@wandelbots/wandelbots-js-react-components 2.54.5-pr.feat-upgrade-jogging-to-v2.404.a6b053a → 2.54.5-pr.feat-upgrade-jogging-to-v2.404.6f841e7

package/dist/lib/JoggerConnection.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=JoggerConnection.test.d.ts.map

package/dist/lib/JoggerConnection.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggerConnection.test.d.ts","sourceRoot":"","sources":["../../src/lib/JoggerConnection.test.ts"],"names":[],"mappings":""}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "2.54.5-pr.feat-upgrade-jogging-to-v2.404.a6b053a",
+  "version": "2.54.5-pr.feat-upgrade-jogging-to-v2.404.6f841e7",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -70,7 +70,7 @@
     "@types/react": "^19.1.8",
     "@types/three": "^0.174.0",
     "@vitejs/plugin-react": "^4.3.4",
-    "@wandelbots/nova-js": "3.3.0",
+    "@wandelbots/nova-js": "3.3.1",
     "add": "^2.0.6",
     "eslint-plugin-storybook": "^10.0.1",
     "glob": "^11.0.1",

package/src/components/utils/errorHandling.ts

@@ -1,6 +1,10 @@
 import { AxiosError } from "axios"
 import { tryStringifyJson } from "./converters"
 
+// Please note: These helper functions also exist in nova.js
+// (with slightly different formatting), and will be unified
+// at some point in the future.
+
 export function delay(ms: number) {
   return new Promise((resolve) => setTimeout(resolve, ms))
 }

package/src/lib/JoggerConnection.test.ts

@@ -0,0 +1,120 @@
+import { NovaClient } from "@wandelbots/nova-js/v2"
+import { expect, test, vi } from "vitest"
+import { delay } from "../components/utils/errorHandling"
+import { JoggerConnection } from "./JoggerConnection"
+import { jointValuesEqual } from "./motionStateUpdate"
+
+// Notes:
+// - In mock mode, no joint comparison takes place (always successful)
+// - To test with real (virtual or physical) instance, set an INSTANCE_URL
+
+const INSTANCE_URL = undefined // This could be read from ENV in future
+const MOCK = !INSTANCE_URL
+
+test("jog a robot somewhat", async () => {
+  const nova = new NovaClient({
+    instanceUrl: MOCK ? "https://mock.example.com" : INSTANCE_URL,
+  })
+
+  // Find a virtual robot we can jog
+  const controllerNames = await nova.api.controller.listRobotControllers()
+  const firstControllerName = controllerNames[0]
+
+  if (!firstControllerName) {
+    throw new Error("No robot controllers found on instance")
+  }
+
+  const controllerConfig =
+    await nova.api.controller.getRobotController(firstControllerName)
+  const controllerState =
+    await nova.api.controller.getCurrentRobotControllerState(
+      firstControllerName,
+    )
+  console.log("verify, got controller config and state", {
+    controllerConfig,
+    controllerState,
+  })
+
+  if (!controllerConfig || !controllerState) {
+    throw new Error(
+      `Could not get controller config and state for ${firstControllerName}`,
+    )
+  }
+
+  if (controllerConfig.configuration.kind !== "VirtualController") {
+    throw new Error(
+      `Controller ${firstControllerName} is not a VirtualController, it's a ${controllerConfig.configuration.kind}`,
+    )
+  }
+
+  if (controllerState.last_error?.[0]) {
+    throw new Error(
+      `Controller ${firstControllerName} has error: ${controllerState.last_error[0]}`,
+    )
+  }
+
+  const virtualMotionGroup = controllerState.motion_groups[0]
+
+  if (!virtualMotionGroup) {
+    throw new Error(
+      `Could not find a joggable motion group. Saw controller: ${firstControllerName}`,
+    )
+  }
+
+  const jogger = await JoggerConnection.open(
+    nova,
+    virtualMotionGroup.motion_group,
+  )
+
+  function getJoints() {
+    return jogger.motionStream.rapidlyChangingMotionState.joint_position
+  }
+
+  let joints = getJoints()
+
+  await jogger.setJoggingMode("jogging")
+
+  await jogger.rotateJoints({
+    joint: 0,
+    direction: "+",
+    velocityRadsPerSec: 0.1,
+  })
+
+  await delay(500)
+  await jogger.stop()
+
+  if (!MOCK) {
+    // Only verify joint movement in non-mock mode
+    await expect.poll(() => getJoints()[0]).toBeGreaterThan(joints[0] + 0.01)
+    expect(getJoints()[1]).toBeCloseTo(joints[1])
+  }
+
+  joints = getJoints()
+
+  await jogger.rotateJoints({
+    joint: 0,
+    direction: "-",
+    velocityRadsPerSec: 0.1,
+  })
+  await delay(500)
+  await jogger.stop()
+
+  await expect.poll(() => getJoints()[0]).toBeLessThan(joints[0] + 0.01)
+  expect(getJoints()[1]).toBeCloseTo(joints[1])
+
+  if (MOCK) {
+    return
+  }
+
+  // Wait for motion to stop
+  await vi.waitUntil(
+    async () => {
+      const joints = getJoints()
+      await jogger.motionStream.motionStateSocket.nextMessage()
+      return jointValuesEqual(joints, getJoints(), 0.0001)
+    },
+    {
+      timeout: 3000,
+    },
+  )
+})