@wandelbots/nova-js 3.13.0 → 4.0.0-pr.309.02b99fd

package/src/lib/deprecated/v1/motionStateUpdate.ts

@@ -1,58 +0,0 @@
-import type { TcpPose } from "@wandelbots/nova-api/v1"
-
-/** @deprecated */
-export function jointValuesEqual(
-  oldJointValues: number[],
-  newJointValues: number[],
-  changeDeltaThreshold: number,
-): boolean {
-  if (newJointValues.length !== oldJointValues.length) {
-    return true
-  }
-
-  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {
-    if (
-      // biome-ignore lint/style/noNonNullAssertion: legacy code
-      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >
-      changeDeltaThreshold
-    ) {
-      return false
-    }
-  }
-
-  return true
-}
-
-/** @deprecated */
-export function tcpPoseEqual(
-  oldTcp: TcpPose | undefined,
-  newTcp: TcpPose | undefined,
-  changeDeltaThreshold: number,
-): boolean {
-  // undefined -> defined (+reverse) transition
-  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {
-    return false
-  }
-
-  // the typechecker cannot resolve states to "!= undefined" if "&&" is used
-  if (oldTcp === undefined || newTcp === undefined) {
-    return true
-  }
-
-  let changedDelta = 0
-  changedDelta += Math.abs(oldTcp.orientation.x - newTcp.orientation.x)
-  changedDelta += Math.abs(oldTcp.orientation.y - newTcp.orientation.y)
-  changedDelta += Math.abs(oldTcp.orientation.z - newTcp.orientation.z)
-  changedDelta += Math.abs(oldTcp.position.x - newTcp.position.x)
-  changedDelta += Math.abs(oldTcp.position.y - newTcp.position.y)
-  changedDelta += Math.abs(oldTcp.position.z - newTcp.position.z)
-
-  if (changedDelta > changeDeltaThreshold) {
-    return false
-  }
-
-  return (
-    oldTcp.coordinate_system === newTcp.coordinate_system &&
-    oldTcp.tcp === newTcp.tcp
-  )
-}

package/src/lib/deprecated/v1/wandelscriptUtils.ts

@@ -1,23 +0,0 @@
-import type { Pose } from "@wandelbots/nova-api/v1"
-
-/**
- * Convert a Pose object representing a motion group position
- * into a string which represents that pose in Wandelscript.
- * @deprecated
- */
-export function poseToWandelscriptString(
-  pose: Pick<Pose, "position" | "orientation">,
-) {
-  const position = [pose.position.x, pose.position.y, pose.position.z]
-  const orientation = [
-    pose.orientation?.x ?? 0,
-    pose.orientation?.y ?? 0,
-    pose.orientation?.z ?? 0,
-  ]
-
-  const positionValues = position.map((v) => v.toFixed(1))
-  // Rotation needs more precision since it's in radians
-  const rotationValues = orientation.map((v) => v.toFixed(4))
-
-  return `(${positionValues.concat(rotationValues).join(", ")})`
-}

package/src/lib/deprecated/v2/NovaCellAPIClient.ts

@@ -1,215 +0,0 @@
-/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */
-/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
-import type {
-  BaseAPI,
-  Configuration as BaseConfiguration,
-} from "@wandelbots/nova-api/v2"
-import {
-  ApplicationApi,
-  BUSInputsOutputsApi,
-  CellApi,
-  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 type { AxiosInstance } from "axios"
-import axios from "axios"
-
-type OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R
-  ? (...args: P) => R
-  : never
-
-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. */
-export type WithCellId<T> = {
-  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>
-}
-
-/** @deprecated Use `NovaAPIClient` instead. */
-export 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.
- * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
- */
-export class NovaCellAPIClient {
-  readonly system: WithUnwrappedAxiosResponse<SystemApi>
-  readonly cell: WithUnwrappedAxiosResponse<CellApi>
-  readonly motionGroup: WithCellId<MotionGroupApi>
-  readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>
-  readonly controller: WithCellId<ControllerApi>
-  readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>
-  readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>
-  readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>
-  readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>
-  readonly application: WithCellId<ApplicationApi>
-  readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>
-  readonly jogging: WithCellId<JoggingApi>
-  readonly kinematics: WithCellId<KinematicsApi>
-  readonly busInputsOutputs: WithCellId<BUSInputsOutputsApi>
-  readonly virtualController: WithCellId<VirtualControllerApi>
-  readonly virtualControllerBehavior: WithCellId<VirtualControllerBehaviorApi>
-  readonly virtualControllerIOs: WithCellId<VirtualControllerInputsOutputsApi>
-  readonly storeObject: WithCellId<StoreObjectApi>
-  readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>
-  readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>
-  readonly program: WithCellId<ProgramApi>
-  readonly license: WithUnwrappedAxiosResponse<LicenseApi>
-  readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>
-  readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>
-  readonly version: WithUnwrappedAxiosResponse<VersionApi>
-  readonly session: WithUnwrappedAxiosResponse<SessionApi>
-
-  readonly cellId: string
-  readonly opts: BaseConfiguration & {
-    axiosInstance?: AxiosInstance
-    mock?: boolean
-  }
-
-  constructor(
-    cellId: string,
-    opts: BaseConfiguration & {
-      axiosInstance?: AxiosInstance
-      mock?: boolean
-    },
-  ) {
-    this.cellId = cellId
-    this.opts = opts
-    this.system = this.withUnwrappedResponsesOnly(SystemApi)
-    this.cell = this.withUnwrappedResponsesOnly(CellApi)
-    this.motionGroup = this.withCellId(MotionGroupApi)
-    this.motionGroupModels =
-      this.withUnwrappedResponsesOnly(MotionGroupModelsApi)
-    this.controller = this.withCellId(ControllerApi)
-    this.controllerIOs = this.withCellId(ControllerInputsOutputsApi)
-    this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)
-    this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi)
-    this.trajectoryCaching = this.withCellId(TrajectoryCachingApi)
-    this.application = this.withCellId(ApplicationApi)
-    this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
-    this.jogging = this.withCellId(JoggingApi)
-    this.kinematics = this.withCellId(KinematicsApi)
-    this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi)
-    this.virtualController = this.withCellId(VirtualControllerApi)
-    this.virtualControllerBehavior = this.withCellId(
-      VirtualControllerBehaviorApi,
-    )
-    this.virtualControllerIOs = this.withCellId(
-      VirtualControllerInputsOutputsApi,
-    )
-    this.storeObject = this.withCellId(StoreObjectApi)
-    this.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi)
-    this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)
-    this.program = this.withCellId(ProgramApi)
-    this.license = this.withUnwrappedResponsesOnly(LicenseApi)
-    this.novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)
-    this.robotConfigurations = this.withUnwrappedResponsesOnly(
-      RobotConfigurationsApi,
-    )
-    this.version = this.withUnwrappedResponsesOnly(VersionApi)
-    this.session = this.withUnwrappedResponsesOnly(SessionApi)
-  }
-
-  /**
-   * Some TypeScript sorcery which alters the API class methods so you don't
-   * have to pass the cell id to every single one, and de-encapsulates the
-   * response data
-   */
-  private withCellId<T extends BaseAPI>(
-    ApiConstructor: new (
-      config: BaseConfiguration,
-      basePath: string,
-      axios: AxiosInstance,
-    ) => T,
-  ) {
-    const apiClient = new ApiConstructor(
-      {
-        ...this.opts,
-        isJsonMime: (mime: string) => {
-          return mime === "application/json"
-        },
-      },
-      this.opts.basePath ?? "",
-      this.opts.axiosInstance ?? axios.create(),
-    ) as {
-      [key: string | symbol]: any
-    }
-
-    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {
-      if (key !== "constructor" && typeof apiClient[key] === "function") {
-        const originalFunction = apiClient[key]
-        apiClient[key] = (...args: any[]) => {
-          return originalFunction
-            .apply(apiClient, [this.cellId, ...args])
-            .then((res: any) => res.data)
-        }
-      }
-    }
-
-    return apiClient as WithCellId<T>
-  }
-
-  /**
-   * As withCellId, but only does the response unwrapping
-   */
-  private withUnwrappedResponsesOnly<T extends BaseAPI>(
-    ApiConstructor: new (
-      config: BaseConfiguration,
-      basePath: string,
-      axios: AxiosInstance,
-    ) => T,
-  ) {
-    const apiClient = new ApiConstructor(
-      {
-        ...this.opts,
-        isJsonMime: (mime: string) => {
-          return mime === "application/json"
-        },
-      },
-      this.opts.basePath ?? "",
-      this.opts.axiosInstance ?? axios.create(),
-    ) as {
-      [key: string | symbol]: any
-    }
-
-    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {
-      if (key !== "constructor" && typeof apiClient[key] === "function") {
-        const originalFunction = apiClient[key]
-        apiClient[key] = (...args: any[]) => {
-          return originalFunction
-            .apply(apiClient, args)
-            .then((res: any) => res.data)
-        }
-      }
-    }
-
-    return apiClient as WithUnwrappedAxiosResponse<T>
-  }
-}

package/src/lib/deprecated/v2/NovaClient.ts

@@ -1,218 +0,0 @@
-/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
-import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2"
-import type { AxiosRequestConfig } from "axios"
-import axios, { isAxiosError } from "axios"
-import { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket.ts"
-import { availableStorage } from "../../availableStorage.ts"
-import { parseNovaInstanceUrl } from "../../converters.ts"
-import { guardedPageReload } from "../../errorHandling.ts"
-import { loginWithAuth0 } from "../../LoginWithAuth0.ts"
-
-import { isLocalhostDev } from "../../context.ts"
-import { MockNovaInstance } from "../../mock/MockNovaInstance.ts"
-import { NovaCellAPIClient } from "./NovaCellAPIClient.ts"
-
-/** @deprecated Use `NovaClientConfig` from `Nova` instead. */
-export type NovaClientConfig = {
-  /**
-   * Url of the deployed Nova instance to connect to
-   * e.g. https://saeattii.instance.wandelbots.io
-   */
-  instanceUrl: string | "https://mock.example.com"
-
-  /**
-   * Identifier of the cell on the Nova instance to connect this client to.
-   * If omitted, the default identifier "cell" is used.
-   **/
-  cellId?: string
-
-  /**
-   * Username for basic auth to the Nova instance.
-   * @deprecated use accessToken instead
-   */
-  username?: string
-
-  /**
-   * Password for basic auth to the Nova instance.
-   * @deprecated use accessToken instead
-   */
-  password?: string
-
-  /**
-   * Access token for Bearer authentication.
-   */
-  accessToken?: string
-} & Omit<BaseConfiguration, "isJsonMime" | "basePath">
-
-type NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }
-
-/**
- * Client for connecting to a Nova instance and controlling robots.
- * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.
- */
-export class NovaClient {
-  readonly api: NovaCellAPIClient
-  readonly config: NovaClientConfigWithDefaults
-  readonly mock?: MockNovaInstance
-  readonly instanceUrl: URL
-  authPromise: Promise<string | null> | null = null
-  accessToken: string | null = null
-
-  constructor(config: NovaClientConfig) {
-    const cellId = config.cellId ?? "cell"
-    this.config = {
-      cellId,
-      ...config,
-    }
-    this.accessToken =
-      config.accessToken ||
-      availableStorage.getString("wbjs.access_token") ||
-      null
-
-    if (this.config.instanceUrl === "https://mock.example.com") {
-      this.mock = new MockNovaInstance()
-    }
-    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)
-
-    // Set up Axios instance with interceptor for token fetching
-    const axiosInstance = axios.create({
-      baseURL: new URL("/api/v2", this.instanceUrl).href,
-      // TODO - backend needs to set proper CORS headers for this
-      headers: isLocalhostDev
-        ? {}
-        : {
-            // Identify the client to the backend for logging purposes
-            "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK",
-          },
-    })
-
-    axiosInstance.interceptors.request.use(async (request) => {
-      if (!request.headers.Authorization) {
-        if (this.accessToken) {
-          request.headers.Authorization = `Bearer ${this.accessToken}`
-        } else if (this.config.username && this.config.password) {
-          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`
-        }
-      }
-      return request
-    })
-
-    if (typeof window !== "undefined") {
-      axiosInstance.interceptors.response.use(
-        (r) => r,
-        async (error) => {
-          if (isAxiosError(error)) {
-            if (error.response?.status === 401) {
-              // If we hit a 401, attempt to login the user and retry with
-              // a new access token
-              try {
-                await this.renewAuthentication()
-
-                if (error.config) {
-                  if (this.accessToken) {
-                    error.config.headers.Authorization = `Bearer ${this.accessToken}`
-                  } else {
-                    delete error.config.headers.Authorization
-                  }
-                  return axiosInstance.request(error.config)
-                }
-              } catch (err) {
-                return Promise.reject(err)
-              }
-            } else if (error.response?.status === 503) {
-              // Check if the server as a whole is down
-              const res = await fetch(window.location.href)
-              if (res.status === 503) {
-                // Go to 503 page
-                return guardedPageReload("503_server_unavailable")
-              }
-            }
-          }
-
-          return Promise.reject(error)
-        },
-      )
-    }
-
-    this.api = new NovaCellAPIClient(cellId, {
-      ...config,
-      basePath: new URL("/api/v2", this.instanceUrl).href,
-      isJsonMime: (mime: string) => {
-        return mime === "application/json"
-      },
-      baseOptions: {
-        ...(this.mock
-          ? ({
-              adapter: (config) => {
-                return this.mock!.handleAPIRequest(config)
-              },
-            } satisfies AxiosRequestConfig)
-          : {}),
-        ...config.baseOptions,
-      },
-      axiosInstance,
-    })
-  }
-
-  async renewAuthentication(): Promise<void> {
-    if (this.authPromise) {
-      // Don't double up
-      return
-    }
-
-    const storedToken = availableStorage.getString("wbjs.access_token")
-    if (storedToken && this.accessToken !== storedToken) {
-      // Might be newer than the one we have
-      this.accessToken = storedToken
-      return
-    }
-
-    // Otherwise, perform login flow
-    this.authPromise = loginWithAuth0(this.instanceUrl)
-    try {
-      this.accessToken = await this.authPromise
-      if (this.accessToken) {
-        // Cache access token so we don't need to log in every refresh
-        availableStorage.setString("wbjs.access_token", this.accessToken)
-      } else {
-        availableStorage.delete("wbjs.access_token")
-      }
-    } finally {
-      this.authPromise = null
-    }
-  }
-
-  makeWebsocketURL(path: string): string {
-    const url = new URL(
-      new URL(
-        `/api/v2/cells/${this.config.cellId}/${path.replace(/^\/+/, "")}`,
-        this.instanceUrl,
-      ).href,
-    )
-    url.protocol = url.protocol.replace("http", "ws")
-    url.protocol = url.protocol.replace("https", "wss")
-
-    // If provided, add basic auth credentials to the URL
-    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari
-    // use tokens instead
-    if (this.accessToken) {
-      url.searchParams.append("token", this.accessToken)
-    } else if (this.config.username && this.config.password) {
-      url.username = this.config.username
-      url.password = this.config.password
-    }
-
-    return url.toString()
-  }
-
-  /**
-   * 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) {
-    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {
-      mock: this.mock,
-    })
-  }
-}

package/src/lib/deprecated/v2/wandelscriptUtils.ts

@@ -1,28 +0,0 @@
-import type { Pose } from "@wandelbots/nova-api/v2"
-
-/**
- * Convert a Pose object representing a motion group position
- * into a string which represents that pose in Wandelscript.
- * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.
- */
-export function poseToWandelscriptString(
-  pose: Pick<Pose, "position" | "orientation">,
-) {
-  const position = [
-    pose.position?.[0] ?? 0,
-    pose.position?.[1] ?? 0,
-    pose.position?.[2] ?? 0,
-  ]
-
-  const orientation = [
-    pose.orientation?.[0] ?? 0,
-    pose.orientation?.[1] ?? 0,
-    pose.orientation?.[2] ?? 0,
-  ]
-
-  const positionValues = position.map((v) => v.toFixed(1))
-  // Rotation needs more precision since it's in radians
-  const rotationValues = orientation.map((v) => v.toFixed(4))
-
-  return `(${positionValues.concat(rotationValues).join(", ")})`
-}

package/src/v1/index.ts

@@ -1,14 +0,0 @@
-/**
- * @fileoverview
- * @deprecated The NOVA v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.
- */
-
-export * from "@wandelbots/nova-api/v1"
-export * from "../lib/deprecated/v1/ConnectedMotionGroup.ts"
-export * from "../lib/deprecated/v1/getLatestTrajectories.ts"
-export * from "../lib/deprecated/v1/JoggerConnection.ts"
-export * from "../lib/deprecated/v1/MotionStreamConnection.ts"
-export * from "../lib/deprecated/v1/NovaCellAPIClient.ts"
-export * from "../lib/deprecated/v1/NovaClient.ts"
-export * from "../lib/deprecated/v1/ProgramStateConnection.ts"
-export * from "../lib/deprecated/v1/wandelscriptUtils.ts"