@wandelbots/nova-js 3.7.0-pr.267.ffc5d9d → 3.7.0

package/dist/lib/v1/index.cjs

@@ -0,0 +1,196 @@
+Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
+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
+let lastMotionIds = /* @__PURE__ */ new Set();
+async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
+	const newTrajectories = [];
+	try {
+		const motions = await apiClient.motion.listMotions();
+		const currentMotionIds = new Set(motions.motions);
+		const newMotionIds = Array.from(currentMotionIds).filter((id) => !lastMotionIds.has(id));
+		for (const motionId of newMotionIds) {
+			const trajectory = await apiClient.motion.getMotionTrajectory(motionId, sampleTime, responsesCoordinateSystem);
+			newTrajectories.push(trajectory);
+		}
+		lastMotionIds = currentMotionIds;
+	} catch (error) {
+		console.error("Failed to get latest trajectories:", error);
+	}
+	return newTrajectories;
+}
+//#endregion
+//#region src/lib/v1/ProgramStateConnection.ts
+let ProgramState = /* @__PURE__ */ function(ProgramState) {
+	ProgramState["NotStarted"] = "not started";
+	ProgramState["Running"] = "running";
+	ProgramState["Stopped"] = "stopped";
+	ProgramState["Failed"] = "failed";
+	ProgramState["Completed"] = "completed";
+	return ProgramState;
+}({});
+/**
+* Interface for running Wandelscript programs on the Nova instance and
+* tracking their progress and output
+*/
+var ProgramStateConnection = class {
+	constructor(nova) {
+		this.nova = nova;
+		this.currentProgram = {};
+		this.logs = [];
+		this.executionState = "idle";
+		this.currentlyExecutingProgramRunnerId = null;
+		(0, mobx.makeAutoObservable)(this, {}, { autoBind: true });
+		this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
+		this.programStateSocket.addEventListener("message", (ev) => {
+			const msg = require_LoginWithAuth0.tryParseJson(ev.data);
+			if (!msg) {
+				console.error("Failed to parse program state message", ev.data);
+				return;
+			}
+			if (msg.type === "update") this.handleProgramStateMessage(msg);
+		});
+	}
+	/** Handle a program state update from the backend */
+	async handleProgramStateMessage(msg) {
+		const { runner } = msg;
+		if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
+		if (runner.state === "failed") {
+			try {
+				const runnerState = await this.nova.api.program.getProgramRunner(runner.id);
+				const stdout = runnerState.stdout;
+				if (stdout) this.log(stdout);
+				this.logError(`Program runner ${runner.id} failed with error: ${runnerState.error}\n${runnerState.traceback}`);
+			} catch (err) {
+				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
+			}
+			this.currentProgram.state = "failed";
+			this.gotoIdleState();
+		} 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 = "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 === "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 = "completed";
+			} catch (err) {
+				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
+			}
+			this.gotoIdleState();
+		} else if (runner.state === "running") {
+			this.currentProgram.state = "running";
+			this.log(`Program runner ${runner.id} now running`);
+		} else if (runner.state !== "not started") {
+			console.error(runner);
+			this.logError(`Program runner ${runner.id} entered unexpected state: ${runner.state}`);
+			this.currentProgram.state = "not started";
+			this.gotoIdleState();
+		}
+	}
+	/** Call when a program is no longer executing */
+	gotoIdleState() {
+		(0, mobx.runInAction)(() => {
+			this.executionState = "idle";
+		});
+		this.currentlyExecutingProgramRunnerId = null;
+	}
+	async executeProgram(wandelscript, initial_state, activeRobot) {
+		this.currentProgram = {
+			wandelscript,
+			state: "not started"
+		};
+		const { currentProgram: openProgram } = this;
+		if (!openProgram) return;
+		(0, mobx.runInAction)(() => {
+			this.executionState = "starting";
+		});
+		if (activeRobot) try {
+			await this.nova.api.motionGroupJogging.stopJogging(activeRobot.motionGroupId);
+		} catch (err) {
+			console.error(err);
+		}
+		const trimmedCode = openProgram.wandelscript.replaceAll(/^\s*$/gm, "");
+		try {
+			const programRunnerRef = await this.nova.api.program.createProgramRunner({
+				code: trimmedCode,
+				initial_state,
+				default_robot: activeRobot?.wandelscriptIdentifier
+			}, { headers: { "Content-Type": "application/json" } });
+			this.log(`Created program runner ${programRunnerRef.id}"`);
+			(0, mobx.runInAction)(() => {
+				this.executionState = "executing";
+			});
+			this.currentlyExecutingProgramRunnerId = programRunnerRef.id;
+		} catch (error) {
+			if (error instanceof axios.AxiosError && error.response && error.request) this.logError(`${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`);
+			else this.logError(JSON.stringify(error));
+			(0, mobx.runInAction)(() => {
+				this.executionState = "idle";
+			});
+		}
+	}
+	async stopProgram() {
+		if (!this.currentlyExecutingProgramRunnerId) return;
+		(0, mobx.runInAction)(() => {
+			this.executionState = "stopping";
+		});
+		try {
+			await this.nova.api.program.stopProgramRunner(this.currentlyExecutingProgramRunnerId);
+		} catch (err) {
+			(0, mobx.runInAction)(() => {
+				this.executionState = "executing";
+			});
+			throw err;
+		}
+	}
+	reset() {
+		this.currentProgram = {};
+	}
+	log(message) {
+		console.log(message);
+		this.logs.push({
+			timestamp: Date.now(),
+			message
+		});
+	}
+	logError(message) {
+		console.log(message);
+		this.logs.push({
+			timestamp: Date.now(),
+			message,
+			level: "error"
+		});
+	}
+};
+//#endregion
+exports.ConnectedMotionGroup = require_NovaClient.ConnectedMotionGroup;
+exports.JoggerConnection = require_NovaClient.JoggerConnection;
+exports.MotionStreamConnection = require_NovaClient.MotionStreamConnection;
+exports.NovaCellAPIClient = require_NovaClient.NovaCellAPIClient;
+exports.NovaClient = require_NovaClient.NovaClient;
+exports.ProgramState = ProgramState;
+exports.ProgramStateConnection = ProgramStateConnection;
+exports.getLatestTrajectories = getLatestTrajectories;
+exports.poseToWandelscriptString = require_NovaClient.poseToWandelscriptString;
+var _wandelbots_nova_api_v1 = require("@wandelbots/nova-api/v1");
+Object.keys(_wandelbots_nova_api_v1).forEach(function(k) {
+	if (k !== "default" && !Object.prototype.hasOwnProperty.call(exports, k)) Object.defineProperty(exports, k, {
+		enumerable: true,
+		get: function() {
+			return _wandelbots_nova_api_v1[k];
+		}
+	});
+});
+
+//# sourceMappingURL=index.cjs.map

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

@@ -0,0 +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  }\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

@@ -0,0 +1,62 @@
+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";
+
+//#region src/lib/v1/getLatestTrajectories.d.ts
+declare function getLatestTrajectories(apiClient: NovaCellAPIClient, sampleTime?: number, responsesCoordinateSystem?: string): Promise<GetTrajectoryResponse[]>;
+//#endregion
+//#region src/lib/v1/ProgramStateConnection.d.ts
+type ProgramRunnerLogEntry = {
+  timestamp: number;
+  message: string;
+  level?: "warn" | "error";
+};
+declare enum ProgramState {
+  NotStarted = "not started",
+  Running = "running",
+  Stopped = "stopped",
+  Failed = "failed",
+  Completed = "completed"
+}
+type CurrentProgram = {
+  id?: string;
+  wandelscript?: string;
+  state?: ProgramState;
+};
+type ProgramStateMessage = {
+  type: string;
+  runner: {
+    id: string;
+    state: ProgramState;
+    start_time?: number | null;
+    execution_time?: number | null;
+  };
+};
+/**
+ * Interface for running Wandelscript programs on the Nova instance and
+ * tracking their progress and output
+ */
+declare class ProgramStateConnection {
+  readonly nova: NovaClient;
+  currentProgram: CurrentProgram;
+  logs: ProgramRunnerLogEntry[];
+  executionState: "idle" | "starting" | "executing" | "stopping";
+  currentlyExecutingProgramRunnerId: string | null;
+  programStateSocket: AutoReconnectingWebsocket;
+  constructor(nova: NovaClient);
+  /** Handle a program state update from the backend */
+  handleProgramStateMessage(msg: ProgramStateMessage): Promise<void>;
+  /** Call when a program is no longer executing */
+  gotoIdleState(): void;
+  executeProgram(wandelscript: string, initial_state?: {
+    [key: string]: CollectionValue;
+  }, activeRobot?: MotionStreamConnection): Promise<void>;
+  stopProgram(): Promise<void>;
+  reset(): void;
+  log(message: string): void;
+  logError(message: string): void;
+}
+//#endregion
+export { ConnectedMotionGroup, CurrentProgram, JoggerConnection, JoggerConnectionOpts, MotionGroupOption, MotionStreamConnection, NovaCellAPIClient, NovaClient, NovaClientConfig, ProgramRunnerLogEntry, ProgramState, ProgramStateConnection, WithCellId, WithUnwrappedAxiosResponse, getLatestTrajectories, poseToWandelscriptString };
+//# sourceMappingURL=index.d.cts.map

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

@@ -0,0 +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,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"}