@wandelbots/nova-js 3.8.0-pr.286.8a77217 → 3.9.0-pr.280.2a86180

package/src/lib/v2/Nova.ts

@@ -0,0 +1,201 @@
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
+import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2"
+import type { AxiosRequestConfig } from "axios"
+import axios, { isAxiosError } from "axios"
+import urlJoin from "url-join"
+import { loginWithAuth0 } from "../../LoginWithAuth0"
+import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
+import { availableStorage } from "../availableStorage"
+import { parseNovaInstanceUrl } from "../converters"
+import { NovaAPIClient } from "./NovaAPIClient"
+import { MockNovaInstance } from "./mock/MockNovaInstance"
+
+export type NovaClientConfig = {
+  /**
+   * Url of the deployed NOVA instance to connect to
+   * e.g. https://saeattii.instance.wandelbots.io
+   */
+  instanceUrl: string
+
+  /**
+   * Id of the cell to connect to
+   */
+  cellId: string
+
+  /**
+   * Access token for Bearer authentication.
+   * If running on a NOVA instance, this can be automatically retrieved from
+   * the current session when omitted.
+   */
+  accessToken?: string
+} & Omit<BaseConfiguration, "isJsonMime" | "basePath">
+
+/**
+ *
+ * Client for connecting to a NOVA instance and controlling robots.
+ */
+export class Nova {
+  readonly api: NovaAPIClient
+  readonly config: NovaClientConfig
+  readonly mock?: MockNovaInstance
+  readonly instanceUrl: URL
+  authPromise: Promise<string | null> | null = null
+  accessToken: string | null = null
+
+  constructor(config: NovaClientConfig) {
+    this.config = config
+    this.accessToken =
+      config.accessToken ||
+      availableStorage.getString("wbjs.access_token") ||
+      null
+
+    if (this.config.instanceUrl === "https://mock.example.com") {
+      this.mock = new MockNovaInstance()
+    }
+    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)
+
+    // Set up Axios instance with interceptor for token fetching
+    const axiosInstance = axios.create({
+      baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+      // TODO - backend needs to set proper CORS headers for this
+      headers:
+        typeof window !== "undefined" &&
+        window.location.origin.includes("localhost")
+          ? {}
+          : {
+              // Identify the client to the backend for logging purposes
+              "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK",
+            },
+    })
+
+    axiosInstance.interceptors.request.use(async (request) => {
+      if (!request.headers.Authorization) {
+        if (this.accessToken) {
+          request.headers.Authorization = `Bearer ${this.accessToken}`
+        } else if (this.config.username && this.config.password) {
+          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`
+        }
+      }
+      return request
+    })
+
+    if (typeof window !== "undefined") {
+      axiosInstance.interceptors.response.use(
+        (r) => r,
+        async (error) => {
+          if (isAxiosError(error)) {
+            if (error.response?.status === 401) {
+              // If we hit a 401, attempt to login the user and retry with
+              // a new access token
+              try {
+                await this.renewAuthentication()
+
+                if (error.config) {
+                  if (this.accessToken) {
+                    error.config.headers.Authorization = `Bearer ${this.accessToken}`
+                  } else {
+                    delete error.config.headers.Authorization
+                  }
+                  return axiosInstance.request(error.config)
+                }
+              } catch (err) {
+                return Promise.reject(err)
+              }
+            } else if (error.response?.status === 503) {
+              // Check if the server as a whole is down
+              const res = await fetch(window.location.href)
+              if (res.status === 503) {
+                // Go to 503 page
+                window.location.reload()
+              }
+            }
+          }
+
+          return Promise.reject(error)
+        },
+      )
+    }
+
+    this.api = new NovaAPIClient(this.config.cellId, {
+      ...config,
+      basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+      isJsonMime: (mime: string) => {
+        return mime === "application/json"
+      },
+      baseOptions: {
+        ...(this.mock
+          ? ({
+              adapter: (config) => {
+                return this.mock!.handleAPIRequest(config)
+              },
+            } satisfies AxiosRequestConfig)
+          : {}),
+        ...config.baseOptions,
+      },
+      axiosInstance,
+    })
+  }
+
+  async renewAuthentication(): Promise<void> {
+    if (this.authPromise) {
+      // Don't double up
+      return
+    }
+
+    const storedToken = availableStorage.getString("wbjs.access_token")
+    if (storedToken && this.accessToken !== storedToken) {
+      // Might be newer than the one we have
+      this.accessToken = storedToken
+      return
+    }
+
+    // Otherwise, perform login flow
+    this.authPromise = loginWithAuth0(this.instanceUrl)
+    try {
+      this.accessToken = await this.authPromise
+      if (this.accessToken) {
+        // Cache access token so we don't need to log in every refresh
+        availableStorage.setString("wbjs.access_token", this.accessToken)
+      } else {
+        availableStorage.delete("wbjs.access_token")
+      }
+    } finally {
+      this.authPromise = null
+    }
+  }
+
+  makeWebsocketURL(path: string): string {
+    const url = new URL(
+      urlJoin(
+        this.instanceUrl.href,
+        `/api/v2/cells/${this.config.cellId}`,
+        path,
+      ),
+    )
+    url.protocol = url.protocol.replace("http", "ws")
+    url.protocol = url.protocol.replace("https", "wss")
+
+    // If provided, add basic auth credentials to the URL
+    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari
+    // use tokens instead
+    if (this.accessToken) {
+      url.searchParams.append("token", this.accessToken)
+    } else if (this.config.username && this.config.password) {
+      url.username = this.config.username
+      url.password = this.config.password
+    }
+
+    return url.toString()
+  }
+
+  /**
+   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+   * If you explicitly want to reconnect an existing websocket, call `reconnect`
+   * on the returned object.
+   */
+  openReconnectingWebsocket(path: string) {
+    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {
+      mock: this.mock,
+    })
+  }
+}

package/src/lib/v2/NovaAPIClient.ts

@@ -0,0 +1,154 @@
+/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
+import type {
+  BaseAPI,
+  Configuration as BaseConfiguration,
+} from "@wandelbots/nova-api/v2"
+import {
+  ApplicationApi,
+  BUSInputsOutputsApi,
+  CellApi,
+  ControllerApi,
+  ControllerInputsOutputsApi,
+  JoggingApi,
+  KinematicsApi,
+  LicenseApi,
+  MotionGroupApi,
+  MotionGroupModelsApi,
+  NOVACloudApi,
+  ProgramApi,
+  RobotConfigurationsApi,
+  StoreCollisionComponentsApi,
+  StoreCollisionSetupsApi,
+  StoreObjectApi,
+  SystemApi,
+  TrajectoryCachingApi,
+  TrajectoryExecutionApi,
+  TrajectoryPlanningApi,
+  VersionApi,
+  VirtualControllerApi,
+  VirtualControllerBehaviorApi,
+  VirtualControllerInputsOutputsApi,
+} from "@wandelbots/nova-api/v2"
+import type { AxiosInstance } from "axios"
+import axios from "axios"
+
+type OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R
+  ? (...args: P) => R
+  : never
+
+type UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any
+  ? (
+      ...a: Parameters<T>
+    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>
+  : never
+
+type WithUnwrappedAxiosResponse<T> = {
+  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>
+}
+
+/**
+ * API client providing type-safe access to all the endpoints of a NOVA
+ * instance.
+ */
+export class NovaAPIClient {
+  constructor(
+    readonly cellId: string,
+    readonly opts: BaseConfiguration & {
+      axiosInstance?: AxiosInstance
+      mock?: boolean
+    },
+  ) {}
+
+  private withUnwrappedResponsesOnly<T extends BaseAPI>(
+    ApiConstructor: new (
+      config: BaseConfiguration,
+      basePath: string,
+      axios: AxiosInstance,
+    ) => T,
+  ) {
+    const apiClient = new ApiConstructor(
+      {
+        ...this.opts,
+        isJsonMime: (mime: string) => {
+          return mime === "application/json"
+        },
+      },
+      this.opts.basePath ?? "",
+      this.opts.axiosInstance ?? axios.create(),
+    ) as {
+      [key: string | symbol]: any
+    }
+
+    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {
+      if (key !== "constructor" && typeof apiClient[key] === "function") {
+        const originalFunction = apiClient[key]
+        apiClient[key] = (...args: any[]) => {
+          return originalFunction
+            .apply(apiClient, args)
+            .then((res: any) => res.data)
+        }
+      }
+    }
+
+    return apiClient as WithUnwrappedAxiosResponse<T>
+  }
+
+  readonly system = this.withUnwrappedResponsesOnly(SystemApi)
+  readonly cell = this.withUnwrappedResponsesOnly(CellApi)
+
+  readonly motionGroup = this.withUnwrappedResponsesOnly(MotionGroupApi)
+  readonly motionGroupModels =
+    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)
+
+  readonly controller = this.withUnwrappedResponsesOnly(ControllerApi)
+
+  readonly controllerIOs = this.withUnwrappedResponsesOnly(
+    ControllerInputsOutputsApi,
+  )
+
+  readonly trajectoryPlanning = this.withUnwrappedResponsesOnly(
+    TrajectoryPlanningApi,
+  )
+  readonly trajectoryExecution = this.withUnwrappedResponsesOnly(
+    TrajectoryExecutionApi,
+  )
+  readonly trajectoryCaching =
+    this.withUnwrappedResponsesOnly(TrajectoryCachingApi)
+
+  readonly application = this.withUnwrappedResponsesOnly(ApplicationApi)
+  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
+
+  readonly jogging = this.withUnwrappedResponsesOnly(JoggingApi)
+
+  readonly kinematics = this.withUnwrappedResponsesOnly(KinematicsApi)
+
+  readonly busInputsOutputs =
+    this.withUnwrappedResponsesOnly(BUSInputsOutputsApi)
+
+  readonly virtualController =
+    this.withUnwrappedResponsesOnly(VirtualControllerApi)
+  readonly virtualControllerBehavior = this.withUnwrappedResponsesOnly(
+    VirtualControllerBehaviorApi,
+  )
+  readonly virtualControllerIOs = this.withUnwrappedResponsesOnly(
+    VirtualControllerInputsOutputsApi,
+  )
+
+  readonly storeObject = this.withUnwrappedResponsesOnly(StoreObjectApi)
+  readonly storeCollisionComponents = this.withUnwrappedResponsesOnly(
+    StoreCollisionComponentsApi,
+  )
+  readonly storeCollisionSetups = this.withUnwrappedResponsesOnly(
+    StoreCollisionSetupsApi,
+  )
+
+  readonly program = this.withUnwrappedResponsesOnly(ProgramApi)
+
+  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)
+  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)
+  readonly robotConfigurations = this.withUnwrappedResponsesOnly(
+    RobotConfigurationsApi,
+  )
+  readonly version = this.withUnwrappedResponsesOnly(VersionApi)
+}

package/src/lib/v2/index.ts

@@ -1,4 +1,7 @@
 export * from "@wandelbots/nova-api/v2"
-export * from "./NovaCellAPIClient"
-export * from "./NovaClient"
-export * from "./wandelscriptUtils"
+export * from "../deprecated/v2/NovaCellAPIClient"
+export * from "../deprecated/v2/NovaClient"
+export * from "../deprecated/v2/wandelscriptUtils"
+export { Nova } from "./Nova"
+export type { NovaClientConfig } from "./Nova"
+export { NovaAPIClient } from "./NovaAPIClient"

package/dist/AutoReconnectingWebsocket-9Of5_BJe.d.cts.map

@@ -1 +0,0 @@
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package/dist/AutoReconnectingWebsocket-9Of5_BJe.d.mts.map

@@ -1 +0,0 @@
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package/dist/NovaClient-4PG1cMau.d.cts.map

@@ -1 +0,0 @@
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