@wandelbots/nova-js 3.2.0-pr.dev-e2e-jogging-test.143.4f02caf → 3.2.0-pr.feat-v2.155.e91b019

package/README.md

@@ -20,14 +20,15 @@ If you develop an React application we also provide a set of [React components](
 - [API calls](#api-calls)
 - [Opening websockets](#opening-websockets)
 - [Connect to a motion group](#connect-to-a-motion-group)
-- [Execute Wandelscript](#execute-wandelscript)
 - [Jogging](#jogging)
   - [Stopping the jogger](#stopping-the-jogger)
-  - [Rotating a joint](#rotating-a-joint)
-  - [Moving a TCP](#moving-the-tcp)
-  - [Rotating a TCP](#rotating-the-tcp)
+  - [Jogging: Rotating a joint](#jogging-rotating-a-joint-rotatejoints)
+  - [Jogging: Moving a TCP](#jogging-moving-a-tcp-translatetcp)
+  - [Jogging: Rotating a TCP](#jogging-rotating-a-tcp-rotatetcp)
+  - [Trajectory: Plan and run incremental motion](#trajectory-plan-and-run-incremental-motion-runincrementalcartesianmotion)
   - [Post-jogging cleanup](#post-jogging-cleanup)
   - [Jogging UI Panel](#jogging-ui-panel)
+- [Execute Wandelscript (V1)](#execute-wandelscript-v1)
 
 ## Basic usage
 
@@ -39,7 +40,6 @@ import { NovaClient } from "@wandelbots/nova-js"
 const nova = new NovaClient({
   instanceUrl: "https://example.instance.wandelbots.io",
   cellId: "cell",
-
   // Access token is given in the developer portal UI when you create an instance
   accessToken: "...",
 })
@@ -47,15 +47,12 @@ const nova = new NovaClient({
 
 ## API Version Support
 
-This library primarily supports **Nova API v1**, which provides full functionality including motion group connections, jogging, program execution, and all the features documented below.
-
-**Nova API v2** support is currently **experimental and limited**. While v2 API endpoints are accessible through the NovaCellAPIClient, many of the higher-level abstractions (like `connectMotionGroup`, `connectJogger`, and `ProgramStateConnection`) are not yet available for v2.
+This library supports **Nova API v1** and **v2**, which provides extra functionality including motion group connections, jogging, and all the features documented below. Please note that except for Wandelscript execution, usage of **API v1** is deprecated and not reccomended.
 
-For v2 usage:
+V1 usage:
 
 ```ts
-// Note: v2 support is experimental
-import { NovaClient } from "@wandelbots/nova-js/v2"
+import { NovaClient } from "@wandelbots/nova-js/v1"
 
 const nova = new NovaClient({
   instanceUrl: "https://example.instance.wandelbots.io",
@@ -63,12 +60,10 @@ const nova = new NovaClient({
   accessToken: "...",
 })
 
-// Direct API access is available
-const { controllers } = await nova.api.controller.listRobotControllers()
+// Deprecated API version is still callable
+const { instances } = await nova.api.controller.listControllers()
 ```
 
-We recommend using **v1** for production applications until v2 support is fully implemented.
-
 ## API calls
 
 You can make calls to the REST API via `nova.api`, which contains a bunch of namespaced methods for each endpoint generated from the OpenAPI spec and documentation.
@@ -76,11 +71,11 @@ You can make calls to the REST API via `nova.api`, which contains a bunch of nam
 For example, to list the controllers configured in your cell:
 
 ```ts
-const { instances } = await nova.api.controller.listControllers()
-// -> e.g. [{ controller: "ur5e", model_name: "UniversalRobots::Controller", ... }, ...]
+const controllerIds = await nova.api.controller.listRobotControllers()
+// -> e.g. ["ur5e", ...]
 ```
 
-Documentation for the various API endpoints is available on your Nova instance at `/api/v1/ui` (public documentation site is in the works)
+Documentation for the various API endpoints is available on your Nova instance at `/api/v2/ui` or on [portal.wandelbots.io](https://portal.wandelbots.io/docs/api/v2/ui/)
 
 ## Opening websockets
 
@@ -114,43 +109,40 @@ This connected motion group opens a websocket and listens to changes of the curr
 
 ```ts
 const newJoints =
-  activeRobot.rapidlyChangingMotionState.state.joint_position.joints
+  activeRobot.rapidlyChangingMotionState.joint_position
 ```
 
-To render a visual representation, you can use the `robot` component of the [react components](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/3d-view-robot--docs).
-
-## Execute Wandelscript
-
-The `ProgramStateConnection` provides an object which allows to execute and stop a given Wandelscript.
+**Api V2 change:** Please not that joints are now directly accessible in `rapidlyChangingMotionState.joint_position`, previously there were nested in `.rapidlyChangingMotionState.state.joint_position.joints`.
 
-```ts
-import script from "./example.ws"
-...
-programRunner.executeProgram(script)
-```
-
-You can `stop` the current execution or listen to state updates of your wandelscript code by observing the `programRunner.executionState`.
+To render a visual representation, you can use the `robot` component of the [react components](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/3d-view-robot--docs).
 
 ## Jogging
 
 Jogging in a robotics context generally refers to the manual movement of the robot via direct human input. The Wandelbots platform provides websocket-based jogging methods which can be used to build similar jogging interfaces to those found on teach pendants.
 
 ```ts
-const jogger = await nova.connectJogger(`some-motion-group-id`)
+const jogger = await nova.connectJogger(`some-motion-group-id`) // or to set options
+// const jogger = await nova.connectJogger(`some-motion-group-id`, { options })
 ```
 
-The jogger has two mutually exclusive modes. You must set the appropriate jogging mode before starting a jogging motion; this ensures that the motion is ready to start immediately when called with minimal delay.
+The jogger's mode is set to "off" first. You'll need to set it to "jogging" or "trajectory" to be able to
+send movement commands
 
 ```ts
-// Set the jogger to "joint" mode, enabling continuous joint rotations.
-await jogger.setJoggingMode("joint")
-
-// Set the jogger to "tcp" mode, enabling continuous translation
-// and rotation movements of the tool center point.
-await jogger.setJoggingMode("tcp", {
-  tcpId: "flange",
-  coordSystemId: "world",
+// Set jogger to "jogging" mode and sends InitializeJoggingRequest to API
+await jogger.setJoggingMode("jogging")
+
+// You can update options afeter initializing like this:
+await jogger.updateOptions({
+  tcp: "Flange", // TCP id
+  timeout: 3000 // How long the promise should wait when server does not respond to init request
+  orientation: "mode",
 })
+
+// For planned motions, use "trajectory" mode
+await jogger.setJoggingMode("trajectory")
+await jogger.rotateTCP({...}) // Error: Continuous jogging websocket not connected; ...
+await jogger.runIncrementalCartesianMotion({...}) // Plan and run trajectory
 ```
 
 ### Stopping the jogger
@@ -165,42 +157,48 @@ As a failsafe, the server will also stop any jogging motions when it detects the
 
 However, you should never totally rely on any software being able to stop the robot: always have the hardware emergency stop button within reach just in case!
 
-### Rotating a joint
+### Jogging: Rotating a joint `rotateJoints`
 
-Requires `joint` mode. This example starts joint 0 of the robot rotating in a positive direction at 1 radian per second:
+This example starts joint 0 of the robot rotating in a positive direction at 1 radian per second:
 
 ```ts
-await jogger.startJointRotation({
+await jogger.rotateJoints({
   joint: 0,
   direction: "+",
   velocityRadsPerSec: 1,
 })
 ```
 
-### Moving a TCP
+### Jogging: Moving a TCP `translateTCP`
 
-Requires `tcp` mode. This example starts moving a TCP in a positive direction along the X axis of the specified coordinate system, at a velocity of 10 millimeters per second:
+This example starts moving a TCP in a positive direction along the X axis of the specified coordinate system, at a velocity of 10 millimeters per second:
 
 ```ts
-await jogger.startTCPTranslation({
+await jogger.translateTCP({
   axis: "x",
   direction: "+",
   velocityMmPerSec: 10,
 })
 ```
 
-### Rotating a TCP
+### Jogging: Rotating a TCP `rotateTCP`
 
-Requires `tcp` mode. This example starts rotating the TCP in a positive direction around the X axis of the specified coordinate system, at a velocity of 1 radians per second:
+This example starts rotating the TCP in a positive direction around the X axis of the specified coordinate system, at a velocity of 1 radians per second:
 
 ```ts
-await jogger.startTCPRotation({
+await jogger.rotateTCP({
   axis: "x",
   direction: "+",
   velocityRadsPerSec: 1,
 })
 ```
 
+### Trajectory: Plan and run incremental motion `runIncrementalCartesianMotion`
+
+```ts
+await jogger.runIncrementalCartesianMotion({...})
+```
+
 ### Post-jogging cleanup
 
 When you are done with a jogger, make sure to call dispose:
@@ -215,6 +213,18 @@ This will close any open websockets and ensure things are left in a good state.
 
 You can use the [Jogging Panel](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/jogging-joggingpanel--docs) from the [react components](https://github.com/wandelbotsgmbh/wandelbots-js-react-components) library to get a easy to use visualization component.
 
+## Execute Wandelscript (V1)
+
+The `ProgramStateConnection` provides an object which allows to execute and stop a given Wandelscript.
+
+```ts
+import script from "./example.ws"
+...
+programRunner.executeProgram(script)
+```
+
+You can `stop` the current execution or listen to state updates of your wandelscript code by observing the `programRunner.executionState`.
+
 ## Contributing
 
 If you would like to contribute a change to this repository, see [CONTRIBUTING.md](CONTRIBUTING.md).

package/dist/{AutoReconnectingWebsocket-BI1ckzP8.d.ts → AutoReconnectingWebsocket-CoU4ZyD2.d.cts}

@@ -4,7 +4,6 @@ import { AxiosResponse, InternalAxiosRequestConfig } from "axios";
 //#region src/lib/v1/mock/MockNovaInstance.d.ts
 
 /**
- * EXPERIMENTAL
  * Ultra-simplified mock Nova server for testing stuff
  */
 declare class MockNovaInstance$1 {
@@ -16,7 +15,6 @@ declare class MockNovaInstance$1 {
 //#endregion
 //#region src/lib/v2/mock/MockNovaInstance.d.ts
 /**
- * EXPERIMENTAL
  * Ultra-simplified mock Nova server for testing stuff
  */
 declare class MockNovaInstance {
@@ -68,4 +66,4 @@ declare class AutoReconnectingWebsocket extends ReconnectingWebSocket {
 }
 //#endregion
 export { AutoReconnectingWebsocket, MockNovaInstance, MockNovaInstance$1 };
-//# sourceMappingURL=AutoReconnectingWebsocket-BI1ckzP8.d.ts.map
+//# sourceMappingURL=AutoReconnectingWebsocket-CoU4ZyD2.d.cts.map

package/dist/AutoReconnectingWebsocket-CoU4ZyD2.d.cts.map

@@ -0,0 +1 @@
+{"version":3,"file":"AutoReconnectingWebsocket-CoU4ZyD2.d.cts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"sourcesContent":[],"mappings":";;;;;;;AAeA;AAA6B,cAAhB,kBAAA,CAAgB;WACL,WAAA,EAAA,yBAAA,EAAA;kBAGZ,CAAA,MAAA,EAAA,0BAAA,CAAA,EACP,OADO,CACC,aADD,CAAA;2BACC,CAAA,MAAA,EAg8BuB,yBAh8BvB,CAAA,EAAA,IAAA;wBAAR,CAAA,MAAA,EAkqC4B,yBAlqC5B,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;AALL;AAA6B,cCNhB,gBAAA,CDMgB;WACL,WAAA,ECNA,yBDMA,EAAA;kBAGZ,CAAA,MAAA,ECNA,0BDMA,CAAA,ECLP,ODKO,CCLC,aDKD,CAAA;2BACC,CAAA,MAAA,ECsiCuB,yBDtiCvB,CAAA,EAAA,IAAA;wBAAR,CAAA,MAAA,ECkwC4B,yBDlwC5B,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;cEhBQ,yBAAA,SAAkC,qBAAA;EFWlC,SAAA,IAAA,EAAA;IAAgB,IAAA,CAAA,EEHhB,kBFGgB,GEHM,gBFGN;IACL,SAAA,CAAA,EAAA,GAAA,GAAA,IAAA;;sBAIX,CAAA,EEfY,YFeZ;WAAR,EAAA,MAAA;UAg8B+B,EAAA,OAAA;aAkOH,CAAA,SAAA,EAAA,MAAA,EAAA,KAAA,EAAA;IAAyB,IAAA,CAAA,EE1qC7C,kBF0qC6C,GE1qCvB,gBF0qCuB;;;;EC7qC7C,QAAA,CAAA,IAAA,EAAA,OAAgB,CAAA,EAAA,IAAA;EAAA;;;;SAKxB,CAAA,CAAA,EAAA,IAAA;;;;YCwES;;;AAlFd;EAAuC,MAAA,CAAA,CAAA,EAgGzB,OAhGyB,CAAA,IAAA,CAAA;;;;;;cAkFzB,CAAA,CAAA,EA8BM,OA9BN,CA8BM,YA9BN,CAAA,GAAA,CAAA,CAAA;;;;;aA0DK,CAAA,CAAA,EAAA,OAAA,CAAA,YAAA,CAAA,GAAA,CAAA,CAAA"}

package/dist/{AutoReconnectingWebsocket-Cr7f9016.d.cts → AutoReconnectingWebsocket-D0gTrkzu.d.ts}

@@ -4,7 +4,6 @@ import { AxiosResponse, InternalAxiosRequestConfig } from "axios";
 //#region src/lib/v1/mock/MockNovaInstance.d.ts
 
 /**
- * EXPERIMENTAL
  * Ultra-simplified mock Nova server for testing stuff
  */
 declare class MockNovaInstance$1 {
@@ -16,7 +15,6 @@ declare class MockNovaInstance$1 {
 //#endregion
 //#region src/lib/v2/mock/MockNovaInstance.d.ts
 /**
- * EXPERIMENTAL
  * Ultra-simplified mock Nova server for testing stuff
  */
 declare class MockNovaInstance {
@@ -68,4 +66,4 @@ declare class AutoReconnectingWebsocket extends ReconnectingWebSocket {
 }
 //#endregion
 export { AutoReconnectingWebsocket, MockNovaInstance, MockNovaInstance$1 };
-//# sourceMappingURL=AutoReconnectingWebsocket-Cr7f9016.d.cts.map
+//# sourceMappingURL=AutoReconnectingWebsocket-D0gTrkzu.d.ts.map

package/dist/AutoReconnectingWebsocket-D0gTrkzu.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"AutoReconnectingWebsocket-D0gTrkzu.d.ts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"sourcesContent":[],"mappings":";;;;;;;AAeA;AAA6B,cAAhB,kBAAA,CAAgB;WACL,WAAA,EAAA,yBAAA,EAAA;kBAGZ,CAAA,MAAA,EAAA,0BAAA,CAAA,EACP,OADO,CACC,aADD,CAAA;2BACC,CAAA,MAAA,EAg8BuB,yBAh8BvB,CAAA,EAAA,IAAA;wBAAR,CAAA,MAAA,EAkqC4B,yBAlqC5B,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;AALL;AAA6B,cCNhB,gBAAA,CDMgB;WACL,WAAA,ECNA,yBDMA,EAAA;kBAGZ,CAAA,MAAA,ECNA,0BDMA,CAAA,ECLP,ODKO,CCLC,aDKD,CAAA;2BACC,CAAA,MAAA,ECsiCuB,yBDtiCvB,CAAA,EAAA,IAAA;wBAAR,CAAA,MAAA,ECkwC4B,yBDlwC5B,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;cEhBQ,yBAAA,SAAkC,qBAAA;EFWlC,SAAA,IAAA,EAAA;IAAgB,IAAA,CAAA,EEHhB,kBFGgB,GEHM,gBFGN;IACL,SAAA,CAAA,EAAA,GAAA,GAAA,IAAA;;sBAIX,CAAA,EEfY,YFeZ;WAAR,EAAA,MAAA;UAg8B+B,EAAA,OAAA;aAkOH,CAAA,SAAA,EAAA,MAAA,EAAA,KAAA,EAAA;IAAyB,IAAA,CAAA,EE1qC7C,kBF0qC6C,GE1qCvB,gBF0qCuB;;;;EC7qC7C,QAAA,CAAA,IAAA,EAAA,OAAgB,CAAA,EAAA,IAAA;EAAA;;;;SAKxB,CAAA,CAAA,EAAA,IAAA;;;;YCwES;;;AAlFd;EAAuC,MAAA,CAAA,CAAA,EAgGzB,OAhGyB,CAAA,IAAA,CAAA;;;;;;cAkFzB,CAAA,CAAA,EA8BM,OA9BN,CA8BM,YA9BN,CAAA,GAAA,CAAA,CAAA;;;;;aA0DK,CAAA,CAAA,EAAA,OAAA,CAAA,YAAA,CAAA,GAAA,CAAA,CAAA"}

package/dist/{LoginWithAuth0-0g0wWRUC.js → LoginWithAuth0-CaX7yo7d.js}

@@ -153,6 +153,59 @@ var AvailableStorage = class {
 };
 const availableStorage = new AvailableStorage();
 
+//#endregion
+//#region src/lib/converters.ts
+/** Try to parse something as JSON; return undefined if we can't */
+function tryParseJson(json) {
+	try {
+		return JSON.parse(json);
+	} catch {
+		return;
+	}
+}
+/** Try to turn something into JSON; return undefined if we can't */
+function tryStringifyJson(json) {
+	try {
+		return JSON.stringify(json);
+	} catch {
+		return;
+	}
+}
+/**
+* Converts object parameters to query string.
+* e.g. { a: "1", b: "2" } => "?a=1&b=2"
+*      {} => ""
+*/
+function makeUrlQueryString(obj) {
+	const str = new URLSearchParams(obj).toString();
+	return str ? `?${str}` : "";
+}
+/** Convert radians to degrees */
+function radiansToDegrees(radians) {
+	return radians * (180 / Math.PI);
+}
+/** Convert degrees to radians */
+function degreesToRadians(degrees) {
+	return degrees * (Math.PI / 180);
+}
+/**
+* Check for coordinate system id equivalence, accounting for the "world" default
+* on empty/undefined values.
+*/
+function isSameCoordinateSystem(firstCoordSystem, secondCoordSystem) {
+	if (!firstCoordSystem) firstCoordSystem = "world";
+	if (!secondCoordSystem) secondCoordSystem = "world";
+	return firstCoordSystem === secondCoordSystem;
+}
+/**
+* Helpful const for converting {x, y, z} to [x, y, z] and vice versa
+*/
+const XYZ_TO_VECTOR = {
+	x: 0,
+	y: 1,
+	z: 2
+};
+
 //#endregion
 //#region src/LoginWithAuth0.ts
 const DOMAIN_SUFFIX = "wandelbots.io";
@@ -178,9 +231,9 @@ const auth0ConfigMap = {
 };
 /** Determine which Auth0 configuration to use based on instance URL  */
 const getAuth0Config = (instanceUrl) => {
-	if (instanceUrl.includes(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev;
-	if (instanceUrl.includes(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg;
-	if (instanceUrl.includes(DOMAIN_SUFFIX)) return auth0ConfigMap.prod;
+	if (instanceUrl.endsWith(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev;
+	if (instanceUrl.endsWith(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg;
+	if (instanceUrl.endsWith(DOMAIN_SUFFIX)) return auth0ConfigMap.prod;
 	throw new Error("Unsupported instance URL. Cannot determine Auth0 configuration.");
 };
 /**
@@ -213,5 +266,5 @@ const loginWithAuth0 = async (instanceUrl) => {
 };
 
 //#endregion
-export { AutoReconnectingWebsocket, availableStorage, loginWithAuth0 };
-//# sourceMappingURL=LoginWithAuth0-0g0wWRUC.js.map
+export { AutoReconnectingWebsocket, XYZ_TO_VECTOR, availableStorage, degreesToRadians, isSameCoordinateSystem, loginWithAuth0, makeUrlQueryString, radiansToDegrees, tryParseJson, tryStringifyJson };
+//# sourceMappingURL=LoginWithAuth0-CaX7yo7d.js.map

package/dist/LoginWithAuth0-CaX7yo7d.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"LoginWithAuth0-CaX7yo7d.js","names":["opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    }"],"sources":["../src/lib/AutoReconnectingWebsocket.ts","../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/LoginWithAuth0.ts"],"sourcesContent":["import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport type * as v1 from \"./v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n  receivedFirstMessage?: MessageEvent\n  targetUrl: string\n  disposed = false\n\n  constructor(\n    targetUrl: string,\n    readonly opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    } = {},\n  ) {\n    console.log(\"Opening websocket to\", targetUrl)\n\n    super(() => this.targetUrl || targetUrl, undefined, {\n      startClosed: true,\n    })\n\n    // Reconnecting websocket doesn't set this properly with startClosed\n    Object.defineProperty(this, \"url\", {\n      get() {\n        return this.targetUrl\n      },\n    })\n\n    this.targetUrl = targetUrl\n\n    this.addEventListener(\"open\", () => {\n      console.log(`Websocket to ${this.url} opened`)\n    })\n\n    this.addEventListener(\"message\", (ev) => {\n      if (!this.receivedFirstMessage) {\n        this.receivedFirstMessage = ev\n      }\n    })\n\n    this.addEventListener(\"close\", () => {\n      console.log(`Websocket to ${this.url} closed`)\n    })\n\n    const origReconnect = this.reconnect\n    this.reconnect = () => {\n      if (this.opts.mock) {\n        this.opts.mock.handleWebsocketConnection(this)\n      } else {\n        origReconnect.apply(this)\n      }\n    }\n\n    this.reconnect()\n  }\n\n  changeUrl(targetUrl: string) {\n    this.receivedFirstMessage = undefined\n    this.targetUrl = targetUrl\n    this.reconnect()\n  }\n\n  sendJson(data: unknown) {\n    if (this.opts.mock) {\n      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n    } else {\n      this.send(JSON.stringify(data))\n    }\n  }\n\n  /**\n   * Permanently close this websocket and indicate that\n   * this object should not be used again.\n   **/\n  dispose() {\n    this.close()\n    this.disposed = true\n    if (this.opts.onDispose) {\n      this.opts.onDispose()\n    }\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the OPEN state. */\n  async opened() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.OPEN) {\n        resolve()\n      } else {\n        this.addEventListener(\"open\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the CLOSED state. */\n  async closed() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.CLOSED) {\n        resolve()\n      } else {\n        this.addEventListener(\"close\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the first message\n   * is received from the websocket. Resolves immediately if\n   * the first message has already been received.\n   */\n  async firstMessage() {\n    if (this.receivedFirstMessage) {\n      return this.receivedFirstMessage\n    }\n\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.receivedFirstMessage = ev\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the next message\n   * is received from the websocket.\n   */\n  async nextMessage() {\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n  available = typeof window !== \"undefined\" && !!window.localStorage\n\n  getJSON<T>(key: string): Partial<T> | null {\n    if (!this.available) return null\n\n    const result = window.localStorage.getItem(key)\n    if (result === null) return null\n\n    try {\n      return JSON.parse(result)\n    } catch (err) {\n      return null\n    }\n  }\n\n  setJSON(key: string, obj: unknown) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, JSON.stringify(obj))\n  }\n\n  delete(key: string) {\n    if (!this.available) return null\n\n    window.localStorage.removeItem(key)\n  }\n\n  setString(key: string, value: string) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, value)\n  }\n\n  getString(key: string): string | null {\n    if (!this.available) return null\n\n    return window.localStorage.getItem(key)\n  }\n}\n\nexport const availableStorage = new AvailableStorage()\n","/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","const DOMAIN_SUFFIX = \"wandelbots.io\"\n\n/**\n * Mapping of stages to Auth0 configurations.\n * The client ids are public identifiers for a specific auth0 application\n * and are safe to include in client-side code.\n * https://auth0.com/docs/get-started/applications/application-settings\n */\nconst auth0ConfigMap = {\n  dev: {\n    domain: `https://auth.portal.dev.${DOMAIN_SUFFIX}`,\n    clientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\",\n  },\n  stg: {\n    domain: `https://auth.portal.stg.${DOMAIN_SUFFIX}`,\n    clientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\",\n  },\n  prod: {\n    domain: `https://auth.portal.${DOMAIN_SUFFIX}`,\n    clientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\",\n  },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL  */\nconst getAuth0Config = (instanceUrl: string) => {\n  if (instanceUrl.endsWith(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev\n  if (instanceUrl.endsWith(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg\n  if (instanceUrl.endsWith(DOMAIN_SUFFIX)) return auth0ConfigMap.prod\n  throw new Error(\n    \"Unsupported instance URL. Cannot determine Auth0 configuration.\",\n  )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n  instanceUrl: string,\n): Promise<string | null> => {\n  if (typeof window === \"undefined\") {\n    throw new Error(\n      `Access token must be set to use NovaClient when not in a browser environment.`,\n    )\n  }\n\n  const auth0Config = getAuth0Config(instanceUrl)\n\n  if (new URL(instanceUrl).origin === window.location.origin) {\n    // When deployed on the instance itself, our auth is handled by cookies\n    // and no access token is needed-- just need to reload the page and it'll\n    // login again / set cookie as needed\n    window.location.reload()\n    throw new Error(\n      \"Failed to reload page to get auth details, please refresh manually\",\n    )\n  }\n\n  // If we're on localhost or another domain, we need to do the full oauth flow\n  // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n  // in the auth0 config, currently\n  const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n  const auth0Client = new Auth0Client({\n    domain: auth0Config.domain,\n    clientId: auth0Config.clientId ?? \"\",\n    useRefreshTokens: false,\n    authorizationParams: {\n      audience: \"nova-api\",\n      redirect_uri: window.location.origin,\n    },\n  })\n\n  // If the URL includes a redirect result, handle it\n  if (\n    window.location.search.includes(\"code=\") &&\n    window.location.search.includes(\"state=\")\n  ) {\n    const { appState } = await auth0Client.handleRedirectCallback()\n    // Return to the URL the user was originally on before the redirect\n    window.history.replaceState(\n      {},\n      document.title,\n      appState?.returnTo || window.location.pathname,\n    )\n  } else {\n    // Initiate login with redirect\n    await auth0Client.loginWithRedirect()\n  }\n\n  // Once logged in, retrieve the access token silently\n  const accessToken = await auth0Client.getTokenSilently()\n  return accessToken\n}\n"],"mappings":";;;AAIA,IAAa,4BAAb,cAA+C,sBAAsB;CAKnE,YACE,WACA,AAASA,OAGL,EAAE,EACN;AACA,UAAQ,IAAI,wBAAwB,UAAU;AAE9C,cAAY,KAAK,aAAa,WAAW,QAAW,EAClD,aAAa,MACd,CAAC;EATO;kBAJA;AAgBT,SAAO,eAAe,MAAM,OAAO,EACjC,MAAM;AACJ,UAAO,KAAK;KAEf,CAAC;AAEF,OAAK,YAAY;AAEjB,OAAK,iBAAiB,cAAc;AAClC,WAAQ,IAAI,gBAAgB,KAAK,IAAI,SAAS;IAC9C;AAEF,OAAK,iBAAiB,YAAY,OAAO;AACvC,OAAI,CAAC,KAAK,qBACR,MAAK,uBAAuB;IAE9B;AAEF,OAAK,iBAAiB,eAAe;AACnC,WAAQ,IAAI,gBAAgB,KAAK,IAAI,SAAS;IAC9C;EAEF,MAAM,gBAAgB,KAAK;AAC3B,OAAK,kBAAkB;AACrB,OAAI,KAAK,KAAK,KACZ,MAAK,KAAK,KAAK,0BAA0B,KAAK;OAE9C,eAAc,MAAM,KAAK;;AAI7B,OAAK,WAAW;;CAGlB,UAAU,WAAmB;AAC3B,OAAK,uBAAuB;AAC5B,OAAK,YAAY;AACjB,OAAK,WAAW;;CAGlB,SAAS,MAAe;AACtB,MAAI,KAAK,KAAK,KACZ,MAAK,KAAK,KAAK,uBAAuB,MAAM,KAAK,UAAU,KAAK,CAAC;MAEjE,MAAK,KAAK,KAAK,UAAU,KAAK,CAAC;;;;;;CAQnC,UAAU;AACR,OAAK,OAAO;AACZ,OAAK,WAAW;AAChB,MAAI,KAAK,KAAK,UACZ,MAAK,KAAK,WAAW;;;;;CAOzB,MAAM,SAAS;AACb,SAAO,IAAI,SAAe,SAAS,WAAW;AAC5C,OAAI,KAAK,eAAe,UAAU,KAChC,UAAS;QACJ;AACL,SAAK,iBAAiB,cAAc,SAAS,CAAC;AAC9C,SAAK,iBAAiB,SAAS,OAAO;;IAExC;;;;;CAMJ,MAAM,SAAS;AACb,SAAO,IAAI,SAAe,SAAS,WAAW;AAC5C,OAAI,KAAK,eAAe,UAAU,OAChC,UAAS;QACJ;AACL,SAAK,iBAAiB,eAAe,SAAS,CAAC;AAC/C,SAAK,iBAAiB,SAAS,OAAO;;IAExC;;;;;;;CAQJ,MAAM,eAAe;AACnB,MAAI,KAAK,qBACP,QAAO,KAAK;AAGd,SAAO,IAAI,SAAuB,SAAS,WAAW;GACpD,MAAM,aAAa,OAAqB;AACtC,SAAK,uBAAuB;AAC5B,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,YAAQ,GAAG;;GAGb,MAAM,WAAW,OAAmB;AAClC,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,WAAO,GAAG;;AAGZ,QAAK,iBAAiB,WAAW,UAAU;AAC3C,QAAK,iBAAiB,SAAS,QAAQ;IACvC;;;;;;CAOJ,MAAM,cAAc;AAClB,SAAO,IAAI,SAAuB,SAAS,WAAW;GACpD,MAAM,aAAa,OAAqB;AACtC,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,YAAQ,GAAG;;GAGb,MAAM,WAAW,OAAmB;AAClC,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,WAAO,GAAG;;AAGZ,QAAK,iBAAiB,WAAW,UAAU;AAC3C,QAAK,iBAAiB,SAAS,QAAQ;IACvC;;;;;;;;;;AC5JN,IAAM,mBAAN,MAAuB;;mBACT,OAAO,WAAW,eAAe,CAAC,CAAC,OAAO;;CAEtD,QAAW,KAAgC;AACzC,MAAI,CAAC,KAAK,UAAW,QAAO;EAE5B,MAAM,SAAS,OAAO,aAAa,QAAQ,IAAI;AAC/C,MAAI,WAAW,KAAM,QAAO;AAE5B,MAAI;AACF,UAAO,KAAK,MAAM,OAAO;WAClB,KAAK;AACZ,UAAO;;;CAIX,QAAQ,KAAa,KAAc;AACjC,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,aAAa,QAAQ,KAAK,KAAK,UAAU,IAAI,CAAC;;CAGvD,OAAO,KAAa;AAClB,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,aAAa,WAAW,IAAI;;CAGrC,UAAU,KAAa,OAAe;AACpC,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,aAAa,QAAQ,KAAK,MAAM;;CAGzC,UAAU,KAA4B;AACpC,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,OAAO,aAAa,QAAQ,IAAI;;;AAI3C,MAAa,mBAAmB,IAAI,kBAAkB;;;;;AC3CtD,SAAgB,aAAa,MAAoB;AAC/C,KAAI;AACF,SAAO,KAAK,MAAM,KAAe;SAC3B;AACN;;;;AAKJ,SAAgB,iBAAiB,MAAmC;AAClE,KAAI;AACF,SAAO,KAAK,UAAU,KAAK;SACrB;AACN;;;;;;;;AASJ,SAAgB,mBAAmB,KAAqC;CACtE,MAAM,MAAM,IAAI,gBAAgB,IAAI,CAAC,UAAU;AAC/C,QAAO,MAAM,IAAI,QAAQ;;;AAI3B,SAAgB,iBAAiB,SAAyB;AACxD,QAAO,WAAW,MAAM,KAAK;;;AAI/B,SAAgB,iBAAiB,SAAyB;AACxD,QAAO,WAAW,KAAK,KAAK;;;;;;AAO9B,SAAgB,uBACd,kBACA,mBACA;AACA,KAAI,CAAC,iBAAkB,oBAAmB;AAC1C,KAAI,CAAC,kBAAmB,qBAAoB;AAE5C,QAAO,qBAAqB;;;;;AAM9B,MAAa,gBAAgB;CAAE,GAAG;CAAG,GAAG;CAAG,GAAG;CAAG;;;;ACxDjD,MAAM,gBAAgB;;;;;;;AAQtB,MAAM,iBAAiB;CACrB,KAAK;EACH,QAAQ,2BAA2B;EACnC,UAAU;EACX;CACD,KAAK;EACH,QAAQ,2BAA2B;EACnC,UAAU;EACX;CACD,MAAM;EACJ,QAAQ,uBAAuB;EAC/B,UAAU;EACX;CACF;;AAGD,MAAM,kBAAkB,gBAAwB;AAC9C,KAAI,YAAY,SAAS,OAAO,gBAAgB,CAAE,QAAO,eAAe;AACxE,KAAI,YAAY,SAAS,OAAO,gBAAgB,CAAE,QAAO,eAAe;AACxE,KAAI,YAAY,SAAS,cAAc,CAAE,QAAO,eAAe;AAC/D,OAAM,IAAI,MACR,kEACD;;;;;;;AAQH,MAAa,iBAAiB,OAC5B,gBAC2B;AAC3B,KAAI,OAAO,WAAW,YACpB,OAAM,IAAI,MACR,gFACD;CAGH,MAAM,cAAc,eAAe,YAAY;AAE/C,KAAI,IAAI,IAAI,YAAY,CAAC,WAAW,OAAO,SAAS,QAAQ;AAI1D,SAAO,SAAS,QAAQ;AACxB,QAAM,IAAI,MACR,qEACD;;CAMH,MAAM,EAAE,gBAAgB,MAAM,OAAO;CAErC,MAAM,cAAc,IAAI,YAAY;EAClC,QAAQ,YAAY;EACpB,UAAU,YAAY,YAAY;EAClC,kBAAkB;EAClB,qBAAqB;GACnB,UAAU;GACV,cAAc,OAAO,SAAS;GAC/B;EACF,CAAC;AAGF,KACE,OAAO,SAAS,OAAO,SAAS,QAAQ,IACxC,OAAO,SAAS,OAAO,SAAS,SAAS,EACzC;EACA,MAAM,EAAE,aAAa,MAAM,YAAY,wBAAwB;AAE/D,SAAO,QAAQ,aACb,EAAE,EACF,SAAS,OACT,UAAU,YAAY,OAAO,SAAS,SACvC;OAGD,OAAM,YAAY,mBAAmB;AAKvC,QADoB,MAAM,YAAY,kBAAkB"}

package/dist/{LoginWithAuth0-C82OCyDy.cjs → LoginWithAuth0-DaPnTz2I.cjs}

@@ -177,6 +177,59 @@ var AvailableStorage = class {
 };
 const availableStorage = new AvailableStorage();
 
+//#endregion
+//#region src/lib/converters.ts
+/** Try to parse something as JSON; return undefined if we can't */
+function tryParseJson(json) {
+	try {
+		return JSON.parse(json);
+	} catch {
+		return;
+	}
+}
+/** Try to turn something into JSON; return undefined if we can't */
+function tryStringifyJson(json) {
+	try {
+		return JSON.stringify(json);
+	} catch {
+		return;
+	}
+}
+/**
+* Converts object parameters to query string.
+* e.g. { a: "1", b: "2" } => "?a=1&b=2"
+*      {} => ""
+*/
+function makeUrlQueryString(obj) {
+	const str = new URLSearchParams(obj).toString();
+	return str ? `?${str}` : "";
+}
+/** Convert radians to degrees */
+function radiansToDegrees(radians) {
+	return radians * (180 / Math.PI);
+}
+/** Convert degrees to radians */
+function degreesToRadians(degrees) {
+	return degrees * (Math.PI / 180);
+}
+/**
+* Check for coordinate system id equivalence, accounting for the "world" default
+* on empty/undefined values.
+*/
+function isSameCoordinateSystem(firstCoordSystem, secondCoordSystem) {
+	if (!firstCoordSystem) firstCoordSystem = "world";
+	if (!secondCoordSystem) secondCoordSystem = "world";
+	return firstCoordSystem === secondCoordSystem;
+}
+/**
+* Helpful const for converting {x, y, z} to [x, y, z] and vice versa
+*/
+const XYZ_TO_VECTOR = {
+	x: 0,
+	y: 1,
+	z: 2
+};
+
 //#endregion
 //#region src/LoginWithAuth0.ts
 const DOMAIN_SUFFIX = "wandelbots.io";
@@ -202,9 +255,9 @@ const auth0ConfigMap = {
 };
 /** Determine which Auth0 configuration to use based on instance URL  */
 const getAuth0Config = (instanceUrl) => {
-	if (instanceUrl.includes(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev;
-	if (instanceUrl.includes(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg;
-	if (instanceUrl.includes(DOMAIN_SUFFIX)) return auth0ConfigMap.prod;
+	if (instanceUrl.endsWith(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev;
+	if (instanceUrl.endsWith(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg;
+	if (instanceUrl.endsWith(DOMAIN_SUFFIX)) return auth0ConfigMap.prod;
 	throw new Error("Unsupported instance URL. Cannot determine Auth0 configuration.");
 };
 /**
@@ -243,6 +296,12 @@ Object.defineProperty(exports, 'AutoReconnectingWebsocket', {
     return AutoReconnectingWebsocket;
   }
 });
+Object.defineProperty(exports, 'XYZ_TO_VECTOR', {
+  enumerable: true,
+  get: function () {
+    return XYZ_TO_VECTOR;
+  }
+});
 Object.defineProperty(exports, '__toESM', {
   enumerable: true,
   get: function () {
@@ -255,10 +314,46 @@ Object.defineProperty(exports, 'availableStorage', {
     return availableStorage;
   }
 });
+Object.defineProperty(exports, 'degreesToRadians', {
+  enumerable: true,
+  get: function () {
+    return degreesToRadians;
+  }
+});
+Object.defineProperty(exports, 'isSameCoordinateSystem', {
+  enumerable: true,
+  get: function () {
+    return isSameCoordinateSystem;
+  }
+});
 Object.defineProperty(exports, 'loginWithAuth0', {
   enumerable: true,
   get: function () {
     return loginWithAuth0;
   }
 });
-//# sourceMappingURL=LoginWithAuth0-C82OCyDy.cjs.map
+Object.defineProperty(exports, 'makeUrlQueryString', {
+  enumerable: true,
+  get: function () {
+    return makeUrlQueryString;
+  }
+});
+Object.defineProperty(exports, 'radiansToDegrees', {
+  enumerable: true,
+  get: function () {
+    return radiansToDegrees;
+  }
+});
+Object.defineProperty(exports, 'tryParseJson', {
+  enumerable: true,
+  get: function () {
+    return tryParseJson;
+  }
+});
+Object.defineProperty(exports, 'tryStringifyJson', {
+  enumerable: true,
+  get: function () {
+    return tryStringifyJson;
+  }
+});
+//# sourceMappingURL=LoginWithAuth0-DaPnTz2I.cjs.map

package/dist/LoginWithAuth0-DaPnTz2I.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"LoginWithAuth0-DaPnTz2I.cjs","names":["ReconnectingWebSocket","opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    }"],"sources":["../src/lib/AutoReconnectingWebsocket.ts","../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/LoginWithAuth0.ts"],"sourcesContent":["import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport type * as v1 from \"./v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n  receivedFirstMessage?: MessageEvent\n  targetUrl: string\n  disposed = false\n\n  constructor(\n    targetUrl: string,\n    readonly opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    } = {},\n  ) {\n    console.log(\"Opening websocket to\", targetUrl)\n\n    super(() => this.targetUrl || targetUrl, undefined, {\n      startClosed: true,\n    })\n\n    // Reconnecting websocket doesn't set this properly with startClosed\n    Object.defineProperty(this, \"url\", {\n      get() {\n        return this.targetUrl\n      },\n    })\n\n    this.targetUrl = targetUrl\n\n    this.addEventListener(\"open\", () => {\n      console.log(`Websocket to ${this.url} opened`)\n    })\n\n    this.addEventListener(\"message\", (ev) => {\n      if (!this.receivedFirstMessage) {\n        this.receivedFirstMessage = ev\n      }\n    })\n\n    this.addEventListener(\"close\", () => {\n      console.log(`Websocket to ${this.url} closed`)\n    })\n\n    const origReconnect = this.reconnect\n    this.reconnect = () => {\n      if (this.opts.mock) {\n        this.opts.mock.handleWebsocketConnection(this)\n      } else {\n        origReconnect.apply(this)\n      }\n    }\n\n    this.reconnect()\n  }\n\n  changeUrl(targetUrl: string) {\n    this.receivedFirstMessage = undefined\n    this.targetUrl = targetUrl\n    this.reconnect()\n  }\n\n  sendJson(data: unknown) {\n    if (this.opts.mock) {\n      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n    } else {\n      this.send(JSON.stringify(data))\n    }\n  }\n\n  /**\n   * Permanently close this websocket and indicate that\n   * this object should not be used again.\n   **/\n  dispose() {\n    this.close()\n    this.disposed = true\n    if (this.opts.onDispose) {\n      this.opts.onDispose()\n    }\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the OPEN state. */\n  async opened() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.OPEN) {\n        resolve()\n      } else {\n        this.addEventListener(\"open\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the CLOSED state. */\n  async closed() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.CLOSED) {\n        resolve()\n      } else {\n        this.addEventListener(\"close\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the first message\n   * is received from the websocket. Resolves immediately if\n   * the first message has already been received.\n   */\n  async firstMessage() {\n    if (this.receivedFirstMessage) {\n      return this.receivedFirstMessage\n    }\n\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.receivedFirstMessage = ev\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the next message\n   * is received from the websocket.\n   */\n  async nextMessage() {\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n  available = typeof window !== \"undefined\" && !!window.localStorage\n\n  getJSON<T>(key: string): Partial<T> | null {\n    if (!this.available) return null\n\n    const result = window.localStorage.getItem(key)\n    if (result === null) return null\n\n    try {\n      return JSON.parse(result)\n    } catch (err) {\n      return null\n    }\n  }\n\n  setJSON(key: string, obj: unknown) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, JSON.stringify(obj))\n  }\n\n  delete(key: string) {\n    if (!this.available) return null\n\n    window.localStorage.removeItem(key)\n  }\n\n  setString(key: string, value: string) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, value)\n  }\n\n  getString(key: string): string | null {\n    if (!this.available) return null\n\n    return window.localStorage.getItem(key)\n  }\n}\n\nexport const availableStorage = new AvailableStorage()\n","/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","const DOMAIN_SUFFIX = \"wandelbots.io\"\n\n/**\n * Mapping of stages to Auth0 configurations.\n * The client ids are public identifiers for a specific auth0 application\n * and are safe to include in client-side code.\n * https://auth0.com/docs/get-started/applications/application-settings\n */\nconst auth0ConfigMap = {\n  dev: {\n    domain: `https://auth.portal.dev.${DOMAIN_SUFFIX}`,\n    clientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\",\n  },\n  stg: {\n    domain: `https://auth.portal.stg.${DOMAIN_SUFFIX}`,\n    clientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\",\n  },\n  prod: {\n    domain: `https://auth.portal.${DOMAIN_SUFFIX}`,\n    clientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\",\n  },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL  */\nconst getAuth0Config = (instanceUrl: string) => {\n  if (instanceUrl.endsWith(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev\n  if (instanceUrl.endsWith(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg\n  if (instanceUrl.endsWith(DOMAIN_SUFFIX)) return auth0ConfigMap.prod\n  throw new Error(\n    \"Unsupported instance URL. Cannot determine Auth0 configuration.\",\n  )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n  instanceUrl: string,\n): Promise<string | null> => {\n  if (typeof window === \"undefined\") {\n    throw new Error(\n      `Access token must be set to use NovaClient when not in a browser environment.`,\n    )\n  }\n\n  const auth0Config = getAuth0Config(instanceUrl)\n\n  if (new URL(instanceUrl).origin === window.location.origin) {\n    // When deployed on the instance itself, our auth is handled by cookies\n    // and no access token is needed-- just need to reload the page and it'll\n    // login again / set cookie as needed\n    window.location.reload()\n    throw new Error(\n      \"Failed to reload page to get auth details, please refresh manually\",\n    )\n  }\n\n  // If we're on localhost or another domain, we need to do the full oauth flow\n  // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n  // in the auth0 config, currently\n  const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n  const auth0Client = new Auth0Client({\n    domain: auth0Config.domain,\n    clientId: auth0Config.clientId ?? \"\",\n    useRefreshTokens: false,\n    authorizationParams: {\n      audience: \"nova-api\",\n      redirect_uri: window.location.origin,\n    },\n  })\n\n  // If the URL includes a redirect result, handle it\n  if (\n    window.location.search.includes(\"code=\") &&\n    window.location.search.includes(\"state=\")\n  ) {\n    const { appState } = await auth0Client.handleRedirectCallback()\n    // Return to the URL the user was originally on before the redirect\n    window.history.replaceState(\n      {},\n      document.title,\n      appState?.returnTo || window.location.pathname,\n    )\n  } else {\n    // Initiate login with redirect\n    await auth0Client.loginWithRedirect()\n  }\n\n  // Once logged in, retrieve the access token silently\n  const accessToken = await auth0Client.getTokenSilently()\n  return accessToken\n}\n"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;AAIA,IAAa,4BAAb,cAA+CA,+BAAsB;CAKnE,YACE,WACA,AAASC,OAGL,EAAE,EACN;AACA,UAAQ,IAAI,wBAAwB,UAAU;AAE9C,cAAY,KAAK,aAAa,WAAW,QAAW,EAClD,aAAa,MACd,CAAC;EATO;kBAJA;AAgBT,SAAO,eAAe,MAAM,OAAO,EACjC,MAAM;AACJ,UAAO,KAAK;KAEf,CAAC;AAEF,OAAK,YAAY;AAEjB,OAAK,iBAAiB,cAAc;AAClC,WAAQ,IAAI,gBAAgB,KAAK,IAAI,SAAS;IAC9C;AAEF,OAAK,iBAAiB,YAAY,OAAO;AACvC,OAAI,CAAC,KAAK,qBACR,MAAK,uBAAuB;IAE9B;AAEF,OAAK,iBAAiB,eAAe;AACnC,WAAQ,IAAI,gBAAgB,KAAK,IAAI,SAAS;IAC9C;EAEF,MAAM,gBAAgB,KAAK;AAC3B,OAAK,kBAAkB;AACrB,OAAI,KAAK,KAAK,KACZ,MAAK,KAAK,KAAK,0BAA0B,KAAK;OAE9C,eAAc,MAAM,KAAK;;AAI7B,OAAK,WAAW;;CAGlB,UAAU,WAAmB;AAC3B,OAAK,uBAAuB;AAC5B,OAAK,YAAY;AACjB,OAAK,WAAW;;CAGlB,SAAS,MAAe;AACtB,MAAI,KAAK,KAAK,KACZ,MAAK,KAAK,KAAK,uBAAuB,MAAM,KAAK,UAAU,KAAK,CAAC;MAEjE,MAAK,KAAK,KAAK,UAAU,KAAK,CAAC;;;;;;CAQnC,UAAU;AACR,OAAK,OAAO;AACZ,OAAK,WAAW;AAChB,MAAI,KAAK,KAAK,UACZ,MAAK,KAAK,WAAW;;;;;CAOzB,MAAM,SAAS;AACb,SAAO,IAAI,SAAe,SAAS,WAAW;AAC5C,OAAI,KAAK,eAAe,UAAU,KAChC,UAAS;QACJ;AACL,SAAK,iBAAiB,cAAc,SAAS,CAAC;AAC9C,SAAK,iBAAiB,SAAS,OAAO;;IAExC;;;;;CAMJ,MAAM,SAAS;AACb,SAAO,IAAI,SAAe,SAAS,WAAW;AAC5C,OAAI,KAAK,eAAe,UAAU,OAChC,UAAS;QACJ;AACL,SAAK,iBAAiB,eAAe,SAAS,CAAC;AAC/C,SAAK,iBAAiB,SAAS,OAAO;;IAExC;;;;;;;CAQJ,MAAM,eAAe;AACnB,MAAI,KAAK,qBACP,QAAO,KAAK;AAGd,SAAO,IAAI,SAAuB,SAAS,WAAW;GACpD,MAAM,aAAa,OAAqB;AACtC,SAAK,uBAAuB;AAC5B,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,YAAQ,GAAG;;GAGb,MAAM,WAAW,OAAmB;AAClC,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,WAAO,GAAG;;AAGZ,QAAK,iBAAiB,WAAW,UAAU;AAC3C,QAAK,iBAAiB,SAAS,QAAQ;IACvC;;;;;;CAOJ,MAAM,cAAc;AAClB,SAAO,IAAI,SAAuB,SAAS,WAAW;GACpD,MAAM,aAAa,OAAqB;AACtC,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,YAAQ,GAAG;;GAGb,MAAM,WAAW,OAAmB;AAClC,SAAK,oBAAoB,WAAW,UAAU;AAC9C,SAAK,oBAAoB,SAAS,QAAQ;AAC1C,WAAO,GAAG;;AAGZ,QAAK,iBAAiB,WAAW,UAAU;AAC3C,QAAK,iBAAiB,SAAS,QAAQ;IACvC;;;;;;;;;;AC5JN,IAAM,mBAAN,MAAuB;;mBACT,OAAO,WAAW,eAAe,CAAC,CAAC,OAAO;;CAEtD,QAAW,KAAgC;AACzC,MAAI,CAAC,KAAK,UAAW,QAAO;EAE5B,MAAM,SAAS,OAAO,aAAa,QAAQ,IAAI;AAC/C,MAAI,WAAW,KAAM,QAAO;AAE5B,MAAI;AACF,UAAO,KAAK,MAAM,OAAO;WAClB,KAAK;AACZ,UAAO;;;CAIX,QAAQ,KAAa,KAAc;AACjC,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,aAAa,QAAQ,KAAK,KAAK,UAAU,IAAI,CAAC;;CAGvD,OAAO,KAAa;AAClB,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,aAAa,WAAW,IAAI;;CAGrC,UAAU,KAAa,OAAe;AACpC,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,aAAa,QAAQ,KAAK,MAAM;;CAGzC,UAAU,KAA4B;AACpC,MAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,SAAO,OAAO,aAAa,QAAQ,IAAI;;;AAI3C,MAAa,mBAAmB,IAAI,kBAAkB;;;;;AC3CtD,SAAgB,aAAa,MAAoB;AAC/C,KAAI;AACF,SAAO,KAAK,MAAM,KAAe;SAC3B;AACN;;;;AAKJ,SAAgB,iBAAiB,MAAmC;AAClE,KAAI;AACF,SAAO,KAAK,UAAU,KAAK;SACrB;AACN;;;;;;;;AASJ,SAAgB,mBAAmB,KAAqC;CACtE,MAAM,MAAM,IAAI,gBAAgB,IAAI,CAAC,UAAU;AAC/C,QAAO,MAAM,IAAI,QAAQ;;;AAI3B,SAAgB,iBAAiB,SAAyB;AACxD,QAAO,WAAW,MAAM,KAAK;;;AAI/B,SAAgB,iBAAiB,SAAyB;AACxD,QAAO,WAAW,KAAK,KAAK;;;;;;AAO9B,SAAgB,uBACd,kBACA,mBACA;AACA,KAAI,CAAC,iBAAkB,oBAAmB;AAC1C,KAAI,CAAC,kBAAmB,qBAAoB;AAE5C,QAAO,qBAAqB;;;;;AAM9B,MAAa,gBAAgB;CAAE,GAAG;CAAG,GAAG;CAAG,GAAG;CAAG;;;;ACxDjD,MAAM,gBAAgB;;;;;;;AAQtB,MAAM,iBAAiB;CACrB,KAAK;EACH,QAAQ,2BAA2B;EACnC,UAAU;EACX;CACD,KAAK;EACH,QAAQ,2BAA2B;EACnC,UAAU;EACX;CACD,MAAM;EACJ,QAAQ,uBAAuB;EAC/B,UAAU;EACX;CACF;;AAGD,MAAM,kBAAkB,gBAAwB;AAC9C,KAAI,YAAY,SAAS,OAAO,gBAAgB,CAAE,QAAO,eAAe;AACxE,KAAI,YAAY,SAAS,OAAO,gBAAgB,CAAE,QAAO,eAAe;AACxE,KAAI,YAAY,SAAS,cAAc,CAAE,QAAO,eAAe;AAC/D,OAAM,IAAI,MACR,kEACD;;;;;;;AAQH,MAAa,iBAAiB,OAC5B,gBAC2B;AAC3B,KAAI,OAAO,WAAW,YACpB,OAAM,IAAI,MACR,gFACD;CAGH,MAAM,cAAc,eAAe,YAAY;AAE/C,KAAI,IAAI,IAAI,YAAY,CAAC,WAAW,OAAO,SAAS,QAAQ;AAI1D,SAAO,SAAS,QAAQ;AACxB,QAAM,IAAI,MACR,qEACD;;CAMH,MAAM,EAAE,gBAAgB,MAAM,OAAO;CAErC,MAAM,cAAc,IAAI,YAAY;EAClC,QAAQ,YAAY;EACpB,UAAU,YAAY,YAAY;EAClC,kBAAkB;EAClB,qBAAqB;GACnB,UAAU;GACV,cAAc,OAAO,SAAS;GAC/B;EACF,CAAC;AAGF,KACE,OAAO,SAAS,OAAO,SAAS,QAAQ,IACxC,OAAO,SAAS,OAAO,SAAS,SAAS,EACzC;EACA,MAAM,EAAE,aAAa,MAAM,YAAY,wBAAwB;AAE/D,SAAO,QAAQ,aACb,EAAE,EACF,SAAS,OACT,UAAU,YAAY,OAAO,SAAS,SACvC;OAGD,OAAM,YAAY,mBAAmB;AAKvC,QADoB,MAAM,YAAY,kBAAkB"}

package/dist/index.cjs

@@ -1,5 +1,5 @@
-const require_LoginWithAuth0 = require('./LoginWithAuth0-C82OCyDy.cjs');
-const require_converters = require('./converters-DP2EIVv6.cjs');
+const require_LoginWithAuth0 = require('./LoginWithAuth0-DaPnTz2I.cjs');
+const require_wandelscriptUtils = require('./wandelscriptUtils-DwpJ4jCy.cjs');
 let axios = require("axios");
 axios = require_LoginWithAuth0.__toESM(axios);
 
@@ -28,22 +28,23 @@ function makeErrorMessage(err) {
 		else return `${err.message} from ${err.config.method?.toUpperCase() || "accessing"} ${err.config.url}`;
 	} else if (err instanceof Error) return err.message;
 	else if (typeof err === "string") return err;
-	else if (typeof err === "object") return require_converters.tryStringifyJson(err) || `Unserializable object ${err}`;
+	else if (typeof err === "object") return require_LoginWithAuth0.tryStringifyJson(err) || `Unserializable object ${err}`;
 	return `${err}`;
 }
 
 //#endregion
 exports.AutoReconnectingWebsocket = require_LoginWithAuth0.AutoReconnectingWebsocket;
+exports.XYZ_TO_VECTOR = require_LoginWithAuth0.XYZ_TO_VECTOR;
 exports.availableStorage = require_LoginWithAuth0.availableStorage;
-exports.degreesToRadians = require_converters.degreesToRadians;
+exports.degreesToRadians = require_LoginWithAuth0.degreesToRadians;
 exports.delay = delay;
-exports.isSameCoordinateSystem = require_converters.isSameCoordinateSystem;
+exports.isSameCoordinateSystem = require_LoginWithAuth0.isSameCoordinateSystem;
 exports.loginWithAuth0 = require_LoginWithAuth0.loginWithAuth0;
 exports.makeErrorMessage = makeErrorMessage;
 exports.makeShortErrorMessage = makeShortErrorMessage;
-exports.makeUrlQueryString = require_converters.makeUrlQueryString;
-exports.poseToWandelscriptString = require_converters.poseToWandelscriptString;
-exports.radiansToDegrees = require_converters.radiansToDegrees;
-exports.tryParseJson = require_converters.tryParseJson;
-exports.tryStringifyJson = require_converters.tryStringifyJson;
+exports.makeUrlQueryString = require_LoginWithAuth0.makeUrlQueryString;
+exports.poseToWandelscriptString = require_wandelscriptUtils.poseToWandelscriptString;
+exports.radiansToDegrees = require_LoginWithAuth0.radiansToDegrees;
+exports.tryParseJson = require_LoginWithAuth0.tryParseJson;
+exports.tryStringifyJson = require_LoginWithAuth0.tryStringifyJson;
 //# sourceMappingURL=index.cjs.map

package/dist/index.cjs.map

@@ -1 +1 @@
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