@wandelbots/nova-js 3.2.0-pr.dev-remove-unused-files.138.3a78493 → 3.2.0-pr.dev-e2e-jogging-test.143.4f02caf

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Files changed (17) hide show
  1. package/dist/index.d.cts.map +1 -1
  2. package/dist/index.d.ts.map +1 -1
  3. package/dist/lib/v1/index.cjs +5 -0
  4. package/dist/lib/v1/index.cjs.map +1 -1
  5. package/dist/lib/v1/index.d.cts.map +1 -1
  6. package/dist/lib/v1/index.d.ts.map +1 -1
  7. package/dist/lib/v1/index.js +5 -0
  8. package/dist/lib/v1/index.js.map +1 -1
  9. package/dist/lib/v2/index.cjs +6 -1
  10. package/dist/lib/v2/index.cjs.map +1 -1
  11. package/dist/lib/v2/index.d.cts.map +1 -1
  12. package/dist/lib/v2/index.d.ts.map +1 -1
  13. package/dist/lib/v2/index.js +6 -1
  14. package/dist/lib/v2/index.js.map +1 -1
  15. package/package.json +5 -2
  16. package/src/lib/v1/NovaClient.ts +12 -0
  17. package/src/lib/v2/NovaClient.ts +9 -0
package/dist/lib/v2/index.cjs CHANGED
@@ -1258,6 +1258,10 @@ const defaultMotionState = { result: {
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  //#endregion
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  //#region src/lib/v2/NovaClient.ts
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+ function permissiveInstanceUrlParse(url) {
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+ if (!url.startsWith("http")) url = `http://${url}`;
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+ return new URL(url).toString();
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+ }
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  /**
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  * EXPERIMENTAL
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  *
@@ -1274,7 +1278,8 @@ var NovaClient = class {
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  const cellId = config.cellId ?? "cell";
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  this.config = {
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  cellId,
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- ...config
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+ ...config,
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+ instanceUrl: permissiveInstanceUrlParse(config.instanceUrl)
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  };
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  this.accessToken = config.accessToken || require_LoginWithAuth0.availableStorage.getString("wbjs.access_token") || null;
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  if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
package/dist/lib/v2/index.cjs.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"index.cjs","names":["cellId: string","opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n }","SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","pathToRegexp","AxiosError","availableStorage","config","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/NovaClient.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n ? (...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n constructor(\n readonly cellId: string,\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {}\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n\n readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n readonly motionGroup = this.withCellId(MotionGroupApi)\n readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n readonly controller = this.withCellId(ControllerApi)\n\n readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n readonly application = this.withCellId(ApplicationApi)\n readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n readonly jogging = this.withCellId(JoggingApi)\n\n readonly kinematics = this.withCellId(KinematicsApi)\n\n readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n readonly virtualController = this.withCellId(VirtualControllerApi)\n readonly virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n readonly virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n\n readonly storeObject = this.withCellId(StoreObjectApi)\n readonly storeCollisionComponents = this.withCellId(\n StoreCollisionComponentsApi,\n )\n readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","import type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * EXPERIMENTAL\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return {\n controllers: [\n {\n controller: \"mock-ur5e\",\n model_name: \"UniversalRobots::Controller\",\n host: \"mock-ur5e\",\n allow_software_install_on_controller: true,\n motion_groups: [\n {\n motion_group: \"0@mock-ur5e\",\n name_from_controller: \"UR5e\",\n active: false,\n model_from_controller: \"UniversalRobots_UR5e\",\n },\n ],\n has_error: false,\n error_details: \"\",\n },\n ],\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -425,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -392.2,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0,\n a: 0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: 0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n mechanical_joint_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n ],\n } // Mock motion group specification\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n handle() {\n return {\n safety_settings: [\n {\n safety_state: \"SAFETY_NORMAL\",\n settings: {\n joint_position_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -2.96705961227417,\n upper_limit: 2.96705961227417,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -1.7453292608261108,\n upper_limit: 2.7925267219543457,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -3.3161256313323975,\n upper_limit: 0.40142571926116943,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -3.4906585216522217,\n upper_limit: 3.4906585216522217,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -2.4434609413146973,\n upper_limit: 2.4434609413146973,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -4.71238899230957,\n upper_limit: 4.71238899230957,\n unlimited: false,\n },\n ],\n joint_velocity_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n limit: 3.4906585216522217,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n limit: 6.981317043304443,\n },\n ],\n joint_acceleration_limits: [],\n joint_torque_limits: [],\n tcp_velocity_limit: 1800,\n },\n },\n ],\n safety_zones: [\n {\n id: 1,\n priority: 0,\n geometry: {\n compound: {\n child_geometries: [\n {\n convex_hull: {\n vertices: [\n { vertex: [-800, -1330, -1820] },\n { vertex: [1650, -1330, -1820] },\n { vertex: [1650, 1330, -1820] },\n { vertex: [-800, 1330, -1820] },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Cell workzone\",\n },\n motion_group_uid: 1,\n },\n {\n id: 2,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -1850],\n },\n {\n vertex: [865, 1330, -1850],\n },\n {\n vertex: [865, -720, -1850],\n },\n {\n vertex: [1650, -720, -1850],\n },\n {\n vertex: [1650, 1330, -920],\n },\n {\n vertex: [865, 1330, -920],\n },\n {\n vertex: [865, -720, -920],\n },\n {\n vertex: [1650, -720, -920],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Transport\",\n },\n motion_group_uid: 1,\n },\n {\n id: 3,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -600],\n },\n {\n vertex: [865, 1330, -600],\n },\n {\n vertex: [865, 430, -600],\n },\n {\n vertex: [1650, 430, -600],\n },\n {\n vertex: [1650, 1330, -1250],\n },\n {\n vertex: [865, 1330, -1250],\n },\n {\n vertex: [865, 430, -1250],\n },\n {\n vertex: [1650, 430, -1250],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Tunel\",\n },\n motion_group_uid: 1,\n },\n {\n id: 4,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, -760, -440],\n },\n {\n vertex: [900, -760, -440],\n },\n {\n vertex: [900, -1330, -440],\n },\n {\n vertex: [1650, -1330, -440],\n },\n {\n vertex: [1650, -760, -1800],\n },\n {\n vertex: [900, -760, -1800],\n },\n {\n vertex: [900, -1330, -1800],\n },\n {\n vertex: [1650, -1330, -1800],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Fanuc controller\",\n },\n motion_group_uid: 1,\n },\n {\n id: 6,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [-200, -200, -1900],\n },\n {\n vertex: [200, -200, -1900],\n },\n {\n vertex: [200, 200, -1900],\n },\n {\n vertex: [-200, 200, -1900],\n },\n {\n vertex: [-200, -200, -350],\n },\n {\n vertex: [200, -200, -350],\n },\n {\n vertex: [200, 200, -350],\n },\n {\n vertex: [-200, 200, -350],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Robot base\",\n },\n motion_group_uid: 1,\n },\n ],\n robot_model_geometries: [\n {\n link_index: 1,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-70, -70, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link1_sphere\",\n },\n },\n {\n link_index: 2,\n geometry: {\n capsule: {\n radius: 160,\n cylinder_height: 800,\n },\n init_pose: {\n position: [-450, 40, 170],\n orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\n },\n id: \"link2_capsule\",\n },\n },\n {\n link_index: 3,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-110, 10, -100],\n orientation: [0, 0, 0, 1],\n },\n id: \"link3_sphere\",\n },\n },\n {\n link_index: 4,\n geometry: {\n capsule: {\n radius: 110,\n cylinder_height: 600,\n },\n init_pose: {\n position: [0, 300, 40],\n orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\n },\n id: \"link4_capsule\",\n },\n },\n {\n link_index: 5,\n geometry: {\n sphere: {\n radius: 75,\n },\n init_pose: {\n position: [0, 0, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link5_sphere\",\n },\n },\n ],\n tool_geometries: [],\n } // Mock safety setup\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/coordinate-systems\",\n handle() {\n return {\n coordinatesystems: [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_uid: \"\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n } //satisfies CoordinateSystems\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n handle() {\n return {\n tcps: [\n {\n id: \"Flange\",\n readable_name: \"Default-Flange\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n {\n id: \"complex-tcp-position\",\n readable_name: \"Complex TCP Position\",\n position: [-200, 300, 150],\n rotation: {\n angles: [\n -0.12139440409113832, -0.06356210998212003,\n -0.2023240068185639, 0,\n ],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n }\n },\n },\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path || \"\")\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n\n // return {\n // status: 404,\n // statusText: \"Not Found\",\n // data: \"\",\n // headers: {},\n // config,\n // request: {\n // responseURL: config.url,\n // },\n // }\n }\n\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-joint\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:48:26.096266444Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: [\n 1.3492152690887451, -1.5659207105636597,\n 1.6653711795806885, -1.0991662740707397,\n -1.829018235206604, 1.264623761177063,\n ],\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"671259\",\n },\n ],\n sequence_number: \"671259\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-tcp\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:43:12.188335774Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: {\n joints: [\n 1.3352527618408203, -1.5659207105636597,\n 1.6653711795806885, -1.110615611076355,\n -1.829018235206604, 1.264623761177063,\n ],\n },\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"627897\",\n },\n ],\n sequence_number: \"627897\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * EXPERIMENTAL\n *\n * This client provides a starting point to migrate NOVA api v2.\n * As v2 is still in development, this client has to be considered unstable\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n console.warn(\"Using experimental NOVA v2 client\")\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n // TODO - backend needs to set proper CORS headers for this\n headers:\n typeof window !== \"undefined\" &&\n window.location.origin.includes(\"localhost\")\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: urlJoin(this.config.instanceUrl, \"/api/v1\"),\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n this.authPromise = loginWithAuth0(this.config.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n urlJoin(\n this.config.instanceUrl,\n `/api/v1/cells/${this.config.cellId}`,\n path,\n ),\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n 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(...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n constructor(\n readonly cellId: string,\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {}\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n\n readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n readonly motionGroup = this.withCellId(MotionGroupApi)\n readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n readonly controller = this.withCellId(ControllerApi)\n\n readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n readonly application = this.withCellId(ApplicationApi)\n readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n readonly jogging = this.withCellId(JoggingApi)\n\n readonly kinematics = this.withCellId(KinematicsApi)\n\n readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n readonly virtualController = this.withCellId(VirtualControllerApi)\n readonly virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n readonly virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n\n readonly storeObject = this.withCellId(StoreObjectApi)\n readonly storeCollisionComponents = this.withCellId(\n StoreCollisionComponentsApi,\n )\n readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","import type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * EXPERIMENTAL\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return {\n controllers: [\n {\n controller: \"mock-ur5e\",\n model_name: \"UniversalRobots::Controller\",\n host: \"mock-ur5e\",\n allow_software_install_on_controller: true,\n motion_groups: [\n {\n motion_group: \"0@mock-ur5e\",\n name_from_controller: \"UR5e\",\n active: false,\n model_from_controller: \"UniversalRobots_UR5e\",\n },\n ],\n has_error: false,\n error_details: \"\",\n },\n ],\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -425,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -392.2,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0,\n a: 0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: 0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n mechanical_joint_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n ],\n } // Mock motion group specification\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n handle() {\n return {\n safety_settings: [\n {\n safety_state: \"SAFETY_NORMAL\",\n settings: {\n joint_position_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -2.96705961227417,\n upper_limit: 2.96705961227417,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -1.7453292608261108,\n upper_limit: 2.7925267219543457,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -3.3161256313323975,\n upper_limit: 0.40142571926116943,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -3.4906585216522217,\n upper_limit: 3.4906585216522217,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -2.4434609413146973,\n upper_limit: 2.4434609413146973,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -4.71238899230957,\n upper_limit: 4.71238899230957,\n unlimited: false,\n },\n ],\n joint_velocity_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n limit: 3.4906585216522217,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n limit: 6.981317043304443,\n },\n ],\n joint_acceleration_limits: [],\n joint_torque_limits: [],\n tcp_velocity_limit: 1800,\n },\n },\n ],\n safety_zones: [\n {\n id: 1,\n priority: 0,\n geometry: {\n compound: {\n child_geometries: [\n {\n convex_hull: {\n vertices: [\n { vertex: [-800, -1330, -1820] },\n { vertex: [1650, -1330, -1820] },\n { vertex: [1650, 1330, -1820] },\n { vertex: [-800, 1330, -1820] },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Cell workzone\",\n },\n motion_group_uid: 1,\n },\n {\n id: 2,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -1850],\n },\n {\n vertex: [865, 1330, -1850],\n },\n {\n vertex: [865, -720, -1850],\n },\n {\n vertex: [1650, -720, -1850],\n },\n {\n vertex: [1650, 1330, -920],\n },\n {\n vertex: [865, 1330, -920],\n },\n {\n vertex: [865, -720, -920],\n },\n {\n vertex: [1650, -720, -920],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Transport\",\n },\n motion_group_uid: 1,\n },\n {\n id: 3,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -600],\n },\n {\n vertex: [865, 1330, -600],\n },\n {\n vertex: [865, 430, -600],\n },\n {\n vertex: [1650, 430, -600],\n },\n {\n vertex: [1650, 1330, -1250],\n },\n {\n vertex: [865, 1330, -1250],\n },\n {\n vertex: [865, 430, -1250],\n },\n {\n vertex: [1650, 430, -1250],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Tunel\",\n },\n motion_group_uid: 1,\n },\n {\n id: 4,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, -760, -440],\n },\n {\n vertex: [900, -760, -440],\n },\n {\n vertex: [900, -1330, -440],\n },\n {\n vertex: [1650, -1330, -440],\n },\n {\n vertex: [1650, -760, -1800],\n },\n {\n vertex: [900, -760, -1800],\n },\n {\n vertex: [900, -1330, -1800],\n },\n {\n vertex: [1650, -1330, -1800],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Fanuc controller\",\n },\n motion_group_uid: 1,\n },\n {\n id: 6,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [-200, -200, -1900],\n },\n {\n vertex: [200, -200, -1900],\n },\n {\n vertex: [200, 200, -1900],\n },\n {\n vertex: [-200, 200, -1900],\n },\n {\n vertex: [-200, -200, -350],\n },\n {\n vertex: [200, -200, -350],\n },\n {\n vertex: [200, 200, -350],\n },\n {\n vertex: [-200, 200, -350],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Robot base\",\n },\n motion_group_uid: 1,\n },\n ],\n robot_model_geometries: [\n {\n link_index: 1,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-70, -70, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link1_sphere\",\n },\n },\n {\n link_index: 2,\n geometry: {\n capsule: {\n radius: 160,\n cylinder_height: 800,\n },\n init_pose: {\n position: [-450, 40, 170],\n orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\n },\n id: \"link2_capsule\",\n },\n },\n {\n link_index: 3,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-110, 10, -100],\n orientation: [0, 0, 0, 1],\n },\n id: \"link3_sphere\",\n },\n },\n {\n link_index: 4,\n geometry: {\n capsule: {\n radius: 110,\n cylinder_height: 600,\n },\n init_pose: {\n position: [0, 300, 40],\n orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\n },\n id: \"link4_capsule\",\n },\n },\n {\n link_index: 5,\n geometry: {\n sphere: {\n radius: 75,\n },\n init_pose: {\n position: [0, 0, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link5_sphere\",\n },\n },\n ],\n tool_geometries: [],\n } // Mock safety setup\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/coordinate-systems\",\n handle() {\n return {\n coordinatesystems: [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_uid: \"\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n } //satisfies CoordinateSystems\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n handle() {\n return {\n tcps: [\n {\n id: \"Flange\",\n readable_name: \"Default-Flange\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n {\n id: \"complex-tcp-position\",\n readable_name: \"Complex TCP Position\",\n position: [-200, 300, 150],\n rotation: {\n angles: [\n -0.12139440409113832, -0.06356210998212003,\n -0.2023240068185639, 0,\n ],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n }\n },\n },\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path || \"\")\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n\n // return {\n // status: 404,\n // statusText: \"Not Found\",\n // data: \"\",\n // headers: {},\n // config,\n // request: {\n // responseURL: config.url,\n // },\n // }\n }\n\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-joint\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:48:26.096266444Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: [\n 1.3492152690887451, -1.5659207105636597,\n 1.6653711795806885, -1.0991662740707397,\n -1.829018235206604, 1.264623761177063,\n ],\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"671259\",\n },\n ],\n sequence_number: \"671259\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-tcp\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:43:12.188335774Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: {\n joints: [\n 1.3352527618408203, -1.5659207105636597,\n 1.6653711795806885, -1.110615611076355,\n -1.829018235206604, 1.264623761177063,\n ],\n },\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"627897\",\n },\n ],\n sequence_number: \"627897\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\nfunction permissiveInstanceUrlParse(url: string): string {\n if (!url.startsWith(\"http\")) {\n url = `http://${url}`\n }\n\n return new URL(url).toString()\n}\n\n/**\n * EXPERIMENTAL\n *\n * This client provides a starting point to migrate NOVA api v2.\n * As v2 is still in development, this client has to be considered unstable\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n console.warn(\"Using experimental NOVA v2 client\")\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n instanceUrl: permissiveInstanceUrlParse(config.instanceUrl),\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n // TODO - backend needs to set proper CORS headers for this\n headers:\n typeof window !== \"undefined\" &&\n window.location.origin.includes(\"localhost\")\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: urlJoin(this.config.instanceUrl, \"/api/v1\"),\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n this.authPromise = loginWithAuth0(this.config.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n urlJoin(\n this.config.instanceUrl,\n `/api/v1/cells/${this.config.cellId}`,\n path,\n ),\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n 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package/dist/lib/v2/index.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
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package/dist/lib/v2/index.js CHANGED
@@ -1256,6 +1256,10 @@ const defaultMotionState = { result: {
1256
1256
 
1257
1257
  //#endregion
1258
1258
  //#region src/lib/v2/NovaClient.ts
1259
+ function permissiveInstanceUrlParse(url) {
1260
+ if (!url.startsWith("http")) url = `http://${url}`;
1261
+ return new URL(url).toString();
1262
+ }
1259
1263
  /**
1260
1264
  * EXPERIMENTAL
1261
1265
  *
@@ -1272,7 +1276,8 @@ var NovaClient = class {
1272
1276
  const cellId = config.cellId ?? "cell";
1273
1277
  this.config = {
1274
1278
  cellId,
1275
- ...config
1279
+ ...config,
1280
+ instanceUrl: permissiveInstanceUrlParse(config.instanceUrl)
1276
1281
  };
1277
1282
  this.accessToken = config.accessToken || availableStorage.getString("wbjs.access_token") || null;
1278
1283
  if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();