@wandelbots/nova-js 3.9.0-pr.280.641b7e2 → 3.9.0-pr.280.7a81d6a

package/README.md

@@ -15,17 +15,15 @@ If you develop a React application we also provide a set of [React components](h
 
 ## Basic usage
 
-The core of this package is the `Nova` client, which represents a connection to a given NOVA instance:
+The core of this package is the `NovaClient`, which represents a connection to a configured robot cell on a given NOVA instance:
 
 ```ts
-import { Nova } from "@wandelbots/nova-js/v2"
+import { NovaClient } from "@wandelbots/nova-js/v2"
 
-const nova = new Nova({
+const nova = new NovaClient({
   instanceUrl: "https://example.instance.wandelbots.io",
-
+  cellId: "cell",
   // Access token is given in the developer portal UI when you create an instance
-  // This can be omitted when the frontend is hosted by the instance itself
-  // (i.e. when running as a NOVA app)
   accessToken: "...",
 })
 ```
@@ -37,7 +35,7 @@ You can make calls to the REST API via `nova.api`, which contains a bunch of nam
 For example, to list the controllers configured in your cell:
 
 ```ts
-const controllerIds = await nova.api.controller.listRobotControllers("cell")
+const controllerIds = await nova.api.controller.listRobotControllers()
 // -> e.g. ["ur5e", ...]
 ```
 
@@ -48,9 +46,9 @@ Documentation for the various API endpoints is available on your Nova instance a
 `NovaClient` has various convenience features for websocket handling in general. Use `openReconnectingWebsocket` to get a persistent socket for a given Nova streaming endpoint that will handle unexpected closes with exponential backoff:
 
 ```ts
-const joggingWebsocket = nova.openReconnectingWebsocket(`/cells/cell/controllers/ur5e/execution/jogging`)
+const programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)
 
-this.joggingWebsocket.addEventListener("message", (ev) => {
+this.programStateSocket.addEventListener("message", (ev) => {
   console.log(ev.data)
 })
 ```
@@ -58,9 +56,11 @@ this.joggingWebsocket.addEventListener("message", (ev) => {
 Websockets on a given NOVA client are deduplicated by path, so if you call `openReconnectingWebsocket` twice with the same path you'll get the same object. The exception is if you called `dispose`, which you may do to permanently clean up a reconnecting websocket and free its resources:
 
 ```ts
-joggingWebsocket.dispose()
+programStateSocket.dispose()
 ```
 
+The reconnecting websocket interface is fairly low-level and you won't get type safety on the messages. So when available, you'll likely want to use one of the following endpoint-specific abstractions instead which are built on top!
+
 ## Contributing
 
 If you would like to contribute a change to this repository, see [CONTRIBUTING.md](CONTRIBUTING.md).

package/dist/{AutoReconnectingWebsocket-DNOF9mpz.d.cts → AutoReconnectingWebsocket-DEs8wlLZ.d.cts}

@@ -4,7 +4,6 @@ import { AxiosResponse, InternalAxiosRequestConfig } from "axios";
 //#region src/lib/deprecated/v1/mock/MockNovaInstance.d.ts
 /**
  * Ultra-simplified mock Nova server for testing stuff
- * @deprecated
  */
 declare class MockNovaInstance$1 {
   readonly connections: AutoReconnectingWebsocket[];
@@ -66,4 +65,4 @@ declare class AutoReconnectingWebsocket extends ReconnectingWebSocket {
 }
 //#endregion
 export { MockNovaInstance as n, MockNovaInstance$1 as r, AutoReconnectingWebsocket as t };
-//# sourceMappingURL=AutoReconnectingWebsocket-DNOF9mpz.d.cts.map
+//# sourceMappingURL=AutoReconnectingWebsocket-DEs8wlLZ.d.cts.map

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

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

package/dist/{AutoReconnectingWebsocket-DNOF9mpz.d.mts → AutoReconnectingWebsocket-DEs8wlLZ.d.mts}

@@ -4,7 +4,6 @@ import { AxiosResponse, InternalAxiosRequestConfig } from "axios";
 //#region src/lib/deprecated/v1/mock/MockNovaInstance.d.ts
 /**
  * Ultra-simplified mock Nova server for testing stuff
- * @deprecated
  */
 declare class MockNovaInstance$1 {
   readonly connections: AutoReconnectingWebsocket[];
@@ -66,4 +65,4 @@ declare class AutoReconnectingWebsocket extends ReconnectingWebSocket {
 }
 //#endregion
 export { MockNovaInstance as n, MockNovaInstance$1 as r, AutoReconnectingWebsocket as t };
-//# sourceMappingURL=AutoReconnectingWebsocket-DNOF9mpz.d.mts.map
+//# sourceMappingURL=AutoReconnectingWebsocket-DEs8wlLZ.d.mts.map

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

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

package/dist/index.cjs

@@ -1,6 +1,6 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
 const require_LoginWithAuth0 = require("./LoginWithAuth0-oZFpwe7m.cjs");
-const require_wandelscriptUtils = require("./wandelscriptUtils-P0WYSZww.cjs");
+const require_wandelscriptUtils = require("./wandelscriptUtils-BvZ8hcul.cjs");
 let axios = require("axios");
 //#region src/lib/errorHandling.ts
 function delay(ms) {

package/dist/index.d.cts

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DNOF9mpz.cjs";
-import { n as NovaClient, r as NovaClientConfig, t as poseToWandelscriptString } from "./wandelscriptUtils-1A9uFPV_.cjs";
+import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DEs8wlLZ.cjs";
+import { n as NovaClient, r as NovaClientConfig, t as poseToWandelscriptString } from "./wandelscriptUtils-_Si3ueEd.cjs";
 
 //#region src/lib/availableStorage.d.ts
 /**

package/dist/index.d.mts

@@ -1,5 +1,5 @@
-import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DNOF9mpz.mjs";
-import { n as NovaClient, r as NovaClientConfig, t as poseToWandelscriptString } from "./wandelscriptUtils-pySXnBlX.mjs";
+import { t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DEs8wlLZ.mjs";
+import { n as NovaClient, r as NovaClientConfig, t as poseToWandelscriptString } from "./wandelscriptUtils-Cz-yQ2eJ.mjs";
 
 //#region src/lib/availableStorage.d.ts
 /**

package/dist/index.mjs

@@ -1,5 +1,5 @@
 import { a as isSameCoordinateSystem, c as parseUrl, d as tryParseUrl, f as tryStringifyJson, i as degreesToRadians, l as radiansToDegrees, m as AutoReconnectingWebsocket, n as loginWithAuth0, o as makeUrlQueryString, p as availableStorage, r as XYZ_TO_VECTOR, s as parseNovaInstanceUrl, t as getAuth0Config, u as tryParseJson } from "./LoginWithAuth0-DeirP_w9.mjs";
-import { n as NovaClient, t as poseToWandelscriptString } from "./wandelscriptUtils-C7hQePlo.mjs";
+import { n as NovaClient, t as poseToWandelscriptString } from "./wandelscriptUtils-CsQAUu_9.mjs";
 import { isAxiosError } from "axios";
 //#region src/lib/errorHandling.ts
 function delay(ms) {

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

@@ -1,11 +1,10 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
 const require_LoginWithAuth0 = require("../../../LoginWithAuth0-oZFpwe7m.cjs");
-const require_wandelscriptUtils = require("../../../wandelscriptUtils-P0WYSZww.cjs");
+const require_wandelscriptUtils = require("../../../wandelscriptUtils-BvZ8hcul.cjs");
 let axios = require("axios");
 let mobx = require("mobx");
 //#region src/lib/deprecated/v1/getLatestTrajectories.ts
 let lastMotionIds = /* @__PURE__ */ new Set();
-/** @deprecated */
 async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
 	const newTrajectories = [];
 	try {
@@ -24,7 +23,6 @@ async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordi
 }
 //#endregion
 //#region src/lib/deprecated/v1/ProgramStateConnection.ts
-/** @deprecated */
 let ProgramState = /* @__PURE__ */ function(ProgramState) {
 	ProgramState["NotStarted"] = "not started";
 	ProgramState["Running"] = "running";
@@ -36,7 +34,6 @@ let ProgramState = /* @__PURE__ */ function(ProgramState) {
 /**
 * Interface for running Wandelscript programs on the Nova instance and
 * tracking their progress and output
-* @deprecated
 */
 var ProgramStateConnection = class {
 	constructor(nova) {

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

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["tryParseJson","AxiosError"],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\n/** @deprecated */\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\n/** @deprecated */\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\n/** @deprecated */\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\n/** @deprecated */\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n * @deprecated\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  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+{"version":3,"file":"index.cjs","names":["tryParseJson","AxiosError"],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  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package/dist/lib/deprecated/v1/index.d.cts

@@ -1,20 +1,17 @@
-import { t as AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket-DNOF9mpz.cjs";
-import { a as WithCellId, c as JoggerConnectionOpts, d as MotionGroupOption, i as NovaCellAPIClient, l as MotionStreamConnection, n as NovaClient, o as WithUnwrappedAxiosResponse, r as NovaClientConfig, s as JoggerConnection, t as poseToWandelscriptString, u as ConnectedMotionGroup } from "../../../wandelscriptUtils-1A9uFPV_.cjs";
+import { t as AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket-DEs8wlLZ.cjs";
+import { a as WithCellId, c as JoggerConnectionOpts, d as MotionGroupOption, i as NovaCellAPIClient, l as MotionStreamConnection, n as NovaClient, o as WithUnwrappedAxiosResponse, r as NovaClientConfig, s as JoggerConnection, t as poseToWandelscriptString, u as ConnectedMotionGroup } from "../../../wandelscriptUtils-_Si3ueEd.cjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 
 //#region src/lib/deprecated/v1/getLatestTrajectories.d.ts
-/** @deprecated */
 declare function getLatestTrajectories(apiClient: NovaCellAPIClient, sampleTime?: number, responsesCoordinateSystem?: string): Promise<GetTrajectoryResponse[]>;
 //#endregion
 //#region src/lib/deprecated/v1/ProgramStateConnection.d.ts
-/** @deprecated */
 type ProgramRunnerLogEntry = {
   timestamp: number;
   message: string;
   level?: "warn" | "error";
 };
-/** @deprecated */
 declare enum ProgramState {
   NotStarted = "not started",
   Running = "running",
@@ -22,7 +19,6 @@ declare enum ProgramState {
   Failed = "failed",
   Completed = "completed"
 }
-/** @deprecated */
 type CurrentProgram = {
   id?: string;
   wandelscript?: string;
@@ -40,7 +36,6 @@ type ProgramStateMessage = {
 /**
  * Interface for running Wandelscript programs on the Nova instance and
  * tracking their progress and output
- * @deprecated
  */
 declare class ProgramStateConnection {
   readonly nova: NovaClient;

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

@@ -1 +1 @@
-{"version":3,"file":"index.d.cts","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"mappings":";;;;;;;iBAMsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;;aAIU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;;KAIU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAY;AAAA;AAAA,KAGjB,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAY;IACnB,UAAA;IACA,cAAA;EAAA;AAAA;AAzBG;AAIP;;;;AAJO,cAkCM,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EA9BH;EAiDlB,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EA9CpC;EAqIpB,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}
+{"version":3,"file":"index.d.cts","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"mappings":";;;;;;iBAKsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;AAAA,aAGU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;AAAA,KAGU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAY;AAAA;AAAA,KAGjB,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAY;IACnB,UAAA;IACA,cAAA;EAAA;AAAA;;;;AAvBG;cA+BM,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EAhC3B;EAmDM,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EAnD/C;EA0IT,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}

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

@@ -1,20 +1,17 @@
-import { t as AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket-DNOF9mpz.mjs";
-import { a as WithCellId, c as JoggerConnectionOpts, d as MotionGroupOption, i as NovaCellAPIClient, l as MotionStreamConnection, n as NovaClient, o as WithUnwrappedAxiosResponse, r as NovaClientConfig, s as JoggerConnection, t as poseToWandelscriptString, u as ConnectedMotionGroup } from "../../../wandelscriptUtils-pySXnBlX.mjs";
+import { t as AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket-DEs8wlLZ.mjs";
+import { a as WithCellId, c as JoggerConnectionOpts, d as MotionGroupOption, i as NovaCellAPIClient, l as MotionStreamConnection, n as NovaClient, o as WithUnwrappedAxiosResponse, r as NovaClientConfig, s as JoggerConnection, t as poseToWandelscriptString, u as ConnectedMotionGroup } from "../../../wandelscriptUtils-Cz-yQ2eJ.mjs";
 import { CollectionValue, GetTrajectoryResponse } from "@wandelbots/nova-api/v1";
 export * from "@wandelbots/nova-api/v1";
 
 //#region src/lib/deprecated/v1/getLatestTrajectories.d.ts
-/** @deprecated */
 declare function getLatestTrajectories(apiClient: NovaCellAPIClient, sampleTime?: number, responsesCoordinateSystem?: string): Promise<GetTrajectoryResponse[]>;
 //#endregion
 //#region src/lib/deprecated/v1/ProgramStateConnection.d.ts
-/** @deprecated */
 type ProgramRunnerLogEntry = {
   timestamp: number;
   message: string;
   level?: "warn" | "error";
 };
-/** @deprecated */
 declare enum ProgramState {
   NotStarted = "not started",
   Running = "running",
@@ -22,7 +19,6 @@ declare enum ProgramState {
   Failed = "failed",
   Completed = "completed"
 }
-/** @deprecated */
 type CurrentProgram = {
   id?: string;
   wandelscript?: string;
@@ -40,7 +36,6 @@ type ProgramStateMessage = {
 /**
  * Interface for running Wandelscript programs on the Nova instance and
  * tracking their progress and output
- * @deprecated
  */
 declare class ProgramStateConnection {
   readonly nova: NovaClient;

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

@@ -1 +1 @@
-{"version":3,"file":"index.d.mts","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"mappings":";;;;;;;iBAMsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;;aAIU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;;KAIU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAY;AAAA;AAAA,KAGjB,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAY;IACnB,UAAA;IACA,cAAA;EAAA;AAAA;AAzBG;AAIP;;;;AAJO,cAkCM,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EA9BH;EAiDlB,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EA9CpC;EAqIpB,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}
+{"version":3,"file":"index.d.mts","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"mappings":";;;;;;iBAKsB,qBAAA,CACpB,SAAA,EAAW,iBAAA,EACX,UAAA,WACA,yBAAA,YACC,OAAA,CAAQ,qBAAA;;;KCAC,qBAAA;EACV,SAAA;EACA,OAAA;EACA,KAAA;AAAA;AAAA,aAGU,YAAA;EACV,UAAA;EACA,OAAA;EACA,OAAA;EACA,MAAA;EACA,SAAA;AAAA;AAAA,KAGU,cAAA;EACV,EAAA;EACA,YAAA;EACA,KAAA,GAAQ,YAAY;AAAA;AAAA,KAGjB,mBAAA;EACH,IAAA;EACA,MAAA;IACE,EAAA;IACA,KAAA,EAAO,YAAY;IACnB,UAAA;IACA,cAAA;EAAA;AAAA;;;;AAvBG;cA+BM,sBAAA;EAAA,SASU,IAAA,EAAM,UAAA;EAR3B,cAAA,EAAgB,cAAA;EAChB,IAAA,EAAM,qBAAA;EAEN,cAAA;EACA,iCAAA;EAEA,kBAAA,EAAoB,yBAAA;cAEC,IAAA,EAAM,UAAA;EAhC3B;EAmDM,yBAAA,CAA0B,GAAA,EAAK,mBAAA,GAAmB,OAAA;EAnD/C;EA0IT,aAAA,CAAA;EAOM,cAAA,CACJ,YAAA,UACA,aAAA;IAAA,CAAmB,GAAA,WAAc,eAAA;EAAA,GACjC,WAAA,GAAc,sBAAA,GAAsB,OAAA;EA8DhC,WAAA,CAAA,GAAW,OAAA;EAmBjB,KAAA,CAAA;EAIA,GAAA,CAAI,OAAA;EAQJ,QAAA,CAAS,OAAA;AAAA"}

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

@@ -1,11 +1,10 @@
 import { u as tryParseJson } from "../../../LoginWithAuth0-DeirP_w9.mjs";
-import { a as JoggerConnection, i as MotionStreamConnection, n as NovaClient, o as ConnectedMotionGroup, r as NovaCellAPIClient, t as poseToWandelscriptString } from "../../../wandelscriptUtils-C7hQePlo.mjs";
+import { a as JoggerConnection, i as MotionStreamConnection, n as NovaClient, o as ConnectedMotionGroup, r as NovaCellAPIClient, t as poseToWandelscriptString } from "../../../wandelscriptUtils-CsQAUu_9.mjs";
 import { AxiosError } from "axios";
 import { makeAutoObservable, runInAction } from "mobx";
 export * from "@wandelbots/nova-api/v1";
 //#region src/lib/deprecated/v1/getLatestTrajectories.ts
 let lastMotionIds = /* @__PURE__ */ new Set();
-/** @deprecated */
 async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
 	const newTrajectories = [];
 	try {
@@ -24,7 +23,6 @@ async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordi
 }
 //#endregion
 //#region src/lib/deprecated/v1/ProgramStateConnection.ts
-/** @deprecated */
 let ProgramState = /* @__PURE__ */ function(ProgramState) {
 	ProgramState["NotStarted"] = "not started";
 	ProgramState["Running"] = "running";
@@ -36,7 +34,6 @@ let ProgramState = /* @__PURE__ */ function(ProgramState) {
 /**
 * Interface for running Wandelscript programs on the Nova instance and
 * tracking their progress and output
-* @deprecated
 */
 var ProgramStateConnection = class {
 	constructor(nova) {

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

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\n/** @deprecated */\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\n/** @deprecated */\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\n/** @deprecated */\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\n/** @deprecated */\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n * @deprecated\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  }\n}\n"],"mappings":";;;;;;AAGA,IAAI,gCAA6B,IAAI,IAAI;;AAGzC,eAAsB,sBACpB,WACA,aAAqB,IACrB,2BACkC;CAClC,MAAM,kBAA2C,CAAC;CAElD,IAAI;EACF,MAAM,UAAU,MAAM,UAAU,OAAO,YAAY;EACnD,MAAM,mBAAmB,IAAI,IAAI,QAAQ,OAAO;EAEhD,MAAM,eAAe,MAAM,KAAK,gBAAgB,EAAE,QAC/C,OAAO,CAAC,cAAc,IAAI,EAAE,CAC/B;EAEA,KAAK,MAAM,YAAY,cAAc;GACnC,MAAM,aAAa,MAAM,UAAU,OAAO,oBACxC,UACA,YACA,yBACF;GACA,gBAAgB,KAAK,UAAU;EACjC;EAEA,gBAAgB;CAClB,SAAS,OAAO;EACd,QAAQ,MAAM,sCAAsC,KAAK;CAC3D;CAEA,OAAO;AACT;;;;ACnBA,IAAY,eAAL,yBAAA,cAAA;CACL,aAAA,gBAAA;CACA,aAAA,aAAA;CACA,aAAA,aAAA;CACA,aAAA,YAAA;CACA,aAAA,eAAA;;AACF,EAAA,CAAA,CAAA;;;;;;AAwBA,IAAa,yBAAb,MAAoC;CASlC,YAAY,MAA2B;EAAlB,KAAA,OAAA;wBARY,CAAC;cACF,CAAC;wBAEhB;2CACmB;EAKlC,mBAAmB,MAAM,CAAC,GAAG,EAAE,UAAU,KAAK,CAAC;EAE/C,KAAK,qBAAqB,KAAK,0BAA0B,iBAAiB;EAE1E,KAAK,mBAAmB,iBAAiB,YAAY,OAAO;GAC1D,MAAM,MAAM,aAAa,GAAG,IAAI;GAEhC,IAAI,CAAC,KAAK;IACR,QAAQ,MAAM,yCAAyC,GAAG,IAAI;IAC9D;GACF;GACA,IAAI,IAAI,SAAS,UACf,KAAK,0BAA0B,GAAG;EAEtC,CAAC;CACH;;CAGA,MAAM,0BAA0B,KAA0B;EACxD,MAAM,EAAE,WAAW;EAInB,IAAI,OAAO,OAAO,KAAK,mCAAmC;EAE1D,IAAI,OAAO,UAAA,UAA+B;GACxC,IAAI;IACF,MAAM,cAAc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT;IAIA,MAAM,SAAS,YAAY;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,SACH,kBAAkB,OAAO,GAAG,sBAAsB,YAAY,MAAM,IAAI,YAAY,WACtF;GACF,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,eAAe,QAAA;GAEpB,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAGjB,KAAK,eAAe,QAAA;IACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,SAAS;GAChD,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,aAAkC;GAClD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,IACH,kBAAkB,OAAO,GAAG,4BAA4B,OAAO,gBAAgB,QAAQ,CAAC,EAAE,SAC5F;IAEA,KAAK,eAAe,QAAA;GACtB,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,KAAK,eAAe,QAAA;GACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,aAAa;EACpD,OAAO,IAAI,OAAO,UAAA,eAAmC;GACnD,QAAQ,MAAM,MAAM;GACpB,KAAK,SACH,kBAAkB,OAAO,GAAG,6BAA6B,OAAO,OAClE;GACA,KAAK,eAAe,QAAA;GACpB,KAAK,cAAc;EACrB;CACF;;CAGA,gBAAgB;EACd,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EACD,KAAK,oCAAoC;CAC3C;CAEA,MAAM,eACJ,cACA,eACA,aACA;EACA,KAAK,iBAAiB;GACN;GACd,OAAA;EACF;EAEA,MAAM,EAAE,gBAAgB,gBAAgB;EACxC,IAAI,CAAC,aAAa;EAClB,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAID,IAAI,aACF,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,mBAAmB,YACrC,YAAY,aACd;EACF,SAAS,KAAK;GACZ,QAAQ,MAAM,GAAG;EACnB;EAIF,MAAM,cAAc,YAAY,aAAc,WAAW,WAAW,EAAE;EAEtE,IAAI;GACF,MAAM,mBAAmB,MAAM,KAAK,KAAK,IAAI,QAAQ,oBACnD;IACE,MAAM;IACS;IAEf,eAAe,aAAa;GAC9B,GACA,EACE,SAAS,EACP,gBAAgB,mBAClB,EACF,CACF;GAEA,KAAK,IAAI,0BAA0B,iBAAiB,GAAG,EAAE;GACzD,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,KAAK,oCAAoC,iBAAiB;EAC5D,SAAS,OAAO;GACd,IAAI,iBAAiB,cAAc,MAAM,YAAY,MAAM,SACzD,KAAK,SACH,GAAG,MAAM,SAAS,OAAO,GAAG,MAAM,SAAS,WAAW,QAAQ,MAAM,SAAS,OAAO,IAAI,GAAG,KAAK,UAAU,MAAM,SAAS,IAAI,GAC/H;QAEA,KAAK,SAAS,KAAK,UAAU,KAAK,CAAC;GAErC,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;EACH;CACF;CAEA,MAAM,cAAc;EAClB,IAAI,CAAC,KAAK,mCAAmC;EAC7C,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAED,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,QAAQ,kBAC1B,KAAK,iCACP;EACF,SAAS,KAAK;GAEZ,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,MAAM;EACR;CACF;CAEA,QAAQ;EACN,KAAK,iBAAiB,CAAC;CACzB;CAEA,IAAI,SAAiB;EACnB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;EACF,CAAC;CACH;CAEA,SAAS,SAAiB;EACxB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;GACA,OAAO;EACT,CAAC;CACH;AACF"}
+{"version":3,"file":"index.mjs","names":[],"sources":["../../../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nlet lastMotionIds: Set<string> = new Set()\n\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  }\n}\n"],"mappings":";;;;;;AAGA,IAAI,gCAA6B,IAAI,IAAI;AAEzC,eAAsB,sBACpB,WACA,aAAqB,IACrB,2BACkC;CAClC,MAAM,kBAA2C,CAAC;CAElD,IAAI;EACF,MAAM,UAAU,MAAM,UAAU,OAAO,YAAY;EACnD,MAAM,mBAAmB,IAAI,IAAI,QAAQ,OAAO;EAEhD,MAAM,eAAe,MAAM,KAAK,gBAAgB,EAAE,QAC/C,OAAO,CAAC,cAAc,IAAI,EAAE,CAC/B;EAEA,KAAK,MAAM,YAAY,cAAc;GACnC,MAAM,aAAa,MAAM,UAAU,OAAO,oBACxC,UACA,YACA,yBACF;GACA,gBAAgB,KAAK,UAAU;EACjC;EAEA,gBAAgB;CAClB,SAAS,OAAO;EACd,QAAQ,MAAM,sCAAsC,KAAK;CAC3D;CAEA,OAAO;AACT;;;ACpBA,IAAY,eAAL,yBAAA,cAAA;CACL,aAAA,gBAAA;CACA,aAAA,aAAA;CACA,aAAA,aAAA;CACA,aAAA,YAAA;CACA,aAAA,eAAA;;AACF,EAAA,CAAA,CAAA;;;;;AAsBA,IAAa,yBAAb,MAAoC;CASlC,YAAY,MAA2B;EAAlB,KAAA,OAAA;wBARY,CAAC;cACF,CAAC;wBAEhB;2CACmB;EAKlC,mBAAmB,MAAM,CAAC,GAAG,EAAE,UAAU,KAAK,CAAC;EAE/C,KAAK,qBAAqB,KAAK,0BAA0B,iBAAiB;EAE1E,KAAK,mBAAmB,iBAAiB,YAAY,OAAO;GAC1D,MAAM,MAAM,aAAa,GAAG,IAAI;GAEhC,IAAI,CAAC,KAAK;IACR,QAAQ,MAAM,yCAAyC,GAAG,IAAI;IAC9D;GACF;GACA,IAAI,IAAI,SAAS,UACf,KAAK,0BAA0B,GAAG;EAEtC,CAAC;CACH;;CAGA,MAAM,0BAA0B,KAA0B;EACxD,MAAM,EAAE,WAAW;EAInB,IAAI,OAAO,OAAO,KAAK,mCAAmC;EAE1D,IAAI,OAAO,UAAA,UAA+B;GACxC,IAAI;IACF,MAAM,cAAc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT;IAIA,MAAM,SAAS,YAAY;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,SACH,kBAAkB,OAAO,GAAG,sBAAsB,YAAY,MAAM,IAAI,YAAY,WACtF;GACF,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,eAAe,QAAA;GAEpB,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAGjB,KAAK,eAAe,QAAA;IACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,SAAS;GAChD,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,aAAkC;GAClD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,IACH,kBAAkB,OAAO,GAAG,4BAA4B,OAAO,gBAAgB,QAAQ,CAAC,EAAE,SAC5F;IAEA,KAAK,eAAe,QAAA;GACtB,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,KAAK,eAAe,QAAA;GACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,aAAa;EACpD,OAAO,IAAI,OAAO,UAAA,eAAmC;GACnD,QAAQ,MAAM,MAAM;GACpB,KAAK,SACH,kBAAkB,OAAO,GAAG,6BAA6B,OAAO,OAClE;GACA,KAAK,eAAe,QAAA;GACpB,KAAK,cAAc;EACrB;CACF;;CAGA,gBAAgB;EACd,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EACD,KAAK,oCAAoC;CAC3C;CAEA,MAAM,eACJ,cACA,eACA,aACA;EACA,KAAK,iBAAiB;GACN;GACd,OAAA;EACF;EAEA,MAAM,EAAE,gBAAgB,gBAAgB;EACxC,IAAI,CAAC,aAAa;EAClB,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAID,IAAI,aACF,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,mBAAmB,YACrC,YAAY,aACd;EACF,SAAS,KAAK;GACZ,QAAQ,MAAM,GAAG;EACnB;EAIF,MAAM,cAAc,YAAY,aAAc,WAAW,WAAW,EAAE;EAEtE,IAAI;GACF,MAAM,mBAAmB,MAAM,KAAK,KAAK,IAAI,QAAQ,oBACnD;IACE,MAAM;IACS;IAEf,eAAe,aAAa;GAC9B,GACA,EACE,SAAS,EACP,gBAAgB,mBAClB,EACF,CACF;GAEA,KAAK,IAAI,0BAA0B,iBAAiB,GAAG,EAAE;GACzD,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,KAAK,oCAAoC,iBAAiB;EAC5D,SAAS,OAAO;GACd,IAAI,iBAAiB,cAAc,MAAM,YAAY,MAAM,SACzD,KAAK,SACH,GAAG,MAAM,SAAS,OAAO,GAAG,MAAM,SAAS,WAAW,QAAQ,MAAM,SAAS,OAAO,IAAI,GAAG,KAAK,UAAU,MAAM,SAAS,IAAI,GAC/H;QAEA,KAAK,SAAS,KAAK,UAAU,KAAK,CAAC;GAErC,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;EACH;CACF;CAEA,MAAM,cAAc;EAClB,IAAI,CAAC,KAAK,mCAAmC;EAC7C,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAED,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,QAAQ,kBAC1B,KAAK,iCACP;EACF,SAAS,KAAK;GAEZ,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,MAAM;EACR;CACF;CAEA,QAAQ;EACN,KAAK,iBAAiB,CAAC;CACzB;CAEA,IAAI,SAAiB;EACnB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;EACF,CAAC;CACH;CAEA,SAAS,SAAiB;EACxB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;GACA,OAAO;EACT,CAAC;CACH;AACF"}

package/dist/lib/v2/index.cjs

@@ -2,14 +2,16 @@ Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
 const require_LoginWithAuth0 = require("../../LoginWithAuth0-oZFpwe7m.cjs");
 let axios = require("axios");
 axios = require_LoginWithAuth0.__toESM(axios, 1);
+let url_join = require("url-join");
+url_join = require_LoginWithAuth0.__toESM(url_join, 1);
 let path_to_regexp = require("path-to-regexp");
 path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp, 1);
 let _wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
+_wandelbots_nova_api_v2 = require_LoginWithAuth0.__toESM(_wandelbots_nova_api_v2, 1);
 //#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) {
@@ -693,8 +695,8 @@ 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) {
@@ -709,7 +711,7 @@ var NovaClient = class {
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
 		this.instanceUrl = require_LoginWithAuth0.parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.default.create({
-			baseURL: new URL("/api/v2", this.instanceUrl).href,
+			baseURL: (0, url_join.default)(this.instanceUrl.href, "/api/v2"),
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -739,7 +741,7 @@ var NovaClient = class {
 		});
 		this.api = new NovaCellAPIClient(cellId, {
 			...config,
-			basePath: new URL("/api/v2", this.instanceUrl).href,
+			basePath: (0, url_join.default)(this.instanceUrl.href, "/api/v2"),
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
@@ -769,7 +771,7 @@ var NovaClient = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(new URL(`/api/v2/cells/${this.config.cellId}/${path.replace(/^\/+/, "")}`, this.instanceUrl).href);
+		const url = new URL((0, url_join.default)(this.instanceUrl.href, `/api/v2/cells/${this.config.cellId}`, path));
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);
@@ -793,7 +795,6 @@ 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 = [
@@ -812,7 +813,10 @@ function poseToWandelscriptString(pose) {
 }
 //#endregion
 //#region src/lib/v2/NovaAPIClient.ts
-function unwrap(ApiConstructor, opts) {
+function isApiClass(name, value) {
+	return name.endsWith("Api") && typeof value === "function" && !name.includes("Factory") && !name.includes("Fp") && !name.includes("ParamCreator");
+}
+function wrapApi(ApiConstructor, opts) {
 	const apiClient = new ApiConstructor({
 		...opts,
 		isJsonMime: (mime) => mime === "application/json"
@@ -825,36 +829,20 @@ function unwrap(ApiConstructor, opts) {
 }
 /**
 * API client providing type-safe access to all the endpoints of a NOVA
-* instance.
+* instance. API sections are auto-discovered from @wandelbots/nova-api/v2
+* at runtime, so new sections added upstream are exposed automatically.
 */
-var NovaAPIClient = class {
+const NovaAPIClient = class NovaAPIClient {
 	constructor(opts) {
 		this.opts = opts;
-		this.application = unwrap(_wandelbots_nova_api_v2.ApplicationApi, opts);
-		this.busIOs = unwrap(_wandelbots_nova_api_v2.BUSInputsOutputsApi, opts);
-		this.cell = unwrap(_wandelbots_nova_api_v2.CellApi, opts);
-		this.controller = unwrap(_wandelbots_nova_api_v2.ControllerApi, opts);
-		this.controllerIOs = unwrap(_wandelbots_nova_api_v2.ControllerInputsOutputsApi, opts);
-		this.jogging = unwrap(_wandelbots_nova_api_v2.JoggingApi, opts);
-		this.kinematics = unwrap(_wandelbots_nova_api_v2.KinematicsApi, opts);
-		this.license = unwrap(_wandelbots_nova_api_v2.LicenseApi, opts);
-		this.motionGroup = unwrap(_wandelbots_nova_api_v2.MotionGroupApi, opts);
-		this.motionGroupModels = unwrap(_wandelbots_nova_api_v2.MotionGroupModelsApi, opts);
-		this.novaCloud = unwrap(_wandelbots_nova_api_v2.NOVACloudApi, opts);
-		this.program = unwrap(_wandelbots_nova_api_v2.ProgramApi, opts);
-		this.robotConfigurations = unwrap(_wandelbots_nova_api_v2.RobotConfigurationsApi, opts);
-		this.session = unwrap(_wandelbots_nova_api_v2.SessionApi, opts);
-		this.storeCollisionComponents = unwrap(_wandelbots_nova_api_v2.StoreCollisionComponentsApi, opts);
-		this.storeCollisionSetups = unwrap(_wandelbots_nova_api_v2.StoreCollisionSetupsApi, opts);
-		this.storeObject = unwrap(_wandelbots_nova_api_v2.StoreObjectApi, opts);
-		this.system = unwrap(_wandelbots_nova_api_v2.SystemApi, opts);
-		this.trajectoryCaching = unwrap(_wandelbots_nova_api_v2.TrajectoryCachingApi, opts);
-		this.trajectoryExecution = unwrap(_wandelbots_nova_api_v2.TrajectoryExecutionApi, opts);
-		this.trajectoryPlanning = unwrap(_wandelbots_nova_api_v2.TrajectoryPlanningApi, opts);
-		this.version = unwrap(_wandelbots_nova_api_v2.VersionApi, opts);
-		this.virtualController = unwrap(_wandelbots_nova_api_v2.VirtualControllerApi, opts);
-		this.virtualControllerBehavior = unwrap(_wandelbots_nova_api_v2.VirtualControllerBehaviorApi, opts);
-		this.virtualControllerIOs = unwrap(_wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi, opts);
+		for (const [name, value] of Object.entries(_wandelbots_nova_api_v2)) 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);
+		}
 	}
 };
 //#endregion
@@ -872,7 +860,7 @@ var Nova = class {
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
 		this.instanceUrl = require_LoginWithAuth0.parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.default.create({
-			baseURL: new URL("/api/v2", this.instanceUrl).href,
+			baseURL: (0, url_join.default)(this.instanceUrl.href, "/api/v2"),
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -902,13 +890,12 @@ var Nova = class {
 		});
 		this.api = new NovaAPIClient({
 			...config,
-			basePath: new URL("/api/v2", this.instanceUrl).href,
+			basePath: (0, url_join.default)(this.instanceUrl.href, "/api/v2"),
 			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
@@ -933,7 +920,7 @@ var Nova = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(`/api/v2/${path.replace(/^\/+/, "")}`, this.instanceUrl);
+		const url = new URL((0, url_join.default)(this.instanceUrl.href, `/api/v2`, path));
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);