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

package/src/lib/deprecated/v2/NovaClient.ts

@@ -2,14 +2,15 @@
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2"
 import type { AxiosRequestConfig } from "axios"
 import axios, { isAxiosError } from "axios"
-import urlJoin from "url-join"
 import { loginWithAuth0 } from "../../../LoginWithAuth0"
 import { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
 import { availableStorage } from "../../availableStorage"
 import { parseNovaInstanceUrl } from "../../converters"
+
 import { MockNovaInstance } from "../../v2/mock/MockNovaInstance"
 import { NovaCellAPIClient } from "./NovaCellAPIClient"
 
+/** @deprecated Use `NovaClientConfig` from `Nova` instead. */
 export type NovaClientConfig = {
   /**
    * Url of the deployed Nova instance to connect to
@@ -44,8 +45,8 @@ export type NovaClientConfig = {
 type NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }
 
 /**
- *
  * Client for connecting to a Nova instance and controlling robots.
+ * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.
  */
 export class NovaClient {
   readonly api: NovaCellAPIClient
@@ -73,7 +74,7 @@ export class NovaClient {
 
     // Set up Axios instance with interceptor for token fetching
     const axiosInstance = axios.create({
-      baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+      baseURL: new URL("/api/v2", this.instanceUrl).href,
       // TODO - backend needs to set proper CORS headers for this
       headers:
         typeof window !== "undefined" &&
@@ -135,7 +136,7 @@ export class NovaClient {
 
     this.api = new NovaCellAPIClient(cellId, {
       ...config,
-      basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+      basePath: new URL("/api/v2", this.instanceUrl).href,
       isJsonMime: (mime: string) => {
         return mime === "application/json"
       },
@@ -183,11 +184,10 @@ export class NovaClient {
 
   makeWebsocketURL(path: string): string {
     const url = new URL(
-      urlJoin(
-        this.instanceUrl.href,
-        `/api/v2/cells/${this.config.cellId}`,
-        path,
-      ),
+      new URL(
+        `/api/v2/cells/${this.config.cellId}/${path.replace(/^\/+/, "")}`,
+        this.instanceUrl,
+      ).href,
     )
     url.protocol = url.protocol.replace("http", "ws")
     url.protocol = url.protocol.replace("https", "wss")

package/src/lib/deprecated/v2/wandelscriptUtils.ts

@@ -3,6 +3,7 @@ import type { Pose } from "@wandelbots/nova-api/v2"
 /**
  * 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.
  */
 export function poseToWandelscriptString(
   pose: Pick<Pose, "position" | "orientation">,

package/src/lib/v2/Nova.ts

@@ -1,7 +1,6 @@
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2"
 import type { AxiosRequestConfig } from "axios"
 import axios, { isAxiosError } from "axios"
-import urlJoin from "url-join"
 import { loginWithAuth0 } from "../../LoginWithAuth0"
 import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
 import { availableStorage } from "../availableStorage"
@@ -9,7 +8,7 @@ import { parseNovaInstanceUrl } from "../converters"
 import { NovaAPIClient } from "./NovaAPIClient"
 import { MockNovaInstance } from "./mock/MockNovaInstance"
 
-export type NovaClientConfig = {
+export type NovaConfig = {
   /**
    * Url of the deployed NOVA instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -30,13 +29,13 @@ export type NovaClientConfig = {
  */
 export class Nova {
   readonly api: NovaAPIClient
-  readonly config: NovaClientConfig
+  readonly config: NovaConfig
   readonly mock?: MockNovaInstance
   readonly instanceUrl: URL
   authPromise: Promise<string | null> | null = null
   accessToken: string | null = null
 
-  constructor(config: NovaClientConfig) {
+  constructor(config: NovaConfig) {
     this.config = config
     this.accessToken =
       config.accessToken ||
@@ -50,7 +49,7 @@ export class Nova {
 
     // Set up Axios instance with interceptor for token fetching
     const axiosInstance = axios.create({
-      baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+      baseURL: new URL("/api/v2", this.instanceUrl).href,
       // TODO - backend needs to set proper CORS headers for this
       headers:
         typeof window !== "undefined" &&
@@ -112,7 +111,7 @@ export class Nova {
 
     this.api = new NovaAPIClient({
       ...config,
-      basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+      basePath: new URL("/api/v2", this.instanceUrl).href,
       isJsonMime: (mime: string) => {
         return mime === "application/json"
       },
@@ -120,8 +119,10 @@ export class Nova {
         ...(this.mock
           ? ({
               adapter: (config) => {
-                // biome-ignore lint/style/noNonNullAssertion: guarded by ternary condition
-                return this.mock!.handleAPIRequest(config)
+                if (!this.mock) {
+                  throw new Error("Mock adapter used without a mock instance")
+                }
+                return this.mock.handleAPIRequest(config)
               },
             } satisfies AxiosRequestConfig)
           : {}),
@@ -160,7 +161,7 @@ export class Nova {
   }
 
   makeWebsocketURL(path: string): string {
-    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")
 

package/src/lib/v2/NovaAPIClient.ts

@@ -2,11 +2,38 @@ import type {
   BaseAPI,
   Configuration as BaseConfiguration,
 } from "@wandelbots/nova-api/v2"
-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"
 import type { AxiosInstance } from "axios"
 import axios from "axios"
 
-type UnwrapAxiosResponseReturn<T> = T extends (...a: unknown[]) => unknown[]
+// biome-ignore lint/suspicious/noExplicitAny: metamagic
+type UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any
   ? (
       ...a: Parameters<T>
     ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>
@@ -16,73 +43,12 @@ type WithUnwrappedAxiosResponse<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<I>
-    : never
-}
-
 type NovaAPIClientOpts = BaseConfiguration & {
   axiosInstance?: AxiosInstance
   mock?: boolean
 }
 
-function isApiClass(
-  name: string,
-  value: unknown,
-): value is new (
-  config: BaseConfiguration,
-  basePath: string,
-  axios: AxiosInstance,
-) => BaseAPI {
-  return (
-    name.endsWith("Api") &&
-    typeof value === "function" &&
-    !name.includes("Factory") &&
-    !name.includes("Fp") &&
-    !name.includes("ParamCreator")
-  )
-}
-
-function wrapApi<T extends BaseAPI>(
+function unwrap<T extends BaseAPI>(
   ApiConstructor: new (
     config: BaseConfiguration,
     basePath: string,
@@ -116,43 +82,64 @@ function wrapApi<T extends BaseAPI>(
 
 /**
  * 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.
  */
-export const NovaAPIClient = class NovaAPIClient {
+export class NovaAPIClient {
   readonly opts: NovaAPIClientOpts
 
+  readonly application: WithUnwrappedAxiosResponse<ApplicationApi>
+  readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>
+  readonly cell: WithUnwrappedAxiosResponse<CellApi>
+  readonly controller: WithUnwrappedAxiosResponse<ControllerApi>
+  readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>
+  readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>
+  readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>
+  readonly license: WithUnwrappedAxiosResponse<LicenseApi>
+  readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>
+  readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>
+  readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>
+  readonly program: WithUnwrappedAxiosResponse<ProgramApi>
+  readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>
+  readonly session: WithUnwrappedAxiosResponse<SessionApi>
+  readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>
+  readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>
+  readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>
+  readonly system: WithUnwrappedAxiosResponse<SystemApi>
+  readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>
+  readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>
+  readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>
+  readonly version: WithUnwrappedAxiosResponse<VersionApi>
+  readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>
+  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>
+  readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>
+
   constructor(opts: NovaAPIClientOpts) {
     this.opts = opts
 
-    for (const [name, value] of Object.entries(novaApiV2)) {
-      if (isApiClass(name, value)) {
-        const stripped = name.slice(0, -3)
-        // Lowercase leading acronym run: "BUSInputsOutputs" -> "busInputsOutputs"
-        let i = 0
-        while (
-          i < stripped.length &&
-          stripped[i] === stripped[i].toUpperCase() &&
-          stripped[i] !== stripped[i].toLowerCase()
-        ) {
-          i++
-        }
-        // If multiple uppercase chars, keep the last one uppercase (it starts the next word)
-        const boundary = i > 1 ? i - 1 : i
-        const propName =
-          stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)
-        // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties
-        ;(this as any)[propName] = wrapApi(value, opts)
-      }
-    }
-  }
-} as {
-  new (
-    opts: NovaAPIClientOpts,
-  ): ApiProperties & {
-    readonly cellId: string
-    readonly opts: NovaAPIClientOpts
+    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)
   }
 }
-
-export type NovaAPIClient = InstanceType<typeof NovaAPIClient>

package/src/lib/v2/index.ts

@@ -3,5 +3,5 @@ export * from "../deprecated/v2/NovaCellAPIClient"
 export * from "../deprecated/v2/NovaClient"
 export * from "../deprecated/v2/wandelscriptUtils"
 export { Nova } from "./Nova"
-export type { NovaClientConfig } from "./Nova"
+export type { NovaConfig } from "./Nova"
 export { NovaAPIClient } from "./NovaAPIClient"

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

@@ -1 +0,0 @@
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package/dist/AutoReconnectingWebsocket-DEs8wlLZ.d.mts.map

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