@wandelbots/nova-js 3.13.0-pr.307.8728cb4 → 3.13.0-pr.307.dd54f61

package/dist/Nova--8gozkLR.d.mts

@@ -0,0 +1,85 @@
+import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-1K2J1NA4.mjs";
+import { AxiosInstance } from "axios";
+import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, LicenseApi, MotionGroupApi, MotionGroupModelsApi, NOVACloudApi, ProgramApi, RobotConfigurationsApi, SessionApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VersionApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
+
+//#region src/lib/NovaAPIClient.d.ts
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+  data: infer D;
+} ? D : never> : never;
+type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
+type NovaAPIClientOpts = Configuration & {
+  axiosInstance?: AxiosInstance;
+  mock?: boolean;
+};
+/**
+ * API client providing type-safe access to all the endpoints of a NOVA
+ * instance.
+ */
+declare class NovaAPIClient {
+  readonly opts: NovaAPIClientOpts;
+  readonly application: WithUnwrappedAxiosResponse<ApplicationApi>;
+  readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>;
+  readonly cell: WithUnwrappedAxiosResponse<CellApi>;
+  readonly controller: WithUnwrappedAxiosResponse<ControllerApi>;
+  readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>;
+  readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>;
+  readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>;
+  readonly license: WithUnwrappedAxiosResponse<LicenseApi>;
+  readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>;
+  readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>;
+  readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>;
+  readonly program: WithUnwrappedAxiosResponse<ProgramApi>;
+  readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>;
+  readonly session: WithUnwrappedAxiosResponse<SessionApi>;
+  readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>;
+  readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>;
+  readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>;
+  readonly system: WithUnwrappedAxiosResponse<SystemApi>;
+  readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>;
+  readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>;
+  readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>;
+  readonly version: WithUnwrappedAxiosResponse<VersionApi>;
+  readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>;
+  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>;
+  readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>;
+  constructor(opts: NovaAPIClientOpts);
+}
+//#endregion
+//#region src/lib/Nova.d.ts
+type NovaConfig = {
+  /**
+   * Url of the deployed NOVA instance to connect to
+   * e.g. https://saeattii.instance.wandelbots.io
+   */
+  instanceUrl: string;
+  /**
+   * Access token for Bearer authentication.
+   * If running on a NOVA instance, this can be automatically retrieved from
+   * the current session when omitted.
+   */
+  accessToken?: string;
+} & Omit<Configuration, "isJsonMime" | "basePath">;
+/**
+ *
+ * Client for connecting to a NOVA instance and controlling robots.
+ */
+declare class Nova {
+  readonly api: NovaAPIClient;
+  readonly config: NovaConfig;
+  readonly mock?: MockNovaInstance;
+  readonly instanceUrl: URL;
+  authPromise: Promise<string | null> | null;
+  accessToken: string | null;
+  constructor(config: NovaConfig);
+  renewAuthentication(): Promise<void>;
+  makeWebsocketURL(path: string): string;
+  /**
+   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+   * If you explicitly want to reconnect an existing websocket, call `reconnect`
+   * on the returned object.
+   */
+  openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
+}
+//#endregion
+export { NovaConfig as n, NovaAPIClient as r, Nova as t };
+//# sourceMappingURL=Nova--8gozkLR.d.mts.map

package/dist/Nova--8gozkLR.d.mts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Nova--8gozkLR.d.mts","names":[],"sources":["../src/lib/NovaAPIClient.ts","../src/lib/Nova.ts"],"mappings":";;;;;KAmCK,yBAAA,MAA+B,CAAA,cAAc,CAAA,uBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;AAAA,KAG/D,0BAAA,oBACS,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;AAAA,KAGzC,iBAAA,GAAoB,aAAA;EACvB,aAAA,GAAgB,aAAa;EAC7B,IAAA;AAAA;;;;;cAuCW,aAAA;EAAA,SACF,IAAA,EAAM,iBAAA;EAAA,SAEN,WAAA,EAAa,0BAAA,CAA2B,cAAA;EAAA,SACxC,MAAA,EAAQ,0BAAA,CAA2B,mBAAA;EAAA,SACnC,IAAA,EAAM,0BAAA,CAA2B,OAAA;EAAA,SACjC,UAAA,EAAY,0BAAA,CAA2B,aAAA;EAAA,SACvC,aAAA,EAAe,0BAAA,CAA2B,0BAAA;EAAA,SAC1C,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,UAAA,EAAY,0BAAA,CAA2B,aAAA;EAAA,SACvC,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,WAAA,EAAa,0BAAA,CAA2B,cAAA;EAAA,SACxC,iBAAA,EAAmB,0BAAA,CAA2B,oBAAA;EAAA,SAC9C,SAAA,EAAW,0BAAA,CAA2B,YAAA;EAAA,SACtC,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,mBAAA,EAAqB,0BAAA,CAA2B,sBAAA;EAAA,SAChD,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,wBAAA,EAA0B,0BAAA,CAA2B,2BAAA;EAAA,SACrD,oBAAA,EAAsB,0BAAA,CAA2B,uBAAA;EAAA,SACjD,WAAA,EAAa,0BAAA,CAA2B,cAAA;EAAA,SACxC,MAAA,EAAQ,0BAAA,CAA2B,SAAA;EAAA,SACnC,iBAAA,EAAmB,0BAAA,CAA2B,oBAAA;EAAA,SAC9C,mBAAA,EAAqB,0BAAA,CAA2B,sBAAA;EAAA,SAChD,kBAAA,EAAoB,0BAAA,CAA2B,qBAAA;EAAA,SAC/C,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,iBAAA,EAAmB,0BAAA,CAA2B,oBAAA;EAAA,SAC9C,yBAAA,EAA2B,0BAAA,CAA2B,4BAAA;EAAA,SACtD,oBAAA,EAAsB,0BAAA,CAA2B,iCAAA;cAE9C,IAAA,EAAM,iBAAA;AAAA;;;KCvGR,UAAA;EDuBP;;;;EClBH,WAAA;EDoBU;;;;;ECbV,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;;;;;cAMI,IAAA;EAAA,SACF,GAAA,EAAK,aAAA;EAAA,SACL,MAAA,EAAQ,UAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,UAAA;EAqId,mBAAA,IAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;EDlKkD;AAAA;;;;ECmLnE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}

package/dist/Nova-B1o5iTQ6.d.cts

@@ -0,0 +1,85 @@
+import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-1K2J1NA4.cjs";
+import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, LicenseApi, MotionGroupApi, MotionGroupModelsApi, NOVACloudApi, ProgramApi, RobotConfigurationsApi, SessionApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VersionApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
+import { AxiosInstance } from "axios";
+
+//#region src/lib/NovaAPIClient.d.ts
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+  data: infer D;
+} ? D : never> : never;
+type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
+type NovaAPIClientOpts = Configuration & {
+  axiosInstance?: AxiosInstance;
+  mock?: boolean;
+};
+/**
+ * API client providing type-safe access to all the endpoints of a NOVA
+ * instance.
+ */
+declare class NovaAPIClient {
+  readonly opts: NovaAPIClientOpts;
+  readonly application: WithUnwrappedAxiosResponse<ApplicationApi>;
+  readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>;
+  readonly cell: WithUnwrappedAxiosResponse<CellApi>;
+  readonly controller: WithUnwrappedAxiosResponse<ControllerApi>;
+  readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>;
+  readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>;
+  readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>;
+  readonly license: WithUnwrappedAxiosResponse<LicenseApi>;
+  readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>;
+  readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>;
+  readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>;
+  readonly program: WithUnwrappedAxiosResponse<ProgramApi>;
+  readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>;
+  readonly session: WithUnwrappedAxiosResponse<SessionApi>;
+  readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>;
+  readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>;
+  readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>;
+  readonly system: WithUnwrappedAxiosResponse<SystemApi>;
+  readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>;
+  readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>;
+  readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>;
+  readonly version: WithUnwrappedAxiosResponse<VersionApi>;
+  readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>;
+  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>;
+  readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>;
+  constructor(opts: NovaAPIClientOpts);
+}
+//#endregion
+//#region src/lib/Nova.d.ts
+type NovaConfig = {
+  /**
+   * Url of the deployed NOVA instance to connect to
+   * e.g. https://saeattii.instance.wandelbots.io
+   */
+  instanceUrl: string;
+  /**
+   * Access token for Bearer authentication.
+   * If running on a NOVA instance, this can be automatically retrieved from
+   * the current session when omitted.
+   */
+  accessToken?: string;
+} & Omit<Configuration, "isJsonMime" | "basePath">;
+/**
+ *
+ * Client for connecting to a NOVA instance and controlling robots.
+ */
+declare class Nova {
+  readonly api: NovaAPIClient;
+  readonly config: NovaConfig;
+  readonly mock?: MockNovaInstance;
+  readonly instanceUrl: URL;
+  authPromise: Promise<string | null> | null;
+  accessToken: string | null;
+  constructor(config: NovaConfig);
+  renewAuthentication(): Promise<void>;
+  makeWebsocketURL(path: string): string;
+  /**
+   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+   * If you explicitly want to reconnect an existing websocket, call `reconnect`
+   * on the returned object.
+   */
+  openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
+}
+//#endregion
+export { NovaConfig as n, NovaAPIClient as r, Nova as t };
+//# sourceMappingURL=Nova-B1o5iTQ6.d.cts.map

package/dist/Nova-B1o5iTQ6.d.cts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Nova-B1o5iTQ6.d.cts","names":[],"sources":["../src/lib/NovaAPIClient.ts","../src/lib/Nova.ts"],"mappings":";;;;;KAmCK,yBAAA,MAA+B,CAAA,cAAc,CAAA,uBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;AAAA,KAG/D,0BAAA,oBACS,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;AAAA,KAGzC,iBAAA,GAAoB,aAAA;EACvB,aAAA,GAAgB,aAAa;EAC7B,IAAA;AAAA;;;;;cAuCW,aAAA;EAAA,SACF,IAAA,EAAM,iBAAA;EAAA,SAEN,WAAA,EAAa,0BAAA,CAA2B,cAAA;EAAA,SACxC,MAAA,EAAQ,0BAAA,CAA2B,mBAAA;EAAA,SACnC,IAAA,EAAM,0BAAA,CAA2B,OAAA;EAAA,SACjC,UAAA,EAAY,0BAAA,CAA2B,aAAA;EAAA,SACvC,aAAA,EAAe,0BAAA,CAA2B,0BAAA;EAAA,SAC1C,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,UAAA,EAAY,0BAAA,CAA2B,aAAA;EAAA,SACvC,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,WAAA,EAAa,0BAAA,CAA2B,cAAA;EAAA,SACxC,iBAAA,EAAmB,0BAAA,CAA2B,oBAAA;EAAA,SAC9C,SAAA,EAAW,0BAAA,CAA2B,YAAA;EAAA,SACtC,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,mBAAA,EAAqB,0BAAA,CAA2B,sBAAA;EAAA,SAChD,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,wBAAA,EAA0B,0BAAA,CAA2B,2BAAA;EAAA,SACrD,oBAAA,EAAsB,0BAAA,CAA2B,uBAAA;EAAA,SACjD,WAAA,EAAa,0BAAA,CAA2B,cAAA;EAAA,SACxC,MAAA,EAAQ,0BAAA,CAA2B,SAAA;EAAA,SACnC,iBAAA,EAAmB,0BAAA,CAA2B,oBAAA;EAAA,SAC9C,mBAAA,EAAqB,0BAAA,CAA2B,sBAAA;EAAA,SAChD,kBAAA,EAAoB,0BAAA,CAA2B,qBAAA;EAAA,SAC/C,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,iBAAA,EAAmB,0BAAA,CAA2B,oBAAA;EAAA,SAC9C,yBAAA,EAA2B,0BAAA,CAA2B,4BAAA;EAAA,SACtD,oBAAA,EAAsB,0BAAA,CAA2B,iCAAA;cAE9C,IAAA,EAAM,iBAAA;AAAA;;;KCvGR,UAAA;EDuBP;;;;EClBH,WAAA;EDoBU;;;;;ECbV,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;;;;;cAMI,IAAA;EAAA,SACF,GAAA,EAAK,aAAA;EAAA,SACL,MAAA,EAAQ,UAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,UAAA;EAqId,mBAAA,IAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;EDlKkD;AAAA;;;;ECmLnE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}

package/dist/experimental/nats/index.cjs

@@ -65,8 +65,11 @@ function buildSubject(template, params) {
 var NovaNatsClient = class {
 	config;
 	connectionPromise = null;
-	constructor(config) {
-		this.config = config;
+	constructor(nova, config = {}) {
+		this.config = {
+			servers: buildNatsServerUrl(nova.instanceUrl.href),
+			...config
+		};
 	}
 	/**
 	* Connects to NATS if not already connected or connecting, and returns the
@@ -99,7 +102,8 @@ var NovaNatsClient = class {
 	*
 	* Returns a function that unsubscribes when called.
 	*/
-	async subscribe(subject, params, handler) {
+	async subscribe(subject, ...args) {
+		const [params, handler] = args.length === 1 ? [{}, args[0]] : [args[0], args[1]];
 		const nc = await this.connect();
 		const resolvedSubject = buildSubject(subject, params);
 		const sub = nc.subscribe(resolvedSubject);
@@ -123,6 +127,19 @@ var NovaNatsClient = class {
 		const resolvedSubject = buildSubject(subject, params);
 		return (await nc.request(resolvedSubject, JSON.stringify(payload), { timeout: opts.timeout ?? 5e3 })).json();
 	}
+	/**
+	* Publishes a JSON payload to any NATS subject defined in the spec,
+	* without waiting for a reply.
+	*
+	* `subject` is the subject template as it appears on the wire, e.g.
+	* `"nova.v2.cells.{cell}.bus-ios.ios.set"`, with `{param}` placeholders
+	* filled in from `params`.
+	*/
+	async publish(subject, params, payload) {
+		const nc = await this.connect();
+		const resolvedSubject = buildSubject(subject, params);
+		nc.publish(resolvedSubject, JSON.stringify(payload));
+	}
 };
 //#endregion
 exports.NovaNatsClient = NovaNatsClient;

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 { buildSubject } from \"./buildSubject.ts\"\nimport type {\n  NatsOperationParams,\n  NatsReplyPayloads,\n  NatsRequestPayloads,\n  NatsRequestSubject,\n  NatsSubscribePayloads,\n  NatsSubscribeSubject,\n} from \"./generated/operations.ts\"\n\nexport type NovaNatsClientConfig = ConnectionOptions\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(config: NovaNatsClientConfig) {\n    this.config = config\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    params: NatsOperationParams[K],\n    handler: (payload: NatsSubscribePayloads[K], msg: Msg) => void,\n  ): Promise<() => void> {\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"],"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;;;;;;;;;AC5CA,IAAa,iBAAb,MAA4B;CAC1B;CACA,oBAA4D;CAE5D,YAAY,QAA8B;EACxC,KAAK,SAAS;CAChB;;;;;;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,QACA,SACqB;EACrB,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;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}//${url.host}/api/nats`\n}\n","/**\n * Builds a NATS subject from an AsyncAPI-style channel address template\n * (e.g. `\"{instance}.v2.cells.{cell}\"`) by substituting each `{param}`\n * placeholder with the corresponding value from `params`.\n */\n\nfunction isValidSubjectChar(char: string): boolean {\n  const code = char.charCodeAt(0)\n  return (\n    (code >= 48 && code <= 57) || // 0-9\n    (code >= 65 && code <= 90) || // A-Z\n    (code >= 97 && code <= 122) || // a-z\n    char === \"-\" ||\n    char === \"_\" ||\n    char === \"*\"\n  )\n}\n\nfunction isValidSubjectValue(value: string): boolean {\n  if (value.length === 0) return false\n  for (const char of value) {\n    if (!isValidSubjectChar(char)) return false\n  }\n  return true\n}\n\nexport function buildSubject(\n  template: string,\n  params: Record<string, string>,\n): string {\n  // Scanned manually (rather than with a regex like /\\{([^}]+)\\}/g) to avoid\n  // a polynomial-time backtracking blowup on pathological input, e.g. a\n  // template consisting of many \"{\" characters with no closing \"}\".\n  let result = \"\"\n  let cursor = 0\n\n  while (cursor < template.length) {\n    const openIndex = template.indexOf(\"{\", cursor)\n    if (openIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    const closeIndex = template.indexOf(\"}\", openIndex + 1)\n    if (closeIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    result += template.slice(cursor, openIndex)\n    const paramName = template.slice(openIndex + 1, closeIndex)\n    const value = params[paramName]\n    if (value === undefined) {\n      throw new Error(\n        `Missing value for subject parameter \"${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"}

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

@@ -1,3 +1,4 @@
+import { t as Nova } from "../../Nova-B1o5iTQ6.cjs";
 import { ConnectionOptions, Msg, NatsConnection } from "@nats-io/nats-core";
 
 //#region src/lib/experimental/nats/buildNatsServerUrl.d.ts
@@ -2032,7 +2033,7 @@ interface NatsOperationParams {
     cell: string;
   };
   /** publishSystemStatus */
-  "nova.v2.system.status": Record<string, never>;
+  "nova.v2.system.status": Record<never, never>;
   /** publishCollisionSetup */
   "nova.v2.cells.{cell}.collision.setups.{setup}": {
     cell: string;
@@ -2072,11 +2073,11 @@ interface NatsOperationParams {
     "motion-group": string;
   };
   /** eventSystemUpdateStarted */
-  "nova.v2.events.system.update.started": Record<string, never>;
+  "nova.v2.events.system.update.started": Record<never, never>;
   /** eventSystemUpdateCompleted */
-  "nova.v2.events.system.update.completed": Record<string, never>;
+  "nova.v2.events.system.update.completed": Record<never, never>;
   /** eventSystemNetworkStatusChanged */
-  "nova.v2.events.system.network.status.changed": Record<string, never>;
+  "nova.v2.events.system.network.status.changed": Record<never, never>;
   /** eventCellCreated */
   "nova.v2.events.cells.{cell}.created": {
     cell: string;
@@ -2189,9 +2190,69 @@ interface NatsReplyPayloads {
   "nova.v2.cells.{cell}.controllers.{controller}.ios.select": NatsErrorPayload;
 }
 type NatsRequestSubject = keyof NatsRequestPayloads;
+/** Payload types for every subject defined in the spec, publishable via NovaNatsClient#publish. */
+interface NatsPublishPayloads {
+  /** publishCell */
+  "nova.v2.cells.{cell}": Cell;
+  /** publishApp */
+  "nova.v2.cells.{cell}.apps.{app}": App;
+  /** publishProgramStatus */
+  "nova.v2.cells.{cell}.programs": ProgramStatus;
+  /** publishRobotController */
+  "nova.v2.cells.{cell}.controllers.{controller}": RobotController;
+  /** publishCellStatus */
+  "nova.v2.cells.{cell}.status": ServiceStatusList;
+  /** publishCellCycle */
+  "nova.v2.cells.{cell}.cycle": CellCycleEvent;
+  /** publishSystemStatus */
+  "nova.v2.system.status": ServiceStatusList;
+  /** publishCollisionSetup */
+  "nova.v2.cells.{cell}.collision.setups.{setup}": CollisionSetup;
+  /** publishBUSIOStatus */
+  "nova.v2.cells.{cell}.bus-ios.status": BusIOsState;
+  /** publishBUSIOsIOs */
+  "nova.v2.cells.{cell}.bus-ios.ios": ListIOValuesResponse;
+  /** setBUSIOsIOs */
+  "nova.v2.cells.{cell}.bus-ios.ios.set": ListIOValuesResponse;
+  /** selectRobotControllerIOs */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.select": SelectIOs;
+  /** publishRobotControllerIOs */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios": StreamIOValuesResponse;
+  /** publishRobotControllersState */
+  "nova.v2.cells.{cell}.controllers.{controller}.state": RobotControllerState;
+  /** publishMotionGroupDescription */
+  "nova.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description": MotionGroupDescription;
+  /** eventSystemUpdateStarted */
+  "nova.v2.events.system.update.started": SystemUpdateStartedEvent;
+  /** eventSystemUpdateCompleted */
+  "nova.v2.events.system.update.completed": SystemUpdateCompletedEvent;
+  /** eventSystemNetworkStatusChanged */
+  "nova.v2.events.system.network.status.changed": NetworkStatusChangedEvent;
+  /** eventCellCreated */
+  "nova.v2.events.cells.{cell}.created": CellCreatedEvent;
+  /** eventCellUpdated */
+  "nova.v2.events.cells.{cell}.updated": CellUpdatedEvent;
+  /** eventCellDeleted */
+  "nova.v2.events.cells.{cell}.deleted": CellDeletedEvent;
+  /** eventAppCreated */
+  "nova.v2.events.cells.{cell}.apps.{app}.created": AppCreatedEvent;
+  /** eventAppUpdated */
+  "nova.v2.events.cells.{cell}.apps.{app}.updated": AppUpdatedEvent;
+  /** eventAppDeleted */
+  "nova.v2.events.cells.{cell}.apps.{app}.deleted": AppDeletedEvent;
+  /** eventRobotControllerCreated */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.created": RobotControllerCreatedEvent;
+  /** eventRobotControllerUpdated */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.updated": RobotControllerUpdatedEvent;
+  /** eventRobotControllerDeleted */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.deleted": RobotControllerDeletedEvent;
+}
+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 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
  * src/asyncapi.yaml (see scripts/generate-nats-client.ts).
@@ -2201,7 +2262,7 @@ type NovaNatsClientConfig = ConnectionOptions;
 declare class NovaNatsClient {
   readonly config: NovaNatsClientConfig;
   private connectionPromise;
-  constructor(config: NovaNatsClientConfig);
+  constructor(nova: Nova, config?: NovaNatsClientConfig);
   /**
    * Connects to NATS if not already connected or connecting, and returns the
    * connection. Safe to call concurrently: all callers share the same
@@ -2220,7 +2281,7 @@ declare class NovaNatsClient {
    *
    * Returns a function that unsubscribes when called.
    */
-  subscribe<K extends NatsSubscribeSubject>(subject: K, params: NatsOperationParams[K], handler: (payload: NatsSubscribePayloads[K], msg: Msg) => void): Promise<() => void>;
+  subscribe<K extends NatsSubscribeSubject>(subject: K, ...args: SubscribeArgs<K>): Promise<() => void>;
   /**
    * Sends a request payload for a NATS subject the server receives, and
    * waits for the JSON-decoded reply.
@@ -2232,7 +2293,16 @@ declare class NovaNatsClient {
   request<K extends NatsRequestSubject>(subject: K, params: NatsOperationParams[K], payload: NatsRequestPayloads[K], opts?: {
     timeout?: number;
   }): Promise<NatsReplyPayloads[K]>;
+  /**
+   * Publishes a JSON payload to any NATS subject defined in the spec,
+   * without waiting for a reply.
+   *
+   * `subject` is the subject template as it appears on the wire, e.g.
+   * `"nova.v2.cells.{cell}.bus-ios.ios.set"`, with `{param}` placeholders
+   * filled in from `params`.
+   */
+  publish<K extends NatsPublishSubject>(subject: K, params: NatsOperationParams[K], payload: NatsPublishPayloads[K]): Promise<void>;
 }
 //#endregion
-export { type NatsOperationParams, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, NovaNatsClient, type NovaNatsClientConfig, buildNatsServerUrl };
+export { type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, NovaNatsClient, type NovaNatsClientConfig, 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

@@ -1,3 +1,4 @@
+import { t as Nova } from "../../Nova--8gozkLR.mjs";
 import { ConnectionOptions, Msg, NatsConnection } from "@nats-io/nats-core";
 
 //#region src/lib/experimental/nats/buildNatsServerUrl.d.ts
@@ -2032,7 +2033,7 @@ interface NatsOperationParams {
     cell: string;
   };
   /** publishSystemStatus */
-  "nova.v2.system.status": Record<string, never>;
+  "nova.v2.system.status": Record<never, never>;
   /** publishCollisionSetup */
   "nova.v2.cells.{cell}.collision.setups.{setup}": {
     cell: string;
@@ -2072,11 +2073,11 @@ interface NatsOperationParams {
     "motion-group": string;
   };
   /** eventSystemUpdateStarted */
-  "nova.v2.events.system.update.started": Record<string, never>;
+  "nova.v2.events.system.update.started": Record<never, never>;
   /** eventSystemUpdateCompleted */
-  "nova.v2.events.system.update.completed": Record<string, never>;
+  "nova.v2.events.system.update.completed": Record<never, never>;
   /** eventSystemNetworkStatusChanged */
-  "nova.v2.events.system.network.status.changed": Record<string, never>;
+  "nova.v2.events.system.network.status.changed": Record<never, never>;
   /** eventCellCreated */
   "nova.v2.events.cells.{cell}.created": {
     cell: string;
@@ -2189,9 +2190,69 @@ interface NatsReplyPayloads {
   "nova.v2.cells.{cell}.controllers.{controller}.ios.select": NatsErrorPayload;
 }
 type NatsRequestSubject = keyof NatsRequestPayloads;
+/** Payload types for every subject defined in the spec, publishable via NovaNatsClient#publish. */
+interface NatsPublishPayloads {
+  /** publishCell */
+  "nova.v2.cells.{cell}": Cell;
+  /** publishApp */
+  "nova.v2.cells.{cell}.apps.{app}": App;
+  /** publishProgramStatus */
+  "nova.v2.cells.{cell}.programs": ProgramStatus;
+  /** publishRobotController */
+  "nova.v2.cells.{cell}.controllers.{controller}": RobotController;
+  /** publishCellStatus */
+  "nova.v2.cells.{cell}.status": ServiceStatusList;
+  /** publishCellCycle */
+  "nova.v2.cells.{cell}.cycle": CellCycleEvent;
+  /** publishSystemStatus */
+  "nova.v2.system.status": ServiceStatusList;
+  /** publishCollisionSetup */
+  "nova.v2.cells.{cell}.collision.setups.{setup}": CollisionSetup;
+  /** publishBUSIOStatus */
+  "nova.v2.cells.{cell}.bus-ios.status": BusIOsState;
+  /** publishBUSIOsIOs */
+  "nova.v2.cells.{cell}.bus-ios.ios": ListIOValuesResponse;
+  /** setBUSIOsIOs */
+  "nova.v2.cells.{cell}.bus-ios.ios.set": ListIOValuesResponse;
+  /** selectRobotControllerIOs */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.select": SelectIOs;
+  /** publishRobotControllerIOs */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios": StreamIOValuesResponse;
+  /** publishRobotControllersState */
+  "nova.v2.cells.{cell}.controllers.{controller}.state": RobotControllerState;
+  /** publishMotionGroupDescription */
+  "nova.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description": MotionGroupDescription;
+  /** eventSystemUpdateStarted */
+  "nova.v2.events.system.update.started": SystemUpdateStartedEvent;
+  /** eventSystemUpdateCompleted */
+  "nova.v2.events.system.update.completed": SystemUpdateCompletedEvent;
+  /** eventSystemNetworkStatusChanged */
+  "nova.v2.events.system.network.status.changed": NetworkStatusChangedEvent;
+  /** eventCellCreated */
+  "nova.v2.events.cells.{cell}.created": CellCreatedEvent;
+  /** eventCellUpdated */
+  "nova.v2.events.cells.{cell}.updated": CellUpdatedEvent;
+  /** eventCellDeleted */
+  "nova.v2.events.cells.{cell}.deleted": CellDeletedEvent;
+  /** eventAppCreated */
+  "nova.v2.events.cells.{cell}.apps.{app}.created": AppCreatedEvent;
+  /** eventAppUpdated */
+  "nova.v2.events.cells.{cell}.apps.{app}.updated": AppUpdatedEvent;
+  /** eventAppDeleted */
+  "nova.v2.events.cells.{cell}.apps.{app}.deleted": AppDeletedEvent;
+  /** eventRobotControllerCreated */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.created": RobotControllerCreatedEvent;
+  /** eventRobotControllerUpdated */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.updated": RobotControllerUpdatedEvent;
+  /** eventRobotControllerDeleted */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.deleted": RobotControllerDeletedEvent;
+}
+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 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
  * src/asyncapi.yaml (see scripts/generate-nats-client.ts).
@@ -2201,7 +2262,7 @@ type NovaNatsClientConfig = ConnectionOptions;
 declare class NovaNatsClient {
   readonly config: NovaNatsClientConfig;
   private connectionPromise;
-  constructor(config: NovaNatsClientConfig);
+  constructor(nova: Nova, config?: NovaNatsClientConfig);
   /**
    * Connects to NATS if not already connected or connecting, and returns the
    * connection. Safe to call concurrently: all callers share the same
@@ -2220,7 +2281,7 @@ declare class NovaNatsClient {
    *
    * Returns a function that unsubscribes when called.
    */
-  subscribe<K extends NatsSubscribeSubject>(subject: K, params: NatsOperationParams[K], handler: (payload: NatsSubscribePayloads[K], msg: Msg) => void): Promise<() => void>;
+  subscribe<K extends NatsSubscribeSubject>(subject: K, ...args: SubscribeArgs<K>): Promise<() => void>;
   /**
    * Sends a request payload for a NATS subject the server receives, and
    * waits for the JSON-decoded reply.
@@ -2232,7 +2293,16 @@ declare class NovaNatsClient {
   request<K extends NatsRequestSubject>(subject: K, params: NatsOperationParams[K], payload: NatsRequestPayloads[K], opts?: {
     timeout?: number;
   }): Promise<NatsReplyPayloads[K]>;
+  /**
+   * Publishes a JSON payload to any NATS subject defined in the spec,
+   * without waiting for a reply.
+   *
+   * `subject` is the subject template as it appears on the wire, e.g.
+   * `"nova.v2.cells.{cell}.bus-ios.ios.set"`, with `{param}` placeholders
+   * filled in from `params`.
+   */
+  publish<K extends NatsPublishSubject>(subject: K, params: NatsOperationParams[K], payload: NatsPublishPayloads[K]): Promise<void>;
 }
 //#endregion
-export { type NatsOperationParams, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, NovaNatsClient, type NovaNatsClientConfig, buildNatsServerUrl };
+export { type NatsOperationParams, type NatsPublishPayloads, type NatsPublishSubject, type NatsReplyPayloads, type NatsRequestPayloads, type NatsRequestSubject, type NatsSubscribePayloads, type NatsSubscribeSubject, NovaNatsClient, type NovaNatsClientConfig, buildNatsServerUrl };
 //# sourceMappingURL=index.d.mts.map

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

@@ -1 +1 @@
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package/dist/experimental/nats/index.mjs

@@ -64,8 +64,11 @@ function buildSubject(template, params) {
 var NovaNatsClient = class {
 	config;
 	connectionPromise = null;
-	constructor(config) {
-		this.config = config;
+	constructor(nova, config = {}) {
+		this.config = {
+			servers: buildNatsServerUrl(nova.instanceUrl.href),
+			...config
+		};
 	}
 	/**
 	* Connects to NATS if not already connected or connecting, and returns the
@@ -98,7 +101,8 @@ var NovaNatsClient = class {
 	*
 	* Returns a function that unsubscribes when called.
 	*/
-	async subscribe(subject, params, handler) {
+	async subscribe(subject, ...args) {
+		const [params, handler] = args.length === 1 ? [{}, args[0]] : [args[0], args[1]];
 		const nc = await this.connect();
 		const resolvedSubject = buildSubject(subject, params);
 		const sub = nc.subscribe(resolvedSubject);
@@ -122,6 +126,19 @@ var NovaNatsClient = class {
 		const resolvedSubject = buildSubject(subject, params);
 		return (await nc.request(resolvedSubject, JSON.stringify(payload), { timeout: opts.timeout ?? 5e3 })).json();
 	}
+	/**
+	* Publishes a JSON payload to any NATS subject defined in the spec,
+	* without waiting for a reply.
+	*
+	* `subject` is the subject template as it appears on the wire, e.g.
+	* `"nova.v2.cells.{cell}.bus-ios.ios.set"`, with `{param}` placeholders
+	* filled in from `params`.
+	*/
+	async publish(subject, params, payload) {
+		const nc = await this.connect();
+		const resolvedSubject = buildSubject(subject, params);
+		nc.publish(resolvedSubject, JSON.stringify(payload));
+	}
 };
 //#endregion
 export { NovaNatsClient, buildNatsServerUrl };

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 { buildSubject } from \"./buildSubject.ts\"\nimport type {\n  NatsOperationParams,\n  NatsReplyPayloads,\n  NatsRequestPayloads,\n  NatsRequestSubject,\n  NatsSubscribePayloads,\n  NatsSubscribeSubject,\n} from \"./generated/operations.ts\"\n\nexport type NovaNatsClientConfig = ConnectionOptions\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(config: NovaNatsClientConfig) {\n    this.config = config\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    params: NatsOperationParams[K],\n    handler: (payload: NatsSubscribePayloads[K], msg: Msg) => void,\n  ): Promise<() => void> {\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"],"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;;;;;;;;;AC5CA,IAAa,iBAAb,MAA4B;CAC1B;CACA,oBAA4D;CAE5D,YAAY,QAA8B;EACxC,KAAK,SAAS;CAChB;;;;;;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,QACA,SACqB;EACrB,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;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}//${url.host}/api/nats`\n}\n","/**\n * Builds a NATS subject from an AsyncAPI-style channel address template\n * (e.g. `\"{instance}.v2.cells.{cell}\"`) by substituting each `{param}`\n * placeholder with the corresponding value from `params`.\n */\n\nfunction isValidSubjectChar(char: string): boolean {\n  const code = char.charCodeAt(0)\n  return (\n    (code >= 48 && code <= 57) || // 0-9\n    (code >= 65 && code <= 90) || // A-Z\n    (code >= 97 && code <= 122) || // a-z\n    char === \"-\" ||\n    char === \"_\" ||\n    char === \"*\"\n  )\n}\n\nfunction isValidSubjectValue(value: string): boolean {\n  if (value.length === 0) return false\n  for (const char of value) {\n    if (!isValidSubjectChar(char)) return false\n  }\n  return true\n}\n\nexport function buildSubject(\n  template: string,\n  params: Record<string, string>,\n): string {\n  // Scanned manually (rather than with a regex like /\\{([^}]+)\\}/g) to avoid\n  // a polynomial-time backtracking blowup on pathological input, e.g. a\n  // template consisting of many \"{\" characters with no closing \"}\".\n  let result = \"\"\n  let cursor = 0\n\n  while (cursor < template.length) {\n    const openIndex = template.indexOf(\"{\", cursor)\n    if (openIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    const closeIndex = template.indexOf(\"}\", openIndex + 1)\n    if (closeIndex === -1) {\n      result += template.slice(cursor)\n      break\n    }\n\n    result += template.slice(cursor, openIndex)\n    const paramName = template.slice(openIndex + 1, closeIndex)\n    const value = params[paramName]\n    if (value === undefined) {\n      throw new Error(\n        `Missing value for subject parameter \"${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"}

package/dist/v2/index.d.cts

@@ -1,17 +1,18 @@
 import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket-1K2J1NA4.cjs";
-import { AxiosInstance } from "axios";
+import { n as NovaConfig, r as NovaAPIClient, t as Nova } from "../Nova-B1o5iTQ6.cjs";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, LicenseApi, MotionGroupApi, MotionGroupModelsApi, NOVACloudApi, Pose, ProgramApi, RobotConfigurationsApi, SessionApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VersionApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
+import { AxiosInstance } from "axios";
 export * from "@wandelbots/nova-api/v2";
 
 //#region src/lib/deprecated/v2/NovaCellAPIClient.d.ts
 type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
-type UnwrapAxiosResponseReturn$1<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
   data: infer D;
 } ? D : never> : never;
 /** @deprecated Use `NovaAPIClient` instead. */
-type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn$1<OmitFirstArg<T[P]>> };
+type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>> };
 /** @deprecated Use `NovaAPIClient` instead. */
-type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn$1<T[P]> };
+type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
 /**
  * API client providing type-safe access to all the Nova API REST endpoints
  * associated with a specific cell id.
@@ -126,84 +127,5 @@ declare class NovaClient {
  */
 declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 //#endregion
-//#region src/lib/NovaAPIClient.d.ts
-type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
-  data: infer D;
-} ? D : never> : never;
-type WithUnwrappedAxiosResponse$1<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
-type NovaAPIClientOpts = Configuration & {
-  axiosInstance?: AxiosInstance;
-  mock?: boolean;
-};
-/**
- * API client providing type-safe access to all the endpoints of a NOVA
- * instance.
- */
-declare class NovaAPIClient {
-  readonly opts: NovaAPIClientOpts;
-  readonly application: WithUnwrappedAxiosResponse$1<ApplicationApi>;
-  readonly busIOs: WithUnwrappedAxiosResponse$1<BUSInputsOutputsApi>;
-  readonly cell: WithUnwrappedAxiosResponse$1<CellApi>;
-  readonly controller: WithUnwrappedAxiosResponse$1<ControllerApi>;
-  readonly controllerIOs: WithUnwrappedAxiosResponse$1<ControllerInputsOutputsApi>;
-  readonly jogging: WithUnwrappedAxiosResponse$1<JoggingApi>;
-  readonly kinematics: WithUnwrappedAxiosResponse$1<KinematicsApi>;
-  readonly license: WithUnwrappedAxiosResponse$1<LicenseApi>;
-  readonly motionGroup: WithUnwrappedAxiosResponse$1<MotionGroupApi>;
-  readonly motionGroupModels: WithUnwrappedAxiosResponse$1<MotionGroupModelsApi>;
-  readonly novaCloud: WithUnwrappedAxiosResponse$1<NOVACloudApi>;
-  readonly program: WithUnwrappedAxiosResponse$1<ProgramApi>;
-  readonly robotConfigurations: WithUnwrappedAxiosResponse$1<RobotConfigurationsApi>;
-  readonly session: WithUnwrappedAxiosResponse$1<SessionApi>;
-  readonly storeCollisionComponents: WithUnwrappedAxiosResponse$1<StoreCollisionComponentsApi>;
-  readonly storeCollisionSetups: WithUnwrappedAxiosResponse$1<StoreCollisionSetupsApi>;
-  readonly storeObject: WithUnwrappedAxiosResponse$1<StoreObjectApi>;
-  readonly system: WithUnwrappedAxiosResponse$1<SystemApi>;
-  readonly trajectoryCaching: WithUnwrappedAxiosResponse$1<TrajectoryCachingApi>;
-  readonly trajectoryExecution: WithUnwrappedAxiosResponse$1<TrajectoryExecutionApi>;
-  readonly trajectoryPlanning: WithUnwrappedAxiosResponse$1<TrajectoryPlanningApi>;
-  readonly version: WithUnwrappedAxiosResponse$1<VersionApi>;
-  readonly virtualController: WithUnwrappedAxiosResponse$1<VirtualControllerApi>;
-  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse$1<VirtualControllerBehaviorApi>;
-  readonly virtualControllerIOs: WithUnwrappedAxiosResponse$1<VirtualControllerInputsOutputsApi>;
-  constructor(opts: NovaAPIClientOpts);
-}
-//#endregion
-//#region src/lib/Nova.d.ts
-type NovaConfig = {
-  /**
-   * Url of the deployed NOVA instance to connect to
-   * e.g. https://saeattii.instance.wandelbots.io
-   */
-  instanceUrl: string;
-  /**
-   * Access token for Bearer authentication.
-   * If running on a NOVA instance, this can be automatically retrieved from
-   * the current session when omitted.
-   */
-  accessToken?: string;
-} & Omit<Configuration, "isJsonMime" | "basePath">;
-/**
- *
- * Client for connecting to a NOVA instance and controlling robots.
- */
-declare class Nova {
-  readonly api: NovaAPIClient;
-  readonly config: NovaConfig;
-  readonly mock?: MockNovaInstance;
-  readonly instanceUrl: URL;
-  authPromise: Promise<string | null> | null;
-  accessToken: string | null;
-  constructor(config: NovaConfig);
-  renewAuthentication(): Promise<void>;
-  makeWebsocketURL(path: string): string;
-  /**
-   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
-   * If you explicitly want to reconnect an existing websocket, call `reconnect`
-   * on the returned object.
-   */
-  openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
-}
-//#endregion
 export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, type NovaConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
 //# sourceMappingURL=index.d.cts.map

package/dist/v2/index.d.cts.map

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package/dist/v2/index.d.mts

@@ -1,17 +1,18 @@
 import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket-1K2J1NA4.mjs";
+import { n as NovaConfig, r as NovaAPIClient, t as Nova } from "../Nova--8gozkLR.mjs";
 import { AxiosInstance } from "axios";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, LicenseApi, MotionGroupApi, MotionGroupModelsApi, NOVACloudApi, Pose, ProgramApi, RobotConfigurationsApi, SessionApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VersionApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";
 
 //#region src/lib/deprecated/v2/NovaCellAPIClient.d.ts
 type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
-type UnwrapAxiosResponseReturn$1<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
   data: infer D;
 } ? D : never> : never;
 /** @deprecated Use `NovaAPIClient` instead. */
-type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn$1<OmitFirstArg<T[P]>> };
+type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>> };
 /** @deprecated Use `NovaAPIClient` instead. */
-type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn$1<T[P]> };
+type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
 /**
  * API client providing type-safe access to all the Nova API REST endpoints
  * associated with a specific cell id.
@@ -126,84 +127,5 @@ declare class NovaClient {
  */
 declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 //#endregion
-//#region src/lib/NovaAPIClient.d.ts
-type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
-  data: infer D;
-} ? D : never> : never;
-type WithUnwrappedAxiosResponse$1<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
-type NovaAPIClientOpts = Configuration & {
-  axiosInstance?: AxiosInstance;
-  mock?: boolean;
-};
-/**
- * API client providing type-safe access to all the endpoints of a NOVA
- * instance.
- */
-declare class NovaAPIClient {
-  readonly opts: NovaAPIClientOpts;
-  readonly application: WithUnwrappedAxiosResponse$1<ApplicationApi>;
-  readonly busIOs: WithUnwrappedAxiosResponse$1<BUSInputsOutputsApi>;
-  readonly cell: WithUnwrappedAxiosResponse$1<CellApi>;
-  readonly controller: WithUnwrappedAxiosResponse$1<ControllerApi>;
-  readonly controllerIOs: WithUnwrappedAxiosResponse$1<ControllerInputsOutputsApi>;
-  readonly jogging: WithUnwrappedAxiosResponse$1<JoggingApi>;
-  readonly kinematics: WithUnwrappedAxiosResponse$1<KinematicsApi>;
-  readonly license: WithUnwrappedAxiosResponse$1<LicenseApi>;
-  readonly motionGroup: WithUnwrappedAxiosResponse$1<MotionGroupApi>;
-  readonly motionGroupModels: WithUnwrappedAxiosResponse$1<MotionGroupModelsApi>;
-  readonly novaCloud: WithUnwrappedAxiosResponse$1<NOVACloudApi>;
-  readonly program: WithUnwrappedAxiosResponse$1<ProgramApi>;
-  readonly robotConfigurations: WithUnwrappedAxiosResponse$1<RobotConfigurationsApi>;
-  readonly session: WithUnwrappedAxiosResponse$1<SessionApi>;
-  readonly storeCollisionComponents: WithUnwrappedAxiosResponse$1<StoreCollisionComponentsApi>;
-  readonly storeCollisionSetups: WithUnwrappedAxiosResponse$1<StoreCollisionSetupsApi>;
-  readonly storeObject: WithUnwrappedAxiosResponse$1<StoreObjectApi>;
-  readonly system: WithUnwrappedAxiosResponse$1<SystemApi>;
-  readonly trajectoryCaching: WithUnwrappedAxiosResponse$1<TrajectoryCachingApi>;
-  readonly trajectoryExecution: WithUnwrappedAxiosResponse$1<TrajectoryExecutionApi>;
-  readonly trajectoryPlanning: WithUnwrappedAxiosResponse$1<TrajectoryPlanningApi>;
-  readonly version: WithUnwrappedAxiosResponse$1<VersionApi>;
-  readonly virtualController: WithUnwrappedAxiosResponse$1<VirtualControllerApi>;
-  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse$1<VirtualControllerBehaviorApi>;
-  readonly virtualControllerIOs: WithUnwrappedAxiosResponse$1<VirtualControllerInputsOutputsApi>;
-  constructor(opts: NovaAPIClientOpts);
-}
-//#endregion
-//#region src/lib/Nova.d.ts
-type NovaConfig = {
-  /**
-   * Url of the deployed NOVA instance to connect to
-   * e.g. https://saeattii.instance.wandelbots.io
-   */
-  instanceUrl: string;
-  /**
-   * Access token for Bearer authentication.
-   * If running on a NOVA instance, this can be automatically retrieved from
-   * the current session when omitted.
-   */
-  accessToken?: string;
-} & Omit<Configuration, "isJsonMime" | "basePath">;
-/**
- *
- * Client for connecting to a NOVA instance and controlling robots.
- */
-declare class Nova {
-  readonly api: NovaAPIClient;
-  readonly config: NovaConfig;
-  readonly mock?: MockNovaInstance;
-  readonly instanceUrl: URL;
-  authPromise: Promise<string | null> | null;
-  accessToken: string | null;
-  constructor(config: NovaConfig);
-  renewAuthentication(): Promise<void>;
-  makeWebsocketURL(path: string): string;
-  /**
-   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
-   * If you explicitly want to reconnect an existing websocket, call `reconnect`
-   * on the returned object.
-   */
-  openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
-}
-//#endregion
 export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, type NovaConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
 //# sourceMappingURL=index.d.mts.map

package/dist/v2/index.d.mts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.mts","names":[],"sources":["../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../src/lib/deprecated/v2/NovaClient.ts","../../src/lib/deprecated/v2/wandelscriptUtils.ts"],"mappings":";;;;;;;KAoCK,YAAA,MAAkB,CAAA,WAAW,CAAA,UAAW,IAAA,6BACrC,IAAA,EAAM,CAAA,KAAM,CAAA;AAAA,KAGf,yBAAA,MAA+B,CAAA,cAAc,CAAA,qBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;;KAIxD,UAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,YAAA,CAAa,CAAA,CAAE,CAAA;;KAI/C,0BAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;;;;;;cAQjC,iBAAA;EAAA,SACF,MAAA,EAAQ,0BAAA,CAA2B,SAAA;EAAA,SACnC,IAAA,EAAM,0BAAA,CAA2B,OAAA;EAAA,SACjC,WAAA,EAAa,UAAA,CAAW,cAAA;EAAA,SACxB,iBAAA,EAAmB,0BAAA,CAA2B,oBAAA;EAAA,SAC9C,UAAA,EAAY,UAAA,CAAW,aAAA;EAAA,SACvB,aAAA,EAAe,UAAA,CAAW,0BAAA;EAAA,SAC1B,kBAAA,EAAoB,UAAA,CAAW,qBAAA;EAAA,SAC/B,mBAAA,EAAqB,UAAA,CAAW,sBAAA;EAAA,SAChC,iBAAA,EAAmB,UAAA,CAAW,oBAAA;EAAA,SAC9B,WAAA,EAAa,UAAA,CAAW,cAAA;EAAA,SACxB,iBAAA,EAAmB,0BAAA,CAA2B,cAAA;EAAA,SAC9C,OAAA,EAAS,UAAA,CAAW,UAAA;EAAA,SACpB,UAAA,EAAY,UAAA,CAAW,aAAA;EAAA,SACvB,gBAAA,EAAkB,UAAA,CAAW,mBAAA;EAAA,SAC7B,iBAAA,EAAmB,UAAA,CAAW,oBAAA;EAAA,SAC9B,yBAAA,EAA2B,UAAA,CAAW,4BAAA;EAAA,SACtC,oBAAA,EAAsB,UAAA,CAAW,iCAAA;EAAA,SACjC,WAAA,EAAa,UAAA,CAAW,cAAA;EAAA,SACxB,wBAAA,EAA0B,UAAA,CAAW,2BAAA;EAAA,SACrC,oBAAA,EAAsB,UAAA,CAAW,uBAAA;EAAA,SACjC,OAAA,EAAS,UAAA,CAAW,UAAA;EAAA,SACpB,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,SAAA,EAAW,0BAAA,CAA2B,YAAA;EAAA,SACtC,mBAAA,EAAqB,0BAAA,CAA2B,sBAAA;EAAA,SAChD,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SACpC,OAAA,EAAS,0BAAA,CAA2B,UAAA;EAAA,SAEpC,MAAA;EAAA,SACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;cAIA,MAAA,UACA,IAAA,EAAM,aAAA;IACJ,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;EAnDmD;;;;;EAAA,QAgG/C,UAAA;EAjGa;;;EAAA,QAsIb,0BAAA;AAAA;;;;KCtKE,gBAAA;;ADkB8B;;;ECbxC,WAAA;EDiBY;;;;ECXZ,MAAA;EDUqB;;;;ECJrB,QAAA;EDKM;;;;ECCN,QAAA;EDEG;;;ECGH,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;AAAA,KAEJ,4BAAA,GAA+B,gBAAgB;EAAK,MAAM;AAAA;;;;;cAMlD,UAAA;EAAA,SACF,GAAA,EAAK,iBAAA;EAAA,SACL,MAAA,EAAQ,4BAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,gBAAA;EAgGd,mBAAA,IAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;ED7I+B;;;;AAAmB;ECyKnE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA;;;;;;;;iBC7MxB,wBAAA,CACd,IAAA,EAAM,IAAI,CAAC,IAAA"}

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "3.13.0-pr.307.8728cb4",
+  "version": "3.13.0-pr.307.dd54f61",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
   "packageManager": "pnpm@11.9.0+sha512.bd682d5d03fe525ef7c9fd6780c6884d1e756ac4c9c9fe00c538782824310dcf90e3ddc4f53835f06dfaebd5085e41855e0bcbb3b60de2ac5bbab89e5036f03b",

package/src/experimental/nats/index.ts

@@ -7,6 +7,8 @@
 export { buildNatsServerUrl } from "../../lib/experimental/nats/buildNatsServerUrl.ts"
 export type {
   NatsOperationParams,
+  NatsPublishPayloads,
+  NatsPublishSubject,
   NatsReplyPayloads,
   NatsRequestPayloads,
   NatsRequestSubject,

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

@@ -4,9 +4,13 @@ import {
   type NatsConnection,
   wsconnect,
 } from "@nats-io/nats-core"
+import type { Nova } from "../../Nova.ts"
+import { buildNatsServerUrl } from "./buildNatsServerUrl.ts"
 import { buildSubject } from "./buildSubject.ts"
 import type {
   NatsOperationParams,
+  NatsPublishPayloads,
+  NatsPublishSubject,
   NatsReplyPayloads,
   NatsRequestPayloads,
   NatsRequestSubject,
@@ -16,6 +20,16 @@ import type {
 
 export type NovaNatsClientConfig = ConnectionOptions
 
+type NatsMessageHandler<K extends NatsSubscribeSubject> = (
+  payload: NatsSubscribePayloads[K],
+  msg: Msg,
+) => 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
  * src/asyncapi.yaml (see scripts/generate-nats-client.ts).
@@ -26,8 +40,11 @@ export class NovaNatsClient {
   readonly config: NovaNatsClientConfig
   private connectionPromise: Promise<NatsConnection> | null = null
 
-  constructor(config: NovaNatsClientConfig) {
-    this.config = config
+  constructor(nova: Nova, config: NovaNatsClientConfig = {}) {
+    this.config = {
+      servers: buildNatsServerUrl(nova.instanceUrl.href),
+      ...config,
+    }
   }
 
   /**
@@ -71,9 +88,13 @@ export class NovaNatsClient {
    */
   async subscribe<K extends NatsSubscribeSubject>(
     subject: K,
-    params: NatsOperationParams[K],
-    handler: (payload: NatsSubscribePayloads[K], msg: Msg) => void,
+    ...args: SubscribeArgs<K>
   ): Promise<() => void> {
+    const [params, handler] =
+      args.length === 1
+        ? ([{}, args[0]] as const)
+        : ([args[0], args[1]] as const)
+
     const nc = await this.connect()
     const resolvedSubject = buildSubject(subject, params)
     const sub = nc.subscribe(resolvedSubject)
@@ -113,4 +134,22 @@ export class NovaNatsClient {
     })
     return msg.json<NatsReplyPayloads[K]>()
   }
+
+  /**
+   * Publishes a JSON payload to any NATS subject defined in the spec,
+   * without waiting for a reply.
+   *
+   * `subject` is the subject template as it appears on the wire, e.g.
+   * `"nova.v2.cells.{cell}.bus-ios.ios.set"`, with `{param}` placeholders
+   * filled in from `params`.
+   */
+  async publish<K extends NatsPublishSubject>(
+    subject: K,
+    params: NatsOperationParams[K],
+    payload: NatsPublishPayloads[K],
+  ): Promise<void> {
+    const nc = await this.connect()
+    const resolvedSubject = buildSubject(subject, params)
+    nc.publish(resolvedSubject, JSON.stringify(payload))
+  }
 }

package/src/lib/experimental/nats/generated/operations.ts

@@ -51,7 +51,7 @@ export interface NatsOperationParams {
   /** publishCellCycle */
   "nova.v2.cells.{cell}.cycle": { cell: string }
   /** publishSystemStatus */
-  "nova.v2.system.status": Record<string, never>
+  "nova.v2.system.status": Record<never, never>
   /** publishCollisionSetup */
   "nova.v2.cells.{cell}.collision.setups.{setup}": {
     cell: string
@@ -85,11 +85,11 @@ export interface NatsOperationParams {
     "motion-group": string
   }
   /** eventSystemUpdateStarted */
-  "nova.v2.events.system.update.started": Record<string, never>
+  "nova.v2.events.system.update.started": Record<never, never>
   /** eventSystemUpdateCompleted */
-  "nova.v2.events.system.update.completed": Record<string, never>
+  "nova.v2.events.system.update.completed": Record<never, never>
   /** eventSystemNetworkStatusChanged */
-  "nova.v2.events.system.network.status.changed": Record<string, never>
+  "nova.v2.events.system.network.status.changed": Record<never, never>
   /** eventCellCreated */
   "nova.v2.events.cells.{cell}.created": { cell: string }
   /** eventCellUpdated */
@@ -201,3 +201,63 @@ export interface NatsReplyPayloads {
 }
 
 export type NatsRequestSubject = keyof NatsRequestPayloads
+
+/** Payload types for every subject defined in the spec, publishable via NovaNatsClient#publish. */
+export interface NatsPublishPayloads {
+  /** publishCell */
+  "nova.v2.cells.{cell}": Cell
+  /** publishApp */
+  "nova.v2.cells.{cell}.apps.{app}": App
+  /** publishProgramStatus */
+  "nova.v2.cells.{cell}.programs": ProgramStatus
+  /** publishRobotController */
+  "nova.v2.cells.{cell}.controllers.{controller}": RobotController
+  /** publishCellStatus */
+  "nova.v2.cells.{cell}.status": ServiceStatusList
+  /** publishCellCycle */
+  "nova.v2.cells.{cell}.cycle": CellCycleEvent
+  /** publishSystemStatus */
+  "nova.v2.system.status": ServiceStatusList
+  /** publishCollisionSetup */
+  "nova.v2.cells.{cell}.collision.setups.{setup}": CollisionSetup
+  /** publishBUSIOStatus */
+  "nova.v2.cells.{cell}.bus-ios.status": BusIOsState
+  /** publishBUSIOsIOs */
+  "nova.v2.cells.{cell}.bus-ios.ios": ListIOValuesResponse
+  /** setBUSIOsIOs */
+  "nova.v2.cells.{cell}.bus-ios.ios.set": ListIOValuesResponse
+  /** selectRobotControllerIOs */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.select": SelectIOs
+  /** publishRobotControllerIOs */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios": StreamIOValuesResponse
+  /** publishRobotControllersState */
+  "nova.v2.cells.{cell}.controllers.{controller}.state": RobotControllerState
+  /** publishMotionGroupDescription */
+  "nova.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description": MotionGroupDescription
+  /** eventSystemUpdateStarted */
+  "nova.v2.events.system.update.started": SystemUpdateStartedEvent
+  /** eventSystemUpdateCompleted */
+  "nova.v2.events.system.update.completed": SystemUpdateCompletedEvent
+  /** eventSystemNetworkStatusChanged */
+  "nova.v2.events.system.network.status.changed": NetworkStatusChangedEvent
+  /** eventCellCreated */
+  "nova.v2.events.cells.{cell}.created": CellCreatedEvent
+  /** eventCellUpdated */
+  "nova.v2.events.cells.{cell}.updated": CellUpdatedEvent
+  /** eventCellDeleted */
+  "nova.v2.events.cells.{cell}.deleted": CellDeletedEvent
+  /** eventAppCreated */
+  "nova.v2.events.cells.{cell}.apps.{app}.created": AppCreatedEvent
+  /** eventAppUpdated */
+  "nova.v2.events.cells.{cell}.apps.{app}.updated": AppUpdatedEvent
+  /** eventAppDeleted */
+  "nova.v2.events.cells.{cell}.apps.{app}.deleted": AppDeletedEvent
+  /** eventRobotControllerCreated */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.created": RobotControllerCreatedEvent
+  /** eventRobotControllerUpdated */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.updated": RobotControllerUpdatedEvent
+  /** eventRobotControllerDeleted */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.deleted": RobotControllerDeletedEvent
+}
+
+export type NatsPublishSubject = keyof NatsPublishPayloads