@wandelbots/nova-js 3.9.0-pr.280.2b62f3c → 3.9.0-pr.280.432dc39

package/dist/lib/v2/index.d.mts

@@ -1,6 +1,5 @@
-import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-DEs8wlLZ.mjs";
+import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-DNOF9mpz.mjs";
 import { AxiosInstance } from "axios";
-import * as novaApiV2 from "@wandelbots/nova-api/v2";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, LicenseApi, MotionGroupApi, MotionGroupModelsApi, NOVACloudApi, Pose, ProgramApi, RobotConfigurationsApi, SessionApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VersionApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";
 
@@ -9,11 +8,14 @@ type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...a
 type UnwrapAxiosResponseReturn$1<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
   data: infer D;
 } ? D : never> : never;
+/** @deprecated Use `NovaAPIClient` instead. */
 type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn$1<OmitFirstArg<T[P]>> };
+/** @deprecated Use `NovaAPIClient` instead. */
 type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn$1<T[P]> };
 /**
  * API client providing type-safe access to all the Nova API REST endpoints
  * associated with a specific cell id.
+ * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
  */
 declare class NovaCellAPIClient {
   readonly cellId: string;
@@ -64,7 +66,8 @@ declare class NovaCellAPIClient {
 }
 //#endregion
 //#region src/lib/deprecated/v2/NovaClient.d.ts
-type NovaClientConfig$1 = {
+/** @deprecated Use `NovaClientConfig` from `Nova` instead. */
+type NovaClientConfig = {
   /**
    * Url of the deployed Nova instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -90,12 +93,12 @@ type NovaClientConfig$1 = {
    */
   accessToken?: string;
 } & Omit<Configuration, "isJsonMime" | "basePath">;
-type NovaClientConfigWithDefaults = NovaClientConfig$1 & {
+type NovaClientConfigWithDefaults = NovaClientConfig & {
   cellId: string;
 };
 /**
- *
  * Client for connecting to a Nova instance and controlling robots.
+ * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.
  */
 declare class NovaClient {
   readonly api: NovaCellAPIClient;
@@ -104,7 +107,7 @@ declare class NovaClient {
   readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
-  constructor(config: NovaClientConfig$1);
+  constructor(config: NovaClientConfig);
   renewAuthentication(): Promise<void>;
   makeWebsocketURL(path: string): string;
   /**
@@ -119,52 +122,55 @@ declare class NovaClient {
 /**
  * Convert a Pose object representing a motion group position
  * into a string which represents that pose in Wandelscript.
+ * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.
  */
 declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 //#endregion
 //#region src/lib/v2/NovaAPIClient.d.ts
-type UnwrapAxiosResponseReturn<T> = T extends ((...a: unknown[]) => unknown[]) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
   data: infer D;
 } ? D : never> : never;
 type WithUnwrappedAxiosResponse$1<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
-/**
- * Filters nova-api/v2 exports to just the API class constructors,
- * excluding helper factories and param creators.
- */
-type ApiConstructors = { [K in keyof typeof novaApiV2 as K extends `${string}Api` ? K extends `${string}Factory${string}` | `${string}Fp${string}` | `${string}ParamCreator${string}` ? never : K : never]: (typeof novaApiV2)[K] };
-/**
- * Lowercases leading uppercase characters to produce a camelCase property name.
- * e.g. "BUSInputsOutputs" -> "busInputsOutputs", "NOVACloud" -> "novaCloud",
- *      "Application" -> "application"
- */
-type CamelCase<S extends string> = S extends `${Uppercase<infer A>}${Uppercase<infer B>}${infer Rest}` ? Rest extends `${Lowercase<string>}${string}` ? `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}` : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}` : Uncapitalize<S>;
-/**
- * Maps API class names to property names by stripping "Api" and converting
- * the leading acronym to lowercase camelCase.
- *
- * Properties are auto-discovered from the upstream package at runtime,
- * so new API sections are available immediately without code changes.
- */
-type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}Api` ? CamelCase<P> : never]: ApiConstructors[K] extends (new (...args: unknown[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
 type NovaAPIClientOpts = Configuration & {
   axiosInstance?: AxiosInstance;
   mock?: boolean;
 };
 /**
  * API client providing type-safe access to all the endpoints of a NOVA
- * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
- * at runtime, so new sections added upstream are exposed automatically.
+ * instance.
  */
-declare const NovaAPIClient: {
-  new (opts: NovaAPIClientOpts): ApiProperties & {
-    readonly cellId: string;
-    readonly opts: NovaAPIClientOpts;
-  };
-};
-type NovaAPIClient = InstanceType<typeof NovaAPIClient>;
+declare class NovaAPIClient {
+  readonly opts: NovaAPIClientOpts;
+  readonly application: WithUnwrappedAxiosResponse$1<ApplicationApi>;
+  readonly busIOs: WithUnwrappedAxiosResponse$1<BUSInputsOutputsApi>;
+  readonly cell: WithUnwrappedAxiosResponse$1<CellApi>;
+  readonly controller: WithUnwrappedAxiosResponse$1<ControllerApi>;
+  readonly controllerIOs: WithUnwrappedAxiosResponse$1<ControllerInputsOutputsApi>;
+  readonly jogging: WithUnwrappedAxiosResponse$1<JoggingApi>;
+  readonly kinematics: WithUnwrappedAxiosResponse$1<KinematicsApi>;
+  readonly license: WithUnwrappedAxiosResponse$1<LicenseApi>;
+  readonly motionGroup: WithUnwrappedAxiosResponse$1<MotionGroupApi>;
+  readonly motionGroupModels: WithUnwrappedAxiosResponse$1<MotionGroupModelsApi>;
+  readonly novaCloud: WithUnwrappedAxiosResponse$1<NOVACloudApi>;
+  readonly program: WithUnwrappedAxiosResponse$1<ProgramApi>;
+  readonly robotConfigurations: WithUnwrappedAxiosResponse$1<RobotConfigurationsApi>;
+  readonly session: WithUnwrappedAxiosResponse$1<SessionApi>;
+  readonly storeCollisionComponents: WithUnwrappedAxiosResponse$1<StoreCollisionComponentsApi>;
+  readonly storeCollisionSetups: WithUnwrappedAxiosResponse$1<StoreCollisionSetupsApi>;
+  readonly storeObject: WithUnwrappedAxiosResponse$1<StoreObjectApi>;
+  readonly system: WithUnwrappedAxiosResponse$1<SystemApi>;
+  readonly trajectoryCaching: WithUnwrappedAxiosResponse$1<TrajectoryCachingApi>;
+  readonly trajectoryExecution: WithUnwrappedAxiosResponse$1<TrajectoryExecutionApi>;
+  readonly trajectoryPlanning: WithUnwrappedAxiosResponse$1<TrajectoryPlanningApi>;
+  readonly version: WithUnwrappedAxiosResponse$1<VersionApi>;
+  readonly virtualController: WithUnwrappedAxiosResponse$1<VirtualControllerApi>;
+  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse$1<VirtualControllerBehaviorApi>;
+  readonly virtualControllerIOs: WithUnwrappedAxiosResponse$1<VirtualControllerInputsOutputsApi>;
+  constructor(opts: NovaAPIClientOpts);
+}
 //#endregion
 //#region src/lib/v2/Nova.d.ts
-type NovaClientConfig = {
+type NovaConfig = {
   /**
    * Url of the deployed NOVA instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -183,12 +189,12 @@ type NovaClientConfig = {
  */
 declare class Nova {
   readonly api: NovaAPIClient;
-  readonly config: NovaClientConfig;
+  readonly config: NovaConfig;
   readonly mock?: MockNovaInstance;
   readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
-  constructor(config: NovaClientConfig);
+  constructor(config: NovaConfig);
   renewAuthentication(): Promise<void>;
   makeWebsocketURL(path: string): string;
   /**
@@ -199,5 +205,5 @@ declare class Nova {
   openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
 }
 //#endregion
-export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
+export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, type NovaConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
 //# sourceMappingURL=index.d.mts.map

package/dist/lib/v2/index.d.mts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.mts","names":[],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"mappings":";;;;;;;KAoCK,YAAA,MAAkB,CAAA,WAAW,CAAA,UAAW,IAAA,6BACrC,IAAA,EAAM,CAAA,KAAM,CAAA;AAAA,KAGf,2BAAA,MAA+B,CAAA,cAAc,CAAA,qBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;AAAA,KAGxD,UAAA,oBACE,CAAA,GAAI,2BAAA,CAA0B,YAAA,CAAa,CAAA,CAAE,CAAA;AAAA,KAG/C,0BAAA,oBACE,CAAA,GAAI,2BAAA,CAA0B,CAAA,CAAE,CAAA;;;;;cAOjC,iBAAA;EAAA,SAEA,MAAA;EAAA,SACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;cAHO,MAAA,UACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;EAvBwB;;;;;EAAA,QAgCpB,UAAA;EA7BO;;;EAAA,QAkEP,0BAAA;EAAA,SAkCC,MAAA,EAAM,0BAAA,CAAA,SAAA;EAAA,SACN,IAAA,EAAI,0BAAA,CAAA,OAAA;EAAA,SAEJ,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,iBAAA,EAAiB,0BAAA,CAAA,oBAAA;EAAA,SAGjB,UAAA,EAAU,UAAA,CAAA,aAAA;EAAA,SAEV,aAAA,EAAa,UAAA,CAAA,0BAAA;EAAA,SAEb,kBAAA,EAAkB,UAAA,CAAA,qBAAA;EAAA,SAClB,mBAAA,EAAmB,UAAA,CAAA,sBAAA;EAAA,SACnB,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SAEjB,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,iBAAA,EAAiB,0BAAA,CAAA,cAAA;EAAA,SAEjB,OAAA,EAAO,UAAA,CAAA,UAAA;EAAA,SAEP,UAAA,EAAU,UAAA,CAAA,aAAA;EAAA,SAEV,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAEhB,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SACjB,yBAAA,EAAyB,UAAA,CAAA,4BAAA;EAAA,SAGzB,oBAAA,EAAoB,UAAA,CAAA,iCAAA;EAAA,SAIpB,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,wBAAA,EAAwB,UAAA,CAAA,2BAAA;EAAA,SAGxB,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SAEpB,OAAA,EAAO,UAAA,CAAA,UAAA;EAAA,SAEP,OAAA,EAAO,0BAAA,CAAA,UAAA;EAAA,SACP,SAAA,EAAS,0BAAA,CAAA,YAAA;EAAA,SACT,mBAAA,EAAmB,0BAAA,CAAA,sBAAA;EAAA,SAGnB,OAAA,EAAO,0BAAA,CAAA,UAAA;EAAA,SACP,OAAA,EAAO,0BAAA,CAAA,UAAA;AAAA;;;KCjLN,kBAAA;;;ADqB8B;;EChBxC,WAAA;EDmBqB;;;;ECbrB,MAAA;EDagB;;;;ECPhB,QAAA;EDOmE;;;;ECDnE,QAAA;EDEmB;AAAA;;ECGnB,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;AAAA,KAEJ,4BAAA,GAA+B,kBAAgB;EAAK,MAAM;AAAA;;;;;cAMlD,UAAA;EAAA,SACF,GAAA,EAAK,iBAAA;EAAA,SACL,MAAA,EAAQ,4BAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,kBAAA;EAkGd,mBAAA,CAAA,GAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;ED5IiB;;;;;ECyKlC,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA;;;;;;;iBC9MxB,wBAAA,CACd,IAAA,EAAM,IAAI,CAAC,IAAA;;;KCCR,yBAAA,MAA+B,CAAA,cAAc,CAAA,iCAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;AAAA,KAG/D,4BAAA,oBACS,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;;;;;KAOzC,eAAA,wBACgB,SAAA,IAAa,CAAA,0BAC5B,CAAA,2GAKE,CAAA,mBACc,SAAA,EAAW,CAAA;;;;;;KAQ5B,SAAA,qBACH,CAAA,YAAa,SAAA,YAAqB,SAAA,2BAC9B,IAAA,YAAgB,SAAA,yBACX,SAAA,CAAU,CAAA,IAAK,SAAA,IAAa,SAAA,CAAU,CAAA,IAAK,IAAA,WAC3C,SAAA,CAAU,CAAA,IAAK,SAAA,IAAa,SAAA,CAAU,CAAA,IAAK,IAAA,QAChD,YAAA,CAAa,CAAA;;;;;AHNE;AAAA;;KGehB,aAAA,0BACkB,eAAA,IAAmB,CAAA,2BACpC,SAAA,CAAU,CAAA,YACF,eAAA,CAAgB,CAAA,mBACvB,IAAA,2BAED,4BAAA,CAA2B,CAAA;AAAA,KAI5B,iBAAA,GAAoB,aAAA;EACvB,aAAA,GAAgB,aAAa;EAC7B,IAAA;AAAA;;;;;;cAyDW,aAAA;EAAA,KA6BT,IAAA,EAAM,iBAAA,GACL,aAAA;IAAA,SACQ,MAAA;IAAA,SACA,IAAA,EAAM,iBAAA;EAAA;AAAA;AAAA,KAIP,aAAA,GAAgB,YAAY,QAAQ,aAAA;;;KClJpC,gBAAA;;;;AJsB8B;EIjBxC,WAAA;EJoBe;;;;;EIbf,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;;;;;cAMI,IAAA;EAAA,SACF,GAAA,EAAK,aAAA;EAAA,SACL,MAAA,EAAQ,gBAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,gBAAA;EA+Fd,mBAAA,CAAA,GAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;EJvHI;;;;;EI8IrB,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}
+{"version":3,"file":"index.d.mts","names":[],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"mappings":";;;;;;KAoCK,YAAA,MAAkB,CAAA,WAAW,CAAA,UAAW,IAAA,6BACrC,IAAA,EAAM,CAAA,KAAM,CAAA;AAAA,KAGf,2BAAA,MAA+B,CAAA,cAAc,CAAA,qBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;;KAIxD,UAAA,oBACE,CAAA,GAAI,2BAAA,CAA0B,YAAA,CAAa,CAAA,CAAE,CAAA;;KAI/C,0BAAA,oBACE,CAAA,GAAI,2BAAA,CAA0B,CAAA,CAAE,CAAA;;;;;;cAQjC,iBAAA;EAAA,SAEA,MAAA;EAAA,SACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;cAHO,MAAA,UACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;EAvB8B;;;;;EAAA,QAgC1B,UAAA;EAnCqB;;;EAAA,QAwErB,0BAAA;EAAA,SAkCC,MAAA,EAAM,0BAAA,CAAA,SAAA;EAAA,SACN,IAAA,EAAI,0BAAA,CAAA,OAAA;EAAA,SAEJ,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,iBAAA,EAAiB,0BAAA,CAAA,oBAAA;EAAA,SAGjB,UAAA,EAAU,UAAA,CAAA,aAAA;EAAA,SAEV,aAAA,EAAa,UAAA,CAAA,0BAAA;EAAA,SAEb,kBAAA,EAAkB,UAAA,CAAA,qBAAA;EAAA,SAClB,mBAAA,EAAmB,UAAA,CAAA,sBAAA;EAAA,SACnB,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SAEjB,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,iBAAA,EAAiB,0BAAA,CAAA,cAAA;EAAA,SAEjB,OAAA,EAAO,UAAA,CAAA,UAAA;EAAA,SAEP,UAAA,EAAU,UAAA,CAAA,aAAA;EAAA,SAEV,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAEhB,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SACjB,yBAAA,EAAyB,UAAA,CAAA,4BAAA;EAAA,SAGzB,oBAAA,EAAoB,UAAA,CAAA,iCAAA;EAAA,SAIpB,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,wBAAA,EAAwB,UAAA,CAAA,2BAAA;EAAA,SAGxB,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SAEpB,OAAA,EAAO,UAAA,CAAA,UAAA;EAAA,SAEP,OAAA,EAAO,0BAAA,CAAA,UAAA;EAAA,SACP,SAAA,EAAS,0BAAA,CAAA,YAAA;EAAA,SACT,mBAAA,EAAmB,0BAAA,CAAA,sBAAA;EAAA,SAGnB,OAAA,EAAO,0BAAA,CAAA,UAAA;EAAA,SACP,OAAA,EAAO,0BAAA,CAAA,UAAA;AAAA;;;;KCnLN,gBAAA;EDuBP;;;;EClBH,WAAA;EDmBkB;;;;ECblB,MAAA;EDYgC;;;;ECNhC,QAAA;EDOY;;;AAAO;ECDnB,QAAA;EDI4B;;;ECC5B,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;AAAA,KAEJ,4BAAA,GAA+B,gBAAgB;EAAK,MAAM;AAAA;;;;;cAMlD,UAAA;EAAA,SACF,GAAA,EAAK,iBAAA;EAAA,SACL,MAAA,EAAQ,4BAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,gBAAA;EAkGd,mBAAA,CAAA,GAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;ED7I2C;;;AAAO;AAIrE;ECqKE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA;;;;;;;;iBC7MxB,wBAAA,CACd,IAAA,EAAM,IAAI,CAAC,IAAA;;;KC2BR,yBAAA,MAA+B,CAAA,cAAc,CAAA,uBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;AAAA,KAG/D,4BAAA,oBACS,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;AAAA,KAGzC,iBAAA,GAAoB,aAAA;EACvB,aAAA,GAAgB,aAAa;EAC7B,IAAA;AAAA;;;;;cAuCW,aAAA;EAAA,SACF,IAAA,EAAM,iBAAA;EAAA,SAEN,WAAA,EAAa,4BAAA,CAA2B,cAAA;EAAA,SACxC,MAAA,EAAQ,4BAAA,CAA2B,mBAAA;EAAA,SACnC,IAAA,EAAM,4BAAA,CAA2B,OAAA;EAAA,SACjC,UAAA,EAAY,4BAAA,CAA2B,aAAA;EAAA,SACvC,aAAA,EAAe,4BAAA,CAA2B,0BAAA;EAAA,SAC1C,OAAA,EAAS,4BAAA,CAA2B,UAAA;EAAA,SACpC,UAAA,EAAY,4BAAA,CAA2B,aAAA;EAAA,SACvC,OAAA,EAAS,4BAAA,CAA2B,UAAA;EAAA,SACpC,WAAA,EAAa,4BAAA,CAA2B,cAAA;EAAA,SACxC,iBAAA,EAAmB,4BAAA,CAA2B,oBAAA;EAAA,SAC9C,SAAA,EAAW,4BAAA,CAA2B,YAAA;EAAA,SACtC,OAAA,EAAS,4BAAA,CAA2B,UAAA;EAAA,SACpC,mBAAA,EAAqB,4BAAA,CAA2B,sBAAA;EAAA,SAChD,OAAA,EAAS,4BAAA,CAA2B,UAAA;EAAA,SACpC,wBAAA,EAA0B,4BAAA,CAA2B,2BAAA;EAAA,SACrD,oBAAA,EAAsB,4BAAA,CAA2B,uBAAA;EAAA,SACjD,WAAA,EAAa,4BAAA,CAA2B,cAAA;EAAA,SACxC,MAAA,EAAQ,4BAAA,CAA2B,SAAA;EAAA,SACnC,iBAAA,EAAmB,4BAAA,CAA2B,oBAAA;EAAA,SAC9C,mBAAA,EAAqB,4BAAA,CAA2B,sBAAA;EAAA,SAChD,kBAAA,EAAoB,4BAAA,CAA2B,qBAAA;EAAA,SAC/C,OAAA,EAAS,4BAAA,CAA2B,UAAA;EAAA,SACpC,iBAAA,EAAmB,4BAAA,CAA2B,oBAAA;EAAA,SAC9C,yBAAA,EAA2B,4BAAA,CAA2B,4BAAA;EAAA,SACtD,oBAAA,EAAsB,4BAAA,CAA2B,iCAAA;cAE9C,IAAA,EAAM,iBAAA;AAAA;;;KCzGR,UAAA;;;AJuB8B;;EIlBxC,WAAA;EJqBqB;;;;;EIdrB,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;;;;;cAMI,IAAA;EAAA,SACF,GAAA,EAAK,aAAA;EAAA,SACL,MAAA,EAAQ,UAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,UAAA;EAiGd,mBAAA,CAAA,GAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;EJxHP;;;;;EI+IV,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}

package/dist/lib/v2/index.mjs

@@ -1,14 +1,13 @@
 import { m as AutoReconnectingWebsocket, n as loginWithAuth0, p as availableStorage, s as parseNovaInstanceUrl } from "../../LoginWithAuth0-DeirP_w9.mjs";
 import axios, { AxiosError, isAxiosError } from "axios";
-import urlJoin from "url-join";
 import * as pathToRegexp from "path-to-regexp";
-import * as novaApiV2 from "@wandelbots/nova-api/v2";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, LicenseApi, MotionGroupApi, MotionGroupModelsApi, NOVACloudApi, ProgramApi, RobotConfigurationsApi, SessionApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VersionApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";
 //#region src/lib/deprecated/v2/NovaCellAPIClient.ts
 /**
 * API client providing type-safe access to all the Nova API REST endpoints
 * associated with a specific cell id.
+* @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
 */
 var NovaCellAPIClient = class {
 	constructor(cellId, opts) {
@@ -692,8 +691,8 @@ const defaultMotionState = { result: {
 //#endregion
 //#region src/lib/deprecated/v2/NovaClient.ts
 /**
-*
 * Client for connecting to a Nova instance and controlling robots.
+* @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.
 */
 var NovaClient = class {
 	constructor(config) {
@@ -708,7 +707,7 @@ var NovaClient = class {
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
 		this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.create({
-			baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+			baseURL: new URL("/api/v2", this.instanceUrl).href,
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -738,7 +737,7 @@ var NovaClient = class {
 		});
 		this.api = new NovaCellAPIClient(cellId, {
 			...config,
-			basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+			basePath: new URL("/api/v2", this.instanceUrl).href,
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
@@ -768,7 +767,7 @@ var NovaClient = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2/cells/${this.config.cellId}`, path));
+		const url = new URL(new URL(`/api/v2/cells/${this.config.cellId}/${path.replace(/^\/+/, "")}`, this.instanceUrl).href);
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);
@@ -792,6 +791,7 @@ var NovaClient = class {
 /**
 * Convert a Pose object representing a motion group position
 * into a string which represents that pose in Wandelscript.
+* @deprecated Wandelscript usage is deprecated; switching to Python is recommended.
 */
 function poseToWandelscriptString(pose) {
 	const position = [
@@ -810,10 +810,7 @@ function poseToWandelscriptString(pose) {
 }
 //#endregion
 //#region src/lib/v2/NovaAPIClient.ts
-function isApiClass(name, value) {
-	return name.endsWith("Api") && typeof value === "function" && !name.includes("Factory") && !name.includes("Fp") && !name.includes("ParamCreator");
-}
-function wrapApi(ApiConstructor, opts) {
+function unwrap(ApiConstructor, opts) {
 	const apiClient = new ApiConstructor({
 		...opts,
 		isJsonMime: (mime) => mime === "application/json"
@@ -826,20 +823,36 @@ function wrapApi(ApiConstructor, opts) {
 }
 /**
 * API client providing type-safe access to all the endpoints of a NOVA
-* instance. API sections are auto-discovered from @wandelbots/nova-api/v2
-* at runtime, so new sections added upstream are exposed automatically.
+* instance.
 */
-const NovaAPIClient = class NovaAPIClient {
+var NovaAPIClient = class {
 	constructor(opts) {
 		this.opts = opts;
-		for (const [name, value] of Object.entries(novaApiV2)) if (isApiClass(name, value)) {
-			const stripped = name.slice(0, -3);
-			let i = 0;
-			while (i < stripped.length && stripped[i] === stripped[i].toUpperCase() && stripped[i] !== stripped[i].toLowerCase()) i++;
-			const boundary = i > 1 ? i - 1 : i;
-			const propName = stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary);
-			this[propName] = wrapApi(value, opts);
-		}
+		this.application = unwrap(ApplicationApi, opts);
+		this.busIOs = unwrap(BUSInputsOutputsApi, opts);
+		this.cell = unwrap(CellApi, opts);
+		this.controller = unwrap(ControllerApi, opts);
+		this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts);
+		this.jogging = unwrap(JoggingApi, opts);
+		this.kinematics = unwrap(KinematicsApi, opts);
+		this.license = unwrap(LicenseApi, opts);
+		this.motionGroup = unwrap(MotionGroupApi, opts);
+		this.motionGroupModels = unwrap(MotionGroupModelsApi, opts);
+		this.novaCloud = unwrap(NOVACloudApi, opts);
+		this.program = unwrap(ProgramApi, opts);
+		this.robotConfigurations = unwrap(RobotConfigurationsApi, opts);
+		this.session = unwrap(SessionApi, opts);
+		this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts);
+		this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts);
+		this.storeObject = unwrap(StoreObjectApi, opts);
+		this.system = unwrap(SystemApi, opts);
+		this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts);
+		this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts);
+		this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts);
+		this.version = unwrap(VersionApi, opts);
+		this.virtualController = unwrap(VirtualControllerApi, opts);
+		this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts);
+		this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts);
 	}
 };
 //#endregion
@@ -857,7 +870,7 @@ var Nova = class {
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
 		this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.create({
-			baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+			baseURL: new URL("/api/v2", this.instanceUrl).href,
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -887,12 +900,13 @@ var Nova = class {
 		});
 		this.api = new NovaAPIClient({
 			...config,
-			basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+			basePath: new URL("/api/v2", this.instanceUrl).href,
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
 			baseOptions: {
 				...this.mock ? { adapter: (config) => {
+					if (!this.mock) throw new Error("Mock adapter used without a mock instance");
 					return this.mock.handleAPIRequest(config);
 				} } : {},
 				...config.baseOptions
@@ -917,7 +931,7 @@ var Nova = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2`, path));
+		const url = new URL(`/api/v2/${path.replace(/^\/+/, "")}`, this.instanceUrl);
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);

package/dist/lib/v2/index.mjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/getCurrentRobotControllerState.ts","../../../src/lib/v2/mock/getMotionGroupDescription.ts","../../../src/lib/v2/mock/getMotionGroupKinematicModel.ts","../../../src/lib/v2/mock/getRobotController.ts","../../../src/lib/v2/mock/listCoordinateSystems.ts","../../../src/lib/v2/mock/listRobotControllers.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  LicenseApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  NOVACloudApi,\n  ProgramApi,\n  RobotConfigurationsApi,\n  SessionApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VersionApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels =\n    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n  readonly program = this.withCellId(ProgramApi)\n\n  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)\n  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n  readonly robotConfigurations = this.withUnwrappedResponsesOnly(\n    RobotConfigurationsApi,\n  )\n  readonly version = this.withUnwrappedResponsesOnly(VersionApi)\n  readonly session = this.withUnwrappedResponsesOnly(SessionApi)\n}\n","export const getCurrentRobotControllerState = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/state\",\n  handle() {\n    return {\n      mode: \"MODE_CONTROL\",\n      last_error: [],\n      timestamp: \"2025-10-16T09:19:26.634534092Z\",\n      sequence_number: 1054764,\n      controller: \"mock-ur5e\",\n      operation_mode: \"OPERATION_MODE_AUTO\",\n      safety_state: \"SAFETY_STATE_NORMAL\",\n      velocity_override: 100,\n      motion_groups: [\n        {\n          timestamp: \"2025-10-16T09:19:26.634534092Z\",\n          sequence_number: 1054764,\n          motion_group: \"0@mock-ur5e\",\n          controller: \"mock-ur5e\",\n          joint_position: [\n            1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n            6.034560203552246, 1.4921919107437134, 1.593459963798523,\n          ],\n          joint_limit_reached: {\n            limit_reached: [false, false, false, false, false, false],\n          },\n          joint_torque: [],\n          joint_current: [0, 0, 0, 0, 0, 0],\n          flange_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          tcp: \"Flange\",\n          tcp_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          payload: \"\",\n          coordinate_system: \"\",\n          standstill: true,\n        },\n      ],\n    }\n  },\n}\n","export const getMotionGroupDescription = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n  handle() {\n    return {\n      motion_group_model: \"UniversalRobots_UR5e\",\n      mounting: {\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n      },\n      tcps: {\n        Flange: {\n          name: \"Default-Flange\",\n          pose: {\n            position: [0, 0, 0],\n            orientation: [0, 0, 0],\n          },\n        },\n      },\n      payloads: {\n        \"FPay-0\": {\n          name: \"FPay-0\",\n          payload: 0,\n          center_of_mass: [0, 0, 0],\n          moment_of_inertia: [0, 0, 0],\n        },\n      },\n      cycle_time: 8,\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          d: 162.25,\n        },\n        {\n          a: -425,\n        },\n        {\n          a: -392.2,\n        },\n        {\n          alpha: 1.5707963267948966,\n          d: 133.3,\n        },\n        {\n          alpha: -1.5707963267948966,\n          d: 99.7,\n        },\n        {\n          d: 99.6,\n        },\n      ],\n      operation_limits: {\n        auto_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n          elbow: {\n            velocity: 5000,\n          },\n          flange: {\n            velocity: 5000,\n          },\n        },\n        manual_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t1_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t2_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n      },\n      serial_number: \"WBVirtualRobot\",\n    }\n  },\n}\n","export const getMotionGroupKinematicModel = {\n  method: \"GET\",\n  path: \"/motion-group-models/:motionGroupModel/kinematic\",\n  handle() {\n    return {\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 162.25,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -425.0,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -392.2,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 133.3,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: -1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.7,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.6,\n          reverse_rotation_direction: false,\n        },\n      ],\n      inverse_solver: \"Universalrobots\",\n    }\n  },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId\",\n  handle() {\n    return {\n      configuration: {\n        initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n        kind: \"VirtualController\",\n        manufacturer: \"universalrobots\",\n        type: \"universalrobots-ur5e\",\n      },\n      name: \"mock-ur5\",\n    } satisfies RobotController\n  },\n}\n","export const listCoordinateSystems = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n  handle() {\n    return [\n      {\n        coordinate_system: \"\",\n        name: \"world\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n      {\n        coordinate_system: \"CS-0\",\n        name: \"Default-CS\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n    ]\n  },\n}\n","export const listRobotControllers = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers\",\n  handle() {\n    return [\"mock-ur5e\"]\n  },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel\"\nimport { getRobotController } from \"./getRobotController\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems\"\nimport { listRobotControllers } from \"./listRobotControllers\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      listRobotControllers,\n      getRobotController,\n      getMotionGroupDescription,\n      getCurrentRobotControllerState,\n      listCoordinateSystems,\n      getMotionGroupKinematicModel,\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    if (!config.url) {\n      throw new Error(\"No url sent with request\")\n    }\n    const path = config.url.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path)\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    description_revision: 0,\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../../converters\"\nimport { MockNovaInstance } from \"../../v2/mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.instanceUrl.href,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: unknown[]) => unknown[]\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n  [K in keyof typeof novaApiV2 as K extends `${string}Api`\n    ? K extends\n        | `${string}Factory${string}`\n        | `${string}Fp${string}`\n        | `${string}ParamCreator${string}`\n      ? never\n      : K\n    : never]: (typeof novaApiV2)[K]\n}\n\n/**\n * Lowercases leading uppercase characters to produce a camelCase property name.\n * e.g. \"BUSInputsOutputs\" -> \"busInputsOutputs\", \"NOVACloud\" -> \"novaCloud\",\n *      \"Application\" -> \"application\"\n */\ntype CamelCase<S extends string> =\n  S extends `${Uppercase<infer A>}${Uppercase<infer B>}${infer Rest}`\n    ? Rest extends `${Lowercase<string>}${string}`\n      ? `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n      : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n    : Uncapitalize<S>\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n *\n * Properties are auto-discovered from the upstream package at runtime,\n * so new API sections are available immediately without code changes.\n */\ntype ApiProperties = {\n  readonly [K in keyof ApiConstructors as K extends `${infer P}Api`\n    ? CamelCase<P>\n    : never]: ApiConstructors[K] extends new (\n    ...args: unknown[]\n  ) => infer I\n    ? WithUnwrappedAxiosResponse<I>\n    : never\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n  axiosInstance?: AxiosInstance\n  mock?: boolean\n}\n\nfunction isApiClass(\n  name: string,\n  value: unknown,\n): value is new (\n  config: BaseConfiguration,\n  basePath: string,\n  axios: AxiosInstance,\n) => BaseAPI {\n  return (\n    name.endsWith(\"Api\") &&\n    typeof value === \"function\" &&\n    !name.includes(\"Factory\") &&\n    !name.includes(\"Fp\") &&\n    !name.includes(\"ParamCreator\")\n  )\n}\n\nfunction wrapApi<T extends BaseAPI>(\n  ApiConstructor: new (\n    config: BaseConfiguration,\n    basePath: string,\n    axios: AxiosInstance,\n  ) => T,\n  opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n  const apiClient = new ApiConstructor(\n    {\n      ...opts,\n      isJsonMime: (mime: string) => mime === \"application/json\",\n    },\n    opts.basePath ?? \"\",\n    opts.axiosInstance ?? axios.create(),\n  ) as Record<string | symbol, unknown>\n\n  for (const key of Reflect.ownKeys(\n    Reflect.getPrototypeOf(apiClient) as object,\n  )) {\n    if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n      const originalFunction = apiClient[key] as (\n        ...args: unknown[]\n      ) => Promise<{ data: unknown }>\n      apiClient[key] = (...args: unknown[]) =>\n        originalFunction.apply(apiClient, args).then((res) => res.data)\n    }\n  }\n\n  return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance. API sections are auto-discovered from @wandelbots/nova-api/v2\n * at runtime, so new sections added upstream are exposed automatically.\n */\nexport const NovaAPIClient = class NovaAPIClient {\n  readonly opts: NovaAPIClientOpts\n\n  constructor(opts: NovaAPIClientOpts) {\n    this.opts = opts\n\n    for (const [name, value] of Object.entries(novaApiV2)) {\n      if (isApiClass(name, value)) {\n        const stripped = name.slice(0, -3)\n        // Lowercase leading acronym run: \"BUSInputsOutputs\" -> \"busInputsOutputs\"\n        let i = 0\n        while (\n          i < stripped.length &&\n          stripped[i] === stripped[i].toUpperCase() &&\n          stripped[i] !== stripped[i].toLowerCase()\n        ) {\n          i++\n        }\n        // If multiple uppercase chars, keep the last one uppercase (it starts the next word)\n        const boundary = i > 1 ? i - 1 : i\n        const propName =\n          stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)\n        // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties\n        ;(this as any)[propName] = wrapApi(value, opts)\n      }\n    }\n  }\n} as {\n  new (\n    opts: NovaAPIClientOpts,\n  ): ApiProperties & {\n    readonly cellId: string\n    readonly opts: NovaAPIClientOpts\n  }\n}\n\nexport type NovaAPIClient = InstanceType<typeof NovaAPIClient>\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { NovaAPIClient } from \"./NovaAPIClient\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed NOVA instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string\n\n  /**\n   * Access token for Bearer authentication.\n   * If running on a NOVA instance, this can be automatically retrieved from\n   * the current session when omitted.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n  readonly api: NovaAPIClient\n  readonly config: NovaClientConfig\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    this.config = config\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaAPIClient({\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                // biome-ignore lint/style/noNonNullAssertion: guarded by ternary condition\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2`, path))\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n"],"mappings":";;;;;;;;;;;;AA0DA,IAAa,oBAAb,MAA+B;CAC7B,YACE,QACA,MAIA;EALS,KAAA,SAAA;EACA,KAAA,OAAA;gBAkFO,KAAK,2BAA2B,SAAS;cAC3C,KAAK,2BAA2B,OAAO;qBAEhC,KAAK,WAAW,cAAc;2BAEnD,KAAK,2BAA2B,oBAAoB;oBAEhC,KAAK,WAAW,aAAa;uBAE1B,KAAK,WAAW,0BAA0B;4BAErC,KAAK,WAAW,qBAAqB;6BACpC,KAAK,WAAW,sBAAsB;2BACxC,KAAK,WAAW,oBAAoB;qBAE1C,KAAK,WAAW,cAAc;2BACxB,KAAK,2BAA2B,cAAc;iBAExD,KAAK,WAAW,UAAU;oBAEvB,KAAK,WAAW,aAAa;0BAEvB,KAAK,WAAW,mBAAmB;2BAElC,KAAK,WAAW,oBAAoB;mCAC5B,KAAK,WACxC,4BACF;8BACgC,KAAK,WACnC,iCACF;qBAEuB,KAAK,WAAW,cAAc;kCACjB,KAAK,WACvC,2BACF;8BACgC,KAAK,WAAW,uBAAuB;iBAEpD,KAAK,WAAW,UAAU;iBAE1B,KAAK,2BAA2B,UAAU;mBACxC,KAAK,2BAA2B,YAAY;6BAClC,KAAK,2BAClC,sBACF;iBACmB,KAAK,2BAA2B,UAAU;iBAC1C,KAAK,2BAA2B,UAAU;CA5H1D;;;;;;CAOH,WACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;;;;CAKA,2BACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;AAiDF;;;AC9LA,MAAa,iCAAiC;CAC5C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,MAAM;GACN,YAAY,CAAC;GACb,WAAW;GACX,iBAAiB;GACjB,YAAY;GACZ,gBAAgB;GAChB,cAAc;GACd,mBAAmB;GACnB,eAAe,CACb;IACE,WAAW;IACX,iBAAiB;IACjB,cAAc;IACd,YAAY;IACZ,gBAAgB;KACd;KAAmB;KAAqB;KACxC;KAAmB;KAAoB;IACzC;IACA,qBAAqB,EACnB,eAAe;KAAC;KAAO;KAAO;KAAO;KAAO;KAAO;IAAK,EAC1D;IACA,cAAc,CAAC;IACf,eAAe;KAAC;KAAG;KAAG;KAAG;KAAG;KAAG;IAAC;IAChC,aAAa;KACX,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,KAAK;IACL,UAAU;KACR,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,SAAS;IACT,mBAAmB;IACnB,YAAY;GACd,CACF;EACF;CACF;AACF;;;ACpDA,MAAa,4BAA4B;CACvC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,oBAAoB;GACpB,UAAU;IACR,UAAU;KAAC;KAAG;KAAG;IAAC;IAClB,aAAa;KAAC;KAAG;KAAG;IAAC;GACvB;GACA,MAAM,EACJ,QAAQ;IACN,MAAM;IACN,MAAM;KACJ,UAAU;MAAC;MAAG;MAAG;KAAC;KAClB,aAAa;MAAC;MAAG;MAAG;KAAC;IACvB;GACF,EACF;GACA,UAAU,EACR,UAAU;IACR,MAAM;IACN,SAAS;IACT,gBAAgB;KAAC;KAAG;KAAG;IAAC;IACxB,mBAAmB;KAAC;KAAG;KAAG;IAAC;GAC7B,EACF;GACA,YAAY;GACZ,eAAe;IACb;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;IACA,EACE,GAAG,OACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;GACF;GACA,kBAAkB;IAChB,aAAa;KACX,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;KACA,OAAO,EACL,UAAU,IACZ;KACA,QAAQ,EACN,UAAU,IACZ;IACF;IACA,eAAe;KACb,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;GACF;GACA,eAAe;EACjB;CACF;AACF;;;AClTA,MAAa,+BAA+B;CAC1C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;GACF;GACA,gBAAgB;EAClB;CACF;AACF;;;AClDA,MAAa,qBAAqB;CAChC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb,wBAAwB;IACxB,MAAM;IACN,cAAc;IACd,MAAM;GACR;GACA,MAAM;EACR;CACF;AACF;;;AChBA,MAAa,wBAAwB;CACnC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CACL;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,GACA;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,CACF;CACF;AACF;;;ACvBA,MAAa,uBAAuB;CAClC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CAAC,WAAW;CACrB;AACF;;;;;;ACSA,IAAa,mBAAb,MAA8B;;qBACwB,CAAC;;CAErD,MAAM,iBACJ,QACwB;EACxB,MAAM,cAAc;GAClB;GACA;GACA;GACA;GACA;GACA;EACF;EAEA,MAAM,SAAS,OAAO,QAAQ,YAAY,KAAK;EAC/C,IAAI,CAAC,OAAO,KACV,MAAM,IAAI,MAAM,0BAA0B;EAE5C,MAAM,OAAO,OAAO,IAAI,MAAM,GAAG,EAAE;EAEnC,KAAK,MAAM,WAAW,aAAa;GACjC,MAAM,QAAQ,aAAa,MAAM,QAAQ,IAAI,EAAE,IAAI;GACnD,IAAI,WAAW,QAAQ,UAAU,OAAO;IACtC,MAAM,OAAO,QAAQ,OAAO;IAC5B,OAAO;KACL,QAAQ;KACR,YAAY;KACZ,MAAM,KAAK,UAAU,IAAI;KACzB,SAAS,CAAC;KACV;KACA,SAAS,EACP,aAAa,OAAO,IACtB;IACF;GACF;EACF;EAEA,MAAM,IAAI,WACR,yCAAyC,OAAO,GAAG,QACnD,OACA,MACF;CACF;CAGA,0BAA0B,QAAmC;EAC3D,KAAK,YAAY,KAAK,MAAM;EAE5B,iBAAiB;GACf,OAAO,cAAc,IAAI,MAAM,MAAM,CAAC;GAEtC,QAAQ,IAAI,oCAAoC,OAAO,GAAG;GAE1D,IAAI,OAAO,IAAI,SAAS,eAAe,GACrC,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,kBAAkB,EACzC,CAAC,CACH;GAGF,IAAI,OAAO,IAAI,SAAS,oBAAoB,GAC1C,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,EACnB,QAAQ;IACN,SAAS;IACT,MAAM;GACR,EACF,CAAC,EACH,CAAC,CACH;EAEJ,GAAG,EAAE;CACP;CAEA,uBAAuB,QAAmC,SAAiB;EACzE,QAAQ,IAAI,uBAAuB,OAAO,OAAO,OAAO;CAC1D;AACF;AAEA,MAAM,qBAAqB,EACzB,QAAQ;CACN,cAAc;CACd,YAAY;CACZ,4BAAW,IAAI,KAAK,GAAE,YAAY;CAClC,iBAAiB;CACjB,gBAAgB;EACd;EAAoB;EAAqB;EACzC;EAAoB;EAAoB;CAC1C;CACA,qBAAqB,EACnB,eAAe;EAAC;EAAO;EAAO;EAAO;EAAO;EAAO;CAAK,EAC1D;CACA,YAAY;CACZ,aAAa;EACX,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,UAAU;EACR,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,sBAAsB;AACxB,EACF;;;;;;;AC5EA,IAAa,aAAb,MAAwB;CAQtB,YAAY,QAA0B;qBAHO;qBAChB;EAG3B,MAAM,SAAS,OAAO,UAAU;EAChC,KAAK,SAAS;GACZ;GACA,GAAG;EACL;EACA,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,QAAQ,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,kBAAkB,QAAQ;GACvC,GAAG;GACH,UAAU,QAAQ,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,OAAO,KAAK,KAAM,iBAAiB,MAAM;IAC3C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IACd,QACE,KAAK,YAAY,MACjB,iBAAiB,KAAK,OAAO,UAC7B,IACF,CACF;EACA,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF;;;;;;;ACnNA,SAAgB,yBACd,MACA;CACA,MAAM,WAAW;EACf,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;CACxB;CAEA,MAAM,cAAc;EAClB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;CAC3B;CAEA,MAAM,iBAAiB,SAAS,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAEvD,MAAM,iBAAiB,YAAY,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAE1D,OAAO,IAAI,eAAe,OAAO,cAAc,EAAE,KAAK,IAAI,EAAE;AAC9D;;;ACyCA,SAAS,WACP,MACA,OAKW;CACX,OACE,KAAK,SAAS,KAAK,KACnB,OAAO,UAAU,cACjB,CAAC,KAAK,SAAS,SAAS,KACxB,CAAC,KAAK,SAAS,IAAI,KACnB,CAAC,KAAK,SAAS,cAAc;AAEjC;AAEA,SAAS,QACP,gBAKA,MAC+B;CAC/B,MAAM,YAAY,IAAI,eACpB;EACE,GAAG;EACH,aAAa,SAAiB,SAAS;CACzC,GACA,KAAK,YAAY,IACjB,KAAK,iBAAiB,MAAM,OAAO,CACrC;CAEA,KAAK,MAAM,OAAO,QAAQ,QACxB,QAAQ,eAAe,SAAS,CAClC,GACE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;EACjE,MAAM,mBAAmB,UAAU;EAGnC,UAAU,QAAQ,GAAG,SACnB,iBAAiB,MAAM,WAAW,IAAI,EAAE,MAAM,QAAQ,IAAI,IAAI;CAClE;CAGF,OAAO;AACT;;;;;;AAOA,MAAa,gBAAgB,MAAM,cAAc;CAG/C,YAAY,MAAyB;EACnC,KAAK,OAAO;EAEZ,KAAK,MAAM,CAAC,MAAM,UAAU,OAAO,QAAQ,SAAS,GAClD,IAAI,WAAW,MAAM,KAAK,GAAG;GAC3B,MAAM,WAAW,KAAK,MAAM,GAAG,EAAE;GAEjC,IAAI,IAAI;GACR,OACE,IAAI,SAAS,UACb,SAAS,OAAO,SAAS,GAAG,YAAY,KACxC,SAAS,OAAO,SAAS,GAAG,YAAY,GAExC;GAGF,MAAM,WAAW,IAAI,IAAI,IAAI,IAAI;GACjC,MAAM,WACJ,SAAS,MAAM,GAAG,QAAQ,EAAE,YAAY,IAAI,SAAS,MAAM,QAAQ;GAEpE,KAAc,YAAY,QAAQ,OAAO,IAAI;EAChD;CAEJ;AACF;;;;;;;ACtHA,IAAa,OAAb,MAAkB;CAQhB,YAAY,QAA0B;qBAHO;qBAChB;EAG3B,KAAK,SAAS;EACd,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,QAAQ,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,cAAc;GAC3B,GAAG;GACH,UAAU,QAAQ,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KAEnB,OAAO,KAAK,KAAM,iBAAiB,MAAM;IAC3C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IAAI,QAAQ,KAAK,YAAY,MAAM,WAAW,IAAI,CAAC;EACnE,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF"}
+{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/getCurrentRobotControllerState.ts","../../../src/lib/v2/mock/getMotionGroupDescription.ts","../../../src/lib/v2/mock/getMotionGroupKinematicModel.ts","../../../src/lib/v2/mock/getRobotController.ts","../../../src/lib/v2/mock/listCoordinateSystems.ts","../../../src/lib/v2/mock/listRobotControllers.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  LicenseApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  NOVACloudApi,\n  ProgramApi,\n  RobotConfigurationsApi,\n  SessionApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VersionApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels =\n    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n  readonly program = this.withCellId(ProgramApi)\n\n  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)\n  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n  readonly robotConfigurations = this.withUnwrappedResponsesOnly(\n    RobotConfigurationsApi,\n  )\n  readonly version = this.withUnwrappedResponsesOnly(VersionApi)\n  readonly session = this.withUnwrappedResponsesOnly(SessionApi)\n}\n","export const getCurrentRobotControllerState = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/state\",\n  handle() {\n    return {\n      mode: \"MODE_CONTROL\",\n      last_error: [],\n      timestamp: \"2025-10-16T09:19:26.634534092Z\",\n      sequence_number: 1054764,\n      controller: \"mock-ur5e\",\n      operation_mode: \"OPERATION_MODE_AUTO\",\n      safety_state: \"SAFETY_STATE_NORMAL\",\n      velocity_override: 100,\n      motion_groups: [\n        {\n          timestamp: \"2025-10-16T09:19:26.634534092Z\",\n          sequence_number: 1054764,\n          motion_group: \"0@mock-ur5e\",\n          controller: \"mock-ur5e\",\n          joint_position: [\n            1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n            6.034560203552246, 1.4921919107437134, 1.593459963798523,\n          ],\n          joint_limit_reached: {\n            limit_reached: [false, false, false, false, false, false],\n          },\n          joint_torque: [],\n          joint_current: [0, 0, 0, 0, 0, 0],\n          flange_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          tcp: \"Flange\",\n          tcp_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          payload: \"\",\n          coordinate_system: \"\",\n          standstill: true,\n        },\n      ],\n    }\n  },\n}\n","export const getMotionGroupDescription = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n  handle() {\n    return {\n      motion_group_model: \"UniversalRobots_UR5e\",\n      mounting: {\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n      },\n      tcps: {\n        Flange: {\n          name: \"Default-Flange\",\n          pose: {\n            position: [0, 0, 0],\n            orientation: [0, 0, 0],\n          },\n        },\n      },\n      payloads: {\n        \"FPay-0\": {\n          name: \"FPay-0\",\n          payload: 0,\n          center_of_mass: [0, 0, 0],\n          moment_of_inertia: [0, 0, 0],\n        },\n      },\n      cycle_time: 8,\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          d: 162.25,\n        },\n        {\n          a: -425,\n        },\n        {\n          a: -392.2,\n        },\n        {\n          alpha: 1.5707963267948966,\n          d: 133.3,\n        },\n        {\n          alpha: -1.5707963267948966,\n          d: 99.7,\n        },\n        {\n          d: 99.6,\n        },\n      ],\n      operation_limits: {\n        auto_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n          elbow: {\n            velocity: 5000,\n          },\n          flange: {\n            velocity: 5000,\n          },\n        },\n        manual_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t1_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t2_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n      },\n      serial_number: \"WBVirtualRobot\",\n    }\n  },\n}\n","export const getMotionGroupKinematicModel = {\n  method: \"GET\",\n  path: \"/motion-group-models/:motionGroupModel/kinematic\",\n  handle() {\n    return {\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 162.25,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -425.0,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -392.2,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 133.3,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: -1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.7,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.6,\n          reverse_rotation_direction: false,\n        },\n      ],\n      inverse_solver: \"Universalrobots\",\n    }\n  },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId\",\n  handle() {\n    return {\n      configuration: {\n        initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n        kind: \"VirtualController\",\n        manufacturer: \"universalrobots\",\n        type: \"universalrobots-ur5e\",\n      },\n      name: \"mock-ur5\",\n    } satisfies RobotController\n  },\n}\n","export const listCoordinateSystems = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n  handle() {\n    return [\n      {\n        coordinate_system: \"\",\n        name: \"world\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n      {\n        coordinate_system: \"CS-0\",\n        name: \"Default-CS\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n    ]\n  },\n}\n","export const listRobotControllers = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers\",\n  handle() {\n    return [\"mock-ur5e\"]\n  },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel\"\nimport { getRobotController } from \"./getRobotController\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems\"\nimport { listRobotControllers } from \"./listRobotControllers\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      listRobotControllers,\n      getRobotController,\n      getMotionGroupDescription,\n      getCurrentRobotControllerState,\n      listCoordinateSystems,\n      getMotionGroupKinematicModel,\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    if (!config.url) {\n      throw new Error(\"No url sent with request\")\n    }\n    const path = config.url.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path)\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    description_revision: 0,\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { loginWithAuth0 } from \"../../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../../converters\"\n\nimport { MockNovaInstance } from \"../../v2/mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\n/** @deprecated Use `NovaClientConfig` from `Nova` instead. */\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * Client for connecting to a Nova instance and controlling robots.\n * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      new URL(\n        `/api/v2/cells/${this.config.cellId}/${path.replace(/^\\/+/, \"\")}`,\n        this.instanceUrl,\n      ).href,\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  LicenseApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  NOVACloudApi,\n  ProgramApi,\n  RobotConfigurationsApi,\n  SessionApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VersionApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n  axiosInstance?: AxiosInstance\n  mock?: boolean\n}\n\nfunction unwrap<T extends BaseAPI>(\n  ApiConstructor: new (\n    config: BaseConfiguration,\n    basePath: string,\n    axios: AxiosInstance,\n  ) => T,\n  opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n  const apiClient = new ApiConstructor(\n    {\n      ...opts,\n      isJsonMime: (mime: string) => mime === \"application/json\",\n    },\n    opts.basePath ?? \"\",\n    opts.axiosInstance ?? axios.create(),\n  ) as Record<string | symbol, unknown>\n\n  for (const key of Reflect.ownKeys(\n    Reflect.getPrototypeOf(apiClient) as object,\n  )) {\n    if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n      const originalFunction = apiClient[key] as (\n        ...args: unknown[]\n      ) => Promise<{ data: unknown }>\n      apiClient[key] = (...args: unknown[]) =>\n        originalFunction.apply(apiClient, args).then((res) => res.data)\n    }\n  }\n\n  return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance.\n */\nexport class NovaAPIClient {\n  readonly opts: NovaAPIClientOpts\n\n  readonly application: WithUnwrappedAxiosResponse<ApplicationApi>\n  readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>\n  readonly cell: WithUnwrappedAxiosResponse<CellApi>\n  readonly controller: WithUnwrappedAxiosResponse<ControllerApi>\n  readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>\n  readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>\n  readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>\n  readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n  readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>\n  readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n  readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n  readonly program: WithUnwrappedAxiosResponse<ProgramApi>\n  readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n  readonly session: WithUnwrappedAxiosResponse<SessionApi>\n  readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>\n  readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>\n  readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>\n  readonly system: WithUnwrappedAxiosResponse<SystemApi>\n  readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>\n  readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>\n  readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>\n  readonly version: WithUnwrappedAxiosResponse<VersionApi>\n  readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>\n  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>\n  readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>\n\n  constructor(opts: NovaAPIClientOpts) {\n    this.opts = opts\n\n    this.application = unwrap(ApplicationApi, opts)\n    this.busIOs = unwrap(BUSInputsOutputsApi, opts)\n    this.cell = unwrap(CellApi, opts)\n    this.controller = unwrap(ControllerApi, opts)\n    this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts)\n    this.jogging = unwrap(JoggingApi, opts)\n    this.kinematics = unwrap(KinematicsApi, opts)\n    this.license = unwrap(LicenseApi, opts)\n    this.motionGroup = unwrap(MotionGroupApi, opts)\n    this.motionGroupModels = unwrap(MotionGroupModelsApi, opts)\n    this.novaCloud = unwrap(NOVACloudApi, opts)\n    this.program = unwrap(ProgramApi, opts)\n    this.robotConfigurations = unwrap(RobotConfigurationsApi, opts)\n    this.session = unwrap(SessionApi, opts)\n    this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts)\n    this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts)\n    this.storeObject = unwrap(StoreObjectApi, opts)\n    this.system = unwrap(SystemApi, opts)\n    this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts)\n    this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts)\n    this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts)\n    this.version = unwrap(VersionApi, opts)\n    this.virtualController = unwrap(VirtualControllerApi, opts)\n    this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts)\n    this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts)\n  }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { NovaAPIClient } from \"./NovaAPIClient\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\n\nexport type NovaConfig = {\n  /**\n   * Url of the deployed NOVA instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string\n\n  /**\n   * Access token for Bearer authentication.\n   * If running on a NOVA instance, this can be automatically retrieved from\n   * the current session when omitted.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n  readonly api: NovaAPIClient\n  readonly config: NovaConfig\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaConfig) {\n    this.config = config\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: new URL(\"/api/v2\", this.instanceUrl).href,\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaAPIClient({\n      ...config,\n      basePath: new URL(\"/api/v2\", this.instanceUrl).href,\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                if (!this.mock) {\n                  throw new Error(\"Mock adapter used without a mock instance\")\n                }\n                return this.mock.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(`/api/v2/${path.replace(/^\\/+/, \"\")}`, this.instanceUrl)\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n"],"mappings":";;;;;;;;;;;AA6DA,IAAa,oBAAb,MAA+B;CAC7B,YACE,QACA,MAIA;EALS,KAAA,SAAA;EACA,KAAA,OAAA;gBAkFO,KAAK,2BAA2B,SAAS;cAC3C,KAAK,2BAA2B,OAAO;qBAEhC,KAAK,WAAW,cAAc;2BAEnD,KAAK,2BAA2B,oBAAoB;oBAEhC,KAAK,WAAW,aAAa;uBAE1B,KAAK,WAAW,0BAA0B;4BAErC,KAAK,WAAW,qBAAqB;6BACpC,KAAK,WAAW,sBAAsB;2BACxC,KAAK,WAAW,oBAAoB;qBAE1C,KAAK,WAAW,cAAc;2BACxB,KAAK,2BAA2B,cAAc;iBAExD,KAAK,WAAW,UAAU;oBAEvB,KAAK,WAAW,aAAa;0BAEvB,KAAK,WAAW,mBAAmB;2BAElC,KAAK,WAAW,oBAAoB;mCAC5B,KAAK,WACxC,4BACF;8BACgC,KAAK,WACnC,iCACF;qBAEuB,KAAK,WAAW,cAAc;kCACjB,KAAK,WACvC,2BACF;8BACgC,KAAK,WAAW,uBAAuB;iBAEpD,KAAK,WAAW,UAAU;iBAE1B,KAAK,2BAA2B,UAAU;mBACxC,KAAK,2BAA2B,YAAY;6BAClC,KAAK,2BAClC,sBACF;iBACmB,KAAK,2BAA2B,UAAU;iBAC1C,KAAK,2BAA2B,UAAU;CA5H1D;;;;;;CAOH,WACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;;;;CAKA,2BACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;AAiDF;;;ACjMA,MAAa,iCAAiC;CAC5C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,MAAM;GACN,YAAY,CAAC;GACb,WAAW;GACX,iBAAiB;GACjB,YAAY;GACZ,gBAAgB;GAChB,cAAc;GACd,mBAAmB;GACnB,eAAe,CACb;IACE,WAAW;IACX,iBAAiB;IACjB,cAAc;IACd,YAAY;IACZ,gBAAgB;KACd;KAAmB;KAAqB;KACxC;KAAmB;KAAoB;IACzC;IACA,qBAAqB,EACnB,eAAe;KAAC;KAAO;KAAO;KAAO;KAAO;KAAO;IAAK,EAC1D;IACA,cAAc,CAAC;IACf,eAAe;KAAC;KAAG;KAAG;KAAG;KAAG;KAAG;IAAC;IAChC,aAAa;KACX,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,KAAK;IACL,UAAU;KACR,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,SAAS;IACT,mBAAmB;IACnB,YAAY;GACd,CACF;EACF;CACF;AACF;;;ACpDA,MAAa,4BAA4B;CACvC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,oBAAoB;GACpB,UAAU;IACR,UAAU;KAAC;KAAG;KAAG;IAAC;IAClB,aAAa;KAAC;KAAG;KAAG;IAAC;GACvB;GACA,MAAM,EACJ,QAAQ;IACN,MAAM;IACN,MAAM;KACJ,UAAU;MAAC;MAAG;MAAG;KAAC;KAClB,aAAa;MAAC;MAAG;MAAG;KAAC;IACvB;GACF,EACF;GACA,UAAU,EACR,UAAU;IACR,MAAM;IACN,SAAS;IACT,gBAAgB;KAAC;KAAG;KAAG;IAAC;IACxB,mBAAmB;KAAC;KAAG;KAAG;IAAC;GAC7B,EACF;GACA,YAAY;GACZ,eAAe;IACb;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;IACA,EACE,GAAG,OACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;GACF;GACA,kBAAkB;IAChB,aAAa;KACX,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;KACA,OAAO,EACL,UAAU,IACZ;KACA,QAAQ,EACN,UAAU,IACZ;IACF;IACA,eAAe;KACb,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;GACF;GACA,eAAe;EACjB;CACF;AACF;;;AClTA,MAAa,+BAA+B;CAC1C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;GACF;GACA,gBAAgB;EAClB;CACF;AACF;;;AClDA,MAAa,qBAAqB;CAChC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb,wBAAwB;IACxB,MAAM;IACN,cAAc;IACd,MAAM;GACR;GACA,MAAM;EACR;CACF;AACF;;;AChBA,MAAa,wBAAwB;CACnC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CACL;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,GACA;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,CACF;CACF;AACF;;;ACvBA,MAAa,uBAAuB;CAClC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CAAC,WAAW;CACrB;AACF;;;;;;ACSA,IAAa,mBAAb,MAA8B;;qBACwB,CAAC;;CAErD,MAAM,iBACJ,QACwB;EACxB,MAAM,cAAc;GAClB;GACA;GACA;GACA;GACA;GACA;EACF;EAEA,MAAM,SAAS,OAAO,QAAQ,YAAY,KAAK;EAC/C,IAAI,CAAC,OAAO,KACV,MAAM,IAAI,MAAM,0BAA0B;EAE5C,MAAM,OAAO,OAAO,IAAI,MAAM,GAAG,EAAE;EAEnC,KAAK,MAAM,WAAW,aAAa;GACjC,MAAM,QAAQ,aAAa,MAAM,QAAQ,IAAI,EAAE,IAAI;GACnD,IAAI,WAAW,QAAQ,UAAU,OAAO;IACtC,MAAM,OAAO,QAAQ,OAAO;IAC5B,OAAO;KACL,QAAQ;KACR,YAAY;KACZ,MAAM,KAAK,UAAU,IAAI;KACzB,SAAS,CAAC;KACV;KACA,SAAS,EACP,aAAa,OAAO,IACtB;IACF;GACF;EACF;EAEA,MAAM,IAAI,WACR,yCAAyC,OAAO,GAAG,QACnD,OACA,MACF;CACF;CAGA,0BAA0B,QAAmC;EAC3D,KAAK,YAAY,KAAK,MAAM;EAE5B,iBAAiB;GACf,OAAO,cAAc,IAAI,MAAM,MAAM,CAAC;GAEtC,QAAQ,IAAI,oCAAoC,OAAO,GAAG;GAE1D,IAAI,OAAO,IAAI,SAAS,eAAe,GACrC,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,kBAAkB,EACzC,CAAC,CACH;GAGF,IAAI,OAAO,IAAI,SAAS,oBAAoB,GAC1C,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,EACnB,QAAQ;IACN,SAAS;IACT,MAAM;GACR,EACF,CAAC,EACH,CAAC,CACH;EAEJ,GAAG,EAAE;CACP;CAEA,uBAAuB,QAAmC,SAAiB;EACzE,QAAQ,IAAI,uBAAuB,OAAO,OAAO,OAAO;CAC1D;AACF;AAEA,MAAM,qBAAqB,EACzB,QAAQ;CACN,cAAc;CACd,YAAY;CACZ,4BAAW,IAAI,KAAK,GAAE,YAAY;CAClC,iBAAiB;CACjB,gBAAgB;EACd;EAAoB;EAAqB;EACzC;EAAoB;EAAoB;CAC1C;CACA,qBAAqB,EACnB,eAAe;EAAC;EAAO;EAAO;EAAO;EAAO;EAAO;CAAK,EAC1D;CACA,YAAY;CACZ,aAAa;EACX,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,UAAU;EACR,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,sBAAsB;AACxB,EACF;;;;;;;AC3EA,IAAa,aAAb,MAAwB;CAQtB,YAAY,QAA0B;qBAHO;qBAChB;EAG3B,MAAM,SAAS,OAAO,UAAU;EAChC,KAAK,SAAS;GACZ;GACA,GAAG;EACL;EACA,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,IAAI,IAAI,WAAW,KAAK,WAAW,EAAE;GAE9C,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,kBAAkB,QAAQ;GACvC,GAAG;GACH,UAAU,IAAI,IAAI,WAAW,KAAK,WAAW,EAAE;GAC/C,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,OAAO,KAAK,KAAM,iBAAiB,MAAM;IAC3C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IACd,IAAI,IACF,iBAAiB,KAAK,OAAO,OAAO,GAAG,KAAK,QAAQ,QAAQ,EAAE,KAC9D,KAAK,WACP,EAAE,IACJ;EACA,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF;;;;;;;;AClNA,SAAgB,yBACd,MACA;CACA,MAAM,WAAW;EACf,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;CACxB;CAEA,MAAM,cAAc;EAClB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;CAC3B;CAEA,MAAM,iBAAiB,SAAS,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAEvD,MAAM,iBAAiB,YAAY,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAE1D,OAAO,IAAI,eAAe,OAAO,cAAc,EAAE,KAAK,IAAI,EAAE;AAC9D;;;ACuBA,SAAS,OACP,gBAKA,MAC+B;CAC/B,MAAM,YAAY,IAAI,eACpB;EACE,GAAG;EACH,aAAa,SAAiB,SAAS;CACzC,GACA,KAAK,YAAY,IACjB,KAAK,iBAAiB,MAAM,OAAO,CACrC;CAEA,KAAK,MAAM,OAAO,QAAQ,QACxB,QAAQ,eAAe,SAAS,CAClC,GACE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;EACjE,MAAM,mBAAmB,UAAU;EAGnC,UAAU,QAAQ,GAAG,SACnB,iBAAiB,MAAM,WAAW,IAAI,EAAE,MAAM,QAAQ,IAAI,IAAI;CAClE;CAGF,OAAO;AACT;;;;;AAMA,IAAa,gBAAb,MAA2B;CA6BzB,YAAY,MAAyB;EACnC,KAAK,OAAO;EAEZ,KAAK,cAAc,OAAO,gBAAgB,IAAI;EAC9C,KAAK,SAAS,OAAO,qBAAqB,IAAI;EAC9C,KAAK,OAAO,OAAO,SAAS,IAAI;EAChC,KAAK,aAAa,OAAO,eAAe,IAAI;EAC5C,KAAK,gBAAgB,OAAO,4BAA4B,IAAI;EAC5D,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,aAAa,OAAO,eAAe,IAAI;EAC5C,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,cAAc,OAAO,gBAAgB,IAAI;EAC9C,KAAK,oBAAoB,OAAO,sBAAsB,IAAI;EAC1D,KAAK,YAAY,OAAO,cAAc,IAAI;EAC1C,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,sBAAsB,OAAO,wBAAwB,IAAI;EAC9D,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,2BAA2B,OAAO,6BAA6B,IAAI;EACxE,KAAK,uBAAuB,OAAO,yBAAyB,IAAI;EAChE,KAAK,cAAc,OAAO,gBAAgB,IAAI;EAC9C,KAAK,SAAS,OAAO,WAAW,IAAI;EACpC,KAAK,oBAAoB,OAAO,sBAAsB,IAAI;EAC1D,KAAK,sBAAsB,OAAO,wBAAwB,IAAI;EAC9D,KAAK,qBAAqB,OAAO,uBAAuB,IAAI;EAC5D,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,oBAAoB,OAAO,sBAAsB,IAAI;EAC1D,KAAK,4BAA4B,OAAO,8BAA8B,IAAI;EAC1E,KAAK,uBAAuB,OAAO,mCAAmC,IAAI;CAC5E;AACF;;;;;;;ACnHA,IAAa,OAAb,MAAkB;CAQhB,YAAY,QAAoB;qBAHa;qBAChB;EAG3B,KAAK,SAAS;EACd,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,IAAI,IAAI,WAAW,KAAK,WAAW,EAAE;GAE9C,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,cAAc;GAC3B,GAAG;GACH,UAAU,IAAI,IAAI,WAAW,KAAK,WAAW,EAAE;GAC/C,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,IAAI,CAAC,KAAK,MACR,MAAM,IAAI,MAAM,2CAA2C;KAE7D,OAAO,KAAK,KAAK,iBAAiB,MAAM;IAC1C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IAAI,WAAW,KAAK,QAAQ,QAAQ,EAAE,KAAK,KAAK,WAAW;EAC3E,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF"}