@wandelbots/wandelbots-js-react-components 4.7.1 → 4.7.2-pr.feat-RB-3348-remove-v1-usage.553.eede090

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "4.7.1",
+  "version": "4.7.2-pr.feat-RB-3348-remove-v1-usage.553.eede090",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -26,11 +26,6 @@
       "types": "./dist/3d.d.ts",
       "import": "./dist/3d.es.js",
       "require": "./dist/3d.cjs.js"
-    },
-    "./wandelscript": {
-      "types": "./dist/wandelscript.d.ts",
-      "import": "./dist/wandelscript.es.js",
-      "require": "./dist/wandelscript.cjs.js"
     }
   },
   "types": "./dist/index.d.ts",

package/src/components/3d-viewport/CoordinateSystemTransform.tsx

@@ -1,4 +1,4 @@
-import type { CoordinateSystem } from "@wandelbots/nova-js/v1"
+import type { CoordinateSystem } from "@wandelbots/nova-js/v2"
 import type { ReactNode } from "react"
 import { Quaternion, Vector3 } from "three"
 
@@ -14,28 +14,39 @@ export const CoordinateSystemTransform = ({
   children: ReactNode
 }) => {
   const position = new Vector3(
-    (coordinateSystem?.position?.x ?? 0) / 1000,
-    (coordinateSystem?.position?.y ?? 0) / 1000,
-    (coordinateSystem?.position?.z ?? 0) / 1000,
+    (coordinateSystem?.position?.[0] ?? 0) / 1000,
+    (coordinateSystem?.position?.[1] ?? 0) / 1000,
+    (coordinateSystem?.position?.[2] ?? 0) / 1000,
   )
 
-  let rotation = coordinateSystem?.rotation
-  const rotationType = rotation?.type
-  if (rotationType && rotationType !== "ROTATION_VECTOR") {
-    console.warn(
-      `Unsupported rotation type ${rotationType}. Only ROTATION_VECTOR is supported.`,
+  const orientationType = coordinateSystem?.orientation_type
+
+  let quaternion: Quaternion
+
+  if (orientationType === "QUATERNION") {
+    quaternion = new Quaternion(
+      coordinateSystem?.orientation?.[0] ?? 0,
+      coordinateSystem?.orientation?.[1] ?? 0,
+      coordinateSystem?.orientation?.[2] ?? 0,
+      coordinateSystem?.orientation?.[3] ?? 1,
     )
-    rotation = { type: "ROTATION_VECTOR", angles: [0, 0, 0, 0] }
+  } else {
+    if (orientationType && orientationType !== "ROTATION_VECTOR") {
+      console.warn(
+        `Unsupported orientation type ${orientationType}. Only ROTATION_VECTOR and QUATERNION are supported.`,
+      )
+    }
+    // Default to ROTATION_VECTOR
+    const rotationVector = new Vector3(
+      coordinateSystem?.orientation?.[0] ?? 0,
+      coordinateSystem?.orientation?.[1] ?? 0,
+      coordinateSystem?.orientation?.[2] ?? 0,
+    )
+    const magnitude = rotationVector.length()
+    const axis = rotationVector.normalize()
+    quaternion = new Quaternion().setFromAxisAngle(axis, magnitude)
   }
 
-  const rotationVector = new Vector3(
-    rotation?.angles[0] ?? 0,
-    rotation?.angles[1] ?? 0,
-    rotation?.angles[2] ?? 0,
-  )
-  const magnitude = rotationVector.length()
-  const axis = rotationVector.normalize()
-  const quaternion = new Quaternion().setFromAxisAngle(axis, magnitude)
   return (
     <group position={position} quaternion={quaternion}>
       {children}

package/src/components/3d-viewport/SafetyZonesRenderer.tsx

@@ -12,12 +12,11 @@ import type {
   Capsule,
   RectangularCapsule,
 } from "@wandelbots/nova-js/v2"
-import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
 
 import { dhParametersToPlaneSize, orientationToQuaternion, verticesToCoplanarity } from "../utils/converters"
 
 export type SafetyZonesRendererProps = {
-  safetyZones: SafetySetupSafetyZone[] | MotionGroupDescription["safety_zones"]
+  safetyZones: MotionGroupDescription["safety_zones"]
   dhParameters?: DHParameter[]
 } & ThreeElements["group"]
 
@@ -45,14 +44,6 @@ export function SafetyZonesRenderer({
    */
   const planeSize = dhParametersToPlaneSize(dhParameters ?? [])
 
-  /**
-   * Warning during runtime stating the deprecation of the V1 safety zones
-   */
-  useEffect(() => {
-    Array.isArray(safetyZones) &&
-    console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.")
-  }, [safetyZones])
-
   /**
    * Helper function to render plane, sphere, and capsule meshes
    * @param id number
@@ -134,13 +125,18 @@ export function SafetyZonesRenderer({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const shape = (zone.shape as RectangularCapsule)
+        const shape = zone.shape as RectangularCapsule
         const rcRadius = shape.radius / 1000
         const width = shape.sphere_center_distance_x / 1000
         const height = shape.sphere_center_distance_y / 1000
         const depth = rcRadius * 2
 
-        geometry = <primitive object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)} attach="geometry" />
+        geometry = (
+          <primitive
+            object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)}
+            attach="geometry"
+          />
+        )
         break
       }
 
@@ -158,98 +154,19 @@ export function SafetyZonesRenderer({
         quaternion={orientationToQuaternion(orientation)}
       >
         {geometry}
-        <meshStandardMaterial
-          {...materialProps}
-          polygonOffsetFactor={-id}
-        />
+        <meshStandardMaterial {...materialProps} polygonOffsetFactor={-id} />
       </mesh>
     )
   }
 
   /**
-   * Helper function to render V2 safety zones
+   * Helper variable render safety zones
    */
-  const renderV2SafetyZones = () => {
+  const renderedSafetyZones = useMemo(() => {
     return Object.values(safetyZones ?? {}).map((zone: Collider, index: number) => {
       return renderMesh(index, zone)
     })
-  }
-
-  /**
-   * Helper function to V1 safety zones
-   * @deprecated this render function is to be seen as a temporary measure, as the support
-   * for the V1 safety zones is to be removed in the future
-   */
-  const renderV1SafetyZones = () => {
-    if (Array.isArray(safetyZones)) {
-      return (safetyZones as SafetySetupSafetyZone[]).map((zone: SafetySetupSafetyZone, index) => {
-        let geometries: Geometry[] = []
-        if (zone.geometry) {
-          if (zone.geometry.compound) {
-            geometries = zone.geometry.compound.child_geometries
-          } else if (zone.geometry.convex_hull) {
-            geometries = [zone.geometry]
-          }
-        }
-
-        return geometries.map((geometry, i) => {
-          if (!geometry.convex_hull) return null
-
-          const vertices = geometry.convex_hull.vertices.map(
-            (v) => new THREE.Vector3(v.x / 1000, v.y / 1000, v.z / 1000),
-          )
-
-          // Check if the vertices are on the same plane and only define a plane
-          // Algorithm has troubles with vertices that are on the same plane so we
-          // add a new vertex slightly moved along the normal direction
-          const coplanarityResult = verticesToCoplanarity(vertices)
-
-          if (coplanarityResult.isCoplanar && coplanarityResult.normal) {
-            // Add a new vertex slightly moved along the normal direction
-            const offset = 0.0001
-            const newVertex = new THREE.Vector3().addVectors(
-              vertices[0],
-              coplanarityResult.normal.multiplyScalar(offset),
-            )
-            vertices.push(newVertex)
-          }
-
-          let convexGeometry
-          try {
-            convexGeometry = new ConvexGeometry(vertices)
-          } catch (error) {
-            console.log("Error creating ConvexGeometry:", error)
-            return null
-          }
-          return (
-            <mesh key={`${index}-${i}`} geometry={convexGeometry}>
-              <meshStandardMaterial
-                key={index}
-                attach="material"
-                color="#009f4d"
-                opacity={0.2}
-                depthTest={false}
-                depthWrite={false}
-                transparent
-                polygonOffset
-                polygonOffsetFactor={-i}
-              />
-            </mesh>
-          )
-        })
-      })
-    }
-    return null
-  }
-
-  /**
-   * Helper variable to render both api versions of safety zones
-   */
-  const renderedSafetyZones = useMemo(() => {
-    return Array.isArray(safetyZones)
-      ? renderV1SafetyZones()
-      : renderV2SafetyZones()
-  }, [safetyZones, renderV1SafetyZones, renderV2SafetyZones])
+  }, [safetyZones])
 
   return (
     <group {...props}>

package/src/components/3d-viewport/TrajectoryRenderer.tsx

@@ -1,23 +1,23 @@
 import { Line } from "@react-three/drei"
-import type { GetTrajectoryResponse } from "@wandelbots/nova-js/v1"
+import type { Pose } from "@wandelbots/nova-js/v2"
 import * as THREE from "three"
 
 export type TrajectoryRendererProps = {
-  trajectory: GetTrajectoryResponse
+  trajectory: Pose[]
 } & React.JSX.IntrinsicElements["group"]
 
 export function TrajectoryRenderer({
-  trajectory,
-  ...props
-}: TrajectoryRendererProps) {
+                                     trajectory,
+                                     ...props
+                                   }: TrajectoryRendererProps) {
   const points =
-    trajectory.trajectory
-      ?.map((point) => {
-        if (point.tcp_pose) {
+    trajectory
+      ?.map((pose: Pose) => {
+        if (pose.position?.length) {
           return new THREE.Vector3(
-            point.tcp_pose.position.x / 1000,
-            point.tcp_pose.position.z / 1000,
-            -point.tcp_pose.position.y / 1000,
+            pose.position[0] / 1000,
+            pose.position[2] / 1000,
+            -pose.position[1] / 1000,
           )
         }
         return null

package/src/components/3d-viewport/collider/ColliderCollection.tsx

@@ -1,5 +1,5 @@
 import type { ThreeElements } from "@react-three/fiber"
-import type { Collider } from "@wandelbots/nova-js/v1"
+import type { Collider } from "@wandelbots/nova-js/v2"
 import ColliderElement from "./ColliderElement"
 
 export type MeshChildrenProvider = (

package/src/components/3d-viewport/collider/ColliderElement.tsx

@@ -1,4 +1,4 @@
-import type { Collider } from "@wandelbots/nova-js/v1"
+import type { Collider } from "@wandelbots/nova-js/v2"
 import type React from "react"
 import * as THREE from "three"
 import { colliderShapeToBufferGeometry } from "./colliderShapeToBufferGeometry"

package/src/components/3d-viewport/collider/CollisionSceneRenderer.tsx

@@ -1,10 +1,10 @@
-import type { CollisionScene } from "@wandelbots/nova-js/v1"
+import type { CollisionSetup } from "@wandelbots/nova-api/v2"
 import ColliderCollection, {
   type MeshChildrenProvider,
 } from "./ColliderCollection"
 
 type CollisionSceneRendererProps = {
-  scene: CollisionScene
+  scene: CollisionSetup
   meshChildrenProvider: MeshChildrenProvider
 }
 

package/src/components/3d-viewport/collider/colliderShapeToBufferGeometry.ts

@@ -1,4 +1,4 @@
-import type { ColliderShape } from "@wandelbots/nova-js/v1"
+import type { ColliderShape } from "@wandelbots/nova-js/v2"
 import * as THREE from "three"
 import { ConvexGeometry } from "three-stdlib"
 

package/src/index.ts

@@ -1,4 +1,3 @@
 // Re-export all sub-entry points
 export * from "./3d"
 export * from "./core"
-export * from "./wandelscript"

package/src/lib/ConnectedMotionGroup.ts

@@ -258,11 +258,6 @@ export class ConnectedMotionGroup {
     return this.description.motion_group_model
   }
 
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0]
-    return `${this.controllerId.replace(/-/g, "_")}_${num}`
-  }
-
   /** Jogging velocity in radians for rotation and joint movement */
   get joggingVelocityRads() {
     return (this.joggingVelocity * Math.PI) / 180

package/src/lib/MotionStreamConnection.ts

@@ -170,11 +170,6 @@ export class MotionStreamConnection {
     return this.controller.controller
   }
 
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0]
-    return `${this.controllerId.replace(/-/g, "_")}_${num}`
-  }
-
   get joints() {
     return this.initialMotionState.joint_position.map((_, i) => {
       return {

package/src/themes/createDarkTheme.ts

@@ -338,28 +338,7 @@ export function createDarkTheme(): Theme {
         VelocitySlider: {
           sliderLegendColor: baseTheme.palette.text.primary,
         },
-      },
-      WandelscriptEditor: {
-        monacoTheme: {
-          base: "vs-dark",
-          inherit: true,
-          rules: [
-            {
-              token: "keyword",
-              foreground: "#b349a9ff",
-            },
-          ],
-          colors: {
-            "editor.background": rgbToHex(
-              baseTheme.palette.backgroundPaperElevation?.[5] ?? "",
-            ),
-            "editor.foreground": "#d4d4d4",
-            "editorLineNumber.foreground": "#797979",
-            "editorLineNumber.activeForeground": "#e9e9e9",
-            "editor.lineHighlightBorder": "#e9e9e911",
-          },
-        },
-      },
+      }
     },
   } as Theme
 }

package/src/themes/themeTypes.ts

@@ -48,9 +48,6 @@ interface NovaComponentsExtension {
         sliderLegendColor?: string
       }
     }
-    WandelscriptEditor?: {
-      monacoTheme: editor.IStandaloneThemeData
-    }
   }
 }
 

package/dist/LoadingCover-B3UN1lnU.js

@@ -1,81 +0,0 @@
-import { t as l, j as t } from "./externalizeComponent-BOqKMZMc.js";
-import { useTheme as c, Stack as i, CircularProgress as g, capitalize as d } from "@mui/material";
-import { lowerFirst as u } from "lodash-es";
-import { useState as f, useEffect as x } from "react";
-import { AxiosError as a } from "axios";
-function T(e, r) {
-  throw new Error(r + ` ${JSON.stringify(e)}`);
-}
-function h(e) {
-  var r, s, o, n;
-  return e instanceof a && e.code === "ERR_NETWORK" ? "Failed to connect to the server. Please check your internet connection." : e instanceof a && e.response ? `${(r = e.response) == null ? void 0 : r.status} ${(s = e.response) == null ? void 0 : s.statusText} from ${(o = e.response) == null ? void 0 : o.config.url}: ${JSON.stringify((n = e.response) == null ? void 0 : n.data)}` : e instanceof Error ? e.message : `Unexpected error: ${l(e) || e}`;
-}
-const k = (e) => {
-  const r = e.softTimeout || 3e3, [s, o] = f(!1), n = c();
-  return x(() => {
-    const m = setTimeout(() => {
-      o(!0);
-    }, r);
-    return () => clearTimeout(m);
-  }), /* @__PURE__ */ t.jsx(
-    i,
-    {
-      width: "100%",
-      height: "100%",
-      alignItems: "center",
-      justifyContent: "center",
-      sx: { color: n.palette.text.primary },
-      children: e.error ? /* @__PURE__ */ t.jsx(
-        w,
-        {
-          loadingMessage: e.message,
-          error: e.error
-        }
-      ) : /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
-        /* @__PURE__ */ t.jsx(g, { sx: { marginBottom: "24px" } }),
-        !!e.message && /* @__PURE__ */ t.jsx("div", { children: e.message }),
-        /* @__PURE__ */ t.jsx(
-          i,
-          {
-            sx: {
-              visibility: s ? "visible" : "hidden",
-              marginTop: "1rem",
-              color: n.palette.text.secondary
-            },
-            children: "This is taking longer than expected..."
-          }
-        )
-      ] })
-    }
-  );
-}, w = (e) => {
-  const r = h(e.error), s = e.error instanceof Error ? e.error.stack : null, o = c();
-  return /* @__PURE__ */ t.jsxs(
-    i,
-    {
-      sx: {
-        maxHeight: "100%",
-        maxWidth: "min(100%, 800px)",
-        padding: 2,
-        overflow: "auto",
-        color: o.palette.error.main,
-        "& pre": {
-          whiteSpace: "pre-wrap",
-          wordBreak: "break-word",
-          paddingBottom: "3rem"
-        }
-      },
-      children: [
-        (e.loadingMessage ? `Error while ${u(d(e.loadingMessage))} - ` : "") + r,
-        /* @__PURE__ */ t.jsx("br", {}),
-        s && /* @__PURE__ */ t.jsx("pre", { children: s })
-      ]
-    }
-  );
-};
-export {
-  k as L,
-  w as a,
-  T as b
-};
-//# sourceMappingURL=LoadingCover-B3UN1lnU.js.map

package/dist/LoadingCover-B3UN1lnU.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"LoadingCover-B3UN1lnU.js","sources":["../src/components/utils/errorHandling.ts","../src/components/LoadingCover.tsx"],"sourcesContent":["import { AxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\n// Please note: These helper functions also exist in nova.js\n// (with slightly different formatting), and will be unified\n// at some point in the future.\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\nexport function makeShortErrorMessage(err: unknown) {\n  if (err instanceof AxiosError && err.code === \"ERR_NETWORK\") {\n    return \"Failed to connect to the server. Please check your internet connection.\"\n  } else if (err instanceof AxiosError && err.response) {\n    return `${err.response?.status} ${err.response?.statusText}: ${JSON.stringify(err.response?.data)}`\n  } else if (err instanceof Error) {\n    return err.message\n  } else {\n    return `Unexpected error: ${err}`\n  }\n}\n\nexport function assertUnreachable(x: never, msg: string): never {\n  throw new Error(msg + ` ${JSON.stringify(x)}`)\n}\n\nexport function makeErrorMessage(err: unknown) {\n  if (err instanceof AxiosError && err.code === \"ERR_NETWORK\") {\n    return \"Failed to connect to the server. Please check your internet connection.\"\n  } else if (err instanceof AxiosError && err.response) {\n    return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n  } else if (err instanceof Error) {\n    return err.message\n  } else {\n    return `Unexpected error: ${tryStringifyJson(err) || err}`\n  }\n}\n","import { capitalize, CircularProgress, Stack, useTheme } from \"@mui/material\"\nimport { lowerFirst } from \"lodash-es\"\nimport { useEffect, useState } from \"react\"\nimport { makeErrorMessage } from \"./utils/errorHandling\"\n\nexport const LoadingCover = (props: {\n  message?: string\n  error?: unknown\n  softTimeout?: number\n}) => {\n  const softTimeout = props.softTimeout || 3000\n\n  const [showSlowLoadingMessage, setShowSlowLoadingMessage] = useState(false)\n  const theme = useTheme()\n\n  useEffect(() => {\n    const timeout = setTimeout(() => {\n      setShowSlowLoadingMessage(true)\n    }, softTimeout)\n\n    return () => clearTimeout(timeout)\n  })\n\n  return (\n    <Stack\n      width=\"100%\"\n      height=\"100%\"\n      alignItems=\"center\"\n      justifyContent=\"center\"\n      sx={{ color: theme.palette.text.primary }}\n    >\n      {props.error ? 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package/dist/LoadingCover-DXcsXWDy.cjs

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-//# sourceMappingURL=LoadingCover-DXcsXWDy.cjs.map

package/dist/LoadingCover-DXcsXWDy.cjs.map

@@ -1 +0,0 @@
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