@wandelbots/nova-js 3.3.2 → 3.3.3

package/dist/lib/v1/index.d.cts

@@ -1,5 +1,5 @@
 import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-Qcrbm3Kb.cjs";
-import { a as WithUnwrappedAxiosResponse, c as MotionStreamConnection, d as poseToWandelscriptString, i as WithCellId, l as ConnectedMotionGroup, n as NovaClientConfig, o as JoggerConnection, r as NovaCellAPIClient, s as JoggerConnectionOpts, t as NovaClient, u as MotionGroupOption } from "../../NovaClient-CV7ooIkD.cjs";
+import { a as WithUnwrappedAxiosResponse, c as MotionStreamConnection, d as poseToWandelscriptString, i as WithCellId, l as ConnectedMotionGroup, n as NovaClientConfig, o as JoggerConnection, r as NovaCellAPIClient, s as JoggerConnectionOpts, t as NovaClient, u as MotionGroupOption } from "../../NovaClient-PNinV5c4.cjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 

package/dist/lib/v1/index.d.mts

@@ -1,5 +1,5 @@
 import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-dHe-kceU.mjs";
-import { a as WithUnwrappedAxiosResponse, c as MotionStreamConnection, d as poseToWandelscriptString, i as WithCellId, l as ConnectedMotionGroup, n as NovaClientConfig, o as JoggerConnection, r as NovaCellAPIClient, s as JoggerConnectionOpts, t as NovaClient, u as MotionGroupOption } from "../../NovaClient-qJnHcx2s.mjs";
+import { a as WithUnwrappedAxiosResponse, c as MotionStreamConnection, d as poseToWandelscriptString, i as WithCellId, l as ConnectedMotionGroup, n as NovaClientConfig, o as JoggerConnection, r as NovaCellAPIClient, s as JoggerConnectionOpts, t as NovaClient, u as MotionGroupOption } from "../../NovaClient-C0GXOu4w.mjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 

package/dist/lib/v1/index.mjs

@@ -1,5 +1,5 @@
-import "../../LoginWithAuth0-wQB-Sol1.mjs";
-import { a as ConnectedMotionGroup, f as tryParseJson, i as JoggerConnection, n as NovaCellAPIClient, o as poseToWandelscriptString, r as MotionStreamConnection, t as NovaClient } from "../../NovaClient-B8XM3OPO.mjs";
+import { u as tryParseJson } from "../../LoginWithAuth0-DBe9CXOr.mjs";
+import { a as ConnectedMotionGroup, i as JoggerConnection, n as NovaCellAPIClient, o as poseToWandelscriptString, r as MotionStreamConnection, t as NovaClient } from "../../NovaClient-C27dk3Ql.mjs";
 import { AxiosError } from "axios";
 import { makeAutoObservable, runInAction } from "mobx";
 

package/dist/lib/v2/index.cjs

@@ -1,4 +1,4 @@
-const require_LoginWithAuth0 = require('../../LoginWithAuth0-CBD9BXXz.cjs');
+const require_LoginWithAuth0 = require('../../LoginWithAuth0-iXpPiCcz.cjs');
 let axios = require("axios");
 axios = require_LoginWithAuth0.__toESM(axios);
 let url_join = require("url-join");
@@ -616,10 +616,6 @@ const defaultMotionState = { result: {
 
 //#endregion
 //#region src/lib/v2/NovaClient.ts
-function permissiveInstanceUrlParse(url) {
-	if (!url.startsWith("http")) url = `http://${url}`;
-	return new URL(url).toString();
-}
 /**
 *
 * Client for connecting to a Nova instance and controlling robots.
@@ -635,9 +631,9 @@ var NovaClient = class {
 		};
 		this.accessToken = config.accessToken || require_LoginWithAuth0.availableStorage.getString("wbjs.access_token") || null;
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
-		else this.config.instanceUrl = permissiveInstanceUrlParse(this.config.instanceUrl);
+		this.instanceUrl = require_LoginWithAuth0.parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.default.create({
-			baseURL: (0, url_join.default)(this.config.instanceUrl, "/api/v2"),
+			baseURL: (0, url_join.default)(this.instanceUrl.href, "/api/v2"),
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -667,7 +663,7 @@ var NovaClient = class {
 		});
 		this.api = new NovaCellAPIClient(cellId, {
 			...config,
-			basePath: (0, url_join.default)(this.config.instanceUrl, "/api/v2"),
+			basePath: (0, url_join.default)(this.instanceUrl.href, "/api/v2"),
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
@@ -682,7 +678,12 @@ var NovaClient = class {
 	}
 	async renewAuthentication() {
 		if (this.authPromise) return;
-		this.authPromise = require_LoginWithAuth0.loginWithAuth0(this.config.instanceUrl);
+		const storedToken = require_LoginWithAuth0.availableStorage.getString("wbjs.access_token");
+		if (storedToken && this.accessToken !== storedToken) {
+			this.accessToken = storedToken;
+			return;
+		}
+		this.authPromise = require_LoginWithAuth0.loginWithAuth0(this.instanceUrl);
 		try {
 			this.accessToken = await this.authPromise;
 			if (this.accessToken) require_LoginWithAuth0.availableStorage.setString("wbjs.access_token", this.accessToken);
@@ -692,7 +693,7 @@ var NovaClient = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL((0, url_join.default)(this.config.instanceUrl, `/api/v2/cells/${this.config.cellId}`, path));
+		const url = new URL((0, url_join.default)(this.instanceUrl.href, `/api/v2/cells/${this.config.cellId}`, path));
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);

package/dist/lib/v2/index.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","pathToRegexp","AxiosError","availableStorage","config","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","/** biome-ignore-all lint/suspicious/noApproximativeNumericConstant: mock data contains approximative pi values from robot description */\nimport type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return [\"mock-ur5e\"]\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/state\",\n        handle() {\n          return {\n            mode: \"MODE_CONTROL\",\n            last_error: [],\n            timestamp: \"2025-10-16T09:19:26.634534092Z\",\n            sequence_number: 1054764,\n            controller: \"mock-ur5e\",\n            operation_mode: \"OPERATION_MODE_AUTO\",\n            safety_state: \"SAFETY_STATE_NORMAL\",\n            velocity_override: 100,\n            motion_groups: [\n              {\n                timestamp: \"2025-10-16T09:19:26.634534092Z\",\n                sequence_number: 1054764,\n                motion_group: \"0@mock-ur5e\",\n                controller: \"mock-ur5e\",\n                joint_position: [\n                  1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n                  6.034560203552246, 1.4921919107437134, 1.593459963798523,\n                ],\n                joint_limit_reached: {\n                  limit_reached: [false, false, false, false, false, false],\n                },\n                joint_torque: [],\n                joint_current: [0, 0, 0, 0, 0, 0],\n                flange_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                tcp: \"Flange\",\n                tcp_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                payload: \"\",\n                coordinate_system: \"\",\n                standstill: true,\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n        handle() {\n          return {\n            motion_group_model: \"UniversalRobots_UR5e\",\n            mounting: {\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n            },\n            tcps: {\n              Flange: {\n                name: \"Default-Flange\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n            },\n            payloads: {\n              \"FPay-0\": {\n                name: \"FPay-0\",\n                payload: 0,\n                center_of_mass: [0, 0, 0],\n                moment_of_inertia: [0, 0, 0],\n              },\n            },\n            cycle_time: 8,\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                d: 162.25,\n              },\n              {\n                a: -425,\n              },\n              {\n                a: -392.2,\n              },\n              {\n                alpha: 1.5707963267948966,\n                d: 133.3,\n              },\n              {\n                alpha: -1.5707963267948966,\n                d: 99.7,\n              },\n              {\n                d: 99.6,\n              },\n            ],\n            operation_limits: {\n              auto_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n                elbow: {\n                  velocity: 5000,\n                },\n                flange: {\n                  velocity: 5000,\n                },\n              },\n              manual_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t1_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t2_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n            },\n            serial_number: \"WBVirtualRobot\",\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n        handle() {\n          return [\n            {\n              coordinate_system: \"\",\n              name: \"world\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n            {\n              coordinate_system: \"CS-0\",\n              name: \"Default-CS\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n          ] //satisfies CoordinateSystems\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\nfunction permissiveInstanceUrlParse(url: string): string {\n  if (!url.startsWith(\"http\")) {\n    url = `http://${url}`\n  }\n\n  return new URL(url).toString()\n}\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    } else {\n      this.config.instanceUrl = permissiveInstanceUrlParse(\n        this.config.instanceUrl,\n      )\n    }\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    this.authPromise = loginWithAuth0(this.config.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.config.instanceUrl,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", 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+{"version":3,"file":"index.cjs","names":["cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","config","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","/** biome-ignore-all lint/suspicious/noApproximativeNumericConstant: mock data contains approximative pi values from robot description */\nimport type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return [\"mock-ur5e\"]\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/state\",\n        handle() {\n          return {\n            mode: \"MODE_CONTROL\",\n            last_error: [],\n            timestamp: \"2025-10-16T09:19:26.634534092Z\",\n            sequence_number: 1054764,\n            controller: \"mock-ur5e\",\n            operation_mode: \"OPERATION_MODE_AUTO\",\n            safety_state: \"SAFETY_STATE_NORMAL\",\n            velocity_override: 100,\n            motion_groups: [\n              {\n                timestamp: \"2025-10-16T09:19:26.634534092Z\",\n                sequence_number: 1054764,\n                motion_group: \"0@mock-ur5e\",\n                controller: \"mock-ur5e\",\n                joint_position: [\n                  1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n                  6.034560203552246, 1.4921919107437134, 1.593459963798523,\n                ],\n                joint_limit_reached: {\n                  limit_reached: [false, false, false, false, false, false],\n                },\n                joint_torque: [],\n                joint_current: [0, 0, 0, 0, 0, 0],\n                flange_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                tcp: \"Flange\",\n                tcp_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                payload: \"\",\n                coordinate_system: \"\",\n                standstill: true,\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n        handle() {\n          return {\n            motion_group_model: \"UniversalRobots_UR5e\",\n            mounting: {\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n            },\n            tcps: {\n              Flange: {\n                name: \"Default-Flange\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n            },\n            payloads: {\n              \"FPay-0\": {\n                name: \"FPay-0\",\n                payload: 0,\n                center_of_mass: [0, 0, 0],\n                moment_of_inertia: [0, 0, 0],\n              },\n            },\n            cycle_time: 8,\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                d: 162.25,\n              },\n              {\n                a: -425,\n              },\n              {\n                a: -392.2,\n              },\n              {\n                alpha: 1.5707963267948966,\n                d: 133.3,\n              },\n              {\n                alpha: -1.5707963267948966,\n                d: 99.7,\n              },\n              {\n                d: 99.6,\n              },\n            ],\n            operation_limits: {\n              auto_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n                elbow: {\n                  velocity: 5000,\n                },\n                flange: {\n                  velocity: 5000,\n                },\n              },\n              manual_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t1_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t2_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n            },\n            serial_number: \"WBVirtualRobot\",\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n        handle() {\n          return [\n            {\n              coordinate_system: \"\",\n              name: \"world\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n            {\n              coordinate_system: \"CS-0\",\n              name: \"Default-CS\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n          ] //satisfies CoordinateSystems\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  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.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    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/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", 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package/dist/lib/v2/index.d.cts

@@ -94,6 +94,7 @@ declare class NovaClient {
   readonly api: NovaCellAPIClient;
   readonly config: NovaClientConfigWithDefaults;
   readonly mock?: MockNovaInstance;
+  readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
   constructor(config: NovaClientConfig);

package/dist/lib/v2/index.d.cts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.cts","names":[],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":[],"mappings":";;;;;;KA8BK,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;EAP/B,IAAA,EAAA,KAAA,EAAA;CAAkB,GAO6C,CAP7C,GAAA,KAAA,CAAA,GAAA,KAAA;AACT,KASF,UATE,CAAA,CAAA,CAAA,GAAA,QAAM,MAUN,CAVM,GAUF,yBAVE,CAUwB,YAVxB,CAUqC,CAVrC,CAUuC,CAVvC,CAAA,CAAA,CAAA,EAAC;AAGhB,KAUO,0BAVkB,CAAA,CAAA,CAAA,GAAA,QAAM,MAWtB,CAXsB,GAWlB,yBAXkB,CAWQ,CAXR,CAWU,CAXV,CAAA,CAAA,EAEb;;;;;AAC6C,cAevD,iBAAA,CAfuD;EAA3D,SAAA,MAAA,EAAA,MAAA;EAAO,SAAA,IAAA,EAkBG,aAlBH,GAAA;IAGJ,aAAU,CAAA,EAgBA,aAhBA;IACR,IAAA,CAAA,EAAA,OAAA;EAA2C,CAAA;EAAE,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAcxC,aAdwC,GAAA;IAAf,aAAA,CAAA,EAetB,aAfsB;IAA1B,IAAA,CAAA,EAAA,OAAA;EAAyB,CAAA;EAG/B;;;;;EAC+B,QAAA,UAAA;EAO9B;;;EAGM,QAAA,0BAAA;EACG,SAAA,MAAA,EAiFL,0BAjFK,CAiFL,SAjFK,CAAA;EAiFL,SAAA,IAAA,EACF,0BADE,CACF,OADE,CAAA;EAAA,SAAA,WAAA,EAGK,UAHL,CAGK,cAHL,CAAA;EACF,SAAA,iBAAA,EAGa,UAHb,CAGa,oBAHb,CAAA;EAAA,SAAA,UAAA,EAKM,UALN,CAKM,aALN,CAAA;EAEO,SAAA,aAAA,EAKE,UALF,CAKE,0BALF,CAAA;EAAA,SAAA,kBAAA,EAOO,UAPP,CAOO,qBAPP,CAAA;EACM,SAAA,mBAAA,EAOE,UAPF,CAOE,sBAPF,CAAA;EAAA,SAAA,iBAAA,EAQA,UARA,CAQA,oBARA,CAAA;EAEP,SAAA,WAAA,EAQC,UARD,CAQC,cARD,CAAA;EAAA,SAAA,iBAAA,EASO,0BATP,CASO,cATP,CAAA;EAEG,SAAA,OAAA,EASN,UATM,CASN,UATM,CAAA;EAAA,SAAA,UAAA,EAWH,UAXG,CAWH,aAXG,CAAA;EAEK,SAAA,gBAAA,EAWF,UAXE,CAWF,mBAXE,CAAA;EAAA,SAAA,iBAAA,EAaD,UAbC,CAaD,oBAbC,CAAA;EACC,SAAA,yBAAA,EAaM,UAbN,CAaM,4BAbN,CAAA;EAAA,SAAA,oBAAA,EAgBC,UAhBD,CAgBC,iCAhBD,CAAA;EACF,SAAA,WAAA,EAmBN,UAnBM,CAmBN,cAnBM,CAAA;EAAA,SAAA,wBAAA,EAoBO,UApBP,CAoBO,2BApBP,CAAA;EAEN,SAAA,oBAAA,EAqBS,UArBT,CAqBS,uBArBT,CAAA;;;;KC5IV,gBAAA;;ADgB8B;;;EAItB,WAAA,EAAA,MAAA,GAAA,0BAAA;EAAC;AAAA;;;EAKT,MAAA,CAAA,EAAA,MAAA;EACwB;;;;EAA3B,QAAA,CAAA,EAAA,MAAA;EAAO;AAGhB;;;EAC2D,QAAA,CAAA,EAAA,MAAA;EAAf;;;EAGhC,WAAA,CAAA,EAAA,MAAA;CACE,GCLV,IDKU,CCLL,aDKK,EAAA,YAAA,GAAA,UAAA,CAAA;KCHT,4BAAA,GAA+B,gBDGQ,GAAA;EAAE,MAAA,EAAA,MAAA;CAA5B;;AAOlB;;;AAGmB,cCCN,UAAA,CDDM;EACG,SAAA,GAAA,ECCN,iBDDM;EAiFL,SAAA,MAAA,EC/EE,4BD+EF;EAAA,SAAA,IAAA,CAAA,EC9EC,gBD8ED;EACF,WAAA,EC9EA,OD8EA,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;EAAA,WAAA,EAAA,MAAA,GAAA,IAAA;EAEO,WAAA,CAAA,MAAA,EC7EA,gBD6EA;EAAA,mBAAA,CAAA,CAAA,ECwBS,ODxBT,CAAA,IAAA,CAAA;EACM,gBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;EAAA;;;;;EAMC,yBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,ECkEW,yBDlEX;;;;;;;;iBE7Ib,wBAAA,OACR,KAAK"}
+{"version":3,"file":"index.d.cts","names":[],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":[],"mappings":";;;;;;KA8BK,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;EAP/B,IAAA,EAAA,KAAA,EAAA;CAAkB,GAO6C,CAP7C,GAAA,KAAA,CAAA,GAAA,KAAA;AACT,KASF,UATE,CAAA,CAAA,CAAA,GAAA,QAAM,MAUN,CAVM,GAUF,yBAVE,CAUwB,YAVxB,CAUqC,CAVrC,CAUuC,CAVvC,CAAA,CAAA,CAAA,EAAC;AAGhB,KAUO,0BAVkB,CAAA,CAAA,CAAA,GAAA,QAAM,MAWtB,CAXsB,GAWlB,yBAXkB,CAWQ,CAXR,CAWU,CAXV,CAAA,CAAA,EAEb;;;;;AAC6C,cAevD,iBAAA,CAfuD;EAA3D,SAAA,MAAA,EAAA,MAAA;EAAO,SAAA,IAAA,EAkBG,aAlBH,GAAA;IAGJ,aAAU,CAAA,EAgBA,aAhBA;IACR,IAAA,CAAA,EAAA,OAAA;EAA2C,CAAA;EAAE,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAcxC,aAdwC,GAAA;IAAf,aAAA,CAAA,EAetB,aAfsB;IAA1B,IAAA,CAAA,EAAA,OAAA;EAAyB,CAAA;EAG/B;;;;;EAC+B,QAAA,UAAA;EAO9B;;;EAGM,QAAA,0BAAA;EACG,SAAA,MAAA,EAiFL,0BAjFK,CAiFL,SAjFK,CAAA;EAiFL,SAAA,IAAA,EACF,0BADE,CACF,OADE,CAAA;EAAA,SAAA,WAAA,EAGK,UAHL,CAGK,cAHL,CAAA;EACF,SAAA,iBAAA,EAGa,UAHb,CAGa,oBAHb,CAAA;EAAA,SAAA,UAAA,EAKM,UALN,CAKM,aALN,CAAA;EAEO,SAAA,aAAA,EAKE,UALF,CAKE,0BALF,CAAA;EAAA,SAAA,kBAAA,EAOO,UAPP,CAOO,qBAPP,CAAA;EACM,SAAA,mBAAA,EAOE,UAPF,CAOE,sBAPF,CAAA;EAAA,SAAA,iBAAA,EAQA,UARA,CAQA,oBARA,CAAA;EAEP,SAAA,WAAA,EAQC,UARD,CAQC,cARD,CAAA;EAAA,SAAA,iBAAA,EASO,0BATP,CASO,cATP,CAAA;EAEG,SAAA,OAAA,EASN,UATM,CASN,UATM,CAAA;EAAA,SAAA,UAAA,EAWH,UAXG,CAWH,aAXG,CAAA;EAEK,SAAA,gBAAA,EAWF,UAXE,CAWF,mBAXE,CAAA;EAAA,SAAA,iBAAA,EAaD,UAbC,CAaD,oBAbC,CAAA;EACC,SAAA,yBAAA,EAaM,UAbN,CAaM,4BAbN,CAAA;EAAA,SAAA,oBAAA,EAgBC,UAhBD,CAgBC,iCAhBD,CAAA;EACF,SAAA,WAAA,EAmBN,UAnBM,CAmBN,cAnBM,CAAA;EAAA,SAAA,wBAAA,EAoBO,UApBP,CAoBO,2BApBP,CAAA;EAEN,SAAA,oBAAA,EAqBS,UArBT,CAqBS,uBArBT,CAAA;;;;KC3IV,gBAAA;;ADe8B;;;EAItB,WAAA,EAAA,MAAA,GAAA,0BAAA;EAAC;AAAA;;;EAKT,MAAA,CAAA,EAAA,MAAA;EACwB;;;;EAA3B,QAAA,CAAA,EAAA,MAAA;EAAO;AAGhB;;;EAC2D,QAAA,CAAA,EAAA,MAAA;EAAf;;;EAGhC,WAAA,CAAA,EAAA,MAAA;CACE,GCJV,IDIU,CCJL,aDIK,EAAA,YAAA,GAAA,UAAA,CAAA;KCFT,4BAAA,GAA+B,gBDEQ,GAAA;EAAE,MAAA,EAAA,MAAA;CAA5B;;AAOlB;;;AAGmB,cCNN,UAAA,CDMM;EACG,SAAA,GAAA,ECNN,iBDMM;EAiFL,SAAA,MAAA,ECtFE,4BDsFF;EAAA,SAAA,IAAA,CAAA,ECrFC,gBDqFD;EACF,SAAA,WAAA,ECrFS,GDqFT;EAAA,WAAA,ECpFA,ODoFA,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;EAEO,WAAA,EAAA,MAAA,GAAA,IAAA;EAAA,WAAA,CAAA,MAAA,ECnFA,gBDmFA;EACM,mBAAA,CAAA,CAAA,ECcG,ODdH,CAAA,IAAA,CAAA;EAAA,gBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;EAEP;;;;;EAIQ,yBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,ECiEW,yBDjEX;;;;;;;;iBE7Ib,wBAAA,OACR,KAAK"}

package/dist/lib/v2/index.d.mts

@@ -94,6 +94,7 @@ declare class NovaClient {
   readonly api: NovaCellAPIClient;
   readonly config: NovaClientConfigWithDefaults;
   readonly mock?: MockNovaInstance;
+  readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
   constructor(config: NovaClientConfig);

package/dist/lib/v2/index.d.mts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.mts","names":[],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":[],"mappings":";;;;;;KA8BK,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;EAP/B,IAAA,EAAA,KAAA,EAAA;CAAkB,GAO6C,CAP7C,GAAA,KAAA,CAAA,GAAA,KAAA;AACT,KASF,UATE,CAAA,CAAA,CAAA,GAAA,QAAM,MAUN,CAVM,GAUF,yBAVE,CAUwB,YAVxB,CAUqC,CAVrC,CAUuC,CAVvC,CAAA,CAAA,CAAA,EAAC;AAGhB,KAUO,0BAVkB,CAAA,CAAA,CAAA,GAAA,QAAM,MAWtB,CAXsB,GAWlB,yBAXkB,CAWQ,CAXR,CAWU,CAXV,CAAA,CAAA,EAEb;;;;;AAC6C,cAevD,iBAAA,CAfuD;EAA3D,SAAA,MAAA,EAAA,MAAA;EAAO,SAAA,IAAA,EAkBG,aAlBH,GAAA;IAGJ,aAAU,CAAA,EAgBA,aAhBA;IACR,IAAA,CAAA,EAAA,OAAA;EAA2C,CAAA;EAAE,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAcxC,aAdwC,GAAA;IAAf,aAAA,CAAA,EAetB,aAfsB;IAA1B,IAAA,CAAA,EAAA,OAAA;EAAyB,CAAA;EAG/B;;;;;EAC+B,QAAA,UAAA;EAO9B;;;EAGM,QAAA,0BAAA;EACG,SAAA,MAAA,EAiFL,0BAjFK,CAiFL,SAjFK,CAAA;EAiFL,SAAA,IAAA,EACF,0BADE,CACF,OADE,CAAA;EAAA,SAAA,WAAA,EAGK,UAHL,CAGK,cAHL,CAAA;EACF,SAAA,iBAAA,EAGa,UAHb,CAGa,oBAHb,CAAA;EAAA,SAAA,UAAA,EAKM,UALN,CAKM,aALN,CAAA;EAEO,SAAA,aAAA,EAKE,UALF,CAKE,0BALF,CAAA;EAAA,SAAA,kBAAA,EAOO,UAPP,CAOO,qBAPP,CAAA;EACM,SAAA,mBAAA,EAOE,UAPF,CAOE,sBAPF,CAAA;EAAA,SAAA,iBAAA,EAQA,UARA,CAQA,oBARA,CAAA;EAEP,SAAA,WAAA,EAQC,UARD,CAQC,cARD,CAAA;EAAA,SAAA,iBAAA,EASO,0BATP,CASO,cATP,CAAA;EAEG,SAAA,OAAA,EASN,UATM,CASN,UATM,CAAA;EAAA,SAAA,UAAA,EAWH,UAXG,CAWH,aAXG,CAAA;EAEK,SAAA,gBAAA,EAWF,UAXE,CAWF,mBAXE,CAAA;EAAA,SAAA,iBAAA,EAaD,UAbC,CAaD,oBAbC,CAAA;EACC,SAAA,yBAAA,EAaM,UAbN,CAaM,4BAbN,CAAA;EAAA,SAAA,oBAAA,EAgBC,UAhBD,CAgBC,iCAhBD,CAAA;EACF,SAAA,WAAA,EAmBN,UAnBM,CAmBN,cAnBM,CAAA;EAAA,SAAA,wBAAA,EAoBO,UApBP,CAoBO,2BApBP,CAAA;EAEN,SAAA,oBAAA,EAqBS,UArBT,CAqBS,uBArBT,CAAA;;;;KC5IV,gBAAA;;ADgB8B;;;EAItB,WAAA,EAAA,MAAA,GAAA,0BAAA;EAAC;AAAA;;;EAKT,MAAA,CAAA,EAAA,MAAA;EACwB;;;;EAA3B,QAAA,CAAA,EAAA,MAAA;EAAO;AAGhB;;;EAC2D,QAAA,CAAA,EAAA,MAAA;EAAf;;;EAGhC,WAAA,CAAA,EAAA,MAAA;CACE,GCLV,IDKU,CCLL,aDKK,EAAA,YAAA,GAAA,UAAA,CAAA;KCHT,4BAAA,GAA+B,gBDGQ,GAAA;EAAE,MAAA,EAAA,MAAA;CAA5B;;AAOlB;;;AAGmB,cCCN,UAAA,CDDM;EACG,SAAA,GAAA,ECCN,iBDDM;EAiFL,SAAA,MAAA,EC/EE,4BD+EF;EAAA,SAAA,IAAA,CAAA,EC9EC,gBD8ED;EACF,WAAA,EC9EA,OD8EA,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;EAAA,WAAA,EAAA,MAAA,GAAA,IAAA;EAEO,WAAA,CAAA,MAAA,EC7EA,gBD6EA;EAAA,mBAAA,CAAA,CAAA,ECwBS,ODxBT,CAAA,IAAA,CAAA;EACM,gBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;EAAA;;;;;EAMC,yBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,ECkEW,yBDlEX;;;;;;;;iBE7Ib,wBAAA,OACR,KAAK"}
+{"version":3,"file":"index.d.mts","names":[],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":[],"mappings":";;;;;;KA8BK,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;EAP/B,IAAA,EAAA,KAAA,EAAA;CAAkB,GAO6C,CAP7C,GAAA,KAAA,CAAA,GAAA,KAAA;AACT,KASF,UATE,CAAA,CAAA,CAAA,GAAA,QAAM,MAUN,CAVM,GAUF,yBAVE,CAUwB,YAVxB,CAUqC,CAVrC,CAUuC,CAVvC,CAAA,CAAA,CAAA,EAAC;AAGhB,KAUO,0BAVkB,CAAA,CAAA,CAAA,GAAA,QAAM,MAWtB,CAXsB,GAWlB,yBAXkB,CAWQ,CAXR,CAWU,CAXV,CAAA,CAAA,EAEb;;;;;AAC6C,cAevD,iBAAA,CAfuD;EAA3D,SAAA,MAAA,EAAA,MAAA;EAAO,SAAA,IAAA,EAkBG,aAlBH,GAAA;IAGJ,aAAU,CAAA,EAgBA,aAhBA;IACR,IAAA,CAAA,EAAA,OAAA;EAA2C,CAAA;EAAE,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAcxC,aAdwC,GAAA;IAAf,aAAA,CAAA,EAetB,aAfsB;IAA1B,IAAA,CAAA,EAAA,OAAA;EAAyB,CAAA;EAG/B;;;;;EAC+B,QAAA,UAAA;EAO9B;;;EAGM,QAAA,0BAAA;EACG,SAAA,MAAA,EAiFL,0BAjFK,CAiFL,SAjFK,CAAA;EAiFL,SAAA,IAAA,EACF,0BADE,CACF,OADE,CAAA;EAAA,SAAA,WAAA,EAGK,UAHL,CAGK,cAHL,CAAA;EACF,SAAA,iBAAA,EAGa,UAHb,CAGa,oBAHb,CAAA;EAAA,SAAA,UAAA,EAKM,UALN,CAKM,aALN,CAAA;EAEO,SAAA,aAAA,EAKE,UALF,CAKE,0BALF,CAAA;EAAA,SAAA,kBAAA,EAOO,UAPP,CAOO,qBAPP,CAAA;EACM,SAAA,mBAAA,EAOE,UAPF,CAOE,sBAPF,CAAA;EAAA,SAAA,iBAAA,EAQA,UARA,CAQA,oBARA,CAAA;EAEP,SAAA,WAAA,EAQC,UARD,CAQC,cARD,CAAA;EAAA,SAAA,iBAAA,EASO,0BATP,CASO,cATP,CAAA;EAEG,SAAA,OAAA,EASN,UATM,CASN,UATM,CAAA;EAAA,SAAA,UAAA,EAWH,UAXG,CAWH,aAXG,CAAA;EAEK,SAAA,gBAAA,EAWF,UAXE,CAWF,mBAXE,CAAA;EAAA,SAAA,iBAAA,EAaD,UAbC,CAaD,oBAbC,CAAA;EACC,SAAA,yBAAA,EAaM,UAbN,CAaM,4BAbN,CAAA;EAAA,SAAA,oBAAA,EAgBC,UAhBD,CAgBC,iCAhBD,CAAA;EACF,SAAA,WAAA,EAmBN,UAnBM,CAmBN,cAnBM,CAAA;EAAA,SAAA,wBAAA,EAoBO,UApBP,CAoBO,2BApBP,CAAA;EAEN,SAAA,oBAAA,EAqBS,UArBT,CAqBS,uBArBT,CAAA;;;;KC3IV,gBAAA;;ADe8B;;;EAItB,WAAA,EAAA,MAAA,GAAA,0BAAA;EAAC;AAAA;;;EAKT,MAAA,CAAA,EAAA,MAAA;EACwB;;;;EAA3B,QAAA,CAAA,EAAA,MAAA;EAAO;AAGhB;;;EAC2D,QAAA,CAAA,EAAA,MAAA;EAAf;;;EAGhC,WAAA,CAAA,EAAA,MAAA;CACE,GCJV,IDIU,CCJL,aDIK,EAAA,YAAA,GAAA,UAAA,CAAA;KCFT,4BAAA,GAA+B,gBDEQ,GAAA;EAAE,MAAA,EAAA,MAAA;CAA5B;;AAOlB;;;AAGmB,cCNN,UAAA,CDMM;EACG,SAAA,GAAA,ECNN,iBDMM;EAiFL,SAAA,MAAA,ECtFE,4BDsFF;EAAA,SAAA,IAAA,CAAA,ECrFC,gBDqFD;EACF,SAAA,WAAA,ECrFS,GDqFT;EAAA,WAAA,ECpFA,ODoFA,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;EAEO,WAAA,EAAA,MAAA,GAAA,IAAA;EAAA,WAAA,CAAA,MAAA,ECnFA,gBDmFA;EACM,mBAAA,CAAA,CAAA,ECcG,ODdH,CAAA,IAAA,CAAA;EAAA,gBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;EAEP;;;;;EAIQ,yBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,ECiEW,yBDjEX;;;;;;;;iBE7Ib,wBAAA,OACR,KAAK"}

package/dist/lib/v2/index.mjs

@@ -1,4 +1,4 @@
-import { n as availableStorage, r as AutoReconnectingWebsocket, t as loginWithAuth0 } from "../../LoginWithAuth0-wQB-Sol1.mjs";
+import { m as AutoReconnectingWebsocket, n as loginWithAuth0, p as availableStorage, s as parseNovaInstanceUrl } from "../../LoginWithAuth0-DBe9CXOr.mjs";
 import axios, { AxiosError, isAxiosError } from "axios";
 import urlJoin from "url-join";
 import * as pathToRegexp from "path-to-regexp";
@@ -615,10 +615,6 @@ const defaultMotionState = { result: {
 
 //#endregion
 //#region src/lib/v2/NovaClient.ts
-function permissiveInstanceUrlParse(url) {
-	if (!url.startsWith("http")) url = `http://${url}`;
-	return new URL(url).toString();
-}
 /**
 *
 * Client for connecting to a Nova instance and controlling robots.
@@ -634,9 +630,9 @@ var NovaClient = class {
 		};
 		this.accessToken = config.accessToken || availableStorage.getString("wbjs.access_token") || null;
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
-		else this.config.instanceUrl = permissiveInstanceUrlParse(this.config.instanceUrl);
+		this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.create({
-			baseURL: urlJoin(this.config.instanceUrl, "/api/v2"),
+			baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -666,7 +662,7 @@ var NovaClient = class {
 		});
 		this.api = new NovaCellAPIClient(cellId, {
 			...config,
-			basePath: urlJoin(this.config.instanceUrl, "/api/v2"),
+			basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
@@ -681,7 +677,12 @@ var NovaClient = class {
 	}
 	async renewAuthentication() {
 		if (this.authPromise) return;
-		this.authPromise = loginWithAuth0(this.config.instanceUrl);
+		const storedToken = availableStorage.getString("wbjs.access_token");
+		if (storedToken && this.accessToken !== storedToken) {
+			this.accessToken = storedToken;
+			return;
+		}
+		this.authPromise = loginWithAuth0(this.instanceUrl);
 		try {
 			this.accessToken = await this.authPromise;
 			if (this.accessToken) availableStorage.setString("wbjs.access_token", this.accessToken);
@@ -691,7 +692,7 @@ var NovaClient = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(urlJoin(this.config.instanceUrl, `/api/v2/cells/${this.config.cellId}`, path));
+		const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2/cells/${this.config.cellId}`, path));
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);

package/dist/lib/v2/index.mjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","names":["cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","config"],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","/** biome-ignore-all lint/suspicious/noApproximativeNumericConstant: mock data contains approximative pi values from robot description */\nimport type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return [\"mock-ur5e\"]\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/state\",\n        handle() {\n          return {\n            mode: \"MODE_CONTROL\",\n            last_error: [],\n            timestamp: \"2025-10-16T09:19:26.634534092Z\",\n            sequence_number: 1054764,\n            controller: \"mock-ur5e\",\n            operation_mode: \"OPERATION_MODE_AUTO\",\n            safety_state: \"SAFETY_STATE_NORMAL\",\n            velocity_override: 100,\n            motion_groups: [\n              {\n                timestamp: \"2025-10-16T09:19:26.634534092Z\",\n                sequence_number: 1054764,\n                motion_group: \"0@mock-ur5e\",\n                controller: \"mock-ur5e\",\n                joint_position: [\n                  1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n                  6.034560203552246, 1.4921919107437134, 1.593459963798523,\n                ],\n                joint_limit_reached: {\n                  limit_reached: [false, false, false, false, false, false],\n                },\n                joint_torque: [],\n                joint_current: [0, 0, 0, 0, 0, 0],\n                flange_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                tcp: \"Flange\",\n                tcp_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                payload: \"\",\n                coordinate_system: \"\",\n                standstill: true,\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n        handle() {\n          return {\n            motion_group_model: \"UniversalRobots_UR5e\",\n            mounting: {\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n            },\n            tcps: {\n              Flange: {\n                name: \"Default-Flange\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n            },\n            payloads: {\n              \"FPay-0\": {\n                name: \"FPay-0\",\n                payload: 0,\n                center_of_mass: [0, 0, 0],\n                moment_of_inertia: [0, 0, 0],\n              },\n            },\n            cycle_time: 8,\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                d: 162.25,\n              },\n              {\n                a: -425,\n              },\n              {\n                a: -392.2,\n              },\n              {\n                alpha: 1.5707963267948966,\n                d: 133.3,\n              },\n              {\n                alpha: -1.5707963267948966,\n                d: 99.7,\n              },\n              {\n                d: 99.6,\n              },\n            ],\n            operation_limits: {\n              auto_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n                elbow: {\n                  velocity: 5000,\n                },\n                flange: {\n                  velocity: 5000,\n                },\n              },\n              manual_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t1_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t2_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n            },\n            serial_number: \"WBVirtualRobot\",\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n        handle() {\n          return [\n            {\n              coordinate_system: \"\",\n              name: \"world\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n            {\n              coordinate_system: \"CS-0\",\n              name: \"Default-CS\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n          ] //satisfies CoordinateSystems\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\nfunction permissiveInstanceUrlParse(url: string): string {\n  if (!url.startsWith(\"http\")) {\n    url = `http://${url}`\n  }\n\n  return new URL(url).toString()\n}\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    } else {\n      this.config.instanceUrl = permissiveInstanceUrlParse(\n        this.config.instanceUrl,\n      )\n    }\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    this.authPromise = loginWithAuth0(this.config.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.config.instanceUrl,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", 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+{"version":3,"file":"index.mjs","names":["cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","config"],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","/** biome-ignore-all lint/suspicious/noApproximativeNumericConstant: mock data contains approximative pi values from robot description */\nimport type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return [\"mock-ur5e\"]\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/state\",\n        handle() {\n          return {\n            mode: \"MODE_CONTROL\",\n            last_error: [],\n            timestamp: \"2025-10-16T09:19:26.634534092Z\",\n            sequence_number: 1054764,\n            controller: \"mock-ur5e\",\n            operation_mode: \"OPERATION_MODE_AUTO\",\n            safety_state: \"SAFETY_STATE_NORMAL\",\n            velocity_override: 100,\n            motion_groups: [\n              {\n                timestamp: \"2025-10-16T09:19:26.634534092Z\",\n                sequence_number: 1054764,\n                motion_group: \"0@mock-ur5e\",\n                controller: \"mock-ur5e\",\n                joint_position: [\n                  1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n                  6.034560203552246, 1.4921919107437134, 1.593459963798523,\n                ],\n                joint_limit_reached: {\n                  limit_reached: [false, false, false, false, false, false],\n                },\n                joint_torque: [],\n                joint_current: [0, 0, 0, 0, 0, 0],\n                flange_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                tcp: \"Flange\",\n                tcp_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                payload: \"\",\n                coordinate_system: \"\",\n                standstill: true,\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n        handle() {\n          return {\n            motion_group_model: \"UniversalRobots_UR5e\",\n            mounting: {\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n            },\n            tcps: {\n              Flange: {\n                name: \"Default-Flange\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n            },\n            payloads: {\n              \"FPay-0\": {\n                name: \"FPay-0\",\n                payload: 0,\n                center_of_mass: [0, 0, 0],\n                moment_of_inertia: [0, 0, 0],\n              },\n            },\n            cycle_time: 8,\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                d: 162.25,\n              },\n              {\n                a: -425,\n              },\n              {\n                a: -392.2,\n              },\n              {\n                alpha: 1.5707963267948966,\n                d: 133.3,\n              },\n              {\n                alpha: -1.5707963267948966,\n                d: 99.7,\n   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6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n                elbow: {\n                  velocity: 5000,\n                },\n                flange: {\n                  velocity: 5000,\n                },\n              },\n              manual_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t1_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n             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            upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n            },\n            serial_number: \"WBVirtualRobot\",\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n        handle() {\n          return [\n            {\n              coordinate_system: \"\",\n              name: \"world\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n            {\n              coordinate_system: \"CS-0\",\n              name: \"Default-CS\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n          ] //satisfies CoordinateSystems\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  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.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    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/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  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