@wandelbots/nova-js 3.3.0-pr.fix-mock-v2.176.c5ea07d → 3.3.0-pr.fix-mock-v2.176.43cb4cc

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (8) hide show
  1. package/dist/AutoReconnectingWebsocket-Qcrbm3Kb.d.cts.map +1 -1
  2. package/dist/AutoReconnectingWebsocket-dHe-kceU.d.mts.map +1 -1
  3. package/dist/lib/v2/index.cjs +123 -123
  4. package/dist/lib/v2/index.cjs.map +1 -1
  5. package/dist/lib/v2/index.mjs +123 -123
  6. package/dist/lib/v2/index.mjs.map +1 -1
  7. package/package.json +1 -1
  8. package/src/lib/v2/mock/MockNovaInstance.ts +124 -123
package/dist/AutoReconnectingWebsocket-Qcrbm3Kb.d.cts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"AutoReconnectingWebsocket-Qcrbm3Kb.d.cts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"sourcesContent":[],"mappings":";;;;;;;AAeA;AACwB,cADX,kBAAA,CACW;EAGZ,SAAA,WAAA,EAHY,yBAGZ,EAAA;EACC,gBAAA,CAAA,MAAA,EADD,0BACC,CAAA,EAAR,OAAQ,CAAA,aAAA,CAAA;EAAR,yBAAA,CAAA,MAAA,EAg8B+B,yBAh8B/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,EAkOH,yBAlOG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;AAr8BpC;AACwB,cCPX,gBAAA,CDOW;EAGZ,SAAA,WAAA,ECTY,yBDSZ,EAAA;EACC,gBAAA,CAAA,MAAA,ECPD,0BDOC,CAAA,ECNR,ODMQ,CCNA,aDMA,CAAA;EAAR,yBAAA,CAAA,MAAA,EC2b+B,yBD3b/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,ECteH,yBDseG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;cEh9BvB,yBAAA,SAAkC,qBAAA;EFWlC,SAAA,IAAA,EAAA;IACW,IAAA,CAAA,EEJX,kBFIW,GEJW,gBFIX;IAGZ,SAAA,CAAA,EAAA,GAAA,GAAA,IAAA;EACC,CAAA;EAAR,oBAAA,CAAA,EEfoB,YFepB;EAg8B+B,SAAA,EAAA,MAAA;EAkOH,QAAA,EAAA,OAAA;EAAyB,WAAA,CAAA,SAAA,EAAA,MAAA,EAAA,KAAA,EAAA;WE1qC7C,qBAAsB;;;EDHtB,SAAA,CAAA,SAAgB,EAAA,MAAA,CAAA,EAAA,IAAA;EACL,QAAA,CAAA,IAAA,EAAA,OAAA,CAAA,EAAA,IAAA;EAGZ;;;;EAieqB,OAAA,CAAA,CAAA,EAAA,IAAA;EAAyB;;;YCxZ5C;EAlFD;;;EACY,MAAA,CAAA,CAAA,EA+FX,OA/FW,CAAA,IAAA,CAAA;EAOZ;;;;;EAwGO,YAAA,CAAA,CAAA,EAAA,OAAA,CAAA,YAAA,CAAA,GAAA,CAAA,CAAA;EA4BD;;;;iBAAA,QAAA"}
1
+ {"version":3,"file":"AutoReconnectingWebsocket-Qcrbm3Kb.d.cts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"sourcesContent":[],"mappings":";;;;;;;AAeA;AACwB,cADX,kBAAA,CACW;EAGZ,SAAA,WAAA,EAHY,yBAGZ,EAAA;EACC,gBAAA,CAAA,MAAA,EADD,0BACC,CAAA,EAAR,OAAQ,CAAA,aAAA,CAAA;EAAR,yBAAA,CAAA,MAAA,EAg8B+B,yBAh8B/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,EAkOH,yBAlOG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;AAr8BpC;AACwB,cCNX,gBAAA,CDMW;EAGZ,SAAA,WAAA,ECRY,yBDQZ,EAAA;EACC,gBAAA,CAAA,MAAA,ECND,0BDMC,CAAA,ECLR,ODKQ,CCLA,aDKA,CAAA;EAAR,yBAAA,CAAA,MAAA,EC4b+B,yBD5b/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,ECreH,yBDqeG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;cEh9BvB,yBAAA,SAAkC,qBAAA;EFWlC,SAAA,IAAA,EAAA;IACW,IAAA,CAAA,EEJX,kBFIW,GEJW,gBFIX;IAGZ,SAAA,CAAA,EAAA,GAAA,GAAA,IAAA;EACC,CAAA;EAAR,oBAAA,CAAA,EEfoB,YFepB;EAg8B+B,SAAA,EAAA,MAAA;EAkOH,QAAA,EAAA,OAAA;EAAyB,WAAA,CAAA,SAAA,EAAA,MAAA,EAAA,KAAA,EAAA;WE1qC7C,qBAAsB;;;EDFtB,SAAA,CAAA,SAAgB,EAAA,MAAA,CAAA,EAAA,IAAA;EACL,QAAA,CAAA,IAAA,EAAA,OAAA,CAAA,EAAA,IAAA;EAGZ;;;;EAieqB,OAAA,CAAA,CAAA,EAAA,IAAA;EAAyB;;;YCzZ5C;EAlFD;;;EACY,MAAA,CAAA,CAAA,EA+FX,OA/FW,CAAA,IAAA,CAAA;EAOZ;;;;;EAwGO,YAAA,CAAA,CAAA,EAAA,OAAA,CAAA,YAAA,CAAA,GAAA,CAAA,CAAA;EA4BD;;;;iBAAA,QAAA"}
package/dist/AutoReconnectingWebsocket-dHe-kceU.d.mts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"AutoReconnectingWebsocket-dHe-kceU.d.mts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"sourcesContent":[],"mappings":";;;;;;;AAeA;AACwB,cADX,kBAAA,CACW;EAGZ,SAAA,WAAA,EAHY,yBAGZ,EAAA;EACC,gBAAA,CAAA,MAAA,EADD,0BACC,CAAA,EAAR,OAAQ,CAAA,aAAA,CAAA;EAAR,yBAAA,CAAA,MAAA,EAg8B+B,yBAh8B/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,EAkOH,yBAlOG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;AAr8BpC;AACwB,cCPX,gBAAA,CDOW;EAGZ,SAAA,WAAA,ECTY,yBDSZ,EAAA;EACC,gBAAA,CAAA,MAAA,ECPD,0BDOC,CAAA,ECNR,ODMQ,CCNA,aDMA,CAAA;EAAR,yBAAA,CAAA,MAAA,EC2b+B,yBD3b/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,ECteH,yBDseG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;cEh9BvB,yBAAA,SAAkC,qBAAA;EFWlC,SAAA,IAAA,EAAA;IACW,IAAA,CAAA,EEJX,kBFIW,GEJW,gBFIX;IAGZ,SAAA,CAAA,EAAA,GAAA,GAAA,IAAA;EACC,CAAA;EAAR,oBAAA,CAAA,EEfoB,YFepB;EAg8B+B,SAAA,EAAA,MAAA;EAkOH,QAAA,EAAA,OAAA;EAAyB,WAAA,CAAA,SAAA,EAAA,MAAA,EAAA,KAAA,EAAA;WE1qC7C,qBAAsB;;;EDHtB,SAAA,CAAA,SAAgB,EAAA,MAAA,CAAA,EAAA,IAAA;EACL,QAAA,CAAA,IAAA,EAAA,OAAA,CAAA,EAAA,IAAA;EAGZ;;;;EAieqB,OAAA,CAAA,CAAA,EAAA,IAAA;EAAyB;;;YCxZ5C;EAlFD;;;EACY,MAAA,CAAA,CAAA,EA+FX,OA/FW,CAAA,IAAA,CAAA;EAOZ;;;;;EAwGO,YAAA,CAAA,CAAA,EAAA,OAAA,CAAA,YAAA,CAAA,GAAA,CAAA,CAAA;EA4BD;;;;iBAAA,QAAA"}
1
+ {"version":3,"file":"AutoReconnectingWebsocket-dHe-kceU.d.mts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"sourcesContent":[],"mappings":";;;;;;;AAeA;AACwB,cADX,kBAAA,CACW;EAGZ,SAAA,WAAA,EAHY,yBAGZ,EAAA;EACC,gBAAA,CAAA,MAAA,EADD,0BACC,CAAA,EAAR,OAAQ,CAAA,aAAA,CAAA;EAAR,yBAAA,CAAA,MAAA,EAg8B+B,yBAh8B/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,EAkOH,yBAlOG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;AAr8BpC;AACwB,cCNX,gBAAA,CDMW;EAGZ,SAAA,WAAA,ECRY,yBDQZ,EAAA;EACC,gBAAA,CAAA,MAAA,ECND,0BDMC,CAAA,ECLR,ODKQ,CCLA,aDKA,CAAA;EAAR,yBAAA,CAAA,MAAA,EC4b+B,yBD5b/B,CAAA,EAAA,IAAA;EAg8B+B,sBAAA,CAAA,MAAA,ECreH,yBDqeG,EAAA,OAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;cEh9BvB,yBAAA,SAAkC,qBAAA;EFWlC,SAAA,IAAA,EAAA;IACW,IAAA,CAAA,EEJX,kBFIW,GEJW,gBFIX;IAGZ,SAAA,CAAA,EAAA,GAAA,GAAA,IAAA;EACC,CAAA;EAAR,oBAAA,CAAA,EEfoB,YFepB;EAg8B+B,SAAA,EAAA,MAAA;EAkOH,QAAA,EAAA,OAAA;EAAyB,WAAA,CAAA,SAAA,EAAA,MAAA,EAAA,KAAA,EAAA;WE1qC7C,qBAAsB;;;EDFtB,SAAA,CAAA,SAAgB,EAAA,MAAA,CAAA,EAAA,IAAA;EACL,QAAA,CAAA,IAAA,EAAA,OAAA,CAAA,EAAA,IAAA;EAGZ;;;;EAieqB,OAAA,CAAA,CAAA,EAAA,IAAA;EAAyB;;;YCzZ5C;EAlFD;;;EACY,MAAA,CAAA,CAAA,EA+FX,OA/FW,CAAA,IAAA,CAAA;EAOZ;;;;;EAwGO,YAAA,CAAA,CAAA,EAAA,OAAA,CAAA,YAAA,CAAA,GAAA,CAAA,CAAA;EA4BD;;;;iBAAA,QAAA"}
package/dist/lib/v2/index.cjs CHANGED
@@ -190,7 +190,7 @@ var MockNovaInstance = class {
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  path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
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  handle() {
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  return {
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- motion_group_model: "UniversalRobots_UR12e",
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+ motion_group_model: "UniversalRobots_UR5e",
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  mounting: {
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  position: [
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  0,
@@ -236,76 +236,76 @@ var MockNovaInstance = class {
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  dh_parameters: [
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  {
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  alpha: 1.5707963267948966,
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- d: 180.7
239
+ d: 162.25
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  },
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- { a: -612.7 },
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- { a: -571.55 },
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+ { a: -425 },
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+ { a: -392.2 },
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  {
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  alpha: 1.5707963267948966,
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- d: 174.15
245
+ d: 133.3
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  },
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  {
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  alpha: -1.5707963267948966,
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- d: 119.85
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+ d: 99.7
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  },
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- { d: 116.55 }
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+ { d: 99.6 }
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  ],
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  operation_limits: {
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  auto_limits: {
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  joints: [
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  {
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  position: {
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- lower_limit: -6.2831853,
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- upper_limit: 6.2831853
258
+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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  },
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- velocity: 2.0943951,
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- acceleration: 14.6607657,
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- torque: 330
261
+ velocity: 3.34159255027771,
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+ acceleration: 40,
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+ torque: 150
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  },
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  {
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  position: {
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- lower_limit: -6.2831853,
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- upper_limit: 6.2831853
267
+ lower_limit: -6.283185307179586,
268
+ upper_limit: 6.283185307179586
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  },
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- velocity: 2.0943951,
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- acceleration: 14.6607657,
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- torque: 330
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+ velocity: 3.34159255027771,
271
+ acceleration: 40,
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+ torque: 150
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  },
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  {
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  position: {
276
- lower_limit: -6.2831853,
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- upper_limit: 6.2831853
276
+ lower_limit: -6.283185307179586,
277
+ upper_limit: 6.283185307179586
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  },
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- velocity: 3.1415926,
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- acceleration: 21.9911485,
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+ velocity: 3.34159255027771,
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+ acceleration: 40,
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  torque: 150
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  },
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  {
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  position: {
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- lower_limit: -6.2831853,
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- upper_limit: 6.2831853
285
+ lower_limit: -6.283185307179586,
286
+ upper_limit: 6.283185307179586
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  },
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- velocity: 3.1415926,
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- acceleration: 21.9911485,
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- torque: 54
288
+ velocity: 3.34159255027771,
289
+ acceleration: 40,
290
+ torque: 28
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  },
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  {
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  position: {
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- lower_limit: -6.2831853,
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- upper_limit: 6.2831853
294
+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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  },
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- velocity: 3.1415926,
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- acceleration: 21.9911485,
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- torque: 54
297
+ velocity: 3.34159255027771,
298
+ acceleration: 40,
299
+ torque: 28
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  },
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  {
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  position: {
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- lower_limit: -6.2831853,
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- upper_limit: 6.2831853
303
+ lower_limit: -6.283185307179586,
304
+ upper_limit: 6.283185307179586
305
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  },
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- velocity: 3.1415926,
307
- acceleration: 21.9911485,
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- torque: 54
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+ velocity: 3.34159255027771,
307
+ acceleration: 40,
308
+ torque: 28
309
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  }
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  ],
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  tcp: { velocity: 5e3 },
@@ -316,57 +316,57 @@ var MockNovaInstance = class {
316
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  joints: [
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  {
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  position: {
319
- lower_limit: -6.2831853,
320
- upper_limit: 6.2831853
319
+ lower_limit: -6.283185307179586,
320
+ upper_limit: 6.283185307179586
321
321
  },
322
- velocity: 2.0943951,
323
- acceleration: 14.6607657,
324
- torque: 330
322
+ velocity: 3.34159255027771,
323
+ acceleration: 40,
324
+ torque: 150
325
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  },
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  {
327
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  position: {
328
- lower_limit: -6.2831853,
329
- upper_limit: 6.2831853
328
+ lower_limit: -6.283185307179586,
329
+ upper_limit: 6.283185307179586
330
330
  },
331
- velocity: 2.0943951,
332
- acceleration: 14.6607657,
333
- torque: 330
331
+ velocity: 3.34159255027771,
332
+ acceleration: 40,
333
+ torque: 150
334
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  },
335
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  {
336
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  position: {
337
- lower_limit: -6.2831853,
338
- upper_limit: 6.2831853
337
+ lower_limit: -6.283185307179586,
338
+ upper_limit: 6.283185307179586
339
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  },
340
- velocity: 3.1415926,
341
- acceleration: 21.9911485,
340
+ velocity: 3.34159255027771,
341
+ acceleration: 40,
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  torque: 150
343
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  },
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  {
345
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  position: {
346
- lower_limit: -6.2831853,
347
- upper_limit: 6.2831853
346
+ lower_limit: -6.283185307179586,
347
+ upper_limit: 6.283185307179586
348
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  },
349
- velocity: 3.1415926,
350
- acceleration: 21.9911485,
351
- torque: 54
349
+ velocity: 3.34159255027771,
350
+ acceleration: 40,
351
+ torque: 28
352
352
  },
353
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  {
354
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  position: {
355
- lower_limit: -6.2831853,
356
- upper_limit: 6.2831853
355
+ lower_limit: -6.283185307179586,
356
+ upper_limit: 6.283185307179586
357
357
  },
358
- velocity: 3.1415926,
359
- acceleration: 21.9911485,
360
- torque: 54
358
+ velocity: 3.34159255027771,
359
+ acceleration: 40,
360
+ torque: 28
361
361
  },
362
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  {
363
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  position: {
364
- lower_limit: -6.2831853,
365
- upper_limit: 6.2831853
364
+ lower_limit: -6.283185307179586,
365
+ upper_limit: 6.283185307179586
366
366
  },
367
- velocity: 3.1415926,
368
- acceleration: 21.9911485,
369
- torque: 54
367
+ velocity: 3.34159255027771,
368
+ acceleration: 40,
369
+ torque: 28
370
370
  }
371
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  ],
372
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  tcp: { velocity: 5e3 }
@@ -375,57 +375,57 @@ var MockNovaInstance = class {
375
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  joints: [
376
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  {
377
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  position: {
378
- lower_limit: -6.2831853,
379
- upper_limit: 6.2831853
378
+ lower_limit: -6.283185307179586,
379
+ upper_limit: 6.283185307179586
380
380
  },
381
- velocity: 2.0943951,
382
- acceleration: 14.6607657,
383
- torque: 330
381
+ velocity: 3.34159255027771,
382
+ acceleration: 40,
383
+ torque: 150
384
384
  },
385
385
  {
386
386
  position: {
387
- lower_limit: -6.2831853,
388
- upper_limit: 6.2831853
387
+ lower_limit: -6.283185307179586,
388
+ upper_limit: 6.283185307179586
389
389
  },
390
- velocity: 2.0943951,
391
- acceleration: 14.6607657,
392
- torque: 330
390
+ velocity: 3.34159255027771,
391
+ acceleration: 40,
392
+ torque: 150
393
393
  },
394
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  {
395
395
  position: {
396
- lower_limit: -6.2831853,
397
- upper_limit: 6.2831853
396
+ lower_limit: -6.283185307179586,
397
+ upper_limit: 6.283185307179586
398
398
  },
399
- velocity: 3.1415926,
400
- acceleration: 21.9911485,
399
+ velocity: 3.34159255027771,
400
+ acceleration: 40,
401
401
  torque: 150
402
402
  },
403
403
  {
404
404
  position: {
405
- lower_limit: -6.2831853,
406
- upper_limit: 6.2831853
405
+ lower_limit: -6.283185307179586,
406
+ upper_limit: 6.283185307179586
407
407
  },
408
- velocity: 3.1415926,
409
- acceleration: 21.9911485,
410
- torque: 54
408
+ velocity: 3.34159255027771,
409
+ acceleration: 40,
410
+ torque: 28
411
411
  },
412
412
  {
413
413
  position: {
414
- lower_limit: -6.2831853,
415
- upper_limit: 6.2831853
414
+ lower_limit: -6.283185307179586,
415
+ upper_limit: 6.283185307179586
416
416
  },
417
- velocity: 3.1415926,
418
- acceleration: 21.9911485,
419
- torque: 54
417
+ velocity: 3.34159255027771,
418
+ acceleration: 40,
419
+ torque: 28
420
420
  },
421
421
  {
422
422
  position: {
423
- lower_limit: -6.2831853,
424
- upper_limit: 6.2831853
423
+ lower_limit: -6.283185307179586,
424
+ upper_limit: 6.283185307179586
425
425
  },
426
- velocity: 3.1415926,
427
- acceleration: 21.9911485,
428
- torque: 54
426
+ velocity: 3.34159255027771,
427
+ acceleration: 40,
428
+ torque: 28
429
429
  }
430
430
  ],
431
431
  tcp: { velocity: 5e3 }
@@ -434,57 +434,57 @@ var MockNovaInstance = class {
434
434
  joints: [
435
435
  {
436
436
  position: {
437
- lower_limit: -6.2831853,
438
- upper_limit: 6.2831853
437
+ lower_limit: -6.283185307179586,
438
+ upper_limit: 6.283185307179586
439
439
  },
440
- velocity: 2.0943951,
441
- acceleration: 14.6607657,
442
- torque: 330
440
+ velocity: 3.34159255027771,
441
+ acceleration: 40,
442
+ torque: 150
443
443
  },
444
444
  {
445
445
  position: {
446
- lower_limit: -6.2831853,
447
- upper_limit: 6.2831853
446
+ lower_limit: -6.283185307179586,
447
+ upper_limit: 6.283185307179586
448
448
  },
449
- velocity: 2.0943951,
450
- acceleration: 14.6607657,
451
- torque: 330
449
+ velocity: 3.34159255027771,
450
+ acceleration: 40,
451
+ torque: 150
452
452
  },
453
453
  {
454
454
  position: {
455
- lower_limit: -6.2831853,
456
- upper_limit: 6.2831853
455
+ lower_limit: -6.283185307179586,
456
+ upper_limit: 6.283185307179586
457
457
  },
458
- velocity: 3.1415926,
459
- acceleration: 21.9911485,
458
+ velocity: 3.34159255027771,
459
+ acceleration: 40,
460
460
  torque: 150
461
461
  },
462
462
  {
463
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  position: {
464
- lower_limit: -6.2831853,
465
- upper_limit: 6.2831853
464
+ lower_limit: -6.283185307179586,
465
+ upper_limit: 6.283185307179586
466
466
  },
467
- velocity: 3.1415926,
468
- acceleration: 21.9911485,
469
- torque: 54
467
+ velocity: 3.34159255027771,
468
+ acceleration: 40,
469
+ torque: 28
470
470
  },
471
471
  {
472
472
  position: {
473
- lower_limit: -6.2831853,
474
- upper_limit: 6.2831853
473
+ lower_limit: -6.283185307179586,
474
+ upper_limit: 6.283185307179586
475
475
  },
476
- velocity: 3.1415926,
477
- acceleration: 21.9911485,
478
- torque: 54
476
+ velocity: 3.34159255027771,
477
+ acceleration: 40,
478
+ torque: 28
479
479
  },
480
480
  {
481
481
  position: {
482
- lower_limit: -6.2831853,
483
- upper_limit: 6.2831853
482
+ lower_limit: -6.283185307179586,
483
+ upper_limit: 6.283185307179586
484
484
  },
485
- velocity: 3.1415926,
486
- acceleration: 21.9911485,
487
- torque: 54
485
+ velocity: 3.34159255027771,
486
+ acceleration: 40,
487
+ torque: 28
488
488
  }
489
489
  ],
490
490
  tcp: { velocity: 5e3 }
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","../../../src/lib/v2/wandelscriptUtils.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 * 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 [\"mock-ur5e\"]\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\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/controllers/:controllerId/state\",\n handle() {\n return {\n mode: \"MODE_CONTROL\",\n last_error: [],\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n controller: \"mock-ur5e\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n velocity_override: 100,\n motion_groups: [\n {\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n motion_group: \"0@mock-ur5e\",\n controller: \"mock-ur5e\",\n joint_position: [\n 1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n 6.034560203552246, 1.4921919107437134, 1.593459963798523,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n joint_torque: [],\n joint_current: [0, 0, 0, 0, 0, 0],\n flange_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n tcp: \"Flange\",\n tcp_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n payload: \"\",\n coordinate_system: \"\",\n standstill: true,\n },\n ],\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n handle() {\n return {\n motion_group_model: \"UniversalRobots_UR12e\",\n mounting: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n tcps: {\n Flange: {\n name: \"Default-Flange\",\n pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n },\n },\n payloads: {\n \"FPay-0\": {\n name: \"FPay-0\",\n payload: 0,\n center_of_mass: [0, 0, 0],\n moment_of_inertia: [0, 0, 0],\n },\n },\n cycle_time: 8,\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n d: 180.7,\n },\n {\n a: -612.7,\n },\n {\n a: -571.55,\n },\n {\n alpha: 1.5707963267948966,\n d: 174.15,\n },\n {\n alpha: -1.5707963267948966,\n d: 119.85,\n },\n {\n d: 116.55,\n },\n ],\n operation_limits: {\n auto_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n elbow: {\n velocity: 5000,\n },\n flange: {\n velocity: 5000,\n },\n },\n manual_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t1_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t2_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 2.0943951,\n acceleration: 14.6607657,\n torque: 330,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n {\n position: {\n lower_limit: -6.2831853,\n upper_limit: 6.2831853,\n },\n velocity: 3.1415926,\n acceleration: 21.9911485,\n torque: 54,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n },\n serial_number: \"WBVirtualRobot\",\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n handle() {\n return [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n {\n coordinate_system: \"CS-0\",\n name: \"Default-CS\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n ] //satisfies CoordinateSystems\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 // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\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(\"/execution/jogging\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n message: \"string\",\n kind: \"INITIALIZE_RECEIVED\",\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 *\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 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 } else {\n this.config.instanceUrl = permissiveInstanceUrlParse(\n this.config.instanceUrl,\n )\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 ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n this.authPromise = loginWithAuth0(this.config.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n urlJoin(\n this.config.instanceUrl,\n `/api/v2/cells/${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 }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n pose: Pick<Pose, \"position\" | 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+ {"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","../../../src/lib/v2/wandelscriptUtils.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","/** biome-ignore-all lint/suspicious/noApproximativeNumericConstant: mock data contains approximative pi values from robot description */\nimport 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 * 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 [\"mock-ur5e\"]\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\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/controllers/:controllerId/state\",\n handle() {\n return {\n mode: \"MODE_CONTROL\",\n last_error: [],\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n controller: \"mock-ur5e\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n velocity_override: 100,\n motion_groups: [\n {\n timestamp: \"2025-10-16T09:19:26.634534092Z\",\n sequence_number: 1054764,\n motion_group: \"0@mock-ur5e\",\n controller: \"mock-ur5e\",\n joint_position: [\n 1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n 6.034560203552246, 1.4921919107437134, 1.593459963798523,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n joint_torque: [],\n joint_current: [0, 0, 0, 0, 0, 0],\n flange_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n tcp: \"Flange\",\n tcp_pose: {\n position: [\n 107.6452433732927, -409.0402987746852, 524.2402132330305,\n ],\n orientation: [\n 0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n ],\n },\n payload: \"\",\n coordinate_system: \"\",\n standstill: true,\n },\n ],\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n handle() {\n return {\n motion_group_model: \"UniversalRobots_UR5e\",\n mounting: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n tcps: {\n Flange: {\n name: \"Default-Flange\",\n pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n },\n },\n },\n payloads: {\n \"FPay-0\": {\n name: \"FPay-0\",\n payload: 0,\n center_of_mass: [0, 0, 0],\n moment_of_inertia: [0, 0, 0],\n },\n },\n cycle_time: 8,\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n d: 162.25,\n },\n {\n a: -425,\n },\n {\n a: -392.2,\n },\n {\n alpha: 1.5707963267948966,\n d: 133.3,\n },\n {\n alpha: -1.5707963267948966,\n d: 99.7,\n },\n {\n d: 99.6,\n },\n ],\n operation_limits: {\n auto_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n elbow: {\n velocity: 5000,\n },\n flange: {\n velocity: 5000,\n },\n },\n manual_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t1_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n manual_t2_limits: {\n joints: [\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 150,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n {\n position: {\n lower_limit: -6.283185307179586,\n upper_limit: 6.283185307179586,\n },\n velocity: 3.34159255027771,\n acceleration: 40,\n torque: 28,\n },\n ],\n tcp: {\n velocity: 5000,\n },\n },\n },\n serial_number: \"WBVirtualRobot\",\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n handle() {\n return [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n {\n coordinate_system: \"CS-0\",\n name: \"Default-CS\",\n reference_coordinate_system: \"\",\n position: [0, 0, 0],\n orientation: [0, 0, 0],\n orientation_type: \"ROTATION_VECTOR\",\n },\n ] //satisfies CoordinateSystems\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 // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\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(\"/execution/jogging\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n message: \"string\",\n kind: \"INITIALIZE_RECEIVED\",\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 *\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 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 } else {\n this.config.instanceUrl = permissiveInstanceUrlParse(\n this.config.instanceUrl,\n )\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 ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n this.authPromise = loginWithAuth0(this.config.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n urlJoin(\n this.config.instanceUrl,\n `/api/v2/cells/${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 }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n const position = [\n pose.position?.[0] ?? 0,\n pose.position?.[1] ?? 0,\n pose.position?.[2] ?? 0,\n ]\n\n const orientation = [\n pose.orientation?.[0] ?? 0,\n pose.orientation?.[1] ?? 0,\n pose.orientation?.[2] ?? 0,\n ]\n\n const positionValues = position.map((v) => v.toFixed(1))\n // Rotation needs more precision since it's in radians\n const rotationValues = orientation.map((v) => v.toFixed(4))\n\n return `(${positionValues.concat(rotationValues).join(\", 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