@wandelbots/nova-js 3.2.0 → 3.3.0

package/dist/lib/v1/index.mjs

@@ -0,0 +1,182 @@
+import "../../LoginWithAuth0-wQB-Sol1.mjs";
+import { a as ConnectedMotionGroup, f as tryParseJson, i as JoggerConnection, n as NovaCellAPIClient, o as poseToWandelscriptString, r as MotionStreamConnection, t as NovaClient } from "../../NovaClient-B8XM3OPO.mjs";
+import { AxiosError } from "axios";
+import { makeAutoObservable, runInAction } from "mobx";
+
+export * from "@wandelbots/nova-api/v1"
+
+//#region src/lib/v1/getLatestTrajectories.ts
+let lastMotionIds = /* @__PURE__ */ new Set();
+async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
+	const newTrajectories = [];
+	try {
+		const motions = await apiClient.motion.listMotions();
+		const currentMotionIds = new Set(motions.motions);
+		const newMotionIds = Array.from(currentMotionIds).filter((id) => !lastMotionIds.has(id));
+		for (const motionId of newMotionIds) {
+			const trajectory = await apiClient.motion.getMotionTrajectory(motionId, sampleTime, responsesCoordinateSystem);
+			newTrajectories.push(trajectory);
+		}
+		lastMotionIds = currentMotionIds;
+	} catch (error) {
+		console.error("Failed to get latest trajectories:", error);
+	}
+	return newTrajectories;
+}
+
+//#endregion
+//#region src/lib/v1/ProgramStateConnection.ts
+let ProgramState = /* @__PURE__ */ function(ProgramState$1) {
+	ProgramState$1["NotStarted"] = "not started";
+	ProgramState$1["Running"] = "running";
+	ProgramState$1["Stopped"] = "stopped";
+	ProgramState$1["Failed"] = "failed";
+	ProgramState$1["Completed"] = "completed";
+	return ProgramState$1;
+}({});
+/**
+* Interface for running Wandelscript programs on the Nova instance and
+* tracking their progress and output
+*/
+var ProgramStateConnection = class {
+	constructor(nova) {
+		this.nova = nova;
+		this.currentProgram = {};
+		this.logs = [];
+		this.executionState = "idle";
+		this.currentlyExecutingProgramRunnerId = null;
+		makeAutoObservable(this, {}, { autoBind: true });
+		this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
+		this.programStateSocket.addEventListener("message", (ev) => {
+			const msg = tryParseJson(ev.data);
+			if (!msg) {
+				console.error("Failed to parse program state message", ev.data);
+				return;
+			}
+			if (msg.type === "update") this.handleProgramStateMessage(msg);
+		});
+	}
+	/** Handle a program state update from the backend */
+	async handleProgramStateMessage(msg) {
+		const { runner } = msg;
+		if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
+		if (runner.state === ProgramState.Failed) {
+			try {
+				const runnerState = await this.nova.api.program.getProgramRunner(runner.id);
+				const stdout = runnerState.stdout;
+				if (stdout) this.log(stdout);
+				this.logError(`Program runner ${runner.id} failed with error: ${runnerState.error}\n${runnerState.traceback}`);
+			} catch (err) {
+				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
+			}
+			this.currentProgram.state = ProgramState.Failed;
+			this.gotoIdleState();
+		} else if (runner.state === ProgramState.Stopped) {
+			try {
+				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
+				if (stdout) this.log(stdout);
+				this.currentProgram.state = ProgramState.Stopped;
+				this.log(`Program runner ${runner.id} stopped`);
+			} catch (err) {
+				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
+			}
+			this.gotoIdleState();
+		} else if (runner.state === ProgramState.Completed) {
+			try {
+				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
+				if (stdout) this.log(stdout);
+				this.log(`Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`);
+				this.currentProgram.state = ProgramState.Completed;
+			} catch (err) {
+				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
+			}
+			this.gotoIdleState();
+		} else if (runner.state === ProgramState.Running) {
+			this.currentProgram.state = ProgramState.Running;
+			this.log(`Program runner ${runner.id} now running`);
+		} else if (runner.state !== ProgramState.NotStarted) {
+			console.error(runner);
+			this.logError(`Program runner ${runner.id} entered unexpected state: ${runner.state}`);
+			this.currentProgram.state = ProgramState.NotStarted;
+			this.gotoIdleState();
+		}
+	}
+	/** Call when a program is no longer executing */
+	gotoIdleState() {
+		runInAction(() => {
+			this.executionState = "idle";
+		});
+		this.currentlyExecutingProgramRunnerId = null;
+	}
+	async executeProgram(wandelscript, initial_state, activeRobot) {
+		this.currentProgram = {
+			wandelscript,
+			state: ProgramState.NotStarted
+		};
+		const { currentProgram: openProgram } = this;
+		if (!openProgram) return;
+		runInAction(() => {
+			this.executionState = "starting";
+		});
+		if (activeRobot) try {
+			await this.nova.api.motionGroupJogging.stopJogging(activeRobot.motionGroupId);
+		} catch (err) {
+			console.error(err);
+		}
+		const trimmedCode = openProgram.wandelscript.replaceAll(/^\s*$/gm, "");
+		try {
+			const programRunnerRef = await this.nova.api.program.createProgramRunner({
+				code: trimmedCode,
+				initial_state,
+				default_robot: activeRobot?.wandelscriptIdentifier
+			}, { headers: { "Content-Type": "application/json" } });
+			this.log(`Created program runner ${programRunnerRef.id}"`);
+			runInAction(() => {
+				this.executionState = "executing";
+			});
+			this.currentlyExecutingProgramRunnerId = programRunnerRef.id;
+		} catch (error) {
+			if (error instanceof AxiosError && error.response && error.request) this.logError(`${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`);
+			else this.logError(JSON.stringify(error));
+			runInAction(() => {
+				this.executionState = "idle";
+			});
+		}
+	}
+	async stopProgram() {
+		if (!this.currentlyExecutingProgramRunnerId) return;
+		runInAction(() => {
+			this.executionState = "stopping";
+		});
+		try {
+			await this.nova.api.program.stopProgramRunner(this.currentlyExecutingProgramRunnerId);
+		} catch (err) {
+			runInAction(() => {
+				this.executionState = "executing";
+			});
+			throw err;
+		}
+	}
+	reset() {
+		this.currentProgram = {};
+	}
+	log(message) {
+		console.log(message);
+		this.logs.push({
+			timestamp: Date.now(),
+			message
+		});
+	}
+	logError(message) {
+		console.log(message);
+		this.logs.push({
+			timestamp: Date.now(),
+			message,
+			level: "error"
+		});
+	}
+};
+
+//#endregion
+export { ConnectedMotionGroup, JoggerConnection, MotionStreamConnection, NovaCellAPIClient, NovaClient, ProgramState, ProgramStateConnection, getLatestTrajectories, poseToWandelscriptString };
+//# sourceMappingURL=index.mjs.map

package/dist/lib/v1/index.mjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.mjs","names":["lastMotionIds: Set<string>","newTrajectories: GetTrajectoryResponse[]","nova: NovaClient"],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  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