

@@ -15,5 +15,9 @@ export type {
   NatsSubscribePayloads,
   NatsSubscribeSubject,
 } from "../../lib/experimental/nats/generated/operations.ts"
+// Message payload types for every schema in src/asyncapi.yaml, e.g. `Cell`,
+// `App`, `ProgramStatus` (see NatsSubscribePayloads/NatsRequestPayloads for
+// which type applies to which subject).
+export type * from "../../lib/experimental/nats/generated/types.ts"
 export { NovaNatsClient } from "../../lib/experimental/nats/NovaNatsClient.ts"
 export type { NovaNatsClientConfig } from "../../lib/experimental/nats/NovaNatsClient.ts"

package/src/lib/experimental/nats/NovaNatsClient.ts

@@ -23,7 +23,7 @@ export type NovaNatsClientConfig = ConnectionOptions
 type NatsMessageHandler<K extends NatsSubscribeSubject> = (
   payload: NatsSubscribePayloads[K],
   msg: Msg,
-) => void
+) => void | Promise<void>
 
 type SubscribeArgs<K extends NatsSubscribeSubject> =
   keyof NatsOperationParams[K] extends never
@@ -84,6 +84,10 @@ export class NovaNatsClient {
    * `"nova.v2.cells.{cell}"`, with `{param}` placeholders filled in from
    * `params`.
    *
+   * Errors decoding a message or thrown/rejected by `handler` are caught and
+   * logged per-message, so one bad message doesn't stop later messages on
+   * the same subscription from being handled.
+   *
    * Returns a function that unsubscribes when called.
    */
   async subscribe<K extends NatsSubscribeSubject>(
@@ -101,11 +105,20 @@ export class NovaNatsClient {
 
     ;(async () => {
       for await (const msg of sub) {
-        handler(msg.json<NatsSubscribePayloads[K]>(), msg)
+        // Handled per-message: a bad payload or a throwing/rejecting handler
+        // should not stop the subscription from processing later messages.
+        try {
+          await handler(msg.json<NatsSubscribePayloads[K]>(), msg)
+        } catch (err) {
+          console.error(
+            `Error handling NATS message on subject "${resolvedSubject}"`,
+            err,
+          )
+        }
       }
     })().catch((err: unknown) => {
       console.error(
-        `Error handling NATS subscription for "${resolvedSubject}"`,
+        `NATS subscription iterator failed for "${resolvedSubject}"`,
         err,
       )
     })

package/src/lib/experimental/nats/buildSubject.ts

@@ -11,12 +11,15 @@ function isValidSubjectChar(char: string): boolean {
     (code >= 65 && code <= 90) || // A-Z
     (code >= 97 && code <= 122) || // a-z
     char === "-" ||
-    char === "_" ||
-    char === "*"
+    char === "_"
   )
 }
 
 function isValidSubjectValue(value: string): boolean {
+  // A bare "*" is the NATS single-token wildcard, allowed on its own (e.g.
+  // subscribing to all cells with `{ cell: "*" }") but not as part of a
+  // larger value, since it wouldn't act as a wildcard there anyway.
+  if (value === "*") return true
   if (value.length === 0) return false
   for (const char of value) {
     if (!isValidSubjectChar(char)) return false