@wandelbots/wandelbots-js-react-components 5.4.2 → 5.5.0

package/dist/icons/wbLogo.svg.js

@@ -0,0 +1,11 @@
+import * as e from "react";
+import { forwardRef as a } from "react";
+const m = ({
+  title: r,
+  titleId: l,
+  ...o
+}, t) => /* @__PURE__ */ e.createElement("svg", { xmlns: "http://www.w3.org/2000/svg", fill: "currentColor", viewBox: "0 0 21 25", ref: t, "aria-labelledby": l, ...o }, r ? /* @__PURE__ */ e.createElement("title", { id: l }, r) : null, /* @__PURE__ */ e.createElement("path", { d: "M0 8.256v5.96l17.023-9.745L14.42 0zM9.703 11.676 0 17.21v5.974l9.703-5.536zM11.889 19.413l-9.663 5.58h13.278v-5.58z" })), c = a(m);
+export {
+  c as default
+};
+//# sourceMappingURL=wbLogo.svg.js.map

package/dist/icons/wbLogo.svg.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"wbLogo.svg.js","sources":["../../src/icons/wbLogo.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgWbLogo = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", fill: \"currentColor\", viewBox: \"0 0 21 25\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { d: \"M0 8.256v5.96l17.023-9.745L14.42 0zM9.703 11.676 0 17.21v5.974l9.703-5.536zM11.889 19.413l-9.663 5.58h13.278v-5.58z\" }));\nconst ForwardRef = forwardRef(SvgWbLogo);\nexport default ForwardRef;\n"],"names":["SvgWbLogo","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":";;AAEA,MAAMA,IAAY,CAAC;AAAA,EACjB,OAAAC;AAAA,EACA,SAAAC;AAAA,EACA,GAAGC;AACL,GAAGC,MAAwB,gBAAAC,EAAM,cAAc,OAAO,EAAE,OAAO,8BAA8B,MAAM,gBAAgB,SAAS,aAAa,KAAAD,GAAK,mBAAmBF,GAAS,GAAGC,EAAK,GAAIF,IAAwB,gBAAAI,EAAM,cAAc,SAAS,EAAE,IAAIH,EAAO,GAAID,CAAK,IAAI,MAAsB,gBAAAI,EAAM,cAAc,QAAQ,EAAE,GAAG,sHAAqH,CAAE,CAAC,GAC9aC,IAAaC,EAAWP,CAAS;"}

package/dist/index.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("./components/3d-viewport/collider/CollisionSceneRenderer.cjs"),l=require("./components/3d-viewport/PresetEnvironment.cjs"),g=require("./components/3d-viewport/SafetyZonesRenderer.cjs"),d=require("./components/3d-viewport/TrajectoryRenderer.cjs"),q=require("./components/RobotCard.cjs"),S=require("./components/robots/AxisConfig.cjs"),p=require("./components/robots/LinearAxis.cjs"),r=require("./components/robots/manufacturerHomePositions.cjs"),f=require("./components/robots/Robot.cjs"),M=require("./components/robots/robotModelLogic.cjs"),C=require("./components/robots/SupportedLinearAxis.cjs"),m=require("./components/robots/SupportedRobot.cjs"),R=require("./components/robots/MotionGroupVisualizer.cjs"),I=require("./components/AppHeader.cjs"),b=require("./components/CycleTimer/index.cjs"),y=require("./components/DataGrid.cjs"),A=require("./components/jogging/JoggingCartesianAxisControl.cjs"),L=require("./components/jogging/JoggingJointValueControl.cjs"),P=require("./components/jogging/JoggingPanel.cjs"),V=require("./components/jogging/JoggingStore.cjs"),J=require("./components/jogging/PoseCartesianValues.cjs"),E=require("./components/jogging/PoseJointValues.cjs"),n=require("./components/LoadingCover.cjs"),x=require("./components/LogPanel.cjs"),T=require("./components/LogStore.cjs"),e=require("./components/LogViewer.cjs"),G=require("./components/modal/NoMotionGroupModal.cjs"),a=require("./components/ProgramControl.cjs"),N=require("./components/ProgramStateIndicator.cjs"),O=require("./components/RobotListItem.cjs"),i=require("./components/RobotSetupReadinessIndicator.cjs"),j=require("./components/safetyBar/SafetyBar.cjs"),v=require("./components/SelectableFab.cjs"),F=require("./components/TabBar.cjs"),H=require("./components/Timer/index.cjs"),o=require("./components/utils/hooks.cjs"),s=require("./components/utils/interpolation.cjs"),u=require("./components/VelocitySlider.cjs"),h=require("./i18n/config.cjs"),B=require("./lib/ConnectedMotionGroup.cjs"),D=require("./lib/JoggerConnection.cjs"),t=require("./lib/motionStateUpdate.cjs"),w=require("./lib/MotionStreamConnection.cjs"),U=require("./themes/theming.cjs"),W=require("./components/safetyBar/icons/controller-type-physical.svg.cjs"),Z=require("./components/safetyBar/icons/controller-type-virtual.svg.cjs"),_=require("./components/safetyBar/icons/operation-mode-automatic.svg.cjs"),z=require("./components/safetyBar/icons/operation-mode-error.svg.cjs"),X=require("./components/safetyBar/icons/operation-mode-manual.svg.cjs"),Y=require("./components/safetyBar/icons/safety-state-error.svg.cjs"),k=require("./components/safetyBar/icons/safety-state-estop.svg.cjs"),$=require("./components/safetyBar/icons/safety-state-manual-action-required.svg.cjs"),K=require("./components/safetyBar/icons/safety-state-normal.svg.cjs"),Q=require("./components/safetyBar/icons/safety-state-stop.svg.cjs"),ee=require("./icons/axis-x.svg.cjs"),oe=require("./icons/axis-y.svg.cjs"),te=require("./icons/axis-z.svg.cjs"),re=require("./icons/home.svg.cjs"),ne=require("./icons/jog-minus.svg.cjs"),ae=require("./icons/jog-plus.svg.cjs"),ie=require("./icons/jogging.svg.cjs"),se=require("./icons/orientation-coord-system.svg.cjs"),ue=require("./icons/orientation-tool.svg.cjs"),ce=require("./icons/robot.svg.cjs"),le=require("./icons/rotation.svg.cjs"),ge=require("./icons/wbLogo.svg.cjs");exports.CollisionSceneRenderer=c.default;exports.PresetEnvironment=l.PresetEnvironment;exports.SafetyZonesRenderer=g.SafetyZonesRenderer;exports.TrajectoryRenderer=d.TrajectoryRenderer;exports.RobotCard=q.RobotCard;exports.defaultAxisConfig=S.defaultAxisConfig;exports.LinearAxis=p.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=r.MANUFACTURER_HOME_CONFIGS;exports.extractManufacturer=r.extractManufacturer;exports.getDefaultHomeConfig=r.getDefaultHomeConfig;exports.Robot=f.Robot;exports.defaultGetModel=M.defaultGetModel;exports.SupportedLinearAxis=C.SupportedLinearAxis;exports.SupportedRobot=m.SupportedRobot;exports.MotionGroupVisualizer=R.MotionGroupVisualizer;exports.AppHeader=I.AppHeader;exports.CycleTimer=b.CycleTimer;exports.WandelbotsDataGrid=y.WandelbotsDataGrid;exports.JoggingCartesianAxisControl=A.JoggingCartesianAxisControl;exports.JoggingJointValueControl=L.JoggingJointValueControl;exports.JoggingPanel=P.JoggingPanel;exports.JoggingStore=V.JoggingStore;exports.PoseCartesianValues=J.PoseCartesianValues;exports.PoseJointValues=E.PoseJointValues;exports.LoadingCover=n.LoadingCover;exports.LoadingErrorMessage=n.LoadingErrorMessage;exports.LogPanel=x.LogPanel;exports.LogStore=T.LogStore;exports.LogViewer=e.LogViewer;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createWarningMessage=e.createWarningMessage;exports.NoMotionGroupModal=G.NoMotionGroupModal;exports.ProgramControl=a.ProgramControl;exports.ProgramState=a.ProgramState;exports.ProgramStateIndicator=N.ProgramStateIndicator;exports.RobotListItem=O.RobotListItem;exports.RobotSetupReadinessIndicator=i.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=i.RobotSetupReadinessState;exports.SafetyBar=j.SafetyBar;exports.SelectableFab=v.SelectableFab;exports.TabBar=F.TabBar;exports.Timer=H.Timer;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.ValueInterpolator=s.ValueInterpolator;exports.useInterpolation=s.useInterpolation;exports.VelocitySlider=u.VelocitySlider;exports.VelocitySliderLabel=u.VelocitySliderLabel;exports.i18n=h.i18n;exports.ConnectedMotionGroup=B.ConnectedMotionGroup;exports.JoggerConnection=D.JoggerConnection;exports.jointValuesEqual=t.jointValuesEqual;exports.poseEqual=t.poseEqual;exports.tcpMotionEqual=t.tcpMotionEqual;exports.unwrapRotationVector=t.unwrapRotationVector;exports.MotionStreamConnection=w.MotionStreamConnection;exports.createNovaMuiTheme=U.createNovaMuiTheme;exports.ControllerTypePhysicalIcon=W.default;exports.ControllerTypeVirtualIcon=Z.default;exports.OperationModeAutomaticIcon=_.default;exports.OperationModeErrorIcon=z.default;exports.OperationModeManualIcon=X.default;exports.SafetyStateErrorIcon=Y.default;exports.SafetyStateEstopIcon=k.default;exports.SafetyStateManualActionRequiredIcon=$.default;exports.SafetyStateNormalIcon=K.default;exports.SafetyStateStopIcon=Q.default;exports.AxisXIcon=ee.default;exports.AxisYIcon=oe.default;exports.AxisZIcon=te.default;exports.HomeIcon=re.default;exports.JogMinusIcon=ne.default;exports.JogPlusIcon=ae.default;exports.JoggingIcon=ie.default;exports.OrientationCoordSystemIcon=se.default;exports.OrientationToolIcon=ue.default;exports.RobotIcon=ce.default;exports.RotationIcon=le.default;exports.WBLogoIcon=ge.default;
+//# sourceMappingURL=index.cjs.map

package/dist/index.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.cjs","sources":[],"sourcesContent":[],"names":[],"mappings":""}

package/dist/index.js

@@ -0,0 +1,153 @@
+import { default as r } from "./components/3d-viewport/collider/CollisionSceneRenderer.js";
+import { PresetEnvironment as a } from "./components/3d-viewport/PresetEnvironment.js";
+import { SafetyZonesRenderer as n } from "./components/3d-viewport/SafetyZonesRenderer.js";
+import { TrajectoryRenderer as m } from "./components/3d-viewport/TrajectoryRenderer.js";
+import { RobotCard as i } from "./components/RobotCard.js";
+import { defaultAxisConfig as l } from "./components/robots/AxisConfig.js";
+import { LinearAxis as d } from "./components/robots/LinearAxis.js";
+import { MANUFACTURER_HOME_CONFIGS as g, extractManufacturer as I, getDefaultHomeConfig as S } from "./components/robots/manufacturerHomePositions.js";
+import { Robot as C } from "./components/robots/Robot.js";
+import { defaultGetModel as y } from "./components/robots/robotModelLogic.js";
+import { SupportedLinearAxis as b } from "./components/robots/SupportedLinearAxis.js";
+import { SupportedRobot as L } from "./components/robots/SupportedRobot.js";
+import { MotionGroupVisualizer as J } from "./components/robots/MotionGroupVisualizer.js";
+import { AppHeader as T } from "./components/AppHeader.js";
+import { CycleTimer as G } from "./components/CycleTimer/index.js";
+import { WandelbotsDataGrid as q } from "./components/DataGrid.js";
+import { JoggingCartesianAxisControl as H } from "./components/jogging/JoggingCartesianAxisControl.js";
+import { JoggingJointValueControl as B } from "./components/jogging/JoggingJointValueControl.js";
+import { JoggingPanel as W } from "./components/jogging/JoggingPanel.js";
+import { JoggingStore as j } from "./components/jogging/JoggingStore.js";
+import { PoseCartesianValues as U } from "./components/jogging/PoseCartesianValues.js";
+import { PoseJointValues as _ } from "./components/jogging/PoseJointValues.js";
+import { LoadingCover as X, LoadingErrorMessage as Y } from "./components/LoadingCover.js";
+import { LogPanel as K } from "./components/LogPanel.js";
+import { LogStore as $ } from "./components/LogStore.js";
+import { LogViewer as eo, createDebugMessage as ro, createErrorMessage as to, createInfoMessage as ao, createLogMessage as fo, createWarningMessage as no } from "./components/LogViewer.js";
+import { NoMotionGroupModal as mo } from "./components/modal/NoMotionGroupModal.js";
+import { ProgramControl as io, ProgramState as so } from "./components/ProgramControl.js";
+import { ProgramStateIndicator as uo } from "./components/ProgramStateIndicator.js";
+import { RobotListItem as go } from "./components/RobotListItem.js";
+import { RobotSetupReadinessIndicator as So, RobotSetupReadinessState as Mo } from "./components/RobotSetupReadinessIndicator.js";
+import { SafetyBar as Ro } from "./components/safetyBar/SafetyBar.js";
+import { SelectableFab as Ao } from "./components/SelectableFab.js";
+import { TabBar as Eo } from "./components/TabBar.js";
+import { Timer as Vo } from "./components/Timer/index.js";
+import { useAnimationFrame as Po, useAutorun as To, useMounted as Oo, useReaction as Go } from "./components/utils/hooks.js";
+import { ValueInterpolator as qo, useInterpolation as Fo } from "./components/utils/interpolation.js";
+import { VelocitySlider as vo, VelocitySliderLabel as Bo } from "./components/VelocitySlider.js";
+import { i18n as Wo } from "./i18n/config.js";
+import { ConnectedMotionGroup as jo } from "./lib/ConnectedMotionGroup.js";
+import { JoggerConnection as Uo } from "./lib/JoggerConnection.js";
+import { jointValuesEqual as _o, poseEqual as zo, tcpMotionEqual as Xo, unwrapRotationVector as Yo } from "./lib/motionStateUpdate.js";
+import { MotionStreamConnection as Ko } from "./lib/MotionStreamConnection.js";
+import { createNovaMuiTheme as $o } from "./themes/theming.js";
+import { default as ee } from "./components/safetyBar/icons/controller-type-physical.svg.js";
+import { default as te } from "./components/safetyBar/icons/controller-type-virtual.svg.js";
+import { default as fe } from "./components/safetyBar/icons/operation-mode-automatic.svg.js";
+import { default as pe } from "./components/safetyBar/icons/operation-mode-error.svg.js";
+import { default as xe } from "./components/safetyBar/icons/operation-mode-manual.svg.js";
+import { default as se } from "./components/safetyBar/icons/safety-state-error.svg.js";
+import { default as ue } from "./components/safetyBar/icons/safety-state-estop.svg.js";
+import { default as ce } from "./components/safetyBar/icons/safety-state-manual-action-required.svg.js";
+import { default as Ie } from "./components/safetyBar/icons/safety-state-normal.svg.js";
+import { default as Me } from "./components/safetyBar/icons/safety-state-stop.svg.js";
+import { default as Re } from "./icons/axis-x.svg.js";
+import { default as Ae } from "./icons/axis-y.svg.js";
+import { default as Ee } from "./icons/axis-z.svg.js";
+import { default as Ve } from "./icons/home.svg.js";
+import { default as Pe } from "./icons/jog-minus.svg.js";
+import { default as Oe } from "./icons/jog-plus.svg.js";
+import { default as Ne } from "./icons/jogging.svg.js";
+import { default as Fe } from "./icons/orientation-coord-system.svg.js";
+import { default as ve } from "./icons/orientation-tool.svg.js";
+import { default as De } from "./icons/robot.svg.js";
+import { default as he } from "./icons/rotation.svg.js";
+import { default as we } from "./icons/wbLogo.svg.js";
+export {
+  T as AppHeader,
+  Re as AxisXIcon,
+  Ae as AxisYIcon,
+  Ee as AxisZIcon,
+  r as CollisionSceneRenderer,
+  jo as ConnectedMotionGroup,
+  ee as ControllerTypePhysicalIcon,
+  te as ControllerTypeVirtualIcon,
+  G as CycleTimer,
+  Ve as HomeIcon,
+  Pe as JogMinusIcon,
+  Oe as JogPlusIcon,
+  Uo as JoggerConnection,
+  H as JoggingCartesianAxisControl,
+  Ne as JoggingIcon,
+  B as JoggingJointValueControl,
+  W as JoggingPanel,
+  j as JoggingStore,
+  d as LinearAxis,
+  X as LoadingCover,
+  Y as LoadingErrorMessage,
+  K as LogPanel,
+  $ as LogStore,
+  eo as LogViewer,
+  g as MANUFACTURER_HOME_CONFIGS,
+  J as MotionGroupVisualizer,
+  Ko as MotionStreamConnection,
+  mo as NoMotionGroupModal,
+  fe as OperationModeAutomaticIcon,
+  pe as OperationModeErrorIcon,
+  xe as OperationModeManualIcon,
+  Fe as OrientationCoordSystemIcon,
+  ve as OrientationToolIcon,
+  U as PoseCartesianValues,
+  _ as PoseJointValues,
+  a as PresetEnvironment,
+  io as ProgramControl,
+  so as ProgramState,
+  uo as ProgramStateIndicator,
+  C as Robot,
+  i as RobotCard,
+  De as RobotIcon,
+  go as RobotListItem,
+  So as RobotSetupReadinessIndicator,
+  Mo as RobotSetupReadinessState,
+  he as RotationIcon,
+  Ro as SafetyBar,
+  se as SafetyStateErrorIcon,
+  ue as SafetyStateEstopIcon,
+  ce as SafetyStateManualActionRequiredIcon,
+  Ie as SafetyStateNormalIcon,
+  Me as SafetyStateStopIcon,
+  n as SafetyZonesRenderer,
+  Ao as SelectableFab,
+  b as SupportedLinearAxis,
+  L as SupportedRobot,
+  Eo as TabBar,
+  Vo as Timer,
+  m as TrajectoryRenderer,
+  qo as ValueInterpolator,
+  vo as VelocitySlider,
+  Bo as VelocitySliderLabel,
+  we as WBLogoIcon,
+  q as WandelbotsDataGrid,
+  ro as createDebugMessage,
+  to as createErrorMessage,
+  ao as createInfoMessage,
+  fo as createLogMessage,
+  $o as createNovaMuiTheme,
+  no as createWarningMessage,
+  l as defaultAxisConfig,
+  y as defaultGetModel,
+  I as extractManufacturer,
+  S as getDefaultHomeConfig,
+  Wo as i18n,
+  _o as jointValuesEqual,
+  zo as poseEqual,
+  Xo as tcpMotionEqual,
+  Yo as unwrapRotationVector,
+  Po as useAnimationFrame,
+  To as useAutorun,
+  Fo as useInterpolation,
+  Oo as useMounted,
+  Go as useReaction
+};
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sources":[],"sourcesContent":[],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;"}

package/dist/lib/ConnectedMotionGroup.cjs

@@ -0,0 +1,4 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const S=require("@wandelbots/nova-js"),a=require("mobx"),w=require("three"),A=require("./motionStateUpdate.cjs");function I(h){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(h){for(const o in h)if(o!=="default"){const n=Object.getOwnPropertyDescriptor(h,o);Object.defineProperty(t,o,n.get?n:{enumerable:!0,get:()=>h[o]})}}return t.default=h,Object.freeze(t)}const y=I(w),b=1e-4,R={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class p{constructor(t,o,n,r,e,s,l,g,c,_){this.nova=t,this.controller=o,this.motionGroup=n,this.initialMotionState=r,this.motionStateSocket=e,this.isVirtual=s,this.tcps=l,this.description=g,this.initialControllerState=c,this.controllerStateSocket=_,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=r,this.controllerState=c,_.addEventListener("message",d=>{var u;const i=(u=S.tryParseJson(d.data))==null?void 0:u.result;i&&a.runInAction(()=>{this.controllerState=i})}),e.addEventListener("message",d=>{var u;const i=(u=S.tryParseJson(d.data))==null?void 0:u.result;if(!i)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);A.jointValuesEqual(this.rapidlyChangingMotionState.joint_position,i.joint_position,b)||a.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=i.joint_position}),A.tcpMotionEqual(this.rapidlyChangingMotionState,i,b)||a.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=i.tcp_pose}),this.rapidlyChangingMotionState.standstill!==i.standstill&&a.runInAction(()=>{this.rapidlyChangingMotionState.standstill=i.standstill})}),a.makeAutoObservable(this)}static async connectMultiple(t,o){return Promise.all(o.map(n=>p.connect(t,n)))}static async connect(t,o){var O,T;const[n,r]=o.split("@"),e=await t.api.controller.getCurrentRobotControllerState(r),s=e==null?void 0:e.motion_groups.find(M=>M.motion_group===o);if(!e||!s)throw new Error(`Controller ${r} or motion group ${o} not found`);const l=t.openReconnectingWebsocket(`/controllers/${r}/motion-groups/${o}/state-stream`),g=await l.firstMessage(),c=(O=S.tryParseJson(g.data))==null?void 0:O.result;if(!c)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
+  `,c);const d=(await t.api.controller.getRobotController(e.controller)).configuration.kind==="VirtualController",i=await t.api.motionGroup.getMotionGroupDescription(r,s.motion_group),u=Object.entries(i.tcps||{}).map(([M,E])=>({id:M,readable_name:E.name,position:E.pose.position,orientation:E.pose.orientation})),f=t.openReconnectingWebsocket(`/controllers/${e.controller}/state-stream?response_rate=1000`),v=await f.firstMessage(),m=(T=S.tryParseJson(v.data))==null?void 0:T.result;if(!m)throw new Error(`Unable to parse initial controller state message ${v.data}`);return console.log(`Connected controller state websocket to controller ${e.controller}. Initial state:
+  `,m),new p(t,e,s,c,l,d,u,i,m,f)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((t,o)=>({index:o}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(t=>({...R,...t}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var t,o,n;return this.description.mounting?[(((t=this.description.mounting.position)==null?void 0:t[0])||0)/1e3,(((o=this.description.mounting.position)==null?void 0:o[1])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,e,s,l,g,c;const t=new y.Vector3(((e=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:e[0])||0,((l=(s=this.description.mounting)==null?void 0:s.orientation)==null?void 0:l[1])||0,((c=(g=this.description.mounting)==null?void 0:g.orientation)==null?void 0:c[2])||0),o=t.length(),n=t.normalize();return new y.Quaternion().setFromAxisAngle(n,o)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}a.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),a.runInAction(()=>{this.activationState="inactive"})}catch(t){throw a.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}a.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),a.runInAction(()=>{this.activationState="active"})}catch(t){throw a.runInAction(()=>{this.activationState="inactive"}),t}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}}exports.ConnectedMotionGroup=p;exports.default=p;
+//# sourceMappingURL=ConnectedMotionGroup.cjs.map

package/dist/lib/ConnectedMotionGroup.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"ConnectedMotionGroup.cjs","sources":["../../src/lib/ConnectedMotionGroup.ts"],"sourcesContent":["import {\n  tryParseJson,\n  type AutoReconnectingWebsocket,\n} from \"@wandelbots/nova-js\"\nimport type {\n  DHParameter,\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  OperationMode,\n  RobotControllerState,\n  SafetyStateType,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport { jointValuesEqual, tcpMotionEqual } from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type RobotTcpLike = {\n  id: string\n  readable_name: string\n  position: Vector3Simple\n  orientation: Vector3Simple\n}\n\nexport type MotionGroupOption = {\n  selectionId: string\n}\n\nconst EMPTY_DH_PARAMETER: DHParameter = {\n  a: 0,\n  d: 0,\n  alpha: 0,\n  theta: 0,\n  reverse_rotation_direction: false,\n}\n\n/**\n * Store representing the current state of a connected motion group.\n * API v2 version, not used yet in the components.\n */\nexport class ConnectedMotionGroup {\n  static async connectMultiple(nova: NovaClient, motionGroupIds: string[]) {\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(nova, motionGroupId),\n      ),\n    )\n  }\n\n  static async connect(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Check if robot is virtual or physical\n    const config = await nova.api.controller.getRobotController(\n      controller.controller,\n    )\n    const isVirtual = config.configuration.kind === \"VirtualController\"\n\n    // If there's a configured mounting, we need it to show the right\n    // position of the robot model\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    // There are converted into a RobotTcpLike for easier use in the UI\n    const tcps: RobotTcpLike[] = Object.entries(description.tcps || {}).map(\n      ([id, tcp]) => ({\n        id,\n        readable_name: tcp.name,\n        position: tcp.pose.position as Vector3Simple,\n        orientation: tcp.pose.orientation as Vector3Simple,\n      }),\n    )\n\n    // Open the websocket to monitor controller state for e.g. e-stop\n    const controllerStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controller.controller}/state-stream?response_rate=1000`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstControllerMessage = await controllerStateSocket.firstMessage()\n    const initialControllerState = tryParseJson(firstControllerMessage.data)\n      ?.result as RobotControllerState\n\n    if (!initialControllerState) {\n      throw new Error(\n        `Unable to parse initial controller state message ${firstControllerMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected controller state websocket to controller ${controller.controller}. Initial state:\\n  `,\n      initialControllerState,\n    )\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      tcps,\n      description,\n      initialControllerState,\n      controllerStateSocket,\n    )\n  }\n\n  connectedJoggingSocket: WebSocket | null = null\n  // biome-ignore lint/suspicious/noExplicitAny: legacy code\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  // Response rate on the websocket should be a bit slower on this one since\n  // we don't use the motion data\n  controllerState: RobotControllerState\n\n  /**\n   * Reflects activation state of the motion group / robot servos. The\n   * movement controls in the UI should only be enabled in the \"active\" state\n   */\n  activationState: \"inactive\" | \"activating\" | \"deactivating\" | \"active\" =\n    \"inactive\"\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcpLike[],\n    readonly description: MotionGroupDescription,\n    readonly initialControllerState: RobotControllerState,\n    readonly controllerStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n    this.controllerState = initialControllerState\n\n    // Track controller state updates (e.g. safety state and operation mode)\n    controllerStateSocket.addEventListener(\"message\", (event) => {\n      const data = tryParseJson(event.data)?.result\n\n      if (!data) {\n        return\n      }\n\n      runInAction(() => {\n        this.controllerState = data\n      })\n    })\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.joint_position =\n            latestMotionState.joint_position\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose = latestMotionState.tcp_pose\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.description.motion_group_model\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  // Please note that API v2 omits 0 values\n  get dhParameters() {\n    if (this.description.dh_parameters === undefined) {\n      return undefined\n    }\n\n    return this.description.dh_parameters.map((dh_param) => ({\n      ...EMPTY_DH_PARAMETER,\n      ...dh_param,\n    }))\n  }\n\n  get safetyZones() {\n    return this.description.safety_zones\n  }\n\n  /** Gets the robot mounting position offset in 3D viz coordinates */\n  get mountingPosition(): [number, number, number] {\n    if (!this.description.mounting) {\n      return [0, 0, 0]\n    }\n\n    return [\n      (this.description.mounting.position?.[0] || 0) / 1000,\n      (this.description.mounting.position?.[1] || 0) / 1000,\n      (this.description.mounting.position?.[2] || 0) / 1000,\n    ]\n  }\n\n  /** Gets the robot mounting position rotation in 3D viz coordinates */\n  get mountingQuaternion() {\n    const rotationVector = new THREE.Vector3(\n      this.description.mounting?.orientation?.[0] || 0,\n      this.description.mounting?.orientation?.[1] || 0,\n      this.description.mounting?.orientation?.[2] || 0,\n    )\n\n    const magnitude = rotationVector.length()\n    const axis = rotationVector.normalize()\n\n    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)\n  }\n\n  /**\n   * Whether the controller is currently in a safety state\n   * corresponding to an emergency stop\n   */\n  get isEstopActive() {\n    const estopStates: SafetyStateType[] = [\n      \"SAFETY_STATE_ROBOT_EMERGENCY_STOP\",\n      \"SAFETY_STATE_DEVICE_EMERGENCY_STOP\",\n    ]\n\n    return estopStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in a safety state\n   * that may be non-functional for robot pad purposes\n   */\n  get isMoveableSafetyState() {\n    const goodSafetyStates: SafetyStateType[] = [\n      \"SAFETY_STATE_NORMAL\",\n      \"SAFETY_STATE_REDUCED\",\n    ]\n\n    return goodSafetyStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in an operation mode that allows movement\n   */\n  get isMoveableOperationMode() {\n    const goodOperationModes: OperationMode[] = [\n      \"OPERATION_MODE_AUTO\",\n      \"OPERATION_MODE_MANUAL\",\n      \"OPERATION_MODE_MANUAL_T1\",\n      \"OPERATION_MODE_MANUAL_T2\",\n    ]\n\n    return goodOperationModes.includes(this.controllerState.operation_mode)\n  }\n\n  /**\n   * Whether the robot is currently active and can be moved, based on the\n   * safety state, operation mode and servo toggle activation state.\n   */\n  get canBeMoved() {\n    return (\n      this.isMoveableSafetyState &&\n      this.isMoveableOperationMode &&\n      this.activationState === \"active\"\n    )\n  }\n\n  async deactivate() {\n    if (this.activationState !== \"active\") {\n      console.error(\"Tried to deactivate while already deactivating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"deactivating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_MONITOR\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n      throw err\n    }\n  }\n\n  async activate() {\n    if (this.activationState !== \"inactive\") {\n      console.error(\"Tried to activate while already activating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"activating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_CONTROL\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n      throw err\n    }\n  }\n\n  toggleActivation() {\n    if (this.activationState === \"inactive\") {\n      this.activate()\n    } else if (this.activationState === \"active\") {\n      this.deactivate()\n    }\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingSocket) this.connectedJoggingSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n\nexport default ConnectedMotionGroup\n"],"names":["MOTION_DELTA_THRESHOLD","EMPTY_DH_PARAMETER","ConnectedMotionGroup","nova","controller","motionGroup","initialMotionState","motionStateSocket","isVirtual","tcps","description","initialControllerState","controllerStateSocket","event","data","tryParseJson","runInAction","latestMotionState","jointValuesEqual","tcpMotionEqual","makeAutoObservable","motionGroupIds","motionGroupId","_motionGroupIndex","controllerId","mg","firstMessage","id","tcp","firstControllerMessage","_","i","dh_param","_a","_b","_c","rotationVector","THREE","_d","_f","_e","magnitude","axis","err","velocity"],"mappings":"ufAkBMA,EAAyB,KAazBC,EAAkC,CACtC,EAAG,EACH,EAAG,EACH,MAAO,EACP,MAAO,EACP,2BAA4B,EAC9B,EAMO,MAAMC,CAAqB,CA6HhC,YACWC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACT,CAVS,KAAA,KAAAT,EACA,KAAA,WAAAC,EACA,KAAA,YAAAC,EACA,KAAA,mBAAAC,EACA,KAAA,kBAAAC,EACA,KAAA,UAAAC,EACA,KAAA,KAAAC,EACA,KAAA,YAAAC,EACA,KAAA,uBAAAC,EACA,KAAA,sBAAAC,EA9BX,KAAA,uBAA2C,KAG3C,KAAA,gBAA0B,GAc1B,KAAA,gBACE,WAcA,KAAK,2BAA6BN,EAClC,KAAK,gBAAkBK,EAGvBC,EAAsB,iBAAiB,UAAYC,GAAU,OAC3D,MAAMC,GAAOC,EAAAA,EAAAA,aAAaF,EAAM,IAAI,IAAvBE,YAAAA,EAA0B,OAElCD,GAILE,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkBF,CACzB,CAAC,CACH,CAAC,EAEDP,EAAkB,iBAAiB,UAAYM,GAAU,OACvD,MAAMI,GAAoBF,EAAAA,EAAAA,aAAaF,EAAM,IAAI,IAAvBE,YAAAA,EAA0B,OAIpD,GAAI,CAACE,EACH,MAAM,IAAI,MACR,kCAAkC,KAAK,aAAa,KAAKJ,EAAM,IAAI,EAAA,EAMpEK,EAAAA,iBACC,KAAK,2BAA2B,eAChCD,EAAkB,eAClBjB,CAAA,GAGFgB,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,eAC9BC,EAAkB,cACtB,CAAC,EAKAE,EAAAA,eACC,KAAK,2BACLF,EACAjB,CAAA,GAGFgB,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,SAAWC,EAAkB,QAC/D,CAAC,EAKD,KAAK,2BAA2B,aAChCA,EAAkB,YAElBD,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,WAC9BC,EAAkB,UACtB,CAAC,CAEL,CAAC,EACDG,EAAAA,mBAAmB,IAAI,CACzB,CA1MA,aAAa,gBAAgBjB,EAAkBkB,EAA0B,CACvE,OAAO,QAAQ,IACbA,EAAe,IAAKC,GAClBpB,EAAqB,QAAQC,EAAMmB,CAAa,CAAA,CAClD,CAEJ,CAEA,aAAa,QAAQnB,EAAkBmB,EAAuB,SAC5D,KAAM,CAACC,EAAmBC,CAAY,EAAIF,EAAc,MAAM,GAAG,EAK3DlB,EACJ,MAAMD,EAAK,IAAI,WAAW,+BAA+BqB,CAAY,EACjEnB,EAAcD,GAAA,YAAAA,EAAY,cAAc,KAC3CqB,GAAOA,EAAG,eAAiBH,GAE9B,GAAI,CAAClB,GAAc,CAACC,EAClB,MAAM,IAAI,MACR,cAAcmB,CAAY,oBAAoBF,CAAa,YAAA,EAI/D,MAAMf,EAAoBJ,EAAK,0BAC7B,gBAAgBqB,CAAY,kBAAkBF,CAAa,eAAA,EAIvDI,EAAe,MAAMnB,EAAkB,aAAA,EACvCD,GAAqBS,EAAAA,EAAAA,aAAaW,EAAa,IAAI,IAA9BX,YAAAA,EACvB,OAEJ,GAAI,CAACT,EACH,MAAM,IAAI,MACR,gDAAgDoB,EAAa,IAAI,EAAA,EAIrE,QAAQ,IACN,oDAAoDrB,EAAY,YAAY;AAAA,IAC5EC,CAAA,EAOF,MAAME,GAHS,MAAML,EAAK,IAAI,WAAW,mBACvCC,EAAW,UAAA,GAEY,cAAc,OAAS,oBAI1CM,EAAc,MAAMP,EAAK,IAAI,YAAY,0BAC7CqB,EACAnB,EAAY,YAAA,EAKRI,EAAuB,OAAO,QAAQC,EAAY,MAAQ,CAAA,CAAE,EAAE,IAClE,CAAC,CAACiB,EAAIC,CAAG,KAAO,CACd,GAAAD,EACA,cAAeC,EAAI,KACnB,SAAUA,EAAI,KAAK,SACnB,YAAaA,EAAI,KAAK,WAAA,EACxB,EAIIhB,EAAwBT,EAAK,0BACjC,gBAAgBC,EAAW,UAAU,kCAAA,EAIjCyB,EAAyB,MAAMjB,EAAsB,aAAA,EACrDD,GAAyBI,EAAAA,EAAAA,aAAac,EAAuB,IAAI,IAAxCd,YAAAA,EAC3B,OAEJ,GAAI,CAACJ,EACH,MAAM,IAAI,MACR,oDAAoDkB,EAAuB,IAAI,EAAA,EAInF,eAAQ,IACN,sDAAsDzB,EAAW,UAAU;AAAA,IAC3EO,CAAA,EAGK,IAAIT,EACTC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,CAAA,CAEJ,CAsGA,IAAI,eAAgB,CAClB,OAAO,KAAK,YAAY,YAC1B,CAEA,IAAI,cAAe,CACjB,OAAO,KAAK,WAAW,UACzB,CAEA,IAAI,qBAAsB,CACxB,OAAO,KAAK,YAAY,kBAC1B,CAGA,IAAI,qBAAsB,CACxB,OAAQ,KAAK,gBAAkB,KAAK,GAAM,GAC5C,CAEA,IAAI,QAAS,CACX,OAAO,KAAK,mBAAmB,eAAe,IAAI,CAACkB,EAAGC,KAC7C,CACL,MAAOA,CAAA,EAEV,CACH,CAGA,IAAI,cAAe,CACjB,GAAI,KAAK,YAAY,gBAAkB,OAIvC,OAAO,KAAK,YAAY,cAAc,IAAKC,IAAc,CACvD,GAAG/B,EACH,GAAG+B,CAAA,EACH,CACJ,CAEA,IAAI,aAAc,CAChB,OAAO,KAAK,YAAY,YAC1B,CAGA,IAAI,kBAA6C,WAC/C,OAAK,KAAK,YAAY,SAIf,IACJC,EAAA,KAAK,YAAY,SAAS,WAA1B,YAAAA,EAAqC,KAAM,GAAK,OAChDC,EAAA,KAAK,YAAY,SAAS,WAA1B,YAAAA,EAAqC,KAAM,GAAK,OAChDC,EAAA,KAAK,YAAY,SAAS,WAA1B,YAAAA,EAAqC,KAAM,GAAK,GAAA,EAN1C,CAAC,EAAG,EAAG,CAAC,CAQnB,CAGA,IAAI,oBAAqB,iBACvB,MAAMC,EAAiB,IAAIC,EAAM,UAC/BH,GAAAD,EAAA,KAAK,YAAY,WAAjB,YAAAA,EAA2B,cAA3B,YAAAC,EAAyC,KAAM,IAC/CI,GAAAH,EAAA,KAAK,YAAY,WAAjB,YAAAA,EAA2B,cAA3B,YAAAG,EAAyC,KAAM,IAC/CC,GAAAC,EAAA,KAAK,YAAY,WAAjB,YAAAA,EAA2B,cAA3B,YAAAD,EAAyC,KAAM,CAAA,EAG3CE,EAAYL,EAAe,OAAA,EAC3BM,EAAON,EAAe,UAAA,EAE5B,OAAO,IAAIC,EAAM,WAAA,EAAa,iBAAiBK,EAAMD,CAAS,CAChE,CAMA,IAAI,eAAgB,CAMlB,MALuC,CACrC,oCACA,oCAAA,EAGiB,SAAS,KAAK,gBAAgB,YAAY,CAC/D,CAMA,IAAI,uBAAwB,CAM1B,MAL4C,CAC1C,sBACA,sBAAA,EAGsB,SAAS,KAAK,gBAAgB,YAAY,CACpE,CAKA,IAAI,yBAA0B,CAQ5B,MAP4C,CAC1C,sBACA,wBACA,2BACA,0BAAA,EAGwB,SAAS,KAAK,gBAAgB,cAAc,CACxE,CAMA,IAAI,YAAa,CACf,OACE,KAAK,uBACL,KAAK,yBACL,KAAK,kBAAoB,QAE7B,CAEA,MAAM,YAAa,CACjB,GAAI,KAAK,kBAAoB,SAAU,CACrC,QAAQ,MAAM,gDAAgD,EAC9D,MACF,CAEAzB,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,cACzB,CAAC,EAED,GAAI,CACF,MAAM,KAAK,KAAK,IAAI,WAAW,eAC7B,KAAK,aACL,2BAAA,EAGFA,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,UACzB,CAAC,CACH,OAAS2B,EAAK,CACZ3B,MAAAA,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,QACzB,CAAC,EACK2B,CACR,CACF,CAEA,MAAM,UAAW,CACf,GAAI,KAAK,kBAAoB,WAAY,CACvC,QAAQ,MAAM,4CAA4C,EAC1D,MACF,CAEA3B,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,YACzB,CAAC,EAED,GAAI,CACF,MAAM,KAAK,KAAK,IAAI,WAAW,eAC7B,KAAK,aACL,2BAAA,EAGFA,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,QACzB,CAAC,CACH,OAAS2B,EAAK,CACZ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package/dist/lib/ConnectedMotionGroup.d.ts

@@ -87,4 +87,5 @@ export declare class ConnectedMotionGroup {
     dispose(): void;
     setJoggingVelocity(velocity: number): void;
 }
+export default ConnectedMotionGroup;
 //# sourceMappingURL=ConnectedMotionGroup.d.ts.map

package/dist/lib/ConnectedMotionGroup.d.ts.map

@@ -1 +1 @@
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package/dist/lib/ConnectedMotionGroup.js

@@ -0,0 +1,250 @@
+import { tryParseJson as p } from "@wandelbots/nova-js";
+import { runInAction as a, makeAutoObservable as A } from "mobx";
+import * as T from "three";
+import { jointValuesEqual as w, tcpMotionEqual as R } from "./motionStateUpdate.js";
+const y = 1e-4, C = {
+  a: 0,
+  d: 0,
+  alpha: 0,
+  theta: 0,
+  reverse_rotation_direction: !1
+};
+class E {
+  constructor(t, o, s, n, i, r, l, g, c, u) {
+    this.nova = t, this.controller = o, this.motionGroup = s, this.initialMotionState = n, this.motionStateSocket = i, this.isVirtual = r, this.tcps = l, this.description = g, this.initialControllerState = c, this.controllerStateSocket = u, this.connectedJoggingSocket = null, this.joggingVelocity = 10, this.activationState = "inactive", this.rapidlyChangingMotionState = n, this.controllerState = c, u.addEventListener("message", (d) => {
+      var h;
+      const e = (h = p(d.data)) == null ? void 0 : h.result;
+      e && a(() => {
+        this.controllerState = e;
+      });
+    }), i.addEventListener("message", (d) => {
+      var h;
+      const e = (h = p(d.data)) == null ? void 0 : h.result;
+      if (!e)
+        throw new Error(
+          `Failed to get motion state for ${this.motionGroupId}: ${d.data}`
+        );
+      w(
+        this.rapidlyChangingMotionState.joint_position,
+        e.joint_position,
+        y
+      ) || a(() => {
+        this.rapidlyChangingMotionState.joint_position = e.joint_position;
+      }), R(
+        this.rapidlyChangingMotionState,
+        e,
+        y
+      ) || a(() => {
+        this.rapidlyChangingMotionState.tcp_pose = e.tcp_pose;
+      }), this.rapidlyChangingMotionState.standstill !== e.standstill && a(() => {
+        this.rapidlyChangingMotionState.standstill = e.standstill;
+      });
+    }), A(this);
+  }
+  static async connectMultiple(t, o) {
+    return Promise.all(
+      o.map(
+        (s) => E.connect(t, s)
+      )
+    );
+  }
+  static async connect(t, o) {
+    var f, O;
+    const [s, n] = o.split("@"), i = await t.api.controller.getCurrentRobotControllerState(n), r = i == null ? void 0 : i.motion_groups.find(
+      (m) => m.motion_group === o
+    );
+    if (!i || !r)
+      throw new Error(
+        `Controller ${n} or motion group ${o} not found`
+      );
+    const l = t.openReconnectingWebsocket(
+      `/controllers/${n}/motion-groups/${o}/state-stream`
+    ), g = await l.firstMessage(), c = (f = p(g.data)) == null ? void 0 : f.result;
+    if (!c)
+      throw new Error(
+        `Unable to parse initial motion state message ${g.data}`
+      );
+    console.log(
+      `Connected motion state websocket to motion group ${r.motion_group}. Initial state:
+  `,
+      c
+    );
+    const d = (await t.api.controller.getRobotController(
+      i.controller
+    )).configuration.kind === "VirtualController", e = await t.api.motionGroup.getMotionGroupDescription(
+      n,
+      r.motion_group
+    ), h = Object.entries(e.tcps || {}).map(
+      ([m, _]) => ({
+        id: m,
+        readable_name: _.name,
+        position: _.pose.position,
+        orientation: _.pose.orientation
+      })
+    ), M = t.openReconnectingWebsocket(
+      `/controllers/${i.controller}/state-stream?response_rate=1000`
+    ), v = await M.firstMessage(), S = (O = p(v.data)) == null ? void 0 : O.result;
+    if (!S)
+      throw new Error(
+        `Unable to parse initial controller state message ${v.data}`
+      );
+    return console.log(
+      `Connected controller state websocket to controller ${i.controller}. Initial state:
+  `,
+      S
+    ), new E(
+      t,
+      i,
+      r,
+      c,
+      l,
+      d,
+      h,
+      e,
+      S,
+      M
+    );
+  }
+  get motionGroupId() {
+    return this.motionGroup.motion_group;
+  }
+  get controllerId() {
+    return this.controller.controller;
+  }
+  get modelFromController() {
+    return this.description.motion_group_model;
+  }
+  /** Jogging velocity in radians for rotation and joint movement */
+  get joggingVelocityRads() {
+    return this.joggingVelocity * Math.PI / 180;
+  }
+  get joints() {
+    return this.initialMotionState.joint_position.map((t, o) => ({
+      index: o
+    }));
+  }
+  // Please note that API v2 omits 0 values
+  get dhParameters() {
+    if (this.description.dh_parameters !== void 0)
+      return this.description.dh_parameters.map((t) => ({
+        ...C,
+        ...t
+      }));
+  }
+  get safetyZones() {
+    return this.description.safety_zones;
+  }
+  /** Gets the robot mounting position offset in 3D viz coordinates */
+  get mountingPosition() {
+    var t, o, s;
+    return this.description.mounting ? [
+      (((t = this.description.mounting.position) == null ? void 0 : t[0]) || 0) / 1e3,
+      (((o = this.description.mounting.position) == null ? void 0 : o[1]) || 0) / 1e3,
+      (((s = this.description.mounting.position) == null ? void 0 : s[2]) || 0) / 1e3
+    ] : [0, 0, 0];
+  }
+  /** Gets the robot mounting position rotation in 3D viz coordinates */
+  get mountingQuaternion() {
+    var n, i, r, l, g, c;
+    const t = new T.Vector3(
+      ((i = (n = this.description.mounting) == null ? void 0 : n.orientation) == null ? void 0 : i[0]) || 0,
+      ((l = (r = this.description.mounting) == null ? void 0 : r.orientation) == null ? void 0 : l[1]) || 0,
+      ((c = (g = this.description.mounting) == null ? void 0 : g.orientation) == null ? void 0 : c[2]) || 0
+    ), o = t.length(), s = t.normalize();
+    return new T.Quaternion().setFromAxisAngle(s, o);
+  }
+  /**
+   * Whether the controller is currently in a safety state
+   * corresponding to an emergency stop
+   */
+  get isEstopActive() {
+    return [
+      "SAFETY_STATE_ROBOT_EMERGENCY_STOP",
+      "SAFETY_STATE_DEVICE_EMERGENCY_STOP"
+    ].includes(this.controllerState.safety_state);
+  }
+  /**
+   * Whether the controller is in a safety state
+   * that may be non-functional for robot pad purposes
+   */
+  get isMoveableSafetyState() {
+    return [
+      "SAFETY_STATE_NORMAL",
+      "SAFETY_STATE_REDUCED"
+    ].includes(this.controllerState.safety_state);
+  }
+  /**
+   * Whether the controller is in an operation mode that allows movement
+   */
+  get isMoveableOperationMode() {
+    return [
+      "OPERATION_MODE_AUTO",
+      "OPERATION_MODE_MANUAL",
+      "OPERATION_MODE_MANUAL_T1",
+      "OPERATION_MODE_MANUAL_T2"
+    ].includes(this.controllerState.operation_mode);
+  }
+  /**
+   * Whether the robot is currently active and can be moved, based on the
+   * safety state, operation mode and servo toggle activation state.
+   */
+  get canBeMoved() {
+    return this.isMoveableSafetyState && this.isMoveableOperationMode && this.activationState === "active";
+  }
+  async deactivate() {
+    if (this.activationState !== "active") {
+      console.error("Tried to deactivate while already deactivating");
+      return;
+    }
+    a(() => {
+      this.activationState = "deactivating";
+    });
+    try {
+      await this.nova.api.controller.setDefaultMode(
+        this.controllerId,
+        "ROBOT_SYSTEM_MODE_MONITOR"
+      ), a(() => {
+        this.activationState = "inactive";
+      });
+    } catch (t) {
+      throw a(() => {
+        this.activationState = "active";
+      }), t;
+    }
+  }
+  async activate() {
+    if (this.activationState !== "inactive") {
+      console.error("Tried to activate while already activating");
+      return;
+    }
+    a(() => {
+      this.activationState = "activating";
+    });
+    try {
+      await this.nova.api.controller.setDefaultMode(
+        this.controllerId,
+        "ROBOT_SYSTEM_MODE_CONTROL"
+      ), a(() => {
+        this.activationState = "active";
+      });
+    } catch (t) {
+      throw a(() => {
+        this.activationState = "inactive";
+      }), t;
+    }
+  }
+  toggleActivation() {
+    this.activationState === "inactive" ? this.activate() : this.activationState === "active" && this.deactivate();
+  }
+  dispose() {
+    this.motionStateSocket.close(), this.connectedJoggingSocket && this.connectedJoggingSocket.close();
+  }
+  setJoggingVelocity(t) {
+    this.joggingVelocity = t;
+  }
+}
+export {
+  E as ConnectedMotionGroup,
+  E as default
+};
+//# sourceMappingURL=ConnectedMotionGroup.js.map

package/dist/lib/ConnectedMotionGroup.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ConnectedMotionGroup.js","sources":["../../src/lib/ConnectedMotionGroup.ts"],"sourcesContent":["import {\n  tryParseJson,\n  type AutoReconnectingWebsocket,\n} from \"@wandelbots/nova-js\"\nimport type {\n  DHParameter,\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  OperationMode,\n  RobotControllerState,\n  SafetyStateType,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport { jointValuesEqual, tcpMotionEqual } from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type RobotTcpLike = {\n  id: string\n  readable_name: string\n  position: Vector3Simple\n  orientation: Vector3Simple\n}\n\nexport type MotionGroupOption = {\n  selectionId: string\n}\n\nconst EMPTY_DH_PARAMETER: DHParameter = {\n  a: 0,\n  d: 0,\n  alpha: 0,\n  theta: 0,\n  reverse_rotation_direction: false,\n}\n\n/**\n * Store representing the current state of a connected motion group.\n * API v2 version, not used yet in the components.\n */\nexport class ConnectedMotionGroup {\n  static async connectMultiple(nova: NovaClient, motionGroupIds: string[]) {\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(nova, motionGroupId),\n      ),\n    )\n  }\n\n  static async connect(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Check if robot is virtual or physical\n    const config = await nova.api.controller.getRobotController(\n      controller.controller,\n    )\n    const isVirtual = config.configuration.kind === \"VirtualController\"\n\n    // If there's a configured mounting, we need it to show the right\n    // position of the robot model\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    // There are converted into a RobotTcpLike for easier use in the UI\n    const tcps: RobotTcpLike[] = Object.entries(description.tcps || {}).map(\n      ([id, tcp]) => ({\n        id,\n        readable_name: tcp.name,\n        position: tcp.pose.position as Vector3Simple,\n        orientation: tcp.pose.orientation as Vector3Simple,\n      }),\n    )\n\n    // Open the websocket to monitor controller state for e.g. e-stop\n    const controllerStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controller.controller}/state-stream?response_rate=1000`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstControllerMessage = await controllerStateSocket.firstMessage()\n    const initialControllerState = tryParseJson(firstControllerMessage.data)\n      ?.result as RobotControllerState\n\n    if (!initialControllerState) {\n      throw new Error(\n        `Unable to parse initial controller state message ${firstControllerMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected controller state websocket to controller ${controller.controller}. Initial state:\\n  `,\n      initialControllerState,\n    )\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      tcps,\n      description,\n      initialControllerState,\n      controllerStateSocket,\n    )\n  }\n\n  connectedJoggingSocket: WebSocket | null = null\n  // biome-ignore lint/suspicious/noExplicitAny: legacy code\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  // Response rate on the websocket should be a bit slower on this one since\n  // we don't use the motion data\n  controllerState: RobotControllerState\n\n  /**\n   * Reflects activation state of the motion group / robot servos. The\n   * movement controls in the UI should only be enabled in the \"active\" state\n   */\n  activationState: \"inactive\" | \"activating\" | \"deactivating\" | \"active\" =\n    \"inactive\"\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcpLike[],\n    readonly description: MotionGroupDescription,\n    readonly initialControllerState: RobotControllerState,\n    readonly controllerStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n    this.controllerState = initialControllerState\n\n    // Track controller state updates (e.g. safety state and operation mode)\n    controllerStateSocket.addEventListener(\"message\", (event) => {\n      const data = tryParseJson(event.data)?.result\n\n      if (!data) {\n        return\n      }\n\n      runInAction(() => {\n        this.controllerState = data\n      })\n    })\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.joint_position =\n            latestMotionState.joint_position\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          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joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  // Please note that API v2 omits 0 values\n  get dhParameters() {\n    if (this.description.dh_parameters === undefined) {\n      return undefined\n    }\n\n    return this.description.dh_parameters.map((dh_param) => ({\n      ...EMPTY_DH_PARAMETER,\n      ...dh_param,\n    }))\n  }\n\n  get safetyZones() {\n    return this.description.safety_zones\n  }\n\n  /** Gets the robot mounting position offset in 3D viz coordinates */\n  get mountingPosition(): [number, number, number] {\n    if (!this.description.mounting) {\n      return [0, 0, 0]\n    }\n\n    return [\n      (this.description.mounting.position?.[0] || 0) / 1000,\n      (this.description.mounting.position?.[1] || 0) / 1000,\n      (this.description.mounting.position?.[2] || 0) / 1000,\n    ]\n  }\n\n  /** Gets the robot mounting position rotation in 3D viz coordinates */\n  get mountingQuaternion() {\n    const rotationVector = new THREE.Vector3(\n      this.description.mounting?.orientation?.[0] || 0,\n      this.description.mounting?.orientation?.[1] || 0,\n      this.description.mounting?.orientation?.[2] || 0,\n    )\n\n    const magnitude = rotationVector.length()\n    const axis = rotationVector.normalize()\n\n    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)\n  }\n\n  /**\n   * Whether the controller is currently in a safety state\n   * corresponding to an emergency stop\n   */\n  get isEstopActive() {\n    const estopStates: SafetyStateType[] = [\n      \"SAFETY_STATE_ROBOT_EMERGENCY_STOP\",\n      \"SAFETY_STATE_DEVICE_EMERGENCY_STOP\",\n    ]\n\n    return estopStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in a safety state\n   * that may be non-functional for robot pad purposes\n   */\n  get isMoveableSafetyState() {\n    const goodSafetyStates: SafetyStateType[] = [\n      \"SAFETY_STATE_NORMAL\",\n      \"SAFETY_STATE_REDUCED\",\n    ]\n\n    return goodSafetyStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in an operation mode that allows movement\n   */\n  get isMoveableOperationMode() {\n    const goodOperationModes: OperationMode[] = [\n      \"OPERATION_MODE_AUTO\",\n      \"OPERATION_MODE_MANUAL\",\n      \"OPERATION_MODE_MANUAL_T1\",\n      \"OPERATION_MODE_MANUAL_T2\",\n    ]\n\n    return goodOperationModes.includes(this.controllerState.operation_mode)\n  }\n\n  /**\n   * Whether the robot is currently active and can be moved, based on the\n   * safety state, operation mode and servo toggle activation state.\n   */\n  get canBeMoved() {\n    return (\n      this.isMoveableSafetyState &&\n      this.isMoveableOperationMode &&\n      this.activationState === \"active\"\n    )\n  }\n\n  async deactivate() {\n    if (this.activationState !== \"active\") {\n      console.error(\"Tried to deactivate while already deactivating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"deactivating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_MONITOR\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n      throw err\n    }\n  }\n\n  async activate() {\n    if (this.activationState !== \"inactive\") {\n      console.error(\"Tried to activate while already activating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"activating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_CONTROL\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n    } catch (err) {\n      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package/dist/lib/JoggerConnection.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const l=require("@wandelbots/nova-js"),w=require("@wandelbots/nova-js/v2"),_=require("mobx"),E=require("three/src/math/Vector3.js"),F=require("./MotionStreamConnection.cjs"),k="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class y{constructor(t,e={}){this.motionStream=t,this.options=e,this.ENDPOINT_JOGGING="/execution/jogging",this.ENDPOINT_TRAJECTORY="/execution/trajectory",this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.NO_TCP=void 0,this.DEFAULT_INIT_TIMEOUT=5e3,this.DEFAULT_ORIENTATION="coordsys",this.mode="off",this.joggingSocket=null,this.trajectorySocket=null,this.timeout=this.DEFAULT_INIT_TIMEOUT,this.tcp=(e==null?void 0:e.tcp)||t.motionGroup.tcp||this.getDefaultTcp(t),this.orientation=(e==null?void 0:e.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(e==null?void 0:e.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(e==null?void 0:e.mode)||this.DEFAULT_MODE,this.onError=e==null?void 0:e.onError}static async open(t,e,r={}){const s=await F.MotionStreamConnection.open(t,e),i=new y(s,r);return await i.setJoggingMode(i.mode),i}getDefaultTcp(t){var r,s;const e=(s=(r=t.description.dh_parameters)==null?void 0:r[0])==null?void 0:s.type;return t.joints.length<6&&(e===w.JointTypeEnum.RevoluteJoint||e===w.JointTypeEnum.PrismaticJoint)?this.NO_TCP:this.DEFAULT_TCP}async setOptions(t){t.tcp&&(this.tcp=t.tcp),t.orientation&&(this.orientation=t.orientation),t.timeout&&(this.timeout=t.timeout),t.mode&&(this.mode=t.mode),t.onError&&(this.onError=t.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const t=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:t})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const t=[this.joggingSocket,this.trajectorySocket].filter(e=>e!==null);return t.forEach(e=>{e.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(e=>e.closed()))}async setJoggingMode(t,e=!0){if(!(this.mode===t&&e)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,e)=>{const r=setTimeout(()=>{e(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",s=>{var c,h,a,d;const i=l.tryParseJson(s.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(r),t();return}if(((h=i==null?void 0:i.result)==null?void 0:h.kind)==="MOTION_ERROR")if(clearTimeout(r),this.onBlocked&&((a=i==null?void 0:i.result)!=null&&a.message.includes(k))){(d=this.joggingSocket)==null||d.dispose(),this.onBlocked();return}else this.onError?this.onError(s.data):e(new Error(s.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:t,direction:e,velocityValue:r,velocityUnit:s}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[t]=e==="-"?-r:r,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:t,direction:e,velocityMmPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const s=[0,0,0],i=[0,0,0];i[l.XYZ_TO_VECTOR[t]]=e==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:s,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:e,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const s=[0,0,0],i=[0,0,0];s[l.XYZ_TO_VECTOR[t]]=e==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:s})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:e,velocityInRelevantUnits:r,axis:s,direction:i,motion:c}){const h=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(c.type==="translate"){if(!t.position)throw new Error("Current pose has no position, cannot perform translation");const o=[...t.position];o[l.XYZ_TO_VECTOR[s]]+=c.distanceMm*(i==="-"?-1:1),h.push({limits_override:{tcp_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:o,orientation:t.orientation}}})}else if(c.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const o=new E.Vector3(t.orientation[0],t.orientation[1],t.orientation[2]),n=o.length(),m=o.clone().normalize(),g=c.distanceRads*(i==="-"?-1:1),u=new E.Vector3(0,0,0);u[s]=1;const J=Math.cos(.5*g)*Math.cos(.5*n),T=Math.sin(.5*g)*Math.sin(.5*n),M=Math.sin(.5*g)*Math.cos(.5*n),C=Math.cos(.5*g)*Math.sin(.5*n),D=u.dot(m),N=u.clone().cross(m),p=2*Math.acos(J-T*D),v=p/Math.sin(.5*p),A=new E.Vector3().addScaledVector(N,T).addScaledVector(u,M).addScaledVector(m,C).multiplyScalar(v);h.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...A]}}})}const a=this.motionStream.description;if(a.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const d={motion_group_model:a.motion_group_model,cycle_time:a.cycle_time,mounting:a.mounting,global:a.operation_limits.auto_limits},j=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:d,start_joint_position:e,motion_commands:h}),f=j.response;if(!f)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(j)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const S=o=>{var n;if(!o||o.add_trajectory_error||o.message)if(this.onError)this.onError(o);else throw new Error(((n=o==null?void 0:o.add_trajectory_error)==null?void 0:n.message)||(o==null?void 0:o.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},R=async()=>{var o;await _.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await _.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(o=this.trajectorySocket)==null||o.dispose(),this.trajectorySocket=null},I=async()=>{var o;await _.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(o=this.trajectorySocket)==null||o.dispose(),this.trajectorySocket=null},O=async o=>{if(o!=null&&o.message)if(this.onError){this.onError(o);return}else throw new Error(o.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await R():await I()};this.trajectorySocket.addEventListener("message",o=>{var m,g;const n=l.tryParseJson(o.data);if(!((m=n==null?void 0:n.result)!=null&&m.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${o.data}`);if(this.onBlocked&&((g=n.result.message)!=null&&g.includes(k))){this.onBlocked();return}if(n.result.kind==="INITIALIZE_RECEIVED")S(n.result);else if(n.result.kind==="START_RECEIVED")O(n);else if(n.result.kind!=="PAUSE_RECEIVED")if(n.result.kind==="MOTION_ERROR"&&n.result.message)if(this.onError){this.onError(n);return}else throw new Error(n.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${n.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:f,tcp:this.tcp}})}}exports.JoggerConnection=y;exports.default=y;
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