@wandelbots/nova-js 3.9.0-pr.280.c816369 → 3.9.0-pr.280.d15a7c3

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (10) hide show
  1. package/dist/lib/v2/index.cjs +17 -28
  2. package/dist/lib/v2/index.cjs.map +1 -1
  3. package/dist/lib/v2/index.d.cts +27 -30
  4. package/dist/lib/v2/index.d.cts.map +1 -1
  5. package/dist/lib/v2/index.d.mts +27 -30
  6. package/dist/lib/v2/index.d.mts.map +1 -1
  7. package/dist/lib/v2/index.mjs +17 -28
  8. package/dist/lib/v2/index.mjs.map +1 -1
  9. package/package.json +1 -1
  10. package/src/lib/v2/NovaAPIClient.ts +97 -81
package/dist/lib/v2/index.cjs CHANGED
@@ -7,6 +7,7 @@ url_join = require_LoginWithAuth0.__toESM(url_join, 1);
7
7
  let path_to_regexp = require("path-to-regexp");
8
8
  path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp, 1);
9
9
  let _wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
10
+ _wandelbots_nova_api_v2 = require_LoginWithAuth0.__toESM(_wandelbots_nova_api_v2, 1);
10
11
  //#region src/lib/deprecated/v2/NovaCellAPIClient.ts
11
12
  /**
12
13
  * API client providing type-safe access to all the Nova API REST endpoints
@@ -814,7 +815,10 @@ function poseToWandelscriptString(pose) {
814
815
  }
815
816
  //#endregion
816
817
  //#region src/lib/v2/NovaAPIClient.ts
817
- function unwrap(ApiConstructor, opts) {
818
+ function isApiClass(name, value) {
819
+ return name.endsWith("Api") && typeof value === "function" && !name.includes("Factory") && !name.includes("Fp") && !name.includes("ParamCreator");
820
+ }
821
+ function wrapApi(ApiConstructor, opts) {
818
822
  const apiClient = new ApiConstructor({
819
823
  ...opts,
820
824
  isJsonMime: (mime) => mime === "application/json"
@@ -827,36 +831,21 @@ function unwrap(ApiConstructor, opts) {
827
831
  }
828
832
  /**
829
833
  * API client providing type-safe access to all the endpoints of a NOVA
830
- * instance.
834
+ * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
835
+ * at runtime, so new sections added upstream are exposed automatically.
831
836
  */
832
- var NovaAPIClient = class {
837
+ const NovaAPIClient = class NovaAPIClient {
833
838
  constructor(opts) {
834
839
  this.opts = opts;
835
- this.application = unwrap(_wandelbots_nova_api_v2.ApplicationApi, opts);
836
- this.busIOs = unwrap(_wandelbots_nova_api_v2.BUSInputsOutputsApi, opts);
837
- this.cell = unwrap(_wandelbots_nova_api_v2.CellApi, opts);
838
- this.controller = unwrap(_wandelbots_nova_api_v2.ControllerApi, opts);
839
- this.controllerIOs = unwrap(_wandelbots_nova_api_v2.ControllerInputsOutputsApi, opts);
840
- this.jogging = unwrap(_wandelbots_nova_api_v2.JoggingApi, opts);
841
- this.kinematics = unwrap(_wandelbots_nova_api_v2.KinematicsApi, opts);
842
- this.license = unwrap(_wandelbots_nova_api_v2.LicenseApi, opts);
843
- this.motionGroup = unwrap(_wandelbots_nova_api_v2.MotionGroupApi, opts);
844
- this.motionGroupModels = unwrap(_wandelbots_nova_api_v2.MotionGroupModelsApi, opts);
845
- this.novaCloud = unwrap(_wandelbots_nova_api_v2.NOVACloudApi, opts);
846
- this.program = unwrap(_wandelbots_nova_api_v2.ProgramApi, opts);
847
- this.robotConfigurations = unwrap(_wandelbots_nova_api_v2.RobotConfigurationsApi, opts);
848
- this.session = unwrap(_wandelbots_nova_api_v2.SessionApi, opts);
849
- this.storeCollisionComponents = unwrap(_wandelbots_nova_api_v2.StoreCollisionComponentsApi, opts);
850
- this.storeCollisionSetups = unwrap(_wandelbots_nova_api_v2.StoreCollisionSetupsApi, opts);
851
- this.storeObject = unwrap(_wandelbots_nova_api_v2.StoreObjectApi, opts);
852
- this.system = unwrap(_wandelbots_nova_api_v2.SystemApi, opts);
853
- this.trajectoryCaching = unwrap(_wandelbots_nova_api_v2.TrajectoryCachingApi, opts);
854
- this.trajectoryExecution = unwrap(_wandelbots_nova_api_v2.TrajectoryExecutionApi, opts);
855
- this.trajectoryPlanning = unwrap(_wandelbots_nova_api_v2.TrajectoryPlanningApi, opts);
856
- this.version = unwrap(_wandelbots_nova_api_v2.VersionApi, opts);
857
- this.virtualController = unwrap(_wandelbots_nova_api_v2.VirtualControllerApi, opts);
858
- this.virtualControllerBehavior = unwrap(_wandelbots_nova_api_v2.VirtualControllerBehaviorApi, opts);
859
- this.virtualControllerIOs = unwrap(_wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi, opts);
840
+ for (const [name, value] of Object.entries(_wandelbots_nova_api_v2)) if (isApiClass(name, value)) {
841
+ const stripped = name.slice(0, -3);
842
+ let i = 0;
843
+ while (i < stripped.length && stripped[i] === stripped[i].toUpperCase() && stripped[i] !== stripped[i].toLowerCase()) i++;
844
+ const boundary = i > 1 ? i - 1 : i;
845
+ let propName = stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary);
846
+ propName = propName.replace(/InputsOutputs$/, "IOs");
847
+ this[propName] = wrapApi(value, opts);
848
+ }
860
849
  }
861
850
  };
862
851
  //#endregion
package/dist/lib/v2/index.cjs.map CHANGED
@@ -1 +1 @@
1
- {"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 }\n}\n"],"mappings":";;;;;;;;;;;;;;;AA6DA,IAAa,oBAAb,MAA+B;CAC7B,YACE,QACA,MAIA;EALS,KAAA,SAAA;EACA,KAAA,OAAA;gBAkFO,KAAK,2BAA2BA,wBAAAA,SAAS;cAC3C,KAAK,2BAA2BC,wBAAAA,OAAO;qBAEhC,KAAK,WAAWC,wBAAAA,cAAc;2BAEnD,KAAK,2BAA2BC,wBAAAA,oBAAoB;oBAEhC,KAAK,WAAWC,wBAAAA,aAAa;uBAE1B,KAAK,WAAWC,wBAAAA,0BAA0B;4BAErC,KAAK,WAAWC,wBAAAA,qBAAqB;6BACpC,KAAK,WAAWC,wBAAAA,sBAAsB;2BACxC,KAAK,WAAWC,wBAAAA,oBAAoB;qBAE1C,KAAK,WAAWC,wBAAAA,cAAc;2BACxB,KAAK,2BAA2BA,wBAAAA,cAAc;iBAExD,KAAK,WAAWC,wBAAAA,UAAU;oBAEvB,KAAK,WAAWC,wBAAAA,aAAa;0BAEvB,KAAK,WAAWC,wBAAAA,mBAAmB;2BAElC,KAAK,WAAWC,wBAAAA,oBAAoB;mCAC5B,KAAK,WACxCC,wBAAAA,4BACF;8BACgC,KAAK,WACnCC,wBAAAA,iCACF;qBAEuB,KAAK,WAAWC,wBAAAA,cAAc;kCACjB,KAAK,WACvCC,wBAAAA,2BACF;8BACgC,KAAK,WAAWC,wBAAAA,uBAAuB;iBAEpD,KAAK,WAAWC,wBAAAA,UAAU;iBAE1B,KAAK,2BAA2BC,wBAAAA,UAAU;mBACxC,KAAK,2BAA2BC,wBAAAA,YAAY;6BAClC,KAAK,2BAClCC,wBAAAA,sBACF;iBACmB,KAAK,2BAA2BC,wBAAAA,UAAU;iBAC1C,KAAK,2BAA2BC,wBAAAA,UAAU;CA5H1D;;;;;;CAOH,WACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAA,QAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;;;;CAKA,2BACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAA,QAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;AAiDF;;;ACjMA,MAAa,iCAAiC;CAC5C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,MAAM;GACN,YAAY,CAAC;GACb,WAAW;GACX,iBAAiB;GACjB,YAAY;GACZ,gBAAgB;GAChB,cAAc;GACd,mBAAmB;GACnB,eAAe,CACb;IACE,WAAW;IACX,iBAAiB;IACjB,cAAc;IACd,YAAY;IACZ,gBAAgB;KACd;KAAmB;KAAqB;KACxC;KAAmB;KAAoB;IACzC;IACA,qBAAqB,EACnB,eAAe;KAAC;KAAO;KAAO;KAAO;KAAO;KAAO;IAAK,EAC1D;IACA,cAAc,CAAC;IACf,eAAe;KAAC;KAAG;KAAG;KAAG;KAAG;KAAG;IAAC;IAChC,aAAa;KACX,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,KAAK;IACL,UAAU;KACR,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,SAAS;IACT,mBAAmB;IACnB,YAAY;GACd,CACF;EACF;CACF;AACF;;;ACpDA,MAAa,4BAA4B;CACvC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,oBAAoB;GACpB,UAAU;IACR,UAAU;KAAC;KAAG;KAAG;IAAC;IAClB,aAAa;KAAC;KAAG;KAAG;IAAC;GACvB;GACA,MAAM,EACJ,QAAQ;IACN,MAAM;IACN,MAAM;KACJ,UAAU;MAAC;MAAG;MAAG;KAAC;KAClB,aAAa;MAAC;MAAG;MAAG;KAAC;IACvB;GACF,EACF;GACA,UAAU,EACR,UAAU;IACR,MAAM;IACN,SAAS;IACT,gBAAgB;KAAC;KAAG;KAAG;IAAC;IACxB,mBAAmB;KAAC;KAAG;KAAG;IAAC;GAC7B,EACF;GACA,YAAY;GACZ,eAAe;IACb;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;IACA,EACE,GAAG,OACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;GACF;GACA,kBAAkB;IAChB,aAAa;KACX,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;KACA,OAAO,EACL,UAAU,IACZ;KACA,QAAQ,EACN,UAAU,IACZ;IACF;IACA,eAAe;KACb,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;GACF;GACA,eAAe;EACjB;CACF;AACF;;;AClTA,MAAa,+BAA+B;CAC1C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;GACF;GACA,gBAAgB;EAClB;CACF;AACF;;;AClDA,MAAa,qBAAqB;CAChC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb,wBAAwB;IACxB,MAAM;IACN,cAAc;IACd,MAAM;GACR;GACA,MAAM;EACR;CACF;AACF;;;AChBA,MAAa,wBAAwB;CACnC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CACL;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,GACA;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,CACF;CACF;AACF;;;ACvBA,MAAa,uBAAuB;CAClC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CAAC,WAAW;CACrB;AACF;;;;;;ACSA,IAAa,mBAAb,MAA8B;;qBACwB,CAAC;;CAErD,MAAM,iBACJ,QACwB;EACxB,MAAM,cAAc;GAClB;GACA;GACA;GACA;GACA;GACA;EACF;EAEA,MAAM,SAAS,OAAO,QAAQ,YAAY,KAAK;EAC/C,IAAI,CAAC,OAAO,KACV,MAAM,IAAI,MAAM,0BAA0B;EAE5C,MAAM,OAAO,OAAO,IAAI,MAAM,GAAG,EAAE;EAEnC,KAAK,MAAM,WAAW,aAAa;GACjC,MAAM,QAAQC,eAAa,MAAM,QAAQ,IAAI,EAAE,IAAI;GACnD,IAAI,WAAW,QAAQ,UAAU,OAAO;IACtC,MAAM,OAAO,QAAQ,OAAO;IAC5B,OAAO;KACL,QAAQ;KACR,YAAY;KACZ,MAAM,KAAK,UAAU,IAAI;KACzB,SAAS,CAAC;KACV;KACA,SAAS,EACP,aAAa,OAAO,IACtB;IACF;GACF;EACF;EAEA,MAAM,IAAIC,MAAAA,WACR,yCAAyC,OAAO,GAAG,QACnD,OACA,MACF;CACF;CAGA,0BAA0B,QAAmC;EAC3D,KAAK,YAAY,KAAK,MAAM;EAE5B,iBAAiB;GACf,OAAO,cAAc,IAAI,MAAM,MAAM,CAAC;GAEtC,QAAQ,IAAI,oCAAoC,OAAO,GAAG;GAE1D,IAAI,OAAO,IAAI,SAAS,eAAe,GACrC,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,kBAAkB,EACzC,CAAC,CACH;GAGF,IAAI,OAAO,IAAI,SAAS,oBAAoB,GAC1C,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,EACnB,QAAQ;IACN,SAAS;IACT,MAAM;GACR,EACF,CAAC,EACH,CAAC,CACH;EAEJ,GAAG,EAAE;CACP;CAEA,uBAAuB,QAAmC,SAAiB;EACzE,QAAQ,IAAI,uBAAuB,OAAO,OAAO,OAAO;CAC1D;AACF;AAEA,MAAM,qBAAqB,EACzB,QAAQ;CACN,cAAc;CACd,YAAY;CACZ,4BAAW,IAAI,KAAK,GAAE,YAAY;CAClC,iBAAiB;CACjB,gBAAgB;EACd;EAAoB;EAAqB;EACzC;EAAoB;EAAoB;CAC1C;CACA,qBAAqB,EACnB,eAAe;EAAC;EAAO;EAAO;EAAO;EAAO;EAAO;CAAK,EAC1D;CACA,YAAY;CACZ,aAAa;EACX,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,UAAU;EACR,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,sBAAsB;AACxB,EACF;;;;;;;AC3EA,IAAa,aAAb,MAAwB;CAQtB,YAAY,QAA0B;qBAHO;qBAChB;EAG3B,MAAM,SAAS,OAAO,UAAU;EAChC,KAAK,SAAS;GACZ;GACA,GAAG;EACL;EACA,KAAK,cACH,OAAO,eACPC,uBAAAA,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAcC,uBAAAA,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAA,QAAM,OAAO;GACjC,UAAA,GAAA,SAAA,SAAiB,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,KAAA,GAAA,MAAA,cAAiB,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,kBAAkB,QAAQ;GACvC,GAAG;GACH,WAAA,GAAA,SAAA,SAAkB,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,OAAO,KAAK,KAAM,iBAAiB,MAAM;IAC3C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAcD,uBAAAA,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAcE,uBAAAA,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,uBAAA,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,uBAAA,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,KAAA,GAAA,SAAA,SAEZ,KAAK,YAAY,MACjB,iBAAiB,KAAK,OAAO,UAC7B,IACF,CACF;EACA,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAIC,uBAAAA,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF;;;;;;;;ACnNA,SAAgB,yBACd,MACA;CACA,MAAM,WAAW;EACf,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;CACxB;CAEA,MAAM,cAAc;EAClB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;CAC3B;CAEA,MAAM,iBAAiB,SAAS,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAEvD,MAAM,iBAAiB,YAAY,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAE1D,OAAO,IAAI,eAAe,OAAO,cAAc,EAAE,KAAK,IAAI,EAAE;AAC9D;;;ACuBA,SAAS,OACP,gBAKA,MAC+B;CAC/B,MAAM,YAAY,IAAI,eACpB;EACE,GAAG;EACH,aAAa,SAAiB,SAAS;CACzC,GACA,KAAK,YAAY,IACjB,KAAK,iBAAiB,MAAA,QAAM,OAAO,CACrC;CAEA,KAAK,MAAM,OAAO,QAAQ,QACxB,QAAQ,eAAe,SAAS,CAClC,GACE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;EACjE,MAAM,mBAAmB,UAAU;EAGnC,UAAU,QAAQ,GAAG,SACnB,iBAAiB,MAAM,WAAW,IAAI,EAAE,MAAM,QAAQ,IAAI,IAAI;CAClE;CAGF,OAAO;AACT;;;;;AAMA,IAAa,gBAAb,MAA2B;CA6BzB,YAAY,MAAyB;EACnC,KAAK,OAAO;EAEZ,KAAK,cAAc,OAAOC,wBAAAA,gBAAgB,IAAI;EAC9C,KAAK,SAAS,OAAOC,wBAAAA,qBAAqB,IAAI;EAC9C,KAAK,OAAO,OAAOC,wBAAAA,SAAS,IAAI;EAChC,KAAK,aAAa,OAAOC,wBAAAA,eAAe,IAAI;EAC5C,KAAK,gBAAgB,OAAOC,wBAAAA,4BAA4B,IAAI;EAC5D,KAAK,UAAU,OAAOC,wBAAAA,YAAY,IAAI;EACtC,KAAK,aAAa,OAAOC,wBAAAA,eAAe,IAAI;EAC5C,KAAK,UAAU,OAAOC,wBAAAA,YAAY,IAAI;EACtC,KAAK,cAAc,OAAOC,wBAAAA,gBAAgB,IAAI;EAC9C,KAAK,oBAAoB,OAAOC,wBAAAA,sBAAsB,IAAI;EAC1D,KAAK,YAAY,OAAOC,wBAAAA,cAAc,IAAI;EAC1C,KAAK,UAAU,OAAOC,wBAAAA,YAAY,IAAI;EACtC,KAAK,sBAAsB,OAAOC,wBAAAA,wBAAwB,IAAI;EAC9D,KAAK,UAAU,OAAOC,wBAAAA,YAAY,IAAI;EACtC,KAAK,2BAA2B,OAAOC,wBAAAA,6BAA6B,IAAI;EACxE,KAAK,uBAAuB,OAAOC,wBAAAA,yBAAyB,IAAI;EAChE,KAAK,cAAc,OAAOC,wBAAAA,gBAAgB,IAAI;EAC9C,KAAK,SAAS,OAAOC,wBAAAA,WAAW,IAAI;EACpC,KAAK,oBAAoB,OAAOC,wBAAAA,sBAAsB,IAAI;EAC1D,KAAK,sBAAsB,OAAOC,wBAAAA,wBAAwB,IAAI;EAC9D,KAAK,qBAAqB,OAAOC,wBAAAA,uBAAuB,IAAI;EAC5D,KAAK,UAAU,OAAOC,wBAAAA,YAAY,IAAI;EACtC,KAAK,oBAAoB,OAAOC,wBAAAA,sBAAsB,IAAI;EAC1D,KAAK,4BAA4B,OAAOC,wBAAAA,8BAA8B,IAAI;EAC1E,KAAK,uBAAuB,OAAOC,wBAAAA,mCAAmC,IAAI;CAC5E;AACF;;;;;;;AClHA,IAAa,OAAb,MAAkB;CAQhB,YAAY,QAAoB;qBAHa;qBAChB;EAG3B,KAAK,SAAS;EACd,KAAK,cACH,OAAO,eACPC,uBAAAA,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAcC,uBAAAA,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAA,QAAM,OAAO;GACjC,UAAA,GAAA,SAAA,SAAiB,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,KAAA,GAAA,MAAA,cAAiB,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,cAAc;GAC3B,GAAG;GACH,WAAA,GAAA,SAAA,SAAkB,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,IAAI,CAAC,KAAK,MACR,MAAM,IAAI,MAAM,2CAA2C;KAE7D,OAAO,KAAK,KAAK,iBAAiB,MAAM;IAC1C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAcD,uBAAAA,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAcE,uBAAAA,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,uBAAA,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,uBAAA,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,KAAA,GAAA,SAAA,SAAY,KAAK,YAAY,MAAM,WAAW,IAAI,CAAC;EACnE,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAIC,uBAAAA,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF"}
1
+ {"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>}${Uppercase<B>}${CamelCase<Rest>}`\n : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n : Uncapitalize<S>\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n * Names ending in \"InputsOutputsApi\" are aliased to \"IOs\" suffix.\n */\ntype ApiProperties = {\n readonly [K in keyof ApiConstructors as K extends `${infer P}InputsOutputsApi`\n ? `${CamelCase<P>}IOs`\n : K extends `${infer P}Api`\n ? 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 }\n}\n"],"mappings":";;;;;;;;;;;;;;;;AA6DA,IAAa,oBAAb,MAA+B;CAC7B,YACE,QACA,MAIA;EALS,KAAA,SAAA;EACA,KAAA,OAAA;gBAkFO,KAAK,2BAA2BA,wBAAAA,SAAS;cAC3C,KAAK,2BAA2BC,wBAAAA,OAAO;qBAEhC,KAAK,WAAWC,wBAAAA,cAAc;2BAEnD,KAAK,2BAA2BC,wBAAAA,oBAAoB;oBAEhC,KAAK,WAAWC,wBAAAA,aAAa;uBAE1B,KAAK,WAAWC,wBAAAA,0BAA0B;4BAErC,KAAK,WAAWC,wBAAAA,qBAAqB;6BACpC,KAAK,WAAWC,wBAAAA,sBAAsB;2BACxC,KAAK,WAAWC,wBAAAA,oBAAoB;qBAE1C,KAAK,WAAWC,wBAAAA,cAAc;2BACxB,KAAK,2BAA2BA,wBAAAA,cAAc;iBAExD,KAAK,WAAWC,wBAAAA,UAAU;oBAEvB,KAAK,WAAWC,wBAAAA,aAAa;0BAEvB,KAAK,WAAWC,wBAAAA,mBAAmB;2BAElC,KAAK,WAAWC,wBAAAA,oBAAoB;mCAC5B,KAAK,WACxCC,wBAAAA,4BACF;8BACgC,KAAK,WACnCC,wBAAAA,iCACF;qBAEuB,KAAK,WAAWC,wBAAAA,cAAc;kCACjB,KAAK,WACvCC,wBAAAA,2BACF;8BACgC,KAAK,WAAWC,wBAAAA,uBAAuB;iBAEpD,KAAK,WAAWC,wBAAAA,UAAU;iBAE1B,KAAK,2BAA2BC,wBAAAA,UAAU;mBACxC,KAAK,2BAA2BC,wBAAAA,YAAY;6BAClC,KAAK,2BAClCC,wBAAAA,sBACF;iBACmB,KAAK,2BAA2BC,wBAAAA,UAAU;iBAC1C,KAAK,2BAA2BC,wBAAAA,UAAU;CA5H1D;;;;;;CAOH,WACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAA,QAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;;;;CAKA,2BACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAA,QAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;AAiDF;;;ACjMA,MAAa,iCAAiC;CAC5C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,MAAM;GACN,YAAY,CAAC;GACb,WAAW;GACX,iBAAiB;GACjB,YAAY;GACZ,gBAAgB;GAChB,cAAc;GACd,mBAAmB;GACnB,eAAe,CACb;IACE,WAAW;IACX,iBAAiB;IACjB,cAAc;IACd,YAAY;IACZ,gBAAgB;KACd;KAAmB;KAAqB;KACxC;KAAmB;KAAoB;IACzC;IACA,qBAAqB,EACnB,eAAe;KAAC;KAAO;KAAO;KAAO;KAAO;KAAO;IAAK,EAC1D;IACA,cAAc,CAAC;IACf,eAAe;KAAC;KAAG;KAAG;KAAG;KAAG;KAAG;IAAC;IAChC,aAAa;KACX,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,KAAK;IACL,UAAU;KACR,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,SAAS;IACT,mBAAmB;IACnB,YAAY;GACd,CACF;EACF;CACF;AACF;;;ACpDA,MAAa,4BAA4B;CACvC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,oBAAoB;GACpB,UAAU;IACR,UAAU;KAAC;KAAG;KAAG;IAAC;IAClB,aAAa;KAAC;KAAG;KAAG;IAAC;GACvB;GACA,MAAM,EACJ,QAAQ;IACN,MAAM;IACN,MAAM;KACJ,UAAU;MAAC;MAAG;MAAG;KAAC;KAClB,aAAa;MAAC;MAAG;MAAG;KAAC;IACvB;GACF,EACF;GACA,UAAU,EACR,UAAU;IACR,MAAM;IACN,SAAS;IACT,gBAAgB;KAAC;KAAG;KAAG;IAAC;IACxB,mBAAmB;KAAC;KAAG;KAAG;IAAC;GAC7B,EACF;GACA,YAAY;GACZ,eAAe;IACb;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;IACA,EACE,GAAG,OACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;GACF;GACA,kBAAkB;IAChB,aAAa;KACX,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;KACA,OAAO,EACL,UAAU,IACZ;KACA,QAAQ,EACN,UAAU,IACZ;IACF;IACA,eAAe;KACb,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;GACF;GACA,eAAe;EACjB;CACF;AACF;;;AClTA,MAAa,+BAA+B;CAC1C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;GACF;GACA,gBAAgB;EAClB;CACF;AACF;;;AClDA,MAAa,qBAAqB;CAChC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb,wBAAwB;IACxB,MAAM;IACN,cAAc;IACd,MAAM;GACR;GACA,MAAM;EACR;CACF;AACF;;;AChBA,MAAa,wBAAwB;CACnC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CACL;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,GACA;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,CACF;CACF;AACF;;;ACvBA,MAAa,uBAAuB;CAClC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CAAC,WAAW;CACrB;AACF;;;;;;ACSA,IAAa,mBAAb,MAA8B;;qBACwB,CAAC;;CAErD,MAAM,iBACJ,QACwB;EACxB,MAAM,cAAc;GAClB;GACA;GACA;GACA;GACA;GACA;EACF;EAEA,MAAM,SAAS,OAAO,QAAQ,YAAY,KAAK;EAC/C,IAAI,CAAC,OAAO,KACV,MAAM,IAAI,MAAM,0BAA0B;EAE5C,MAAM,OAAO,OAAO,IAAI,MAAM,GAAG,EAAE;EAEnC,KAAK,MAAM,WAAW,aAAa;GACjC,MAAM,QAAQC,eAAa,MAAM,QAAQ,IAAI,EAAE,IAAI;GACnD,IAAI,WAAW,QAAQ,UAAU,OAAO;IACtC,MAAM,OAAO,QAAQ,OAAO;IAC5B,OAAO;KACL,QAAQ;KACR,YAAY;KACZ,MAAM,KAAK,UAAU,IAAI;KACzB,SAAS,CAAC;KACV;KACA,SAAS,EACP,aAAa,OAAO,IACtB;IACF;GACF;EACF;EAEA,MAAM,IAAIC,MAAAA,WACR,yCAAyC,OAAO,GAAG,QACnD,OACA,MACF;CACF;CAGA,0BAA0B,QAAmC;EAC3D,KAAK,YAAY,KAAK,MAAM;EAE5B,iBAAiB;GACf,OAAO,cAAc,IAAI,MAAM,MAAM,CAAC;GAEtC,QAAQ,IAAI,oCAAoC,OAAO,GAAG;GAE1D,IAAI,OAAO,IAAI,SAAS,eAAe,GACrC,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,kBAAkB,EACzC,CAAC,CACH;GAGF,IAAI,OAAO,IAAI,SAAS,oBAAoB,GAC1C,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,EACnB,QAAQ;IACN,SAAS;IACT,MAAM;GACR,EACF,CAAC,EACH,CAAC,CACH;EAEJ,GAAG,EAAE;CACP;CAEA,uBAAuB,QAAmC,SAAiB;EACzE,QAAQ,IAAI,uBAAuB,OAAO,OAAO,OAAO;CAC1D;AACF;AAEA,MAAM,qBAAqB,EACzB,QAAQ;CACN,cAAc;CACd,YAAY;CACZ,4BAAW,IAAI,KAAK,GAAE,YAAY;CAClC,iBAAiB;CACjB,gBAAgB;EACd;EAAoB;EAAqB;EACzC;EAAoB;EAAoB;CAC1C;CACA,qBAAqB,EACnB,eAAe;EAAC;EAAO;EAAO;EAAO;EAAO;EAAO;CAAK,EAC1D;CACA,YAAY;CACZ,aAAa;EACX,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,UAAU;EACR,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,sBAAsB;AACxB,EACF;;;;;;;AC3EA,IAAa,aAAb,MAAwB;CAQtB,YAAY,QAA0B;qBAHO;qBAChB;EAG3B,MAAM,SAAS,OAAO,UAAU;EAChC,KAAK,SAAS;GACZ;GACA,GAAG;EACL;EACA,KAAK,cACH,OAAO,eACPC,uBAAAA,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAcC,uBAAAA,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAA,QAAM,OAAO;GACjC,UAAA,GAAA,SAAA,SAAiB,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,KAAA,GAAA,MAAA,cAAiB,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,kBAAkB,QAAQ;GACvC,GAAG;GACH,WAAA,GAAA,SAAA,SAAkB,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,OAAO,KAAK,KAAM,iBAAiB,MAAM;IAC3C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAcD,uBAAAA,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAcE,uBAAAA,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,uBAAA,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,uBAAA,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,KAAA,GAAA,SAAA,SAEZ,KAAK,YAAY,MACjB,iBAAiB,KAAK,OAAO,UAC7B,IACF,CACF;EACA,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAIC,uBAAAA,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF;;;;;;;;ACnNA,SAAgB,yBACd,MACA;CACA,MAAM,WAAW;EACf,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;CACxB;CAEA,MAAM,cAAc;EAClB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;CAC3B;CAEA,MAAM,iBAAiB,SAAS,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAEvD,MAAM,iBAAiB,YAAY,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAE1D,OAAO,IAAI,eAAe,OAAO,cAAc,EAAE,KAAK,IAAI,EAAE;AAC9D;;;AC0CA,SAAS,WACP,MACA,OAKW;CACX,OACE,KAAK,SAAS,KAAK,KACnB,OAAO,UAAU,cACjB,CAAC,KAAK,SAAS,SAAS,KACxB,CAAC,KAAK,SAAS,IAAI,KACnB,CAAC,KAAK,SAAS,cAAc;AAEjC;AAEA,SAAS,QACP,gBAKA,MAC+B;CAC/B,MAAM,YAAY,IAAI,eACpB;EACE,GAAG;EACH,aAAa,SAAiB,SAAS;CACzC,GACA,KAAK,YAAY,IACjB,KAAK,iBAAiB,MAAA,QAAM,OAAO,CACrC;CAEA,KAAK,MAAM,OAAO,QAAQ,QACxB,QAAQ,eAAe,SAAS,CAClC,GACE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;EACjE,MAAM,mBAAmB,UAAU;EAGnC,UAAU,QAAQ,GAAG,SACnB,iBAAiB,MAAM,WAAW,IAAI,EAAE,MAAM,QAAQ,IAAI,IAAI;CAClE;CAGF,OAAO;AACT;;;;;;AAOA,MAAa,gBAAgB,MAAM,cAAc;CAG/C,YAAY,MAAyB;EACnC,KAAK,OAAO;EAEZ,KAAK,MAAM,CAAC,MAAM,UAAU,OAAO,QAAQC,uBAAS,GAClD,IAAI,WAAW,MAAM,KAAK,GAAG;GAC3B,MAAM,WAAW,KAAK,MAAM,GAAG,EAAE;GAEjC,IAAI,IAAI;GACR,OACE,IAAI,SAAS,UACb,SAAS,OAAO,SAAS,GAAG,YAAY,KACxC,SAAS,OAAO,SAAS,GAAG,YAAY,GAExC;GAGF,MAAM,WAAW,IAAI,IAAI,IAAI,IAAI;GACjC,IAAI,WACF,SAAS,MAAM,GAAG,QAAQ,EAAE,YAAY,IAAI,SAAS,MAAM,QAAQ;GACrE,WAAW,SAAS,QAAQ,kBAAkB,KAAK;GAElD,KAAc,YAAY,QAAQ,OAAO,IAAI;EAChD;CAEJ;AACF;;;;;;;ACzHA,IAAa,OAAb,MAAkB;CAQhB,YAAY,QAAoB;qBAHa;qBAChB;EAG3B,KAAK,SAAS;EACd,KAAK,cACH,OAAO,eACPC,uBAAAA,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAcC,uBAAAA,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAA,QAAM,OAAO;GACjC,UAAA,GAAA,SAAA,SAAiB,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,KAAA,GAAA,MAAA,cAAiB,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,cAAc;GAC3B,GAAG;GACH,WAAA,GAAA,SAAA,SAAkB,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,IAAI,CAAC,KAAK,MACR,MAAM,IAAI,MAAM,2CAA2C;KAE7D,OAAO,KAAK,KAAK,iBAAiB,MAAM;IAC1C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAcD,uBAAAA,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAcE,uBAAAA,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,uBAAA,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,uBAAA,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,KAAA,GAAA,SAAA,SAAY,KAAK,YAAY,MAAM,WAAW,IAAI,CAAC;EACnE,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAIC,uBAAAA,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF"}
package/dist/lib/v2/index.d.cts CHANGED
@@ -1,5 +1,6 @@
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";
3
4
  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";
4
5
  export * from "@wandelbots/nova-api/v2";
5
6
 
@@ -131,43 +132,39 @@ type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Pa
131
132
  data: infer D;
132
133
  } ? D : never> : never;
133
134
  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>}${Uppercase<B>}${CamelCase<Rest>}` : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}` : Uncapitalize<S>;
146
+ /**
147
+ * Maps API class names to property names by stripping "Api" and converting
148
+ * the leading acronym to lowercase camelCase.
149
+ * Names ending in "InputsOutputsApi" are aliased to "IOs" suffix.
150
+ */
151
+ type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}InputsOutputsApi` ? `${CamelCase<P>}IOs` : K extends `${infer P}Api` ? CamelCase<P> : never]: ApiConstructors[K] extends (new (...args: any[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
134
152
  type NovaAPIClientOpts = Configuration & {
135
153
  axiosInstance?: AxiosInstance;
136
154
  mock?: boolean;
137
155
  };
138
156
  /**
139
157
  * API client providing type-safe access to all the endpoints of a NOVA
140
- * instance.
158
+ * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
159
+ * at runtime, so new sections added upstream are exposed automatically.
141
160
  */
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
- }
161
+ declare const NovaAPIClient: {
162
+ new (opts: NovaAPIClientOpts): ApiProperties & {
163
+ readonly cellId: string;
164
+ readonly opts: NovaAPIClientOpts;
165
+ };
166
+ };
167
+ type NovaAPIClient = InstanceType<typeof NovaAPIClient>;
171
168
  //#endregion
172
169
  //#region src/lib/v2/Nova.d.ts
173
170
  type NovaConfig = {
package/dist/lib/v2/index.d.cts.map CHANGED
@@ -1 +1 @@
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"}
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;EAxBM;;;;;EAAA,QAiCF,UAAA;EAhCM;;;EAAA,QAqEN,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;;ADoB8B;;;ECfxC,WAAA;EDmBY;;;;ECbZ,MAAA;EDYqB;;;;ECNrB,QAAA;EDOM;;;;ECDN,QAAA;EDIG;;;ECCH,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;ED7I+B;;;;AAAmB;EC0KnE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA;;;;;;;;iBC9MxB,wBAAA,CACd,IAAA,EAAM,IAAI,CAAC,IAAA;;;KCCR,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;;;;;KAOzC,eAAA,wBACgB,SAAA,IAAa,CAAA,0BAC5B,CAAA,2GAKE,CAAA,mBACc,SAAA,EAAW,CAAA;;;;;;KAQ5B,SAAA,qBACH,CAAA,YAAa,SAAA,YAAqB,SAAA,2BAC9B,IAAA,YAAgB,SAAA,yBACX,SAAA,CAAU,CAAA,IAAK,SAAA,CAAU,CAAA,IAAK,SAAA,CAAU,IAAA,SACxC,SAAA,CAAU,CAAA,IAAK,SAAA,IAAa,SAAA,CAAU,CAAA,IAAK,IAAA,QAChD,YAAA,CAAa,CAAA;;;;;AHPE;KGchB,aAAA,0BACkB,eAAA,IAAmB,CAAA,2CACjC,SAAA,CAAU,CAAA,SACb,CAAA,2BACE,SAAA,CAAU,CAAA,YACF,eAAA,CAAgB,CAAA,mBAEzB,IAAA,uBAED,4BAAA,CAA2B,CAAA;AAAA,KAI5B,iBAAA,GAAoB,aAAA;EACvB,aAAA,GAAgB,aAAa;EAC7B,IAAA;AAAA;;;;;;cAyDW,aAAA;EAAA,KA8BT,IAAA,EAAM,iBAAA,GACL,aAAA;IAAA,SACQ,MAAA;IAAA,SACA,IAAA,EAAM,iBAAA;EAAA;AAAA;AAAA,KAIP,aAAA,GAAgB,YAAY,QAAQ,aAAA;;;KCrJpC,UAAA;;;;AJsB8B;EIjBxC,WAAA;EJoBe;;;;;EIbf,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;EJzHI;;;;;EIgJrB,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}
package/dist/lib/v2/index.d.mts CHANGED
@@ -1,5 +1,6 @@
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";
3
4
  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";
4
5
  export * from "@wandelbots/nova-api/v2";
5
6
 
@@ -131,43 +132,39 @@ type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Pa
131
132
  data: infer D;
132
133
  } ? D : never> : never;
133
134
  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>}${Uppercase<B>}${CamelCase<Rest>}` : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}` : Uncapitalize<S>;
146
+ /**
147
+ * Maps API class names to property names by stripping "Api" and converting
148
+ * the leading acronym to lowercase camelCase.
149
+ * Names ending in "InputsOutputsApi" are aliased to "IOs" suffix.
150
+ */
151
+ type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}InputsOutputsApi` ? `${CamelCase<P>}IOs` : K extends `${infer P}Api` ? CamelCase<P> : never]: ApiConstructors[K] extends (new (...args: any[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
134
152
  type NovaAPIClientOpts = Configuration & {
135
153
  axiosInstance?: AxiosInstance;
136
154
  mock?: boolean;
137
155
  };
138
156
  /**
139
157
  * API client providing type-safe access to all the endpoints of a NOVA
140
- * instance.
158
+ * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
159
+ * at runtime, so new sections added upstream are exposed automatically.
141
160
  */
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
- }
161
+ declare const NovaAPIClient: {
162
+ new (opts: NovaAPIClientOpts): ApiProperties & {
163
+ readonly cellId: string;
164
+ readonly opts: NovaAPIClientOpts;
165
+ };
166
+ };
167
+ type NovaAPIClient = InstanceType<typeof NovaAPIClient>;
171
168
  //#endregion
172
169
  //#region src/lib/v2/Nova.d.ts
173
170
  type NovaConfig = {
package/dist/lib/v2/index.d.mts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"index.d.mts","names":[],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"mappings":";;;;;;KAoCK,YAAA,MAAkB,CAAA,WAAW,CAAA,UAAW,IAAA,6BACrC,IAAA,EAAM,CAAA,KAAM,CAAA;AAAA,KAGf,2BAAA,MAA+B,CAAA,cAAc,CAAA,qBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;;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"}
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;EAxBM;;;;;EAAA,QAiCF,UAAA;EAhCM;;;EAAA,QAqEN,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;;ADoB8B;;;ECfxC,WAAA;EDmBY;;;;ECbZ,MAAA;EDYqB;;;;ECNrB,QAAA;EDOM;;;;ECDN,QAAA;EDIG;;;ECCH,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;ED7I+B;;;;AAAmB;EC0KnE,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA;;;;;;;;iBC9MxB,wBAAA,CACd,IAAA,EAAM,IAAI,CAAC,IAAA;;;KCCR,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;;;;;KAOzC,eAAA,wBACgB,SAAA,IAAa,CAAA,0BAC5B,CAAA,2GAKE,CAAA,mBACc,SAAA,EAAW,CAAA;;;;;;KAQ5B,SAAA,qBACH,CAAA,YAAa,SAAA,YAAqB,SAAA,2BAC9B,IAAA,YAAgB,SAAA,yBACX,SAAA,CAAU,CAAA,IAAK,SAAA,CAAU,CAAA,IAAK,SAAA,CAAU,IAAA,SACxC,SAAA,CAAU,CAAA,IAAK,SAAA,IAAa,SAAA,CAAU,CAAA,IAAK,IAAA,QAChD,YAAA,CAAa,CAAA;;;;;AHPE;KGchB,aAAA,0BACkB,eAAA,IAAmB,CAAA,2CACjC,SAAA,CAAU,CAAA,SACb,CAAA,2BACE,SAAA,CAAU,CAAA,YACF,eAAA,CAAgB,CAAA,mBAEzB,IAAA,uBAED,4BAAA,CAA2B,CAAA;AAAA,KAI5B,iBAAA,GAAoB,aAAA;EACvB,aAAA,GAAgB,aAAa;EAC7B,IAAA;AAAA;;;;;;cAyDW,aAAA;EAAA,KA8BT,IAAA,EAAM,iBAAA,GACL,aAAA;IAAA,SACQ,MAAA;IAAA,SACA,IAAA,EAAM,iBAAA;EAAA;AAAA;AAAA,KAIP,aAAA,GAAgB,YAAY,QAAQ,aAAA;;;KCrJpC,UAAA;;;;AJsB8B;EIjBxC,WAAA;EJoBe;;;;;EIbf,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;EJzHI;;;;;EIgJrB,yBAAA,CAA0B,IAAA,WAAY,yBAAA;AAAA"}
package/dist/lib/v2/index.mjs CHANGED
@@ -2,6 +2,7 @@ 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";
5
6
  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";
6
7
  export * from "@wandelbots/nova-api/v2";
7
8
  //#region src/lib/deprecated/v2/NovaCellAPIClient.ts
@@ -811,7 +812,10 @@ function poseToWandelscriptString(pose) {
811
812
  }
812
813
  //#endregion
813
814
  //#region src/lib/v2/NovaAPIClient.ts
814
- function unwrap(ApiConstructor, opts) {
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) {
815
819
  const apiClient = new ApiConstructor({
816
820
  ...opts,
817
821
  isJsonMime: (mime) => mime === "application/json"
@@ -824,36 +828,21 @@ function unwrap(ApiConstructor, opts) {
824
828
  }
825
829
  /**
826
830
  * API client providing type-safe access to all the endpoints of a NOVA
827
- * instance.
831
+ * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
832
+ * at runtime, so new sections added upstream are exposed automatically.
828
833
  */
829
- var NovaAPIClient = class {
834
+ const NovaAPIClient = class NovaAPIClient {
830
835
  constructor(opts) {
831
836
  this.opts = opts;
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);
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
+ }
857
846
  }
858
847
  };
859
848
  //#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 {\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 }\n}\n"],"mappings":";;;;;;;;;;;;AA6DA,IAAa,oBAAb,MAA+B;CAC7B,YACE,QACA,MAIA;EALS,KAAA,SAAA;EACA,KAAA,OAAA;gBAkFO,KAAK,2BAA2B,SAAS;cAC3C,KAAK,2BAA2B,OAAO;qBAEhC,KAAK,WAAW,cAAc;2BAEnD,KAAK,2BAA2B,oBAAoB;oBAEhC,KAAK,WAAW,aAAa;uBAE1B,KAAK,WAAW,0BAA0B;4BAErC,KAAK,WAAW,qBAAqB;6BACpC,KAAK,WAAW,sBAAsB;2BACxC,KAAK,WAAW,oBAAoB;qBAE1C,KAAK,WAAW,cAAc;2BACxB,KAAK,2BAA2B,cAAc;iBAExD,KAAK,WAAW,UAAU;oBAEvB,KAAK,WAAW,aAAa;0BAEvB,KAAK,WAAW,mBAAmB;2BAElC,KAAK,WAAW,oBAAoB;mCAC5B,KAAK,WACxC,4BACF;8BACgC,KAAK,WACnC,iCACF;qBAEuB,KAAK,WAAW,cAAc;kCACjB,KAAK,WACvC,2BACF;8BACgC,KAAK,WAAW,uBAAuB;iBAEpD,KAAK,WAAW,UAAU;iBAE1B,KAAK,2BAA2B,UAAU;mBACxC,KAAK,2BAA2B,YAAY;6BAClC,KAAK,2BAClC,sBACF;iBACmB,KAAK,2BAA2B,UAAU;iBAC1C,KAAK,2BAA2B,UAAU;CA5H1D;;;;;;CAOH,WACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;;;;CAKA,2BACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;AAiDF;;;ACjMA,MAAa,iCAAiC;CAC5C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,MAAM;GACN,YAAY,CAAC;GACb,WAAW;GACX,iBAAiB;GACjB,YAAY;GACZ,gBAAgB;GAChB,cAAc;GACd,mBAAmB;GACnB,eAAe,CACb;IACE,WAAW;IACX,iBAAiB;IACjB,cAAc;IACd,YAAY;IACZ,gBAAgB;KACd;KAAmB;KAAqB;KACxC;KAAmB;KAAoB;IACzC;IACA,qBAAqB,EACnB,eAAe;KAAC;KAAO;KAAO;KAAO;KAAO;KAAO;IAAK,EAC1D;IACA,cAAc,CAAC;IACf,eAAe;KAAC;KAAG;KAAG;KAAG;KAAG;KAAG;IAAC;IAChC,aAAa;KACX,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,KAAK;IACL,UAAU;KACR,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,SAAS;IACT,mBAAmB;IACnB,YAAY;GACd,CACF;EACF;CACF;AACF;;;ACpDA,MAAa,4BAA4B;CACvC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,oBAAoB;GACpB,UAAU;IACR,UAAU;KAAC;KAAG;KAAG;IAAC;IAClB,aAAa;KAAC;KAAG;KAAG;IAAC;GACvB;GACA,MAAM,EACJ,QAAQ;IACN,MAAM;IACN,MAAM;KACJ,UAAU;MAAC;MAAG;MAAG;KAAC;KAClB,aAAa;MAAC;MAAG;MAAG;KAAC;IACvB;GACF,EACF;GACA,UAAU,EACR,UAAU;IACR,MAAM;IACN,SAAS;IACT,gBAAgB;KAAC;KAAG;KAAG;IAAC;IACxB,mBAAmB;KAAC;KAAG;KAAG;IAAC;GAC7B,EACF;GACA,YAAY;GACZ,eAAe;IACb;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;IACA,EACE,GAAG,OACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;GACF;GACA,kBAAkB;IAChB,aAAa;KACX,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;KACA,OAAO,EACL,UAAU,IACZ;KACA,QAAQ,EACN,UAAU,IACZ;IACF;IACA,eAAe;KACb,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;GACF;GACA,eAAe;EACjB;CACF;AACF;;;AClTA,MAAa,+BAA+B;CAC1C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;GACF;GACA,gBAAgB;EAClB;CACF;AACF;;;AClDA,MAAa,qBAAqB;CAChC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb,wBAAwB;IACxB,MAAM;IACN,cAAc;IACd,MAAM;GACR;GACA,MAAM;EACR;CACF;AACF;;;AChBA,MAAa,wBAAwB;CACnC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CACL;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,GACA;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,CACF;CACF;AACF;;;ACvBA,MAAa,uBAAuB;CAClC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CAAC,WAAW;CACrB;AACF;;;;;;ACSA,IAAa,mBAAb,MAA8B;;qBACwB,CAAC;;CAErD,MAAM,iBACJ,QACwB;EACxB,MAAM,cAAc;GAClB;GACA;GACA;GACA;GACA;GACA;EACF;EAEA,MAAM,SAAS,OAAO,QAAQ,YAAY,KAAK;EAC/C,IAAI,CAAC,OAAO,KACV,MAAM,IAAI,MAAM,0BAA0B;EAE5C,MAAM,OAAO,OAAO,IAAI,MAAM,GAAG,EAAE;EAEnC,KAAK,MAAM,WAAW,aAAa;GACjC,MAAM,QAAQ,aAAa,MAAM,QAAQ,IAAI,EAAE,IAAI;GACnD,IAAI,WAAW,QAAQ,UAAU,OAAO;IACtC,MAAM,OAAO,QAAQ,OAAO;IAC5B,OAAO;KACL,QAAQ;KACR,YAAY;KACZ,MAAM,KAAK,UAAU,IAAI;KACzB,SAAS,CAAC;KACV;KACA,SAAS,EACP,aAAa,OAAO,IACtB;IACF;GACF;EACF;EAEA,MAAM,IAAI,WACR,yCAAyC,OAAO,GAAG,QACnD,OACA,MACF;CACF;CAGA,0BAA0B,QAAmC;EAC3D,KAAK,YAAY,KAAK,MAAM;EAE5B,iBAAiB;GACf,OAAO,cAAc,IAAI,MAAM,MAAM,CAAC;GAEtC,QAAQ,IAAI,oCAAoC,OAAO,GAAG;GAE1D,IAAI,OAAO,IAAI,SAAS,eAAe,GACrC,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,kBAAkB,EACzC,CAAC,CACH;GAGF,IAAI,OAAO,IAAI,SAAS,oBAAoB,GAC1C,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,EACnB,QAAQ;IACN,SAAS;IACT,MAAM;GACR,EACF,CAAC,EACH,CAAC,CACH;EAEJ,GAAG,EAAE;CACP;CAEA,uBAAuB,QAAmC,SAAiB;EACzE,QAAQ,IAAI,uBAAuB,OAAO,OAAO,OAAO;CAC1D;AACF;AAEA,MAAM,qBAAqB,EACzB,QAAQ;CACN,cAAc;CACd,YAAY;CACZ,4BAAW,IAAI,KAAK,GAAE,YAAY;CAClC,iBAAiB;CACjB,gBAAgB;EACd;EAAoB;EAAqB;EACzC;EAAoB;EAAoB;CAC1C;CACA,qBAAqB,EACnB,eAAe;EAAC;EAAO;EAAO;EAAO;EAAO;EAAO;CAAK,EAC1D;CACA,YAAY;CACZ,aAAa;EACX,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,UAAU;EACR,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,sBAAsB;AACxB,EACF;;;;;;;AC3EA,IAAa,aAAb,MAAwB;CAQtB,YAAY,QAA0B;qBAHO;qBAChB;EAG3B,MAAM,SAAS,OAAO,UAAU;EAChC,KAAK,SAAS;GACZ;GACA,GAAG;EACL;EACA,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,QAAQ,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,kBAAkB,QAAQ;GACvC,GAAG;GACH,UAAU,QAAQ,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,OAAO,KAAK,KAAM,iBAAiB,MAAM;IAC3C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IACd,QACE,KAAK,YAAY,MACjB,iBAAiB,KAAK,OAAO,UAC7B,IACF,CACF;EACA,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF;;;;;;;;ACnNA,SAAgB,yBACd,MACA;CACA,MAAM,WAAW;EACf,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;CACxB;CAEA,MAAM,cAAc;EAClB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;CAC3B;CAEA,MAAM,iBAAiB,SAAS,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAEvD,MAAM,iBAAiB,YAAY,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAE1D,OAAO,IAAI,eAAe,OAAO,cAAc,EAAE,KAAK,IAAI,EAAE;AAC9D;;;ACuBA,SAAS,OACP,gBAKA,MAC+B;CAC/B,MAAM,YAAY,IAAI,eACpB;EACE,GAAG;EACH,aAAa,SAAiB,SAAS;CACzC,GACA,KAAK,YAAY,IACjB,KAAK,iBAAiB,MAAM,OAAO,CACrC;CAEA,KAAK,MAAM,OAAO,QAAQ,QACxB,QAAQ,eAAe,SAAS,CAClC,GACE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;EACjE,MAAM,mBAAmB,UAAU;EAGnC,UAAU,QAAQ,GAAG,SACnB,iBAAiB,MAAM,WAAW,IAAI,EAAE,MAAM,QAAQ,IAAI,IAAI;CAClE;CAGF,OAAO;AACT;;;;;AAMA,IAAa,gBAAb,MAA2B;CA6BzB,YAAY,MAAyB;EACnC,KAAK,OAAO;EAEZ,KAAK,cAAc,OAAO,gBAAgB,IAAI;EAC9C,KAAK,SAAS,OAAO,qBAAqB,IAAI;EAC9C,KAAK,OAAO,OAAO,SAAS,IAAI;EAChC,KAAK,aAAa,OAAO,eAAe,IAAI;EAC5C,KAAK,gBAAgB,OAAO,4BAA4B,IAAI;EAC5D,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,aAAa,OAAO,eAAe,IAAI;EAC5C,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,cAAc,OAAO,gBAAgB,IAAI;EAC9C,KAAK,oBAAoB,OAAO,sBAAsB,IAAI;EAC1D,KAAK,YAAY,OAAO,cAAc,IAAI;EAC1C,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,sBAAsB,OAAO,wBAAwB,IAAI;EAC9D,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,2BAA2B,OAAO,6BAA6B,IAAI;EACxE,KAAK,uBAAuB,OAAO,yBAAyB,IAAI;EAChE,KAAK,cAAc,OAAO,gBAAgB,IAAI;EAC9C,KAAK,SAAS,OAAO,WAAW,IAAI;EACpC,KAAK,oBAAoB,OAAO,sBAAsB,IAAI;EAC1D,KAAK,sBAAsB,OAAO,wBAAwB,IAAI;EAC9D,KAAK,qBAAqB,OAAO,uBAAuB,IAAI;EAC5D,KAAK,UAAU,OAAO,YAAY,IAAI;EACtC,KAAK,oBAAoB,OAAO,sBAAsB,IAAI;EAC1D,KAAK,4BAA4B,OAAO,8BAA8B,IAAI;EAC1E,KAAK,uBAAuB,OAAO,mCAAmC,IAAI;CAC5E;AACF;;;;;;;AClHA,IAAa,OAAb,MAAkB;CAQhB,YAAY,QAAoB;qBAHa;qBAChB;EAG3B,KAAK,SAAS;EACd,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,QAAQ,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,cAAc;GAC3B,GAAG;GACH,UAAU,QAAQ,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,IAAI,CAAC,KAAK,MACR,MAAM,IAAI,MAAM,2CAA2C;KAE7D,OAAO,KAAK,KAAK,iBAAiB,MAAM;IAC1C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IAAI,QAAQ,KAAK,YAAY,MAAM,WAAW,IAAI,CAAC;EACnE,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF"}
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>}${Uppercase<B>}${CamelCase<Rest>}`\n : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n : Uncapitalize<S>\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n * Names ending in \"InputsOutputsApi\" are aliased to \"IOs\" suffix.\n */\ntype ApiProperties = {\n readonly [K in keyof ApiConstructors as K extends `${infer P}InputsOutputsApi`\n ? `${CamelCase<P>}IOs`\n : K extends `${infer P}Api`\n ? 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 }\n}\n"],"mappings":";;;;;;;;;;;;;AA6DA,IAAa,oBAAb,MAA+B;CAC7B,YACE,QACA,MAIA;EALS,KAAA,SAAA;EACA,KAAA,OAAA;gBAkFO,KAAK,2BAA2B,SAAS;cAC3C,KAAK,2BAA2B,OAAO;qBAEhC,KAAK,WAAW,cAAc;2BAEnD,KAAK,2BAA2B,oBAAoB;oBAEhC,KAAK,WAAW,aAAa;uBAE1B,KAAK,WAAW,0BAA0B;4BAErC,KAAK,WAAW,qBAAqB;6BACpC,KAAK,WAAW,sBAAsB;2BACxC,KAAK,WAAW,oBAAoB;qBAE1C,KAAK,WAAW,cAAc;2BACxB,KAAK,2BAA2B,cAAc;iBAExD,KAAK,WAAW,UAAU;oBAEvB,KAAK,WAAW,aAAa;0BAEvB,KAAK,WAAW,mBAAmB;2BAElC,KAAK,WAAW,oBAAoB;mCAC5B,KAAK,WACxC,4BACF;8BACgC,KAAK,WACnC,iCACF;qBAEuB,KAAK,WAAW,cAAc;kCACjB,KAAK,WACvC,2BACF;8BACgC,KAAK,WAAW,uBAAuB;iBAEpD,KAAK,WAAW,UAAU;iBAE1B,KAAK,2BAA2B,UAAU;mBACxC,KAAK,2BAA2B,YAAY;6BAClC,KAAK,2BAClC,sBACF;iBACmB,KAAK,2BAA2B,UAAU;iBAC1C,KAAK,2BAA2B,UAAU;CA5H1D;;;;;;CAOH,WACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;;;;CAKA,2BACE,gBAKA;EACA,MAAM,YAAY,IAAI,eACpB;GACE,GAAG,KAAK;GACR,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;EACF,GACA,KAAK,KAAK,YAAY,IACtB,KAAK,KAAK,iBAAiB,MAAM,OAAO,CAC1C;EAIA,KAAK,MAAM,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAClE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;GACjE,MAAM,mBAAmB,UAAU;GACnC,UAAU,QAAQ,GAAG,SAAgB;IACnC,OAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,MAAM,QAAa,IAAI,IAAI;GAChC;EACF;EAGF,OAAO;CACT;AAiDF;;;ACjMA,MAAa,iCAAiC;CAC5C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,MAAM;GACN,YAAY,CAAC;GACb,WAAW;GACX,iBAAiB;GACjB,YAAY;GACZ,gBAAgB;GAChB,cAAc;GACd,mBAAmB;GACnB,eAAe,CACb;IACE,WAAW;IACX,iBAAiB;IACjB,cAAc;IACd,YAAY;IACZ,gBAAgB;KACd;KAAmB;KAAqB;KACxC;KAAmB;KAAoB;IACzC;IACA,qBAAqB,EACnB,eAAe;KAAC;KAAO;KAAO;KAAO;KAAO;KAAO;IAAK,EAC1D;IACA,cAAc,CAAC;IACf,eAAe;KAAC;KAAG;KAAG;KAAG;KAAG;KAAG;IAAC;IAChC,aAAa;KACX,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,KAAK;IACL,UAAU;KACR,UAAU;MACR;MAAmB;MAAoB;KACzC;KACA,aAAa;MACX;MAAoB;MAAoB;KAC1C;IACF;IACA,SAAS;IACT,mBAAmB;IACnB,YAAY;GACd,CACF;EACF;CACF;AACF;;;ACpDA,MAAa,4BAA4B;CACvC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,oBAAoB;GACpB,UAAU;IACR,UAAU;KAAC;KAAG;KAAG;IAAC;IAClB,aAAa;KAAC;KAAG;KAAG;IAAC;GACvB;GACA,MAAM,EACJ,QAAQ;IACN,MAAM;IACN,MAAM;KACJ,UAAU;MAAC;MAAG;MAAG;KAAC;KAClB,aAAa;MAAC;MAAG;MAAG;KAAC;IACvB;GACF,EACF;GACA,UAAU,EACR,UAAU;IACR,MAAM;IACN,SAAS;IACT,gBAAgB;KAAC;KAAG;KAAG;IAAC;IACxB,mBAAmB;KAAC;KAAG;KAAG;IAAC;GAC7B,EACF;GACA,YAAY;GACZ,eAAe;IACb;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;IACA,EACE,GAAG,OACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA;KACE,OAAO;KACP,GAAG;IACL;IACA,EACE,GAAG,KACL;GACF;GACA,kBAAkB;IAChB,aAAa;KACX,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;KACA,OAAO,EACL,UAAU,IACZ;KACA,QAAQ,EACN,UAAU,IACZ;IACF;IACA,eAAe;KACb,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;IACA,kBAAkB;KAChB,QAAQ;MACN;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;MACA;OACE,UAAU;QACR,aAAa;QACb,aAAa;OACf;OACA,UAAU;OACV,cAAc;OACd,QAAQ;MACV;KACF;KACA,KAAK,EACH,UAAU,IACZ;IACF;GACF;GACA,eAAe;EACjB;CACF;AACF;;;AClTA,MAAa,+BAA+B;CAC1C,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;IACA;KACE,OAAO;KACP,OAAO;KACP,GAAG;KACH,GAAG;KACH,4BAA4B;IAC9B;GACF;GACA,gBAAgB;EAClB;CACF;AACF;;;AClDA,MAAa,qBAAqB;CAChC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO;GACL,eAAe;IACb,wBAAwB;IACxB,MAAM;IACN,cAAc;IACd,MAAM;GACR;GACA,MAAM;EACR;CACF;AACF;;;AChBA,MAAa,wBAAwB;CACnC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CACL;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,GACA;GACE,mBAAmB;GACnB,MAAM;GACN,6BAA6B;GAC7B,UAAU;IAAC;IAAG;IAAG;GAAC;GAClB,aAAa;IAAC;IAAG;IAAG;GAAC;GACrB,kBAAkB;EACpB,CACF;CACF;AACF;;;ACvBA,MAAa,uBAAuB;CAClC,QAAQ;CACR,MAAM;CACN,SAAS;EACP,OAAO,CAAC,WAAW;CACrB;AACF;;;;;;ACSA,IAAa,mBAAb,MAA8B;;qBACwB,CAAC;;CAErD,MAAM,iBACJ,QACwB;EACxB,MAAM,cAAc;GAClB;GACA;GACA;GACA;GACA;GACA;EACF;EAEA,MAAM,SAAS,OAAO,QAAQ,YAAY,KAAK;EAC/C,IAAI,CAAC,OAAO,KACV,MAAM,IAAI,MAAM,0BAA0B;EAE5C,MAAM,OAAO,OAAO,IAAI,MAAM,GAAG,EAAE;EAEnC,KAAK,MAAM,WAAW,aAAa;GACjC,MAAM,QAAQ,aAAa,MAAM,QAAQ,IAAI,EAAE,IAAI;GACnD,IAAI,WAAW,QAAQ,UAAU,OAAO;IACtC,MAAM,OAAO,QAAQ,OAAO;IAC5B,OAAO;KACL,QAAQ;KACR,YAAY;KACZ,MAAM,KAAK,UAAU,IAAI;KACzB,SAAS,CAAC;KACV;KACA,SAAS,EACP,aAAa,OAAO,IACtB;IACF;GACF;EACF;EAEA,MAAM,IAAI,WACR,yCAAyC,OAAO,GAAG,QACnD,OACA,MACF;CACF;CAGA,0BAA0B,QAAmC;EAC3D,KAAK,YAAY,KAAK,MAAM;EAE5B,iBAAiB;GACf,OAAO,cAAc,IAAI,MAAM,MAAM,CAAC;GAEtC,QAAQ,IAAI,oCAAoC,OAAO,GAAG;GAE1D,IAAI,OAAO,IAAI,SAAS,eAAe,GACrC,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,kBAAkB,EACzC,CAAC,CACH;GAGF,IAAI,OAAO,IAAI,SAAS,oBAAoB,GAC1C,OAAO,cACL,IAAI,aAAa,WAAW,EAC1B,MAAM,KAAK,UAAU,EACnB,QAAQ;IACN,SAAS;IACT,MAAM;GACR,EACF,CAAC,EACH,CAAC,CACH;EAEJ,GAAG,EAAE;CACP;CAEA,uBAAuB,QAAmC,SAAiB;EACzE,QAAQ,IAAI,uBAAuB,OAAO,OAAO,OAAO;CAC1D;AACF;AAEA,MAAM,qBAAqB,EACzB,QAAQ;CACN,cAAc;CACd,YAAY;CACZ,4BAAW,IAAI,KAAK,GAAE,YAAY;CAClC,iBAAiB;CACjB,gBAAgB;EACd;EAAoB;EAAqB;EACzC;EAAoB;EAAoB;CAC1C;CACA,qBAAqB,EACnB,eAAe;EAAC;EAAO;EAAO;EAAO;EAAO;EAAO;CAAK,EAC1D;CACA,YAAY;CACZ,aAAa;EACX,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,UAAU;EACR,UAAU;GAAC;GAAoB;GAAoB;EAAiB;EACpE,aAAa;GACX;GAAoB;GAAqB;EAC3C;CACF;CACA,sBAAsB;AACxB,EACF;;;;;;;AC3EA,IAAa,aAAb,MAAwB;CAQtB,YAAY,QAA0B;qBAHO;qBAChB;EAG3B,MAAM,SAAS,OAAO,UAAU;EAChC,KAAK,SAAS;GACZ;GACA,GAAG;EACL;EACA,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,QAAQ,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,kBAAkB,QAAQ;GACvC,GAAG;GACH,UAAU,QAAQ,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,OAAO,KAAK,KAAM,iBAAiB,MAAM;IAC3C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IACd,QACE,KAAK,YAAY,MACjB,iBAAiB,KAAK,OAAO,UAC7B,IACF,CACF;EACA,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF;;;;;;;;ACnNA,SAAgB,yBACd,MACA;CACA,MAAM,WAAW;EACf,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;EACtB,KAAK,WAAW,MAAM;CACxB;CAEA,MAAM,cAAc;EAClB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;EACzB,KAAK,cAAc,MAAM;CAC3B;CAEA,MAAM,iBAAiB,SAAS,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAEvD,MAAM,iBAAiB,YAAY,KAAK,MAAM,EAAE,QAAQ,CAAC,CAAC;CAE1D,OAAO,IAAI,eAAe,OAAO,cAAc,EAAE,KAAK,IAAI,EAAE;AAC9D;;;AC0CA,SAAS,WACP,MACA,OAKW;CACX,OACE,KAAK,SAAS,KAAK,KACnB,OAAO,UAAU,cACjB,CAAC,KAAK,SAAS,SAAS,KACxB,CAAC,KAAK,SAAS,IAAI,KACnB,CAAC,KAAK,SAAS,cAAc;AAEjC;AAEA,SAAS,QACP,gBAKA,MAC+B;CAC/B,MAAM,YAAY,IAAI,eACpB;EACE,GAAG;EACH,aAAa,SAAiB,SAAS;CACzC,GACA,KAAK,YAAY,IACjB,KAAK,iBAAiB,MAAM,OAAO,CACrC;CAEA,KAAK,MAAM,OAAO,QAAQ,QACxB,QAAQ,eAAe,SAAS,CAClC,GACE,IAAI,QAAQ,iBAAiB,OAAO,UAAU,SAAS,YAAY;EACjE,MAAM,mBAAmB,UAAU;EAGnC,UAAU,QAAQ,GAAG,SACnB,iBAAiB,MAAM,WAAW,IAAI,EAAE,MAAM,QAAQ,IAAI,IAAI;CAClE;CAGF,OAAO;AACT;;;;;;AAOA,MAAa,gBAAgB,MAAM,cAAc;CAG/C,YAAY,MAAyB;EACnC,KAAK,OAAO;EAEZ,KAAK,MAAM,CAAC,MAAM,UAAU,OAAO,QAAQ,SAAS,GAClD,IAAI,WAAW,MAAM,KAAK,GAAG;GAC3B,MAAM,WAAW,KAAK,MAAM,GAAG,EAAE;GAEjC,IAAI,IAAI;GACR,OACE,IAAI,SAAS,UACb,SAAS,OAAO,SAAS,GAAG,YAAY,KACxC,SAAS,OAAO,SAAS,GAAG,YAAY,GAExC;GAGF,MAAM,WAAW,IAAI,IAAI,IAAI,IAAI;GACjC,IAAI,WACF,SAAS,MAAM,GAAG,QAAQ,EAAE,YAAY,IAAI,SAAS,MAAM,QAAQ;GACrE,WAAW,SAAS,QAAQ,kBAAkB,KAAK;GAElD,KAAc,YAAY,QAAQ,OAAO,IAAI;EAChD;CAEJ;AACF;;;;;;;ACzHA,IAAa,OAAb,MAAkB;CAQhB,YAAY,QAAoB;qBAHa;qBAChB;EAG3B,KAAK,SAAS;EACd,KAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;EAEF,IAAI,KAAK,OAAO,gBAAgB,4BAC9B,KAAK,OAAO,IAAI,iBAAiB;EAEnC,KAAK,cAAc,qBAAqB,KAAK,OAAO,WAAW;EAG/D,MAAM,gBAAgB,MAAM,OAAO;GACjC,SAAS,QAAQ,KAAK,YAAY,MAAM,SAAS;GAEjD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD,EAEE,uBAAuB,yBACzB;EACR,CAAC;EAED,cAAc,aAAa,QAAQ,IAAI,OAAO,YAAY;GACxD,IAAI,CAAC,QAAQ,QAAQ;QACf,KAAK,aACP,QAAQ,QAAQ,gBAAgB,UAAU,KAAK;SAC1C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAC7C,QAAQ,QAAQ,gBAAgB,SAAS,KAAK,GAAG,OAAO,SAAS,GAAG,OAAO,UAAU;GAAA;GAGzF,OAAO;EACT,CAAC;EAED,IAAI,OAAO,WAAW,aACpB,cAAc,aAAa,SAAS,KACjC,MAAM,GACP,OAAO,UAAU;GACf,IAAI,aAAa,KAAK;QAChB,MAAM,UAAU,WAAW,KAG7B,IAAI;KACF,MAAM,KAAK,oBAAoB;KAE/B,IAAI,MAAM,QAAQ;MAChB,IAAI,KAAK,aACP,MAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK;WAEpD,OAAO,MAAM,OAAO,QAAQ;MAE9B,OAAO,cAAc,QAAQ,MAAM,MAAM;KAC3C;IACF,SAAS,KAAK;KACZ,OAAO,QAAQ,OAAO,GAAG;IAC3B;SACK,IAAI,MAAM,UAAU,WAAW;UAGhC,MADc,MAAM,OAAO,SAAS,IAAI,GACpC,WAAW,KAEjB,OAAO,SAAS,OAAO;IAAA;GACzB;GAIJ,OAAO,QAAQ,OAAO,KAAK;EAC7B,CACF;EAGF,KAAK,MAAM,IAAI,cAAc;GAC3B,GAAG;GACH,UAAU,QAAQ,KAAK,YAAY,MAAM,SAAS;GAClD,aAAa,SAAiB;IAC5B,OAAO,SAAS;GAClB;GACA,aAAa;IACX,GAAI,KAAK,OACJ,EACC,UAAU,WAAW;KACnB,IAAI,CAAC,KAAK,MACR,MAAM,IAAI,MAAM,2CAA2C;KAE7D,OAAO,KAAK,KAAK,iBAAiB,MAAM;IAC1C,EACF,IACA,CAAC;IACL,GAAG,OAAO;GACZ;GACA;EACF,CAAC;CACH;CAEA,MAAM,sBAAqC;EACzC,IAAI,KAAK,aAEP;EAGF,MAAM,cAAc,iBAAiB,UAAU,mBAAmB;EAClE,IAAI,eAAe,KAAK,gBAAgB,aAAa;GAEnD,KAAK,cAAc;GACnB;EACF;EAGA,KAAK,cAAc,eAAe,KAAK,WAAW;EAClD,IAAI;GACF,KAAK,cAAc,MAAM,KAAK;GAC9B,IAAI,KAAK,aAEP,iBAAiB,UAAU,qBAAqB,KAAK,WAAW;QAEhE,iBAAiB,OAAO,mBAAmB;EAE/C,UAAU;GACR,KAAK,cAAc;EACrB;CACF;CAEA,iBAAiB,MAAsB;EACrC,MAAM,MAAM,IAAI,IAAI,QAAQ,KAAK,YAAY,MAAM,WAAW,IAAI,CAAC;EACnE,IAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;EAChD,IAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;EAKlD,IAAI,KAAK,aACP,IAAI,aAAa,OAAO,SAAS,KAAK,WAAW;OAC5C,IAAI,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;GACvD,IAAI,WAAW,KAAK,OAAO;GAC3B,IAAI,WAAW,KAAK,OAAO;EAC7B;EAEA,OAAO,IAAI,SAAS;CACtB;;;;;;CAOA,0BAA0B,MAAc;EACtC,OAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG,EAChE,MAAM,KAAK,KACb,CAAC;CACH;AACF"}
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.c816369",
4
+ "version": "3.9.0-pr.280.d15a7c3",
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
@@ -2,33 +2,7 @@ import type {
2
2
  BaseAPI,
3
3
  Configuration as BaseConfiguration,
4
4
  } 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"
5
+ import * as novaApiV2 from "@wandelbots/nova-api/v2"
32
6
  import type { AxiosInstance } from "axios"
33
7
  import axios from "axios"
34
8
 
@@ -43,12 +17,74 @@ type WithUnwrappedAxiosResponse<T> = {
43
17
  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>
44
18
  }
45
19
 
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
+ ? `${Lowercase<A>}${Uppercase<B>}${CamelCase<Rest>}`
44
+ : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`
45
+ : Uncapitalize<S>
46
+
47
+ /**
48
+ * Maps API class names to property names by stripping "Api" and converting
49
+ * the leading acronym to lowercase camelCase.
50
+ * Names ending in "InputsOutputsApi" are aliased to "IOs" suffix.
51
+ */
52
+ type ApiProperties = {
53
+ readonly [K in keyof ApiConstructors as K extends `${infer P}InputsOutputsApi`
54
+ ? `${CamelCase<P>}IOs`
55
+ : K extends `${infer P}Api`
56
+ ? CamelCase<P>
57
+ : never]: ApiConstructors[K] extends new (
58
+ // biome-ignore lint/suspicious/noExplicitAny: needed for contravariant parameter matching
59
+ ...args: any[]
60
+ ) => infer I
61
+ ? WithUnwrappedAxiosResponse<I>
62
+ : never
63
+ }
64
+
46
65
  type NovaAPIClientOpts = BaseConfiguration & {
47
66
  axiosInstance?: AxiosInstance
48
67
  mock?: boolean
49
68
  }
50
69
 
51
- function unwrap<T extends BaseAPI>(
70
+ function isApiClass(
71
+ name: string,
72
+ value: unknown,
73
+ ): value is new (
74
+ config: BaseConfiguration,
75
+ basePath: string,
76
+ axios: AxiosInstance,
77
+ ) => BaseAPI {
78
+ return (
79
+ name.endsWith("Api") &&
80
+ typeof value === "function" &&
81
+ !name.includes("Factory") &&
82
+ !name.includes("Fp") &&
83
+ !name.includes("ParamCreator")
84
+ )
85
+ }
86
+
87
+ function wrapApi<T extends BaseAPI>(
52
88
  ApiConstructor: new (
53
89
  config: BaseConfiguration,
54
90
  basePath: string,
@@ -82,64 +118,44 @@ function unwrap<T extends BaseAPI>(
82
118
 
83
119
  /**
84
120
  * API client providing type-safe access to all the endpoints of a NOVA
85
- * instance.
121
+ * instance. API sections are auto-discovered from @wandelbots/nova-api/v2
122
+ * at runtime, so new sections added upstream are exposed automatically.
86
123
  */
87
- export class NovaAPIClient {
124
+ export const NovaAPIClient = class NovaAPIClient {
88
125
  readonly opts: NovaAPIClientOpts
89
126
 
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
-
116
127
  constructor(opts: NovaAPIClientOpts) {
117
128
  this.opts = opts
118
129
 
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)
130
+ for (const [name, value] of Object.entries(novaApiV2)) {
131
+ if (isApiClass(name, value)) {
132
+ const stripped = name.slice(0, -3)
133
+ // Lowercase leading acronym run: "BUSInputsOutputs" -> "busInputsOutputs"
134
+ let i = 0
135
+ while (
136
+ i < stripped.length &&
137
+ stripped[i] === stripped[i].toUpperCase() &&
138
+ stripped[i] !== stripped[i].toLowerCase()
139
+ ) {
140
+ i++
141
+ }
142
+ // If multiple uppercase chars, keep the last one uppercase (it starts the next word)
143
+ const boundary = i > 1 ? i - 1 : i
144
+ let propName =
145
+ stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)
146
+ propName = propName.replace(/InputsOutputs$/, "IOs")
147
+ // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties
148
+ ;(this as any)[propName] = wrapApi(value, opts)
149
+ }
150
+ }
151
+ }
152
+ } as {
153
+ new (
154
+ opts: NovaAPIClientOpts,
155
+ ): ApiProperties & {
156
+ readonly cellId: string
157
+ readonly opts: NovaAPIClientOpts
144
158
  }
145
159
  }
160
+
161
+ export type NovaAPIClient = InstanceType<typeof NovaAPIClient>