@wandelbots/wandelbots-js-react-components 5.5.0 → 5.5.1-pr.fix-standardize-output.591.0e6ee47

package/dist/3d.cjs

@@ -1,2 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const r=require("./components/3d-viewport/collider/CollisionSceneRenderer.cjs"),o=require("./components/3d-viewport/PresetEnvironment.cjs"),t=require("./components/3d-viewport/SafetyZonesRenderer.cjs"),n=require("./components/3d-viewport/TrajectoryRenderer.cjs"),i=require("./components/RobotCard.cjs"),u=require("./components/robots/AxisConfig.cjs"),s=require("./components/robots/LinearAxis.cjs"),e=require("./components/robots/manufacturerHomePositions.cjs"),a=require("./components/robots/Robot.cjs"),d=require("./components/robots/robotModelLogic.cjs"),c=require("./components/robots/SupportedLinearAxis.cjs"),R=require("./components/robots/SupportedRobot.cjs"),l=require("./components/robots/MotionGroupVisualizer.cjs");exports.CollisionSceneRenderer=r.default;exports.PresetEnvironment=o.PresetEnvironment;exports.SafetyZonesRenderer=t.SafetyZonesRenderer;exports.TrajectoryRenderer=n.TrajectoryRenderer;exports.RobotCard=i.RobotCard;exports.defaultAxisConfig=u.defaultAxisConfig;exports.LinearAxis=s.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;exports.Robot=a.Robot;exports.defaultGetModel=d.defaultGetModel;exports.SupportedLinearAxis=c.SupportedLinearAxis;exports.SupportedRobot=R.SupportedRobot;exports.MotionGroupVisualizer=l.MotionGroupVisualizer;
-//# sourceMappingURL=3d.cjs.map
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./components/3d-viewport/collider/CollisionSceneRenderer.cjs"),r=require("./components/3d-viewport/PresetEnvironment.cjs"),t=require("./components/3d-viewport/SafetyZonesRenderer.cjs"),n=require("./components/3d-viewport/TrajectoryRenderer.cjs"),i=require("./components/RobotCard.cjs"),s=require("./components/robots/AxisConfig.cjs"),u=require("./components/robots/LinearAxis.cjs"),e=require("./components/robots/manufacturerHomePositions.cjs"),c=require("./components/robots/Robot.cjs"),a=require("./components/robots/robotModelLogic.cjs"),p=require("./components/robots/SupportedLinearAxis.cjs"),d=require("./components/robots/SupportedRobot.cjs"),_=require("./components/robots/MotionGroupVisualizer.cjs");exports.CollisionSceneRenderer=o.default;exports.PresetEnvironment=r.PresetEnvironment;exports.SafetyZonesRenderer=t.SafetyZonesRenderer;exports.TrajectoryRenderer=n.TrajectoryRenderer;exports.RobotCard=i.RobotCard;exports.defaultAxisConfig=s.defaultAxisConfig;exports.LinearAxis=u.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;exports.Robot=c.Robot;exports.defaultGetModel=a.defaultGetModel;exports.SupportedLinearAxis=p.SupportedLinearAxis;exports.SupportedRobot=d.SupportedRobot;exports.MotionGroupVisualizer=_.MotionGroupVisualizer;

package/dist/3d.d.ts

@@ -11,4 +11,3 @@ export { defaultGetModel } from "./components/robots/robotModelLogic";
 export * from "./components/robots/SupportedLinearAxis";
 export * from "./components/robots/SupportedRobot";
 export * from "./components/robots/MotionGroupVisualizer";
-//# sourceMappingURL=3d.d.ts.map

package/dist/3d.js

@@ -28,4 +28,3 @@ export {
   A as extractManufacturer,
   M as getDefaultHomeConfig
 };
-//# sourceMappingURL=3d.js.map

package/dist/Setup.d.ts

@@ -9,4 +9,3 @@ type Props = React.PropsWithChildren<CanvasProps & {
 }>;
 export declare const Setup: ({ children, cameraFov, cameraPosition, controls, lights, ...restProps }: Props) => import("react/jsx-runtime").JSX.Element;
 export {};
-//# sourceMappingURL=Setup.d.ts.map

package/dist/chunks/JoggingPanel-CQH_oXTB.js

@@ -0,0 +1,586 @@
+import { jsx as m, jsxs as v } from "react/jsx-runtime";
+import W from "@mui/icons-material/OpenWith";
+import B from "@mui/icons-material/Share";
+import E from "@mui/material/Stack";
+import Y from "@mui/material/Tab";
+import Z from "@mui/material/Tabs";
+import { JointTypeEnum as J, NovaClient as H } from "@wandelbots/nova-js/v2";
+import { isString as X } from "lodash-es";
+import { runInAction as _, makeAutoObservable as K, when as k } from "mobx";
+import { observer as N, useLocalObservable as Q } from "mobx-react-lite";
+import { useEffect as O } from "react";
+import { useTranslation as tt } from "react-i18next";
+import { e as ot } from "./externalizeComponent-eiCc5DIh.js";
+import { tryParseJson as S, XYZ_TO_VECTOR as w } from "@wandelbots/nova-js";
+import { Vector3 as I } from "three/src/math/Vector3.js";
+import { Vector3 as D } from "three";
+import { LoadingCover as it } from "../components/LoadingCover.js";
+import { JoggingBlocked as et } from "../components/jogging/JoggingBlocked.js";
+import { JoggingCartesianTab as nt } from "../components/jogging/JoggingCartesianTab.js";
+import { JoggingJointTab as rt } from "../components/jogging/JoggingJointTab.js";
+import { JoggingStore as st } from "../components/jogging/JoggingStore.js";
+function at(i, t, o) {
+  if (t.length !== i.length)
+    return !0;
+  for (let n = 0; n < t.length; n++)
+    if (
+      // biome-ignore lint/style/noNonNullAssertion: legacy code
+      Math.abs(t[n] - i[n]) > o
+    )
+      return !1;
+  return !0;
+}
+function gt(i, t, o) {
+  if (i === void 0 && t || i && t === void 0 || (i == null ? void 0 : i.orientation) === void 0 || (t == null ? void 0 : t.orientation) === void 0 || (i == null ? void 0 : i.position) === void 0 || (t == null ? void 0 : t.position) === void 0)
+    return !1;
+  if (i === void 0 || t === void 0)
+    return !0;
+  let n = 0;
+  return n += Math.abs(i.orientation[0] - t.orientation[0]), n += Math.abs(i.orientation[1] - t.orientation[1]), n += Math.abs(i.orientation[2] - t.orientation[2]), n += Math.abs(i.position[0] - t.position[0]), n += Math.abs(i.position[1] - t.position[1]), n += Math.abs(i.position[2] - t.position[2]), n <= o;
+}
+function ct(i, t, o) {
+  return i.coordinate_system === t.coordinate_system && i.tcp === t.tcp && gt(
+    i.tcp_pose,
+    t.tcp_pose,
+    o
+  );
+}
+function lt(i, t) {
+  const o = new D(
+    t[0],
+    t[1],
+    t[2]
+  ), n = new D(
+    i[0],
+    i[1],
+    i[2]
+  ), e = o.length(), r = o.normalize();
+  let g = n.length(), l = n.normalize();
+  l.dot(r) < 0 && (g = -g, l = l.multiplyScalar(-1));
+  let a = g - e;
+  return a -= 2 * Math.PI * Math.floor((a + Math.PI) / (2 * Math.PI)), g = e + a, [...l.multiplyScalar(g)];
+}
+const T = 1e-4;
+class M {
+  constructor(t, o, n, e, r, g) {
+    this.nova = t, this.controller = o, this.motionGroup = n, this.description = e, this.initialMotionState = r, this.motionStateSocket = g, this.rapidlyChangingMotionState = r, g.addEventListener("message", (l) => {
+      var h;
+      const a = (h = S(l.data)) == null ? void 0 : h.result;
+      if (!a)
+        throw new Error(
+          `Failed to get motion state for ${this.motionGroupId}: ${l.data}`
+        );
+      at(
+        this.rapidlyChangingMotionState.joint_position,
+        a.joint_position,
+        T
+      ) || _(() => {
+        this.rapidlyChangingMotionState.joint_position = a.joint_position;
+      }), ct(
+        this.rapidlyChangingMotionState,
+        a,
+        T
+      ) || _(() => {
+        var u, d, p;
+        this.rapidlyChangingMotionState.tcp_pose == null ? this.rapidlyChangingMotionState.tcp_pose = a.tcp_pose : (u = a.tcp_pose) != null && u.orientation && ((d = a.tcp_pose) != null && d.position) && ((p = this.rapidlyChangingMotionState.tcp_pose) != null && p.orientation) ? this.rapidlyChangingMotionState.tcp_pose = {
+          position: a.tcp_pose.position,
+          orientation: lt(
+            a.tcp_pose.orientation,
+            this.rapidlyChangingMotionState.tcp_pose.orientation
+          )
+        } : console.warn(
+          "Received incomplete tcp_pose, ignoring",
+          a.tcp_pose
+        );
+      }), this.rapidlyChangingMotionState.standstill !== a.standstill && _(() => {
+        this.rapidlyChangingMotionState.standstill = a.standstill;
+      });
+    }), K(this);
+  }
+  static async open(t, o) {
+    var d;
+    const [n, e] = o.split("@"), r = await t.api.controller.getCurrentRobotControllerState(e), g = r == null ? void 0 : r.motion_groups.find(
+      (p) => p.motion_group === o
+    );
+    if (!r || !g)
+      throw new Error(
+        `Controller ${e} or motion group ${o} not found`
+      );
+    const l = t.openReconnectingWebsocket(
+      `/controllers/${e}/motion-groups/${o}/state-stream`
+    ), a = await l.firstMessage(), h = (d = S(a.data)) == null ? void 0 : d.result;
+    if (!h)
+      throw new Error(
+        `Unable to parse initial motion state message ${a.data}`
+      );
+    console.log(
+      `Connected motion state websocket to motion group ${g.motion_group}. Initial state:
+  `,
+      h
+    );
+    const u = await t.api.motionGroup.getMotionGroupDescription(
+      e,
+      g.motion_group
+    );
+    return new M(
+      t,
+      r,
+      g,
+      u,
+      h,
+      l
+    );
+  }
+  get motionGroupId() {
+    return this.motionGroup.motion_group;
+  }
+  get controllerId() {
+    return this.controller.controller;
+  }
+  get joints() {
+    return this.initialMotionState.joint_position.map((t, o) => ({
+      index: o
+    }));
+  }
+  dispose() {
+    this.motionStateSocket.close();
+  }
+}
+const x = "Movement request rejected. Another client is currently executing a 'Jogging' motion!";
+class b {
+  constructor(t, o = {}) {
+    this.motionStream = t, this.options = o, 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 = (o == null ? void 0 : o.tcp) || t.motionGroup.tcp || this.getDefaultTcp(t), this.orientation = (o == null ? void 0 : o.orientation) || this.DEFAULT_ORIENTATION, this.timeout = (o == null ? void 0 : o.timeout) || this.DEFAULT_INIT_TIMEOUT, this.mode = (o == null ? void 0 : o.mode) || this.DEFAULT_MODE, this.onError = o == null ? void 0 : o.onError;
+  }
+  /**
+   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
+   *
+   * @param nova - The Nova client instance
+   * @param motionGroupId - The ID of the motion group to connect to
+   * @param options - Configuration options for the jogger connection
+   * @param options.mode - The jogging mode to initialize:
+   *   - "jogging": Continuous jogging mode with persistent websocket for real-time velocity commands
+   *   - "trajectory": Incremental jogging mode for fixed-distance motions via trajectory planning
+   *   - "off": No jogging enabled, all websockets closed (default)
+   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)
+   * @param options.tcp - TCP frame to use for motions (default: from motion group)
+   * //param options.coordinateSystem - Coordinate system for jogging commands (default: "world"). Please note: Currently not implemented
+   * @param options.orientation - If set to "tool", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: "coordsys")
+   * @param options.onError - Error handler for websocket errors
+   * @returns Promise resolving to initialized JoggerConnection instance
+   */
+  static async open(t, o, n = {}) {
+    const e = await M.open(t, o), r = new b(e, n);
+    return await r.setJoggingMode(r.mode), r;
+  }
+  getDefaultTcp(t) {
+    var n, e;
+    const o = (e = (n = t.description.dh_parameters) == null ? void 0 : n[0]) == null ? void 0 : e.type;
+    return t.joints.length < 6 && (o === J.RevoluteJoint || o === J.PrismaticJoint) ? this.NO_TCP : this.DEFAULT_TCP;
+  }
+  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket
+  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;
+  }
+  // get activeJoggingMode() {
+  //   return this.mode
+  // }
+  // get activeWebsocket() {
+  //   return this.mode === "jogging" ? this.joggingSocket : this.trajectorySocket;
+  // }
+  // Sends stop movement command to robot
+  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"
+    });
+  }
+  // Dispose the jogger, closing all open websockets
+  async dispose() {
+    const t = [this.joggingSocket, this.trajectorySocket].filter(
+      (o) => o !== null
+    );
+    return t.forEach((o) => {
+      o.dispose();
+    }), this.joggingSocket = null, this.trajectorySocket = null, Promise.all(t.map((o) => o.closed()));
+  }
+  // Activate jogger in one of the supported modes
+  // Will iniitialize or close websockets as necessary
+  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)
+  async setJoggingMode(t, o = !0) {
+    if (!(this.mode === t && o) && (this.dispose(), this.mode = t, this.mode === "jogging"))
+      return this.initializeJoggingWebsocket();
+  }
+  // Initializes continuous jogging websocket, called by setJoggingMode("jogging")
+  async initializeJoggingWebsocket() {
+    return new Promise((t, o) => {
+      const n = setTimeout(() => {
+        o(
+          new Error(
+            `Jogging initialization timeout after ${this.timeout} seconds`
+          )
+        );
+      }, this.timeout);
+      this.joggingSocket = this.nova.openReconnectingWebsocket(
+        this.ENDPOINT_JOGGING
+      ), this.joggingSocket.addEventListener("message", (e) => {
+        var g, l, a, h;
+        const r = S(e.data);
+        if (((g = r == null ? void 0 : r.result) == null ? void 0 : g.kind) === "INITIALIZE_RECEIVED") {
+          clearTimeout(n), t();
+          return;
+        }
+        if (((l = r == null ? void 0 : r.result) == null ? void 0 : l.kind) === "MOTION_ERROR")
+          if (clearTimeout(n), this.onBlocked && ((a = r == null ? void 0 : r.result) != null && a.message.includes(x))) {
+            (h = this.joggingSocket) == null || h.dispose(), this.onBlocked();
+            return;
+          } else this.onError ? this.onError(e.data) : o(new Error(e.data));
+      }), this.joggingSocket.sendJson({
+        message_type: "InitializeJoggingRequest",
+        motion_group: this.motionGroupId,
+        ...this.tcp ? { tcp: this.tcp } : {}
+      });
+    });
+  }
+  /**
+   * Jogging: Start rotation of a single robot joint at the specified velocity
+   */
+  async rotateJoints({
+    joint: t,
+    direction: o,
+    velocityValue: n,
+    velocityUnit: e
+  }) {
+    if (!this.joggingSocket || this.mode !== "jogging")
+      throw new Error(
+        "Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'"
+      );
+    const r = new Array(this.numJoints).fill(0);
+    r[t] = o === "-" ? -n : n, this.joggingSocket.sendJson({
+      message_type: "JointVelocityRequest",
+      velocity: r
+    });
+  }
+  /**
+   * Jogging: Start the TCP moving along a specified axis at a given velocity
+   */
+  async translateTCP({
+    axis: t,
+    direction: o,
+    velocityMmPerSec: n
+  }) {
+    if (!this.joggingSocket || this.mode !== "jogging")
+      throw new Error(
+        "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
+      );
+    const e = [0, 0, 0], r = [0, 0, 0];
+    r[w[t]] = o === "-" ? -n : n, this.joggingSocket.sendJson({
+      message_type: "TcpVelocityRequest",
+      translation: r,
+      rotation: e,
+      use_tool_coordinate_system: this.orientation === "tool"
+    });
+  }
+  /**
+   * Jogging: Start the TCP rotating around a specified axis at a given velocity
+   */
+  async rotateTCP({
+    axis: t,
+    direction: o,
+    velocityRadsPerSec: n
+  }) {
+    if (!this.joggingSocket || this.mode !== "jogging")
+      throw new Error(
+        "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
+      );
+    const e = [0, 0, 0], r = [0, 0, 0];
+    e[w[t]] = o === "-" ? -n : n, this.joggingSocket.sendJson({
+      message_type: "TcpVelocityRequest",
+      translation: r,
+      rotation: e
+    });
+  }
+  /**
+   * Trajectory jogging:
+   *
+   * Move the robot by a fixed distance in a single cartesian
+   * axis, either rotating or translating relative to the TCP.
+   * Promise resolves only after the motion has completed.
+   */
+  async runIncrementalCartesianMotion({
+    currentTcpPose: t,
+    currentJoints: o,
+    // coordSystemId,
+    velocityInRelevantUnits: n,
+    axis: e,
+    direction: r,
+    motion: g
+  }) {
+    const l = [];
+    if (this.mode !== "trajectory")
+      throw new Error(
+        "Set jogging mode to 'trajectory' to run incremental cartesian motions"
+      );
+    if (g.type === "translate") {
+      if (!t.position)
+        throw new Error(
+          "Current pose has no position, cannot perform translation"
+        );
+      const s = [...t.position];
+      s[w[e]] += g.distanceMm * (r === "-" ? -1 : 1), l.push({
+        limits_override: {
+          tcp_velocity_limit: n
+        },
+        path: {
+          path_definition_name: "PathLine",
+          target_pose: {
+            position: s,
+            orientation: t.orientation
+          }
+        }
+      });
+    } else if (g.type === "rotate") {
+      if (!t.orientation)
+        throw new Error(
+          "Current pose has no orientation, cannot perform rotation"
+        );
+      const s = new I(
+        t.orientation[0],
+        t.orientation[1],
+        t.orientation[2]
+      ), c = s.length(), y = s.clone().normalize(), f = g.distanceRads * (r === "-" ? -1 : 1), j = new I(0, 0, 0);
+      j[e] = 1;
+      const G = Math.cos(0.5 * f) * Math.cos(0.5 * c), C = Math.sin(0.5 * f) * Math.sin(0.5 * c), P = Math.sin(0.5 * f) * Math.cos(0.5 * c), $ = Math.cos(0.5 * f) * Math.sin(0.5 * c), U = j.dot(
+        y
+      ), q = j.clone().cross(y), R = 2 * Math.acos(G - C * U), z = R / Math.sin(0.5 * R), V = new I().addScaledVector(q, C).addScaledVector(j, P).addScaledVector(y, $).multiplyScalar(z);
+      l.push({
+        limits_override: {
+          tcp_orientation_velocity_limit: n
+        },
+        path: {
+          path_definition_name: "PathLine",
+          target_pose: {
+            position: t.position,
+            orientation: [...V]
+          }
+        }
+      });
+    }
+    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 h = {
+      motion_group_model: a.motion_group_model,
+      cycle_time: a.cycle_time,
+      mounting: a.mounting,
+      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling
+      // FIXME use proper mode's limits if set
+      global: a.operation_limits.auto_limits
+    }, u = await this.nova.api.trajectoryPlanning.planTrajectory(
+      {
+        motion_group_setup: h,
+        start_joint_position: o,
+        motion_commands: l
+      }
+    ), d = u.response;
+    if (!d)
+      throw new Error(
+        `Failed to plan jogging increment motion ${JSON.stringify(u)}`
+      );
+    this.trajectorySocket && (console.warn("Trajectory jogging websocket already open; will close"), this.trajectorySocket.dispose()), this.trajectorySocket = this.nova.openReconnectingWebsocket(
+      this.ENDPOINT_TRAJECTORY
+    );
+    const p = (s) => {
+      var c;
+      if (!s || s.add_trajectory_error || s.message)
+        if (this.onError)
+          this.onError(s);
+        else
+          throw new Error(
+            ((c = s == null ? void 0 : s.add_trajectory_error) == null ? void 0 : c.message) || (s == null ? void 0 : s.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"
+      });
+    }, A = async () => {
+      var s;
+      await k(() => !this.motionStream.rapidlyChangingMotionState.standstill), await k(() => this.motionStream.rapidlyChangingMotionState.standstill), (s = this.trajectorySocket) == null || s.dispose(), this.trajectorySocket = null;
+    }, F = async () => {
+      var s;
+      await k(() => this.motionStream.rapidlyChangingMotionState.standstill), (s = this.trajectorySocket) == null || s.dispose(), this.trajectorySocket = null;
+    }, L = async (s) => {
+      if (s != null && s.message)
+        if (this.onError) {
+          this.onError(s);
+          return;
+        } else
+          throw new Error(
+            s.message || "Failed to execute trajectory, unknown error"
+          );
+      this.motionStream.rapidlyChangingMotionState.standstill ? await A() : await F();
+    };
+    this.trajectorySocket.addEventListener("message", (s) => {
+      var y, f;
+      const c = S(s.data);
+      if (!((y = c == null ? void 0 : c.result) != null && y.kind))
+        throw new Error(
+          `Failed to execute trajectory: Received invalid message ${s.data}`
+        );
+      if (this.onBlocked && ((f = c.result.message) != null && f.includes(x))) {
+        this.onBlocked();
+        return;
+      }
+      if (c.result.kind === "INITIALIZE_RECEIVED")
+        p(c.result);
+      else if (c.result.kind === "START_RECEIVED")
+        L(c);
+      else if (c.result.kind !== "PAUSE_RECEIVED") if (c.result.kind === "MOTION_ERROR" && c.result.message)
+        if (this.onError) {
+          this.onError(c);
+          return;
+        } else
+          throw new Error(c.result.message);
+      else
+        throw new Error(
+          `Failed to execute trajectory, cannot handle message type "${c.result.kind}"`
+        );
+    }), this.trajectorySocket.sendJson({
+      message_type: "InitializeMovementRequest",
+      trajectory: {
+        message_type: "TrajectoryData",
+        motion_group: this.motionGroupId,
+        data: d,
+        tcp: this.tcp
+      }
+    });
+  }
+}
+const Tt = ot(
+  N((i) => {
+    const t = X(i.nova) ? new H({ instanceUrl: i.nova }) : i.nova, o = Q(() => ({
+      joggingStore: null,
+      loadingError: null
+    }));
+    async function n() {
+      _(() => {
+        o.loadingError = null, o.joggingStore = null;
+      });
+      try {
+        let e = i.store;
+        if (!e) {
+          const r = await b.open(t, i.motionGroupId);
+          e = await st.loadFor(r);
+        }
+        _(() => {
+          o.joggingStore = e;
+        }), i.onSetup && i.onSetup(e);
+      } catch (e) {
+        o.loadingError = e;
+      }
+    }
+    return O(() => (n(), i.store ? () => null : () => {
+      var e;
+      (e = o.joggingStore) == null || e.dispose();
+    }), [i.store, i.nova, i.motionGroupId]), O(() => {
+      const e = o.joggingStore;
+      e && (i.locked ? e.lock("external") : e.unlock("external"));
+    }, [o.joggingStore, i.locked]), /* @__PURE__ */ m(
+      E,
+      {
+        "data-testid": "jogging-panel",
+        "aria-label": "jogging-panel",
+        sx: {
+          maxWidth: "460px",
+          minWidth: "320px",
+          position: "relative",
+          ...i.sx
+        },
+        children: o.joggingStore ? /* @__PURE__ */ m(ht, { store: o.joggingStore, children: i.children }) : /* @__PURE__ */ m(it, { message: "Loading jogging", error: o.loadingError })
+      }
+    );
+  })
+), ht = N(
+  ({
+    store: i,
+    children: t
+  }) => {
+    const { t: o } = tt();
+    function n() {
+      if (i.currentTab.id === "cartesian")
+        return /* @__PURE__ */ m(nt, { store: i, children: t });
+      if (i.currentTab.id === "joint")
+        return /* @__PURE__ */ m(rt, { store: i, children: t });
+    }
+    return /* @__PURE__ */ v(E, { flexGrow: 1, sx: { overflow: "hidden" }, children: [
+      /* @__PURE__ */ m(
+        Z,
+        {
+          "data-testid": "jogging-tabs",
+          "aria-label": "jogging-tabs",
+          value: i.tabIndex,
+          onChange: i.onTabChange,
+          variant: "fullWidth",
+          children: i.tabs.map((e) => {
+            const r = e.label === "Cartesian" ? o("Jogging.Cartesian.bt") : o("Jogging.Joints.bt"), g = e.label === "cartesian" ? /* @__PURE__ */ m(W, { fontSize: "small", sx: { mr: 1 } }) : /* @__PURE__ */ m(B, { fontSize: "small", sx: { mr: 1 } });
+            return /* @__PURE__ */ m(
+              Y,
+              {
+                "data-testid": `jogging-tab-${e.id}`,
+                "aria-label": `jogging-tab-${e.id}`,
+                label: i.showTabIcons ? /* @__PURE__ */ v(E, { direction: "row", alignItems: "center", children: [
+                  g,
+                  r
+                ] }) : r,
+                id: `jogging-tab-${e.id}`,
+                "aria-controls": `jogging-tab-${e.id}`
+              },
+              e.id
+            );
+          })
+        }
+      ),
+      /* @__PURE__ */ m(
+        E,
+        {
+          flexGrow: 1,
+          position: "relative",
+          sx: { overflowY: "auto", overflowX: "hidden" },
+          children: n()
+        }
+      ),
+      i.blocked && /* @__PURE__ */ m(et, { store: i })
+    ] });
+  }
+);
+export {
+  Tt as J,
+  M,
+  b as a,
+  at as j,
+  gt as p,
+  ct as t,
+  lt as u
+};

package/dist/chunks/JoggingPanel-DZN2Y39k.cjs

@@ -0,0 +1,2 @@
+"use strict";const h=require("react/jsx-runtime"),B=require("@mui/icons-material/OpenWith"),Y=require("@mui/icons-material/Share"),S=require("@mui/material/Stack"),Z=require("@mui/material/Tab"),X=require("@mui/material/Tabs"),M=require("@wandelbots/nova-js/v2"),H=require("lodash-es"),d=require("mobx"),C=require("mobx-react-lite"),J=require("react"),K=require("react-i18next"),Q=require("./externalizeComponent-DOwkaDcw.cjs"),f=require("@wandelbots/nova-js"),w=require("three/src/math/Vector3.js"),v=require("three"),tt=require("../components/LoadingCover.cjs"),ot=require("../components/jogging/JoggingBlocked.cjs"),et=require("../components/jogging/JoggingCartesianTab.cjs"),nt=require("../components/jogging/JoggingJointTab.cjs"),it=require("../components/jogging/JoggingStore.cjs");function T(e,t,o){if(t.length!==e.length)return!0;for(let i=0;i<t.length;i++)if(Math.abs(t[i]-e[i])>o)return!1;return!0}function q(e,t,o){if(e===void 0&&t||e&&t===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.position)===void 0||(t==null?void 0:t.position)===void 0)return!1;if(e===void 0||t===void 0)return!0;let i=0;return i+=Math.abs(e.orientation[0]-t.orientation[0]),i+=Math.abs(e.orientation[1]-t.orientation[1]),i+=Math.abs(e.orientation[2]-t.orientation[2]),i+=Math.abs(e.position[0]-t.position[0]),i+=Math.abs(e.position[1]-t.position[1]),i+=Math.abs(e.position[2]-t.position[2]),i<=o}function D(e,t,o){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&q(e.tcp_pose,t.tcp_pose,o)}function A(e,t){const o=new v.Vector3(t[0],t[1],t[2]),i=new v.Vector3(e[0],e[1],e[2]),n=o.length(),r=o.normalize();let g=i.length(),l=i.normalize();l.dot(r)<0&&(g=-g,l=l.multiplyScalar(-1));let a=g-n;return a-=2*Math.PI*Math.floor((a+Math.PI)/(2*Math.PI)),g=n+a,[...l.multiplyScalar(g)]}const x=1e-4;class k{constructor(t,o,i,n,r,g){this.nova=t,this.controller=o,this.motionGroup=i,this.description=n,this.initialMotionState=r,this.motionStateSocket=g,this.rapidlyChangingMotionState=r,g.addEventListener("message",l=>{var u;const a=(u=f.tryParseJson(l.data))==null?void 0:u.result;if(!a)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${l.data}`);T(this.rapidlyChangingMotionState.joint_position,a.joint_position,x)||d.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=a.joint_position}),D(this.rapidlyChangingMotionState,a,x)||d.runInAction(()=>{var _,m,y;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=a.tcp_pose:(_=a.tcp_pose)!=null&&_.orientation&&((m=a.tcp_pose)!=null&&m.position)&&((y=this.rapidlyChangingMotionState.tcp_pose)!=null&&y.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:a.tcp_pose.position,orientation:A(a.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",a.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==a.standstill&&d.runInAction(()=>{this.rapidlyChangingMotionState.standstill=a.standstill})}),d.makeAutoObservable(this)}static async open(t,o){var m;const[i,n]=o.split("@"),r=await t.api.controller.getCurrentRobotControllerState(n),g=r==null?void 0:r.motion_groups.find(y=>y.motion_group===o);if(!r||!g)throw new Error(`Controller ${n} or motion group ${o} not found`);const l=t.openReconnectingWebsocket(`/controllers/${n}/motion-groups/${o}/state-stream`),a=await l.firstMessage(),u=(m=f.tryParseJson(a.data))==null?void 0:m.result;if(!u)throw new Error(`Unable to parse initial motion state message ${a.data}`);console.log(`Connected motion state websocket to motion group ${g.motion_group}. Initial state:
+  `,u);const _=await t.api.motionGroup.getMotionGroupDescription(n,g.motion_group);return new k(t,r,g,_,u,l)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((t,o)=>({index:o}))}dispose(){this.motionStateSocket.close()}}const O="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class I{constructor(t,o={}){this.motionStream=t,this.options=o,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=(o==null?void 0:o.tcp)||t.motionGroup.tcp||this.getDefaultTcp(t),this.orientation=(o==null?void 0:o.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(o==null?void 0:o.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(o==null?void 0:o.mode)||this.DEFAULT_MODE,this.onError=o==null?void 0:o.onError}static async open(t,o,i={}){const n=await k.open(t,o),r=new I(n,i);return await r.setJoggingMode(r.mode),r}getDefaultTcp(t){var i,n;const o=(n=(i=t.description.dh_parameters)==null?void 0:i[0])==null?void 0:n.type;return t.joints.length<6&&(o===M.JointTypeEnum.RevoluteJoint||o===M.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(o=>o!==null);return t.forEach(o=>{o.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(o=>o.closed()))}async setJoggingMode(t,o=!0){if(!(this.mode===t&&o)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,o)=>{const i=setTimeout(()=>{o(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",n=>{var g,l,a,u;const r=f.tryParseJson(n.data);if(((g=r==null?void 0:r.result)==null?void 0:g.kind)==="INITIALIZE_RECEIVED"){clearTimeout(i),t();return}if(((l=r==null?void 0:r.result)==null?void 0:l.kind)==="MOTION_ERROR")if(clearTimeout(i),this.onBlocked&&((a=r==null?void 0:r.result)!=null&&a.message.includes(O))){(u=this.joggingSocket)==null||u.dispose(),this.onBlocked();return}else this.onError?this.onError(n.data):o(new Error(n.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:t,direction:o,velocityValue:i,velocityUnit:n}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=new Array(this.numJoints).fill(0);r[t]=o==="-"?-i:i,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:r})}async translateTCP({axis:t,direction:o,velocityMmPerSec:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const n=[0,0,0],r=[0,0,0];r[f.XYZ_TO_VECTOR[t]]=o==="-"?-i:i,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:r,rotation:n,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:o,velocityRadsPerSec:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const n=[0,0,0],r=[0,0,0];n[f.XYZ_TO_VECTOR[t]]=o==="-"?-i:i,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:r,rotation:n})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:o,velocityInRelevantUnits:i,axis:n,direction:r,motion:g}){const l=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(g.type==="translate"){if(!t.position)throw new Error("Current pose has no position, cannot perform translation");const s=[...t.position];s[f.XYZ_TO_VECTOR[n]]+=g.distanceMm*(r==="-"?-1:1),l.push({limits_override:{tcp_velocity_limit:i},path:{path_definition_name:"PathLine",target_pose:{position:s,orientation:t.orientation}}})}else if(g.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const s=new w.Vector3(t.orientation[0],t.orientation[1],t.orientation[2]),c=s.length(),p=s.clone().normalize(),j=g.distanceRads*(r==="-"?-1:1),E=new w.Vector3(0,0,0);E[n]=1;const P=Math.cos(.5*j)*Math.cos(.5*c),R=Math.sin(.5*j)*Math.sin(.5*c),G=Math.sin(.5*j)*Math.cos(.5*c),V=Math.cos(.5*j)*Math.sin(.5*c),$=E.dot(p),U=E.clone().cross(p),b=2*Math.acos(P-R*$),z=b/Math.sin(.5*b),W=new w.Vector3().addScaledVector(U,R).addScaledVector(E,G).addScaledVector(p,V).multiplyScalar(z);l.push({limits_override:{tcp_orientation_velocity_limit:i},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...W]}}})}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 u={motion_group_model:a.motion_group_model,cycle_time:a.cycle_time,mounting:a.mounting,global:a.operation_limits.auto_limits},_=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:u,start_joint_position:o,motion_commands:l}),m=_.response;if(!m)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(_)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const y=s=>{var c;if(!s||s.add_trajectory_error||s.message)if(this.onError)this.onError(s);else throw new Error(((c=s==null?void 0:s.add_trajectory_error)==null?void 0:c.message)||(s==null?void 0:s.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"})},N=async()=>{var s;await d.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await d.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(s=this.trajectorySocket)==null||s.dispose(),this.trajectorySocket=null},F=async()=>{var s;await d.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(s=this.trajectorySocket)==null||s.dispose(),this.trajectorySocket=null},L=async s=>{if(s!=null&&s.message)if(this.onError){this.onError(s);return}else throw new Error(s.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await N():await F()};this.trajectorySocket.addEventListener("message",s=>{var p,j;const c=f.tryParseJson(s.data);if(!((p=c==null?void 0:c.result)!=null&&p.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${s.data}`);if(this.onBlocked&&((j=c.result.message)!=null&&j.includes(O))){this.onBlocked();return}if(c.result.kind==="INITIALIZE_RECEIVED")y(c.result);else if(c.result.kind==="START_RECEIVED")L(c);else if(c.result.kind!=="PAUSE_RECEIVED")if(c.result.kind==="MOTION_ERROR"&&c.result.message)if(this.onError){this.onError(c);return}else throw new Error(c.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${c.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:m,tcp:this.tcp}})}}const rt=Q.externalizeComponent(C.observer(e=>{const t=H.isString(e.nova)?new M.NovaClient({instanceUrl:e.nova}):e.nova,o=C.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function i(){d.runInAction(()=>{o.loadingError=null,o.joggingStore=null});try{let n=e.store;if(!n){const r=await I.open(t,e.motionGroupId);n=await it.JoggingStore.loadFor(r)}d.runInAction(()=>{o.joggingStore=n}),e.onSetup&&e.onSetup(n)}catch(n){o.loadingError=n}}return J.useEffect(()=>(i(),e.store?()=>null:()=>{var n;(n=o.joggingStore)==null||n.dispose()}),[e.store,e.nova,e.motionGroupId]),J.useEffect(()=>{const n=o.joggingStore;n&&(e.locked?n.lock("external"):n.unlock("external"))},[o.joggingStore,e.locked]),h.jsx(S,{"data-testid":"jogging-panel","aria-label":"jogging-panel",sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:o.joggingStore?h.jsx(st,{store:o.joggingStore,children:e.children}):h.jsx(tt.LoadingCover,{message:"Loading jogging",error:o.loadingError})})})),st=C.observer(({store:e,children:t})=>{const{t:o}=K.useTranslation();function i(){if(e.currentTab.id==="cartesian")return h.jsx(et.JoggingCartesianTab,{store:e,children:t});if(e.currentTab.id==="joint")return h.jsx(nt.JoggingJointTab,{store:e,children:t})}return h.jsxs(S,{flexGrow:1,sx:{overflow:"hidden"},children:[h.jsx(X,{"data-testid":"jogging-tabs","aria-label":"jogging-tabs",value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(n=>{const r=n.label==="Cartesian"?o("Jogging.Cartesian.bt"):o("Jogging.Joints.bt"),g=n.label==="cartesian"?h.jsx(B,{fontSize:"small",sx:{mr:1}}):h.jsx(Y,{fontSize:"small",sx:{mr:1}});return h.jsx(Z,{"data-testid":`jogging-tab-${n.id}`,"aria-label":`jogging-tab-${n.id}`,label:e.showTabIcons?h.jsxs(S,{direction:"row",alignItems:"center",children:[g,r]}):r,id:`jogging-tab-${n.id}`,"aria-controls":`jogging-tab-${n.id}`},n.id)})}),h.jsx(S,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:i()}),e.blocked&&h.jsx(ot.JoggingBlocked,{store:e})]})});exports.JoggerConnection=I;exports.JoggingPanel=rt;exports.MotionStreamConnection=k;exports.jointValuesEqual=T;exports.poseEqual=q;exports.tcpMotionEqual=D;exports.unwrapRotationVector=A;

package/dist/chunks/controller-type-virtual-BuJWQOvV.cjs

@@ -0,0 +1 @@
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