@wandelbots/nova-js 3.5.1 → 3.5.2

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.cts.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.mjs CHANGED
@@ -77,464 +77,542 @@ var NovaCellAPIClient = class {
77
77
  };
78
78
 
79
79
  //#endregion
80
- //#region src/lib/v2/mock/MockNovaInstance.ts
81
- /**
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- * Ultra-simplified mock Nova server for testing stuff
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- */
84
- var MockNovaInstance = class {
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- constructor() {
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- this.connections = [];
80
+ //#region src/lib/v2/mock/getCurrentRobotControllerState.ts
81
+ const getCurrentRobotControllerState = {
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+ method: "GET",
83
+ path: "/cells/:cellId/controllers/:controllerId/state",
84
+ handle() {
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+ return {
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+ mode: "MODE_CONTROL",
87
+ last_error: [],
88
+ timestamp: "2025-10-16T09:19:26.634534092Z",
89
+ sequence_number: 1054764,
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+ controller: "mock-ur5e",
91
+ operation_mode: "OPERATION_MODE_AUTO",
92
+ safety_state: "SAFETY_STATE_NORMAL",
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+ velocity_override: 100,
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+ motion_groups: [{
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+ timestamp: "2025-10-16T09:19:26.634534092Z",
96
+ sequence_number: 1054764,
97
+ motion_group: "0@mock-ur5e",
98
+ controller: "mock-ur5e",
99
+ joint_position: [
100
+ 1.487959623336792,
101
+ -1.8501918315887451,
102
+ 1.8003005981445312,
103
+ 6.034560203552246,
104
+ 1.4921919107437134,
105
+ 1.593459963798523
106
+ ],
107
+ joint_limit_reached: { limit_reached: [
108
+ false,
109
+ false,
110
+ false,
111
+ false,
112
+ false,
113
+ false
114
+ ] },
115
+ joint_torque: [],
116
+ joint_current: [
117
+ 0,
118
+ 0,
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 0
123
+ ],
124
+ flange_pose: {
125
+ position: [
126
+ 107.6452433732927,
127
+ -409.0402987746852,
128
+ 524.2402132330305
129
+ ],
130
+ orientation: [
131
+ .9874434028353319,
132
+ -.986571714997442,
133
+ 1.3336589451098142
134
+ ]
135
+ },
136
+ tcp: "Flange",
137
+ tcp_pose: {
138
+ position: [
139
+ 107.6452433732927,
140
+ -409.0402987746852,
141
+ 524.2402132330305
142
+ ],
143
+ orientation: [
144
+ .9874434028353319,
145
+ -.986571714997442,
146
+ 1.3336589451098142
147
+ ]
148
+ },
149
+ payload: "",
150
+ coordinate_system: "",
151
+ standstill: true
152
+ }]
153
+ };
87
154
  }
88
- async handleAPIRequest(config) {
89
- const apiHandlers = [
90
- {
91
- method: "GET",
92
- path: "/cells/:cellId/controllers",
93
- handle() {
94
- return ["mock-ur5e"];
95
- }
155
+ };
156
+
157
+ //#endregion
158
+ //#region src/lib/v2/mock/getMotionGroupDescription.ts
159
+ const getMotionGroupDescription = {
160
+ method: "GET",
161
+ path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
162
+ handle() {
163
+ return {
164
+ motion_group_model: "UniversalRobots_UR5e",
165
+ mounting: {
166
+ position: [
167
+ 0,
168
+ 0,
169
+ 0
170
+ ],
171
+ orientation: [
172
+ 0,
173
+ 0,
174
+ 0
175
+ ]
96
176
  },
97
- {
98
- method: "GET",
99
- path: "/cells/:cellId/controllers/:controllerId",
100
- handle() {
101
- return {
102
- configuration: {
103
- initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
104
- kind: "VirtualController",
105
- manufacturer: "universalrobots",
106
- type: "universalrobots-ur5e"
107
- },
108
- name: "mock-ur5"
109
- };
177
+ tcps: { Flange: {
178
+ name: "Default-Flange",
179
+ pose: {
180
+ position: [
181
+ 0,
182
+ 0,
183
+ 0
184
+ ],
185
+ orientation: [
186
+ 0,
187
+ 0,
188
+ 0
189
+ ]
110
190
  }
111
- },
112
- {
113
- method: "GET",
114
- path: "/cells/:cellId/controllers/:controllerId/state",
115
- handle() {
116
- return {
117
- mode: "MODE_CONTROL",
118
- last_error: [],
119
- timestamp: "2025-10-16T09:19:26.634534092Z",
120
- sequence_number: 1054764,
121
- controller: "mock-ur5e",
122
- operation_mode: "OPERATION_MODE_AUTO",
123
- safety_state: "SAFETY_STATE_NORMAL",
124
- velocity_override: 100,
125
- motion_groups: [{
126
- timestamp: "2025-10-16T09:19:26.634534092Z",
127
- sequence_number: 1054764,
128
- motion_group: "0@mock-ur5e",
129
- controller: "mock-ur5e",
130
- joint_position: [
131
- 1.487959623336792,
132
- -1.8501918315887451,
133
- 1.8003005981445312,
134
- 6.034560203552246,
135
- 1.4921919107437134,
136
- 1.593459963798523
137
- ],
138
- joint_limit_reached: { limit_reached: [
139
- false,
140
- false,
141
- false,
142
- false,
143
- false,
144
- false
145
- ] },
146
- joint_torque: [],
147
- joint_current: [
148
- 0,
149
- 0,
150
- 0,
151
- 0,
152
- 0,
153
- 0
154
- ],
155
- flange_pose: {
156
- position: [
157
- 107.6452433732927,
158
- -409.0402987746852,
159
- 524.2402132330305
160
- ],
161
- orientation: [
162
- .9874434028353319,
163
- -.986571714997442,
164
- 1.3336589451098142
165
- ]
191
+ } },
192
+ payloads: { "FPay-0": {
193
+ name: "FPay-0",
194
+ payload: 0,
195
+ center_of_mass: [
196
+ 0,
197
+ 0,
198
+ 0
199
+ ],
200
+ moment_of_inertia: [
201
+ 0,
202
+ 0,
203
+ 0
204
+ ]
205
+ } },
206
+ cycle_time: 8,
207
+ dh_parameters: [
208
+ {
209
+ alpha: 1.5707963267948966,
210
+ d: 162.25
211
+ },
212
+ { a: -425 },
213
+ { a: -392.2 },
214
+ {
215
+ alpha: 1.5707963267948966,
216
+ d: 133.3
217
+ },
218
+ {
219
+ alpha: -1.5707963267948966,
220
+ d: 99.7
221
+ },
222
+ { d: 99.6 }
223
+ ],
224
+ operation_limits: {
225
+ auto_limits: {
226
+ joints: [
227
+ {
228
+ position: {
229
+ lower_limit: -6.283185307179586,
230
+ upper_limit: 6.283185307179586
166
231
  },
167
- tcp: "Flange",
168
- tcp_pose: {
169
- position: [
170
- 107.6452433732927,
171
- -409.0402987746852,
172
- 524.2402132330305
173
- ],
174
- orientation: [
175
- .9874434028353319,
176
- -.986571714997442,
177
- 1.3336589451098142
178
- ]
232
+ velocity: 3.34159255027771,
233
+ acceleration: 40,
234
+ torque: 150
235
+ },
236
+ {
237
+ position: {
238
+ lower_limit: -6.283185307179586,
239
+ upper_limit: 6.283185307179586
179
240
  },
180
- payload: "",
181
- coordinate_system: "",
182
- standstill: true
183
- }]
184
- };
185
- }
186
- },
187
- {
188
- method: "GET",
189
- path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
190
- handle() {
191
- return {
192
- motion_group_model: "UniversalRobots_UR5e",
193
- mounting: {
194
- position: [
195
- 0,
196
- 0,
197
- 0
198
- ],
199
- orientation: [
200
- 0,
201
- 0,
202
- 0
203
- ]
241
+ 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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+ },
254
+ {
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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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+ },
263
+ {
264
+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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+ },
268
+ velocity: 3.34159255027771,
269
+ acceleration: 40,
270
+ torque: 28
271
+ },
272
+ {
273
+ position: {
274
+ lower_limit: -6.283185307179586,
275
+ upper_limit: 6.283185307179586
276
+ },
277
+ velocity: 3.34159255027771,
278
+ acceleration: 40,
279
+ torque: 28
280
+ }
281
+ ],
282
+ tcp: { velocity: 5e3 },
283
+ elbow: { velocity: 5e3 },
284
+ flange: { velocity: 5e3 }
285
+ },
286
+ manual_limits: {
287
+ joints: [
288
+ {
289
+ position: {
290
+ lower_limit: -6.283185307179586,
291
+ upper_limit: 6.283185307179586
292
+ },
293
+ velocity: 3.34159255027771,
294
+ acceleration: 40,
295
+ torque: 150
296
+ },
297
+ {
298
+ position: {
299
+ lower_limit: -6.283185307179586,
300
+ 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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+ },
306
+ {
307
+ 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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+ },
315
+ {
316
+ position: {
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+ lower_limit: -6.283185307179586,
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+ upper_limit: 6.283185307179586
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+ },
320
+ velocity: 3.34159255027771,
321
+ acceleration: 40,
322
+ torque: 28
204
323
  },
205
- tcps: { Flange: {
206
- name: "Default-Flange",
207
- pose: {
208
- position: [
209
- 0,
210
- 0,
211
- 0
212
- ],
213
- orientation: [
214
- 0,
215
- 0,
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- 0
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- ]
218
- }
219
- } },
220
- payloads: { "FPay-0": {
221
- name: "FPay-0",
222
- payload: 0,
223
- center_of_mass: [
224
- 0,
225
- 0,
226
- 0
227
- ],
228
- moment_of_inertia: [
229
- 0,
230
- 0,
231
- 0
232
- ]
233
- } },
234
- cycle_time: 8,
235
- dh_parameters: [
236
- {
237
- alpha: 1.5707963267948966,
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- d: 162.25
324
+ {
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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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328
  },
240
- { a: -425 },
241
- { a: -392.2 },
242
- {
243
- alpha: 1.5707963267948966,
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- d: 133.3
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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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337
  },
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- {
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- alpha: -1.5707963267948966,
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- d: 99.7
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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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+ tcp: { velocity: 5e3 }
344
+ },
345
+ manual_t1_limits: {
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+ 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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351
  },
250
- { d: 99.6 }
251
- ],
252
- operation_limits: {
253
- auto_limits: {
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- joints: [
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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- },
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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,
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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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- },
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- {
301
- 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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- tcp: { velocity: 5e3 },
311
- elbow: { velocity: 5e3 },
312
- flange: { velocity: 5e3 }
352
+ velocity: 3.34159255027771,
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+ acceleration: 40,
354
+ torque: 150
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+ },
356
+ {
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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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360
  },
314
- manual_limits: {
315
- joints: [
316
- {
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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,
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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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- },
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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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- }
370
- ],
371
- tcp: { velocity: 5e3 }
361
+ velocity: 3.34159255027771,
362
+ acceleration: 40,
363
+ torque: 150
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+ },
365
+ {
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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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369
  },
373
- manual_t1_limits: {
374
- joints: [
375
- {
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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,
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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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- },
416
- velocity: 3.34159255027771,
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- acceleration: 40,
418
- torque: 28
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- },
420
- {
421
- position: {
422
- lower_limit: -6.283185307179586,
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- upper_limit: 6.283185307179586
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- },
425
- velocity: 3.34159255027771,
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- acceleration: 40,
427
- torque: 28
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- }
429
- ],
430
- tcp: { velocity: 5e3 }
370
+ velocity: 3.34159255027771,
371
+ acceleration: 40,
372
+ torque: 150
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+ },
374
+ {
375
+ position: {
376
+ lower_limit: -6.283185307179586,
377
+ upper_limit: 6.283185307179586
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378
  },
432
- manual_t2_limits: {
433
- joints: [
434
- {
435
- position: {
436
- lower_limit: -6.283185307179586,
437
- upper_limit: 6.283185307179586
438
- },
439
- velocity: 3.34159255027771,
440
- acceleration: 40,
441
- torque: 150
442
- },
443
- {
444
- position: {
445
- lower_limit: -6.283185307179586,
446
- upper_limit: 6.283185307179586
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- },
448
- velocity: 3.34159255027771,
449
- acceleration: 40,
450
- torque: 150
451
- },
452
- {
453
- position: {
454
- lower_limit: -6.283185307179586,
455
- upper_limit: 6.283185307179586
456
- },
457
- velocity: 3.34159255027771,
458
- acceleration: 40,
459
- torque: 150
460
- },
461
- {
462
- position: {
463
- lower_limit: -6.283185307179586,
464
- upper_limit: 6.283185307179586
465
- },
466
- velocity: 3.34159255027771,
467
- acceleration: 40,
468
- torque: 28
469
- },
470
- {
471
- position: {
472
- lower_limit: -6.283185307179586,
473
- upper_limit: 6.283185307179586
474
- },
475
- velocity: 3.34159255027771,
476
- acceleration: 40,
477
- torque: 28
478
- },
479
- {
480
- position: {
481
- lower_limit: -6.283185307179586,
482
- upper_limit: 6.283185307179586
483
- },
484
- velocity: 3.34159255027771,
485
- acceleration: 40,
486
- torque: 28
487
- }
488
- ],
489
- tcp: { velocity: 5e3 }
490
- }
379
+ velocity: 3.34159255027771,
380
+ acceleration: 40,
381
+ torque: 28
491
382
  },
492
- serial_number: "WBVirtualRobot"
493
- };
383
+ {
384
+ position: {
385
+ lower_limit: -6.283185307179586,
386
+ upper_limit: 6.283185307179586
387
+ },
388
+ velocity: 3.34159255027771,
389
+ acceleration: 40,
390
+ torque: 28
391
+ },
392
+ {
393
+ position: {
394
+ lower_limit: -6.283185307179586,
395
+ upper_limit: 6.283185307179586
396
+ },
397
+ velocity: 3.34159255027771,
398
+ acceleration: 40,
399
+ torque: 28
400
+ }
401
+ ],
402
+ tcp: { velocity: 5e3 }
403
+ },
404
+ manual_t2_limits: {
405
+ joints: [
406
+ {
407
+ position: {
408
+ lower_limit: -6.283185307179586,
409
+ upper_limit: 6.283185307179586
410
+ },
411
+ velocity: 3.34159255027771,
412
+ acceleration: 40,
413
+ torque: 150
414
+ },
415
+ {
416
+ position: {
417
+ lower_limit: -6.283185307179586,
418
+ upper_limit: 6.283185307179586
419
+ },
420
+ velocity: 3.34159255027771,
421
+ acceleration: 40,
422
+ torque: 150
423
+ },
424
+ {
425
+ position: {
426
+ lower_limit: -6.283185307179586,
427
+ upper_limit: 6.283185307179586
428
+ },
429
+ velocity: 3.34159255027771,
430
+ acceleration: 40,
431
+ torque: 150
432
+ },
433
+ {
434
+ position: {
435
+ lower_limit: -6.283185307179586,
436
+ upper_limit: 6.283185307179586
437
+ },
438
+ velocity: 3.34159255027771,
439
+ acceleration: 40,
440
+ torque: 28
441
+ },
442
+ {
443
+ position: {
444
+ lower_limit: -6.283185307179586,
445
+ upper_limit: 6.283185307179586
446
+ },
447
+ velocity: 3.34159255027771,
448
+ acceleration: 40,
449
+ torque: 28
450
+ },
451
+ {
452
+ position: {
453
+ lower_limit: -6.283185307179586,
454
+ upper_limit: 6.283185307179586
455
+ },
456
+ velocity: 3.34159255027771,
457
+ acceleration: 40,
458
+ torque: 28
459
+ }
460
+ ],
461
+ tcp: { velocity: 5e3 }
494
462
  }
495
463
  },
496
- {
497
- method: "GET",
498
- path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
499
- handle() {
500
- return [{
501
- coordinate_system: "",
502
- name: "world",
503
- reference_coordinate_system: "",
504
- position: [
505
- 0,
506
- 0,
507
- 0
508
- ],
509
- orientation: [
510
- 0,
511
- 0,
512
- 0
513
- ],
514
- orientation_type: "ROTATION_VECTOR"
515
- }, {
516
- coordinate_system: "CS-0",
517
- name: "Default-CS",
518
- reference_coordinate_system: "",
519
- position: [
520
- 0,
521
- 0,
522
- 0
523
- ],
524
- orientation: [
525
- 0,
526
- 0,
527
- 0
528
- ],
529
- orientation_type: "ROTATION_VECTOR"
530
- }];
464
+ serial_number: "WBVirtualRobot"
465
+ };
466
+ }
467
+ };
468
+
469
+ //#endregion
470
+ //#region src/lib/v2/mock/getMotionGroupKinematicModel.ts
471
+ const getMotionGroupKinematicModel = {
472
+ method: "GET",
473
+ path: "/motion-group-models/:motionGroupModel/kinematic",
474
+ handle() {
475
+ return {
476
+ dh_parameters: [
477
+ {
478
+ alpha: 1.5707963267948966,
479
+ theta: 0,
480
+ a: 0,
481
+ d: 162.25,
482
+ reverse_rotation_direction: false
483
+ },
484
+ {
485
+ alpha: 0,
486
+ theta: 0,
487
+ a: -425,
488
+ d: 0,
489
+ reverse_rotation_direction: false
490
+ },
491
+ {
492
+ alpha: 0,
493
+ theta: 0,
494
+ a: -392.2,
495
+ d: 0,
496
+ reverse_rotation_direction: false
497
+ },
498
+ {
499
+ alpha: 1.5707963267948966,
500
+ theta: 0,
501
+ a: 0,
502
+ d: 133.3,
503
+ reverse_rotation_direction: false
504
+ },
505
+ {
506
+ alpha: -1.5707963267948966,
507
+ theta: 0,
508
+ a: 0,
509
+ d: 99.7,
510
+ reverse_rotation_direction: false
511
+ },
512
+ {
513
+ alpha: 0,
514
+ theta: 0,
515
+ a: 0,
516
+ d: 99.6,
517
+ reverse_rotation_direction: false
531
518
  }
532
- }
519
+ ],
520
+ inverse_solver: "Universalrobots"
521
+ };
522
+ }
523
+ };
524
+
525
+ //#endregion
526
+ //#region src/lib/v2/mock/getRobotController.ts
527
+ const getRobotController = {
528
+ method: "GET",
529
+ path: "/cells/:cellId/controllers/:controllerId",
530
+ handle() {
531
+ return {
532
+ configuration: {
533
+ initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
534
+ kind: "VirtualController",
535
+ manufacturer: "universalrobots",
536
+ type: "universalrobots-ur5e"
537
+ },
538
+ name: "mock-ur5"
539
+ };
540
+ }
541
+ };
542
+
543
+ //#endregion
544
+ //#region src/lib/v2/mock/listCoordinateSystems.ts
545
+ const listCoordinateSystems = {
546
+ method: "GET",
547
+ path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
548
+ handle() {
549
+ return [{
550
+ coordinate_system: "",
551
+ name: "world",
552
+ reference_coordinate_system: "",
553
+ position: [
554
+ 0,
555
+ 0,
556
+ 0
557
+ ],
558
+ orientation: [
559
+ 0,
560
+ 0,
561
+ 0
562
+ ],
563
+ orientation_type: "ROTATION_VECTOR"
564
+ }, {
565
+ coordinate_system: "CS-0",
566
+ name: "Default-CS",
567
+ reference_coordinate_system: "",
568
+ position: [
569
+ 0,
570
+ 0,
571
+ 0
572
+ ],
573
+ orientation: [
574
+ 0,
575
+ 0,
576
+ 0
577
+ ],
578
+ orientation_type: "ROTATION_VECTOR"
579
+ }];
580
+ }
581
+ };
582
+
583
+ //#endregion
584
+ //#region src/lib/v2/mock/listRobotControllers.ts
585
+ const listRobotControllers = {
586
+ method: "GET",
587
+ path: "/cells/:cellId/controllers",
588
+ handle() {
589
+ return ["mock-ur5e"];
590
+ }
591
+ };
592
+
593
+ //#endregion
594
+ //#region src/lib/v2/mock/MockNovaInstance.ts
595
+ /**
596
+ * Ultra-simplified mock Nova server for testing stuff
597
+ */
598
+ var MockNovaInstance = class {
599
+ constructor() {
600
+ this.connections = [];
601
+ }
602
+ async handleAPIRequest(config) {
603
+ const apiHandlers = [
604
+ listRobotControllers,
605
+ getRobotController,
606
+ getMotionGroupDescription,
607
+ getCurrentRobotControllerState,
608
+ listCoordinateSystems,
609
+ getMotionGroupKinematicModel
533
610
  ];
534
611
  const method = config.method?.toUpperCase() || "GET";
535
- const path = `/cells${config.url?.split("/cells")[1]?.split("?")[0]}`;
612
+ if (!config.url) throw new Error("No url sent with request");
613
+ const path = config.url;
536
614
  for (const handler of apiHandlers) {
537
- const match = pathToRegexp.match(handler.path)(path || "");
615
+ const match = pathToRegexp.match(handler.path)(path);
538
616
  if (method === handler.method && match) {
539
617
  const json = handler.handle();
540
618
  return {