@wandelbots/nova-js 3.3.2 → 3.3.3

package/dist/NovaClient-j40sHBBq.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"NovaClient-j40sHBBq.cjs","names":["MOTION_DELTA_THRESHOLD","tryParseJson","nova: NovaClient","controller: ControllerInstance","motionGroup: MotionGroupPhysical","initialMotionState: MotionGroupStateResponse","motionStateSocket: AutoReconnectingWebsocket","isVirtual: boolean","tcps: RobotTcp[]","motionGroupSpecification: MotionGroupSpecification","safetySetup: SafetySetup","mounting: Mounting | null","initialControllerState: RobotControllerState","controllerStateSocket: AutoReconnectingWebsocket","THREE","motionStream: MotionStreamConnection","opts: JoggerConnectionOpts","tryParseJson","commands: Command[]","isSameCoordinateSystem","Vector3","jointVelocityLimits: number[]","Vector3","tryParseJson","nova: NovaClient","controller: ControllerInstance","motionGroup: MotionGroupPhysical","initialMotionState: MotionGroupStateResponse","motionStateSocket: AutoReconnectingWebsocket","cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","SystemApi","CellApi","DeviceConfigurationApi","MotionGroupApi","MotionGroupInfosApi","ControllerApi","ProgramApi","ProgramValuesApi","ControllerIOsApi","MotionGroupKinematicApi","MotionApi","CoordinateSystemsApi","ApplicationApi","MotionGroupJoggingApi","VirtualRobotApi","VirtualRobotSetupApi","VirtualRobotModeApi","VirtualRobotBehaviorApi","LibraryProgramMetadataApi","LibraryProgramApi","LibraryRecipeMetadataApi","LibraryRecipeApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionScenesApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","config","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../src/lib/v1/wandelscriptUtils.ts","../src/lib/v1/motionStateUpdate.ts","../src/lib/v1/ConnectedMotionGroup.ts","../src/lib/v1/JoggerConnection.ts","../src/lib/v1/MotionStreamConnection.ts","../src/lib/v1/NovaCellAPIClient.ts","../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v1/NovaClient.ts"],"sourcesContent":["import type { Pose } from \"@wandelbots/nova-api/v1\"\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 = [pose.position.x, pose.position.y, pose.position.z]\n  const orientation = [\n    pose.orientation?.x ?? 0,\n    pose.orientation?.y ?? 0,\n    pose.orientation?.z ?? 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(\", \")})`\n}\n","import type { TcpPose } from \"@wandelbots/nova-api/v1\"\n\nexport function jointValuesEqual(\n  oldJointValues: number[],\n  newJointValues: number[],\n  changeDeltaThreshold: number,\n): boolean {\n  if (newJointValues.length !== oldJointValues.length) {\n    return true\n  }\n\n  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {\n    if (\n      // biome-ignore lint/style/noNonNullAssertion: legacy code\n      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >\n      changeDeltaThreshold\n    ) {\n      return false\n    }\n  }\n\n  return true\n}\n\nexport function tcpPoseEqual(\n  oldTcp: TcpPose | undefined,\n  newTcp: TcpPose | undefined,\n  changeDeltaThreshold: number,\n): boolean {\n  // undefined -> defined (+reverse) transition\n  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {\n    return false\n  }\n\n  // the typechecker cannot resolve states to \"!= undefined\" if \"&&\" is used\n  if (oldTcp === undefined || newTcp === undefined) {\n    return true\n  }\n\n  let changedDelta = 0\n  changedDelta += Math.abs(oldTcp.orientation.x - newTcp.orientation.x)\n  changedDelta += Math.abs(oldTcp.orientation.y - newTcp.orientation.y)\n  changedDelta += Math.abs(oldTcp.orientation.z - newTcp.orientation.z)\n  changedDelta += Math.abs(oldTcp.position.x - newTcp.position.x)\n  changedDelta += Math.abs(oldTcp.position.y - newTcp.position.y)\n  changedDelta += Math.abs(oldTcp.position.z - newTcp.position.z)\n\n  if (changedDelta > changeDeltaThreshold) {\n    return false\n  }\n\n  return (\n    oldTcp.coordinate_system === newTcp.coordinate_system &&\n    oldTcp.tcp === newTcp.tcp\n  )\n}\n","import type {\n  ControllerInstance,\n  MotionGroupPhysical,\n  MotionGroupSpecification,\n  MotionGroupStateResponse,\n  Mounting,\n  RobotControllerState,\n  RobotControllerStateOperationModeEnum,\n  RobotControllerStateSafetyStateEnum,\n  RobotTcp,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v1\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type MotionGroupOption = {\n  selectionId: string\n} & MotionGroupPhysical\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class ConnectedMotionGroup {\n  static async connect(\n    nova: NovaClient,\n    motionGroupId: string,\n    controllers: ControllerInstance[],\n  ) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.physical_motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupStateResponse\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Check if robot is virtual or physical\n    const config = await nova.api.controller.getRobotController(\n      controller.controller,\n    )\n    const isVirtual = config.configuration.kind === \"VirtualController\"\n\n    // If there's a configured mounting, we need it to show the right\n    // position of the robot model\n    const mounting = await (async () => {\n      try {\n        const mounting = await nova.api.motionGroupInfos.getMounting(\n          motionGroup.motion_group,\n        )\n        return mounting\n      } catch (err) {\n        console.error(\n          `Error fetching mounting for ${motionGroup.motion_group}`,\n          err,\n        )\n        return null\n      }\n    })()\n\n    // Open the websocket to monitor controller state for e.g. e-stop\n    const controllerStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controller.controller}/state-stream?response_rate=1000`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstControllerMessage = await controllerStateSocket.firstMessage()\n    const initialControllerState = tryParseJson(firstControllerMessage.data)\n      ?.result as RobotControllerState\n\n    if (!initialControllerState) {\n      throw new Error(\n        `Unable to parse initial controller state message ${firstControllerMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected controller state websocket to controller ${controller.controller}. Initial state:\\n  `,\n      initialControllerState,\n    )\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const { tcps } = await nova.api.motionGroupInfos.listTcps(motionGroupId)\n\n    const motionGroupSpecification =\n      await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId)\n\n    const safetySetup =\n      await nova.api.motionGroupInfos.getSafetySetup(motionGroupId)\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      // biome-ignore lint/style/noNonNullAssertion: legacy code\n      tcps!,\n      motionGroupSpecification,\n      safetySetup,\n      mounting,\n      initialControllerState,\n      controllerStateSocket,\n    )\n  }\n\n  connectedJoggingCartesianSocket: WebSocket | null = null\n  connectedJoggingJointsSocket: WebSocket | null = null\n  // biome-ignore lint/suspicious/noExplicitAny: legacy code\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupStateResponse\n\n  // Response rate on the websocket should be a bit slower on this one since\n  // we don't use the motion data\n  controllerState: RobotControllerState\n\n  /**\n   * Reflects activation state of the motion group / robot servos. The\n   * movement controls in the UI should only be enabled in the \"active\" state\n   */\n  activationState: \"inactive\" | \"activating\" | \"deactivating\" | \"active\" =\n    \"inactive\"\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: ControllerInstance,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupStateResponse,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcp[],\n    readonly motionGroupSpecification: MotionGroupSpecification,\n    readonly safetySetup: SafetySetup,\n    readonly mounting: Mounting | null,\n    readonly initialControllerState: RobotControllerState,\n    readonly controllerStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n    this.controllerState = initialControllerState\n\n    // Track controller state updates (e.g. safety state and operation mode)\n    controllerStateSocket.addEventListener(\"message\", (event) => {\n      const data = tryParseJson(event.data)?.result\n\n      if (!data) {\n        return\n      }\n\n      runInAction(() => {\n        this.controllerState = data\n      })\n    })\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionStateResponse = tryParseJson(event.data)?.result as\n        | MotionGroupStateResponse\n        | undefined\n\n      if (!motionStateResponse) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.state.joint_position.joints,\n          motionStateResponse.state.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.state = motionStateResponse.state\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionStateResponse.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose =\n            motionStateResponse.tcp_pose\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.state.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  get dhParameters() {\n    return this.motionGroupSpecification.dh_parameters\n  }\n\n  get safetyZones() {\n    return this.safetySetup.safety_zones\n  }\n\n  /** Gets the robot mounting position offset in 3D viz coordinates */\n  get mountingPosition(): [number, number, number] {\n    if (!this.mounting) {\n      return [0, 0, 0]\n    }\n\n    return [\n      this.mounting.pose.position.x / 1000,\n      this.mounting.pose.position.y / 1000,\n      this.mounting.pose.position.z / 1000,\n    ]\n  }\n\n  /** Gets the robot mounting position rotation in 3D viz coordinates */\n  get mountingQuaternion() {\n    const rotationVector = new THREE.Vector3(\n      this.mounting?.pose.orientation?.x || 0,\n      this.mounting?.pose.orientation?.y || 0,\n      this.mounting?.pose.orientation?.z || 0,\n    )\n\n    const magnitude = rotationVector.length()\n    const axis = rotationVector.normalize()\n\n    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)\n  }\n\n  /**\n   * Whether the controller is currently in a safety state\n   * corresponding to an emergency stop\n   */\n  get isEstopActive() {\n    const estopStates: RobotControllerStateSafetyStateEnum[] = [\n      \"SAFETY_STATE_ROBOT_EMERGENCY_STOP\",\n      \"SAFETY_STATE_DEVICE_EMERGENCY_STOP\",\n    ]\n\n    return estopStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in a safety state\n   * that may be non-functional for robot pad purposes\n   */\n  get isMoveableSafetyState() {\n    const goodSafetyStates: RobotControllerStateSafetyStateEnum[] = [\n      \"SAFETY_STATE_NORMAL\",\n      \"SAFETY_STATE_REDUCED\",\n    ]\n\n    return goodSafetyStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in an operation mode that allows movement\n   */\n  get isMoveableOperationMode() {\n    const goodOperationModes: RobotControllerStateOperationModeEnum[] = [\n      \"OPERATION_MODE_AUTO\",\n      \"OPERATION_MODE_MANUAL\",\n      \"OPERATION_MODE_MANUAL_T1\",\n      \"OPERATION_MODE_MANUAL_T2\",\n    ]\n\n    return goodOperationModes.includes(this.controllerState.operation_mode)\n  }\n\n  /**\n   * Whether the robot is currently active and can be moved, based on the\n   * safety state, operation mode and servo toggle activation state.\n   */\n  get canBeMoved() {\n    return (\n      this.isMoveableSafetyState &&\n      this.isMoveableOperationMode &&\n      this.activationState === \"active\"\n    )\n  }\n\n  async deactivate() {\n    if (this.activationState !== \"active\") {\n      console.error(\"Tried to deactivate while already deactivating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"deactivating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"MODE_MONITOR\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n      throw err\n    }\n  }\n\n  async activate() {\n    if (this.activationState !== \"inactive\") {\n      console.error(\"Tried to activate while already activating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"activating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"MODE_CONTROL\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n      throw err\n    }\n  }\n\n  toggleActivation() {\n    if (this.activationState === \"inactive\") {\n      this.activate()\n    } else if (this.activationState === \"active\") {\n      this.deactivate()\n    }\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingCartesianSocket)\n      this.connectedJoggingCartesianSocket.close()\n    if (this.connectedJoggingJointsSocket)\n      this.connectedJoggingJointsSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n","import type { Command, Joints, TcpPose } from \"@wandelbots/nova-api/v1\"\nimport { Vector3 } from \"three/src/math/Vector3.js\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { isSameCoordinateSystem, tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type JoggerConnectionOpts = {\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n}\n\nexport class JoggerConnection {\n  // Currently a separate websocket is needed for each mode, pester API people\n  // to merge these for simplicity\n  cartesianWebsocket: AutoReconnectingWebsocket | null = null\n  jointWebsocket: AutoReconnectingWebsocket | null = null\n  cartesianJoggingOpts: {\n    tcpId?: string\n    coordSystemId?: string\n  } = {}\n\n  static async open(\n    nova: NovaClient,\n    motionGroupId: string,\n    opts: JoggerConnectionOpts = {},\n  ) {\n    const motionStream = await nova.connectMotionStream(motionGroupId)\n\n    return new JoggerConnection(motionStream, opts)\n  }\n\n  constructor(\n    readonly motionStream: MotionStreamConnection,\n    readonly opts: JoggerConnectionOpts = {},\n  ) {}\n\n  get motionGroupId() {\n    return this.motionStream.motionGroupId\n  }\n\n  get nova() {\n    return this.motionStream.nova\n  }\n\n  get numJoints() {\n    return this.motionStream.joints.length\n  }\n\n  get activeJoggingMode() {\n    if (this.cartesianWebsocket) return \"cartesian\"\n    if (this.jointWebsocket) return \"joint\"\n    return \"increment\"\n  }\n\n  get activeWebsocket() {\n    return this.cartesianWebsocket || this.jointWebsocket\n  }\n\n  async stop() {\n    // Why not call the stopJogging API endpoint?\n    // Because this results in the websocket closing and we\n    // would like to keep it open for now.\n\n    if (this.cartesianWebsocket) {\n      this.cartesianWebsocket.sendJson({\n        motion_group: this.motionGroupId,\n        position_direction: { x: 0, y: 0, z: 0 },\n        rotation_direction: { x: 0, y: 0, z: 0 },\n        position_velocity: 0,\n        rotation_velocity: 0,\n        tcp: this.cartesianJoggingOpts.tcpId,\n        coordinate_system: this.cartesianJoggingOpts.coordSystemId,\n      })\n    }\n\n    if (this.jointWebsocket) {\n      this.jointWebsocket.sendJson({\n        motion_group: this.motionGroupId,\n        joint_velocities: new Array(this.numJoints).fill(0),\n      })\n    }\n  }\n\n  dispose() {\n    if (this.cartesianWebsocket) {\n      this.cartesianWebsocket.dispose()\n    }\n\n    if (this.jointWebsocket) {\n      this.jointWebsocket.dispose()\n    }\n  }\n\n  setJoggingMode(\n    mode: \"cartesian\" | \"joint\" | \"increment\",\n    cartesianJoggingOpts?: {\n      tcpId?: string\n      coordSystemId?: string\n    },\n  ) {\n    console.log(\"Setting jogging mode to\", mode)\n    if (cartesianJoggingOpts) {\n      // Websocket needs to be reopened to change options\n      if (\n        JSON.stringify(this.cartesianJoggingOpts) !==\n        JSON.stringify(cartesianJoggingOpts)\n      ) {\n        if (this.cartesianWebsocket) {\n          this.cartesianWebsocket.dispose()\n          this.cartesianWebsocket = null\n        }\n      }\n\n      this.cartesianJoggingOpts = cartesianJoggingOpts\n    }\n\n    if (mode !== \"cartesian\" && this.cartesianWebsocket) {\n      this.cartesianWebsocket.dispose()\n      this.cartesianWebsocket = null\n    }\n\n    if (mode !== \"joint\" && this.jointWebsocket) {\n      this.jointWebsocket.dispose()\n      this.jointWebsocket = null\n    }\n\n    if (mode === \"cartesian\" && !this.cartesianWebsocket) {\n      this.cartesianWebsocket = this.nova.openReconnectingWebsocket(\n        `/motion-groups/move-tcp`,\n      )\n\n      this.cartesianWebsocket.addEventListener(\n        \"message\",\n        (ev: MessageEvent) => {\n          const data = tryParseJson(ev.data)\n          if (data && \"error\" in data) {\n            if (this.opts.onError) {\n              this.opts.onError(ev.data)\n            } else {\n              throw new Error(ev.data)\n            }\n          }\n        },\n      )\n    }\n\n    if (mode === \"joint\" && !this.jointWebsocket) {\n      this.jointWebsocket = this.nova.openReconnectingWebsocket(\n        `/motion-groups/move-joint`,\n      )\n\n      this.jointWebsocket.addEventListener(\"message\", (ev: MessageEvent) => {\n        const data = tryParseJson(ev.data)\n        if (data && \"error\" in data) {\n          if (this.opts.onError) {\n            this.opts.onError(ev.data)\n          } else {\n            throw new Error(ev.data)\n          }\n        }\n      })\n    }\n  }\n\n  /**\n   * Start rotation of a single robot joint at the specified velocity\n   */\n  async startJointRotation({\n    joint,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Direction of rotation (\"+\" or \"-\") */\n    direction: \"+\" | \"-\"\n    /** Speed of the rotation in radians per second */\n    velocityRadsPerSec: number\n  }) {\n    if (!this.jointWebsocket) {\n      throw new Error(\n        \"Joint jogging websocket not connected; call setJoggingMode first\",\n      )\n    }\n\n    const jointVelocities = new Array(this.numJoints).fill(0)\n\n    jointVelocities[joint] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.jointWebsocket.sendJson({\n      motion_group: this.motionGroupId,\n      joint_velocities: jointVelocities,\n    })\n  }\n\n  /**\n   * Start the TCP moving along a specified axis at a given velocity\n   */\n  async startTCPTranslation({\n    axis,\n    direction,\n    velocityMmPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityMmPerSec: number\n  }) {\n    if (!this.cartesianWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected; call setJoggingMode first\",\n      )\n    }\n\n    const zeroVector = { x: 0, y: 0, z: 0 }\n    const joggingVector = Object.assign({}, zeroVector)\n    joggingVector[axis] = direction === \"-\" ? -1 : 1\n\n    this.cartesianWebsocket.sendJson({\n      motion_group: this.motionGroupId,\n      position_direction: joggingVector,\n      rotation_direction: zeroVector,\n      position_velocity: velocityMmPerSec,\n      rotation_velocity: 0,\n      tcp: this.cartesianJoggingOpts.tcpId,\n      coordinate_system: this.cartesianJoggingOpts.coordSystemId,\n    })\n  }\n\n  /**\n   * Start the TCP rotating around a specified axis at a given velocity\n   */\n  async startTCPRotation({\n    axis,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityRadsPerSec: number\n  }) {\n    if (!this.cartesianWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected; call setJoggingMode first\",\n      )\n    }\n\n    const zeroVector = { x: 0, y: 0, z: 0 }\n    const joggingVector = Object.assign({}, zeroVector)\n    joggingVector[axis] = direction === \"-\" ? -1 : 1\n\n    this.cartesianWebsocket.sendJson({\n      motion_group: this.motionGroupId,\n      position_direction: zeroVector,\n      rotation_direction: joggingVector,\n      position_velocity: 0,\n      rotation_velocity: velocityRadsPerSec,\n      tcp: this.cartesianJoggingOpts.tcpId,\n      coordinate_system: this.cartesianJoggingOpts.coordSystemId,\n    })\n  }\n\n  /**\n   * Move the robot by a fixed distance in a single cartesian\n   * axis, either rotating or translating relative to the TCP.\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalCartesianMotion({\n    currentTcpPose,\n    currentJoints,\n    coordSystemId,\n    velocityInRelevantUnits,\n    axis,\n    direction,\n    motion,\n  }: {\n    currentTcpPose: TcpPose\n    currentJoints: Joints\n    coordSystemId: string\n    velocityInRelevantUnits: number\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    motion:\n      | {\n          type: \"rotate\"\n          distanceRads: number\n        }\n      | {\n          type: \"translate\"\n          distanceMm: number\n        }\n  }) {\n    const commands: Command[] = []\n\n    if (\n      !isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)\n    ) {\n      throw new Error(\n        `Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`,\n      )\n    }\n\n    if (motion.type === \"translate\") {\n      const targetTcpPosition = Object.assign({}, currentTcpPose.position)\n      targetTcpPosition[axis] +=\n        motion.distanceMm * (direction === \"-\" ? -1 : 1)\n\n      commands.push({\n        settings: {\n          limits_override: {\n            tcp_velocity_limit: velocityInRelevantUnits,\n          },\n        },\n        line: {\n          position: targetTcpPosition,\n          orientation: currentTcpPose.orientation,\n          coordinate_system: coordSystemId,\n        },\n      })\n    } else if (motion.type === \"rotate\") {\n      // Concatenate rotations expressed by rotation vectors\n      // Equations taken from https://physics.stackexchange.com/a/287819\n\n      // Compute axis and angle of current rotation vector\n      const currentRotationVector = new Vector3(\n        currentTcpPose.orientation.x,\n        currentTcpPose.orientation.y,\n        currentTcpPose.orientation.z,\n      )\n\n      const currentRotationRad = currentRotationVector.length()\n      const currentRotationDirection = currentRotationVector.clone().normalize()\n\n      // Compute axis and angle of difference rotation vector\n      const differenceRotationRad =\n        motion.distanceRads * (direction === \"-\" ? -1 : 1)\n\n      const differenceRotationDirection = new Vector3(0.0, 0.0, 0.0)\n      differenceRotationDirection[axis] = 1.0\n\n      // Some abbreviations to make the following equations more readable\n      const f1 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f2 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n      const f3 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f4 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n\n      const dotProduct = differenceRotationDirection.dot(\n        currentRotationDirection,\n      )\n\n      const crossProduct = differenceRotationDirection\n        .clone()\n        .cross(currentRotationDirection)\n\n      // Compute angle of concatenated rotation\n      const newRotationRad = 2.0 * Math.acos(f1 - f2 * dotProduct)\n\n      // Compute rotation vector of concatenated rotation\n      const f5 = newRotationRad / Math.sin(0.5 * newRotationRad)\n\n      const targetTcpOrientation = new Vector3()\n        .addScaledVector(crossProduct, f2)\n        .addScaledVector(differenceRotationDirection, f3)\n        .addScaledVector(currentRotationDirection, f4)\n        .multiplyScalar(f5)\n\n      commands.push({\n        settings: {\n          limits_override: {\n            tcp_orientation_velocity_limit: velocityInRelevantUnits,\n          },\n        },\n        line: {\n          position: currentTcpPose.position,\n          orientation: targetTcpOrientation,\n          coordinate_system: coordSystemId,\n        },\n      })\n    }\n\n    const motionPlanRes = await this.nova.api.motion.planMotion({\n      motion_group: this.motionGroupId,\n      start_joint_position: currentJoints,\n      tcp: this.cartesianJoggingOpts.tcpId,\n      commands,\n    })\n\n    const plannedMotion = motionPlanRes.plan_successful_response?.motion\n    if (!plannedMotion) {\n      throw new Error(\n        `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`,\n      )\n    }\n\n    await this.nova.api.motion.streamMoveForward(\n      plannedMotion,\n      100,\n      undefined,\n      undefined,\n      undefined,\n      {\n        // Might take a while at low velocity\n        timeout: 1000 * 60,\n      },\n    )\n  }\n\n  /**\n   * Rotate a single robot joint by a fixed number of radians\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalJointRotation({\n    joint,\n    currentJoints,\n    velocityRadsPerSec,\n    direction,\n    distanceRads,\n  }: {\n    joint: number\n    currentJoints: Joints\n    velocityRadsPerSec: number\n    direction: \"-\" | \"+\"\n    distanceRads: number\n  }) {\n    const targetJoints = [...currentJoints.joints]\n    // biome-ignore lint/style/noNonNullAssertion: legacy code\n    targetJoints[joint]! += distanceRads * (direction === \"-\" ? -1 : 1)\n\n    const jointVelocityLimits: number[] = new Array(\n      currentJoints.joints.length,\n    ).fill(velocityRadsPerSec)\n\n    const motionPlanRes = await this.nova.api.motion.planMotion({\n      motion_group: this.motionGroupId,\n      start_joint_position: currentJoints,\n      commands: [\n        {\n          settings: {\n            limits_override: {\n              joint_velocity_limits: {\n                joints: jointVelocityLimits,\n              },\n            },\n          },\n          joint_ptp: {\n            joints: targetJoints,\n          },\n        },\n      ],\n    })\n\n    const plannedMotion = motionPlanRes.plan_successful_response?.motion\n    if (!plannedMotion) {\n      console.error(\"Failed to plan jogging increment motion\", motionPlanRes)\n      return\n    }\n\n    await this.nova.api.motion.streamMoveForward(\n      plannedMotion,\n      100,\n      undefined,\n      undefined,\n      undefined,\n      {\n        // Might take a while at low velocity\n        timeout: 1000 * 60,\n      },\n    )\n  }\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  ControllerInstance,\n  MotionGroupPhysical,\n  MotionGroupStateResponse,\n  Vector3d,\n} from \"@wandelbots/nova-api/v1\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport { Vector3 } from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nfunction unwrapRotationVector(\n  newRotationVectorApi: Vector3d,\n  currentRotationVectorApi: Vector3d,\n): Vector3d {\n  const currentRotationVector = new Vector3(\n    currentRotationVectorApi.x,\n    currentRotationVectorApi.y,\n    currentRotationVectorApi.z,\n  )\n\n  const newRotationVector = new Vector3(\n    newRotationVectorApi.x,\n    newRotationVectorApi.y,\n    newRotationVectorApi.z,\n  )\n\n  const currentAngle = currentRotationVector.length()\n  const currentAxis = currentRotationVector.normalize()\n\n  let newAngle = newRotationVector.length()\n  let newAxis = newRotationVector.normalize()\n\n  // Align rotation axes\n  if (newAxis.dot(currentAxis) < 0) {\n    newAngle = -newAngle\n    newAxis = newAxis.multiplyScalar(-1.0)\n  }\n\n  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]\n  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles\n  let angleDifference = newAngle - currentAngle\n  angleDifference -=\n    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))\n\n  newAngle = currentAngle + angleDifference\n\n  return newAxis.multiplyScalar(newAngle)\n}\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const { instances: controllers } =\n      await nova.api.controller.listControllers()\n\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.physical_motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupStateResponse\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupStateResponse\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: ControllerInstance,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupStateResponse,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionStateResponse = tryParseJson(event.data)?.result as\n        | MotionGroupStateResponse\n        | undefined\n\n      if (!motionStateResponse) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.state.joint_position.joints,\n          motionStateResponse.state.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.state = motionStateResponse.state\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionStateResponse.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              motionStateResponse.tcp_pose\n          } else {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: motionStateResponse.tcp_pose!.position,\n              orientation: unwrapRotationVector(\n                motionStateResponse.tcp_pose!.orientation,\n                this.rapidlyChangingMotionState.tcp_pose!.orientation,\n              ),\n              tcp: motionStateResponse.tcp_pose!.tcp,\n              coordinate_system:\n                motionStateResponse.tcp_pose!.coordinate_system,\n            }\n          }\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  get joints() {\n    return this.initialMotionState.state.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\n/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v1\"\nimport {\n  ApplicationApi,\n  CellApi,\n  ControllerApi,\n  ControllerIOsApi,\n  CoordinateSystemsApi,\n  DeviceConfigurationApi,\n  LibraryProgramApi,\n  LibraryProgramMetadataApi,\n  LibraryRecipeApi,\n  LibraryRecipeMetadataApi,\n  MotionApi,\n  MotionGroupApi,\n  MotionGroupInfosApi,\n  MotionGroupJoggingApi,\n  MotionGroupKinematicApi,\n  ProgramApi,\n  ProgramValuesApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionScenesApi,\n  StoreObjectApi,\n  SystemApi,\n  VirtualRobotApi,\n  VirtualRobotBehaviorApi,\n  VirtualRobotModeApi,\n  VirtualRobotSetupApi,\n} from \"@wandelbots/nova-api/v1\"\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 deviceConfig = this.withCellId(DeviceConfigurationApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupInfos = this.withCellId(MotionGroupInfosApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly program = this.withCellId(ProgramApi)\n  readonly programValues = this.withCellId(ProgramValuesApi)\n\n  readonly controllerIOs = this.withCellId(ControllerIOsApi)\n\n  readonly motionGroupKinematic = this.withCellId(MotionGroupKinematicApi)\n  readonly motion = this.withCellId(MotionApi)\n\n  readonly coordinateSystems = this.withCellId(CoordinateSystemsApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly motionGroupJogging = this.withCellId(MotionGroupJoggingApi)\n\n  readonly virtualRobot = this.withCellId(VirtualRobotApi)\n  readonly virtualRobotSetup = this.withCellId(VirtualRobotSetupApi)\n  readonly virtualRobotMode = this.withCellId(VirtualRobotModeApi)\n  readonly virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi)\n\n  readonly libraryProgramMetadata = this.withCellId(LibraryProgramMetadataApi)\n  readonly libraryProgram = this.withCellId(LibraryProgramApi)\n  readonly libraryRecipeMetadata = this.withCellId(LibraryRecipeMetadataApi)\n  readonly libraryRecipe = this.withCellId(LibraryRecipeApi)\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionScenes = this.withCellId(StoreCollisionScenesApi)\n}\n","import type {\n  ControllerInstanceList,\n  MotionGroupSpecification,\n  MotionGroupStateResponse,\n  RobotController,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v1\"\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 {\n            instances: [\n              {\n                controller: \"mock-ur5e\",\n                model_name: \"UniversalRobots::Controller\",\n                host: \"mock-ur5e\",\n                allow_software_install_on_controller: true,\n                physical_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          } satisfies ControllerInstanceList\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              position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\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          } satisfies MotionGroupSpecification\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                            {\n                              x: -800,\n                              y: -1330,\n                              z: -1820,\n                            },\n                            {\n                              x: 1650,\n                              y: -1330,\n                              z: -1820,\n                            },\n                            {\n                              x: 1650,\n                              y: 1330,\n                              z: -1820,\n                            },\n                            {\n                              x: -800,\n                              y: 1330,\n                              z: -1820,\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                          },\n                          orientation: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                            w: 1,\n                          },\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              x: -800,\n                              y: -1330,\n                              z: -1820,\n                            },\n                            {\n                              x: 1650,\n                              y: -1330,\n                              z: -1820,\n                            },\n                            {\n                              x: 1650,\n                              y: -1330,\n                              z: 1500,\n                            },\n                            {\n                              x: -800,\n                              y: -1330,\n                              z: 1500,\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                          },\n                          orientation: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                            w: 1,\n                          },\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              x: -800,\n                              y: -1330,\n                              z: -1820,\n                            },\n                            {\n                              x: -800,\n                              y: 1330,\n                              z: -1820,\n                            },\n                            {\n                              x: -800,\n                              y: 1330,\n                              z: 1500,\n                            },\n                            {\n                              x: -800,\n                              y: -1330,\n                              z: 1500,\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                          },\n                          orientation: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                            w: 1,\n                          },\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              x: 1650,\n                              y: 1330,\n                              z: 1500,\n                            },\n                            {\n                              x: -800,\n                              y: 1330,\n                              z: 1500,\n                            },\n                            {\n                              x: -800,\n                              y: -1330,\n                              z: 1500,\n                            },\n                            {\n                              x: 1650,\n                              y: -1330,\n                              z: 1500,\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                          },\n                          orientation: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                            w: 1,\n                          },\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              x: 1650,\n                              y: 1330,\n                              z: 1500,\n                            },\n                            {\n                              x: -800,\n                              y: 1330,\n                              z: 1500,\n                            },\n                            {\n                              x: -800,\n                              y: 1330,\n                              z: -1820,\n                            },\n                            {\n                              x: 1650,\n                              y: 1330,\n                              z: -1820,\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                          },\n                          orientation: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                            w: 1,\n                          },\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              x: 1650,\n                              y: 1330,\n                              z: 1500,\n                            },\n                            {\n                              x: 1650,\n                              y: -1330,\n                              z: 1500,\n                            },\n                            {\n                              x: 1650,\n                              y: -1330,\n                              z: -1820,\n                            },\n                            {\n                              x: 1650,\n                              y: 1330,\n                              z: -1820,\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                          },\n                          orientation: {\n                            x: 0,\n                            y: 0,\n                            z: 0,\n                            w: 1,\n                          },\n                        },\n                        id: \"box\",\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\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                        x: 1650,\n                        y: 1330,\n                        z: -1850,\n                      },\n                      {\n                        x: 865,\n                        y: 1330,\n                        z: -1850,\n                      },\n                      {\n                        x: 865,\n                        y: -720,\n                        z: -1850,\n                      },\n                      {\n                        x: 1650,\n                        y: -720,\n                        z: -1850,\n                      },\n                      {\n                        x: 1650,\n                        y: 1330,\n                        z: -920,\n                      },\n                      {\n                        x: 865,\n                        y: 1330,\n                        z: -920,\n                      },\n                      {\n                        x: 865,\n                        y: -720,\n                        z: -920,\n                      },\n                      {\n                        x: 1650,\n                        y: -720,\n                        z: -920,\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\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                        x: 1650,\n                        y: 1330,\n                        z: -600,\n                      },\n                      {\n                        x: 865,\n                        y: 1330,\n                        z: -600,\n                      },\n                      {\n                        x: 865,\n                        y: 430,\n                        z: -600,\n                      },\n                      {\n                        x: 1650,\n                        y: 430,\n                        z: -600,\n                      },\n                      {\n                        x: 1650,\n                        y: 1330,\n                        z: -1250,\n                      },\n                      {\n                        x: 865,\n                        y: 1330,\n                        z: -1250,\n                      },\n                      {\n                        x: 865,\n                        y: 430,\n                        z: -1250,\n                      },\n                      {\n                        x: 1650,\n                        y: 430,\n                        z: -1250,\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\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                        x: 1650,\n                        y: -760,\n                        z: -440,\n                      },\n                      {\n                        x: 900,\n                        y: -760,\n                        z: -440,\n                      },\n                      {\n                        x: 900,\n                        y: -1330,\n                        z: -440,\n                      },\n                      {\n                        x: 1650,\n                        y: -1330,\n                        z: -440,\n                      },\n                      {\n                        x: 1650,\n                        y: -760,\n                        z: -1800,\n                      },\n                      {\n                        x: 900,\n                        y: -760,\n                        z: -1800,\n                      },\n                      {\n                        x: 900,\n                        y: -1330,\n                        z: -1800,\n                      },\n                      {\n                        x: 1650,\n                        y: -1330,\n                        z: -1800,\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\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                        x: -200,\n                        y: -200,\n                        z: -1900,\n                      },\n                      {\n                        x: 200,\n                        y: -200,\n                        z: -1900,\n                      },\n                      {\n                        x: 200,\n                        y: 200,\n                        z: -1900,\n                      },\n                      {\n                        x: -200,\n                        y: 200,\n                        z: -1900,\n                      },\n                      {\n                        x: -200,\n                        y: -200,\n                        z: -350,\n                      },\n                      {\n                        x: 200,\n                        y: -200,\n                        z: -350,\n                      },\n                      {\n                        x: 200,\n                        y: 200,\n                        z: -350,\n                      },\n                      {\n                        x: -200,\n                        y: 200,\n                        z: -350,\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\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: {\n                      x: -70,\n                      y: -70,\n                      z: -50,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\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: {\n                      x: -450,\n                      y: 40,\n                      z: 170,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: -Math.SQRT1_2,\n                      z: 0,\n                      w: Math.SQRT1_2,\n                    },\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: {\n                      x: -110,\n                      y: 10,\n                      z: -100,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\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: {\n                      x: 0,\n                      y: 300,\n                      z: 40,\n                    },\n                    orientation: {\n                      x: -Math.SQRT1_2,\n                      y: 0,\n                      z: 0,\n                      w: Math.SQRT1_2,\n                    },\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: {\n                      x: 0,\n                      y: 0,\n                      z: -50,\n                    },\n                    orientation: {\n                      x: 0,\n                      y: 0,\n                      z: 0,\n                      w: 1,\n                    },\n                  },\n                  id: \"link5_sphere\",\n                },\n              },\n            ],\n            tool_geometries: [],\n          } satisfies SafetySetup\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/coordinate-systems\",\n        handle() {\n          return {\n            coordinatesystems: [\n              {\n                coordinate_system: \"\",\n                name: \"world\",\n                reference_uid: \"\",\n                position: {\n                  x: 0,\n                  y: 0,\n                  z: 0,\n                },\n                rotation: {\n                  angles: [0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          } //satisfies CoordinateSystems\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: {\n                  x: 0,\n                  y: 0,\n                  z: 0,\n                },\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: {\n                  x: -200,\n                  y: 300,\n                  z: 150,\n                },\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                        joints: [\n                          1.3492152690887451, -1.5659207105636597,\n                          1.6653711795806885, -1.0991662740707397,\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                          x: 6.437331889439328,\n                          y: -628.4123774830913,\n                          z: 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                          x: 6.437331889439328,\n                          y: -628.4123774830913,\n                          z: 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                          x: -2.763015284002938,\n                          y: -630.2151479701106,\n                          z: 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                          x: -2.763015284002938,\n                          y: -630.2151479701106,\n                          z: 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    state: {\n      motion_group: \"0@universalrobots-ur5e\",\n      controller: \"universalrobots-ur5e\",\n      joint_position: {\n        joints: [\n          1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n          1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n        ],\n      },\n      joint_velocity: {\n        joints: [0, 0, 0, 0, 0, 0],\n      },\n      flange_pose: {\n        position: {\n          x: 1.3300010259703043,\n          y: -409.2680714682808,\n          z: 531.0203477065281,\n        },\n        orientation: {\n          x: 1.7564919306270736,\n          y: -1.7542521568325058,\n          z: 0.7326972590614671,\n        },\n        coordinate_system: \"\",\n      },\n      tcp_pose: {\n        position: {\n          x: 1.3300010259703043,\n          y: -409.2680714682808,\n          z: 531.0203477065281,\n        },\n        orientation: {\n          x: 1.7564919306270736,\n          y: -1.7542521568325058,\n          z: 0.7326972590614671,\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: [false, false, false, false, false, false],\n      },\n      joint_current: {\n        joints: [0, 0, 0, 0, 0, 0],\n      },\n      sequence_number: \"1\",\n    },\n    tcp_pose: {\n      position: {\n        x: 302.90748476115556,\n        y: -152.87065869452337,\n        z: 424.0454619321661,\n      },\n      orientation: {\n        x: 2.3403056115045353,\n        y: -1.1706836379431356,\n        z: 0.9772511964246311,\n      },\n      coordinate_system: \"\",\n      tcp: \"Flange\",\n    },\n  } satisfies MotionGroupStateResponse,\n}\n","/**\n * @fileoverview\n * @deprecated The nova v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.\n */\n\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v1\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0.js\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket.js\"\nimport { availableStorage } from \"../availableStorage.js\"\nimport { parseNovaInstanceUrl } from \"../converters.js\"\nimport { ConnectedMotionGroup } from \"./ConnectedMotionGroup.js\"\nimport { JoggerConnection } from \"./JoggerConnection.js\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection.js\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient.js\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance.js\"\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\n/**\n * Client for connecting to a Nova instance and controlling robots.\n * @deprecated The nova v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\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    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v1\"),\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.instanceUrl.href, \"/api/v1\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                // biome-ignore lint/style/noNonNullAssertion: legacy code\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    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.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.instanceUrl.href,\n        `/api/v1/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  /**\n   * Connect to the motion state websocket(s) for a given motion group\n   */\n  async connectMotionStream(motionGroupId: string) {\n    return await MotionStreamConnection.open(this, motionGroupId)\n  }\n\n  /**\n   * Connect to the jogging websocket(s) for a given motion group\n   */\n  async connectJogger(motionGroupId: string) {\n    return await JoggerConnection.open(this, motionGroupId)\n  }\n\n  async connectMotionGroups(\n    motionGroupIds: string[],\n  ): Promise<ConnectedMotionGroup[]> {\n    const { instances } = await this.api.controller.listControllers()\n\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(this, motionGroupId, instances),\n      ),\n    )\n  }\n\n  async connectMotionGroup(\n    motionGroupId: string,\n  ): Promise<ConnectedMotionGroup> {\n    const motionGroups = await this.connectMotionGroups([motionGroupId])\n    // biome-ignore lint/style/noNonNullAssertion: legacy code\n    return motionGroups[0]!\n  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package/dist/index.cjs

@@ -1,5 +1,5 @@
-const require_LoginWithAuth0 = require('./LoginWithAuth0-CBD9BXXz.cjs');
-const require_NovaClient = require('./NovaClient-D2EItmiH.cjs');
+const require_LoginWithAuth0 = require('./LoginWithAuth0-iXpPiCcz.cjs');
+const require_NovaClient = require('./NovaClient-j40sHBBq.cjs');
 let axios = require("axios");
 
 //#region src/lib/errorHandling.ts
@@ -27,24 +27,28 @@ function makeErrorMessage(err) {
 		else return `${err.message} from ${err.config.method?.toUpperCase() || "accessing"} ${err.config.url}`;
 	} else if (err instanceof Error) return err.message;
 	else if (typeof err === "string") return err;
-	else if (typeof err === "object") return require_NovaClient.tryStringifyJson(err) || `Unserializable object ${err}`;
+	else if (typeof err === "object") return require_LoginWithAuth0.tryStringifyJson(err) || `Unserializable object ${err}`;
 	return `${err}`;
 }
 
 //#endregion
 exports.AutoReconnectingWebsocket = require_LoginWithAuth0.AutoReconnectingWebsocket;
 exports.NovaClient = require_NovaClient.NovaClient;
-exports.XYZ_TO_VECTOR = require_NovaClient.XYZ_TO_VECTOR;
+exports.XYZ_TO_VECTOR = require_LoginWithAuth0.XYZ_TO_VECTOR;
 exports.availableStorage = require_LoginWithAuth0.availableStorage;
-exports.degreesToRadians = require_NovaClient.degreesToRadians;
+exports.degreesToRadians = require_LoginWithAuth0.degreesToRadians;
 exports.delay = delay;
-exports.isSameCoordinateSystem = require_NovaClient.isSameCoordinateSystem;
+exports.getAuth0Config = require_LoginWithAuth0.getAuth0Config;
+exports.isSameCoordinateSystem = require_LoginWithAuth0.isSameCoordinateSystem;
 exports.loginWithAuth0 = require_LoginWithAuth0.loginWithAuth0;
 exports.makeErrorMessage = makeErrorMessage;
 exports.makeShortErrorMessage = makeShortErrorMessage;
-exports.makeUrlQueryString = require_NovaClient.makeUrlQueryString;
+exports.makeUrlQueryString = require_LoginWithAuth0.makeUrlQueryString;
+exports.parseNovaInstanceUrl = require_LoginWithAuth0.parseNovaInstanceUrl;
+exports.parseUrl = require_LoginWithAuth0.parseUrl;
 exports.poseToWandelscriptString = require_NovaClient.poseToWandelscriptString;
-exports.radiansToDegrees = require_NovaClient.radiansToDegrees;
-exports.tryParseJson = require_NovaClient.tryParseJson;
-exports.tryStringifyJson = require_NovaClient.tryStringifyJson;
+exports.radiansToDegrees = require_LoginWithAuth0.radiansToDegrees;
+exports.tryParseJson = require_LoginWithAuth0.tryParseJson;
+exports.tryParseUrl = require_LoginWithAuth0.tryParseUrl;
+exports.tryStringifyJson = require_LoginWithAuth0.tryStringifyJson;
 //# sourceMappingURL=index.cjs.map

package/dist/index.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["tryStringifyJson"],"sources":["../src/lib/errorHandling.ts"],"sourcesContent":["import { isAxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\n/**\n * @deprecated Use makeErrorMessage instead and truncate the error for display as needed, or make a situation-specific localized error message based on a response code\n */\nexport function makeShortErrorMessage(err: unknown) {\n  return makeErrorMessage(err)\n}\n\n/**\n * Attempts to make a helpful error message from an unknown thrown error\n * or promise rejection.\n *\n * This function is mainly to aid debugging and good bug reports. For\n * expected errors encountered by end users, it's more ideal to catch\n * the specific error code and provide a localized app-specific error message.\n */\nexport function makeErrorMessage(err: unknown): string {\n  if (isAxiosError(err)) {\n    if (err.response) {\n      return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.method?.toUpperCase() || \"accessing\"} ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n    } else if (err.config) {\n      if (err.code === \"ERR_NETWORK\") {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}. This error can happen because of either connection issues or server CORS policy.`\n      } else {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}`\n      }\n    }\n  } else if (err instanceof Error) {\n    return err.message\n  } else if (typeof err === \"string\") {\n    return err\n  } else if (typeof err === \"object\") {\n    return tryStringifyJson(err) || `Unserializable object ${err}`\n  }\n\n  return `${err}`\n}\n"],"mappings":";;;;;AAGA,SAAgB,MAAM,IAAY;AAChC,QAAO,IAAI,SAAS,YAAY,WAAW,SAAS,GAAG,CAAC;;;;;AAM1D,SAAgB,sBAAsB,KAAc;AAClD,QAAO,iBAAiB,IAAI;;;;;;;;;;AAW9B,SAAgB,iBAAiB,KAAsB;AACrD,6BAAiB,IAAI,EACnB;MAAI,IAAI,SACN,QAAO,GAAG,IAAI,UAAU,OAAO,GAAG,IAAI,UAAU,WAAW,QAAQ,IAAI,UAAU,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,UAAU,OAAO,IAAI,IAAI,KAAK,UAAU,IAAI,UAAU,KAAK;WACtL,IAAI,OACb,KAAI,IAAI,SAAS,cACf,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO,IAAI;MAEhG,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO;YAGvF,eAAe,MACxB,QAAO,IAAI;UACF,OAAO,QAAQ,SACxB,QAAO;UACE,OAAO,QAAQ,SACxB,QAAOA,oCAAiB,IAAI,IAAI,yBAAyB;AAG3D,QAAO,GAAG"}
+{"version":3,"file":"index.cjs","names":["tryStringifyJson"],"sources":["../src/lib/errorHandling.ts"],"sourcesContent":["import { isAxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\n/**\n * @deprecated Use makeErrorMessage instead and truncate the error for display as needed, or make a situation-specific localized error message based on a response code\n */\nexport function makeShortErrorMessage(err: unknown) {\n  return makeErrorMessage(err)\n}\n\n/**\n * Attempts to make a helpful error message from an unknown thrown error\n * or promise rejection.\n *\n * This function is mainly to aid debugging and good bug reports. For\n * expected errors encountered by end users, it's more ideal to catch\n * the specific error code and provide a localized app-specific error message.\n */\nexport function makeErrorMessage(err: unknown): string {\n  if (isAxiosError(err)) {\n    if (err.response) {\n      return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.method?.toUpperCase() || \"accessing\"} ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n    } else if (err.config) {\n      if (err.code === \"ERR_NETWORK\") {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}. This error can happen because of either connection issues or server CORS policy.`\n      } else {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}`\n      }\n    }\n  } else if (err instanceof Error) {\n    return err.message\n  } else if (typeof err === \"string\") {\n    return err\n  } else if (typeof err === \"object\") {\n    return tryStringifyJson(err) || `Unserializable object ${err}`\n  }\n\n  return `${err}`\n}\n"],"mappings":";;;;;AAGA,SAAgB,MAAM,IAAY;AAChC,QAAO,IAAI,SAAS,YAAY,WAAW,SAAS,GAAG,CAAC;;;;;AAM1D,SAAgB,sBAAsB,KAAc;AAClD,QAAO,iBAAiB,IAAI;;;;;;;;;;AAW9B,SAAgB,iBAAiB,KAAsB;AACrD,6BAAiB,IAAI,EACnB;MAAI,IAAI,SACN,QAAO,GAAG,IAAI,UAAU,OAAO,GAAG,IAAI,UAAU,WAAW,QAAQ,IAAI,UAAU,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,UAAU,OAAO,IAAI,IAAI,KAAK,UAAU,IAAI,UAAU,KAAK;WACtL,IAAI,OACb,KAAI,IAAI,SAAS,cACf,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO,IAAI;MAEhG,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO;YAGvF,eAAe,MACxB,QAAO,IAAI;UACF,OAAO,QAAQ,SACxB,QAAO;UACE,OAAO,QAAQ,SACxB,QAAOA,wCAAiB,IAAI,IAAI,yBAAyB;AAG3D,QAAO,GAAG"}

package/dist/index.d.cts

@@ -1,5 +1,5 @@
 import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-Qcrbm3Kb.cjs";
-import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-CV7ooIkD.cjs";
+import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-PNinV5c4.cjs";
 
 //#region src/lib/availableStorage.d.ts
 /**
@@ -17,6 +17,32 @@ declare class AvailableStorage {
 declare const availableStorage: AvailableStorage;
 //#endregion
 //#region src/lib/converters.d.ts
+type URLParseOptions = {
+  /**
+   * Ignore any scheme in the input string and force this scheme instead.
+   */
+  scheme?: "http" | "https";
+  /**
+   * If the input string does not include a scheme, use this as the default
+   * scheme.
+   */
+  defaultScheme?: "http" | "https";
+};
+/**
+ * Parse a string as a URL, with options to enforce or default the scheme.
+ */
+declare function parseUrl(url: string, options?: URLParseOptions): URL;
+/**
+ * Attempt to parse a string as a URL; return undefined if we can't
+ */
+declare function tryParseUrl(url: string, options?: URLParseOptions): URL | undefined;
+/**
+ * Permissively parse a NOVA instance URL from a config variable.
+ * If scheme is not specified, defaults to https for *.wandelbots.io hosts,
+ * and http otherwise.
+ * Throws an error if a valid URL could not be determined.
+ */
+declare function parseNovaInstanceUrl(url: string): URL;
 /** Try to parse something as JSON; return undefined if we can't */
 declare function tryParseJson(json: unknown): any;
 /** Try to turn something into JSON; return undefined if we can't */
@@ -62,12 +88,17 @@ declare function makeShortErrorMessage(err: unknown): string;
 declare function makeErrorMessage(err: unknown): string;
 //#endregion
 //#region src/LoginWithAuth0.d.ts
+/** Determine which Auth0 configuration to use based on instance URL */
+declare const getAuth0Config: (instanceUrl: URL) => {
+  domain: string;
+  clientId: string;
+};
 /**
  * Initializes Auth0 login process using redirect if necessary and retrieves an access token.
  * Returns null when an access token should not be needed to authenticate (i.e. cookie auth
  * when deployed on the instance domain)
  */
-declare const loginWithAuth0: (instanceUrl: string) => Promise<string | null>;
+declare const loginWithAuth0: (instanceUrl: URL) => Promise<string | null>;
 //#endregion
-export { AutoReconnectingWebsocket, NovaClient, NovaClientConfig, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
+export { AutoReconnectingWebsocket, NovaClient, NovaClientConfig, URLParseOptions, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, getAuth0Config, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, parseNovaInstanceUrl, parseUrl, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryParseUrl, tryStringifyJson };
 //# sourceMappingURL=index.d.cts.map

package/dist/index.d.cts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAyCT,SAAA,EAAA,OAAA;2BAtCc,QAAQ;;;ECLnB,SAAA,CAAA,GAAA,EAAY,MAAA,EAAA,KAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EASZ,SAAA,CAAA,GAAA,EAAA,MAAgB,CAAA,EAAA,MAAA,GAAA,IAAA;AAahC;AAMgB,cDeH,gBCfmB,EDeH,gBCfG;;;;iBA5BhB,YAAA;;iBASA,gBAAA;;ADkChB;;;;AC3CgB,iBAsBA,kBAAA,CAtBY,GAAA,EAsBY,MAtBZ,CAAA,MAAA,EAAA,MAAA,CAAA,CAAA,EAAA,MAAA;AAS5B;AAagB,iBAMA,gBAAA,CANwB,OAAM,EAAA,MAAA,CAAA,EAAA,MAAA;AAM9C;AAKgB,iBAAA,gBAAA,CAAgB,OAAA,EAAA,MAAA,CAAA,EAAA,MAAA;AAQhC;AAaA;;;iBAbgB,sBAAA;ACxChB;AAOA;AAYA;cDkCa;;;EElBA,CAAA,EAAA,MAAA;;;;iBDnCG,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFHkB,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;AAsClC;;;;AC3CA;AASA;AAaA;AAMA;AAKgB,iBCbA,gBAAA,CDagB,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;;;;ADUnB,cGPA,cHOgB,EAAA,CAAA,WAAA,EAAyB,MAAA,EAAA,GGLnD,OHKmD,CAAA,MAAA,GAAA,IAAA,CAAA"}
+{"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAyCT,SAAA,EAAA,OAAA;2BAtCc,QAAQ;;;ECPvB,SAAA,CAAA,GAAA,EAAA,MAAe,EAAA,KAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAeX,SAAA,CAAA,GAAQ,EAAA,MAAA,CAAuB,EAAA,MAAA,GAAA,IAAA;AAoB/C;AAiBgB,cDPH,gBCOuB,EDPP,gBCOyB;;;KApD1C,eAAA;;;;EDIN,MAAA,CAAA,EAAA,MAAA,GAAA,OAAgB;EAyCT;;;;EC7CD,aAAA,CAAA,EAAA,MAAe,GAAA,OAAA;AAe3B,CAAA;AAoBA;AAiBA;AAWA;AASgB,iBAzDA,QAAA,CAyDgB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAzDe,eAyDf,CAAA,EAzDsC,GAyDtC;AAahC;AAMA;AAKA;AAQgB,iBArEA,WAAA,CAqEsB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAnE3B,eAmE2B,CAAA,EAlEnC,GAkEmC,GAAA,SAAA;AAatC;;;;AClHA;AAOA;AAYgB,iBD8BA,oBAAA,CC9BgB,GAAA,EAAA,MAAA,CAAA,ED8BmB,GC9BnB;;iBDyChB,YAAA;;AEzCH,iBFkDG,gBAAA,CElD+B,IAAA,EAAA,OAAA,CAAA,EAAA,MAAA,GAAA,SAAA;AAc/C;;;;;iBFiDgB,kBAAA,MAAwB;;iBAMxB,gBAAA;;iBAKA,gBAAA;;;;;iBAQA,sBAAA;;;;cAaH;;;;;;;iBClHG,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFHkB,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;AAsClC;;;;AC7CA;AAeA;AAoBA;AAiBA;AAWgB,iBCzCA,gBAAA,CDyCY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;cEzCf,8BAA+B;;;;AHuB5C;;;;AC7CA;AAegB,cEqBH,cFrBkC,EAAA,CAAA,WAA0B,EEsB1D,GFtB0D,EAAA,GEuBtE,OFvBsE,CAAA,MAAA,GAAA,IAAA,CAAA"}

package/dist/index.d.mts

@@ -1,5 +1,5 @@
 import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-dHe-kceU.mjs";
-import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-qJnHcx2s.mjs";
+import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-C0GXOu4w.mjs";
 
 //#region src/lib/availableStorage.d.ts
 /**
@@ -17,6 +17,32 @@ declare class AvailableStorage {
 declare const availableStorage: AvailableStorage;
 //#endregion
 //#region src/lib/converters.d.ts
+type URLParseOptions = {
+  /**
+   * Ignore any scheme in the input string and force this scheme instead.
+   */
+  scheme?: "http" | "https";
+  /**
+   * If the input string does not include a scheme, use this as the default
+   * scheme.
+   */
+  defaultScheme?: "http" | "https";
+};
+/**
+ * Parse a string as a URL, with options to enforce or default the scheme.
+ */
+declare function parseUrl(url: string, options?: URLParseOptions): URL;
+/**
+ * Attempt to parse a string as a URL; return undefined if we can't
+ */
+declare function tryParseUrl(url: string, options?: URLParseOptions): URL | undefined;
+/**
+ * Permissively parse a NOVA instance URL from a config variable.
+ * If scheme is not specified, defaults to https for *.wandelbots.io hosts,
+ * and http otherwise.
+ * Throws an error if a valid URL could not be determined.
+ */
+declare function parseNovaInstanceUrl(url: string): URL;
 /** Try to parse something as JSON; return undefined if we can't */
 declare function tryParseJson(json: unknown): any;
 /** Try to turn something into JSON; return undefined if we can't */
@@ -62,12 +88,17 @@ declare function makeShortErrorMessage(err: unknown): string;
 declare function makeErrorMessage(err: unknown): string;
 //#endregion
 //#region src/LoginWithAuth0.d.ts
+/** Determine which Auth0 configuration to use based on instance URL */
+declare const getAuth0Config: (instanceUrl: URL) => {
+  domain: string;
+  clientId: string;
+};
 /**
  * Initializes Auth0 login process using redirect if necessary and retrieves an access token.
  * Returns null when an access token should not be needed to authenticate (i.e. cookie auth
  * when deployed on the instance domain)
  */
-declare const loginWithAuth0: (instanceUrl: string) => Promise<string | null>;
+declare const loginWithAuth0: (instanceUrl: URL) => Promise<string | null>;
 //#endregion
-export { AutoReconnectingWebsocket, NovaClient, NovaClientConfig, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
+export { AutoReconnectingWebsocket, NovaClient, NovaClientConfig, URLParseOptions, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, getAuth0Config, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, parseNovaInstanceUrl, parseUrl, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryParseUrl, tryStringifyJson };
 //# sourceMappingURL=index.d.mts.map

package/dist/index.d.mts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.mts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAyCT,SAAA,EAAA,OAAA;2BAtCc,QAAQ;;;ECLnB,SAAA,CAAA,GAAA,EAAY,MAAA,EAAA,KAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EASZ,SAAA,CAAA,GAAA,EAAA,MAAgB,CAAA,EAAA,MAAA,GAAA,IAAA;AAahC;AAMgB,cDeH,gBCfmB,EDeH,gBCfG;;;;iBA5BhB,YAAA;;iBASA,gBAAA;;ADkChB;;;;AC3CgB,iBAsBA,kBAAA,CAtBY,GAAA,EAsBY,MAtBZ,CAAA,MAAA,EAAA,MAAA,CAAA,CAAA,EAAA,MAAA;AAS5B;AAagB,iBAMA,gBAAA,CANwB,OAAM,EAAA,MAAA,CAAA,EAAA,MAAA;AAM9C;AAKgB,iBAAA,gBAAA,CAAgB,OAAA,EAAA,MAAA,CAAA,EAAA,MAAA;AAQhC;AAaA;;;iBAbgB,sBAAA;ACxChB;AAOA;AAYA;cDkCa;;;EElBA,CAAA,EAAA,MAAA;;;;iBDnCG,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFHW,GAAO,EAAA,OAAA,CAAA,EAAA,MAAA;AAsClC;;;;AC3CA;AASA;AAaA;AAMA;AAKgB,iBCbA,gBAAA,CDagB,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;;;;ADUnB,cGPA,cHOgB,EAAA,CAAA,WAAA,EAAA,MAAyB,EAAA,GGLnD,OHKmD,CAAA,MAAA,GAAA,IAAA,CAAA"}
+{"version":3,"file":"index.d.mts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAyCT,SAAA,EAAA,OAAA;2BAtCc,QAAQ;;;ECPvB,SAAA,CAAA,GAAA,EAAA,MAAe,EAAA,KAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAeX,SAAA,CAAA,GAAQ,EAAA,MAAA,CAAA,EAAuB,MAAA,GAAA,IAAA;AAoB/C;AAiBgB,cDPH,gBCOuB,EDPP,gBCOyB;;;KApD1C,eAAA;;;;EDIN,MAAA,CAAA,EAAA,MAAA,GAAA,OAAgB;EAyCT;;;;EC7CD,aAAA,CAAA,EAAA,MAAe,GAAA,OAAA;AAe3B,CAAA;AAoBA;AAiBA;AAWA;AASgB,iBAzDA,QAAA,CAyDgB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAzDe,eAyDf,CAAA,EAzDsC,GAyDtC;AAahC;AAMA;AAKA;AAQgB,iBArEA,WAAA,CAqEsB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAnE3B,eAmE2B,CAAA,EAlEnC,GAkEmC,GAAA,SAAA;AAatC;;;;AClHA;AAOA;AAYgB,iBD8BA,oBAAA,CC9BgB,GAAA,EAAA,MAAA,CAAA,ED8BmB,GC9BnB;;iBDyChB,YAAA;;AEzCH,iBFkDG,gBAAA,CElD+B,IAAA,EAAA,OAAA,CAAA,EAAA,MAAA,GAAA,SAAA;AAc/C;;;;;iBFiDgB,kBAAA,MAAwB;;iBAMxB,gBAAA;;iBAKA,gBAAA;;;;;iBAQA,sBAAA;;;;cAaH;;;;;;;iBClHG,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFHW,GAAO,EAAA,OAAA,CAAA,EAAA,MAAA;AAsClC;;;;AC7CA;AAeA;AAoBA;AAiBA;AAWgB,iBCzCA,gBAAA,CDyCY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;cEzCf,8BAA+B;;;;AHuB5C;;;;AC7CA;AAegB,cEqBH,cFrBkC,EAAA,CAAA,WAA0B,EEsB1D,GFtB0D,EAAA,GEuBtE,OFvBsE,CAAA,MAAA,GAAA,IAAA,CAAA"}

package/dist/index.mjs

@@ -1,5 +1,5 @@
-import { n as availableStorage, r as AutoReconnectingWebsocket, t as loginWithAuth0 } from "./LoginWithAuth0-wQB-Sol1.mjs";
-import { c as degreesToRadians, d as radiansToDegrees, f as tryParseJson, l as isSameCoordinateSystem, o as poseToWandelscriptString, p as tryStringifyJson, s as XYZ_TO_VECTOR, t as NovaClient, u as makeUrlQueryString } from "./NovaClient-B8XM3OPO.mjs";
+import { a as isSameCoordinateSystem, c as parseUrl, d as tryParseUrl, f as tryStringifyJson, i as degreesToRadians, l as radiansToDegrees, m as AutoReconnectingWebsocket, n as loginWithAuth0, o as makeUrlQueryString, p as availableStorage, r as XYZ_TO_VECTOR, s as parseNovaInstanceUrl, t as getAuth0Config, u as tryParseJson } from "./LoginWithAuth0-DBe9CXOr.mjs";
+import { o as poseToWandelscriptString, t as NovaClient } from "./NovaClient-C27dk3Ql.mjs";
 import { isAxiosError } from "axios";
 
 //#region src/lib/errorHandling.ts
@@ -32,5 +32,5 @@ function makeErrorMessage(err) {
 }
 
 //#endregion
-export { AutoReconnectingWebsocket, NovaClient, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
+export { AutoReconnectingWebsocket, NovaClient, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, getAuth0Config, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, parseNovaInstanceUrl, parseUrl, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryParseUrl, tryStringifyJson };
 //# sourceMappingURL=index.mjs.map

package/dist/lib/v1/index.cjs

@@ -1,5 +1,5 @@
-const require_LoginWithAuth0 = require('../../LoginWithAuth0-CBD9BXXz.cjs');
-const require_NovaClient = require('../../NovaClient-D2EItmiH.cjs');
+const require_LoginWithAuth0 = require('../../LoginWithAuth0-iXpPiCcz.cjs');
+const require_NovaClient = require('../../NovaClient-j40sHBBq.cjs');
 let axios = require("axios");
 let mobx = require("mobx");
 
@@ -46,7 +46,7 @@ var ProgramStateConnection = class {
 		(0, mobx.makeAutoObservable)(this, {}, { autoBind: true });
 		this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
 		this.programStateSocket.addEventListener("message", (ev) => {
-			const msg = require_NovaClient.tryParseJson(ev.data);
+			const msg = require_LoginWithAuth0.tryParseJson(ev.data);
 			if (!msg) {
 				console.error("Failed to parse program state message", ev.data);
 				return;

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

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["lastMotionIds: Set<string>","newTrajectories: GetTrajectoryResponse[]","nova: NovaClient","tryParseJson","AxiosError"],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  }\n}\n"],"mappings":";;;;;;AAGA,IAAIA,gCAA6B,IAAI,KAAK;AAE1C,eAAsB,sBACpB,WACA,aAAqB,IACrB,2BACkC;CAClC,MAAMC,kBAA2C,EAAE;AAEnD,KAAI;EACF,MAAM,UAAU,MAAM,UAAU,OAAO,aAAa;EACpD,MAAM,mBAAmB,IAAI,IAAI,QAAQ,QAAQ;EAEjD,MAAM,eAAe,MAAM,KAAK,iBAAiB,CAAC,QAC/C,OAAO,CAAC,cAAc,IAAI,GAAG,CAC/B;AAED,OAAK,MAAM,YAAY,cAAc;GACnC,MAAM,aAAa,MAAM,UAAU,OAAO,oBACxC,UACA,YACA,0BACD;AACD,mBAAgB,KAAK,WAAW;;AAGlC,kBAAgB;UACT,OAAO;AACd,UAAQ,MAAM,sCAAsC,MAAM;;AAG5D,QAAO;;;;;ACnBT,IAAY,wDAAL;AACL;AACA;AACA;AACA;AACA;;;;;;;AAuBF,IAAa,yBAAb,MAAoC;CASlC,YAAY,AAASC,MAAkB;EAAlB;wBARY,EAAE;cACH,EAAE;wBAEjB;2CACmB;AAKlC,+BAAmB,MAAM,EAAE,EAAE,EAAE,UAAU,MAAM,CAAC;AAEhD,OAAK,qBAAqB,KAAK,0BAA0B,kBAAkB;AAE3E,OAAK,mBAAmB,iBAAiB,YAAY,OAAO;GAC1D,MAAM,MAAMC,gCAAa,GAAG,KAAK;AAEjC,OAAI,CAAC,KAAK;AACR,YAAQ,MAAM,yCAAyC,GAAG,KAAK;AAC/D;;AAEF,OAAI,IAAI,SAAS,SACf,MAAK,0BAA0B,IAAI;IAErC;;;CAIJ,MAAM,0BAA0B,KAA0B;EACxD,MAAM,EAAE,WAAW;AAInB,MAAI,OAAO,OAAO,KAAK,kCAAmC;AAE1D,MAAI,OAAO,UAAU,aAAa,QAAQ;AACxC,OAAI;IACF,MAAM,cAAc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,GACR;IAID,MAAM,SAAS,YAAY;AAC3B,QAAI,OACF,MAAK,IAAI,OAAO;AAElB,SAAK,SACH,kBAAkB,OAAO,GAAG,sBAAsB,YAAY,MAAM,IAAI,YAAY,YACrF;YACM,KAAK;AACZ,SAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,MACzD;;AAGH,QAAK,eAAe,QAAQ,aAAa;AAEzC,QAAK,eAAe;aACX,OAAO,UAAU,aAAa,SAAS;AAChD,OAAI;IAKF,MAAM,UAJc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,GACR,EAE0B;AAC3B,QAAI,OACF,MAAK,IAAI,OAAO;AAGlB,SAAK,eAAe,QAAQ,aAAa;AACzC,SAAK,IAAI,kBAAkB,OAAO,GAAG,UAAU;YACxC,KAAK;AACZ,SAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,MACzD;;AAGH,QAAK,eAAe;aACX,OAAO,UAAU,aAAa,WAAW;AAClD,OAAI;IAKF,MAAM,UAJc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,GACR,EAE0B;AAC3B,QAAI,OACF,MAAK,IAAI,OAAO;AAElB,SAAK,IACH,kBAAkB,OAAO,GAAG,4BAA4B,OAAO,gBAAgB,QAAQ,EAAE,CAAC,UAC3F;AAED,SAAK,eAAe,QAAQ,aAAa;YAClC,KAAK;AACZ,SAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,MACzD;;AAGH,QAAK,eAAe;aACX,OAAO,UAAU,aAAa,SAAS;AAChD,QAAK,eAAe,QAAQ,aAAa;AACzC,QAAK,IAAI,kBAAkB,OAAO,GAAG,cAAc;aAC1C,OAAO,UAAU,aAAa,YAAY;AACnD,WAAQ,MAAM,OAAO;AACrB,QAAK,SACH,kBAAkB,OAAO,GAAG,6BAA6B,OAAO,QACjE;AACD,QAAK,eAAe,QAAQ,aAAa;AACzC,QAAK,eAAe;;;;CAKxB,gBAAgB;AACd,8BAAkB;AAChB,QAAK,iBAAiB;IACtB;AACF,OAAK,oCAAoC;;CAG3C,MAAM,eACJ,cACA,eACA,aACA;AACA,OAAK,iBAAiB;GACN;GACd,OAAO,aAAa;GACrB;EAED,MAAM,EAAE,gBAAgB,gBAAgB;AACxC,MAAI,CAAC,YAAa;AAClB,8BAAkB;AAChB,QAAK,iBAAiB;IACtB;AAIF,MAAI,YACF,KAAI;AACF,SAAM,KAAK,KAAK,IAAI,mBAAmB,YACrC,YAAY,cACb;WACM,KAAK;AACZ,WAAQ,MAAM,IAAI;;EAKtB,MAAM,cAAc,YAAY,aAAc,WAAW,WAAW,GAAG;AAEvE,MAAI;GACF,MAAM,mBAAmB,MAAM,KAAK,KAAK,IAAI,QAAQ,oBACnD;IACE,MAAM;IACS;IAEf,eAAe,aAAa;IAC7B,EACD,EACE,SAAS,EACP,gBAAgB,oBACjB,EACF,CACF;AAED,QAAK,IAAI,0BAA0B,iBAAiB,GAAG,GAAG;AAC1D,+BAAkB;AAChB,SAAK,iBAAiB;KACtB;AACF,QAAK,oCAAoC,iBAAiB;WACnD,OAAO;AACd,OAAI,iBAAiBC,oBAAc,MAAM,YAAY,MAAM,QACzD,MAAK,SACH,GAAG,MAAM,SAAS,OAAO,GAAG,MAAM,SAAS,WAAW,QAAQ,MAAM,SAAS,OAAO,IAAI,GAAG,KAAK,UAAU,MAAM,SAAS,KAAK,GAC/H;OAED,MAAK,SAAS,KAAK,UAAU,MAAM,CAAC;AAEtC,+BAAkB;AAChB,SAAK,iBAAiB;KACtB;;;CAIN,MAAM,cAAc;AAClB,MAAI,CAAC,KAAK,kCAAmC;AAC7C,8BAAkB;AAChB,QAAK,iBAAiB;IACtB;AAEF,MAAI;AACF,SAAM,KAAK,KAAK,IAAI,QAAQ,kBAC1B,KAAK,kCACN;WACM,KAAK;AAEZ,+BAAkB;AAChB,SAAK,iBAAiB;KACtB;AACF,SAAM;;;CAIV,QAAQ;AACN,OAAK,iBAAiB,EAAE;;CAG1B,IAAI,SAAiB;AACnB,UAAQ,IAAI,QAAQ;AACpB,OAAK,KAAK,KAAK;GACb,WAAW,KAAK,KAAK;GACrB;GACD,CAAC;;CAGJ,SAAS,SAAiB;AACxB,UAAQ,IAAI,QAAQ;AACpB,OAAK,KAAK,KAAK;GACb,WAAW,KAAK,KAAK;GACrB;GACA,OAAO;GACR,CAAC"}
+{"version":3,"file":"index.cjs","names":["lastMotionIds: Set<string>","newTrajectories: GetTrajectoryResponse[]","nova: NovaClient","tryParseJson","AxiosError"],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  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