@wandelbots/nova-js 3.9.0-pr.280.b71027b → 3.9.0-pr.280.c816369

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Files changed (10) hide show
  1. package/dist/lib/v2/index.cjs +28 -17
  2. package/dist/lib/v2/index.cjs.map +1 -1
  3. package/dist/lib/v2/index.d.cts +30 -28
  4. package/dist/lib/v2/index.d.cts.map +1 -1
  5. package/dist/lib/v2/index.d.mts +30 -28
  6. package/dist/lib/v2/index.d.mts.map +1 -1
  7. package/dist/lib/v2/index.mjs +28 -17
  8. package/dist/lib/v2/index.mjs.map +1 -1
  9. package/package.json +1 -1
  10. package/src/lib/v2/NovaAPIClient.ts +81 -99
package/dist/lib/v2/index.cjs CHANGED
@@ -7,7 +7,6 @@ url_join = require_LoginWithAuth0.__toESM(url_join, 1);
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  let path_to_regexp = require("path-to-regexp");
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  path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp, 1);
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  let _wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
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- _wandelbots_nova_api_v2 = require_LoginWithAuth0.__toESM(_wandelbots_nova_api_v2, 1);
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  //#region src/lib/deprecated/v2/NovaCellAPIClient.ts
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  /**
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  * API client providing type-safe access to all the Nova API REST endpoints
@@ -815,10 +814,7 @@ function poseToWandelscriptString(pose) {
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  }
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  //#endregion
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  //#region src/lib/v2/NovaAPIClient.ts
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- function isApiClass(name, value) {
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- return name.endsWith("Api") && typeof value === "function" && !name.includes("Factory") && !name.includes("Fp") && !name.includes("ParamCreator");
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- }
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- function wrapApi(ApiConstructor, opts) {
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+ function unwrap(ApiConstructor, opts) {
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  const apiClient = new ApiConstructor({
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  ...opts,
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  isJsonMime: (mime) => mime === "application/json"
@@ -831,21 +827,36 @@ function wrapApi(ApiConstructor, opts) {
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  }
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  /**
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  * API client providing type-safe access to all the endpoints of a NOVA
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- * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
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- * at runtime, so new sections added upstream are exposed automatically.
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+ * instance.
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  */
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- const NovaAPIClient = class NovaAPIClient {
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+ var NovaAPIClient = class {
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  constructor(opts) {
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  this.opts = opts;
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- for (const [name, value] of Object.entries(_wandelbots_nova_api_v2)) if (isApiClass(name, value)) {
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- const stripped = name.slice(0, -3);
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- let i = 0;
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- while (i < stripped.length && stripped[i] === stripped[i].toUpperCase() && stripped[i] !== stripped[i].toLowerCase()) i++;
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- const boundary = i > 1 ? i - 1 : i;
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- let propName = stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary);
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- propName = propName.replace(/InputsOutputs$/, "IOs");
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- this[propName] = wrapApi(value, opts);
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- }
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+ this.application = unwrap(_wandelbots_nova_api_v2.ApplicationApi, opts);
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+ this.busIOs = unwrap(_wandelbots_nova_api_v2.BUSInputsOutputsApi, opts);
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+ this.cell = unwrap(_wandelbots_nova_api_v2.CellApi, opts);
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+ this.controller = unwrap(_wandelbots_nova_api_v2.ControllerApi, opts);
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+ this.controllerIOs = unwrap(_wandelbots_nova_api_v2.ControllerInputsOutputsApi, opts);
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+ this.jogging = unwrap(_wandelbots_nova_api_v2.JoggingApi, opts);
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+ this.kinematics = unwrap(_wandelbots_nova_api_v2.KinematicsApi, opts);
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+ this.license = unwrap(_wandelbots_nova_api_v2.LicenseApi, opts);
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+ this.motionGroup = unwrap(_wandelbots_nova_api_v2.MotionGroupApi, opts);
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+ this.motionGroupModels = unwrap(_wandelbots_nova_api_v2.MotionGroupModelsApi, opts);
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+ this.novaCloud = unwrap(_wandelbots_nova_api_v2.NOVACloudApi, opts);
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+ this.program = unwrap(_wandelbots_nova_api_v2.ProgramApi, opts);
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+ this.robotConfigurations = unwrap(_wandelbots_nova_api_v2.RobotConfigurationsApi, opts);
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+ this.session = unwrap(_wandelbots_nova_api_v2.SessionApi, opts);
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+ this.storeCollisionComponents = unwrap(_wandelbots_nova_api_v2.StoreCollisionComponentsApi, opts);
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+ this.storeCollisionSetups = unwrap(_wandelbots_nova_api_v2.StoreCollisionSetupsApi, opts);
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+ this.storeObject = unwrap(_wandelbots_nova_api_v2.StoreObjectApi, opts);
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+ this.system = unwrap(_wandelbots_nova_api_v2.SystemApi, opts);
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+ this.trajectoryCaching = unwrap(_wandelbots_nova_api_v2.TrajectoryCachingApi, opts);
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+ this.trajectoryExecution = unwrap(_wandelbots_nova_api_v2.TrajectoryExecutionApi, opts);
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+ this.trajectoryPlanning = unwrap(_wandelbots_nova_api_v2.TrajectoryPlanningApi, opts);
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+ this.version = unwrap(_wandelbots_nova_api_v2.VersionApi, opts);
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+ this.virtualController = unwrap(_wandelbots_nova_api_v2.VirtualControllerApi, opts);
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+ this.virtualControllerBehavior = unwrap(_wandelbots_nova_api_v2.VirtualControllerBehaviorApi, opts);
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+ this.virtualControllerIOs = unwrap(_wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi, opts);
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  }
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  };
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  //#endregion
package/dist/lib/v2/index.cjs.map CHANGED
@@ -1 +1 @@
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- {"version":3,"file":"index.cjs","names":["SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","ProgramApi","LicenseApi","NOVACloudApi","RobotConfigurationsApi","VersionApi","SessionApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket","novaApiV2","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket"],"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 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\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: 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 * @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 `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n [K in keyof typeof novaApiV2 as K extends `${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>}${Rest}`>}`\n : Uncapitalize<S>\n\n/** Shorten e.g. \"controllerInputsOutputs\" -> \"controllerIOs\" */\ntype AliasPropName<S extends string> = S extends `${infer Prefix}InputsOutputs`\n ? `${Prefix}IOs`\n : S\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n */\ntype ApiProperties = {\n readonly [K in keyof ApiConstructors as K extends `${infer P}Api`\n ? AliasPropName<CamelCase<P>>\n : never]: ApiConstructors[K] extends new (\n // biome-ignore lint/suspicious/noExplicitAny: needed for contravariant parameter matching\n ...args: any[]\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 let propName =\n stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)\n propName = propName.replace(/InputsOutputs$/, \"IOs\")\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 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: 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 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(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 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+ {"version":3,"file":"index.cjs","names":["SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","ProgramApi","LicenseApi","NOVACloudApi","RobotConfigurationsApi","VersionApi","SessionApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket","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","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket"],"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 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\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: 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 * @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 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 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: 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 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(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 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package/dist/lib/v2/index.d.cts CHANGED
@@ -1,6 +1,5 @@
1
1
  import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-DNOF9mpz.cjs";
2
2
  import { AxiosInstance } from "axios";
3
- import * as novaApiV2 from "@wandelbots/nova-api/v2";
4
3
  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";
5
4
  export * from "@wandelbots/nova-api/v2";
6
5
 
@@ -132,40 +131,43 @@ type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Pa
132
131
  data: infer D;
133
132
  } ? D : never> : never;
134
133
  type WithUnwrappedAxiosResponse$1<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
135
- /**
136
- * Filters nova-api/v2 exports to just the API class constructors,
137
- * excluding helper factories and param creators.
138
- */
139
- type ApiConstructors = { [K in keyof typeof novaApiV2 as K extends `${string}Api` ? K extends `${string}Factory${string}` | `${string}Fp${string}` | `${string}ParamCreator${string}` ? never : K : never]: (typeof novaApiV2)[K] };
140
- /**
141
- * Lowercases leading uppercase characters to produce a camelCase property name.
142
- * e.g. "BUSInputsOutputs" -> "busInputsOutputs", "NOVACloud" -> "novaCloud",
143
- * "Application" -> "application"
144
- */
145
- 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>}${Rest}`>}` : Uncapitalize<S>;
146
- /** Shorten e.g. "controllerInputsOutputs" -> "controllerIOs" */
147
- type AliasPropName<S extends string> = S extends `${infer Prefix}InputsOutputs` ? `${Prefix}IOs` : S;
148
- /**
149
- * Maps API class names to property names by stripping "Api" and converting
150
- * the leading acronym to lowercase camelCase.
151
- */
152
- type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}Api` ? AliasPropName<CamelCase<P>> : never]: ApiConstructors[K] extends (new (...args: any[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
153
134
  type NovaAPIClientOpts = Configuration & {
154
135
  axiosInstance?: AxiosInstance;
155
136
  mock?: boolean;
156
137
  };
157
138
  /**
158
139
  * API client providing type-safe access to all the endpoints of a NOVA
159
- * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
160
- * at runtime, so new sections added upstream are exposed automatically.
140
+ * instance.
161
141
  */
162
- declare const NovaAPIClient: {
163
- new (opts: NovaAPIClientOpts): ApiProperties & {
164
- readonly cellId: string;
165
- readonly opts: NovaAPIClientOpts;
166
- };
167
- };
168
- type NovaAPIClient = InstanceType<typeof NovaAPIClient>;
142
+ declare class NovaAPIClient {
143
+ readonly opts: NovaAPIClientOpts;
144
+ readonly application: WithUnwrappedAxiosResponse$1<ApplicationApi>;
145
+ readonly busIOs: WithUnwrappedAxiosResponse$1<BUSInputsOutputsApi>;
146
+ readonly cell: WithUnwrappedAxiosResponse$1<CellApi>;
147
+ readonly controller: WithUnwrappedAxiosResponse$1<ControllerApi>;
148
+ readonly controllerIOs: WithUnwrappedAxiosResponse$1<ControllerInputsOutputsApi>;
149
+ readonly jogging: WithUnwrappedAxiosResponse$1<JoggingApi>;
150
+ readonly kinematics: WithUnwrappedAxiosResponse$1<KinematicsApi>;
151
+ readonly license: WithUnwrappedAxiosResponse$1<LicenseApi>;
152
+ readonly motionGroup: WithUnwrappedAxiosResponse$1<MotionGroupApi>;
153
+ readonly motionGroupModels: WithUnwrappedAxiosResponse$1<MotionGroupModelsApi>;
154
+ readonly novaCloud: WithUnwrappedAxiosResponse$1<NOVACloudApi>;
155
+ readonly program: WithUnwrappedAxiosResponse$1<ProgramApi>;
156
+ readonly robotConfigurations: WithUnwrappedAxiosResponse$1<RobotConfigurationsApi>;
157
+ readonly session: WithUnwrappedAxiosResponse$1<SessionApi>;
158
+ readonly storeCollisionComponents: WithUnwrappedAxiosResponse$1<StoreCollisionComponentsApi>;
159
+ readonly storeCollisionSetups: WithUnwrappedAxiosResponse$1<StoreCollisionSetupsApi>;
160
+ readonly storeObject: WithUnwrappedAxiosResponse$1<StoreObjectApi>;
161
+ readonly system: WithUnwrappedAxiosResponse$1<SystemApi>;
162
+ readonly trajectoryCaching: WithUnwrappedAxiosResponse$1<TrajectoryCachingApi>;
163
+ readonly trajectoryExecution: WithUnwrappedAxiosResponse$1<TrajectoryExecutionApi>;
164
+ readonly trajectoryPlanning: WithUnwrappedAxiosResponse$1<TrajectoryPlanningApi>;
165
+ readonly version: WithUnwrappedAxiosResponse$1<VersionApi>;
166
+ readonly virtualController: WithUnwrappedAxiosResponse$1<VirtualControllerApi>;
167
+ readonly virtualControllerBehavior: WithUnwrappedAxiosResponse$1<VirtualControllerBehaviorApi>;
168
+ readonly virtualControllerIOs: WithUnwrappedAxiosResponse$1<VirtualControllerInputsOutputsApi>;
169
+ constructor(opts: NovaAPIClientOpts);
170
+ }
169
171
  //#endregion
170
172
  //#region src/lib/v2/Nova.d.ts
171
173
  type NovaConfig = {
package/dist/lib/v2/index.d.cts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"index.d.cts","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;ECsKE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA;;;;;;;;iBC9MxB,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;;;KCxGR,UAAA;;;AJsB8B;;EIjBxC,WAAA;EJoBqB;;;;;EIbrB,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;EJzHP;;;;;EIgJV,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}
package/dist/lib/v2/index.d.mts CHANGED
@@ -1,6 +1,5 @@
1
1
  import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-DNOF9mpz.mjs";
2
2
  import { AxiosInstance } from "axios";
3
- import * as novaApiV2 from "@wandelbots/nova-api/v2";
4
3
  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";
5
4
  export * from "@wandelbots/nova-api/v2";
6
5
 
@@ -132,40 +131,43 @@ type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Pa
132
131
  data: infer D;
133
132
  } ? D : never> : never;
134
133
  type WithUnwrappedAxiosResponse$1<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
135
- /**
136
- * Filters nova-api/v2 exports to just the API class constructors,
137
- * excluding helper factories and param creators.
138
- */
139
- type ApiConstructors = { [K in keyof typeof novaApiV2 as K extends `${string}Api` ? K extends `${string}Factory${string}` | `${string}Fp${string}` | `${string}ParamCreator${string}` ? never : K : never]: (typeof novaApiV2)[K] };
140
- /**
141
- * Lowercases leading uppercase characters to produce a camelCase property name.
142
- * e.g. "BUSInputsOutputs" -> "busInputsOutputs", "NOVACloud" -> "novaCloud",
143
- * "Application" -> "application"
144
- */
145
- 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>}${Rest}`>}` : Uncapitalize<S>;
146
- /** Shorten e.g. "controllerInputsOutputs" -> "controllerIOs" */
147
- type AliasPropName<S extends string> = S extends `${infer Prefix}InputsOutputs` ? `${Prefix}IOs` : S;
148
- /**
149
- * Maps API class names to property names by stripping "Api" and converting
150
- * the leading acronym to lowercase camelCase.
151
- */
152
- type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}Api` ? AliasPropName<CamelCase<P>> : never]: ApiConstructors[K] extends (new (...args: any[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
153
134
  type NovaAPIClientOpts = Configuration & {
154
135
  axiosInstance?: AxiosInstance;
155
136
  mock?: boolean;
156
137
  };
157
138
  /**
158
139
  * API client providing type-safe access to all the endpoints of a NOVA
159
- * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
160
- * at runtime, so new sections added upstream are exposed automatically.
140
+ * instance.
161
141
  */
162
- declare const NovaAPIClient: {
163
- new (opts: NovaAPIClientOpts): ApiProperties & {
164
- readonly cellId: string;
165
- readonly opts: NovaAPIClientOpts;
166
- };
167
- };
168
- type NovaAPIClient = InstanceType<typeof NovaAPIClient>;
142
+ declare class NovaAPIClient {
143
+ readonly opts: NovaAPIClientOpts;
144
+ readonly application: WithUnwrappedAxiosResponse$1<ApplicationApi>;
145
+ readonly busIOs: WithUnwrappedAxiosResponse$1<BUSInputsOutputsApi>;
146
+ readonly cell: WithUnwrappedAxiosResponse$1<CellApi>;
147
+ readonly controller: WithUnwrappedAxiosResponse$1<ControllerApi>;
148
+ readonly controllerIOs: WithUnwrappedAxiosResponse$1<ControllerInputsOutputsApi>;
149
+ readonly jogging: WithUnwrappedAxiosResponse$1<JoggingApi>;
150
+ readonly kinematics: WithUnwrappedAxiosResponse$1<KinematicsApi>;
151
+ readonly license: WithUnwrappedAxiosResponse$1<LicenseApi>;
152
+ readonly motionGroup: WithUnwrappedAxiosResponse$1<MotionGroupApi>;
153
+ readonly motionGroupModels: WithUnwrappedAxiosResponse$1<MotionGroupModelsApi>;
154
+ readonly novaCloud: WithUnwrappedAxiosResponse$1<NOVACloudApi>;
155
+ readonly program: WithUnwrappedAxiosResponse$1<ProgramApi>;
156
+ readonly robotConfigurations: WithUnwrappedAxiosResponse$1<RobotConfigurationsApi>;
157
+ readonly session: WithUnwrappedAxiosResponse$1<SessionApi>;
158
+ readonly storeCollisionComponents: WithUnwrappedAxiosResponse$1<StoreCollisionComponentsApi>;
159
+ readonly storeCollisionSetups: WithUnwrappedAxiosResponse$1<StoreCollisionSetupsApi>;
160
+ readonly storeObject: WithUnwrappedAxiosResponse$1<StoreObjectApi>;
161
+ readonly system: WithUnwrappedAxiosResponse$1<SystemApi>;
162
+ readonly trajectoryCaching: WithUnwrappedAxiosResponse$1<TrajectoryCachingApi>;
163
+ readonly trajectoryExecution: WithUnwrappedAxiosResponse$1<TrajectoryExecutionApi>;
164
+ readonly trajectoryPlanning: WithUnwrappedAxiosResponse$1<TrajectoryPlanningApi>;
165
+ readonly version: WithUnwrappedAxiosResponse$1<VersionApi>;
166
+ readonly virtualController: WithUnwrappedAxiosResponse$1<VirtualControllerApi>;
167
+ readonly virtualControllerBehavior: WithUnwrappedAxiosResponse$1<VirtualControllerBehaviorApi>;
168
+ readonly virtualControllerIOs: WithUnwrappedAxiosResponse$1<VirtualControllerInputsOutputsApi>;
169
+ constructor(opts: NovaAPIClientOpts);
170
+ }
169
171
  //#endregion
170
172
  //#region src/lib/v2/Nova.d.ts
171
173
  type NovaConfig = {
package/dist/lib/v2/index.d.mts.map CHANGED
@@ -1 +1 @@
1
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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;;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;ECsKE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA;;;;;;;;iBC9MxB,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;;;KCxGR,UAAA;;;AJsB8B;;EIjBxC,WAAA;EJoBqB;;;;;EIbrB,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;EJzHP;;;;;EIgJV,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}
package/dist/lib/v2/index.mjs CHANGED
@@ -2,7 +2,6 @@ import { m as AutoReconnectingWebsocket, n as loginWithAuth0, p as availableStor
2
2
  import axios, { AxiosError, isAxiosError } from "axios";
3
3
  import urlJoin from "url-join";
4
4
  import * as pathToRegexp from "path-to-regexp";
5
- import * as novaApiV2 from "@wandelbots/nova-api/v2";
6
5
  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";
7
6
  export * from "@wandelbots/nova-api/v2";
8
7
  //#region src/lib/deprecated/v2/NovaCellAPIClient.ts
@@ -812,10 +811,7 @@ function poseToWandelscriptString(pose) {
812
811
  }
813
812
  //#endregion
814
813
  //#region src/lib/v2/NovaAPIClient.ts
815
- function isApiClass(name, value) {
816
- return name.endsWith("Api") && typeof value === "function" && !name.includes("Factory") && !name.includes("Fp") && !name.includes("ParamCreator");
817
- }
818
- function wrapApi(ApiConstructor, opts) {
814
+ function unwrap(ApiConstructor, opts) {
819
815
  const apiClient = new ApiConstructor({
820
816
  ...opts,
821
817
  isJsonMime: (mime) => mime === "application/json"
@@ -828,21 +824,36 @@ function wrapApi(ApiConstructor, opts) {
828
824
  }
829
825
  /**
830
826
  * API client providing type-safe access to all the endpoints of a NOVA
831
- * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
832
- * at runtime, so new sections added upstream are exposed automatically.
827
+ * instance.
833
828
  */
834
- const NovaAPIClient = class NovaAPIClient {
829
+ var NovaAPIClient = class {
835
830
  constructor(opts) {
836
831
  this.opts = opts;
837
- for (const [name, value] of Object.entries(novaApiV2)) if (isApiClass(name, value)) {
838
- const stripped = name.slice(0, -3);
839
- let i = 0;
840
- while (i < stripped.length && stripped[i] === stripped[i].toUpperCase() && stripped[i] !== stripped[i].toLowerCase()) i++;
841
- const boundary = i > 1 ? i - 1 : i;
842
- let propName = stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary);
843
- propName = propName.replace(/InputsOutputs$/, "IOs");
844
- this[propName] = wrapApi(value, opts);
845
- }
832
+ this.application = unwrap(ApplicationApi, opts);
833
+ this.busIOs = unwrap(BUSInputsOutputsApi, opts);
834
+ this.cell = unwrap(CellApi, opts);
835
+ this.controller = unwrap(ControllerApi, opts);
836
+ this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts);
837
+ this.jogging = unwrap(JoggingApi, opts);
838
+ this.kinematics = unwrap(KinematicsApi, opts);
839
+ this.license = unwrap(LicenseApi, opts);
840
+ this.motionGroup = unwrap(MotionGroupApi, opts);
841
+ this.motionGroupModels = unwrap(MotionGroupModelsApi, opts);
842
+ this.novaCloud = unwrap(NOVACloudApi, opts);
843
+ this.program = unwrap(ProgramApi, opts);
844
+ this.robotConfigurations = unwrap(RobotConfigurationsApi, opts);
845
+ this.session = unwrap(SessionApi, opts);
846
+ this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts);
847
+ this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts);
848
+ this.storeObject = unwrap(StoreObjectApi, opts);
849
+ this.system = unwrap(SystemApi, opts);
850
+ this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts);
851
+ this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts);
852
+ this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts);
853
+ this.version = unwrap(VersionApi, opts);
854
+ this.virtualController = unwrap(VirtualControllerApi, opts);
855
+ this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts);
856
+ this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts);
846
857
  }
847
858
  };
848
859
  //#endregion
package/dist/lib/v2/index.mjs.map CHANGED
@@ -1 +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\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 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\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: 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 * @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 `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n BaseAPI,\n Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n [K in keyof typeof novaApiV2 as K extends `${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>}${Rest}`>}`\n : Uncapitalize<S>\n\n/** Shorten e.g. \"controllerInputsOutputs\" -> \"controllerIOs\" */\ntype AliasPropName<S extends string> = S extends `${infer Prefix}InputsOutputs`\n ? `${Prefix}IOs`\n : S\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n */\ntype ApiProperties = {\n readonly [K in keyof ApiConstructors as K extends `${infer P}Api`\n ? AliasPropName<CamelCase<P>>\n : never]: ApiConstructors[K] extends new (\n // biome-ignore lint/suspicious/noExplicitAny: needed for contravariant parameter matching\n ...args: any[]\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 let propName =\n stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)\n propName = propName.replace(/InputsOutputs$/, \"IOs\")\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 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: 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 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(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 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+ {"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 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\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: 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 * @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 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 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: 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 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(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 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package/package.json CHANGED
@@ -1,7 +1,7 @@
1
1
  {
2
2
  "name": "@wandelbots/nova-js",
3
3
  "type": "module",
4
- "version": "3.9.0-pr.280.b71027b",
4
+ "version": "3.9.0-pr.280.c816369",
5
5
  "description": "Official JS client for the Wandelbots API",
6
6
  "sideEffects": false,
7
7
  "packageManager": "pnpm@11.1.3+sha512.c85357fe17ca12dd23dd7071822666dfd7e3cb76fe214e3370b5ea2fb34f2a231185509b63e717f3cd0acb38dd3f8d82bcd5e8172400ae678b70ea4fbed0896d",
package/src/lib/v2/NovaAPIClient.ts CHANGED
@@ -2,7 +2,33 @@ import type {
2
2
  BaseAPI,
3
3
  Configuration as BaseConfiguration,
4
4
  } from "@wandelbots/nova-api/v2"
5
- import * as novaApiV2 from "@wandelbots/nova-api/v2"
5
+ import {
6
+ ApplicationApi,
7
+ BUSInputsOutputsApi,
8
+ CellApi,
9
+ ControllerApi,
10
+ ControllerInputsOutputsApi,
11
+ JoggingApi,
12
+ KinematicsApi,
13
+ LicenseApi,
14
+ MotionGroupApi,
15
+ MotionGroupModelsApi,
16
+ NOVACloudApi,
17
+ ProgramApi,
18
+ RobotConfigurationsApi,
19
+ SessionApi,
20
+ StoreCollisionComponentsApi,
21
+ StoreCollisionSetupsApi,
22
+ StoreObjectApi,
23
+ SystemApi,
24
+ TrajectoryCachingApi,
25
+ TrajectoryExecutionApi,
26
+ TrajectoryPlanningApi,
27
+ VersionApi,
28
+ VirtualControllerApi,
29
+ VirtualControllerBehaviorApi,
30
+ VirtualControllerInputsOutputsApi,
31
+ } from "@wandelbots/nova-api/v2"
6
32
  import type { AxiosInstance } from "axios"
7
33
  import axios from "axios"
8
34
 
@@ -17,76 +43,12 @@ type WithUnwrappedAxiosResponse<T> = {
17
43
  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>
18
44
  }
19
45
 
20
- /**
21
- * Filters nova-api/v2 exports to just the API class constructors,
22
- * excluding helper factories and param creators.
23
- */
24
- type ApiConstructors = {
25
- [K in keyof typeof novaApiV2 as K extends `${string}Api`
26
- ? K extends
27
- | `${string}Factory${string}`
28
- | `${string}Fp${string}`
29
- | `${string}ParamCreator${string}`
30
- ? never
31
- : K
32
- : never]: (typeof novaApiV2)[K]
33
- }
34
-
35
- /**
36
- * Lowercases leading uppercase characters to produce a camelCase property name.
37
- * e.g. "BUSInputsOutputs" -> "busInputsOutputs", "NOVACloud" -> "novaCloud",
38
- * "Application" -> "application"
39
- */
40
- type CamelCase<S extends string> =
41
- S extends `${Uppercase<infer A>}${Uppercase<infer B>}${infer Rest}`
42
- ? Rest extends `${Lowercase<string>}${string}`
43
- ? `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`
44
- : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`
45
- : Uncapitalize<S>
46
-
47
- /** Shorten e.g. "controllerInputsOutputs" -> "controllerIOs" */
48
- type AliasPropName<S extends string> = S extends `${infer Prefix}InputsOutputs`
49
- ? `${Prefix}IOs`
50
- : S
51
-
52
- /**
53
- * Maps API class names to property names by stripping "Api" and converting
54
- * the leading acronym to lowercase camelCase.
55
- */
56
- type ApiProperties = {
57
- readonly [K in keyof ApiConstructors as K extends `${infer P}Api`
58
- ? AliasPropName<CamelCase<P>>
59
- : never]: ApiConstructors[K] extends new (
60
- // biome-ignore lint/suspicious/noExplicitAny: needed for contravariant parameter matching
61
- ...args: any[]
62
- ) => infer I
63
- ? WithUnwrappedAxiosResponse<I>
64
- : never
65
- }
66
-
67
46
  type NovaAPIClientOpts = BaseConfiguration & {
68
47
  axiosInstance?: AxiosInstance
69
48
  mock?: boolean
70
49
  }
71
50
 
72
- function isApiClass(
73
- name: string,
74
- value: unknown,
75
- ): value is new (
76
- config: BaseConfiguration,
77
- basePath: string,
78
- axios: AxiosInstance,
79
- ) => BaseAPI {
80
- return (
81
- name.endsWith("Api") &&
82
- typeof value === "function" &&
83
- !name.includes("Factory") &&
84
- !name.includes("Fp") &&
85
- !name.includes("ParamCreator")
86
- )
87
- }
88
-
89
- function wrapApi<T extends BaseAPI>(
51
+ function unwrap<T extends BaseAPI>(
90
52
  ApiConstructor: new (
91
53
  config: BaseConfiguration,
92
54
  basePath: string,
@@ -120,44 +82,64 @@ function wrapApi<T extends BaseAPI>(
120
82
 
121
83
  /**
122
84
  * API client providing type-safe access to all the endpoints of a NOVA
123
- * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
124
- * at runtime, so new sections added upstream are exposed automatically.
85
+ * instance.
125
86
  */
126
- export const NovaAPIClient = class NovaAPIClient {
87
+ export class NovaAPIClient {
127
88
  readonly opts: NovaAPIClientOpts
128
89
 
90
+ readonly application: WithUnwrappedAxiosResponse<ApplicationApi>
91
+ readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>
92
+ readonly cell: WithUnwrappedAxiosResponse<CellApi>
93
+ readonly controller: WithUnwrappedAxiosResponse<ControllerApi>
94
+ readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>
95
+ readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>
96
+ readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>
97
+ readonly license: WithUnwrappedAxiosResponse<LicenseApi>
98
+ readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>
99
+ readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>
100
+ readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>
101
+ readonly program: WithUnwrappedAxiosResponse<ProgramApi>
102
+ readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>
103
+ readonly session: WithUnwrappedAxiosResponse<SessionApi>
104
+ readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>
105
+ readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>
106
+ readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>
107
+ readonly system: WithUnwrappedAxiosResponse<SystemApi>
108
+ readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>
109
+ readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>
110
+ readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>
111
+ readonly version: WithUnwrappedAxiosResponse<VersionApi>
112
+ readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>
113
+ readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>
114
+ readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>
115
+
129
116
  constructor(opts: NovaAPIClientOpts) {
130
117
  this.opts = opts
131
118
 
132
- for (const [name, value] of Object.entries(novaApiV2)) {
133
- if (isApiClass(name, value)) {
134
- const stripped = name.slice(0, -3)
135
- // Lowercase leading acronym run: "BUSInputsOutputs" -> "busInputsOutputs"
136
- let i = 0
137
- while (
138
- i < stripped.length &&
139
- stripped[i] === stripped[i].toUpperCase() &&
140
- stripped[i] !== stripped[i].toLowerCase()
141
- ) {
142
- i++
143
- }
144
- // If multiple uppercase chars, keep the last one uppercase (it starts the next word)
145
- const boundary = i > 1 ? i - 1 : i
146
- let propName =
147
- stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)
148
- propName = propName.replace(/InputsOutputs$/, "IOs")
149
- // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties
150
- ;(this as any)[propName] = wrapApi(value, opts)
151
- }
152
- }
153
- }
154
- } as {
155
- new (
156
- opts: NovaAPIClientOpts,
157
- ): ApiProperties & {
158
- readonly cellId: string
159
- readonly opts: NovaAPIClientOpts
119
+ this.application = unwrap(ApplicationApi, opts)
120
+ this.busIOs = unwrap(BUSInputsOutputsApi, opts)
121
+ this.cell = unwrap(CellApi, opts)
122
+ this.controller = unwrap(ControllerApi, opts)
123
+ this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts)
124
+ this.jogging = unwrap(JoggingApi, opts)
125
+ this.kinematics = unwrap(KinematicsApi, opts)
126
+ this.license = unwrap(LicenseApi, opts)
127
+ this.motionGroup = unwrap(MotionGroupApi, opts)
128
+ this.motionGroupModels = unwrap(MotionGroupModelsApi, opts)
129
+ this.novaCloud = unwrap(NOVACloudApi, opts)
130
+ this.program = unwrap(ProgramApi, opts)
131
+ this.robotConfigurations = unwrap(RobotConfigurationsApi, opts)
132
+ this.session = unwrap(SessionApi, opts)
133
+ this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts)
134
+ this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts)
135
+ this.storeObject = unwrap(StoreObjectApi, opts)
136
+ this.system = unwrap(SystemApi, opts)
137
+ this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts)
138
+ this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts)
139
+ this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts)
140
+ this.version = unwrap(VersionApi, opts)
141
+ this.virtualController = unwrap(VirtualControllerApi, opts)
142
+ this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts)
143
+ this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts)
160
144
  }
161
145
  }
162
-
163
- export type NovaAPIClient = InstanceType<typeof NovaAPIClient>