npm - @wandelbots/nova-js - Versions diffs - 3.3.3 → 3.4.0 - Mend

@wandelbots/nova-js 3.3.3 → 3.4.0

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Files changed (34) hide show

package/dist/index.d.cts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAyCT,SAAA,EAAA,OAAA;2BAtCc,QAAQ;;;ECPvB,SAAA,CAAA,GAAA,EAAA,MAAe,EAAA,KAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAeX,SAAA,CAAA,GAAQ,EAAA,MAAA,~~CAAuB~~,~~EAAA~~,MAAA,GAAA,IAAA;AAoB/C;AAiBgB,cDPH,gBCOuB,EDPP,gBCOyB;;;KApD1C,eAAA;;;;EDIN,MAAA,CAAA,EAAA,MAAA,GAAA,OAAgB;EAyCT;;;;EC7CD,aAAA,CAAA,EAAA,MAAe,GAAA,OAAA;AAe3B,CAAA;AAoBA;AAiBA;AAWA;AASgB,iBAzDA,QAAA,CAyDgB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAzDe,eAyDf,CAAA,EAzDsC,GAyDtC;AAahC;AAMA;AAKA;AAQgB,iBArEA,WAAA,CAqEsB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAnE3B,eAmE2B,CAAA,EAlEnC,GAkEmC,GAAA,SAAA;AAatC;;;;AClHA;AAOA;AAYgB,iBD8BA,oBAAA,CC9BgB,GAAA,EAAA,MAAA,CAAA,ED8BmB,GC9BnB;;iBDyChB,YAAA;;AEzCH,iBFkDG,gBAAA,CElD+B,IAAA,EAAA,OAAA,CAAA,EAAA,MAAA,GAAA,SAAA;AAc/C;;;;;iBFiDgB,kBAAA,MAAwB;;iBAMxB,gBAAA;;iBAKA,gBAAA;;;;;iBAQA,sBAAA;;;;cAaH;;;;;;;iBClHG,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,~~CFHkB~~,~~GAAA~~,EAAA,OAAA,CAAA,EAAA,MAAA;AAsClC;;;;AC7CA;AAeA;AAoBA;AAiBA;AAWgB,iBCzCA,gBAAA,CDyCY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;cEzCf,8BAA+B;;;;AHuB5C;;;;AC7CA;AAegB,cEqBH,cFrBkC,EAAA,CAAA,WAA0B,EEsB1D,GFtB0D,EAAA,GEuBtE,OFvBsE,CAAA,MAAA,GAAA,IAAA,CAAA"}
1	+ {"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAyCT,SAAA,EAAA,OAAA;2BAtCc,QAAQ;;;ECPvB,SAAA,CAAA,GAAA,EAAA,MAAe,EAAA,KAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAeX,SAAA,CAAA,GAAQ,EAAA,MAAA,CAAA,EAAuB,MAAA,GAAA,IAAA;AAoB/C;AAiBgB,cDPH,gBCOuB,EDPP,gBCOyB;;;KApD1C,eAAA;;;;EDIN,MAAA,CAAA,EAAA,MAAA,GAAA,OAAgB;EAyCT;;;;EC7CD,aAAA,CAAA,EAAA,MAAe,GAAA,OAAA;AAe3B,CAAA;AAoBA;AAiBA;AAWA;AASgB,iBAzDA,QAAA,CAyDgB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAzDe,eAyDf,CAAA,EAzDsC,GAyDtC;AAahC;AAMA;AAKA;AAQgB,iBArEA,WAAA,CAqEsB,GAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EAnE3B,eAmE2B,CAAA,EAlEnC,GAkEmC,GAAA,SAAA;AAatC;;;;AClHA;AAOA;AAYgB,iBD8BA,oBAAA,CC9BgB,GAAA,EAAA,MAAA,CAAA,ED8BmB,GC9BnB;;iBDyChB,YAAA;;AEzCH,iBFkDG,gBAAA,CElD+B,IAAA,EAAA,OAAA,CAAA,EAAA,MAAA,GAAA,SAAA;AAc/C;;;;;iBFiDgB,kBAAA,MAAwB;;iBAMxB,gBAAA;;iBAKA,gBAAA;;;;;iBAQA,sBAAA;;;;cAaH;;;;;;;iBClHG,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFHW,GAAO,EAAA,OAAA,CAAA,EAAA,MAAA;AAsClC;;;;AC7CA;AAeA;AAoBA;AAiBA;AAWgB,iBCzCA,gBAAA,CDyCY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;cEzCf,8BAA+B;;;;AHuB5C;;;;AC7CA;AAegB,cEqBH,cFrBkC,EAAA,CAAA,WAA0B,EEsB1D,GFtB0D,EAAA,GEuBtE,OFvBsE,CAAA,MAAA,GAAA,IAAA,CAAA"}

package/dist/index.d.mts CHANGED Viewed

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-dHe-kceU.mjs";
-import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-C0GXOu4w.mjs";
+import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-By6EZkXv.mjs";
+import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-D8C3LxqM.mjs";
 //#region src/lib/availableStorage.d.ts
 /**

package/dist/index.mjs CHANGED Viewed

@@ -1,5 +1,5 @@
-import { a as isSameCoordinateSystem, c as parseUrl, d as tryParseUrl, f as tryStringifyJson, i as degreesToRadians, l as radiansToDegrees, m as AutoReconnectingWebsocket, n as loginWithAuth0, o as makeUrlQueryString, p as availableStorage, r as XYZ_TO_VECTOR, s as parseNovaInstanceUrl, t as getAuth0Config, u as tryParseJson } from "./LoginWithAuth0-DBe9CXOr.mjs";
-import { o as poseToWandelscriptString, t as NovaClient } from "./NovaClient-C27dk3Ql.mjs";
+import { a as isSameCoordinateSystem, c as parseUrl, d as tryParseUrl, f as tryStringifyJson, i as degreesToRadians, l as radiansToDegrees, m as AutoReconnectingWebsocket, n as loginWithAuth0, o as makeUrlQueryString, p as availableStorage, r as XYZ_TO_VECTOR, s as parseNovaInstanceUrl, t as getAuth0Config, u as tryParseJson } from "./LoginWithAuth0-BAGhME4k.mjs";
+import { o as poseToWandelscriptString, t as NovaClient } from "./NovaClient-DImFdEQS.mjs";
 import { isAxiosError } from "axios";
 //#region src/lib/errorHandling.ts

package/dist/lib/v1/index.cjs CHANGED Viewed

@@ -1,5 +1,5 @@
-const require_LoginWithAuth0 = require('../../LoginWithAuth0-iXpPiCcz.cjs');
-const require_NovaClient = require('../../NovaClient-j40sHBBq.cjs');
+const require_LoginWithAuth0 = require('../../LoginWithAuth0-qpkGkrJo.cjs');
+const require_NovaClient = require('../../NovaClient-CKpbwv53.cjs');
 let axios = require("axios");
 let mobx = require("mobx");
@@ -185,11 +185,11 @@ exports.ProgramState = ProgramState;
 exports.ProgramStateConnection = ProgramStateConnection;
 exports.getLatestTrajectories = getLatestTrajectories;
 exports.poseToWandelscriptString = require_NovaClient.poseToWandelscriptString;
-var __wandelbots_nova_api_v1 = require("@wandelbots/nova-api/v1");
-Object.keys(__wandelbots_nova_api_v1).forEach(function (k) {
+var _wandelbots_nova_api_v1 = require("@wandelbots/nova-api/v1");
+Object.keys(_wandelbots_nova_api_v1).forEach(function (k) {
   if (k !== 'default' && !Object.prototype.hasOwnProperty.call(exports, k)) Object.defineProperty(exports, k, {
     enumerable: true,
-    get: function () { return __wandelbots_nova_api_v1[k]; }
+    get: function () { return _wandelbots_nova_api_v1[k]; }
   });
 });

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

@@ -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-PNinV5c4.cjs";
+import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-dO-Xkvgo.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-CZDpg0Pn.cjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";

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

@@ -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-C0GXOu4w.mjs";
+import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-By6EZkXv.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-D8C3LxqM.mjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";

package/dist/lib/v1/index.mjs CHANGED Viewed

@@ -1,5 +1,5 @@
-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 { u as tryParseJson } from "../../LoginWithAuth0-BAGhME4k.mjs";
+import { a as ConnectedMotionGroup, i as JoggerConnection, n as NovaCellAPIClient, o as poseToWandelscriptString, r as MotionStreamConnection, t as NovaClient } from "../../NovaClient-DImFdEQS.mjs";
 import { AxiosError } from "axios";
 import { makeAutoObservable, runInAction } from "mobx";

package/dist/lib/v2/index.cjs CHANGED Viewed

@@ -1,11 +1,11 @@
-const require_LoginWithAuth0 = require('../../LoginWithAuth0-iXpPiCcz.cjs');
+const require_LoginWithAuth0 = require('../../LoginWithAuth0-qpkGkrJo.cjs');
 let axios = require("axios");
 axios = require_LoginWithAuth0.__toESM(axios);
 let url_join = require("url-join");
 url_join = require_LoginWithAuth0.__toESM(url_join);
 let path_to_regexp = require("path-to-regexp");
 path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp);
-let __wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
+let _wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
 //#region src/lib/v2/NovaCellAPIClient.ts
 /**
@@ -16,26 +16,26 @@ var NovaCellAPIClient = class {
 	constructor(cellId, opts) {
 		this.cellId = cellId;
 		this.opts = opts;
-		this.system = this.withUnwrappedResponsesOnly(__wandelbots_nova_api_v2.SystemApi);
-		this.cell = this.withUnwrappedResponsesOnly(__wandelbots_nova_api_v2.CellApi);
-		this.motionGroup = this.withCellId(__wandelbots_nova_api_v2.MotionGroupApi);
-		this.motionGroupModels = this.withCellId(__wandelbots_nova_api_v2.MotionGroupModelsApi);
-		this.controller = this.withCellId(__wandelbots_nova_api_v2.ControllerApi);
-		this.controllerIOs = this.withCellId(__wandelbots_nova_api_v2.ControllerInputsOutputsApi);
-		this.trajectoryPlanning = this.withCellId(__wandelbots_nova_api_v2.TrajectoryPlanningApi);
-		this.trajectoryExecution = this.withCellId(__wandelbots_nova_api_v2.TrajectoryExecutionApi);
-		this.trajectoryCaching = this.withCellId(__wandelbots_nova_api_v2.TrajectoryCachingApi);
-		this.application = this.withCellId(__wandelbots_nova_api_v2.ApplicationApi);
-		this.applicationGlobal = this.withUnwrappedResponsesOnly(__wandelbots_nova_api_v2.ApplicationApi);
-		this.jogging = this.withCellId(__wandelbots_nova_api_v2.JoggingApi);
-		this.kinematics = this.withCellId(__wandelbots_nova_api_v2.KinematicsApi);
-		this.busInputsOutputs = this.withCellId(__wandelbots_nova_api_v2.BUSInputsOutputsApi);
-		this.virtualController = this.withCellId(__wandelbots_nova_api_v2.VirtualControllerApi);
-		this.virtualControllerBehavior = this.withCellId(__wandelbots_nova_api_v2.VirtualControllerBehaviorApi);
-		this.virtualControllerIOs = this.withCellId(__wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi);
-		this.storeObject = this.withCellId(__wandelbots_nova_api_v2.StoreObjectApi);
-		this.storeCollisionComponents = this.withCellId(__wandelbots_nova_api_v2.StoreCollisionComponentsApi);
-		this.storeCollisionSetups = this.withCellId(__wandelbots_nova_api_v2.StoreCollisionSetupsApi);
+		this.system = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.SystemApi);
+		this.cell = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.CellApi);
+		this.motionGroup = this.withCellId(_wandelbots_nova_api_v2.MotionGroupApi);
+		this.motionGroupModels = this.withCellId(_wandelbots_nova_api_v2.MotionGroupModelsApi);
+		this.controller = this.withCellId(_wandelbots_nova_api_v2.ControllerApi);
+		this.controllerIOs = this.withCellId(_wandelbots_nova_api_v2.ControllerInputsOutputsApi);
+		this.trajectoryPlanning = this.withCellId(_wandelbots_nova_api_v2.TrajectoryPlanningApi);
+		this.trajectoryExecution = this.withCellId(_wandelbots_nova_api_v2.TrajectoryExecutionApi);
+		this.trajectoryCaching = this.withCellId(_wandelbots_nova_api_v2.TrajectoryCachingApi);
+		this.application = this.withCellId(_wandelbots_nova_api_v2.ApplicationApi);
+		this.applicationGlobal = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.ApplicationApi);
+		this.jogging = this.withCellId(_wandelbots_nova_api_v2.JoggingApi);
+		this.kinematics = this.withCellId(_wandelbots_nova_api_v2.KinematicsApi);
+		this.busInputsOutputs = this.withCellId(_wandelbots_nova_api_v2.BUSInputsOutputsApi);
+		this.virtualController = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerApi);
+		this.virtualControllerBehavior = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerBehaviorApi);
+		this.virtualControllerIOs = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi);
+		this.storeObject = this.withCellId(_wandelbots_nova_api_v2.StoreObjectApi);
+		this.storeCollisionComponents = this.withCellId(_wandelbots_nova_api_v2.StoreCollisionComponentsApi);
+		this.storeCollisionSetups = this.withCellId(_wandelbots_nova_api_v2.StoreCollisionSetupsApi);
 	}
 	/**
 	* Some TypeScript sorcery which alters the API class methods so you don't
@@ -739,10 +739,10 @@ function poseToWandelscriptString(pose) {
 exports.NovaCellAPIClient = NovaCellAPIClient;
 exports.NovaClient = NovaClient;
 exports.poseToWandelscriptString = poseToWandelscriptString;
-Object.keys(__wandelbots_nova_api_v2).forEach(function (k) {
+Object.keys(_wandelbots_nova_api_v2).forEach(function (k) {
   if (k !== 'default' && !Object.prototype.hasOwnProperty.call(exports, k)) Object.defineProperty(exports, k, {
     enumerable: true,
-    get: function () { return __wandelbots_nova_api_v2[k]; }
+    get: function () { return _wandelbots_nova_api_v2[k]; }
   });
 });

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

	@@ -1 +1 @@
1	- {"version":3,"file":"index.cjs","names":["cellId: string","opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n }","SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","pathToRegexp","AxiosError","availableStorage","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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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","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 CHANGED Viewed

@@ -1,4 +1,4 @@
-import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-Qcrbm3Kb.cjs";
+import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-dO-Xkvgo.cjs";
 import { AxiosInstance } from "axios";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, Pose, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";

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

	@@ -1 +1 @@
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package/dist/lib/v2/index.d.mts CHANGED Viewed

@@ -1,4 +1,4 @@
-import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-dHe-kceU.mjs";
+import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-By6EZkXv.mjs";
 import { AxiosInstance } from "axios";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, Pose, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";

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

	@@ -1 +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;;;;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"}
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,GAAA,CAAA,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;;;;;AACd,cAeI,iBAAA,CAfJ;EAAO,SAAA,MAAA,EAAA,MAAA;EAGJ,SAAA,IAAU,EAeH,aAfG,GAAA;IACR,aAAA,CAAA,EAeQ,aAfR;IAA2C,IAAA,CAAA,EAAA,OAAA;EAAE,CAAA;EAAf,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAczB,aAdyB,GAAA;IAA1B,aAAA,CAAA,EAeI,aAfJ;IAAyB,IAAA,CAAA,EAAA,OAAA;EAG/B,CAAA;EACE;;;;;EAOD,QAAA,UAAA;EAGM;;;EACG,QAAA,0BAAA;EAiFL,SAAA,MAAA,EAAA,0BAAA,CAAA,SAAA,CAAA;EAAA,SAAA,IAAA,EACF,0BADE,CACF,OADE,CAAA;EACF,SAAA,WAAA,EAEO,UAFP,CAEO,cAFP,CAAA;EAAA,SAAA,iBAAA,EAGa,UAHb,CAGa,oBAHb,CAAA;EAEO,SAAA,UAAA,EAGD,UAHC,CAGD,aAHC,CAAA;EAAA,SAAA,aAAA,EAKE,UALF,CAKE,0BALF,CAAA;EACM,SAAA,kBAAA,EAMC,UAND,CAMC,qBAND,CAAA;EAAA,SAAA,mBAAA,EAOE,UAPF,CAOE,sBAPF,CAAA;EAEP,SAAA,iBAAA,EAMO,UANP,CAMO,oBANP,CAAA;EAAA,SAAA,WAAA,EAQC,UARD,CAQC,cARD,CAAA;EAEG,SAAA,iBAAA,EAOI,0BAPJ,CAOI,cAPJ,CAAA;EAAA,SAAA,OAAA,EASN,UATM,CASN,UATM,CAAA;EAEK,SAAA,UAAA,EASR,UATQ,CASR,aATQ,CAAA;EAAA,SAAA,gBAAA,EAWF,UAXE,CAWF,mBAXE,CAAA;EACC,SAAA,iBAAA,EAYF,UAZE,CAYF,oBAZE,CAAA;EAAA,SAAA,yBAAA,EAaM,UAbN,CAaM,4BAbN,CAAA;EACF,SAAA,oBAAA,EAeG,UAfH,CAeG,iCAfH,CAAA;EAAA,SAAA,WAAA,EAmBN,UAnBM,CAmBN,cAnBM,CAAA;EAEN,SAAA,wBAAA,EAkBa,UAlBb,CAkBa,2BAlBb,CAAA;EAAA,SAAA,oBAAA,EAqBS,UArBT,CAqBS,uBArBT,CAAA;;;;KC3IV,gBAAA;;ADe8B;;;EAItB,WAAA,EAAA,MAAA,GAAA,0BAAA;EAAC;AAAA;;;EAKT,MAAA,CAAA,EAAA,MAAA;EACwB;;;;EAApB,QAAA,CAAA,EAAA,MAAA;EAGJ;;;;EACgC,QAAA,CAAA,EAAA,MAAA;EAA1B;;AAGlB;EACc,WAAA,CAAA,EAAA,MAAA;CAA8B,GCJxC,IDIwC,CCJnC,aDImC,EAAA,YAAA,GAAA,UAAA,CAAA;KCFvC,4BAAA,GAA+B,gBDEU,GAAA;EAA5B,MAAA,EAAA,MAAA;CAAyB;AAO3C;;;;AAIsB,cCPT,UAAA,CDOS;EAiFL,SAAA,GAAA,ECvFD,iBDuFC;EAAA,SAAA,MAAA,ECtFE,4BDsFF;EACF,SAAA,IAAA,CAAA,ECtFG,gBDsFH;EAAA,SAAA,WAAA,ECrFS,GDqFT;EAEO,WAAA,ECtFP,ODsFO,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;EAAA,WAAA,EAAA,MAAA,GAAA,IAAA;EACM,WAAA,CAAA,MAAA,ECpFN,gBDoFM;EAAA,mBAAA,CAAA,CAAA,ECcG,ODdH,CAAA,IAAA,CAAA;EAEP,gBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;EAAA;;;;;EAKS,yBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,ECgEU,yBDhEV;;;;;;;;iBE9Id,wBAAA,OACR,KAAK"}

package/dist/lib/v2/index.mjs CHANGED Viewed

@@ -1,4 +1,4 @@
-import { m as AutoReconnectingWebsocket, n as loginWithAuth0, p as availableStorage, s as parseNovaInstanceUrl } from "../../LoginWithAuth0-DBe9CXOr.mjs";
+import { m as AutoReconnectingWebsocket, n as loginWithAuth0, p as availableStorage, s as parseNovaInstanceUrl } from "../../LoginWithAuth0-BAGhME4k.mjs";
 import axios, { AxiosError, isAxiosError } from "axios";
 import urlJoin from "url-join";
 import * as pathToRegexp from "path-to-regexp";

package/package.json CHANGED Viewed

@@ -1,7 +1,7 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "3.3.3",
+  "version": "3.4.0",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
   "packageManager": "pnpm@10.19.0",
@@ -47,26 +47,26 @@
   "author": "Wandelbots",
   "license": "Apache-2.0",
   "devDependencies": {
-    "@biomejs/biome": "^2.3.3",
+    "@biomejs/biome": "^2.3.11",
     "@types/lodash-es": "^4.17.12",
-    "knip": "^5.66.2",
+    "knip": "^5.76.3",
     "lodash-es": "^4.17.21",
     "nodemon": "^3.1.9",
-    "semantic-release": "^24.2.7",
-    "tsdown": "^0.16.0",
+    "semantic-release": "^25.0.2",
+    "tsdown": "^0.18.2",
     "typescript": "^5.9.3",
     "vitest": "^4.0.8",
     "ws": "^8.18.1"
   },
   "dependencies": {
-    "@auth0/auth0-spa-js": "^2.1.3",
-    "@types/three": "^0.181.0",
-    "@wandelbots/nova-api": "^25.9.1",
-    "axios": "^1.13.1",
-    "mobx": "^6.13.6",
+    "@auth0/auth0-spa-js": "^2.11.0",
+    "@types/three": "^0.182.0",
+    "@wandelbots/nova-api": "^25.10.0",
+    "axios": "^1.13.2",
+    "mobx": "^6.15.0",
     "path-to-regexp": "^8.2.0",
     "reconnecting-websocket": "^4.4.0",
-    "three": "^0.181.0",
+    "three": "^0.182.0",
     "url-join": "^5.0.0"
   }
 }