@wandelbots/nova-js 3.2.0 → 3.3.0

package/dist/lib/v1/JoggerConnection.d.ts

@@ -1,94 +0,0 @@
-import type { Joints, TcpPose } from "@wandelbots/nova-api/v1";
-import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
-import type { MotionStreamConnection } from "./MotionStreamConnection";
-import type { NovaClient } from "./NovaClient";
-export type JoggerConnectionOpts = {
-    /**
-     * When an error message is received from the jogging websocket, it
-     * will be passed here. If this handler is not provided, the error will
-     * instead be thrown as an unhandled error.
-     */
-    onError?: (err: unknown) => void;
-};
-export declare class JoggerConnection {
-    readonly motionStream: MotionStreamConnection;
-    readonly opts: JoggerConnectionOpts;
-    cartesianWebsocket: AutoReconnectingWebsocket | null;
-    jointWebsocket: AutoReconnectingWebsocket | null;
-    cartesianJoggingOpts: {
-        tcpId?: string;
-        coordSystemId?: string;
-    };
-    static open(nova: NovaClient, motionGroupId: string, opts?: JoggerConnectionOpts): Promise<JoggerConnection>;
-    constructor(motionStream: MotionStreamConnection, opts?: JoggerConnectionOpts);
-    get motionGroupId(): string;
-    get nova(): NovaClient;
-    get numJoints(): number;
-    get activeJoggingMode(): "cartesian" | "joint" | "increment";
-    get activeWebsocket(): AutoReconnectingWebsocket | null;
-    stop(): Promise<void>;
-    dispose(): void;
-    setJoggingMode(mode: "cartesian" | "joint" | "increment", cartesianJoggingOpts?: {
-        tcpId?: string;
-        coordSystemId?: string;
-    }): void;
-    /**
-     * Start rotation of a single robot joint at the specified velocity
-     */
-    startJointRotation({ joint, direction, velocityRadsPerSec, }: {
-        /** Index of the joint to rotate */
-        joint: number;
-        /** Direction of rotation ("+" or "-") */
-        direction: "+" | "-";
-        /** Speed of the rotation in radians per second */
-        velocityRadsPerSec: number;
-    }): Promise<void>;
-    /**
-     * Start the TCP moving along a specified axis at a given velocity
-     */
-    startTCPTranslation({ axis, direction, velocityMmPerSec, }: {
-        axis: "x" | "y" | "z";
-        direction: "-" | "+";
-        velocityMmPerSec: number;
-    }): Promise<void>;
-    /**
-     * Start the TCP rotating around a specified axis at a given velocity
-     */
-    startTCPRotation({ axis, direction, velocityRadsPerSec, }: {
-        axis: "x" | "y" | "z";
-        direction: "-" | "+";
-        velocityRadsPerSec: number;
-    }): Promise<void>;
-    /**
-     * Move the robot by a fixed distance in a single cartesian
-     * axis, either rotating or translating relative to the TCP.
-     * Promise resolves only after the motion has completed.
-     */
-    runIncrementalCartesianMotion({ currentTcpPose, currentJoints, coordSystemId, velocityInRelevantUnits, axis, direction, motion, }: {
-        currentTcpPose: TcpPose;
-        currentJoints: Joints;
-        coordSystemId: string;
-        velocityInRelevantUnits: number;
-        axis: "x" | "y" | "z";
-        direction: "-" | "+";
-        motion: {
-            type: "rotate";
-            distanceRads: number;
-        } | {
-            type: "translate";
-            distanceMm: number;
-        };
-    }): Promise<void>;
-    /**
-     * Rotate a single robot joint by a fixed number of radians
-     * Promise resolves only after the motion has completed.
-     */
-    runIncrementalJointRotation({ joint, currentJoints, velocityRadsPerSec, direction, distanceRads, }: {
-        joint: number;
-        currentJoints: Joints;
-        velocityRadsPerSec: number;
-        direction: "-" | "+";
-        distanceRads: number;
-    }): Promise<void>;
-}
-//# sourceMappingURL=JoggerConnection.d.ts.map

package/dist/lib/v1/JoggerConnection.d.ts.map

@@ -1 +0,0 @@
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package/dist/lib/v1/MotionStreamConnection.d.ts

@@ -1,26 +0,0 @@
-/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
-import type { ControllerInstance, MotionGroupPhysical, MotionGroupStateResponse } from "@wandelbots/nova-api/v1";
-import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
-import type { NovaClient } from "./NovaClient";
-/**
- * Store representing the current state of a connected motion group.
- */
-export declare class MotionStreamConnection {
-    readonly nova: NovaClient;
-    readonly controller: ControllerInstance;
-    readonly motionGroup: MotionGroupPhysical;
-    readonly initialMotionState: MotionGroupStateResponse;
-    readonly motionStateSocket: AutoReconnectingWebsocket;
-    static open(nova: NovaClient, motionGroupId: string): Promise<MotionStreamConnection>;
-    rapidlyChangingMotionState: MotionGroupStateResponse;
-    constructor(nova: NovaClient, controller: ControllerInstance, motionGroup: MotionGroupPhysical, initialMotionState: MotionGroupStateResponse, motionStateSocket: AutoReconnectingWebsocket);
-    get motionGroupId(): string;
-    get controllerId(): string;
-    get modelFromController(): string | undefined;
-    get wandelscriptIdentifier(): string;
-    get joints(): {
-        index: number;
-    }[];
-    dispose(): void;
-}
-//# sourceMappingURL=MotionStreamConnection.d.ts.map

package/dist/lib/v1/MotionStreamConnection.d.ts.map

@@ -1 +0,0 @@
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package/dist/lib/v1/NovaCellAPIClient.d.ts

@@ -1,68 +0,0 @@
-/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
-/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */
-import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v1";
-import { ApplicationApi, CellApi, ControllerApi, ControllerIOsApi, CoordinateSystemsApi, DeviceConfigurationApi, LibraryProgramApi, LibraryProgramMetadataApi, LibraryRecipeApi, LibraryRecipeMetadataApi, MotionApi, MotionGroupApi, MotionGroupInfosApi, MotionGroupJoggingApi, MotionGroupKinematicApi, ProgramApi, ProgramValuesApi, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v1";
-import type { AxiosInstance } from "axios";
-type OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R ? (...args: P) => R : never;
-type UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
-    data: infer D;
-} ? D : never> : never;
-export type WithCellId<T> = {
-    [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>;
-};
-export type WithUnwrappedAxiosResponse<T> = {
-    [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>;
-};
-/**
- * API client providing type-safe access to all the Nova API REST endpoints
- * associated with a specific cell id.
- */
-export declare class NovaCellAPIClient {
-    readonly cellId: string;
-    readonly opts: BaseConfiguration & {
-        axiosInstance?: AxiosInstance;
-        mock?: boolean;
-    };
-    constructor(cellId: string, opts: BaseConfiguration & {
-        axiosInstance?: AxiosInstance;
-        mock?: boolean;
-    });
-    /**
-     * 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
-     */
-    private withCellId;
-    /**
-     * As withCellId, but only does the response unwrapping
-     */
-    private withUnwrappedResponsesOnly;
-    readonly system: WithUnwrappedAxiosResponse<SystemApi>;
-    readonly cell: WithUnwrappedAxiosResponse<CellApi>;
-    readonly deviceConfig: WithCellId<DeviceConfigurationApi>;
-    readonly motionGroup: WithCellId<MotionGroupApi>;
-    readonly motionGroupInfos: WithCellId<MotionGroupInfosApi>;
-    readonly controller: WithCellId<ControllerApi>;
-    readonly program: WithCellId<ProgramApi>;
-    readonly programValues: WithCellId<ProgramValuesApi>;
-    readonly controllerIOs: WithCellId<ControllerIOsApi>;
-    readonly motionGroupKinematic: WithCellId<MotionGroupKinematicApi>;
-    readonly motion: WithCellId<MotionApi>;
-    readonly coordinateSystems: WithCellId<CoordinateSystemsApi>;
-    readonly application: WithCellId<ApplicationApi>;
-    readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>;
-    readonly motionGroupJogging: WithCellId<MotionGroupJoggingApi>;
-    readonly virtualRobot: WithCellId<VirtualRobotApi>;
-    readonly virtualRobotSetup: WithCellId<VirtualRobotSetupApi>;
-    readonly virtualRobotMode: WithCellId<VirtualRobotModeApi>;
-    readonly virtualRobotBehavior: WithCellId<VirtualRobotBehaviorApi>;
-    readonly libraryProgramMetadata: WithCellId<LibraryProgramMetadataApi>;
-    readonly libraryProgram: WithCellId<LibraryProgramApi>;
-    readonly libraryRecipeMetadata: WithCellId<LibraryRecipeMetadataApi>;
-    readonly libraryRecipe: WithCellId<LibraryRecipeApi>;
-    readonly storeObject: WithCellId<StoreObjectApi>;
-    readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>;
-    readonly storeCollisionScenes: WithCellId<StoreCollisionScenesApi>;
-}
-export {};
-//# sourceMappingURL=NovaCellAPIClient.d.ts.map

package/dist/lib/v1/NovaCellAPIClient.d.ts.map

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package/dist/lib/v1/NovaClient.d.ts

@@ -1,67 +0,0 @@
-import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v1";
-import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket.js";
-import { ConnectedMotionGroup } from "./ConnectedMotionGroup.js";
-import { JoggerConnection } from "./JoggerConnection.js";
-import { MotionStreamConnection } from "./MotionStreamConnection.js";
-import { NovaCellAPIClient } from "./NovaCellAPIClient.js";
-import { MockNovaInstance } from "./mock/MockNovaInstance.js";
-export type NovaClientConfig = {
-    /**
-     * Url of the deployed Nova instance to connect to
-     * e.g. https://saeattii.instance.wandelbots.io
-     */
-    instanceUrl: string | "https://mock.example.com";
-    /**
-     * Identifier of the cell on the Nova instance to connect this client to.
-     * If omitted, the default identifier "cell" is used.
-     **/
-    cellId?: string;
-    /**
-     * Username for basic auth to the Nova instance.
-     * @deprecated use accessToken instead
-     */
-    username?: string;
-    /**
-     * Password for basic auth to the Nova instance.
-     * @deprecated use accessToken instead
-     */
-    password?: string;
-    /**
-     * Access token for Bearer authentication.
-     */
-    accessToken?: string;
-} & Omit<BaseConfiguration, "isJsonMime" | "basePath">;
-type NovaClientConfigWithDefaults = NovaClientConfig & {
-    cellId: string;
-};
-/**
- * Client for connecting to a Nova instance and controlling robots.
- */
-export declare class NovaClient {
-    readonly api: NovaCellAPIClient;
-    readonly config: NovaClientConfigWithDefaults;
-    readonly mock?: MockNovaInstance;
-    authPromise: Promise<string | null> | null;
-    accessToken: string | null;
-    constructor(config: NovaClientConfig);
-    renewAuthentication(): Promise<void>;
-    makeWebsocketURL(path: string): string;
-    /**
-     * 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: string): AutoReconnectingWebsocket;
-    /**
-     * Connect to the motion state websocket(s) for a given motion group
-     */
-    connectMotionStream(motionGroupId: string): Promise<MotionStreamConnection>;
-    /**
-     * Connect to the jogging websocket(s) for a given motion group
-     */
-    connectJogger(motionGroupId: string): Promise<JoggerConnection>;
-    connectMotionGroups(motionGroupIds: string[]): Promise<ConnectedMotionGroup[]>;
-    connectMotionGroup(motionGroupId: string): Promise<ConnectedMotionGroup>;
-}
-export {};
-//# sourceMappingURL=NovaClient.d.ts.map

package/dist/lib/v1/NovaClient.d.ts.map

@@ -1 +0,0 @@
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package/dist/lib/v1/ProgramStateConnection.d.ts

@@ -1,57 +0,0 @@
-/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
-import type { CollectionValue } from "@wandelbots/nova-api/v1";
-import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
-import type { MotionStreamConnection } from "./MotionStreamConnection";
-import type { NovaClient } from "./NovaClient";
-export type ProgramRunnerLogEntry = {
-    timestamp: number;
-    message: string;
-    level?: "warn" | "error";
-};
-export declare enum ProgramState {
-    NotStarted = "not started",
-    Running = "running",
-    Stopped = "stopped",
-    Failed = "failed",
-    Completed = "completed"
-}
-export type CurrentProgram = {
-    id?: string;
-    wandelscript?: string;
-    state?: ProgramState;
-};
-type ProgramStateMessage = {
-    type: string;
-    runner: {
-        id: string;
-        state: ProgramState;
-        start_time?: number | null;
-        execution_time?: number | null;
-    };
-};
-/**
- * Interface for running Wandelscript programs on the Nova instance and
- * tracking their progress and output
- */
-export declare class ProgramStateConnection {
-    readonly nova: NovaClient;
-    currentProgram: CurrentProgram;
-    logs: ProgramRunnerLogEntry[];
-    executionState: "idle" | "starting" | "executing" | "stopping";
-    currentlyExecutingProgramRunnerId: string | null;
-    programStateSocket: AutoReconnectingWebsocket;
-    constructor(nova: NovaClient);
-    /** Handle a program state update from the backend */
-    handleProgramStateMessage(msg: ProgramStateMessage): Promise<void>;
-    /** Call when a program is no longer executing */
-    gotoIdleState(): void;
-    executeProgram(wandelscript: string, initial_state?: {
-        [key: string]: CollectionValue;
-    }, activeRobot?: MotionStreamConnection): Promise<void>;
-    stopProgram(): Promise<void>;
-    reset(): void;
-    log(message: string): void;
-    logError(message: string): void;
-}
-export {};
-//# sourceMappingURL=ProgramStateConnection.d.ts.map

package/dist/lib/v1/ProgramStateConnection.d.ts.map

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package/dist/lib/v1/getLatestTrajectories.d.ts

@@ -1,4 +0,0 @@
-import type { GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
-import type { NovaCellAPIClient } from "./NovaCellAPIClient";
-export declare function getLatestTrajectories(apiClient: NovaCellAPIClient, sampleTime?: number, responsesCoordinateSystem?: string): Promise<GetTrajectoryResponse[]>;
-//# sourceMappingURL=getLatestTrajectories.d.ts.map

package/dist/lib/v1/getLatestTrajectories.d.ts.map

@@ -1 +0,0 @@
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package/dist/lib/v1/index.d.ts

@@ -1,9 +0,0 @@
-export * from "@wandelbots/nova-api/v1";
-export * from "./ConnectedMotionGroup";
-export * from "./getLatestTrajectories";
-export * from "./JoggerConnection";
-export * from "./MotionStreamConnection";
-export * from "./NovaCellAPIClient";
-export * from "./NovaClient";
-export * from "./ProgramStateConnection";
-//# sourceMappingURL=index.d.ts.map

package/dist/lib/v1/index.d.ts.map

@@ -1 +0,0 @@
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