@wandelbots/wandelbots-js-react-components 3.4.0-pr.feat-add-yaskawa-gp200s.438.0503e4b → 3.4.0-pr.feat-yaskawa-gp200s.437.1b5737e

package/src/components/jogging/JoggingStore.ts

@@ -1,14 +1,18 @@
 import { tryParseJson } from "@wandelbots/nova-js"
 import type {
   CoordinateSystem,
-  JoggerConnection,
-  MotionGroupSpecification,
+  MotionGroupDescription,
   RobotTcp,
-} from "@wandelbots/nova-js/v1"
+} from "@wandelbots/nova-js/v2"
 import { countBy } from "lodash-es"
 import keyBy from "lodash-es/keyBy"
 import uniqueId from "lodash-es/uniqueId"
 import { autorun, makeAutoObservable, type IReactionDisposer } from "mobx"
+import type {
+  JoggerConnection,
+  JoggerOrientation,
+  Vector3Simple,
+} from "../../lib/JoggerConnection"
 
 const discreteIncrementOptions = [
   { id: "0.1", mm: 0.1, degrees: 0.05 },
@@ -55,6 +59,9 @@ export class JoggingStore {
   /** Locks to prevent UI interactions during certain operations */
   locks = new Set<string>()
 
+  /** Block jogging UI interactions when connection is taken by another jogger */
+  blocked: boolean = false
+
   /**
    * Id of selected coordinate system from among those defined on the API side
    */
@@ -105,7 +112,7 @@ export class JoggingStore {
   maxRotationVelocityDegPerSec: number = 60
 
   /** Whether to show the coordinate system select dropdown in the UI */
-  showCoordSystemSelect: boolean = true
+  showCoordSystemSelect: boolean = false
 
   /** Whether to show the TCP select dropdown in the UI */
   showTcpSelect: boolean = true
@@ -138,34 +145,34 @@ export class JoggingStore {
     const { nova } = jogger
 
     // Find out what TCPs this motion group has (we need it for jogging)
-    const [motionGroupSpec, { coordinatesystems }, { tcps }] =
-      await Promise.all([
-        nova.api.motionGroupInfos.getMotionGroupSpecification(
-          jogger.motionGroupId,
-        ),
-
-        // Fetch coord systems so user can select between them
-        nova.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),
-
-        // Same for TCPs
-        nova.api.motionGroupInfos.listTcps(
-          jogger.motionGroupId,
-          "ROTATION_VECTOR",
-        ),
-      ])
-
-    return new JoggingStore(
-      jogger,
-      motionGroupSpec,
-      coordinatesystems || [],
-      tcps || [],
-    )
+    const [coordinatesystems, description] = await Promise.all([
+      // Fetch coord systems so user can select between them
+      nova.api.controller.listCoordinateSystems(
+        jogger.motionStream.controllerId,
+        "ROTATION_VECTOR",
+      ),
+
+      // Same for TCPs and other info from description
+      nova.api.motionGroup.getMotionGroupDescription(
+        jogger.motionStream.controllerId,
+        jogger.motionGroupId,
+      ),
+    ])
+
+    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({
+      id,
+      readable_name: tcp.name,
+      position: tcp.pose.position as Vector3Simple,
+      orientation: tcp.pose.orientation as Vector3Simple,
+    }))
+
+    return new JoggingStore(jogger, coordinatesystems || [], description, tcps)
   }
 
   constructor(
     readonly jogger: JoggerConnection,
-    readonly motionGroupSpec: MotionGroupSpecification,
     readonly coordSystems: CoordinateSystem[],
+    readonly motionGroupDescription: MotionGroupDescription,
     readonly tcps: RobotTcp[],
   ) {
     // TODO workaround for default coord system on backend having a canonical id
@@ -179,13 +186,21 @@ export class JoggingStore {
     this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || "world"
     this.selectedTcpId = tcps[0]?.id || ""
 
+    // Make all properties observable and actions auto-bound
     makeAutoObservable(this, {}, { autoBind: true })
 
+    // Register blocked watching
+    this.jogger.onBlocked = () => {
+      this.block()
+    }
+
     // Load user settings from local storage if available
     this.loadFromLocalStorage()
 
     // Automatically save user settings to local storage when save changes
     this.disposers.push(autorun(() => this.saveToLocalStorage()))
+
+    // Assign joggingStore to window
     ;(window as any).joggingStore = this
   }
 
@@ -201,30 +216,31 @@ export class JoggingStore {
   }
 
   async deactivate() {
-    const websocket = this.jogger.activeWebsocket
-
-    this.jogger.setJoggingMode("increment")
-
-    if (websocket) {
-      await websocket.closed()
+    if (this.jogger.mode === "jogging") {
+      return this.jogger.stop()
     }
   }
 
   /** Activate the jogger with current settings */
   async activate() {
     if (this.currentTab.id === "cartesian") {
-      const cartesianJoggingOpts = {
-        tcpId: this.selectedTcpId,
-        coordSystemId: this.activeCoordSystemId,
+      if (
+        this.jogger.tcp !== this.selectedTcpId ||
+        this.jogger.orientation !== this.selectedOrientation
+      ) {
+        this.jogger.setOptions({
+          tcp: this.selectedTcpId,
+          orientation: this.selectedOrientation as JoggerOrientation,
+        })
       }
 
       if (this.activeDiscreteIncrement) {
-        this.jogger.setJoggingMode("increment", cartesianJoggingOpts)
+        this.jogger.setJoggingMode("trajectory")
       } else {
-        this.jogger.setJoggingMode("cartesian", cartesianJoggingOpts)
+        this.jogger.setJoggingMode("jogging")
       }
     } else {
-      this.jogger.setJoggingMode("joint")
+      this.jogger.setJoggingMode("jogging")
     }
 
     return this.jogger
@@ -433,6 +449,17 @@ export class JoggingStore {
     this.locks.delete(id)
   }
 
+  block() {
+    this.blocked = true
+  }
+
+  unblock() {
+    this.blocked = false
+    if (this.jogger.mode === "jogging") {
+      this.jogger.initializeJoggingWebsocket()
+    }
+  }
+
   /** Lock the UI until the given async callback resolves */
   async withMotionLock(fn: () => Promise<void>) {
     const lockId = uniqueId()

package/src/components/jogging/PoseCartesianValues.tsx

@@ -1,13 +1,12 @@
 import { Button, Stack } from "@mui/material"
-import { poseToWandelscriptString } from "@wandelbots/nova-js"
-import type { TcpPose } from "@wandelbots/nova-js/v1"
+import { poseToWandelscriptString, type Pose } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { useState } from "react"
 import { externalizeComponent } from "../../externalizeComponent"
 import { CopyableText } from "../CopyableText"
 
 export type PoseCartesianValuesProps = {
-  tcpPose: TcpPose
+  tcpPose: Pose
   showCopyButton?: boolean
 }
 
@@ -44,7 +43,7 @@ export const PoseCartesianValues = externalizeComponent(
             onClick={handleCopy}
             sx={{ flexShrink: 0 }}
           >
-            { copyMessage ? copyMessage : "Copy"}
+            {copyMessage ? copyMessage : "Copy"}
           </Button>
         )}
       </Stack>

package/src/components/jogging/PoseJointValues.tsx

@@ -1,19 +1,18 @@
 import { Button, Stack } from "@mui/material"
-import type { Joints } from "@wandelbots/nova-api/v1"
 import { observer } from "mobx-react-lite"
 import { useState } from "react"
 import { externalizeComponent } from "../../externalizeComponent"
 import { CopyableText } from "../CopyableText"
 
 export type PoseJointValuesProps = {
-  joints: Joints
+  joints: Array<number>
   showCopyButton?: boolean
 }
 
 export const PoseJointValues = externalizeComponent(
   observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {
     const [copyMessage, setCopyMessage] = useState<string | null>(null)
-    const poseString = `[${joints.joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
+    const poseString = `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
 
     const handleCopy = async () => {
       try {
@@ -43,7 +42,7 @@ export const PoseJointValues = externalizeComponent(
             onClick={handleCopy}
             sx={{ flexShrink: 0 }}
           >
-            { copyMessage ? copyMessage : "Copy"}
+            {copyMessage ? copyMessage : "Copy"}
           </Button>
         )}
       </Stack>

package/src/components/robots/DHRobot.tsx

@@ -1,5 +1,5 @@
 import { Line } from "@react-three/drei"
-import type { DHParameter } from "@wandelbots/nova-api/v1"
+import type { DHParameter } from "@wandelbots/nova-js/v2"
 import React, { useRef } from "react"
 import type * as THREE from "three"
 import { Matrix4, Quaternion, Vector3 } from "three"
@@ -113,8 +113,7 @@ export function DHRobot({
           {dhParameters!.map((param, index) => {
             const { a, b } = getLinePoints(
               param,
-              rapidlyChangingMotionState.state.joint_position.joints[index] ??
-                0,
+              rapidlyChangingMotionState.joint_position[index] ?? 0,
             )
             const jointName = `dhrobot_J0${index}`
             return (

package/src/components/robots/Robot.tsx

@@ -1,7 +1,7 @@
 import type { ThreeElements } from "@react-three/fiber"
 
-import type { ConnectedMotionGroup } from "@wandelbots/nova-js/v1"
 import type { Group } from "three"
+import type { ConnectedMotionGroup } from "../../lib/ConnectedMotionGroup"
 import { defaultGetModel } from "./robotModelLogic"
 import { SupportedRobot } from "./SupportedRobot"
 

package/src/components/robots/RobotAnimator.test.tsx

@@ -1,7 +1,4 @@
-import type {
-  DHParameter,
-  MotionGroupStateResponse,
-} from "@wandelbots/nova-api/v1"
+import type { DHParameter, MotionGroupState } from "@wandelbots/nova-api/v2"
 import { describe, expect, it, vi } from "vitest"
 import RobotAnimator from "./RobotAnimator"
 
@@ -26,12 +23,8 @@ describe("RobotAnimator", () => {
 
   it("should handle props with different numbers of joints", () => {
     // Test that the component accepts different numbers of DH parameters
-    const mockMotionState4Joints: MotionGroupStateResponse = {
-      state: {
-        joint_position: {
-          joints: [0.1, 0.2, 0.3, 0.4],
-        },
-      },
+    const mockMotionState4Joints: MotionGroupState = {
+      joint_position: [0.1, 0.2, 0.3, 0.4],
     } as any
 
     const mockDHParameters4Joints: DHParameter[] = [
@@ -41,12 +34,8 @@ describe("RobotAnimator", () => {
       { theta: 0, reverse_rotation_direction: false },
     ]
 
-    const mockMotionState7Joints: MotionGroupStateResponse = {
-      state: {
-        joint_position: {
-          joints: [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7],
-        },
-      },
+    const mockMotionState7Joints: MotionGroupState = {
+      joint_position: [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7],
     } as any
 
     const mockDHParameters7Joints: DHParameter[] = Array(7).fill({
@@ -63,9 +52,7 @@ describe("RobotAnimator", () => {
       }
       // Verify props are correctly typed
       expect(props4.dhParameters).toHaveLength(4)
-      expect(
-        props4.rapidlyChangingMotionState.state.joint_position.joints,
-      ).toHaveLength(4)
+      expect(props4.rapidlyChangingMotionState.joint_position).toHaveLength(4)
     }).not.toThrow()
 
     expect(() => {
@@ -75,9 +62,7 @@ describe("RobotAnimator", () => {
         children: null,
       }
       expect(props7.dhParameters).toHaveLength(7)
-      expect(
-        props7.rapidlyChangingMotionState.state.joint_position.joints,
-      ).toHaveLength(7)
+      expect(props7.rapidlyChangingMotionState.joint_position).toHaveLength(7)
     }).not.toThrow()
   })
 

package/src/components/robots/RobotAnimator.tsx

@@ -1,8 +1,5 @@
 import { useFrame, useThree } from "@react-three/fiber"
-import type {
-  DHParameter,
-  MotionGroupStateResponse,
-} from "@wandelbots/nova-api/v1"
+import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/v2"
 import React, { useEffect, useRef } from "react"
 import type { Group, Object3D } from "three"
 import { useAutorun } from "../utils/hooks"
@@ -10,7 +7,7 @@ import { ValueInterpolator } from "../utils/interpolation"
 import { collectJoints } from "./robotModelLogic"
 
 type RobotAnimatorProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   dhParameters: DHParameter[]
   onRotationChanged?: (joints: Object3D[], jointValues: number[]) => void
   children: React.ReactNode
@@ -29,10 +26,9 @@ export default function RobotAnimator({
 
   // Initialize interpolator
   useEffect(() => {
-    const initialJointValues =
-      rapidlyChangingMotionState.state.joint_position.joints.filter(
-        (item) => item !== undefined,
-      )
+    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(
+      (item) => item !== undefined,
+    )
 
     interpolatorRef.current = new ValueInterpolator(initialJointValues, {
       tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion
@@ -91,10 +87,9 @@ export default function RobotAnimator({
   }
 
   useAutorun(() => {
-    const newJointValues =
-      rapidlyChangingMotionState.state.joint_position.joints.filter(
-        (item) => item !== undefined,
-      )
+    const newJointValues = rapidlyChangingMotionState.joint_position.filter(
+      (item) => item !== undefined,
+    )
 
     requestAnimationFrame(() => updateJoints(newJointValues))
   })

package/src/components/robots/SupportedRobot.tsx

@@ -1,8 +1,5 @@
 import type { ThreeElements } from "@react-three/fiber"
-import type {
-  DHParameter,
-  MotionGroupStateResponse,
-} from "@wandelbots/nova-api/v1"
+import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/v2"
 import { Suspense, useCallback, useEffect, useState } from "react"
 import { DHRobot } from "./DHRobot"
 
@@ -16,12 +13,12 @@ import { applyGhostStyle, removeGhostStyle } from "./ghostStyle"
 import { defaultGetModel } from "./robotModelLogic"
 
 export type DHRobotProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   dhParameters: Array<DHParameter>
 } & ThreeElements["group"]
 
 export type SupportedRobotProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   modelFromController: string
   dhParameters: DHParameter[]
   flangeRef?: React.Ref<THREE.Group>

package/src/components/robots/manufacturerHomePositions.ts

@@ -1,4 +1,4 @@
-import { Manufacturer } from "@wandelbots/nova-api/v1"
+import { Manufacturer } from "@wandelbots/nova-js/v2"
 
 /**
  * Default home configs for different robot manufacturers.

package/src/components/safetyBar/ControllerTypeIndicator.tsx

@@ -1,5 +1,6 @@
 import { useTheme, type PopoverOrigin } from "@mui/material"
 import { observer } from "mobx-react-lite"
+import { useId } from "react"
 import { Trans, useTranslation } from "react-i18next"
 import ControllerTypePhysicalIcon from "./icons/controller-type-physical.svg"
 import ControllerTypeVirtualIcon from "./icons/controller-type-virtual.svg"
@@ -22,12 +23,13 @@ export const ControllerTypeIndicator = observer(
     compact,
   }: ControllerTypeIndicatorProps) => {
     const theme = useTheme()
+    const componentId = useId()
     const { t } = useTranslation()
 
     if (isVirtual) {
       return (
         <IndicatorWithExplanation
-          id="motion-group-virtual"
+          id={`motion-group-virtual-${componentId}`}
           icon={ControllerTypeVirtualIcon}
           color={theme.palette.tertiary.main}
           name={t("SafetyBar.ControllerType.Virtual.lb")}
@@ -52,7 +54,7 @@ export const ControllerTypeIndicator = observer(
 
     return (
       <IndicatorWithExplanation
-        id="motion-group-physical"
+        id={`motion-group-physical-${componentId}`}
         icon={ControllerTypePhysicalIcon}
         color={theme.palette.primary.main}
         name={t("SafetyBar.ControllerType.Physical.lb")}

package/src/components/safetyBar/OperationModeIndicator.tsx

@@ -1,6 +1,7 @@
 import { useTheme, type PopoverOrigin } from "@mui/material"
-import type { RobotControllerStateOperationModeEnum } from "@wandelbots/nova-js/v1"
+import type { OperationMode } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
+import { useId } from "react"
 import { Trans, useTranslation } from "react-i18next"
 import OperationModeAutomaticIcon from "./icons/operation-mode-automatic.svg"
 import OperationModeErrorIcon from "./icons/operation-mode-error.svg"
@@ -8,7 +9,7 @@ import OperationModeManualIcon from "./icons/operation-mode-manual.svg"
 import { IndicatorWithExplanation } from "./IndicatorWithExplanation"
 
 interface OperationModeIndicatorProps {
-  operationMode: RobotControllerStateOperationModeEnum
+  operationMode: OperationMode
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact: boolean
@@ -23,12 +24,13 @@ export const OperationModeIndicator = observer(
   }: OperationModeIndicatorProps) => {
     const { t } = useTranslation()
     const theme = useTheme()
+    const componentId = useId()
 
     switch (operationMode) {
       case "OPERATION_MODE_AUTO":
         return (
           <IndicatorWithExplanation
-            id="operation-mode-auto"
+            id={`operation-mode-auto-${componentId}`}
             icon={OperationModeAutomaticIcon}
             title={t("SafetyBar.OperationMode.ti")}
             name={t("SafetyBar.OperationMode.Automatic.ti")}
@@ -49,7 +51,7 @@ export const OperationModeIndicator = observer(
       case "OPERATION_MODE_MANUAL_T2": {
         return (
           <IndicatorWithExplanation
-            id="operation-mode-manual"
+            id={`operation-mode-manual-${componentId}`}
             icon={OperationModeManualIcon}
             color={theme.palette.warning.main}
             title={t("SafetyBar.OperationMode.ti")}
@@ -71,7 +73,7 @@ export const OperationModeIndicator = observer(
       default:
         return (
           <IndicatorWithExplanation
-            id="operation-mode-error"
+            id={`operation-mode-error-${componentId}`}
             icon={OperationModeErrorIcon}
             color={theme.palette.warning.main}
             title={t("SafetyBar.OperationMode.ti")}

package/src/components/safetyBar/SafetyBar.tsx

@@ -1,8 +1,5 @@
 import { Divider, Stack, type PopoverOrigin } from "@mui/material"
-import type {
-  RobotControllerStateOperationModeEnum,
-  RobotControllerStateSafetyStateEnum,
-} from "@wandelbots/nova-js/v1"
+import type { OperationMode, SafetyStateType } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { externalizeComponent } from "../../externalizeComponent"
 import { ControllerTypeIndicator } from "./ControllerTypeIndicator"
@@ -12,8 +9,8 @@ import { SafetyStateIndicator } from "./SafetyStateIndicator"
 export interface SafetyBarProps {
   isVirtual: boolean
   motionGroupId: string
-  operationMode: RobotControllerStateOperationModeEnum
-  safetyState: RobotControllerStateSafetyStateEnum
+  operationMode: OperationMode
+  safetyState: SafetyStateType
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact?: boolean

package/src/components/safetyBar/SafetyStateIndicator.tsx

@@ -1,6 +1,7 @@
 import { useTheme, type PopoverOrigin } from "@mui/material"
-import type { RobotControllerStateSafetyStateEnum } from "@wandelbots/nova-js/v1"
+import type { SafetyStateType } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
+import { useId } from "react"
 import { Trans, useTranslation } from "react-i18next"
 import { assertUnreachable } from "../utils/errorHandling"
 import SafetyStateErrorIcon from "./icons/safety-state-error.svg"
@@ -11,7 +12,7 @@ import SafetyStateStopIcon from "./icons/safety-state-stop.svg"
 import { IndicatorWithExplanation } from "./IndicatorWithExplanation"
 
 interface SafetyStateIndicatorProps {
-  safetyState: RobotControllerStateSafetyStateEnum
+  safetyState: SafetyStateType
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact: boolean
@@ -26,13 +27,14 @@ export const SafetyStateIndicator = observer(
   }: SafetyStateIndicatorProps) => {
     const { t } = useTranslation()
     const theme = useTheme()
+    const componentId = useId()
 
     switch (safetyState) {
       // Normal state, robot can move
       case "SAFETY_STATE_NORMAL":
         return (
           <IndicatorWithExplanation
-            id="safety-state-normal"
+            id={`safety-state-normal-${componentId}`}
             title={t("SafetyBar.SafetyState.ti")}
             name={t("SafetyBar.SafetyState.Normal.lb")}
             label={compact ? null : t("SafetyBar.SafetyState.Normal.lb")}
@@ -54,7 +56,7 @@ export const SafetyStateIndicator = observer(
       case "SAFETY_STATE_ROBOT_EMERGENCY_STOP":
         return (
           <IndicatorWithExplanation
-            id="safety-state-estop"
+            id={`safety-state-estop-${componentId}`}
             title={t("SafetyBar.SafetyState.ti")}
             name={t("SafetyBar.SafetyState.Estop.lb")}
             label={compact ? null : t("SafetyBar.SafetyState.Estop.lb")}
@@ -81,7 +83,7 @@ export const SafetyStateIndicator = observer(
       case "SAFETY_STATE_STOP":
         return (
           <IndicatorWithExplanation
-            id="safety-state-stop"
+            id={`safety-state-stop-${componentId}`}
             icon={SafetyStateStopIcon}
             title={t("SafetyBar.SafetyState.ti")}
             name={t("SafetyBar.SafetyState.Stop.lb")}
@@ -108,7 +110,7 @@ export const SafetyStateIndicator = observer(
       case "SAFETY_STATE_VIOLATION":
         return (
           <IndicatorWithExplanation
-            id="safety-state-manual-action-required"
+            id={`safety-state-manual-action-required-${componentId}`}
             icon={SafetyStateManualActionRequiredIcon}
             color={theme.palette.warning.main}
             title={t("SafetyBar.SafetyState.ti")}
@@ -135,7 +137,7 @@ export const SafetyStateIndicator = observer(
       case "SAFETY_STATE_FAULT":
         return (
           <IndicatorWithExplanation
-            id="safety-state-error"
+            id={`safety-state-error-${componentId}`}
             icon={SafetyStateErrorIcon}
             color={theme.palette.error.main}
             title={t("SafetyBar.SafetyState.ti")}

package/src/components/utils/errorHandling.test.ts

@@ -0,0 +1,41 @@
+import axios, { AxiosError, AxiosHeaders } from "axios"
+import { expect, test } from "vitest"
+import { makeErrorMessage } from "./errorHandling"
+
+test("making useful error messages", async () => {
+  // Error objects take the message
+  const someCustomError = new Error("some custom error")
+  expect(makeErrorMessage(someCustomError)).toEqual("some custom error")
+
+  // Strings go through prefixed
+  expect(makeErrorMessage("some string")).toEqual(
+    'Unexpected error: "some string"',
+  )
+
+  // Random objects get serialized
+  expect(makeErrorMessage({ some: "object" })).toEqual(
+    'Unexpected error: {"some":"object"}',
+  )
+
+  // Axios errors with a response should include the response code
+  // and url - but not for 404, we use a friendly message for that
+  try {
+    await axios.get("http://example.com/doesnt-exist")
+    expect(true).toBe(false)
+  } catch (err) {
+    expect(makeErrorMessage(err)).toMatch(
+      "Failed to connect to the server. Please check your internet connection.",
+    )
+  }
+
+  // Not sure how to reproduce CORS errors naturally in vitest environment
+  // so let's create it manually
+  const networkError = new AxiosError("Network Error", "ERR_NETWORK", {
+    url: "http://example.com/some-cors-thing",
+    method: "post",
+    headers: new AxiosHeaders(),
+  })
+  expect(makeErrorMessage(networkError)).toEqual(
+    "Failed to connect to the server. Please check your internet connection.",
+  )
+})

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/core.ts

@@ -0,0 +1,33 @@
+// Core components without heavy dependencies (Three.js, Monaco, MUI X)
+export * from "./components/AppHeader"
+export * from "./components/CycleTimer"
+export * from "./components/DataGrid"
+export * from "./components/jogging/JoggingCartesianAxisControl"
+export * from "./components/jogging/JoggingJointRotationControl"
+export * from "./components/jogging/JoggingPanel"
+export { JoggingStore } from "./components/jogging/JoggingStore"
+export * from "./components/jogging/PoseCartesianValues"
+export * from "./components/jogging/PoseJointValues"
+export * from "./components/LoadingCover"
+export * from "./components/LogPanel"
+export { LogStore } from "./components/LogStore"
+export * from "./components/LogViewer"
+export * from "./components/modal/NoMotionGroupModal"
+export * from "./components/ProgramControl"
+export * from "./components/ProgramStateIndicator"
+export * from "./components/RobotListItem"
+export * from "./components/RobotSetupReadinessIndicator"
+export * from "./components/safetyBar/SafetyBar"
+export * from "./components/SelectableFab"
+export * from "./components/TabBar"
+export * from "./components/Timer"
+export * from "./components/utils/hooks"
+export * from "./components/utils/interpolation"
+export * from "./components/VelocitySlider"
+export * from "./i18n/config"
+export * from "./lib/ConnectedMotionGroup"
+export * from "./lib/JoggerConnection"
+export * from "./lib/motionStateUpdate"
+export * from "./lib/MotionStreamConnection"
+export * from "./themes/themeTypes"
+export { createNovaMuiTheme } from "./themes/theming"