@wandelbots/nova-js 3.3.0 → 3.3.1-pr.feature-add-program-client.114.5cf553e

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  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 +172 -1147
  4. package/dist/lib/v2/index.cjs.map +1 -1
  5. package/dist/lib/v2/index.d.cts +82 -2
  6. package/dist/lib/v2/index.d.cts.map +1 -1
  7. package/dist/lib/v2/index.d.mts +82 -2
  8. package/dist/lib/v2/index.d.mts.map +1 -1
  9. package/dist/lib/v2/index.mjs +172 -1149
  10. package/dist/lib/v2/index.mjs.map +1 -1
  11. package/package.json +1 -1
  12. package/src/lib/v2/NovaCellAPIClient.ts +13 -0
  13. package/src/lib/v2/ProgramsClient.ts +150 -0
  14. package/src/lib/v2/index.ts +1 -0
  15. package/src/lib/v2/mock/MockNovaInstance.ts +45 -858
package/dist/lib/v2/index.cjs.map CHANGED
@@ -1 +1 @@
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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","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/: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/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 // As you need, add more mock requests here...\n // Below is mostly V1:\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 \"complex-tcp-position\": {\n name: \"Complex TCP Position\",\n pose: {\n position: [-200, 300, 150],\n orientation: [\n -0.12139440409113832, -0.06356210998212003,\n -0.2023240068185639,\n ],\n },\n },\n \"offset-150mm-xy\": {\n name: \"-150mm XY Offset\",\n pose: {\n position: [-150, -150, 0],\n orientation: [0, 0, 0],\n },\n },\n \"rotated-90deg-z\": {\n name: \"90° Z Axis Rotation\",\n pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 1.5708],\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\",\n handle() {\n return {\n controllers: [\n {\n controller: \"mock-ur5e\",\n model_name: \"UniversalRobots::Controller\",\n host: \"mock-ur5e\",\n allow_software_install_on_controller: true,\n motion_groups: [\n {\n motion_group: \"0@mock-ur5e\",\n name_from_controller: \"UR5e\",\n active: false,\n model_from_controller: \"UniversalRobots_UR5e\",\n },\n ],\n has_error: false,\n error_details: \"\",\n },\n ],\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -425,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -392.2,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0,\n a: 0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: 0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n mechanical_joint_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n ],\n } // Mock motion group specification\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n handle() {\n return {\n safety_settings: [\n {\n safety_state: \"SAFETY_NORMAL\",\n settings: {\n joint_position_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -2.96705961227417,\n upper_limit: 2.96705961227417,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -1.7453292608261108,\n upper_limit: 2.7925267219543457,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -3.3161256313323975,\n upper_limit: 0.40142571926116943,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -3.4906585216522217,\n upper_limit: 3.4906585216522217,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -2.4434609413146973,\n upper_limit: 2.4434609413146973,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -4.71238899230957,\n upper_limit: 4.71238899230957,\n unlimited: false,\n },\n ],\n joint_velocity_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n limit: 3.4906585216522217,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n limit: 6.981317043304443,\n },\n ],\n joint_acceleration_limits: [],\n joint_torque_limits: [],\n tcp_velocity_limit: 1800,\n },\n },\n ],\n safety_zones: [\n {\n id: 1,\n priority: 0,\n geometry: {\n compound: {\n child_geometries: [\n {\n convex_hull: {\n vertices: [\n { vertex: [-800, -1330, -1820] },\n { vertex: [1650, -1330, -1820] },\n { vertex: [1650, 1330, -1820] },\n { vertex: [-800, 1330, -1820] },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Cell workzone\",\n },\n motion_group_uid: 1,\n },\n {\n id: 2,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -1850],\n },\n {\n vertex: [865, 1330, -1850],\n },\n {\n vertex: [865, -720, -1850],\n },\n {\n vertex: [1650, -720, -1850],\n },\n {\n vertex: [1650, 1330, -920],\n },\n {\n vertex: [865, 1330, -920],\n },\n {\n vertex: [865, -720, -920],\n },\n {\n vertex: [1650, -720, -920],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Transport\",\n },\n motion_group_uid: 1,\n },\n {\n id: 3,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -600],\n },\n {\n vertex: [865, 1330, -600],\n },\n {\n vertex: [865, 430, -600],\n },\n {\n vertex: [1650, 430, -600],\n },\n {\n vertex: [1650, 1330, -1250],\n },\n {\n vertex: [865, 1330, -1250],\n },\n {\n vertex: [865, 430, -1250],\n },\n {\n vertex: [1650, 430, -1250],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Tunel\",\n },\n motion_group_uid: 1,\n },\n {\n id: 4,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, -760, -440],\n },\n {\n vertex: [900, -760, -440],\n },\n {\n vertex: [900, -1330, -440],\n },\n {\n vertex: [1650, -1330, -440],\n },\n {\n vertex: [1650, -760, -1800],\n },\n {\n vertex: [900, -760, -1800],\n },\n {\n vertex: [900, -1330, -1800],\n },\n {\n vertex: [1650, -1330, -1800],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Fanuc controller\",\n },\n motion_group_uid: 1,\n },\n {\n id: 6,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [-200, -200, -1900],\n },\n {\n vertex: [200, -200, -1900],\n },\n {\n vertex: [200, 200, -1900],\n },\n {\n vertex: [-200, 200, -1900],\n },\n {\n vertex: [-200, -200, -350],\n },\n {\n vertex: [200, -200, -350],\n },\n {\n vertex: [200, 200, -350],\n },\n {\n vertex: [-200, 200, -350],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Robot base\",\n },\n motion_group_uid: 1,\n },\n ],\n robot_model_geometries: [\n {\n link_index: 1,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-70, -70, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link1_sphere\",\n },\n },\n {\n link_index: 2,\n geometry: {\n capsule: {\n radius: 160,\n cylinder_height: 800,\n },\n init_pose: {\n position: [-450, 40, 170],\n orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\n },\n id: \"link2_capsule\",\n },\n },\n {\n link_index: 3,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-110, 10, -100],\n orientation: [0, 0, 0, 1],\n },\n id: \"link3_sphere\",\n },\n },\n {\n link_index: 4,\n geometry: {\n capsule: {\n radius: 110,\n cylinder_height: 600,\n },\n init_pose: {\n position: [0, 300, 40],\n orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\n },\n id: \"link4_capsule\",\n },\n },\n {\n link_index: 5,\n geometry: {\n sphere: {\n radius: 75,\n },\n init_pose: {\n position: [0, 0, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link5_sphere\",\n },\n },\n ],\n tool_geometries: [],\n } // Mock safety setup\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n handle() {\n return {\n tcps: [\n {\n id: \"Flange\",\n readable_name: \"Default-Flange\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n {\n id: \"complex-tcp-position\",\n readable_name: \"Complex TCP Position\",\n position: [-200, 300, 150],\n rotation: {\n angles: [\n -0.12139440409113832, -0.06356210998212003,\n -0.2023240068185639, 0,\n ],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n }\n },\n },\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path || \"\")\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n\n // return {\n // status: 404,\n // statusText: \"Not Found\",\n // data: \"\",\n // headers: {},\n // config,\n // request: {\n // responseURL: config.url,\n // },\n // }\n }\n\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-joint\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:48:26.096266444Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: [\n 1.3492152690887451, -1.5659207105636597,\n 1.6653711795806885, -1.0991662740707397,\n -1.829018235206604, 1.264623761177063,\n ],\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"671259\",\n },\n ],\n sequence_number: \"671259\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-tcp\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:43:12.188335774Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: {\n joints: [\n 1.3352527618408203, -1.5659207105636597,\n 1.6653711795806885, -1.110615611076355,\n -1.829018235206604, 1.264623761177063,\n ],\n },\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"627897\",\n },\n ],\n sequence_number: \"627897\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\nfunction permissiveInstanceUrlParse(url: string): string {\n if (!url.startsWith(\"http\")) {\n url = `http://${url}`\n }\n\n return new URL(url).toString()\n}\n\n/**\n *\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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For now, this provides basic start functionality.\n * \n * @param programId - The program identifier\n * @param args - Arguments to pass to the program\n * @param options - Basic execution options\n */\n async execute(\n programId: string,\n args: object = {},\n options: {\n onStart?: (run: ProgramRun) => void\n } = {},\n ): Promise<ProgramRun> {\n const { onStart } = options\n\n // Start the program\n const run = await this.start(programId, args)\n \n if (onStart) {\n onStart(run)\n }\n\n // Note: Cannot wait for completion due to API limitations\n // Real-time state tracking will be available via NATS messaging\n return run\n }\n\n /**\n * Create a program runner helper for a specific program\n */\n forProgram(programId: string): ProgramRunner {\n return new ProgramRunner(this, programId)\n }\n}\n\n/**\n * Helper class for managing a specific program\n */\nexport class ProgramRunner {\n constructor(\n private programs: ProgramsClient,\n private programId: string,\n ) {}\n\n /**\n * Get program details\n */\n async getDetails(): Promise<Program> {\n return await this.programs.get(this.programId)\n }\n\n /**\n * Start this program\n */\n async start(args: object = {}): Promise<ProgramRun> {\n return await this.programs.start(this.programId, args)\n }\n\n /**\n * Stop this program\n */\n async stop(): Promise<void> {\n return await this.programs.stop(this.programId)\n }\n\n /**\n * Execute this program (start and get initial run information)\n * \n * Note: This method has limitations due to current API constraints.\n * Real-time program state tracking will be available via NATS messaging\n * in future versions.\n */\n async execute(\n args: object = {},\n options: {\n onStart?: (run: ProgramRun) => void\n } = {},\n ): Promise<ProgramRun> {\n return await this.programs.execute(this.programId, args, options)\n }\n}\n\n// Re-export types for convenience\nexport type {\n Program,\n ProgramRun,\n ProgramRunState,\n ProgramStartRequest,\n}\n","/** 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 ProgramApi,\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\"\nimport { ProgramsClient } from \"./ProgramsClient.js\"\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 programs = this.withCellId(ProgramApi)\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 // Enhanced programs client with convenient methods\n private _programsClient?: ProgramsClient\n get programsClient(): ProgramsClient {\n if (!this._programsClient) {\n this._programsClient = new ProgramsClient(this)\n }\n return this._programsClient\n }\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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package/dist/lib/v2/index.d.cts CHANGED
@@ -1,8 +1,85 @@
1
1
  import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-Qcrbm3Kb.cjs";
2
2
  import { AxiosInstance } from "axios";
3
- import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, Pose, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
3
+ import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, Pose, Program, ProgramApi, ProgramRun, ProgramRunState, ProgramStartRequest, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
4
4
  export * from "@wandelbots/nova-api/v2";
5
5
 
6
+ //#region src/lib/v2/ProgramsClient.d.ts
7
+ /**
8
+ * Enhanced client for the Programs API providing intuitive program management
9
+ */
10
+ declare class ProgramsClient {
11
+ private client;
12
+ constructor(client: NovaCellAPIClient);
13
+ /**
14
+ * Get the underlying programs API for direct access
15
+ */
16
+ get api(): WithCellId<ProgramApi>;
17
+ /**
18
+ * List all programs available in the cell
19
+ */
20
+ list(): Promise<Program[]>;
21
+ /**
22
+ * Get details of a specific program
23
+ */
24
+ get(programId: string): Promise<Program>;
25
+ /**
26
+ * Start a program with the given arguments
27
+ */
28
+ start(programId: string, args?: object): Promise<ProgramRun>;
29
+ /**
30
+ * Stop a running program
31
+ */
32
+ stop(programId: string): Promise<void>;
33
+ /**
34
+ * Execute a program and wait for it to complete
35
+ *
36
+ * Note: This method has limitations due to current API constraints.
37
+ * Real-time program state tracking will be available via NATS messaging
38
+ * in future versions. For now, this provides basic start functionality.
39
+ *
40
+ * @param programId - The program identifier
41
+ * @param args - Arguments to pass to the program
42
+ * @param options - Basic execution options
43
+ */
44
+ execute(programId: string, args?: object, options?: {
45
+ onStart?: (run: ProgramRun) => void;
46
+ }): Promise<ProgramRun>;
47
+ /**
48
+ * Create a program runner helper for a specific program
49
+ */
50
+ forProgram(programId: string): ProgramRunner;
51
+ }
52
+ /**
53
+ * Helper class for managing a specific program
54
+ */
55
+ declare class ProgramRunner {
56
+ private programs;
57
+ private programId;
58
+ constructor(programs: ProgramsClient, programId: string);
59
+ /**
60
+ * Get program details
61
+ */
62
+ getDetails(): Promise<Program>;
63
+ /**
64
+ * Start this program
65
+ */
66
+ start(args?: object): Promise<ProgramRun>;
67
+ /**
68
+ * Stop this program
69
+ */
70
+ stop(): Promise<void>;
71
+ /**
72
+ * Execute this program (start and get initial run information)
73
+ *
74
+ * Note: This method has limitations due to current API constraints.
75
+ * Real-time program state tracking will be available via NATS messaging
76
+ * in future versions.
77
+ */
78
+ execute(args?: object, options?: {
79
+ onStart?: (run: ProgramRun) => void;
80
+ }): Promise<ProgramRun>;
81
+ }
82
+ //#endregion
6
83
  //#region src/lib/v2/NovaCellAPIClient.d.ts
7
84
  type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
8
85
  type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
@@ -43,6 +120,7 @@ declare class NovaCellAPIClient {
43
120
  readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>;
44
121
  readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>;
45
122
  readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>;
123
+ readonly programs: WithCellId<ProgramApi>;
46
124
  readonly application: WithCellId<ApplicationApi>;
47
125
  readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>;
48
126
  readonly jogging: WithCellId<JoggingApi>;
@@ -54,6 +132,8 @@ declare class NovaCellAPIClient {
54
132
  readonly storeObject: WithCellId<StoreObjectApi>;
55
133
  readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>;
56
134
  readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>;
135
+ private _programsClient?;
136
+ get programsClient(): ProgramsClient;
57
137
  }
58
138
  //#endregion
59
139
  //#region src/lib/v2/NovaClient.d.ts
@@ -114,5 +194,5 @@ declare class NovaClient {
114
194
  */
115
195
  declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
116
196
  //#endregion
117
- export { NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
197
+ export { NovaCellAPIClient, NovaClient, NovaClientConfig, type Program, type ProgramRun, type ProgramRunState, ProgramRunner, type ProgramStartRequest, ProgramsClient, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
118
198
  //# sourceMappingURL=index.d.cts.map
package/dist/lib/v2/index.d.cts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"index.d.cts","names":[],"sources":["../../../src/lib/v2/ProgramsClient.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":[],"mappings":";;;;;;;;;cAYa,cAAA;;EAAA,WAAA,CAAA,MAAc,EACG,iBADH;EACG;;;EAYN,IAAA,GAAA,CAAA,CAAA,EAPX,UAOW,CAPA,UAOA,CAAA;EAAR;;;EAiBH,IAAA,CAAA,CAAA,EAjBG,OAiBH,CAjBW,OAiBX,EAAA,CAAA;EAAR;;;EA+BQ,GAAA,CAAA,SAAA,EAAA,MAAA,CAAA,EAzCmB,OAyCnB,CAzC2B,OAyC3B,CAAA;EAAR;;;EA0BQ,KAAA,CAAA,SAAA,EAAa,MAAA,EAAA,IAAA,CAAA,EAAA,MAAA,CAAA,EAzDrB,OAyDqB,CAzDb,UAyDa,CAAA;EAEJ;;;EAcoB,IAAA,CAAA,SAAA,EAAA,MAAA,CAAA,EA/DT,OA+DS,CAAA,IAAA,CAAA;EAAR;;;;;;;;;ACrFkB;;EAGtC,OAAA,CAAA,SAAA,EAAA,MAAA,EAAA,IAAA,CAAA,EAAA,MAAA,EAAA,OAAO,CAAP,EAAA;IAAM,OAAA,CAAA,EAAA,CAAA,GAAA,EDsCE,UCtCF,EAAA,GAAA,IAAA;EAAC,CAAA,CAAA,EDwChB,OCxCgB,CDwCR,UCxCQ,CAAA;EAGhB;;;EAEO,UAAA,CAAA,SAAA,EAAA,MAAA,CAAA,EDqDqB,aCrDrB;;;;;AACH,cD4DI,aAAA,CC5DJ;EAAO,QAAA,QAAA;EAGJ,QAAA,SAAU;EACR,WAAA,CAAA,QAAA,ED0DQ,cC1DR,EAAA,SAAA,EAAA,MAAA;EAA2C;;;EAAvC,UAAA,CAAA,CAAA,EDiEI,OCjEJ,CDiEY,OCjEZ,CAAA;EAAyB;AAG3C;;EAC4C,KAAA,CAAA,IAAA,CAAA,EAAA,MAAA,CAAA,EDoEV,OCpEU,CDoEF,UCpEE,CAAA;EAAE;;;EAOjC,IAAA,CAAA,CAAA,EDoEG,OCpEH,CAAA,IAAiB,CAAA;EAGX;;;;;;;EAmFJ,OAAA,CAAA,IAAA,CAAA,EAAA,MAAA,EAAA,OAEO,CAFP,EAAA;IAEO,OAAA,CAAA,EAAA,CAAA,GAAA,EDNA,UCMA,EAAA,GAAA,IAAA;EAAA,CAAA,CAAA,EDJjB,OCIiB,CDJT,UCIS,CAAA;;;;KA9GjB,kBAAkB,8DACT,MAAM;ADrBpB,KCwBK,yBDxBsB,CAAA,CAAA,CAAA,GCwBS,CDxBT,UAAA,CAAA,GAAA,CAAA,EAAA,GAAA,EAAA,GAAA,GAAA,IAAA,CAAA,GAAA,CAAA,EC0Bf,UD1Be,CC0BJ,CD1BI,CAAA,EAAA,GC2BlB,OD3BkB,CC2BV,OD3BU,CC2BF,UD3BE,CC2BS,CD3BT,CAAA,CAAA,SAAA;EACG,IAAA,EAAA,KAAA,EAAA;CAKN,GCqB4C,CDrB5C,GAAA,KAAA,CAAA,GAAA,KAAA;AAAX,KCwBD,UDxBC,CAAA,CAAA,CAAA,GAAA,QAOW,MCkBV,CDlBU,GCkBN,yBDlBM,CCkBoB,YDlBpB,CCkBiC,CDlBjC,CCkBmC,CDlBnC,CAAA,CAAA,CAAA,EAAR;AAOwB,KCc5B,0BDd4B,CAAA,CAAA,CAAA,GAAA,QAAR,MCelB,CDfkB,GCed,yBDfc,CCeY,CDfZ,CCec,CDfd,CAAA,CAAA,EAUnB;;;;;AA+BR,cCnBQ,iBAAA,CDmBR;EAkB4B,SAAA,MAAA,EAAA,MAAA;EAAa,SAAA,IAAA,EClC3B,aDkC2B,GAAA;IAQjC,aAAa,CAAA,ECzCJ,aDyCI;IAEJ,IAAA,CAAA,EAAA,OAAA;EAOQ,CAAA;EAAR,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,ECnDH,aDmDG,GAAA;IAOoB,aAAA,CAAA,ECzDpB,aDyDoB;IAAR,IAAA,CAAA,EAAA,OAAA;EAOlB,CAAA;EAcM;;;;;;;AC1G8B;;EAGtC,QAAA,0BAAA;EAAM,SAAA,MAAA,EA0GH,0BA1GG,CA0GH,SA1GG,CAAA;EAAC,SAAA,IAAA,EA2GN,0BA3GM,CA2GN,OA3GM,CAAA;EAGhB,SAAA,WAAA,EA0GiB,UA1GQ,CA0GR,cA1GQ,CAAA;EAAM,SAAA,iBAAA,EA2GR,UA3GQ,CA2GR,oBA3GQ,CAAA;EAEb,SAAA,UAAA,EA2GF,UA3GE,CA2GF,aA3GE,CAAA;EAAX,SAAA,aAAA,EA6GY,UA7GZ,CA6GY,0BA7GZ,CAAA;EACwB,SAAA,kBAAA,EA8GP,UA9GO,CA8GP,qBA9GO,CAAA;EAAX,SAAA,mBAAA,EA+GK,UA/GL,CA+GK,sBA/GL,CAAA;EAAR,SAAA,iBAAA,EAgHW,UAhHX,CAgHW,oBAhHX,CAAA;EAAmD,SAAA,QAAA,EAkHjD,UAlHiD,CAkHjD,UAlHiD,CAAA;EAA3D,SAAA,WAAA,EAoHa,UApHb,CAoHa,cApHb,CAAA;EAAO,SAAA,iBAAA,EAqHY,0BArHZ,CAqHY,cArHZ,CAAA;EAGJ,SAAA,OAAU,EAoHJ,UApHI,CAoHJ,UApHI,CAAA;EACR,SAAA,UAAA,EAqHO,UArHP,CAqHO,aArHP,CAAA;EAA2C,SAAA,gBAAA,EAuH9B,UAvH8B,CAuH9B,mBAvH8B,CAAA;EAAE,SAAA,iBAAA,EAyH/B,UAzH+B,CAyH/B,oBAzH+B,CAAA;EAAf,SAAA,yBAAA,EA0HR,UA1HQ,CA0HR,4BA1HQ,CAAA;EAA1B,SAAA,oBAAA,EA6Ha,UA7Hb,CA6Ha,iCA7Hb,CAAA;EAAyB,SAAA,WAAA,EAiIrB,UAjIqB,CAiIrB,cAjIqB,CAAA;EAG/B,SAAA,wBAA0B,EA+HH,UA/HG,CA+HH,2BA/HG,CAAA;EACxB,SAAA,oBAAA,EAiIiB,UAjIjB,CAiIiB,uBAjIjB,CAAA;EAA8B,QAAA,eAAA;EAAE,IAAA,cAAA,CAAA,CAAA,EAqItB,cArIsB;;;;KCpClC,gBAAA;;AFCZ;;;EAMa,WAAA,EAAA,MAAA,GAAA,0BAAA;EAOW;;;;EAiBX,MAAA,CAAA,EAAA,MAAA;EAAR;;;;EA+BA,QAAA,CAAA,EAAA,MAAA;EAkB4B;;AAQjC;;EAS8B,QAAA,CAAA,EAAA,MAAA;EAAR;;;EAcN,WAAA,CAAA,EAAA,MAAA;CAcM,GEhGlB,IFgGkB,CEhGb,aFgGa,EAAA,YAAA,GAAA,UAAA,CAAA;KE9FjB,4BAAA,GAA+B,gBFgGvB,GAAA;EAAR,MAAA,EAAA,MAAA;CAAO;;;;AC5GwC;AAE7B,cCwBV,UAAA,CDxBU;EACT,SAAA,GAAA,ECwBE,iBDxBF;EAAM,SAAA,MAAA,ECyBD,4BDzBC;EAAC,SAAA,IAAA,CAAA,EC0BH,gBD1BG;EAGhB,WAAA,ECwBU,ODxBV,CAAA,MAAA,GAAyB,IAAA,CAAA,GAAA,IAAA;EAAM,WAAA,EAAA,MAAA,GAAA,IAAA;EAEb,WAAA,CAAA,MAAA,ECyBD,gBDzBC;EAAX,mBAAA,CAAA,CAAA,EC8HmB,OD9HnB,CAAA,IAAA,CAAA;EACwB,gBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;EAAX;;;;;EAGb,yBAAU,CAAA,IAAA,EAAA,MAAA,CAAA,EC2KkB,yBD3KlB;;;;;;;;iBEpCN,wBAAA,OACR,KAAK"}
package/dist/lib/v2/index.d.mts CHANGED
@@ -1,8 +1,85 @@
1
1
  import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-dHe-kceU.mjs";
2
2
  import { AxiosInstance } from "axios";
3
- import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, Pose, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
3
+ import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, Pose, Program, ProgramApi, ProgramRun, ProgramRunState, ProgramStartRequest, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
4
4
  export * from "@wandelbots/nova-api/v2";
5
5
 
6
+ //#region src/lib/v2/ProgramsClient.d.ts
7
+ /**
8
+ * Enhanced client for the Programs API providing intuitive program management
9
+ */
10
+ declare class ProgramsClient {
11
+ private client;
12
+ constructor(client: NovaCellAPIClient);
13
+ /**
14
+ * Get the underlying programs API for direct access
15
+ */
16
+ get api(): WithCellId<ProgramApi>;
17
+ /**
18
+ * List all programs available in the cell
19
+ */
20
+ list(): Promise<Program[]>;
21
+ /**
22
+ * Get details of a specific program
23
+ */
24
+ get(programId: string): Promise<Program>;
25
+ /**
26
+ * Start a program with the given arguments
27
+ */
28
+ start(programId: string, args?: object): Promise<ProgramRun>;
29
+ /**
30
+ * Stop a running program
31
+ */
32
+ stop(programId: string): Promise<void>;
33
+ /**
34
+ * Execute a program and wait for it to complete
35
+ *
36
+ * Note: This method has limitations due to current API constraints.
37
+ * Real-time program state tracking will be available via NATS messaging
38
+ * in future versions. For now, this provides basic start functionality.
39
+ *
40
+ * @param programId - The program identifier
41
+ * @param args - Arguments to pass to the program
42
+ * @param options - Basic execution options
43
+ */
44
+ execute(programId: string, args?: object, options?: {
45
+ onStart?: (run: ProgramRun) => void;
46
+ }): Promise<ProgramRun>;
47
+ /**
48
+ * Create a program runner helper for a specific program
49
+ */
50
+ forProgram(programId: string): ProgramRunner;
51
+ }
52
+ /**
53
+ * Helper class for managing a specific program
54
+ */
55
+ declare class ProgramRunner {
56
+ private programs;
57
+ private programId;
58
+ constructor(programs: ProgramsClient, programId: string);
59
+ /**
60
+ * Get program details
61
+ */
62
+ getDetails(): Promise<Program>;
63
+ /**
64
+ * Start this program
65
+ */
66
+ start(args?: object): Promise<ProgramRun>;
67
+ /**
68
+ * Stop this program
69
+ */
70
+ stop(): Promise<void>;
71
+ /**
72
+ * Execute this program (start and get initial run information)
73
+ *
74
+ * Note: This method has limitations due to current API constraints.
75
+ * Real-time program state tracking will be available via NATS messaging
76
+ * in future versions.
77
+ */
78
+ execute(args?: object, options?: {
79
+ onStart?: (run: ProgramRun) => void;
80
+ }): Promise<ProgramRun>;
81
+ }
82
+ //#endregion
6
83
  //#region src/lib/v2/NovaCellAPIClient.d.ts
7
84
  type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
8
85
  type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
@@ -43,6 +120,7 @@ declare class NovaCellAPIClient {
43
120
  readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>;
44
121
  readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>;
45
122
  readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>;
123
+ readonly programs: WithCellId<ProgramApi>;
46
124
  readonly application: WithCellId<ApplicationApi>;
47
125
  readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>;
48
126
  readonly jogging: WithCellId<JoggingApi>;
@@ -54,6 +132,8 @@ declare class NovaCellAPIClient {
54
132
  readonly storeObject: WithCellId<StoreObjectApi>;
55
133
  readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>;
56
134
  readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>;
135
+ private _programsClient?;
136
+ get programsClient(): ProgramsClient;
57
137
  }
58
138
  //#endregion
59
139
  //#region src/lib/v2/NovaClient.d.ts
@@ -114,5 +194,5 @@ declare class NovaClient {
114
194
  */
115
195
  declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
116
196
  //#endregion
117
- export { NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
197
+ export { NovaCellAPIClient, NovaClient, NovaClientConfig, type Program, type ProgramRun, type ProgramRunState, ProgramRunner, type ProgramStartRequest, ProgramsClient, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
118
198
  //# sourceMappingURL=index.d.mts.map
package/dist/lib/v2/index.d.mts.map CHANGED
@@ -1 +1 @@
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