@wandelbots/nova-js 3.6.0 → 3.6.1-pr.270.eacef99

package/dist/{NovaClient-36BPI1Yp.d.cts → NovaClient-TJ7Bua4l.d.mts}

@@ -1,8 +1,7 @@
-import { r as MockNovaInstance, t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-COmdtugu.cjs";
+import { r as MockNovaInstance, t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-9Of5_BJe.mjs";
 import { AxiosInstance } from "axios";
-import * as _wandelbots_nova_api_v10 from "@wandelbots/nova-api/v1";
-import { ApplicationApi, CellApi, Configuration, ControllerApi, ControllerIOsApi, ControllerInstance, CoordinateSystemsApi, DeviceConfigurationApi, Joints, LibraryProgramApi, LibraryProgramMetadataApi, LibraryRecipeApi, LibraryRecipeMetadataApi, MotionApi, MotionGroupApi, MotionGroupInfosApi, MotionGroupJoggingApi, MotionGroupKinematicApi, MotionGroupPhysical, MotionGroupSpecification, MotionGroupStateResponse, Mounting, Pose, ProgramApi, ProgramValuesApi, RobotControllerState, RobotTcp, SafetySetup, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, TcpPose, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v1";
 import * as THREE from "three";
+import { ApplicationApi, CellApi, Configuration, ControllerApi, ControllerIOsApi, ControllerInstance, CoordinateSystemsApi, DeviceConfigurationApi, Joints, LibraryProgramApi, LibraryProgramMetadataApi, LibraryRecipeApi, LibraryRecipeMetadataApi, MotionApi, MotionGroupApi, MotionGroupInfosApi, MotionGroupJoggingApi, MotionGroupKinematicApi, MotionGroupPhysical, MotionGroupSpecification, MotionGroupStateResponse, Mounting, Pose, ProgramApi, ProgramValuesApi, RobotControllerState, RobotTcp, SafetySetup, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, TcpPose, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v1";
 
 //#region src/lib/v1/wandelscriptUtils.d.ts
 /**
@@ -53,8 +52,8 @@ declare class ConnectedMotionGroup {
   get joints(): {
     index: number;
   }[];
-  get dhParameters(): _wandelbots_nova_api_v10.DHParameter[] | undefined;
-  get safetyZones(): _wandelbots_nova_api_v10.SafetySetupSafetyZone[] | undefined;
+  get dhParameters(): import("@wandelbots/nova-api/v1").DHParameter[] | undefined;
+  get safetyZones(): import("@wandelbots/nova-api/v1").SafetySetupSafetyZone[] | undefined;
   /** Gets the robot mounting position offset in 3D viz coordinates */
   get mountingPosition(): [number, number, number];
   /** Gets the robot mounting position rotation in 3D viz coordinates */
@@ -344,4 +343,4 @@ declare class NovaClient {
 }
 //#endregion
 export { WithUnwrappedAxiosResponse as a, MotionStreamConnection as c, poseToWandelscriptString as d, WithCellId as i, ConnectedMotionGroup as l, NovaClientConfig as n, JoggerConnection as o, NovaCellAPIClient as r, JoggerConnectionOpts as s, NovaClient as t, MotionGroupOption as u };
-//# sourceMappingURL=NovaClient-36BPI1Yp.d.cts.map
+//# sourceMappingURL=NovaClient-TJ7Bua4l.d.mts.map

package/dist/NovaClient-TJ7Bua4l.d.mts.map

@@ -0,0 +1 @@
+{"version":3,"file":"NovaClient-TJ7Bua4l.d.mts","names":[],"sources":["../src/lib/v1/wandelscriptUtils.ts","../src/lib/v1/ConnectedMotionGroup.ts","../src/lib/v1/MotionStreamConnection.ts","../src/lib/v1/JoggerConnection.ts","../src/lib/v1/NovaCellAPIClient.ts","../src/lib/v1/NovaClient.ts"],"mappings":";;;;;;;;;;iBAMgB,wBAAA,CACd,IAAA,EAAM,IAAI,CAAC,IAAA;;;KCcD,iBAAA;EACV,WAAA;AAAA,IACE,mBAAmB;;;;cAKV,oBAAA;EAAA,SAoIA,IAAA,EAAM,UAAA;EAAA,SACN,UAAA,EAAY,kBAAA;EAAA,SACZ,WAAA,EAAa,mBAAA;EAAA,SACb,kBAAA,EAAoB,wBAAA;EAAA,SACpB,iBAAA,EAAmB,yBAAA;EAAA,SACnB,SAAA;EAAA,SACA,IAAA,EAAM,QAAA;EAAA,SACN,wBAAA,EAA0B,wBAAA;EAAA,SAC1B,WAAA,EAAa,WAAA;EAAA,SACb,QAAA,EAAU,QAAA;EAAA,SACV,sBAAA,EAAwB,oBAAA;EAAA,SACxB,qBAAA,EAAuB,yBAAA;EAAA,OA9IrB,OAAA,CACX,IAAA,EAAM,UAAA,EACN,aAAA,UACA,WAAA,EAAa,kBAAA,KAAoB,OAAA,CAAA,oBAAA;EA0GnC,+BAAA,EAAiC,SAAA;EACjC,4BAAA,EAA8B,SAAA;EAE9B,QAAA;EACA,eAAA;EAIA,0BAAA,EAA4B,wBAAA;EAI5B,eAAA,EAAiB,oBAAA;EAca;;;;EAR9B,eAAA;cAIW,IAAA,EAAM,UAAA,EACN,UAAA,EAAY,kBAAA,EACZ,WAAA,EAAa,mBAAA,EACb,kBAAA,EAAoB,wBAAA,EACpB,iBAAA,EAAmB,yBAAA,EACnB,SAAA,WACA,IAAA,EAAM,QAAA,IACN,wBAAA,EAA0B,wBAAA,EAC1B,WAAA,EAAa,WAAA,EACb,QAAA,EAAU,QAAA,SACV,sBAAA,EAAwB,oBAAA,EACxB,qBAAA,EAAuB,yBAAA;EAAA,IA2D9B,aAAA,CAAA;EAAA,IAIA,YAAA,CAAA;EAAA,IAIA,mBAAA,CAAA;EAAA,IAIA,sBAAA,CAAA;EAlN+B;EAAA,IAwN/B,mBAAA,CAAA;EAAA,IAIA,MAAA,CAAA;;;MAQA,YAAA,CAAA,qCAAY,WAAA;EAAA,IAIZ,WAAA,CAAA,qCAAW,qBAAA;EAtGS;EAAA,IA2GpB,gBAAA,CAAA;EAzG0B;EAAA,IAsH1B,kBAAA,CAAA,GAAkB,KAAA,CAAA,UAAA;EAnHe;;;;EAAA,IAoIjC,aAAA,CAAA;EAjBkB;;;;EAAA,IA8BlB,qBAAA,CAAA;EAxJO;;;EAAA,IAoKP,uBAAA,CAAA;EAlKO;;;;EAAA,IAiLP,UAAA,CAAA;EAQE,UAAA,CAAA,GAAU,OAAA;EA2BV,QAAA,CAAA,GAAQ,OAAA;EA2Bd,gBAAA,CAAA;EAQA,OAAA,CAAA;EAQA,kBAAA,CAAmB,QAAA;AAAA;;;;;AD3ZrB;cEoDa,sBAAA;EAAA,SAqDA,IAAA,EAAM,UAAA;EAAA,SACN,UAAA,EAAY,kBAAA;EAAA,SACZ,WAAA,EAAa,mBAAA;EAAA,SACb,kBAAA,EAAoB,wBAAA;EAAA,SACpB,iBAAA,EAAmB,yBAAA;EAAA,OAxDjB,IAAA,CAAK,IAAA,EAAM,UAAA,EAAY,aAAA,WAAqB,OAAA,CAAA,sBAAA;EAiDzD,0BAAA,EAA4B,wBAAA;cAGjB,IAAA,EAAM,UAAA,EACN,UAAA,EAAY,kBAAA,EACZ,WAAA,EAAa,mBAAA,EACb,kBAAA,EAAoB,wBAAA,EACpB,iBAAA,EAAmB,yBAAA;EAAA,IA0D1B,aAAA,CAAA;EAAA,IAIA,YAAA,CAAA;EAAA,IAIA,mBAAA,CAAA;EAAA,IAIA,sBAAA,CAAA;EAAA,IAKA,MAAA,CAAA;;;EAQJ,OAAA,CAAA;AAAA;;;KC/LU,oBAAA;;AHDZ;;;;EGOE,OAAA,IAAW,GAAY;AAAA;AAAA,cAGZ,gBAAA;EAAA,SAqBA,YAAA,EAAc,sBAAA;EAAA,SACd,IAAA,EAAM,oBAAA;EAnBjB,kBAAA,EAAoB,yBAAA;EACpB,cAAA,EAAgB,yBAAA;EAChB,oBAAA;IACE,KAAA;IACA,aAAA;EAAA;EAAA,OAGW,IAAA,CACX,IAAA,EAAM,UAAA,EACN,aAAA,UACA,IAAA,GAAM,oBAAA,GAAyB,OAAA,CAAA,gBAAA;cAQtB,YAAA,EAAc,sBAAA,EACd,IAAA,GAAM,oBAAA;EAAA,IAGb,aAAA,CAAA;EAAA,IAIA,IAAA,CAAA,GAAI,UAAA;EAAA,IAIJ,SAAA,CAAA;EAAA,IAIA,iBAAA,CAAA;EAAA,IAMA,eAAA,CAAA,GAAe,yBAAA;EAIb,IAAA,CAAA,GAAI,OAAA;EAyBV,OAAA,CAAA;EAUA,cAAA,CACE,IAAA,uCACA,oBAAA;IACE,KAAA;IACA,aAAA;EAAA;EFmEiB;;;EEGf,kBAAA,CAAA;IACJ,KAAA;IACA,SAAA;IACA;EAAA;IF/Ia,mCEkJb,KAAA,UFlJiC;IEoJjC,SAAA,aFzC4B;IE2C5B,kBAAA;EAAA,IACD,OAAA;EFvBgB;;;EE4CX,mBAAA,CAAA;IACJ,IAAA;IACA,SAAA;IACA;EAAA;IAEA,IAAA;IACA,SAAA;IACA,gBAAA;EAAA,IACD,OAAA;EF3CoB;;;EEoEf,gBAAA,CAAA;IACJ,IAAA;IACA,SAAA;IACA;EAAA;IAEA,IAAA;IACA,SAAA;IACA,kBAAA;EAAA,IACD,OAAA;EFrFU;;;;;EEgHL,6BAAA,CAAA;IACJ,cAAA;IACA,aAAA;IACA,aAAA;IACA,uBAAA;IACA,IAAA;IACA,SAAA;IACA;EAAA;IAEA,cAAA,EAAgB,OAAA;IAChB,aAAA,EAAe,MAAA;IACf,aAAA;IACA,uBAAA;IACA,IAAA;IACA,SAAA;IACA,MAAA;MAEM,IAAA;MACA,YAAA;IAAA;MAGA,IAAA;MACA,UAAA;IAAA;EAAA,IAEP,OAAA;EF9HkC;;;;EE8P7B,2BAAA,CAAA;IACJ,KAAA;IACA,aAAA;IACA,kBAAA;IACA,SAAA;IACA;EAAA;IAEA,KAAA;IACA,aAAA,EAAe,MAAA;IACf,kBAAA;IACA,SAAA;IACA,YAAA;EAAA,IACD,OAAA;AAAA;;;KChZE,YAAA,MAAkB,CAAA,WAAW,CAAA,UAAW,IAAA,6BACrC,IAAA,EAAM,CAAA,KAAM,CAAA;AAAA,KAGf,yBAAA,MAA+B,CAAA,cAAc,CAAA,qBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;AAAA,KAGxD,UAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,YAAA,CAAa,CAAA,CAAE,CAAA;AAAA,KAG/C,0BAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;;;;AH9B9C;cGqCa,iBAAA;EAAA,SAEA,MAAA;EAAA,SACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;cAHO,MAAA,UACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;EHoG2B;;;;;EAAA,QG3FvB,UAAA;EHkG2B;;;EAAA,QG7D3B,0BAAA;EAAA,SAkCC,MAAA,EAAM,0BAAA,CAAA,SAAA;EAAA,SACN,IAAA,EAAI,0BAAA,CAAA,OAAA;EAAA,SAEJ,YAAA,EAAY,UAAA,CAAA,sBAAA;EAAA,SAEZ,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAEhB,UAAA,EAAU,UAAA,CAAA,aAAA;EAAA,SAEV,OAAA,EAAO,UAAA,CAAA,UAAA;EAAA,SACP,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SACpB,MAAA,EAAM,UAAA,CAAA,SAAA;EAAA,SAEN,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SAEjB,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,iBAAA,EAAiB,0BAAA,CAAA,cAAA;EAAA,SAEjB,kBAAA,EAAkB,UAAA,CAAA,qBAAA;EAAA,SAElB,YAAA,EAAY,UAAA,CAAA,eAAA;EAAA,SACZ,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SACjB,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAChB,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SAEpB,sBAAA,EAAsB,UAAA,CAAA,yBAAA;EAAA,SACtB,cAAA,EAAc,UAAA,CAAA,iBAAA;EAAA,SACd,qBAAA,EAAqB,UAAA,CAAA,wBAAA;EAAA,SACrB,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,wBAAA,EAAwB,UAAA,CAAA,2BAAA;EAAA,SAGxB,oBAAA,E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package/dist/index.cjs

@@ -1,6 +1,6 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
-const require_LoginWithAuth0 = require("./LoginWithAuth0-DHgYqs1M.cjs");
-const require_NovaClient = require("./NovaClient-Db0vg1kb.cjs");
+const require_LoginWithAuth0 = require("./LoginWithAuth0-oZFpwe7m.cjs");
+const require_NovaClient = require("./NovaClient-B-QdK0HR.cjs");
 let axios = require("axios");
 //#region src/lib/errorHandling.ts
 function delay(ms) {

package/dist/index.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["tryStringifyJson"],"sources":["../src/lib/errorHandling.ts"],"sourcesContent":["import { isAxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\n/**\n * @deprecated Use makeErrorMessage instead and truncate the error for display as needed, or make a situation-specific localized error message based on a response code\n */\nexport function makeShortErrorMessage(err: unknown) {\n  return makeErrorMessage(err)\n}\n\n/**\n * Attempts to make a helpful error message from an unknown thrown error\n * or promise rejection.\n *\n * This function is mainly to aid debugging and good bug reports. For\n * expected errors encountered by end users, it's more ideal to catch\n * the specific error code and provide a localized app-specific error message.\n */\nexport function makeErrorMessage(err: unknown): string {\n  if (isAxiosError(err)) {\n    if (err.response) {\n      return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.method?.toUpperCase() || \"accessing\"} ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n    } else if (err.config) {\n      if (err.code === \"ERR_NETWORK\") {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}. This error can happen because of either connection issues or server CORS policy.`\n      } else {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}`\n      }\n    }\n  } else if (err instanceof Error) {\n    return err.message\n  } else if (typeof err === \"string\") {\n    return err\n  } else if (typeof err === \"object\") {\n    return tryStringifyJson(err) || `Unserializable object ${err}`\n  }\n\n  return `${err}`\n}\n"],"mappings":";;;;;AAGA,SAAgB,MAAM,IAAY;AAChC,QAAO,IAAI,SAAS,YAAY,WAAW,SAAS,GAAG,CAAC;;;;;AAM1D,SAAgB,sBAAsB,KAAc;AAClD,QAAO,iBAAiB,IAAI;;;;;;;;;;AAW9B,SAAgB,iBAAiB,KAAsB;AACrD,MAAA,GAAA,MAAA,cAAiB,IAAI;MACf,IAAI,SACN,QAAO,GAAG,IAAI,UAAU,OAAO,GAAG,IAAI,UAAU,WAAW,QAAQ,IAAI,UAAU,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,UAAU,OAAO,IAAI,IAAI,KAAK,UAAU,IAAI,UAAU,KAAK;WACtL,IAAI,OACb,KAAI,IAAI,SAAS,cACf,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO,IAAI;MAEhG,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO;YAGvF,eAAe,MACxB,QAAO,IAAI;UACF,OAAO,QAAQ,SACxB,QAAO;UACE,OAAO,QAAQ,SACxB,QAAOA,uBAAAA,iBAAiB,IAAI,IAAI,yBAAyB;AAG3D,QAAO,GAAG"}
+{"version":3,"file":"index.cjs","names":["tryStringifyJson"],"sources":["../src/lib/errorHandling.ts"],"sourcesContent":["import { isAxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\n/**\n * @deprecated Use makeErrorMessage instead and truncate the error for display as needed, or make a situation-specific localized error message based on a response code\n */\nexport function makeShortErrorMessage(err: unknown) {\n  return makeErrorMessage(err)\n}\n\n/**\n * Attempts to make a helpful error message from an unknown thrown error\n * or promise rejection.\n *\n * This function is mainly to aid debugging and good bug reports. For\n * expected errors encountered by end users, it's more ideal to catch\n * the specific error code and provide a localized app-specific error message.\n */\nexport function makeErrorMessage(err: unknown): string {\n  if (isAxiosError(err)) {\n    if (err.response) {\n      return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.method?.toUpperCase() || \"accessing\"} ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n    } else if (err.config) {\n      if (err.code === \"ERR_NETWORK\") {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}. This error can happen because of either connection issues or server CORS policy.`\n      } else {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}`\n      }\n    }\n  } else if (err instanceof Error) {\n    return err.message\n  } else if (typeof err === \"string\") {\n    return err\n  } else if (typeof err === \"object\") {\n    return tryStringifyJson(err) || `Unserializable object ${err}`\n  }\n\n  return `${err}`\n}\n"],"mappings":";;;;;AAGA,SAAgB,MAAM,IAAY;CAChC,OAAO,IAAI,SAAS,YAAY,WAAW,SAAS,EAAE,CAAC;AACzD;;;;AAKA,SAAgB,sBAAsB,KAAc;CAClD,OAAO,iBAAiB,GAAG;AAC7B;;;;;;;;;AAUA,SAAgB,iBAAiB,KAAsB;CACrD,KAAA,GAAA,MAAA,cAAiB,GAAG;MACd,IAAI,UACN,OAAO,GAAG,IAAI,UAAU,OAAO,GAAG,IAAI,UAAU,WAAW,QAAQ,IAAI,UAAU,OAAO,QAAQ,YAAY,KAAK,YAAY,GAAG,IAAI,UAAU,OAAO,IAAI,IAAI,KAAK,UAAU,IAAI,UAAU,IAAI;OACzL,IAAI,IAAI,QACb,IAAI,IAAI,SAAS,eACf,OAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,YAAY,KAAK,YAAY,GAAG,IAAI,OAAO,IAAI;OAEhG,OAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,YAAY,KAAK,YAAY,GAAG,IAAI,OAAO;CAAA,OAG3F,IAAI,eAAe,OACxB,OAAO,IAAI;MACN,IAAI,OAAO,QAAQ,UACxB,OAAO;MACF,IAAI,OAAO,QAAQ,UACxB,OAAOA,uBAAAA,iBAAiB,GAAG,KAAK,yBAAyB;CAG3D,OAAO,GAAG;AACZ"}

package/dist/index.d.cts

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-COmdtugu.cjs";
-import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-36BPI1Yp.cjs";
+import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-9Of5_BJe.cjs";
+import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-4PG1cMau.cjs";
 
 //#region src/lib/availableStorage.d.ts
 /**

package/dist/index.d.cts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"mappings":";;;;;;;;cAIM,gBAAA;EACJ,SAAA;EAEA,OAAA,GAAA,CAAW,GAAA,WAAc,OAAA,CAAQ,CAAA;EAajC,OAAA,CAAQ,GAAA,UAAa,GAAA;EAMrB,MAAA,CAAO,GAAA;EAMP,SAAA,CAAU,GAAA,UAAa,KAAA;EAMvB,SAAA,CAAU,GAAA;AAAA;AAAA,cAOC,gBAAA,EAAgB,gBAAA;;;KC7CjB,eAAA;;;;EAIV,MAAA;EDAoB;;;;ECKpB,aAAA;AAAA;;;;iBAMc,QAAA,CAAS,GAAA,UAAa,OAAA,GAAS,eAAA,GAAuB,GAAA;;;;iBAoBtD,WAAA,CACd,GAAA,UACA,OAAA,GAAS,eAAA,GACR,GAAA;;;;;;;iBAca,oBAAA,CAAqB,GAAA,WAAc,GAAA;ADPnD;AAAA,iBCkBgB,YAAA,CAAa,IAAA;;iBASb,gBAAA,CAAiB,IAAA;;;;;AAxEjC;iBAqFgB,kBAAA,CAAmB,GAAA,EAAK,MAAA;;iBAMxB,gBAAA,CAAiB,OAAA;;iBAKjB,gBAAA,CAAiB,OAAA;;;;;iBAQjB,sBAAA,CACd,gBAAA,sBACA,iBAAA;;;;cAWW,aAAA;;;;;;;iBClHG,KAAA,CAAM,EAAA,WAAU,OAAA;;;;iBAOhB,qBAAA,CAAsB,GAAA;;;;;;;;;iBAYtB,gBAAA,CAAiB,GAAA;;;;cCApB,cAAA,GAAkB,WAAA,EAAa,GAAA;;;;;;;;;cAc/B,cAAA,GACX,WAAA,EAAa,GAAA,KACZ,OAAA"}
+{"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"mappings":";;;;;;;;cAIM,gBAAA;EACJ,SAAA;EAEA,OAAA,GAAA,CAAW,GAAA,WAAc,OAAO,CAAC,CAAA;EAajC,OAAA,CAAQ,GAAA,UAAa,GAAA;EAMrB,MAAA,CAAO,GAAA;EAMP,SAAA,CAAU,GAAA,UAAa,KAAA;EAMvB,SAAA,CAAU,GAAA;AAAA;AAAA,cAOC,gBAAA,EAAgB,gBAAyB;;;KC7C1C,eAAA;;;;EAIV,MAAA;EDAoB;;;;ECKpB,aAAa;AAAA;;;;iBAMC,QAAA,CAAS,GAAA,UAAa,OAAA,GAAS,eAAA,GAAuB,GAAG;;;;iBAoBzD,WAAA,CACd,GAAA,UACA,OAAA,GAAS,eAAA,GACR,GAAG;;;;;;;iBAcU,oBAAA,CAAqB,GAAA,WAAc,GAAG;ADPtD;AAAA,iBCkBgB,YAAA,CAAa,IAAa;;iBAS1B,gBAAA,CAAiB,IAAa;AD3BQ;;;;AC7CtD;AD6CsD,iBCwCtC,kBAAA,CAAmB,GAA2B,EAAtB,MAAM;;iBAM9B,gBAAA,CAAiB,OAAe;AAlFjC;AAAA,iBAuFC,gBAAA,CAAiB,OAAe;;;;;iBAQhC,sBAAA,CACd,gBAAA,sBACA,iBAAqC;;;;cAW1B,aAAA;;;;;;;iBClHG,KAAA,CAAM,EAAA,WAAU,OAAA;;;;iBAOhB,qBAAA,CAAsB,GAAY;;;;;;;;;iBAYlC,gBAAA,CAAiB,GAAY;;;;cCAhC,cAAA,GAAkB,WAAA,EAAa,GAAG;;;;;;;;;cAclC,cAAA,GACX,WAAA,EAAa,GAAA,KACZ,OAAO"}

package/dist/index.d.mts

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-BgMrjNxO.mjs";
-import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-BabUDOEg.mjs";
+import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-9Of5_BJe.mjs";
+import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-TJ7Bua4l.mjs";
 
 //#region src/lib/availableStorage.d.ts
 /**

package/dist/index.d.mts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.mts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"mappings":";;;;;;;;cAIM,gBAAA;EACJ,SAAA;EAEA,OAAA,GAAA,CAAW,GAAA,WAAc,OAAA,CAAQ,CAAA;EAajC,OAAA,CAAQ,GAAA,UAAa,GAAA;EAMrB,MAAA,CAAO,GAAA;EAMP,SAAA,CAAU,GAAA,UAAa,KAAA;EAMvB,SAAA,CAAU,GAAA;AAAA;AAAA,cAOC,gBAAA,EAAgB,gBAAA;;;KC7CjB,eAAA;;;;EAIV,MAAA;EDAoB;;;;ECKpB,aAAA;AAAA;;;;iBAMc,QAAA,CAAS,GAAA,UAAa,OAAA,GAAS,eAAA,GAAuB,GAAA;;;;iBAoBtD,WAAA,CACd,GAAA,UACA,OAAA,GAAS,eAAA,GACR,GAAA;;;;;;;iBAca,oBAAA,CAAqB,GAAA,WAAc,GAAA;ADPnD;AAAA,iBCkBgB,YAAA,CAAa,IAAA;;iBASb,gBAAA,CAAiB,IAAA;;;;;AAxEjC;iBAqFgB,kBAAA,CAAmB,GAAA,EAAK,MAAA;;iBAMxB,gBAAA,CAAiB,OAAA;;iBAKjB,gBAAA,CAAiB,OAAA;;;;;iBAQjB,sBAAA,CACd,gBAAA,sBACA,iBAAA;;;;cAWW,aAAA;;;;;;;iBClHG,KAAA,CAAM,EAAA,WAAU,OAAA;;;;iBAOhB,qBAAA,CAAsB,GAAA;;;;;;;;;iBAYtB,gBAAA,CAAiB,GAAA;;;;cCApB,cAAA,GAAkB,WAAA,EAAa,GAAA;;;;;;;;;cAc/B,cAAA,GACX,WAAA,EAAa,GAAA,KACZ,OAAA"}
+{"version":3,"file":"index.d.mts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"mappings":";;;;;;;;cAIM,gBAAA;EACJ,SAAA;EAEA,OAAA,GAAA,CAAW,GAAA,WAAc,OAAO,CAAC,CAAA;EAajC,OAAA,CAAQ,GAAA,UAAa,GAAA;EAMrB,MAAA,CAAO,GAAA;EAMP,SAAA,CAAU,GAAA,UAAa,KAAA;EAMvB,SAAA,CAAU,GAAA;AAAA;AAAA,cAOC,gBAAA,EAAgB,gBAAyB;;;KC7C1C,eAAA;;;;EAIV,MAAA;EDAoB;;;;ECKpB,aAAa;AAAA;;;;iBAMC,QAAA,CAAS,GAAA,UAAa,OAAA,GAAS,eAAA,GAAuB,GAAG;;;;iBAoBzD,WAAA,CACd,GAAA,UACA,OAAA,GAAS,eAAA,GACR,GAAG;;;;;;;iBAcU,oBAAA,CAAqB,GAAA,WAAc,GAAG;ADPtD;AAAA,iBCkBgB,YAAA,CAAa,IAAa;;iBAS1B,gBAAA,CAAiB,IAAa;AD3BQ;;;;AC7CtD;AD6CsD,iBCwCtC,kBAAA,CAAmB,GAA2B,EAAtB,MAAM;;iBAM9B,gBAAA,CAAiB,OAAe;AAlFjC;AAAA,iBAuFC,gBAAA,CAAiB,OAAe;;;;;iBAQhC,sBAAA,CACd,gBAAA,sBACA,iBAAqC;;;;cAW1B,aAAA;;;;;;;iBClHG,KAAA,CAAM,EAAA,WAAU,OAAA;;;;iBAOhB,qBAAA,CAAsB,GAAY;;;;;;;;;iBAYlC,gBAAA,CAAiB,GAAY;;;;cCAhC,cAAA,GAAkB,WAAA,EAAa,GAAG;;;;;;;;;cAclC,cAAA,GACX,WAAA,EAAa,GAAA,KACZ,OAAO"}

package/dist/index.mjs

@@ -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-CEUVGw1-.mjs";
-import { o as poseToWandelscriptString, t as NovaClient } from "./NovaClient-D9uLoAgV.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-DeirP_w9.mjs";
+import { o as poseToWandelscriptString, t as NovaClient } from "./NovaClient-DLElEQzc.mjs";
 import { isAxiosError } from "axios";
 //#region src/lib/errorHandling.ts
 function delay(ms) {

package/dist/index.mjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","names":[],"sources":["../src/lib/errorHandling.ts"],"sourcesContent":["import { isAxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\n/**\n * @deprecated Use makeErrorMessage instead and truncate the error for display as needed, or make a situation-specific localized error message based on a response code\n */\nexport function makeShortErrorMessage(err: unknown) {\n  return makeErrorMessage(err)\n}\n\n/**\n * Attempts to make a helpful error message from an unknown thrown error\n * or promise rejection.\n *\n * This function is mainly to aid debugging and good bug reports. For\n * expected errors encountered by end users, it's more ideal to catch\n * the specific error code and provide a localized app-specific error message.\n */\nexport function makeErrorMessage(err: unknown): string {\n  if (isAxiosError(err)) {\n    if (err.response) {\n      return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.method?.toUpperCase() || \"accessing\"} ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n    } else if (err.config) {\n      if (err.code === \"ERR_NETWORK\") {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}. This error can happen because of either connection issues or server CORS policy.`\n      } else {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}`\n      }\n    }\n  } else if (err instanceof Error) {\n    return err.message\n  } else if (typeof err === \"string\") {\n    return err\n  } else if (typeof err === \"object\") {\n    return tryStringifyJson(err) || `Unserializable object ${err}`\n  }\n\n  return `${err}`\n}\n"],"mappings":";;;;AAGA,SAAgB,MAAM,IAAY;AAChC,QAAO,IAAI,SAAS,YAAY,WAAW,SAAS,GAAG,CAAC;;;;;AAM1D,SAAgB,sBAAsB,KAAc;AAClD,QAAO,iBAAiB,IAAI;;;;;;;;;;AAW9B,SAAgB,iBAAiB,KAAsB;AACrD,KAAI,aAAa,IAAI;MACf,IAAI,SACN,QAAO,GAAG,IAAI,UAAU,OAAO,GAAG,IAAI,UAAU,WAAW,QAAQ,IAAI,UAAU,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,UAAU,OAAO,IAAI,IAAI,KAAK,UAAU,IAAI,UAAU,KAAK;WACtL,IAAI,OACb,KAAI,IAAI,SAAS,cACf,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO,IAAI;MAEhG,QAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,aAAa,IAAI,YAAY,GAAG,IAAI,OAAO;YAGvF,eAAe,MACxB,QAAO,IAAI;UACF,OAAO,QAAQ,SACxB,QAAO;UACE,OAAO,QAAQ,SACxB,QAAO,iBAAiB,IAAI,IAAI,yBAAyB;AAG3D,QAAO,GAAG"}
+{"version":3,"file":"index.mjs","names":[],"sources":["../src/lib/errorHandling.ts"],"sourcesContent":["import { isAxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\n/**\n * @deprecated Use makeErrorMessage instead and truncate the error for display as needed, or make a situation-specific localized error message based on a response code\n */\nexport function makeShortErrorMessage(err: unknown) {\n  return makeErrorMessage(err)\n}\n\n/**\n * Attempts to make a helpful error message from an unknown thrown error\n * or promise rejection.\n *\n * This function is mainly to aid debugging and good bug reports. For\n * expected errors encountered by end users, it's more ideal to catch\n * the specific error code and provide a localized app-specific error message.\n */\nexport function makeErrorMessage(err: unknown): string {\n  if (isAxiosError(err)) {\n    if (err.response) {\n      return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.method?.toUpperCase() || \"accessing\"} ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n    } else if (err.config) {\n      if (err.code === \"ERR_NETWORK\") {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}. This error can happen because of either connection issues or server CORS policy.`\n      } else {\n        return `${err.message} from ${err.config.method?.toUpperCase() || \"accessing\"} ${err.config.url}`\n      }\n    }\n  } else if (err instanceof Error) {\n    return err.message\n  } else if (typeof err === \"string\") {\n    return err\n  } else if (typeof err === \"object\") {\n    return tryStringifyJson(err) || `Unserializable object ${err}`\n  }\n\n  return `${err}`\n}\n"],"mappings":";;;;AAGA,SAAgB,MAAM,IAAY;CAChC,OAAO,IAAI,SAAS,YAAY,WAAW,SAAS,EAAE,CAAC;AACzD;;;;AAKA,SAAgB,sBAAsB,KAAc;CAClD,OAAO,iBAAiB,GAAG;AAC7B;;;;;;;;;AAUA,SAAgB,iBAAiB,KAAsB;CACrD,IAAI,aAAa,GAAG;MACd,IAAI,UACN,OAAO,GAAG,IAAI,UAAU,OAAO,GAAG,IAAI,UAAU,WAAW,QAAQ,IAAI,UAAU,OAAO,QAAQ,YAAY,KAAK,YAAY,GAAG,IAAI,UAAU,OAAO,IAAI,IAAI,KAAK,UAAU,IAAI,UAAU,IAAI;OACzL,IAAI,IAAI,QACb,IAAI,IAAI,SAAS,eACf,OAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,YAAY,KAAK,YAAY,GAAG,IAAI,OAAO,IAAI;OAEhG,OAAO,GAAG,IAAI,QAAQ,QAAQ,IAAI,OAAO,QAAQ,YAAY,KAAK,YAAY,GAAG,IAAI,OAAO;CAAA,OAG3F,IAAI,eAAe,OACxB,OAAO,IAAI;MACN,IAAI,OAAO,QAAQ,UACxB,OAAO;MACF,IAAI,OAAO,QAAQ,UACxB,OAAO,iBAAiB,GAAG,KAAK,yBAAyB;CAG3D,OAAO,GAAG;AACZ"}

package/dist/lib/v1/index.cjs

@@ -1,6 +1,6 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
-const require_LoginWithAuth0 = require("../../LoginWithAuth0-DHgYqs1M.cjs");
-const require_NovaClient = require("../../NovaClient-Db0vg1kb.cjs");
+const require_LoginWithAuth0 = require("../../LoginWithAuth0-oZFpwe7m.cjs");
+const require_NovaClient = require("../../NovaClient-B-QdK0HR.cjs");
 let axios = require("axios");
 let mobx = require("mobx");
 //#region src/lib/v1/getLatestTrajectories.ts
@@ -57,7 +57,7 @@ var ProgramStateConnection = class {
 	async handleProgramStateMessage(msg) {
 		const { runner } = msg;
 		if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
-		if (runner.state === ProgramState.Failed) {
+		if (runner.state === "failed") {
 			try {
 				const runnerState = await this.nova.api.program.getProgramRunner(runner.id);
 				const stdout = runnerState.stdout;
@@ -66,35 +66,35 @@ var ProgramStateConnection = class {
 			} catch (err) {
 				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
 			}
-			this.currentProgram.state = ProgramState.Failed;
+			this.currentProgram.state = "failed";
 			this.gotoIdleState();
-		} else if (runner.state === ProgramState.Stopped) {
+		} else if (runner.state === "stopped") {
 			try {
 				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
 				if (stdout) this.log(stdout);
-				this.currentProgram.state = ProgramState.Stopped;
+				this.currentProgram.state = "stopped";
 				this.log(`Program runner ${runner.id} stopped`);
 			} catch (err) {
 				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
 			}
 			this.gotoIdleState();
-		} else if (runner.state === ProgramState.Completed) {
+		} else if (runner.state === "completed") {
 			try {
 				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
 				if (stdout) this.log(stdout);
 				this.log(`Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`);
-				this.currentProgram.state = ProgramState.Completed;
+				this.currentProgram.state = "completed";
 			} catch (err) {
 				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
 			}
 			this.gotoIdleState();
-		} else if (runner.state === ProgramState.Running) {
-			this.currentProgram.state = ProgramState.Running;
+		} else if (runner.state === "running") {
+			this.currentProgram.state = "running";
 			this.log(`Program runner ${runner.id} now running`);
-		} else if (runner.state !== ProgramState.NotStarted) {
+		} else if (runner.state !== "not started") {
 			console.error(runner);
 			this.logError(`Program runner ${runner.id} entered unexpected state: ${runner.state}`);
-			this.currentProgram.state = ProgramState.NotStarted;
+			this.currentProgram.state = "not started";
 			this.gotoIdleState();
 		}
 	}
@@ -108,7 +108,7 @@ var ProgramStateConnection = class {
 	async executeProgram(wandelscript, initial_state, activeRobot) {
 		this.currentProgram = {
 			wandelscript,
-			state: ProgramState.NotStarted
+			state: "not started"
 		};
 		const { currentProgram: openProgram } = this;
 		if (!openProgram) return;

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

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["tryParseJson","AxiosError"],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  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+{"version":3,"file":"index.cjs","names":["tryParseJson","AxiosError"],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  }\n}\n"],"mappings":";;;;;;AAGA,IAAI,gCAA6B,IAAI,IAAI;AAEzC,eAAsB,sBACpB,WACA,aAAqB,IACrB,2BACkC;CAClC,MAAM,kBAA2C,CAAC;CAElD,IAAI;EACF,MAAM,UAAU,MAAM,UAAU,OAAO,YAAY;EACnD,MAAM,mBAAmB,IAAI,IAAI,QAAQ,OAAO;EAEhD,MAAM,eAAe,MAAM,KAAK,gBAAgB,EAAE,QAC/C,OAAO,CAAC,cAAc,IAAI,EAAE,CAC/B;EAEA,KAAK,MAAM,YAAY,cAAc;GACnC,MAAM,aAAa,MAAM,UAAU,OAAO,oBACxC,UACA,YACA,yBACF;GACA,gBAAgB,KAAK,UAAU;EACjC;EAEA,gBAAgB;CAClB,SAAS,OAAO;EACd,QAAQ,MAAM,sCAAsC,KAAK;CAC3D;CAEA,OAAO;AACT;;;ACpBA,IAAY,eAAL,yBAAA,cAAA;CACL,aAAA,gBAAA;CACA,aAAA,aAAA;CACA,aAAA,aAAA;CACA,aAAA,YAAA;CACA,aAAA,eAAA;;AACF,EAAA,CAAA,CAAA;;;;;AAsBA,IAAa,yBAAb,MAAoC;CASlC,YAAY,MAA2B;EAAlB,KAAA,OAAA;wBARY,CAAC;cACF,CAAC;wBAEhB;2CACmB;EAKlC,CAAA,GAAA,KAAA,oBAAmB,MAAM,CAAC,GAAG,EAAE,UAAU,KAAK,CAAC;EAE/C,KAAK,qBAAqB,KAAK,0BAA0B,iBAAiB;EAE1E,KAAK,mBAAmB,iBAAiB,YAAY,OAAO;GAC1D,MAAM,MAAMA,uBAAAA,aAAa,GAAG,IAAI;GAEhC,IAAI,CAAC,KAAK;IACR,QAAQ,MAAM,yCAAyC,GAAG,IAAI;IAC9D;GACF;GACA,IAAI,IAAI,SAAS,UACf,KAAK,0BAA0B,GAAG;EAEtC,CAAC;CACH;;CAGA,MAAM,0BAA0B,KAA0B;EACxD,MAAM,EAAE,WAAW;EAInB,IAAI,OAAO,OAAO,KAAK,mCAAmC;EAE1D,IAAI,OAAO,UAAA,UAA+B;GACxC,IAAI;IACF,MAAM,cAAc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT;IAIA,MAAM,SAAS,YAAY;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,SACH,kBAAkB,OAAO,GAAG,sBAAsB,YAAY,MAAM,IAAI,YAAY,WACtF;GACF,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,eAAe,QAAA;GAEpB,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAGjB,KAAK,eAAe,QAAA;IACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,SAAS;GAChD,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,aAAkC;GAClD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,IACH,kBAAkB,OAAO,GAAG,4BAA4B,OAAO,gBAAgB,QAAQ,CAAC,EAAE,SAC5F;IAEA,KAAK,eAAe,QAAA;GACtB,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,KAAK,eAAe,QAAA;GACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,aAAa;EACpD,OAAO,IAAI,OAAO,UAAA,eAAmC;GACnD,QAAQ,MAAM,MAAM;GACpB,KAAK,SACH,kBAAkB,OAAO,GAAG,6BAA6B,OAAO,OAClE;GACA,KAAK,eAAe,QAAA;GACpB,KAAK,cAAc;EACrB;CACF;;CAGA,gBAAgB;EACd,CAAA,GAAA,KAAA,mBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EACD,KAAK,oCAAoC;CAC3C;CAEA,MAAM,eACJ,cACA,eACA,aACA;EACA,KAAK,iBAAiB;GACN;GACd,OAAA;EACF;EAEA,MAAM,EAAE,gBAAgB,gBAAgB;EACxC,IAAI,CAAC,aAAa;EAClB,CAAA,GAAA,KAAA,mBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAID,IAAI,aACF,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,mBAAmB,YACrC,YAAY,aACd;EACF,SAAS,KAAK;GACZ,QAAQ,MAAM,GAAG;EACnB;EAIF,MAAM,cAAc,YAAY,aAAc,WAAW,WAAW,EAAE;EAEtE,IAAI;GACF,MAAM,mBAAmB,MAAM,KAAK,KAAK,IAAI,QAAQ,oBACnD;IACE,MAAM;IACS;IAEf,eAAe,aAAa;GAC9B,GACA,EACE,SAAS,EACP,gBAAgB,mBAClB,EACF,CACF;GAEA,KAAK,IAAI,0BAA0B,iBAAiB,GAAG,EAAE;GACzD,CAAA,GAAA,KAAA,mBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,KAAK,oCAAoC,iBAAiB;EAC5D,SAAS,OAAO;GACd,IAAI,iBAAiBC,MAAAA,cAAc,MAAM,YAAY,MAAM,SACzD,KAAK,SACH,GAAG,MAAM,SAAS,OAAO,GAAG,MAAM,SAAS,WAAW,QAAQ,MAAM,SAAS,OAAO,IAAI,GAAG,KAAK,UAAU,MAAM,SAAS,IAAI,GAC/H;QAEA,KAAK,SAAS,KAAK,UAAU,KAAK,CAAC;GAErC,CAAA,GAAA,KAAA,mBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;EACH;CACF;CAEA,MAAM,cAAc;EAClB,IAAI,CAAC,KAAK,mCAAmC;EAC7C,CAAA,GAAA,KAAA,mBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAED,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,QAAQ,kBAC1B,KAAK,iCACP;EACF,SAAS,KAAK;GAEZ,CAAA,GAAA,KAAA,mBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,MAAM;EACR;CACF;CAEA,QAAQ;EACN,KAAK,iBAAiB,CAAC;CACzB;CAEA,IAAI,SAAiB;EACnB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;EACF,CAAC;CACH;CAEA,SAAS,SAAiB;EACxB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;GACA,OAAO;EACT,CAAC;CACH;AACF"}

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

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-COmdtugu.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-36BPI1Yp.cjs";
+import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-9Of5_BJe.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-4PG1cMau.cjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 

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

@@ -1 +1 @@
-{"version":3,"file":"index.d.cts","names":[],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"mappings":";;;;;;iBAKsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;AAAA,aAGU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;AAAA,KAGU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAA;AAAA;AAAA,KAGL,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAA;IACP,UAAA;IACA,cAAA;EAAA;AAAA;;;;;cAQS,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EAhC3B;EAmDM,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EAnD/C;EA0IT,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}
+{"version":3,"file":"index.d.cts","names":[],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"mappings":";;;;;;iBAKsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;AAAA,aAGU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;AAAA,KAGU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAY;AAAA;AAAA,KAGjB,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAY;IACnB,UAAA;IACA,cAAA;EAAA;AAAA;;;;AAvBG;cA+BM,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EAhC3B;EAmDM,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EAnD/C;EA0IT,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}

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

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-BgMrjNxO.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-BabUDOEg.mjs";
+import { t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-9Of5_BJe.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-TJ7Bua4l.mjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 

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

@@ -1 +1 @@
-{"version":3,"file":"index.d.mts","names":[],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"mappings":";;;;;;iBAKsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;AAAA,aAGU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;AAAA,KAGU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAA;AAAA;AAAA,KAGL,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAA;IACP,UAAA;IACA,cAAA;EAAA;AAAA;;;;;cAQS,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EAhC3B;EAmDM,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EAnD/C;EA0IT,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}
+{"version":3,"file":"index.d.mts","names":[],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"mappings":";;;;;;iBAKsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;AAAA,aAGU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;AAAA,KAGU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAY;AAAA;AAAA,KAGjB,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAY;IACnB,UAAA;IACA,cAAA;EAAA;AAAA;;;;AAvBG;cA+BM,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EAhC3B;EAmDM,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EAnD/C;EA0IT,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}

package/dist/lib/v1/index.mjs

@@ -1,5 +1,5 @@
-import { u as tryParseJson } from "../../LoginWithAuth0-CEUVGw1-.mjs";
-import { a as ConnectedMotionGroup, i as JoggerConnection, n as NovaCellAPIClient, o as poseToWandelscriptString, r as MotionStreamConnection, t as NovaClient } from "../../NovaClient-D9uLoAgV.mjs";
+import { u as tryParseJson } from "../../LoginWithAuth0-DeirP_w9.mjs";
+import { a as ConnectedMotionGroup, i as JoggerConnection, n as NovaCellAPIClient, o as poseToWandelscriptString, r as MotionStreamConnection, t as NovaClient } from "../../NovaClient-DLElEQzc.mjs";
 import { AxiosError } from "axios";
 import { makeAutoObservable, runInAction } from "mobx";
 export * from "@wandelbots/nova-api/v1";
@@ -57,7 +57,7 @@ var ProgramStateConnection = class {
 	async handleProgramStateMessage(msg) {
 		const { runner } = msg;
 		if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
-		if (runner.state === ProgramState.Failed) {
+		if (runner.state === "failed") {
 			try {
 				const runnerState = await this.nova.api.program.getProgramRunner(runner.id);
 				const stdout = runnerState.stdout;
@@ -66,35 +66,35 @@ var ProgramStateConnection = class {
 			} catch (err) {
 				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
 			}
-			this.currentProgram.state = ProgramState.Failed;
+			this.currentProgram.state = "failed";
 			this.gotoIdleState();
-		} else if (runner.state === ProgramState.Stopped) {
+		} else if (runner.state === "stopped") {
 			try {
 				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
 				if (stdout) this.log(stdout);
-				this.currentProgram.state = ProgramState.Stopped;
+				this.currentProgram.state = "stopped";
 				this.log(`Program runner ${runner.id} stopped`);
 			} catch (err) {
 				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
 			}
 			this.gotoIdleState();
-		} else if (runner.state === ProgramState.Completed) {
+		} else if (runner.state === "completed") {
 			try {
 				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
 				if (stdout) this.log(stdout);
 				this.log(`Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`);
-				this.currentProgram.state = ProgramState.Completed;
+				this.currentProgram.state = "completed";
 			} catch (err) {
 				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
 			}
 			this.gotoIdleState();
-		} else if (runner.state === ProgramState.Running) {
-			this.currentProgram.state = ProgramState.Running;
+		} else if (runner.state === "running") {
+			this.currentProgram.state = "running";
 			this.log(`Program runner ${runner.id} now running`);
-		} else if (runner.state !== ProgramState.NotStarted) {
+		} else if (runner.state !== "not started") {
 			console.error(runner);
 			this.logError(`Program runner ${runner.id} entered unexpected state: ${runner.state}`);
-			this.currentProgram.state = ProgramState.NotStarted;
+			this.currentProgram.state = "not started";
 			this.gotoIdleState();
 		}
 	}
@@ -108,7 +108,7 @@ var ProgramStateConnection = class {
 	async executeProgram(wandelscript, initial_state, activeRobot) {
 		this.currentProgram = {
 			wandelscript,
-			state: ProgramState.NotStarted
+			state: "not started"
 		};
 		const { currentProgram: openProgram } = this;
 		if (!openProgram) return;

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

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  }\n}\n"],"mappings":";;;;;;AAGA,IAAI,gCAA6B,IAAI,KAAK;AAE1C,eAAsB,sBACpB,WACA,aAAqB,IACrB,2BACkC;CAClC,MAAM,kBAA2C,EAAE;AAEnD,KAAI;EACF,MAAM,UAAU,MAAM,UAAU,OAAO,aAAa;EACpD,MAAM,mBAAmB,IAAI,IAAI,QAAQ,QAAQ;EAEjD,MAAM,eAAe,MAAM,KAAK,iBAAiB,CAAC,QAC/C,OAAO,CAAC,cAAc,IAAI,GAAG,CAC/B;AAED,OAAK,MAAM,YAAY,cAAc;GACnC,MAAM,aAAa,MAAM,UAAU,OAAO,oBACxC,UACA,YACA,0BACD;AACD,mBAAgB,KAAK,WAAW;;AAGlC,kBAAgB;UACT,OAAO;AACd,UAAQ,MAAM,sCAAsC,MAAM;;AAG5D,QAAO;;;;ACnBT,IAAY,eAAL,yBAAA,cAAA;AACL,cAAA,gBAAA;AACA,cAAA,aAAA;AACA,cAAA,aAAA;AACA,cAAA,YAAA;AACA,cAAA,eAAA;;KACD;;;;;AAsBD,IAAa,yBAAb,MAAoC;CASlC,YAAY,MAA2B;AAAlB,OAAA,OAAA;wBARY,EAAE;cACH,EAAE;wBAEjB;2CACmB;AAKlC,qBAAmB,MAAM,EAAE,EAAE,EAAE,UAAU,MAAM,CAAC;AAEhD,OAAK,qBAAqB,KAAK,0BAA0B,kBAAkB;AAE3E,OAAK,mBAAmB,iBAAiB,YAAY,OAAO;GAC1D,MAAM,MAAM,aAAa,GAAG,KAAK;AAEjC,OAAI,CAAC,KAAK;AACR,YAAQ,MAAM,yCAAyC,GAAG,KAAK;AAC/D;;AAEF,OAAI,IAAI,SAAS,SACf,MAAK,0BAA0B,IAAI;IAErC;;;CAIJ,MAAM,0BAA0B,KAA0B;EACxD,MAAM,EAAE,WAAW;AAInB,MAAI,OAAO,OAAO,KAAK,kCAAmC;AAE1D,MAAI,OAAO,UAAU,aAAa,QAAQ;AACxC,OAAI;IACF,MAAM,cAAc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,GACR;IAID,MAAM,SAAS,YAAY;AAC3B,QAAI,OACF,MAAK,IAAI,OAAO;AAElB,SAAK,SACH,kBAAkB,OAAO,GAAG,sBAAsB,YAAY,MAAM,IAAI,YAAY,YACrF;YACM,KAAK;AACZ,SAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,MACzD;;AAGH,QAAK,eAAe,QAAQ,aAAa;AAEzC,QAAK,eAAe;aACX,OAAO,UAAU,aAAa,SAAS;AAChD,OAAI;IAKF,MAAM,UAJc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,GACR,EAE0B;AAC3B,QAAI,OACF,MAAK,IAAI,OAAO;AAGlB,SAAK,eAAe,QAAQ,aAAa;AACzC,SAAK,IAAI,kBAAkB,OAAO,GAAG,UAAU;YACxC,KAAK;AACZ,SAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,MACzD;;AAGH,QAAK,eAAe;aACX,OAAO,UAAU,aAAa,WAAW;AAClD,OAAI;IAKF,MAAM,UAJc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,GACR,EAE0B;AAC3B,QAAI,OACF,MAAK,IAAI,OAAO;AAElB,SAAK,IACH,kBAAkB,OAAO,GAAG,4BAA4B,OAAO,gBAAgB,QAAQ,EAAE,CAAC,UAC3F;AAED,SAAK,eAAe,QAAQ,aAAa;YAClC,KAAK;AACZ,SAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,MACzD;;AAGH,QAAK,eAAe;aACX,OAAO,UAAU,aAAa,SAAS;AAChD,QAAK,eAAe,QAAQ,aAAa;AACzC,QAAK,IAAI,kBAAkB,OAAO,GAAG,cAAc;aAC1C,OAAO,UAAU,aAAa,YAAY;AACnD,WAAQ,MAAM,OAAO;AACrB,QAAK,SACH,kBAAkB,OAAO,GAAG,6BAA6B,OAAO,QACjE;AACD,QAAK,eAAe,QAAQ,aAAa;AACzC,QAAK,eAAe;;;;CAKxB,gBAAgB;AACd,oBAAkB;AAChB,QAAK,iBAAiB;IACtB;AACF,OAAK,oCAAoC;;CAG3C,MAAM,eACJ,cACA,eACA,aACA;AACA,OAAK,iBAAiB;GACN;GACd,OAAO,aAAa;GACrB;EAED,MAAM,EAAE,gBAAgB,gBAAgB;AACxC,MAAI,CAAC,YAAa;AAClB,oBAAkB;AAChB,QAAK,iBAAiB;IACtB;AAIF,MAAI,YACF,KAAI;AACF,SAAM,KAAK,KAAK,IAAI,mBAAmB,YACrC,YAAY,cACb;WACM,KAAK;AACZ,WAAQ,MAAM,IAAI;;EAKtB,MAAM,cAAc,YAAY,aAAc,WAAW,WAAW,GAAG;AAEvE,MAAI;GACF,MAAM,mBAAmB,MAAM,KAAK,KAAK,IAAI,QAAQ,oBACnD;IACE,MAAM;IACS;IAEf,eAAe,aAAa;IAC7B,EACD,EACE,SAAS,EACP,gBAAgB,oBACjB,EACF,CACF;AAED,QAAK,IAAI,0BAA0B,iBAAiB,GAAG,GAAG;AAC1D,qBAAkB;AAChB,SAAK,iBAAiB;KACtB;AACF,QAAK,oCAAoC,iBAAiB;WACnD,OAAO;AACd,OAAI,iBAAiB,cAAc,MAAM,YAAY,MAAM,QACzD,MAAK,SACH,GAAG,MAAM,SAAS,OAAO,GAAG,MAAM,SAAS,WAAW,QAAQ,MAAM,SAAS,OAAO,IAAI,GAAG,KAAK,UAAU,MAAM,SAAS,KAAK,GAC/H;OAED,MAAK,SAAS,KAAK,UAAU,MAAM,CAAC;AAEtC,qBAAkB;AAChB,SAAK,iBAAiB;KACtB;;;CAIN,MAAM,cAAc;AAClB,MAAI,CAAC,KAAK,kCAAmC;AAC7C,oBAAkB;AAChB,QAAK,iBAAiB;IACtB;AAEF,MAAI;AACF,SAAM,KAAK,KAAK,IAAI,QAAQ,kBAC1B,KAAK,kCACN;WACM,KAAK;AAEZ,qBAAkB;AAChB,SAAK,iBAAiB;KACtB;AACF,SAAM;;;CAIV,QAAQ;AACN,OAAK,iBAAiB,EAAE;;CAG1B,IAAI,SAAiB;AACnB,UAAQ,IAAI,QAAQ;AACpB,OAAK,KAAK,KAAK;GACb,WAAW,KAAK,KAAK;GACrB;GACD,CAAC;;CAGJ,SAAS,SAAiB;AACxB,UAAQ,IAAI,QAAQ;AACpB,OAAK,KAAK,KAAK;GACb,WAAW,KAAK,KAAK;GACrB;GACA,OAAO;GACR,CAAC"}
+{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/v1/getLatestTrajectories.ts","../../../src/lib/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  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package/dist/lib/v2/index.cjs

@@ -1,11 +1,11 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
-const require_LoginWithAuth0 = require("../../LoginWithAuth0-DHgYqs1M.cjs");
+const require_LoginWithAuth0 = require("../../LoginWithAuth0-oZFpwe7m.cjs");
 let axios = require("axios");
-axios = require_LoginWithAuth0.__toESM(axios);
+axios = require_LoginWithAuth0.__toESM(axios, 1);
 let url_join = require("url-join");
-url_join = require_LoginWithAuth0.__toESM(url_join);
+url_join = require_LoginWithAuth0.__toESM(url_join, 1);
 let path_to_regexp = require("path-to-regexp");
-path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp);
+path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp, 1);
 let _wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
 //#region src/lib/v2/NovaCellAPIClient.ts
 /**