@wandelbots/nova-js 3.2.0-pr.dev-e2e-jogging-test.143.34230ab → 3.2.0-pr.feat-v2.155.c906166

package/src/lib/v2/MotionStreamConnection.ts

@@ -0,0 +1,222 @@
+import type {
+  MotionGroupDescription,
+  MotionGroupState,
+  RobotControllerState,
+} from "@wandelbots/nova-api/v2"
+import { makeAutoObservable, runInAction } from "mobx"
+import { Vector3 } from "three"
+import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
+import { tryParseJson } from "../converters"
+import { jointValuesEqual, tcpMotionEqual } from "./motionStateUpdate"
+import type { NovaClient } from "./NovaClient"
+import type { Vector3Simple } from "./types/vector3"
+
+const MOTION_DELTA_THRESHOLD = 0.0001
+
+function unwrapRotationVector(
+  newRotationVectorApi: Vector3Simple,
+  currentRotationVectorApi: Vector3Simple,
+): Vector3Simple {
+  const currentRotationVector = new Vector3(
+    currentRotationVectorApi[0],
+    currentRotationVectorApi[1],
+    currentRotationVectorApi[2],
+  )
+
+  const newRotationVector = new Vector3(
+    newRotationVectorApi[0],
+    newRotationVectorApi[1],
+    newRotationVectorApi[2],
+  )
+
+  const currentAngle = currentRotationVector.length()
+  const currentAxis = currentRotationVector.normalize()
+
+  let newAngle = newRotationVector.length()
+  let newAxis = newRotationVector.normalize()
+
+  // Align rotation axes
+  if (newAxis.dot(currentAxis) < 0) {
+    newAngle = -newAngle
+    newAxis = newAxis.multiplyScalar(-1.0)
+  }
+
+  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]
+  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles
+  let angleDifference = newAngle - currentAngle
+  angleDifference -=
+    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))
+
+  newAngle = currentAngle + angleDifference
+
+  return [...newAxis.multiplyScalar(newAngle)] as Vector3Simple
+}
+
+/**
+ * Store representing the current state of a connected motion group.
+ */
+export class MotionStreamConnection {
+  static async open(nova: NovaClient, motionGroupId: string) {
+    const [_motionGroupIndex, controllerId] = motionGroupId.split("@") as [
+      string,
+      string,
+    ]
+
+    const controller =
+      await nova.api.controller.getCurrentRobotControllerState(controllerId)
+    const motionGroup = controller?.motion_groups.find(
+      (mg) => mg.motion_group === motionGroupId,
+    )
+    if (!controller || !motionGroup) {
+      throw new Error(
+        `Controller ${controllerId} or motion group ${motionGroupId} not found`,
+      )
+    }
+
+    const motionStateSocket = nova.openReconnectingWebsocket(
+      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,
+    )
+
+    // Wait for the first message to get the initial state
+    const firstMessage = await motionStateSocket.firstMessage()
+    const initialMotionState = tryParseJson(firstMessage.data)
+      ?.result as MotionGroupState
+
+    if (!initialMotionState) {
+      throw new Error(
+        `Unable to parse initial motion state message ${firstMessage.data}`,
+      )
+    }
+
+    console.log(
+      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `,
+      initialMotionState,
+    )
+
+    // Get the motion group description for later usage in jogging
+    const description = await nova.api.motionGroup.getMotionGroupDescription(
+      controllerId,
+      motionGroup.motion_group,
+    )
+
+    return new MotionStreamConnection(
+      nova,
+      controller,
+      motionGroup,
+      description,
+      initialMotionState,
+      motionStateSocket,
+    )
+  }
+
+  // Not mobx-observable as this changes very fast; should be observed
+  // using animation frames
+  rapidlyChangingMotionState: MotionGroupState
+
+  constructor(
+    readonly nova: NovaClient,
+    readonly controller: RobotControllerState,
+    readonly motionGroup: MotionGroupState,
+    readonly description: MotionGroupDescription,
+    readonly initialMotionState: MotionGroupState,
+    readonly motionStateSocket: AutoReconnectingWebsocket,
+  ) {
+    this.rapidlyChangingMotionState = initialMotionState
+
+    motionStateSocket.addEventListener("message", (event) => {
+      const latestMotionState = tryParseJson(event.data)?.result as
+        | MotionGroupState
+        | undefined
+
+      if (!latestMotionState) {
+        throw new Error(
+          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,
+        )
+      }
+
+      // handle joint position changes
+      if (
+        !jointValuesEqual(
+          this.rapidlyChangingMotionState.joint_position,
+          latestMotionState.joint_position,
+          MOTION_DELTA_THRESHOLD,
+        )
+      ) {
+        runInAction(() => {
+          this.rapidlyChangingMotionState = latestMotionState
+        })
+      }
+
+      // handle tcp pose changes
+      if (
+        !tcpMotionEqual(
+          this.rapidlyChangingMotionState,
+          latestMotionState,
+          MOTION_DELTA_THRESHOLD,
+        )
+      ) {
+        runInAction(() => {
+          if (this.rapidlyChangingMotionState.tcp_pose == null) {
+            this.rapidlyChangingMotionState.tcp_pose =
+              latestMotionState.tcp_pose
+          } else if (
+            latestMotionState.tcp_pose?.orientation &&
+            latestMotionState.tcp_pose?.position &&
+            this.rapidlyChangingMotionState.tcp_pose?.orientation
+          ) {
+            this.rapidlyChangingMotionState.tcp_pose = {
+              position: latestMotionState.tcp_pose.position,
+              orientation: unwrapRotationVector(
+                latestMotionState.tcp_pose.orientation as Vector3Simple,
+                this.rapidlyChangingMotionState.tcp_pose
+                  .orientation as Vector3Simple,
+              ),
+            }
+          } else {
+            console.warn(
+              "Received incomplete tcp_pose, ignoring",
+              latestMotionState.tcp_pose,
+            )
+          }
+        })
+      }
+
+      // handle standstill changes
+      if (
+        this.rapidlyChangingMotionState.standstill !==
+        latestMotionState.standstill
+      ) {
+        runInAction(() => {
+          this.rapidlyChangingMotionState.standstill =
+            latestMotionState.standstill
+        })
+      }
+    })
+    makeAutoObservable(this)
+  }
+
+  get motionGroupId() {
+    return this.motionGroup.motion_group
+  }
+
+  get controllerId() {
+    return this.controller.controller
+  }
+
+  get wandelscriptIdentifier() {
+    const num = this.motionGroupId.split("@")[0]
+    return `${this.controllerId.replaceAll("-", "_")}_${num}`
+  }
+
+  get joints() {
+    return this.initialMotionState.joint_position.map((_, i) => {
+      return {
+        index: i,
+      }
+    })
+  }
+
+  dispose() {
+    this.motionStateSocket.close()
+  }
+}

package/src/lib/v2/NovaClient.ts

@@ -8,6 +8,12 @@ import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
 import { availableStorage } from "../availableStorage"
 import { MockNovaInstance } from "./mock/MockNovaInstance"
 import { NovaCellAPIClient } from "./NovaCellAPIClient"
+import { MotionStreamConnection } from "./MotionStreamConnection"
+import {
+  JoggerConnection,
+  type JoggerConnectionOptions,
+} from "./JoggerConnection"
+import { ConnectedMotionGroup } from "./ConnectedMotionGroup"
 
 export type NovaClientConfig = {
   /**
@@ -51,10 +57,6 @@ function permissiveInstanceUrlParse(url: string): string {
 }
 
 /**
- * EXPERIMENTAL
- *
- * This client provides a starting point to migrate NOVA api v2.
- * As v2 is still in development, this client has to be considered unstable
  *
  * Client for connecting to a Nova instance and controlling robots.
  */
@@ -66,12 +68,10 @@ export class NovaClient {
   accessToken: string | null = null
 
   constructor(config: NovaClientConfig) {
-    console.warn("Using experimental NOVA v2 client")
     const cellId = config.cellId ?? "cell"
     this.config = {
       cellId,
       ...config,
-      instanceUrl: permissiveInstanceUrlParse(config.instanceUrl),
     }
     this.accessToken =
       config.accessToken ||
@@ -80,6 +80,10 @@ export class NovaClient {
 
     if (this.config.instanceUrl === "https://mock.example.com") {
       this.mock = new MockNovaInstance()
+    } else {
+      this.config.instanceUrl = permissiveInstanceUrlParse(
+        this.config.instanceUrl,
+      )
     }
 
     // Set up Axios instance with interceptor for token fetching
@@ -146,7 +150,7 @@ export class NovaClient {
 
     this.api = new NovaCellAPIClient(cellId, {
       ...config,
-      basePath: urlJoin(this.config.instanceUrl, "/api/v1"),
+      basePath: urlJoin(this.config.instanceUrl, "/api/v2"),
       isJsonMime: (mime: string) => {
         return mime === "application/json"
       },
@@ -188,7 +192,7 @@ export class NovaClient {
     const url = new URL(
       urlJoin(
         this.config.instanceUrl,
-        `/api/v1/cells/${this.config.cellId}`,
+        `/api/v2/cells/${this.config.cellId}`,
         path,
       ),
     )
@@ -218,4 +222,38 @@ export class NovaClient {
       mock: this.mock,
     })
   }
+
+  /**
+   * Connect to the motion state websocket(s) for a given motion group
+   */
+  async connectMotionStream(motionGroupId: string) {
+    return await MotionStreamConnection.open(this, motionGroupId)
+  }
+
+  /**
+   * Connect to the jogging websocket(s) for a given motion group
+   */
+  async connectJogger(
+    motionGroupId: string,
+    options: JoggerConnectionOptions = {},
+  ) {
+    return await JoggerConnection.open(this, motionGroupId, options)
+  }
+
+  async connectMotionGroups(
+    motionGroupIds: string[],
+  ): Promise<ConnectedMotionGroup[]> {
+    return Promise.all(
+      motionGroupIds.map((motionGroupId) =>
+        ConnectedMotionGroup.connect(this, motionGroupId),
+      ),
+    )
+  }
+
+  async connectMotionGroup(
+    motionGroupId: string,
+  ): Promise<ConnectedMotionGroup> {
+    const motionGroups = await this.connectMotionGroups([motionGroupId])
+    return motionGroups[0]!
+  }
 }

package/src/lib/v2/index.ts

@@ -1,3 +1,8 @@
 export * from "@wandelbots/nova-api/v2"
+export * from "./types/vector3"
+export * from "./ConnectedMotionGroup"
 export * from "./NovaCellAPIClient"
 export * from "./NovaClient"
+export * from "./JoggerConnection"
+export * from "./MotionStreamConnection"
+export * from "./wandelscriptUtils"