@wandelbots/nova-js 3.2.0 → 3.3.0-pr.fix-mock-v2.176.c5ea07d

package/dist/lib/v2/index.mjs

@@ -0,0 +1,738 @@
+import { n as availableStorage, r as AutoReconnectingWebsocket, t as loginWithAuth0 } from "../../LoginWithAuth0-wQB-Sol1.mjs";
+import axios, { AxiosError, isAxiosError } from "axios";
+import urlJoin from "url-join";
+import * as pathToRegexp from "path-to-regexp";
+import { ApplicationApi, BUSInputsOutputsApi, CellApi, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
+
+export * from "@wandelbots/nova-api/v2"
+
+//#region src/lib/v2/NovaCellAPIClient.ts
+/**
+* API client providing type-safe access to all the Nova API REST endpoints
+* associated with a specific cell id.
+*/
+var NovaCellAPIClient = class {
+	constructor(cellId, opts) {
+		this.cellId = cellId;
+		this.opts = opts;
+		this.system = this.withUnwrappedResponsesOnly(SystemApi);
+		this.cell = this.withUnwrappedResponsesOnly(CellApi);
+		this.motionGroup = this.withCellId(MotionGroupApi);
+		this.motionGroupModels = this.withCellId(MotionGroupModelsApi);
+		this.controller = this.withCellId(ControllerApi);
+		this.controllerIOs = this.withCellId(ControllerInputsOutputsApi);
+		this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi);
+		this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi);
+		this.trajectoryCaching = this.withCellId(TrajectoryCachingApi);
+		this.application = this.withCellId(ApplicationApi);
+		this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi);
+		this.jogging = this.withCellId(JoggingApi);
+		this.kinematics = this.withCellId(KinematicsApi);
+		this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi);
+		this.virtualController = this.withCellId(VirtualControllerApi);
+		this.virtualControllerBehavior = this.withCellId(VirtualControllerBehaviorApi);
+		this.virtualControllerIOs = this.withCellId(VirtualControllerInputsOutputsApi);
+		this.storeObject = this.withCellId(StoreObjectApi);
+		this.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi);
+		this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi);
+	}
+	/**
+	* Some TypeScript sorcery which alters the API class methods so you don't
+	* have to pass the cell id to every single one, and de-encapsulates the
+	* response data
+	*/
+	withCellId(ApiConstructor) {
+		const apiClient = new ApiConstructor({
+			...this.opts,
+			isJsonMime: (mime) => {
+				return mime === "application/json";
+			}
+		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.create());
+		for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== "constructor" && typeof apiClient[key] === "function") {
+			const originalFunction = apiClient[key];
+			apiClient[key] = (...args) => {
+				return originalFunction.apply(apiClient, [this.cellId, ...args]).then((res) => res.data);
+			};
+		}
+		return apiClient;
+	}
+	/**
+	* As withCellId, but only does the response unwrapping
+	*/
+	withUnwrappedResponsesOnly(ApiConstructor) {
+		const apiClient = new ApiConstructor({
+			...this.opts,
+			isJsonMime: (mime) => {
+				return mime === "application/json";
+			}
+		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.create());
+		for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== "constructor" && typeof apiClient[key] === "function") {
+			const originalFunction = apiClient[key];
+			apiClient[key] = (...args) => {
+				return originalFunction.apply(apiClient, args).then((res) => res.data);
+			};
+		}
+		return apiClient;
+	}
+};
+
+//#endregion
+//#region src/lib/v2/mock/MockNovaInstance.ts
+/**
+* Ultra-simplified mock Nova server for testing stuff
+*/
+var MockNovaInstance = class {
+	constructor() {
+		this.connections = [];
+	}
+	async handleAPIRequest(config) {
+		const apiHandlers = [
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers",
+				handle() {
+					return ["mock-ur5e"];
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId",
+				handle() {
+					return {
+						configuration: {
+							initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
+							kind: "VirtualController",
+							manufacturer: "universalrobots",
+							type: "universalrobots-ur5e"
+						},
+						name: "mock-ur5"
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId/state",
+				handle() {
+					return {
+						mode: "MODE_CONTROL",
+						last_error: [],
+						timestamp: "2025-10-16T09:19:26.634534092Z",
+						sequence_number: 1054764,
+						controller: "mock-ur5e",
+						operation_mode: "OPERATION_MODE_AUTO",
+						safety_state: "SAFETY_STATE_NORMAL",
+						velocity_override: 100,
+						motion_groups: [{
+							timestamp: "2025-10-16T09:19:26.634534092Z",
+							sequence_number: 1054764,
+							motion_group: "0@mock-ur5e",
+							controller: "mock-ur5e",
+							joint_position: [
+								1.487959623336792,
+								-1.8501918315887451,
+								1.8003005981445312,
+								6.034560203552246,
+								1.4921919107437134,
+								1.593459963798523
+							],
+							joint_limit_reached: { limit_reached: [
+								false,
+								false,
+								false,
+								false,
+								false,
+								false
+							] },
+							joint_torque: [],
+							joint_current: [
+								0,
+								0,
+								0,
+								0,
+								0,
+								0
+							],
+							flange_pose: {
+								position: [
+									107.6452433732927,
+									-409.0402987746852,
+									524.2402132330305
+								],
+								orientation: [
+									.9874434028353319,
+									-.986571714997442,
+									1.3336589451098142
+								]
+							},
+							tcp: "Flange",
+							tcp_pose: {
+								position: [
+									107.6452433732927,
+									-409.0402987746852,
+									524.2402132330305
+								],
+								orientation: [
+									.9874434028353319,
+									-.986571714997442,
+									1.3336589451098142
+								]
+							},
+							payload: "",
+							coordinate_system: "",
+							standstill: true
+						}]
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
+				handle() {
+					return {
+						motion_group_model: "UniversalRobots_UR12e",
+						mounting: {
+							position: [
+								0,
+								0,
+								0
+							],
+							orientation: [
+								0,
+								0,
+								0
+							]
+						},
+						tcps: { Flange: {
+							name: "Default-Flange",
+							pose: {
+								position: [
+									0,
+									0,
+									0
+								],
+								orientation: [
+									0,
+									0,
+									0
+								]
+							}
+						} },
+						payloads: { "FPay-0": {
+							name: "FPay-0",
+							payload: 0,
+							center_of_mass: [
+								0,
+								0,
+								0
+							],
+							moment_of_inertia: [
+								0,
+								0,
+								0
+							]
+						} },
+						cycle_time: 8,
+						dh_parameters: [
+							{
+								alpha: 1.5707963267948966,
+								d: 180.7
+							},
+							{ a: -612.7 },
+							{ a: -571.55 },
+							{
+								alpha: 1.5707963267948966,
+								d: 174.15
+							},
+							{
+								alpha: -1.5707963267948966,
+								d: 119.85
+							},
+							{ d: 116.55 }
+						],
+						operation_limits: {
+							auto_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									}
+								],
+								tcp: { velocity: 5e3 },
+								elbow: { velocity: 5e3 },
+								flange: { velocity: 5e3 }
+							},
+							manual_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									}
+								],
+								tcp: { velocity: 5e3 }
+							},
+							manual_t1_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									}
+								],
+								tcp: { velocity: 5e3 }
+							},
+							manual_t2_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 2.0943951,
+										acceleration: 14.6607657,
+										torque: 330
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									},
+									{
+										position: {
+											lower_limit: -6.2831853,
+											upper_limit: 6.2831853
+										},
+										velocity: 3.1415926,
+										acceleration: 21.9911485,
+										torque: 54
+									}
+								],
+								tcp: { velocity: 5e3 }
+							}
+						},
+						serial_number: "WBVirtualRobot"
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
+				handle() {
+					return [{
+						coordinate_system: "",
+						name: "world",
+						reference_coordinate_system: "",
+						position: [
+							0,
+							0,
+							0
+						],
+						orientation: [
+							0,
+							0,
+							0
+						],
+						orientation_type: "ROTATION_VECTOR"
+					}, {
+						coordinate_system: "CS-0",
+						name: "Default-CS",
+						reference_coordinate_system: "",
+						position: [
+							0,
+							0,
+							0
+						],
+						orientation: [
+							0,
+							0,
+							0
+						],
+						orientation_type: "ROTATION_VECTOR"
+					}];
+				}
+			}
+		];
+		const method = config.method?.toUpperCase() || "GET";
+		const path = `/cells${config.url?.split("/cells")[1]?.split("?")[0]}`;
+		for (const handler of apiHandlers) {
+			const match = pathToRegexp.match(handler.path)(path || "");
+			if (method === handler.method && match) {
+				const json = handler.handle();
+				return {
+					status: 200,
+					statusText: "Success",
+					data: JSON.stringify(json),
+					headers: {},
+					config,
+					request: { responseURL: config.url }
+				};
+			}
+		}
+		throw new AxiosError(`No mock handler matched this request: ${method} ${path}`, "404", config);
+	}
+	handleWebsocketConnection(socket) {
+		this.connections.push(socket);
+		setTimeout(() => {
+			socket.dispatchEvent(new Event("open"));
+			console.log("Websocket connection opened from", socket.url);
+			if (socket.url.includes("/state-stream")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify(defaultMotionState) }));
+			if (socket.url.includes("/execution/jogging")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
+				message: "string",
+				kind: "INITIALIZE_RECEIVED"
+			} }) }));
+		}, 10);
+	}
+	handleWebsocketMessage(socket, message) {
+		console.log(`Received message on ${socket.url}`, message);
+	}
+};
+const defaultMotionState = { result: {
+	motion_group: "0@universalrobots-ur5e",
+	controller: "universalrobots-ur5e",
+	timestamp: (/* @__PURE__ */ new Date()).toISOString(),
+	sequence_number: 1,
+	joint_position: [
+		1.1699999570846558,
+		-1.5700000524520874,
+		1.3600000143051147,
+		1.0299999713897705,
+		1.2899999618530273,
+		1.2799999713897705
+	],
+	joint_limit_reached: { limit_reached: [
+		false,
+		false,
+		false,
+		false,
+		false,
+		false
+	] },
+	standstill: false,
+	flange_pose: {
+		position: [
+			1.3300010259703043,
+			-409.2680714682808,
+			531.0203477065281
+		],
+		orientation: [
+			1.7564919306270736,
+			-1.7542521568325058,
+			.7326972590614671
+		]
+	},
+	tcp_pose: {
+		position: [
+			1.3300010259703043,
+			-409.2680714682808,
+			531.0203477065281
+		],
+		orientation: [
+			1.7564919306270736,
+			-1.7542521568325058,
+			.7326972590614671
+		]
+	}
+} };
+
+//#endregion
+//#region src/lib/v2/NovaClient.ts
+function permissiveInstanceUrlParse(url) {
+	if (!url.startsWith("http")) url = `http://${url}`;
+	return new URL(url).toString();
+}
+/**
+*
+* Client for connecting to a Nova instance and controlling robots.
+*/
+var NovaClient = class {
+	constructor(config) {
+		this.authPromise = null;
+		this.accessToken = null;
+		const cellId = config.cellId ?? "cell";
+		this.config = {
+			cellId,
+			...config
+		};
+		this.accessToken = config.accessToken || availableStorage.getString("wbjs.access_token") || null;
+		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
+		else this.config.instanceUrl = permissiveInstanceUrlParse(this.config.instanceUrl);
+		const axiosInstance = axios.create({
+			baseURL: urlJoin(this.config.instanceUrl, "/api/v2"),
+			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
+		});
+		axiosInstance.interceptors.request.use(async (request) => {
+			if (!request.headers.Authorization) {
+				if (this.accessToken) request.headers.Authorization = `Bearer ${this.accessToken}`;
+				else if (this.config.username && this.config.password) request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
+			}
+			return request;
+		});
+		if (typeof window !== "undefined") axiosInstance.interceptors.response.use((r) => r, async (error) => {
+			if (isAxiosError(error)) {
+				if (error.response?.status === 401) try {
+					await this.renewAuthentication();
+					if (error.config) {
+						if (this.accessToken) error.config.headers.Authorization = `Bearer ${this.accessToken}`;
+						else delete error.config.headers.Authorization;
+						return axiosInstance.request(error.config);
+					}
+				} catch (err) {
+					return Promise.reject(err);
+				}
+				else if (error.response?.status === 503) {
+					if ((await fetch(window.location.href)).status === 503) window.location.reload();
+				}
+			}
+			return Promise.reject(error);
+		});
+		this.api = new NovaCellAPIClient(cellId, {
+			...config,
+			basePath: urlJoin(this.config.instanceUrl, "/api/v2"),
+			isJsonMime: (mime) => {
+				return mime === "application/json";
+			},
+			baseOptions: {
+				...this.mock ? { adapter: (config$1) => {
+					return this.mock.handleAPIRequest(config$1);
+				} } : {},
+				...config.baseOptions
+			},
+			axiosInstance
+		});
+	}
+	async renewAuthentication() {
+		if (this.authPromise) return;
+		this.authPromise = loginWithAuth0(this.config.instanceUrl);
+		try {
+			this.accessToken = await this.authPromise;
+			if (this.accessToken) availableStorage.setString("wbjs.access_token", this.accessToken);
+			else availableStorage.delete("wbjs.access_token");
+		} finally {
+			this.authPromise = null;
+		}
+	}
+	makeWebsocketURL(path) {
+		const url = new URL(urlJoin(this.config.instanceUrl, `/api/v2/cells/${this.config.cellId}`, path));
+		url.protocol = url.protocol.replace("http", "ws");
+		url.protocol = url.protocol.replace("https", "wss");
+		if (this.accessToken) url.searchParams.append("token", this.accessToken);
+		else if (this.config.username && this.config.password) {
+			url.username = this.config.username;
+			url.password = this.config.password;
+		}
+		return url.toString();
+	}
+	/**
+	* Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+	* If you explicitly want to reconnect an existing websocket, call `reconnect`
+	* on the returned object.
+	*/
+	openReconnectingWebsocket(path) {
+		return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), { mock: this.mock });
+	}
+};
+
+//#endregion
+//#region src/lib/v2/wandelscriptUtils.ts
+/**
+* Convert a Pose object representing a motion group position
+* into a string which represents that pose in Wandelscript.
+*/
+function poseToWandelscriptString(pose) {
+	const position = [
+		pose.position?.[0] ?? 0,
+		pose.position?.[1] ?? 0,
+		pose.position?.[2] ?? 0
+	];
+	const orientation = [
+		pose.orientation?.[0] ?? 0,
+		pose.orientation?.[1] ?? 0,
+		pose.orientation?.[2] ?? 0
+	];
+	const positionValues = position.map((v) => v.toFixed(1));
+	const rotationValues = orientation.map((v) => v.toFixed(4));
+	return `(${positionValues.concat(rotationValues).join(", ")})`;
+}
+
+//#endregion
+export { NovaCellAPIClient, NovaClient, poseToWandelscriptString };
+//# sourceMappingURL=index.mjs.map