@wandelbots/nova-js 3.5.1 → 3.5.2-pr.feat-addTestForQueryUsingApiCAll.228.a9bede0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (15) hide show
  1. package/dist/AutoReconnectingWebsocket-By6EZkXv.d.mts.map +1 -1
  2. package/dist/AutoReconnectingWebsocket-dO-Xkvgo.d.cts.map +1 -1
  3. package/dist/index.d.mts.map +1 -1
  4. package/dist/lib/v2/index.cjs +517 -439
  5. package/dist/lib/v2/index.cjs.map +1 -1
  6. package/dist/lib/v2/index.mjs +517 -439
  7. package/dist/lib/v2/index.mjs.map +1 -1
  8. package/package.json +6 -1
  9. package/src/lib/v2/mock/MockNovaInstance.ts +18 -421
  10. package/src/lib/v2/mock/getCurrentRobotControllerState.ts +53 -0
  11. package/src/lib/v2/mock/getMotionGroupDescription.ts +307 -0
  12. package/src/lib/v2/mock/getMotionGroupKinematicModel.ts +53 -0
  13. package/src/lib/v2/mock/getRobotController.ts +17 -0
  14. package/src/lib/v2/mock/listCoordinateSystems.ts +24 -0
  15. package/src/lib/v2/mock/listRobotControllers.ts +7 -0
package/dist/lib/v2/index.cjs CHANGED
@@ -78,464 +78,542 @@ var NovaCellAPIClient = class {
78
78
  };
79
79
 
80
80
  //#endregion
81
- //#region src/lib/v2/mock/MockNovaInstance.ts
82
- /**
83
- * Ultra-simplified mock Nova server for testing stuff
84
- */
85
- var MockNovaInstance = class {
86
- constructor() {
87
- this.connections = [];
81
+ //#region src/lib/v2/mock/getCurrentRobotControllerState.ts
82
+ const getCurrentRobotControllerState = {
83
+ method: "GET",
84
+ path: "/cells/:cellId/controllers/:controllerId/state",
85
+ handle() {
86
+ return {
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+ mode: "MODE_CONTROL",
88
+ last_error: [],
89
+ timestamp: "2025-10-16T09:19:26.634534092Z",
90
+ sequence_number: 1054764,
91
+ controller: "mock-ur5e",
92
+ operation_mode: "OPERATION_MODE_AUTO",
93
+ safety_state: "SAFETY_STATE_NORMAL",
94
+ velocity_override: 100,
95
+ motion_groups: [{
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+ timestamp: "2025-10-16T09:19:26.634534092Z",
97
+ sequence_number: 1054764,
98
+ motion_group: "0@mock-ur5e",
99
+ controller: "mock-ur5e",
100
+ joint_position: [
101
+ 1.487959623336792,
102
+ -1.8501918315887451,
103
+ 1.8003005981445312,
104
+ 6.034560203552246,
105
+ 1.4921919107437134,
106
+ 1.593459963798523
107
+ ],
108
+ joint_limit_reached: { limit_reached: [
109
+ false,
110
+ false,
111
+ false,
112
+ false,
113
+ false,
114
+ false
115
+ ] },
116
+ joint_torque: [],
117
+ joint_current: [
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0,
123
+ 0
124
+ ],
125
+ flange_pose: {
126
+ position: [
127
+ 107.6452433732927,
128
+ -409.0402987746852,
129
+ 524.2402132330305
130
+ ],
131
+ orientation: [
132
+ .9874434028353319,
133
+ -.986571714997442,
134
+ 1.3336589451098142
135
+ ]
136
+ },
137
+ tcp: "Flange",
138
+ tcp_pose: {
139
+ position: [
140
+ 107.6452433732927,
141
+ -409.0402987746852,
142
+ 524.2402132330305
143
+ ],
144
+ orientation: [
145
+ .9874434028353319,
146
+ -.986571714997442,
147
+ 1.3336589451098142
148
+ ]
149
+ },
150
+ payload: "",
151
+ coordinate_system: "",
152
+ standstill: true
153
+ }]
154
+ };
88
155
  }
89
- async handleAPIRequest(config) {
90
- const apiHandlers = [
91
- {
92
- method: "GET",
93
- path: "/cells/:cellId/controllers",
94
- handle() {
95
- return ["mock-ur5e"];
96
- }
156
+ };
157
+
158
+ //#endregion
159
+ //#region src/lib/v2/mock/getMotionGroupDescription.ts
160
+ const getMotionGroupDescription = {
161
+ method: "GET",
162
+ path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
163
+ handle() {
164
+ return {
165
+ motion_group_model: "UniversalRobots_UR5e",
166
+ mounting: {
167
+ position: [
168
+ 0,
169
+ 0,
170
+ 0
171
+ ],
172
+ orientation: [
173
+ 0,
174
+ 0,
175
+ 0
176
+ ]
97
177
  },
98
- {
99
- method: "GET",
100
- path: "/cells/:cellId/controllers/:controllerId",
101
- handle() {
102
- return {
103
- configuration: {
104
- initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
105
- kind: "VirtualController",
106
- manufacturer: "universalrobots",
107
- type: "universalrobots-ur5e"
108
- },
109
- name: "mock-ur5"
110
- };
178
+ tcps: { Flange: {
179
+ name: "Default-Flange",
180
+ pose: {
181
+ position: [
182
+ 0,
183
+ 0,
184
+ 0
185
+ ],
186
+ orientation: [
187
+ 0,
188
+ 0,
189
+ 0
190
+ ]
111
191
  }
112
- },
113
- {
114
- method: "GET",
115
- path: "/cells/:cellId/controllers/:controllerId/state",
116
- handle() {
117
- return {
118
- mode: "MODE_CONTROL",
119
- last_error: [],
120
- timestamp: "2025-10-16T09:19:26.634534092Z",
121
- sequence_number: 1054764,
122
- controller: "mock-ur5e",
123
- operation_mode: "OPERATION_MODE_AUTO",
124
- safety_state: "SAFETY_STATE_NORMAL",
125
- velocity_override: 100,
126
- motion_groups: [{
127
- timestamp: "2025-10-16T09:19:26.634534092Z",
128
- sequence_number: 1054764,
129
- motion_group: "0@mock-ur5e",
130
- controller: "mock-ur5e",
131
- joint_position: [
132
- 1.487959623336792,
133
- -1.8501918315887451,
134
- 1.8003005981445312,
135
- 6.034560203552246,
136
- 1.4921919107437134,
137
- 1.593459963798523
138
- ],
139
- joint_limit_reached: { limit_reached: [
140
- false,
141
- false,
142
- false,
143
- false,
144
- false,
145
- false
146
- ] },
147
- joint_torque: [],
148
- joint_current: [
149
- 0,
150
- 0,
151
- 0,
152
- 0,
153
- 0,
154
- 0
155
- ],
156
- flange_pose: {
157
- position: [
158
- 107.6452433732927,
159
- -409.0402987746852,
160
- 524.2402132330305
161
- ],
162
- orientation: [
163
- .9874434028353319,
164
- -.986571714997442,
165
- 1.3336589451098142
166
- ]
192
+ } },
193
+ payloads: { "FPay-0": {
194
+ name: "FPay-0",
195
+ payload: 0,
196
+ center_of_mass: [
197
+ 0,
198
+ 0,
199
+ 0
200
+ ],
201
+ moment_of_inertia: [
202
+ 0,
203
+ 0,
204
+ 0
205
+ ]
206
+ } },
207
+ cycle_time: 8,
208
+ dh_parameters: [
209
+ {
210
+ alpha: 1.5707963267948966,
211
+ d: 162.25
212
+ },
213
+ { a: -425 },
214
+ { a: -392.2 },
215
+ {
216
+ alpha: 1.5707963267948966,
217
+ d: 133.3
218
+ },
219
+ {
220
+ alpha: -1.5707963267948966,
221
+ d: 99.7
222
+ },
223
+ { d: 99.6 }
224
+ ],
225
+ operation_limits: {
226
+ auto_limits: {
227
+ joints: [
228
+ {
229
+ position: {
230
+ lower_limit: -6.283185307179586,
231
+ upper_limit: 6.283185307179586
167
232
  },
168
- tcp: "Flange",
169
- tcp_pose: {
170
- position: [
171
- 107.6452433732927,
172
- -409.0402987746852,
173
- 524.2402132330305
174
- ],
175
- orientation: [
176
- .9874434028353319,
177
- -.986571714997442,
178
- 1.3336589451098142
179
- ]
233
+ velocity: 3.34159255027771,
234
+ acceleration: 40,
235
+ torque: 150
236
+ },
237
+ {
238
+ position: {
239
+ lower_limit: -6.283185307179586,
240
+ upper_limit: 6.283185307179586
180
241
  },
181
- payload: "",
182
- coordinate_system: "",
183
- standstill: true
184
- }]
185
- };
186
- }
187
- },
188
- {
189
- method: "GET",
190
- path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
191
- handle() {
192
- return {
193
- motion_group_model: "UniversalRobots_UR5e",
194
- mounting: {
195
- position: [
196
- 0,
197
- 0,
198
- 0
199
- ],
200
- orientation: [
201
- 0,
202
- 0,
203
- 0
204
- ]
242
+ velocity: 3.34159255027771,
243
+ acceleration: 40,
244
+ torque: 150
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+ },
246
+ {
247
+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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+ },
251
+ velocity: 3.34159255027771,
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+ acceleration: 40,
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+ torque: 150
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+ },
255
+ {
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+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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+ },
260
+ velocity: 3.34159255027771,
261
+ acceleration: 40,
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+ torque: 28
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+ },
264
+ {
265
+ position: {
266
+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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+ },
269
+ velocity: 3.34159255027771,
270
+ acceleration: 40,
271
+ torque: 28
272
+ },
273
+ {
274
+ position: {
275
+ lower_limit: -6.283185307179586,
276
+ upper_limit: 6.283185307179586
277
+ },
278
+ velocity: 3.34159255027771,
279
+ acceleration: 40,
280
+ torque: 28
281
+ }
282
+ ],
283
+ tcp: { velocity: 5e3 },
284
+ elbow: { velocity: 5e3 },
285
+ flange: { velocity: 5e3 }
286
+ },
287
+ manual_limits: {
288
+ joints: [
289
+ {
290
+ position: {
291
+ lower_limit: -6.283185307179586,
292
+ upper_limit: 6.283185307179586
293
+ },
294
+ velocity: 3.34159255027771,
295
+ acceleration: 40,
296
+ torque: 150
297
+ },
298
+ {
299
+ position: {
300
+ lower_limit: -6.283185307179586,
301
+ upper_limit: 6.283185307179586
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+ },
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+ velocity: 3.34159255027771,
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+ acceleration: 40,
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+ torque: 150
306
+ },
307
+ {
308
+ position: {
309
+ lower_limit: -6.283185307179586,
310
+ upper_limit: 6.283185307179586
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+ },
312
+ velocity: 3.34159255027771,
313
+ acceleration: 40,
314
+ torque: 150
315
+ },
316
+ {
317
+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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+ },
321
+ velocity: 3.34159255027771,
322
+ acceleration: 40,
323
+ torque: 28
205
324
  },
206
- tcps: { Flange: {
207
- name: "Default-Flange",
208
- pose: {
209
- position: [
210
- 0,
211
- 0,
212
- 0
213
- ],
214
- orientation: [
215
- 0,
216
- 0,
217
- 0
218
- ]
219
- }
220
- } },
221
- payloads: { "FPay-0": {
222
- name: "FPay-0",
223
- payload: 0,
224
- center_of_mass: [
225
- 0,
226
- 0,
227
- 0
228
- ],
229
- moment_of_inertia: [
230
- 0,
231
- 0,
232
- 0
233
- ]
234
- } },
235
- cycle_time: 8,
236
- dh_parameters: [
237
- {
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- alpha: 1.5707963267948966,
239
- d: 162.25
325
+ {
326
+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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329
  },
241
- { a: -425 },
242
- { a: -392.2 },
243
- {
244
- alpha: 1.5707963267948966,
245
- d: 133.3
330
+ velocity: 3.34159255027771,
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+ acceleration: 40,
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+ torque: 28
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+ },
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+ {
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+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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338
  },
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- {
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- alpha: -1.5707963267948966,
249
- d: 99.7
339
+ velocity: 3.34159255027771,
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+ acceleration: 40,
341
+ torque: 28
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+ }
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+ ],
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+ tcp: { velocity: 5e3 }
345
+ },
346
+ manual_t1_limits: {
347
+ joints: [
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+ {
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+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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352
  },
251
- { d: 99.6 }
252
- ],
253
- operation_limits: {
254
- auto_limits: {
255
- joints: [
256
- {
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- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
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- {
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- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
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- {
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- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
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- {
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- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
290
- torque: 28
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- },
292
- {
293
- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 28
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- },
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- {
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- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 28
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- }
310
- ],
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- tcp: { velocity: 5e3 },
312
- elbow: { velocity: 5e3 },
313
- flange: { velocity: 5e3 }
353
+ velocity: 3.34159255027771,
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+ acceleration: 40,
355
+ torque: 150
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+ },
357
+ {
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+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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361
  },
315
- manual_limits: {
316
- joints: [
317
- {
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- position: {
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- lower_limit: -6.283185307179586,
320
- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
324
- torque: 150
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- },
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- {
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- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
335
- {
336
- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
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- {
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- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 28
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- },
353
- {
354
- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 28
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- },
362
- {
363
- position: {
364
- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
367
- velocity: 3.34159255027771,
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- acceleration: 40,
369
- torque: 28
370
- }
371
- ],
372
- tcp: { velocity: 5e3 }
362
+ velocity: 3.34159255027771,
363
+ acceleration: 40,
364
+ torque: 150
365
+ },
366
+ {
367
+ position: {
368
+ lower_limit: -6.283185307179586,
369
+ upper_limit: 6.283185307179586
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370
  },
374
- manual_t1_limits: {
375
- joints: [
376
- {
377
- position: {
378
- lower_limit: -6.283185307179586,
379
- upper_limit: 6.283185307179586
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- },
381
- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
385
- {
386
- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
394
- {
395
- position: {
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- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
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- velocity: 3.34159255027771,
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- acceleration: 40,
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- torque: 150
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- },
403
- {
404
- position: {
405
- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
408
- velocity: 3.34159255027771,
409
- acceleration: 40,
410
- torque: 28
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- },
412
- {
413
- position: {
414
- lower_limit: -6.283185307179586,
415
- upper_limit: 6.283185307179586
416
- },
417
- velocity: 3.34159255027771,
418
- acceleration: 40,
419
- torque: 28
420
- },
421
- {
422
- position: {
423
- lower_limit: -6.283185307179586,
424
- upper_limit: 6.283185307179586
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- },
426
- velocity: 3.34159255027771,
427
- acceleration: 40,
428
- torque: 28
429
- }
430
- ],
431
- tcp: { velocity: 5e3 }
371
+ velocity: 3.34159255027771,
372
+ acceleration: 40,
373
+ torque: 150
374
+ },
375
+ {
376
+ position: {
377
+ lower_limit: -6.283185307179586,
378
+ upper_limit: 6.283185307179586
432
379
  },
433
- manual_t2_limits: {
434
- joints: [
435
- {
436
- position: {
437
- lower_limit: -6.283185307179586,
438
- upper_limit: 6.283185307179586
439
- },
440
- velocity: 3.34159255027771,
441
- acceleration: 40,
442
- torque: 150
443
- },
444
- {
445
- position: {
446
- lower_limit: -6.283185307179586,
447
- upper_limit: 6.283185307179586
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- },
449
- velocity: 3.34159255027771,
450
- acceleration: 40,
451
- torque: 150
452
- },
453
- {
454
- position: {
455
- lower_limit: -6.283185307179586,
456
- upper_limit: 6.283185307179586
457
- },
458
- velocity: 3.34159255027771,
459
- acceleration: 40,
460
- torque: 150
461
- },
462
- {
463
- position: {
464
- lower_limit: -6.283185307179586,
465
- upper_limit: 6.283185307179586
466
- },
467
- velocity: 3.34159255027771,
468
- acceleration: 40,
469
- torque: 28
470
- },
471
- {
472
- position: {
473
- lower_limit: -6.283185307179586,
474
- upper_limit: 6.283185307179586
475
- },
476
- velocity: 3.34159255027771,
477
- acceleration: 40,
478
- torque: 28
479
- },
480
- {
481
- position: {
482
- lower_limit: -6.283185307179586,
483
- upper_limit: 6.283185307179586
484
- },
485
- velocity: 3.34159255027771,
486
- acceleration: 40,
487
- torque: 28
488
- }
489
- ],
490
- tcp: { velocity: 5e3 }
491
- }
380
+ velocity: 3.34159255027771,
381
+ acceleration: 40,
382
+ torque: 28
492
383
  },
493
- serial_number: "WBVirtualRobot"
494
- };
384
+ {
385
+ position: {
386
+ lower_limit: -6.283185307179586,
387
+ upper_limit: 6.283185307179586
388
+ },
389
+ velocity: 3.34159255027771,
390
+ acceleration: 40,
391
+ torque: 28
392
+ },
393
+ {
394
+ position: {
395
+ lower_limit: -6.283185307179586,
396
+ upper_limit: 6.283185307179586
397
+ },
398
+ velocity: 3.34159255027771,
399
+ acceleration: 40,
400
+ torque: 28
401
+ }
402
+ ],
403
+ tcp: { velocity: 5e3 }
404
+ },
405
+ manual_t2_limits: {
406
+ joints: [
407
+ {
408
+ position: {
409
+ lower_limit: -6.283185307179586,
410
+ upper_limit: 6.283185307179586
411
+ },
412
+ velocity: 3.34159255027771,
413
+ acceleration: 40,
414
+ torque: 150
415
+ },
416
+ {
417
+ position: {
418
+ lower_limit: -6.283185307179586,
419
+ upper_limit: 6.283185307179586
420
+ },
421
+ velocity: 3.34159255027771,
422
+ acceleration: 40,
423
+ torque: 150
424
+ },
425
+ {
426
+ position: {
427
+ lower_limit: -6.283185307179586,
428
+ upper_limit: 6.283185307179586
429
+ },
430
+ velocity: 3.34159255027771,
431
+ acceleration: 40,
432
+ torque: 150
433
+ },
434
+ {
435
+ position: {
436
+ lower_limit: -6.283185307179586,
437
+ upper_limit: 6.283185307179586
438
+ },
439
+ velocity: 3.34159255027771,
440
+ acceleration: 40,
441
+ torque: 28
442
+ },
443
+ {
444
+ position: {
445
+ lower_limit: -6.283185307179586,
446
+ upper_limit: 6.283185307179586
447
+ },
448
+ velocity: 3.34159255027771,
449
+ acceleration: 40,
450
+ torque: 28
451
+ },
452
+ {
453
+ position: {
454
+ lower_limit: -6.283185307179586,
455
+ upper_limit: 6.283185307179586
456
+ },
457
+ velocity: 3.34159255027771,
458
+ acceleration: 40,
459
+ torque: 28
460
+ }
461
+ ],
462
+ tcp: { velocity: 5e3 }
495
463
  }
496
464
  },
497
- {
498
- method: "GET",
499
- path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
500
- handle() {
501
- return [{
502
- coordinate_system: "",
503
- name: "world",
504
- reference_coordinate_system: "",
505
- position: [
506
- 0,
507
- 0,
508
- 0
509
- ],
510
- orientation: [
511
- 0,
512
- 0,
513
- 0
514
- ],
515
- orientation_type: "ROTATION_VECTOR"
516
- }, {
517
- coordinate_system: "CS-0",
518
- name: "Default-CS",
519
- reference_coordinate_system: "",
520
- position: [
521
- 0,
522
- 0,
523
- 0
524
- ],
525
- orientation: [
526
- 0,
527
- 0,
528
- 0
529
- ],
530
- orientation_type: "ROTATION_VECTOR"
531
- }];
465
+ serial_number: "WBVirtualRobot"
466
+ };
467
+ }
468
+ };
469
+
470
+ //#endregion
471
+ //#region src/lib/v2/mock/getMotionGroupKinematicModel.ts
472
+ const getMotionGroupKinematicModel = {
473
+ method: "GET",
474
+ path: "/motion-group-models/:motionGroupModel/kinematic",
475
+ handle() {
476
+ return {
477
+ dh_parameters: [
478
+ {
479
+ alpha: 1.5707963267948966,
480
+ theta: 0,
481
+ a: 0,
482
+ d: 162.25,
483
+ reverse_rotation_direction: false
484
+ },
485
+ {
486
+ alpha: 0,
487
+ theta: 0,
488
+ a: -425,
489
+ d: 0,
490
+ reverse_rotation_direction: false
491
+ },
492
+ {
493
+ alpha: 0,
494
+ theta: 0,
495
+ a: -392.2,
496
+ d: 0,
497
+ reverse_rotation_direction: false
498
+ },
499
+ {
500
+ alpha: 1.5707963267948966,
501
+ theta: 0,
502
+ a: 0,
503
+ d: 133.3,
504
+ reverse_rotation_direction: false
505
+ },
506
+ {
507
+ alpha: -1.5707963267948966,
508
+ theta: 0,
509
+ a: 0,
510
+ d: 99.7,
511
+ reverse_rotation_direction: false
512
+ },
513
+ {
514
+ alpha: 0,
515
+ theta: 0,
516
+ a: 0,
517
+ d: 99.6,
518
+ reverse_rotation_direction: false
532
519
  }
533
- }
520
+ ],
521
+ inverse_solver: "Universalrobots"
522
+ };
523
+ }
524
+ };
525
+
526
+ //#endregion
527
+ //#region src/lib/v2/mock/getRobotController.ts
528
+ const getRobotController = {
529
+ method: "GET",
530
+ path: "/cells/:cellId/controllers/:controllerId",
531
+ handle() {
532
+ return {
533
+ configuration: {
534
+ initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
535
+ kind: "VirtualController",
536
+ manufacturer: "universalrobots",
537
+ type: "universalrobots-ur5e"
538
+ },
539
+ name: "mock-ur5"
540
+ };
541
+ }
542
+ };
543
+
544
+ //#endregion
545
+ //#region src/lib/v2/mock/listCoordinateSystems.ts
546
+ const listCoordinateSystems = {
547
+ method: "GET",
548
+ path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
549
+ handle() {
550
+ return [{
551
+ coordinate_system: "",
552
+ name: "world",
553
+ reference_coordinate_system: "",
554
+ position: [
555
+ 0,
556
+ 0,
557
+ 0
558
+ ],
559
+ orientation: [
560
+ 0,
561
+ 0,
562
+ 0
563
+ ],
564
+ orientation_type: "ROTATION_VECTOR"
565
+ }, {
566
+ coordinate_system: "CS-0",
567
+ name: "Default-CS",
568
+ reference_coordinate_system: "",
569
+ position: [
570
+ 0,
571
+ 0,
572
+ 0
573
+ ],
574
+ orientation: [
575
+ 0,
576
+ 0,
577
+ 0
578
+ ],
579
+ orientation_type: "ROTATION_VECTOR"
580
+ }];
581
+ }
582
+ };
583
+
584
+ //#endregion
585
+ //#region src/lib/v2/mock/listRobotControllers.ts
586
+ const listRobotControllers = {
587
+ method: "GET",
588
+ path: "/cells/:cellId/controllers",
589
+ handle() {
590
+ return ["mock-ur5e"];
591
+ }
592
+ };
593
+
594
+ //#endregion
595
+ //#region src/lib/v2/mock/MockNovaInstance.ts
596
+ /**
597
+ * Ultra-simplified mock Nova server for testing stuff
598
+ */
599
+ var MockNovaInstance = class {
600
+ constructor() {
601
+ this.connections = [];
602
+ }
603
+ async handleAPIRequest(config) {
604
+ const apiHandlers = [
605
+ listRobotControllers,
606
+ getRobotController,
607
+ getMotionGroupDescription,
608
+ getCurrentRobotControllerState,
609
+ listCoordinateSystems,
610
+ getMotionGroupKinematicModel
534
611
  ];
535
612
  const method = config.method?.toUpperCase() || "GET";
536
- const path = `/cells${config.url?.split("/cells")[1]?.split("?")[0]}`;
613
+ if (!config.url) throw new Error("No url sent with request");
614
+ const path = config.url;
537
615
  for (const handler of apiHandlers) {
538
- const match = path_to_regexp.match(handler.path)(path || "");
616
+ const match = path_to_regexp.match(handler.path)(path);
539
617
  if (method === handler.method && match) {
540
618
  const json = handler.handle();
541
619
  return {