@wandelbots/nova-js 3.8.0 → 3.9.0-pr.280.1601c70

package/dist/{AutoReconnectingWebsocket-9Of5_BJe.d.cts → AutoReconnectingWebsocket-DEs8wlLZ.d.cts}

@@ -1,7 +1,7 @@
 import ReconnectingWebSocket from "reconnecting-websocket";
 import { AxiosResponse, InternalAxiosRequestConfig } from "axios";
 
-//#region src/lib/v1/mock/MockNovaInstance.d.ts
+//#region src/lib/deprecated/v1/mock/MockNovaInstance.d.ts
 /**
  * Ultra-simplified mock Nova server for testing stuff
  */
@@ -65,4 +65,4 @@ declare class AutoReconnectingWebsocket extends ReconnectingWebSocket {
 }
 //#endregion
 export { MockNovaInstance as n, MockNovaInstance$1 as r, AutoReconnectingWebsocket as t };
-//# sourceMappingURL=AutoReconnectingWebsocket-9Of5_BJe.d.cts.map
+//# sourceMappingURL=AutoReconnectingWebsocket-DEs8wlLZ.d.cts.map

package/dist/AutoReconnectingWebsocket-DEs8wlLZ.d.cts.map

@@ -0,0 +1 @@
+{"version":3,"file":"AutoReconnectingWebsocket-DEs8wlLZ.d.cts","names":[],"sources":["../src/lib/deprecated/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"mappings":";;;;;;AAeA;cAAa,kBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAg8BX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EAkOlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;;;AAvqC5D;cCAa,gBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAyCX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EA+BlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;cCxF/C,yBAAA,SAAkC,qBAAA;EAAA,SAOlC,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EARJ,oBAAA,GAAuB,YAAA;EACvB,SAAA;EACA,QAAA;cAGE,SAAA,UACS,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EA4CJ,SAAA,CAAU,SAAA;EAMV,QAAA,CAAS,IAAA;EF7CH;;;;EEyDN,OAAA,CAAA;EFy4BA;;;EE93BM,MAAA,CAAA,GAAM,OAAA;EFgmCmB;;;EEllCzB,MAAA,CAAA,GAAM,OAAA;EFklC6D;;;;ACvqC3E;ECqGQ,YAAA,CAAA,GAAY,OAAA,CAAA,YAAA;;;;;EA4BZ,WAAA,CAAA,GAAW,OAAA,CAAA,YAAA;AAAA"}

package/dist/{AutoReconnectingWebsocket-9Of5_BJe.d.mts → AutoReconnectingWebsocket-DEs8wlLZ.d.mts}

@@ -1,7 +1,7 @@
 import ReconnectingWebSocket from "reconnecting-websocket";
 import { AxiosResponse, InternalAxiosRequestConfig } from "axios";
 
-//#region src/lib/v1/mock/MockNovaInstance.d.ts
+//#region src/lib/deprecated/v1/mock/MockNovaInstance.d.ts
 /**
  * Ultra-simplified mock Nova server for testing stuff
  */
@@ -65,4 +65,4 @@ declare class AutoReconnectingWebsocket extends ReconnectingWebSocket {
 }
 //#endregion
 export { MockNovaInstance as n, MockNovaInstance$1 as r, AutoReconnectingWebsocket as t };
-//# sourceMappingURL=AutoReconnectingWebsocket-9Of5_BJe.d.mts.map
+//# sourceMappingURL=AutoReconnectingWebsocket-DEs8wlLZ.d.mts.map

package/dist/AutoReconnectingWebsocket-DEs8wlLZ.d.mts.map

@@ -0,0 +1 @@
+{"version":3,"file":"AutoReconnectingWebsocket-DEs8wlLZ.d.mts","names":[],"sources":["../src/lib/deprecated/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"mappings":";;;;;;AAeA;cAAa,kBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAg8BX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EAkOlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;;;AAvqC5D;cCAa,gBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAyCX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EA+BlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;cCxF/C,yBAAA,SAAkC,qBAAA;EAAA,SAOlC,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EARJ,oBAAA,GAAuB,YAAA;EACvB,SAAA;EACA,QAAA;cAGE,SAAA,UACS,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EA4CJ,SAAA,CAAU,SAAA;EAMV,QAAA,CAAS,IAAA;EF7CH;;;;EEyDN,OAAA,CAAA;EFy4BA;;;EE93BM,MAAA,CAAA,GAAM,OAAA;EFgmCmB;;;EEllCzB,MAAA,CAAA,GAAM,OAAA;EFklC6D;;;;ACvqC3E;ECqGQ,YAAA,CAAA,GAAY,OAAA,CAAA,YAAA;;;;;EA4BZ,WAAA,CAAA,GAAW,OAAA,CAAA,YAAA;AAAA"}

package/dist/LoginWithAuth0-DeirP_w9.mjs.map

@@ -1 +1 @@
-{"version":3,"file":"LoginWithAuth0-DeirP_w9.mjs","names":[],"sources":["../src/lib/AutoReconnectingWebsocket.ts","../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/LoginWithAuth0.ts"],"sourcesContent":["import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport type * as v1 from \"./v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n  receivedFirstMessage?: MessageEvent\n  targetUrl: string\n  disposed = false\n\n  constructor(\n    targetUrl: string,\n    readonly opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    } = {},\n  ) {\n    console.log(\"Opening websocket to\", targetUrl)\n\n    super(() => this.targetUrl || targetUrl, undefined, {\n      startClosed: true,\n    })\n\n    // Reconnecting websocket doesn't set this properly with startClosed\n    Object.defineProperty(this, \"url\", {\n      get() {\n        return this.targetUrl\n      },\n    })\n\n    this.targetUrl = targetUrl\n\n    this.addEventListener(\"open\", () => {\n      console.log(`Websocket to ${this.url} opened`)\n    })\n\n    this.addEventListener(\"message\", (ev) => {\n      if (!this.receivedFirstMessage) {\n        this.receivedFirstMessage = ev\n      }\n    })\n\n    this.addEventListener(\"close\", () => {\n      console.log(`Websocket to ${this.url} closed`)\n    })\n\n    const origReconnect = this.reconnect\n    this.reconnect = () => {\n      if (this.opts.mock) {\n        this.opts.mock.handleWebsocketConnection(this)\n      } else {\n        origReconnect.apply(this)\n      }\n    }\n\n    this.reconnect()\n  }\n\n  changeUrl(targetUrl: string) {\n    this.receivedFirstMessage = undefined\n    this.targetUrl = targetUrl\n    this.reconnect()\n  }\n\n  sendJson(data: unknown) {\n    if (this.opts.mock) {\n      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n    } else {\n      this.send(JSON.stringify(data))\n    }\n  }\n\n  /**\n   * Permanently close this websocket and indicate that\n   * this object should not be used again.\n   **/\n  dispose() {\n    this.close()\n    this.disposed = true\n    if (this.opts.onDispose) {\n      this.opts.onDispose()\n    }\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the OPEN state. */\n  async opened() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.OPEN) {\n        resolve()\n      } else {\n        this.addEventListener(\"open\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the CLOSED state. */\n  async closed() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.CLOSED) {\n        resolve()\n      } else {\n        this.addEventListener(\"close\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the first message\n   * is received from the websocket. Resolves immediately if\n   * the first message has already been received.\n   */\n  async firstMessage() {\n    if (this.receivedFirstMessage) {\n      return this.receivedFirstMessage\n    }\n\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.receivedFirstMessage = ev\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the next message\n   * is received from the websocket.\n   */\n  async nextMessage() {\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n  available = typeof window !== \"undefined\" && !!window.localStorage\n\n  getJSON<T>(key: string): Partial<T> | null {\n    if (!this.available) return null\n\n    const result = window.localStorage.getItem(key)\n    if (result === null) return null\n\n    try {\n      return JSON.parse(result)\n    } catch (err) {\n      return null\n    }\n  }\n\n  setJSON(key: string, obj: unknown) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, JSON.stringify(obj))\n  }\n\n  delete(key: string) {\n    if (!this.available) return null\n\n    window.localStorage.removeItem(key)\n  }\n\n  setString(key: string, value: string) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, value)\n  }\n\n  getString(key: string): string | null {\n    if (!this.available) return null\n\n    return window.localStorage.getItem(key)\n  }\n}\n\nexport const availableStorage = new AvailableStorage()\n","export type URLParseOptions = {\n  /**\n   * Ignore any scheme in the input string and force this scheme instead.\n   */\n  scheme?: \"http\" | \"https\"\n  /**\n   * If the input string does not include a scheme, use this as the default\n   * scheme.\n   */\n  defaultScheme?: \"http\" | \"https\"\n}\n\n/**\n * Parse a string as a URL, with options to enforce or default the scheme.\n */\nexport function parseUrl(url: string, options: URLParseOptions = {}): URL {\n  const { scheme, defaultScheme } = options\n\n  const schemeRegex = /^[a-zA-Z]+:\\/\\//\n\n  if (scheme) {\n    // Force the scheme by removing any existing scheme and prepending the desired one\n    url = url.replace(schemeRegex, \"\")\n    url = `${scheme}://${url}`\n  } else if (defaultScheme && !schemeRegex.test(url)) {\n    // No scheme is present, add the default one\n    url = `${defaultScheme}://${url}`\n  }\n\n  return new URL(url)\n}\n\n/**\n * Attempt to parse a string as a URL; return undefined if we can't\n */\nexport function tryParseUrl(\n  url: string,\n  options: URLParseOptions = {},\n): URL | undefined {\n  try {\n    return parseUrl(url, options)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Permissively parse a NOVA instance URL from a config variable.\n * If scheme is not specified, defaults to https for *.wandelbots.io hosts,\n * and http otherwise.\n * Throws an error if a valid URL could not be determined.\n */\nexport function parseNovaInstanceUrl(url: string): URL {\n  const testUrl = tryParseUrl(url, { defaultScheme: \"http\" })\n  if (testUrl?.host.endsWith(\".wandelbots.io\")) {\n    return parseUrl(url, { defaultScheme: \"https\" })\n  } else {\n    return parseUrl(url, { defaultScheme: \"http\" })\n  }\n}\n\n/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","/**\n * Mapping of stages to Auth0 configurations.\n * The client ids are public identifiers for a specific auth0 application\n * and are safe to include in client-side code.\n * https://auth0.com/docs/get-started/applications/application-settings\n */\nconst auth0ConfigMap = {\n  dev: {\n    domain: `https://auth.portal.dev.wandelbots.io`,\n    clientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\",\n  },\n  stg: {\n    domain: `https://auth.portal.stg.wandelbots.io`,\n    clientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\",\n  },\n  prod: {\n    domain: `https://auth.portal.wandelbots.io`,\n    clientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\",\n  },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL */\nexport const getAuth0Config = (instanceUrl: URL) => {\n  if (instanceUrl.host.endsWith(\".dev.wandelbots.io\")) return auth0ConfigMap.dev\n  if (instanceUrl.host.endsWith(\".stg.wandelbots.io\")) return auth0ConfigMap.stg\n  if (instanceUrl.host.endsWith(\".wandelbots.io\")) return auth0ConfigMap.prod\n  throw new Error(\n    `Unable to authenticate with NOVA instance \"${instanceUrl}\". Auth0 login is only supported for cloud instances with hosts of the form \"**.wandelbots.io\".`,\n  )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n  instanceUrl: URL,\n): Promise<string | null> => {\n  if (typeof window === \"undefined\") {\n    throw new Error(\n      `Access token must be set to use NovaClient when not in a browser environment.`,\n    )\n  }\n\n  if (instanceUrl.origin === window.location.origin) {\n    // When deployed on the instance itself, our auth is handled by cookies\n    // and no access token is needed-- just need to reload the page and it'll\n    // login again / set cookie as needed\n    window.location.reload()\n    throw new Error(\n      \"Failed to reload page to get auth details, please refresh manually\",\n    )\n  }\n\n  // If we're on localhost or another domain, we need to do the full oauth flow\n  // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n  // in the auth0 config, currently\n  const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n  const auth0Config = getAuth0Config(instanceUrl)\n\n  const auth0Client = new Auth0Client({\n    domain: auth0Config.domain,\n    clientId: auth0Config.clientId ?? \"\",\n    useRefreshTokens: false,\n    authorizationParams: {\n      audience: \"nova-api\",\n      redirect_uri: window.location.origin,\n    },\n  })\n\n  // If the URL includes a redirect result, handle it\n  if (\n    window.location.search.includes(\"code=\") &&\n    window.location.search.includes(\"state=\")\n  ) {\n    const { appState } = await auth0Client.handleRedirectCallback()\n    // Return to the URL the user was originally on before the redirect\n    window.history.replaceState(\n      {},\n      document.title,\n      appState?.returnTo || window.location.pathname,\n    )\n  } else {\n    // Initiate login with redirect\n    await auth0Client.loginWithRedirect()\n  }\n\n  // Once logged in, retrieve the access token silently\n  const accessToken = await auth0Client.getTokenSilently()\n  return 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+{"version":3,"file":"LoginWithAuth0-DeirP_w9.mjs","names":[],"sources":["../src/lib/AutoReconnectingWebsocket.ts","../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/LoginWithAuth0.ts"],"sourcesContent":["import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport type * as v1 from \"./deprecated/v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n  receivedFirstMessage?: MessageEvent\n  targetUrl: string\n  disposed = false\n\n  constructor(\n    targetUrl: string,\n    readonly opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    } = {},\n  ) {\n    console.log(\"Opening websocket to\", targetUrl)\n\n    super(() => this.targetUrl || targetUrl, undefined, {\n      startClosed: true,\n    })\n\n    // Reconnecting websocket doesn't set this properly with startClosed\n    Object.defineProperty(this, \"url\", {\n      get() {\n        return this.targetUrl\n      },\n    })\n\n    this.targetUrl = targetUrl\n\n    this.addEventListener(\"open\", () => {\n      console.log(`Websocket to ${this.url} opened`)\n    })\n\n    this.addEventListener(\"message\", (ev) => {\n      if (!this.receivedFirstMessage) {\n        this.receivedFirstMessage = ev\n      }\n    })\n\n    this.addEventListener(\"close\", () => {\n      console.log(`Websocket to ${this.url} closed`)\n    })\n\n    const origReconnect = this.reconnect\n    this.reconnect = () => {\n      if (this.opts.mock) {\n        this.opts.mock.handleWebsocketConnection(this)\n      } else {\n        origReconnect.apply(this)\n      }\n    }\n\n    this.reconnect()\n  }\n\n  changeUrl(targetUrl: string) {\n    this.receivedFirstMessage = undefined\n    this.targetUrl = targetUrl\n    this.reconnect()\n  }\n\n  sendJson(data: unknown) {\n    if (this.opts.mock) {\n      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n    } else {\n      this.send(JSON.stringify(data))\n    }\n  }\n\n  /**\n   * Permanently close this websocket and indicate that\n   * this object should not be used again.\n   **/\n  dispose() {\n    this.close()\n    this.disposed = true\n    if (this.opts.onDispose) {\n      this.opts.onDispose()\n    }\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the OPEN state. */\n  async opened() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.OPEN) {\n        resolve()\n      } else {\n        this.addEventListener(\"open\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the CLOSED state. */\n  async closed() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.CLOSED) {\n        resolve()\n      } else {\n        this.addEventListener(\"close\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the first message\n   * is received from the websocket. Resolves immediately if\n   * the first message has already been received.\n   */\n  async firstMessage() {\n    if (this.receivedFirstMessage) {\n      return this.receivedFirstMessage\n    }\n\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.receivedFirstMessage = ev\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the next message\n   * is received from the websocket.\n   */\n  async nextMessage() {\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n  available = typeof window !== \"undefined\" && !!window.localStorage\n\n  getJSON<T>(key: string): Partial<T> | null {\n    if (!this.available) return null\n\n    const result = window.localStorage.getItem(key)\n    if (result === null) return null\n\n    try {\n      return JSON.parse(result)\n    } catch (err) {\n      return null\n    }\n  }\n\n  setJSON(key: string, obj: unknown) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, JSON.stringify(obj))\n  }\n\n  delete(key: string) {\n    if (!this.available) return null\n\n    window.localStorage.removeItem(key)\n  }\n\n  setString(key: string, value: string) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, value)\n  }\n\n  getString(key: string): string | null {\n    if (!this.available) return null\n\n    return window.localStorage.getItem(key)\n  }\n}\n\nexport const availableStorage = new AvailableStorage()\n","export type URLParseOptions = {\n  /**\n   * Ignore any scheme in the input string and force this scheme instead.\n   */\n  scheme?: \"http\" | \"https\"\n  /**\n   * If the input string does not include a scheme, use this as the default\n   * scheme.\n   */\n  defaultScheme?: \"http\" | \"https\"\n}\n\n/**\n * Parse a string as a URL, with options to enforce or default the scheme.\n */\nexport function parseUrl(url: string, options: URLParseOptions = {}): URL {\n  const { scheme, defaultScheme } = options\n\n  const schemeRegex = /^[a-zA-Z]+:\\/\\//\n\n  if (scheme) {\n    // Force the scheme by removing any existing scheme and prepending the desired one\n    url = url.replace(schemeRegex, \"\")\n    url = `${scheme}://${url}`\n  } else if (defaultScheme && !schemeRegex.test(url)) {\n    // No scheme is present, add the default one\n    url = `${defaultScheme}://${url}`\n  }\n\n  return new URL(url)\n}\n\n/**\n * Attempt to parse a string as a URL; return undefined if we can't\n */\nexport function tryParseUrl(\n  url: string,\n  options: URLParseOptions = {},\n): URL | undefined {\n  try {\n    return parseUrl(url, options)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Permissively parse a NOVA instance URL from a config variable.\n * If scheme is not specified, defaults to https for *.wandelbots.io hosts,\n * and http otherwise.\n * Throws an error if a valid URL could not be determined.\n */\nexport function parseNovaInstanceUrl(url: string): URL {\n  const testUrl = tryParseUrl(url, { defaultScheme: \"http\" })\n  if (testUrl?.host.endsWith(\".wandelbots.io\")) {\n    return parseUrl(url, { defaultScheme: \"https\" })\n  } else {\n    return parseUrl(url, { defaultScheme: \"http\" })\n  }\n}\n\n/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","/**\n * Mapping of stages to Auth0 configurations.\n * The client ids are public identifiers for a specific auth0 application\n * and are safe to include in client-side code.\n * https://auth0.com/docs/get-started/applications/application-settings\n */\nconst auth0ConfigMap = {\n  dev: {\n    domain: `https://auth.portal.dev.wandelbots.io`,\n    clientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\",\n  },\n  stg: {\n    domain: `https://auth.portal.stg.wandelbots.io`,\n    clientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\",\n  },\n  prod: {\n    domain: `https://auth.portal.wandelbots.io`,\n    clientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\",\n  },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL */\nexport const getAuth0Config = (instanceUrl: URL) => {\n  if (instanceUrl.host.endsWith(\".dev.wandelbots.io\")) return auth0ConfigMap.dev\n  if (instanceUrl.host.endsWith(\".stg.wandelbots.io\")) return auth0ConfigMap.stg\n  if (instanceUrl.host.endsWith(\".wandelbots.io\")) return auth0ConfigMap.prod\n  throw new Error(\n    `Unable to authenticate with NOVA instance \"${instanceUrl}\". Auth0 login is only supported for cloud instances with hosts of the form \"**.wandelbots.io\".`,\n  )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n  instanceUrl: URL,\n): Promise<string | null> => {\n  if (typeof window === \"undefined\") {\n    throw new Error(\n      `Access token must be set to use NovaClient when not in a browser environment.`,\n    )\n  }\n\n  if (instanceUrl.origin === window.location.origin) {\n    // When deployed on the instance itself, our auth is handled by cookies\n    // and no access token is needed-- just need to reload the page and it'll\n    // login again / set cookie as needed\n    window.location.reload()\n    throw new Error(\n      \"Failed to reload page to get auth details, please refresh manually\",\n    )\n  }\n\n  // If we're on localhost or another domain, we need to do the full oauth flow\n  // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n  // in the auth0 config, currently\n  const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n  const auth0Config = getAuth0Config(instanceUrl)\n\n  const auth0Client = new Auth0Client({\n    domain: auth0Config.domain,\n    clientId: auth0Config.clientId ?? \"\",\n    useRefreshTokens: false,\n    authorizationParams: {\n      audience: \"nova-api\",\n      redirect_uri: window.location.origin,\n    },\n  })\n\n  // If the URL includes a redirect result, handle it\n  if (\n    window.location.search.includes(\"code=\") &&\n    window.location.search.includes(\"state=\")\n  ) {\n    const { appState } = await auth0Client.handleRedirectCallback()\n    // Return to the URL the user was originally on before the redirect\n    window.history.replaceState(\n      {},\n      document.title,\n      appState?.returnTo 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package/dist/LoginWithAuth0-oZFpwe7m.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"LoginWithAuth0-oZFpwe7m.cjs","names":["ReconnectingWebSocket"],"sources":["../src/lib/AutoReconnectingWebsocket.ts","../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/LoginWithAuth0.ts"],"sourcesContent":["import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport type * as v1 from \"./v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n  receivedFirstMessage?: MessageEvent\n  targetUrl: string\n  disposed = false\n\n  constructor(\n    targetUrl: string,\n    readonly opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    } = {},\n  ) {\n    console.log(\"Opening websocket to\", targetUrl)\n\n    super(() => this.targetUrl || targetUrl, undefined, {\n      startClosed: true,\n    })\n\n    // Reconnecting websocket doesn't set this properly with startClosed\n    Object.defineProperty(this, \"url\", {\n      get() {\n        return this.targetUrl\n      },\n    })\n\n    this.targetUrl = targetUrl\n\n    this.addEventListener(\"open\", () => {\n      console.log(`Websocket to ${this.url} opened`)\n    })\n\n    this.addEventListener(\"message\", (ev) => {\n      if (!this.receivedFirstMessage) {\n        this.receivedFirstMessage = ev\n      }\n    })\n\n    this.addEventListener(\"close\", () => {\n      console.log(`Websocket to ${this.url} closed`)\n    })\n\n    const origReconnect = this.reconnect\n    this.reconnect = () => {\n      if (this.opts.mock) {\n        this.opts.mock.handleWebsocketConnection(this)\n      } else {\n        origReconnect.apply(this)\n      }\n    }\n\n    this.reconnect()\n  }\n\n  changeUrl(targetUrl: string) {\n    this.receivedFirstMessage = undefined\n    this.targetUrl = targetUrl\n    this.reconnect()\n  }\n\n  sendJson(data: unknown) {\n    if (this.opts.mock) {\n      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n    } else {\n      this.send(JSON.stringify(data))\n    }\n  }\n\n  /**\n   * Permanently close this websocket and indicate that\n   * this object should not be used again.\n   **/\n  dispose() {\n    this.close()\n    this.disposed = true\n    if (this.opts.onDispose) {\n      this.opts.onDispose()\n    }\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the OPEN state. */\n  async opened() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.OPEN) {\n        resolve()\n      } else {\n        this.addEventListener(\"open\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the CLOSED state. */\n  async closed() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.CLOSED) {\n        resolve()\n      } else {\n        this.addEventListener(\"close\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the first message\n   * is received from the websocket. Resolves immediately if\n   * the first message has already been received.\n   */\n  async firstMessage() {\n    if (this.receivedFirstMessage) {\n      return this.receivedFirstMessage\n    }\n\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.receivedFirstMessage = ev\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the next message\n   * is received from the websocket.\n   */\n  async nextMessage() {\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n  available = typeof window !== \"undefined\" && !!window.localStorage\n\n  getJSON<T>(key: string): Partial<T> | null {\n    if (!this.available) return null\n\n    const result = window.localStorage.getItem(key)\n    if (result === null) return null\n\n    try {\n      return JSON.parse(result)\n    } catch (err) {\n      return null\n    }\n  }\n\n  setJSON(key: string, obj: unknown) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, JSON.stringify(obj))\n  }\n\n  delete(key: string) {\n    if (!this.available) return null\n\n    window.localStorage.removeItem(key)\n  }\n\n  setString(key: string, value: string) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, value)\n  }\n\n  getString(key: string): string | null {\n    if (!this.available) return null\n\n    return window.localStorage.getItem(key)\n  }\n}\n\nexport const availableStorage = new AvailableStorage()\n","export type URLParseOptions = {\n  /**\n   * Ignore any scheme in the input string and force this scheme instead.\n   */\n  scheme?: \"http\" | \"https\"\n  /**\n   * If the input string does not include a scheme, use this as the default\n   * scheme.\n   */\n  defaultScheme?: \"http\" | \"https\"\n}\n\n/**\n * Parse a string as a URL, with options to enforce or default the scheme.\n */\nexport function parseUrl(url: string, options: URLParseOptions = {}): URL {\n  const { scheme, defaultScheme } = options\n\n  const schemeRegex = /^[a-zA-Z]+:\\/\\//\n\n  if (scheme) {\n    // Force the scheme by removing any existing scheme and prepending the desired one\n    url = url.replace(schemeRegex, \"\")\n    url = `${scheme}://${url}`\n  } else if (defaultScheme && !schemeRegex.test(url)) {\n    // No scheme is present, add the default one\n    url = `${defaultScheme}://${url}`\n  }\n\n  return new URL(url)\n}\n\n/**\n * Attempt to parse a string as a URL; return undefined if we can't\n */\nexport function tryParseUrl(\n  url: string,\n  options: URLParseOptions = {},\n): URL | undefined {\n  try {\n    return parseUrl(url, options)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Permissively parse a NOVA instance URL from a config variable.\n * If scheme is not specified, defaults to https for *.wandelbots.io hosts,\n * and http otherwise.\n * Throws an error if a valid URL could not be determined.\n */\nexport function parseNovaInstanceUrl(url: string): URL {\n  const testUrl = tryParseUrl(url, { defaultScheme: \"http\" })\n  if (testUrl?.host.endsWith(\".wandelbots.io\")) {\n    return parseUrl(url, { defaultScheme: \"https\" })\n  } else {\n    return parseUrl(url, { defaultScheme: \"http\" })\n  }\n}\n\n/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","/**\n * Mapping of stages to Auth0 configurations.\n * The client ids are public identifiers for a specific auth0 application\n * and are safe to include in client-side code.\n * https://auth0.com/docs/get-started/applications/application-settings\n */\nconst auth0ConfigMap = {\n  dev: {\n    domain: `https://auth.portal.dev.wandelbots.io`,\n    clientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\",\n  },\n  stg: {\n    domain: `https://auth.portal.stg.wandelbots.io`,\n    clientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\",\n  },\n  prod: {\n    domain: `https://auth.portal.wandelbots.io`,\n    clientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\",\n  },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL */\nexport const getAuth0Config = (instanceUrl: URL) => {\n  if (instanceUrl.host.endsWith(\".dev.wandelbots.io\")) return auth0ConfigMap.dev\n  if (instanceUrl.host.endsWith(\".stg.wandelbots.io\")) return auth0ConfigMap.stg\n  if (instanceUrl.host.endsWith(\".wandelbots.io\")) return auth0ConfigMap.prod\n  throw new Error(\n    `Unable to authenticate with NOVA instance \"${instanceUrl}\". Auth0 login is only supported for cloud instances with hosts of the form \"**.wandelbots.io\".`,\n  )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n  instanceUrl: URL,\n): Promise<string | null> => {\n  if (typeof window === \"undefined\") {\n    throw new Error(\n      `Access token must be set to use NovaClient when not in a browser environment.`,\n    )\n  }\n\n  if (instanceUrl.origin === window.location.origin) {\n    // When deployed on the instance itself, our auth is handled by cookies\n    // and no access token is needed-- just need to reload the page and it'll\n    // login again / set cookie as needed\n    window.location.reload()\n    throw new Error(\n      \"Failed to reload page to get auth details, please refresh manually\",\n    )\n  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+{"version":3,"file":"LoginWithAuth0-oZFpwe7m.cjs","names":["ReconnectingWebSocket"],"sources":["../src/lib/AutoReconnectingWebsocket.ts","../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/LoginWithAuth0.ts"],"sourcesContent":["import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport type * as v1 from \"./deprecated/v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n  receivedFirstMessage?: MessageEvent\n  targetUrl: string\n  disposed = false\n\n  constructor(\n    targetUrl: string,\n    readonly opts: {\n      mock?: v1.MockNovaInstance | v2.MockNovaInstance\n      onDispose?: () => void\n    } = {},\n  ) {\n    console.log(\"Opening websocket to\", targetUrl)\n\n    super(() => this.targetUrl || targetUrl, undefined, {\n      startClosed: true,\n    })\n\n    // Reconnecting websocket doesn't set this properly with startClosed\n    Object.defineProperty(this, \"url\", {\n      get() {\n        return this.targetUrl\n      },\n    })\n\n    this.targetUrl = targetUrl\n\n    this.addEventListener(\"open\", () => {\n      console.log(`Websocket to ${this.url} opened`)\n    })\n\n    this.addEventListener(\"message\", (ev) => {\n      if (!this.receivedFirstMessage) {\n        this.receivedFirstMessage = ev\n      }\n    })\n\n    this.addEventListener(\"close\", () => {\n      console.log(`Websocket to ${this.url} closed`)\n    })\n\n    const origReconnect = this.reconnect\n    this.reconnect = () => {\n      if (this.opts.mock) {\n        this.opts.mock.handleWebsocketConnection(this)\n      } else {\n        origReconnect.apply(this)\n      }\n    }\n\n    this.reconnect()\n  }\n\n  changeUrl(targetUrl: string) {\n    this.receivedFirstMessage = undefined\n    this.targetUrl = targetUrl\n    this.reconnect()\n  }\n\n  sendJson(data: unknown) {\n    if (this.opts.mock) {\n      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n    } else {\n      this.send(JSON.stringify(data))\n    }\n  }\n\n  /**\n   * Permanently close this websocket and indicate that\n   * this object should not be used again.\n   **/\n  dispose() {\n    this.close()\n    this.disposed = true\n    if (this.opts.onDispose) {\n      this.opts.onDispose()\n    }\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the OPEN state. */\n  async opened() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.OPEN) {\n        resolve()\n      } else {\n        this.addEventListener(\"open\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves once the websocket\n   * is in the CLOSED state. */\n  async closed() {\n    return new Promise<void>((resolve, reject) => {\n      if (this.readyState === WebSocket.CLOSED) {\n        resolve()\n      } else {\n        this.addEventListener(\"close\", () => resolve())\n        this.addEventListener(\"error\", reject)\n      }\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the first message\n   * is received from the websocket. Resolves immediately if\n   * the first message has already been received.\n   */\n  async firstMessage() {\n    if (this.receivedFirstMessage) {\n      return this.receivedFirstMessage\n    }\n\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.receivedFirstMessage = ev\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n\n  /**\n   * Returns a promise that resolves when the next message\n   * is received from the websocket.\n   */\n  async nextMessage() {\n    return new Promise<MessageEvent>((resolve, reject) => {\n      const onMessage = (ev: MessageEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        resolve(ev)\n      }\n\n      const onError = (ev: ErrorEvent) => {\n        this.removeEventListener(\"message\", onMessage)\n        this.removeEventListener(\"error\", onError)\n        reject(ev)\n      }\n\n      this.addEventListener(\"message\", onMessage)\n      this.addEventListener(\"error\", onError)\n    })\n  }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n  available = typeof window !== \"undefined\" && !!window.localStorage\n\n  getJSON<T>(key: string): Partial<T> | null {\n    if (!this.available) return null\n\n    const result = window.localStorage.getItem(key)\n    if (result === null) return null\n\n    try {\n      return JSON.parse(result)\n    } catch (err) {\n      return null\n    }\n  }\n\n  setJSON(key: string, obj: unknown) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, JSON.stringify(obj))\n  }\n\n  delete(key: string) {\n    if (!this.available) return null\n\n    window.localStorage.removeItem(key)\n  }\n\n  setString(key: string, value: string) {\n    if (!this.available) return null\n\n    window.localStorage.setItem(key, value)\n  }\n\n  getString(key: string): string | null {\n    if (!this.available) return null\n\n    return window.localStorage.getItem(key)\n  }\n}\n\nexport const availableStorage = new AvailableStorage()\n","export type URLParseOptions = {\n  /**\n   * Ignore any scheme in the input string and force this scheme instead.\n   */\n  scheme?: \"http\" | \"https\"\n  /**\n   * If the input string does not include a scheme, use this as the default\n   * scheme.\n   */\n  defaultScheme?: \"http\" | \"https\"\n}\n\n/**\n * Parse a string as a URL, with options to enforce or default the scheme.\n */\nexport function parseUrl(url: string, options: URLParseOptions = {}): URL {\n  const { scheme, defaultScheme } = options\n\n  const schemeRegex = /^[a-zA-Z]+:\\/\\//\n\n  if (scheme) {\n    // Force the scheme by removing any existing scheme and prepending the desired one\n    url = url.replace(schemeRegex, \"\")\n    url = `${scheme}://${url}`\n  } else if (defaultScheme && !schemeRegex.test(url)) {\n    // No scheme is present, add the default one\n    url = `${defaultScheme}://${url}`\n  }\n\n  return new URL(url)\n}\n\n/**\n * Attempt to parse a string as a URL; return undefined if we can't\n */\nexport function tryParseUrl(\n  url: string,\n  options: URLParseOptions = {},\n): URL | undefined {\n  try {\n    return parseUrl(url, options)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Permissively parse a NOVA instance URL from a config variable.\n * If scheme is not specified, defaults to https for *.wandelbots.io hosts,\n * and http otherwise.\n * Throws an error if a valid URL could not be determined.\n */\nexport function parseNovaInstanceUrl(url: string): URL {\n  const testUrl = tryParseUrl(url, { defaultScheme: \"http\" })\n  if (testUrl?.host.endsWith(\".wandelbots.io\")) {\n    return parseUrl(url, { defaultScheme: \"https\" })\n  } else {\n    return parseUrl(url, { defaultScheme: \"http\" })\n  }\n}\n\n/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","/**\n * Mapping of stages to Auth0 configurations.\n * The client ids are public identifiers for a specific auth0 application\n * and are safe to include in client-side code.\n * https://auth0.com/docs/get-started/applications/application-settings\n */\nconst auth0ConfigMap = {\n  dev: {\n    domain: `https://auth.portal.dev.wandelbots.io`,\n    clientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\",\n  },\n  stg: {\n    domain: `https://auth.portal.stg.wandelbots.io`,\n    clientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\",\n  },\n  prod: {\n    domain: `https://auth.portal.wandelbots.io`,\n    clientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\",\n  },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL */\nexport const getAuth0Config = (instanceUrl: URL) => {\n  if (instanceUrl.host.endsWith(\".dev.wandelbots.io\")) return auth0ConfigMap.dev\n  if (instanceUrl.host.endsWith(\".stg.wandelbots.io\")) return auth0ConfigMap.stg\n  if (instanceUrl.host.endsWith(\".wandelbots.io\")) return auth0ConfigMap.prod\n  throw new Error(\n    `Unable to authenticate with NOVA instance \"${instanceUrl}\". Auth0 login is only supported for cloud instances with hosts of the form \"**.wandelbots.io\".`,\n  )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n  instanceUrl: URL,\n): Promise<string | null> => {\n  if (typeof window === \"undefined\") {\n    throw new Error(\n      `Access token must be set to use NovaClient when not in a browser environment.`,\n    )\n  }\n\n  if (instanceUrl.origin === window.location.origin) {\n    // When deployed on the instance itself, our auth is handled by cookies\n    // and no access token is needed-- just need to reload the page and it'll\n    // login again / set cookie as needed\n    window.location.reload()\n    throw new Error(\n      \"Failed to reload page to get auth details, please refresh manually\",\n    )\n  }\n\n  // If we're on localhost or another domain, we need to do the full oauth flow\n  // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n  // in the auth0 config, currently\n  const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n  const auth0Config = getAuth0Config(instanceUrl)\n\n  const auth0Client = new Auth0Client({\n    domain: auth0Config.domain,\n    clientId: auth0Config.clientId ?? \"\",\n    useRefreshTokens: false,\n    authorizationParams: {\n      audience: \"nova-api\",\n      redirect_uri: window.location.origin,\n    },\n  })\n\n  // If the URL includes a redirect result, handle it\n  if (\n    window.location.search.includes(\"code=\") &&\n    window.location.search.includes(\"state=\")\n  ) {\n    const { appState } = await auth0Client.handleRedirectCallback()\n    // Return to the URL the user was originally on before the redirect\n    window.history.replaceState(\n      {},\n      document.title,\n      appState?.returnTo || window.location.pathname,\n    )\n  } else {\n    // Initiate login with redirect\n    await auth0Client.loginWithRedirect()\n  }\n\n  // Once logged in, retrieve the access token silently\n  const accessToken = await auth0Client.getTokenSilently()\n  return 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package/dist/index.cjs

@@ -1,6 +1,6 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
 const require_LoginWithAuth0 = require("./LoginWithAuth0-oZFpwe7m.cjs");
-const require_NovaClient = require("./NovaClient-B-QdK0HR.cjs");
+const require_wandelscriptUtils = require("./wandelscriptUtils-BvZ8hcul.cjs");
 let axios = require("axios");
 //#region src/lib/errorHandling.ts
 function delay(ms) {
@@ -32,7 +32,7 @@ function makeErrorMessage(err) {
 }
 //#endregion
 exports.AutoReconnectingWebsocket = require_LoginWithAuth0.AutoReconnectingWebsocket;
-exports.NovaClient = require_NovaClient.NovaClient;
+exports.NovaClient = require_wandelscriptUtils.NovaClient;
 exports.XYZ_TO_VECTOR = require_LoginWithAuth0.XYZ_TO_VECTOR;
 exports.availableStorage = require_LoginWithAuth0.availableStorage;
 exports.degreesToRadians = require_LoginWithAuth0.degreesToRadians;
@@ -45,7 +45,7 @@ exports.makeShortErrorMessage = makeShortErrorMessage;
 exports.makeUrlQueryString = require_LoginWithAuth0.makeUrlQueryString;
 exports.parseNovaInstanceUrl = require_LoginWithAuth0.parseNovaInstanceUrl;
 exports.parseUrl = require_LoginWithAuth0.parseUrl;
-exports.poseToWandelscriptString = require_NovaClient.poseToWandelscriptString;
+exports.poseToWandelscriptString = require_wandelscriptUtils.poseToWandelscriptString;
 exports.radiansToDegrees = require_LoginWithAuth0.radiansToDegrees;
 exports.tryParseJson = require_LoginWithAuth0.tryParseJson;
 exports.tryParseUrl = require_LoginWithAuth0.tryParseUrl;

package/dist/index.d.cts

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-9Of5_BJe.cjs";
-import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-4PG1cMau.cjs";
+import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DEs8wlLZ.cjs";
+import { n as NovaClient, r as NovaClientConfig, t as poseToWandelscriptString } from "./wandelscriptUtils-_Si3ueEd.cjs";
 
 //#region src/lib/availableStorage.d.ts
 /**

package/dist/index.d.mts

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-9Of5_BJe.mjs";
-import { d as poseToWandelscriptString, n as NovaClientConfig, t as NovaClient } from "./NovaClient-TJ7Bua4l.mjs";
+import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DEs8wlLZ.mjs";
+import { n as NovaClient, r as NovaClientConfig, t as poseToWandelscriptString } from "./wandelscriptUtils-Cz-yQ2eJ.mjs";
 
 //#region src/lib/availableStorage.d.ts
 /**

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-DeirP_w9.mjs";
-import { o as poseToWandelscriptString, t as NovaClient } from "./NovaClient-DLElEQzc.mjs";
+import { n as NovaClient, t as poseToWandelscriptString } from "./wandelscriptUtils-CsQAUu_9.mjs";
 import { isAxiosError } from "axios";
 //#region src/lib/errorHandling.ts
 function delay(ms) {

package/dist/lib/{v1 → deprecated/v1}/index.cjs

@@ -1,9 +1,9 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
-const require_LoginWithAuth0 = require("../../LoginWithAuth0-oZFpwe7m.cjs");
-const require_NovaClient = require("../../NovaClient-B-QdK0HR.cjs");
+const require_LoginWithAuth0 = require("../../../LoginWithAuth0-oZFpwe7m.cjs");
+const require_wandelscriptUtils = require("../../../wandelscriptUtils-BvZ8hcul.cjs");
 let axios = require("axios");
 let mobx = require("mobx");
-//#region src/lib/v1/getLatestTrajectories.ts
+//#region src/lib/deprecated/v1/getLatestTrajectories.ts
 let lastMotionIds = /* @__PURE__ */ new Set();
 async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
 	const newTrajectories = [];
@@ -22,7 +22,7 @@ async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordi
 	return newTrajectories;
 }
 //#endregion
-//#region src/lib/v1/ProgramStateConnection.ts
+//#region src/lib/deprecated/v1/ProgramStateConnection.ts
 let ProgramState = /* @__PURE__ */ function(ProgramState) {
 	ProgramState["NotStarted"] = "not started";
 	ProgramState["Running"] = "running";
@@ -174,15 +174,15 @@ var ProgramStateConnection = class {
 	}
 };
 //#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.ConnectedMotionGroup = require_wandelscriptUtils.ConnectedMotionGroup;
+exports.JoggerConnection = require_wandelscriptUtils.JoggerConnection;
+exports.MotionStreamConnection = require_wandelscriptUtils.MotionStreamConnection;
+exports.NovaCellAPIClient = require_wandelscriptUtils.NovaCellAPIClient;
+exports.NovaClient = require_wandelscriptUtils.NovaClient;
 exports.ProgramState = ProgramState;
 exports.ProgramStateConnection = ProgramStateConnection;
 exports.getLatestTrajectories = getLatestTrajectories;
-exports.poseToWandelscriptString = require_NovaClient.poseToWandelscriptString;
+exports.poseToWandelscriptString = require_wandelscriptUtils.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, {

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.cjs","names":["tryParseJson","AxiosError"],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/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 → deprecated/v1}/index.d.cts

@@ -1,12 +1,12 @@
-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 { t as AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket-DEs8wlLZ.cjs";
+import { a as WithCellId, c as JoggerConnectionOpts, d as MotionGroupOption, i as NovaCellAPIClient, l as MotionStreamConnection, n as NovaClient, o as WithUnwrappedAxiosResponse, r as NovaClientConfig, s as JoggerConnection, t as poseToWandelscriptString, u as ConnectedMotionGroup } from "../../../wandelscriptUtils-_Si3ueEd.cjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 
-//#region src/lib/v1/getLatestTrajectories.d.ts
+//#region src/lib/deprecated/v1/getLatestTrajectories.d.ts
 declare function getLatestTrajectories(apiClient: NovaCellAPIClient, sampleTime?: number, responsesCoordinateSystem?: string): Promise<GetTrajectoryResponse[]>;
 //#endregion
-//#region src/lib/v1/ProgramStateConnection.d.ts
+//#region src/lib/deprecated/v1/ProgramStateConnection.d.ts
 type ProgramRunnerLogEntry = {
   timestamp: number;
   message: string;

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.cts","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/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 → deprecated/v1}/index.d.mts

@@ -1,12 +1,12 @@
-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 { t as AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket-DEs8wlLZ.mjs";
+import { a as WithCellId, c as JoggerConnectionOpts, d as MotionGroupOption, i as NovaCellAPIClient, l as MotionStreamConnection, n as NovaClient, o as WithUnwrappedAxiosResponse, r as NovaClientConfig, s as JoggerConnection, t as poseToWandelscriptString, u as ConnectedMotionGroup } from "../../../wandelscriptUtils-Cz-yQ2eJ.mjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 
-//#region src/lib/v1/getLatestTrajectories.d.ts
+//#region src/lib/deprecated/v1/getLatestTrajectories.d.ts
 declare function getLatestTrajectories(apiClient: NovaCellAPIClient, sampleTime?: number, responsesCoordinateSystem?: string): Promise<GetTrajectoryResponse[]>;
 //#endregion
-//#region src/lib/v1/ProgramStateConnection.d.ts
+//#region src/lib/deprecated/v1/ProgramStateConnection.d.ts
 type ProgramRunnerLogEntry = {
   timestamp: number;
   message: string;

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.mts","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/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 → deprecated/v1}/index.mjs

@@ -1,9 +1,9 @@
-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 { u as tryParseJson } from "../../../LoginWithAuth0-DeirP_w9.mjs";
+import { a as JoggerConnection, i as MotionStreamConnection, n as NovaClient, o as ConnectedMotionGroup, r as NovaCellAPIClient, t as poseToWandelscriptString } from "../../../wandelscriptUtils-CsQAUu_9.mjs";
 import { AxiosError } from "axios";
 import { makeAutoObservable, runInAction } from "mobx";
 export * from "@wandelbots/nova-api/v1";
-//#region src/lib/v1/getLatestTrajectories.ts
+//#region src/lib/deprecated/v1/getLatestTrajectories.ts
 let lastMotionIds = /* @__PURE__ */ new Set();
 async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
 	const newTrajectories = [];
@@ -22,7 +22,7 @@ async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordi
 	return newTrajectories;
 }
 //#endregion
-//#region src/lib/v1/ProgramStateConnection.ts
+//#region src/lib/deprecated/v1/ProgramStateConnection.ts
 let ProgramState = /* @__PURE__ */ function(ProgramState) {
 	ProgramState["NotStarted"] = "not started";
 	ProgramState["Running"] = "running";

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.mjs","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/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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