@wandelbots/nova-js 3.13.0-pr.307.ea0533d → 3.13.0

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

@@ -1,6 +1,32 @@
+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
+/**
+ * Builds the WebSocket URL for a NOVA instance's NATS gateway from its
+ * instance URL, e.g. `https://foo.instance.wandelbots.io` becomes
+ * `wss://foo.instance.wandelbots.io/api/nats`.
+ *
+ * Pass the result as `servers` in the `NovaNatsClientConfig` passed to
+ * `NovaNatsClient`.
+ */
+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.
  *
@@ -46,6 +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.
  */
@@ -95,6 +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.
@@ -122,6 +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:
@@ -148,6 +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].
@@ -1110,6 +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".
@@ -1247,6 +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.
  *
@@ -1425,6 +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.
  *
@@ -1994,193 +2165,1017 @@ interface NatsErrorPayload {
 //#region src/lib/experimental/nats/generated/operations.d.ts
 /** Subject parameters required by each NATS subject, e.g. "nova.v2.cells.{cell}". */
 interface NatsOperationParams {
-  /** publishCell */
+  /**
+   * Cell Configuration
+   *
+   * Publishes the configuration for a cell.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCell
+   */
   "nova.v2.cells.{cell}": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** publishApp */
+  /**
+   * App Configuration
+   *
+   * Publishes the configuration for a GUI application in the cell.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishApp
+   */
   "nova.v2.cells.{cell}.apps.{app}": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Name of the provided application.
+     * Must be unique within the cell and is used as an identifier for addressing the application in all API calls, e.g., when updating the application.
+     */
     app: string;
   };
-  /** publishProgramStatus */
+  /**
+   * Program Status
+   *
+   * Publishes status messages for programs running in an app within a cell.
+   * The status messages provide information about the current state of a program run.
+   *
+   * @operationId publishProgramStatus
+   */
   "nova.v2.cells.{cell}.programs": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** publishRobotController */
+  /**
+   * Robot Controller Configuration
+   *
+   * Publishes the configuration of a robot controller.
+   *
+   * @operationId publishRobotController
+   */
   "nova.v2.cells.{cell}.controllers.{controller}": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier to address a controller in the cell.
+     */
     controller: string;
   };
-  /** publishCellStatus */
+  /**
+   * Service Status
+   *
+   * Publishes the status of all cell resources.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCellStatus
+   */
   "nova.v2.cells.{cell}.status": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** publishCellCycle */
+  /**
+   * Cell Cycle Event
+   *
+   * Publishes the cycle events for a cell.
+   *
+   * @operationId publishCellCycle
+   */
   "nova.v2.cells.{cell}.cycle": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** publishSystemStatus */
-  "nova.v2.system.status": Record<string, never>;
-  /** publishCollisionSetup */
+  /**
+   * Wandelbots NOVA status
+   *
+   * Publishes the status of all system services.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishSystemStatus
+   */
+  "nova.v2.system.status": Record<never, never>;
+  /**
+   * Collision Setup
+   *
+   * Publishes the stored collision setup.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCollisionSetup
+   */
   "nova.v2.cells.{cell}.collision.setups.{setup}": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier addressing a collision setup.
+     */
     setup: string;
   };
-  /** publishBUSIOStatus */
+  /**
+   * BUS Inputs/Outputs Service Status
+   *
+   * Publishes the status of BUS inputs/outputs service.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`.
+   *
+   * @operationId publishBUSIOStatus
+   */
   "nova.v2.cells.{cell}.bus-ios.status": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** publishBUSIOsIOs */
+  /**
+   * BUS Input/Output Values
+   *
+   * Publishes updates of BUS input/output values.
+   *
+   * @operationId publishBUSIOsIOs
+   */
   "nova.v2.cells.{cell}.bus-ios.ios": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** setBUSIOsIOs */
+  /**
+   * Set Output Values
+   *
+   * Set output values published with the BUS inputs/outputs service.
+   * If you're using a virtual service, you can set inputs as well.
+   *
+   * @operationId setBUSIOsIOs
+   */
   "nova.v2.cells.{cell}.bus-ios.ios.set": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** selectRobotControllerIOs */
+  /**
+   * Select Input/Output Values
+   *
+   * Select input/output values published by the controller.
+   *
+   * @operationId selectRobotControllerIOs
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.ios.select": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier to address a controller in a cell.
+     */
     controller: string;
   };
-  /** publishRobotControllerIOs */
+  /**
+   * Input/Output Values
+   *
+   * Publishes updates of input/output values.
+   *
+   * @operationId publishRobotControllerIOs
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.ios": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier to address a controller in the cell.
+     */
     controller: string;
   };
-  /** publishRobotControllersState */
+  /**
+   * State of Robot Controller
+   *
+   * Publishes the current state of a robot controller.
+   *
+   * @operationId publishRobotControllersState
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.state": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier to address a controller in the cell.
+     */
     controller: string;
   };
-  /** publishMotionGroupDescription */
+  /**
+   * Description of Motion Group
+   *
+   * Publishes the description of a motion group, including TCPs, mounting, safety zones, limits, etc.
+   *
+   * @operationId publishMotionGroupDescription
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier addressing a controller in the cell.
+     */
     controller: string;
+    /**
+     * Motion group identifier.
+     */
     "motion-group": string;
   };
-  /** eventSystemUpdateStarted */
-  "nova.v2.events.system.update.started": Record<string, never>;
-  /** eventSystemUpdateCompleted */
-  "nova.v2.events.system.update.completed": Record<string, never>;
-  /** eventSystemNetworkStatusChanged */
-  "nova.v2.events.system.network.status.changed": Record<string, never>;
-  /** eventCellCreated */
+  /**
+   * System Update Started
+   *
+   * Publishes an event when a system update process is initiated.
+   *
+   * This event is triggered once the service-manager begins a system update process,
+   * providing details about the update metadata, trigger information, and pre-update checks.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemUpdateStarted
+   */
+  "nova.v2.events.system.update.started": Record<never, never>;
+  /**
+   * System Update Completed
+   *
+   * Publishes an event when a system update process is completed.
+   *
+   * This event is triggered once the service-manager completes a system update process,
+   * providing comprehensive results including success status, component outcomes,
+   * error details, and post-update validation results.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemUpdateCompleted
+   */
+  "nova.v2.events.system.update.completed": Record<never, never>;
+  /**
+   * System Network Status Changed
+   *
+   * Publishes an event when a system network status changes.
+   *
+   * This event is triggered once system-info service detects a change in the system network status,
+   * providing details about the new network state and related information.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemNetworkStatusChanged
+   */
+  "nova.v2.events.system.network.status.changed": Record<never, never>;
+  /**
+   * Cell Created
+   *
+   * Publishes an event when a cell foundation release is created.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellCreated
+   */
   "nova.v2.events.cells.{cell}.created": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** eventCellUpdated */
+  /**
+   * Cell Updated
+   *
+   * Publishes an event when a cell foundation release is updated.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellUpdated
+   */
   "nova.v2.events.cells.{cell}.updated": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** eventCellDeleted */
+  /**
+   * Cell Deleted
+   *
+   * Publishes an event when a cell foundation release is deleted.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellDeleted
+   */
   "nova.v2.events.cells.{cell}.deleted": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
   };
-  /** eventAppCreated */
+  /**
+   * App Created
+   *
+   * Publishes an event when an app release is created in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppCreated
+   */
   "nova.v2.events.cells.{cell}.apps.{app}.created": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier addressing an app in the cell.
+     */
     app: string;
   };
-  /** eventAppUpdated */
+  /**
+   * App Updated
+   *
+   * Publishes an event when an app release is updated in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppUpdated
+   */
   "nova.v2.events.cells.{cell}.apps.{app}.updated": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
-    app: string;
+    /**
+     * Unique identifier addressing an app in the cell.
+     */
+    app: string;
   };
-  /** eventAppDeleted */
+  /**
+   * App Deleted
+   *
+   * Publishes an event when an app release is deleted from a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppDeleted
+   */
   "nova.v2.events.cells.{cell}.apps.{app}.deleted": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier addressing an app in the cell.
+     */
     app: string;
   };
-  /** eventRobotControllerCreated */
+  /**
+   * Robot Controller Created
+   *
+   * Publishes an event when a robot controller release is created in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerCreated
+   */
   "nova.v2.events.cells.{cell}.controllers.{controller}.created": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier to address a controller in the cell.
+     */
     controller: string;
   };
-  /** eventRobotControllerUpdated */
+  /**
+   * Robot Controller Updated
+   *
+   * Publishes an event when a robot controller release is updated in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerUpdated
+   */
   "nova.v2.events.cells.{cell}.controllers.{controller}.updated": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier to address a controller in the cell.
+     */
     controller: string;
   };
-  /** eventRobotControllerDeleted */
+  /**
+   * Robot Controller Deleted
+   *
+   * Publishes an event when a robot controller release is deleted from a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerDeleted
+   */
   "nova.v2.events.cells.{cell}.controllers.{controller}.deleted": {
+    /**
+     * Unique identifier addressing a cell in all API calls.
+     */
     cell: string;
+    /**
+     * Unique identifier to address a controller in the cell.
+     */
     controller: string;
   };
 }
 /** Payload types for subjects the server publishes and the client subscribes to. */
 interface NatsSubscribePayloads {
-  /** publishCell */
+  /**
+   * Cell Configuration
+   *
+   * Publishes the configuration for a cell.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCell
+   */
   "nova.v2.cells.{cell}": Cell;
-  /** publishApp */
+  /**
+   * App Configuration
+   *
+   * Publishes the configuration for a GUI application in the cell.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishApp
+   */
   "nova.v2.cells.{cell}.apps.{app}": App;
-  /** publishProgramStatus */
+  /**
+   * Program Status
+   *
+   * Publishes status messages for programs running in an app within a cell.
+   * The status messages provide information about the current state of a program run.
+   *
+   * @operationId publishProgramStatus
+   */
   "nova.v2.cells.{cell}.programs": ProgramStatus;
-  /** publishRobotController */
+  /**
+   * Robot Controller Configuration
+   *
+   * Publishes the configuration of a robot controller.
+   *
+   * @operationId publishRobotController
+   */
   "nova.v2.cells.{cell}.controllers.{controller}": RobotController;
-  /** publishCellStatus */
+  /**
+   * Service Status
+   *
+   * Publishes the status of all cell resources.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCellStatus
+   */
   "nova.v2.cells.{cell}.status": ServiceStatusList;
-  /** publishCellCycle */
+  /**
+   * Cell Cycle Event
+   *
+   * Publishes the cycle events for a cell.
+   *
+   * @operationId publishCellCycle
+   */
   "nova.v2.cells.{cell}.cycle": CellCycleEvent;
-  /** publishSystemStatus */
+  /**
+   * Wandelbots NOVA status
+   *
+   * Publishes the status of all system services.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishSystemStatus
+   */
   "nova.v2.system.status": ServiceStatusList;
-  /** publishCollisionSetup */
+  /**
+   * Collision Setup
+   *
+   * Publishes the stored collision setup.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCollisionSetup
+   */
   "nova.v2.cells.{cell}.collision.setups.{setup}": CollisionSetup;
-  /** publishBUSIOStatus */
+  /**
+   * BUS Inputs/Outputs Service Status
+   *
+   * Publishes the status of BUS inputs/outputs service.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`.
+   *
+   * @operationId publishBUSIOStatus
+   */
   "nova.v2.cells.{cell}.bus-ios.status": BusIOsState;
-  /** publishBUSIOsIOs */
+  /**
+   * BUS Input/Output Values
+   *
+   * Publishes updates of BUS input/output values.
+   *
+   * @operationId publishBUSIOsIOs
+   */
   "nova.v2.cells.{cell}.bus-ios.ios": ListIOValuesResponse;
-  /** publishRobotControllerIOs */
+  /**
+   * Input/Output Values
+   *
+   * Publishes updates of input/output values.
+   *
+   * @operationId publishRobotControllerIOs
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.ios": StreamIOValuesResponse;
-  /** publishRobotControllersState */
+  /**
+   * State of Robot Controller
+   *
+   * Publishes the current state of a robot controller.
+   *
+   * @operationId publishRobotControllersState
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.state": RobotControllerState;
-  /** publishMotionGroupDescription */
+  /**
+   * Description of Motion Group
+   *
+   * Publishes the description of a motion group, including TCPs, mounting, safety zones, limits, etc.
+   *
+   * @operationId publishMotionGroupDescription
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description": MotionGroupDescription;
-  /** eventSystemUpdateStarted */
+  /**
+   * System Update Started
+   *
+   * Publishes an event when a system update process is initiated.
+   *
+   * This event is triggered once the service-manager begins a system update process,
+   * providing details about the update metadata, trigger information, and pre-update checks.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemUpdateStarted
+   */
   "nova.v2.events.system.update.started": SystemUpdateStartedEvent;
-  /** eventSystemUpdateCompleted */
+  /**
+   * System Update Completed
+   *
+   * Publishes an event when a system update process is completed.
+   *
+   * This event is triggered once the service-manager completes a system update process,
+   * providing comprehensive results including success status, component outcomes,
+   * error details, and post-update validation results.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemUpdateCompleted
+   */
   "nova.v2.events.system.update.completed": SystemUpdateCompletedEvent;
-  /** eventSystemNetworkStatusChanged */
+  /**
+   * System Network Status Changed
+   *
+   * Publishes an event when a system network status changes.
+   *
+   * This event is triggered once system-info service detects a change in the system network status,
+   * providing details about the new network state and related information.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemNetworkStatusChanged
+   */
   "nova.v2.events.system.network.status.changed": NetworkStatusChangedEvent;
-  /** eventCellCreated */
+  /**
+   * Cell Created
+   *
+   * Publishes an event when a cell foundation release is created.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellCreated
+   */
   "nova.v2.events.cells.{cell}.created": CellCreatedEvent;
-  /** eventCellUpdated */
+  /**
+   * Cell Updated
+   *
+   * Publishes an event when a cell foundation release is updated.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellUpdated
+   */
   "nova.v2.events.cells.{cell}.updated": CellUpdatedEvent;
-  /** eventCellDeleted */
+  /**
+   * Cell Deleted
+   *
+   * Publishes an event when a cell foundation release is deleted.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellDeleted
+   */
   "nova.v2.events.cells.{cell}.deleted": CellDeletedEvent;
-  /** eventAppCreated */
+  /**
+   * App Created
+   *
+   * Publishes an event when an app release is created in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppCreated
+   */
   "nova.v2.events.cells.{cell}.apps.{app}.created": AppCreatedEvent;
-  /** eventAppUpdated */
+  /**
+   * App Updated
+   *
+   * Publishes an event when an app release is updated in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppUpdated
+   */
   "nova.v2.events.cells.{cell}.apps.{app}.updated": AppUpdatedEvent;
-  /** eventAppDeleted */
+  /**
+   * App Deleted
+   *
+   * Publishes an event when an app release is deleted from a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppDeleted
+   */
   "nova.v2.events.cells.{cell}.apps.{app}.deleted": AppDeletedEvent;
-  /** eventRobotControllerCreated */
+  /**
+   * Robot Controller Created
+   *
+   * Publishes an event when a robot controller release is created in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerCreated
+   */
   "nova.v2.events.cells.{cell}.controllers.{controller}.created": RobotControllerCreatedEvent;
-  /** eventRobotControllerUpdated */
+  /**
+   * Robot Controller Updated
+   *
+   * Publishes an event when a robot controller release is updated in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerUpdated
+   */
   "nova.v2.events.cells.{cell}.controllers.{controller}.updated": RobotControllerUpdatedEvent;
-  /** eventRobotControllerDeleted */
+  /**
+   * Robot Controller Deleted
+   *
+   * Publishes an event when a robot controller release is deleted from a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerDeleted
+   */
   "nova.v2.events.cells.{cell}.controllers.{controller}.deleted": RobotControllerDeletedEvent;
 }
 type NatsSubscribeSubject = keyof NatsSubscribePayloads;
 /** Request payload types for subjects the client sends requests to. */
 interface NatsRequestPayloads {
-  /** setBUSIOsIOs */
+  /**
+   * Set Output Values
+   *
+   * Set output values published with the BUS inputs/outputs service.
+   * If you're using a virtual service, you can set inputs as well.
+   *
+   * @operationId setBUSIOsIOs
+   */
   "nova.v2.cells.{cell}.bus-ios.ios.set": ListIOValuesResponse;
-  /** selectRobotControllerIOs */
+  /**
+   * Select Input/Output Values
+   *
+   * Select input/output values published by the controller.
+   *
+   * @operationId selectRobotControllerIOs
+   */
   "nova.v2.cells.{cell}.controllers.{controller}.ios.select": SelectIOs;
 }
 /** Reply payload types for request/reply subjects. */
 interface NatsReplyPayloads {
-  /** setBUSIOsIOs */
+  /**
+   * Set Output Values
+   *
+   * Set output values published with the BUS inputs/outputs service.
+   * If you're using a virtual service, you can set inputs as well.
+   *
+   * @operationId setBUSIOsIOs
+   */
   "nova.v2.cells.{cell}.bus-ios.ios.set": NatsErrorPayload;
-  /** selectRobotControllerIOs */
+  /**
+   * Select Input/Output Values
+   *
+   * Select input/output values published by the controller.
+   *
+   * @operationId selectRobotControllerIOs
+   */
   "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 {
+  /**
+   * Cell Configuration
+   *
+   * Publishes the configuration for a cell.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCell
+   */
+  "nova.v2.cells.{cell}": Cell;
+  /**
+   * App Configuration
+   *
+   * Publishes the configuration for a GUI application in the cell.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishApp
+   */
+  "nova.v2.cells.{cell}.apps.{app}": App;
+  /**
+   * Program Status
+   *
+   * Publishes status messages for programs running in an app within a cell.
+   * The status messages provide information about the current state of a program run.
+   *
+   * @operationId publishProgramStatus
+   */
+  "nova.v2.cells.{cell}.programs": ProgramStatus;
+  /**
+   * Robot Controller Configuration
+   *
+   * Publishes the configuration of a robot controller.
+   *
+   * @operationId publishRobotController
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}": RobotController;
+  /**
+   * Service Status
+   *
+   * Publishes the status of all cell resources.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCellStatus
+   */
+  "nova.v2.cells.{cell}.status": ServiceStatusList;
+  /**
+   * Cell Cycle Event
+   *
+   * Publishes the cycle events for a cell.
+   *
+   * @operationId publishCellCycle
+   */
+  "nova.v2.cells.{cell}.cycle": CellCycleEvent;
+  /**
+   * Wandelbots NOVA status
+   *
+   * Publishes the status of all system services.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishSystemStatus
+   */
+  "nova.v2.system.status": ServiceStatusList;
+  /**
+   * Collision Setup
+   *
+   * Publishes the stored collision setup.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`
+   *
+   * @operationId publishCollisionSetup
+   */
+  "nova.v2.cells.{cell}.collision.setups.{setup}": CollisionSetup;
+  /**
+   * BUS Inputs/Outputs Service Status
+   *
+   * Publishes the status of BUS inputs/outputs service.
+   *
+   * The latest status message is persisted NATS JetStream, documented in `x-nats-jetstream-stream`.
+   *
+   * @operationId publishBUSIOStatus
+   */
+  "nova.v2.cells.{cell}.bus-ios.status": BusIOsState;
+  /**
+   * BUS Input/Output Values
+   *
+   * Publishes updates of BUS input/output values.
+   *
+   * @operationId publishBUSIOsIOs
+   */
+  "nova.v2.cells.{cell}.bus-ios.ios": ListIOValuesResponse;
+  /**
+   * Set Output Values
+   *
+   * Set output values published with the BUS inputs/outputs service.
+   * If you're using a virtual service, you can set inputs as well.
+   *
+   * @operationId setBUSIOsIOs
+   */
+  "nova.v2.cells.{cell}.bus-ios.ios.set": ListIOValuesResponse;
+  /**
+   * Select Input/Output Values
+   *
+   * Select input/output values published by the controller.
+   *
+   * @operationId selectRobotControllerIOs
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios.select": SelectIOs;
+  /**
+   * Input/Output Values
+   *
+   * Publishes updates of input/output values.
+   *
+   * @operationId publishRobotControllerIOs
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.ios": StreamIOValuesResponse;
+  /**
+   * State of Robot Controller
+   *
+   * Publishes the current state of a robot controller.
+   *
+   * @operationId publishRobotControllersState
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.state": RobotControllerState;
+  /**
+   * Description of Motion Group
+   *
+   * Publishes the description of a motion group, including TCPs, mounting, safety zones, limits, etc.
+   *
+   * @operationId publishMotionGroupDescription
+   */
+  "nova.v2.cells.{cell}.controllers.{controller}.motion-groups.{motion-group}.description": MotionGroupDescription;
+  /**
+   * System Update Started
+   *
+   * Publishes an event when a system update process is initiated.
+   *
+   * This event is triggered once the service-manager begins a system update process,
+   * providing details about the update metadata, trigger information, and pre-update checks.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemUpdateStarted
+   */
+  "nova.v2.events.system.update.started": SystemUpdateStartedEvent;
+  /**
+   * System Update Completed
+   *
+   * Publishes an event when a system update process is completed.
+   *
+   * This event is triggered once the service-manager completes a system update process,
+   * providing comprehensive results including success status, component outcomes,
+   * error details, and post-update validation results.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemUpdateCompleted
+   */
+  "nova.v2.events.system.update.completed": SystemUpdateCompletedEvent;
+  /**
+   * System Network Status Changed
+   *
+   * Publishes an event when a system network status changes.
+   *
+   * This event is triggered once system-info service detects a change in the system network status,
+   * providing details about the new network state and related information.
+   *
+   * The event follows CloudEvents v1.0 specification and is persisted in NATS JetStream
+   * for reliable delivery and event replay capabilities.
+   *
+   * @operationId eventSystemNetworkStatusChanged
+   */
+  "nova.v2.events.system.network.status.changed": NetworkStatusChangedEvent;
+  /**
+   * Cell Created
+   *
+   * Publishes an event when a cell foundation release is created.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellCreated
+   */
+  "nova.v2.events.cells.{cell}.created": CellCreatedEvent;
+  /**
+   * Cell Updated
+   *
+   * Publishes an event when a cell foundation release is updated.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellUpdated
+   */
+  "nova.v2.events.cells.{cell}.updated": CellUpdatedEvent;
+  /**
+   * Cell Deleted
+   *
+   * Publishes an event when a cell foundation release is deleted.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventCellDeleted
+   */
+  "nova.v2.events.cells.{cell}.deleted": CellDeletedEvent;
+  /**
+   * App Created
+   *
+   * Publishes an event when an app release is created in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppCreated
+   */
+  "nova.v2.events.cells.{cell}.apps.{app}.created": AppCreatedEvent;
+  /**
+   * App Updated
+   *
+   * Publishes an event when an app release is updated in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppUpdated
+   */
+  "nova.v2.events.cells.{cell}.apps.{app}.updated": AppUpdatedEvent;
+  /**
+   * App Deleted
+   *
+   * Publishes an event when an app release is deleted from a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventAppDeleted
+   */
+  "nova.v2.events.cells.{cell}.apps.{app}.deleted": AppDeletedEvent;
+  /**
+   * Robot Controller Created
+   *
+   * Publishes an event when a robot controller release is created in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerCreated
+   */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.created": RobotControllerCreatedEvent;
+  /**
+   * Robot Controller Updated
+   *
+   * Publishes an event when a robot controller release is updated in a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId eventRobotControllerUpdated
+   */
+  "nova.v2.events.cells.{cell}.controllers.{controller}.updated": RobotControllerUpdatedEvent;
+  /**
+   * Robot Controller Deleted
+   *
+   * Publishes an event when a robot controller release is deleted from a cell.
+   *
+   * The event follows CloudEvents v1.0 and is persisted in NATS JetStream for reliable delivery and replay capabilities.
+   *
+   * @operationId 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 | 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
  * src/asyncapi.yaml (see scripts/generate-nats-client.ts).
@@ -2189,11 +3184,15 @@ type NovaNatsClientConfig = ConnectionOptions;
  */
 declare class NovaNatsClient {
   readonly config: NovaNatsClientConfig;
-  connection: NatsConnection | null;
-  constructor(config: NovaNatsClientConfig);
-  /** Connects to NATS if not already connected, and returns the connection. */
+  private connectionPromise;
+  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
+   * in-flight connection attempt instead of each starting their own.
+   */
   connect(): Promise<NatsConnection>;
-  /** Closes the underlying NATS connection, if open. */
+  /** Closes the underlying NATS connection, if open or connecting. */
   close(): Promise<void>;
   /**
    * Subscribes to a NATS subject published by the server, invoking `handler`
@@ -2203,9 +3202,13 @@ 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, 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.
@@ -2217,7 +3220,16 @@ 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 };
+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