@wandelbots/wandelbots-js-react-components 5.5.0 → 5.5.1-pr.fix-standardize-output.591.1380385

package/dist/lib/JoggerConnection.js

@@ -1,342 +0,0 @@
-import { tryParseJson as w, XYZ_TO_VECTOR as u } from "@wandelbots/nova-js";
-import { JointTypeEnum as T } from "@wandelbots/nova-js/v2";
-import { when as y } from "mobx";
-import { Vector3 as E } from "three/src/math/Vector3.js";
-import { MotionStreamConnection as L } from "./MotionStreamConnection.js";
-const k = "Movement request rejected. Another client is currently executing a 'Jogging' motion!";
-class S {
-  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;
-  }
-  /**
-   * 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, e, r = {}) {
-    const s = await L.open(t, e), i = new S(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 === T.RevoluteJoint || e === T.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(
-      (e) => e !== null
-    );
-    return t.forEach((e) => {
-      e.dispose();
-    }), this.joggingSocket = null, this.trajectorySocket = null, Promise.all(t.map((e) => e.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, e = !0) {
-    if (!(this.mode === t && e) && (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, 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, l;
-        const i = w(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))) {
-            (l = this.joggingSocket) == null || l.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 } : {}
-      });
-    });
-  }
-  /**
-   * Jogging: Start rotation of a single robot joint at the specified velocity
-   */
-  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
-    });
-  }
-  /**
-   * Jogging: Start the TCP moving along a specified axis at a given velocity
-   */
-  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[u[t]] = e === "-" ? -r : r, this.joggingSocket.sendJson({
-      message_type: "TcpVelocityRequest",
-      translation: i,
-      rotation: s,
-      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: 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[u[t]] = e === "-" ? -r : r, this.joggingSocket.sendJson({
-      message_type: "TcpVelocityRequest",
-      translation: i,
-      rotation: s
-    });
-  }
-  /**
-   * 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: e,
-    // coordSystemId,
-    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[u[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(
-        t.orientation[0],
-        t.orientation[1],
-        t.orientation[2]
-      ), n = o.length(), m = o.clone().normalize(), g = c.distanceRads * (i === "-" ? -1 : 1), d = new E(0, 0, 0);
-      d[s] = 1;
-      const J = Math.cos(0.5 * g) * Math.cos(0.5 * n), j = Math.sin(0.5 * g) * Math.sin(0.5 * n), C = Math.sin(0.5 * g) * Math.cos(0.5 * n), D = Math.cos(0.5 * g) * Math.sin(0.5 * n), N = d.dot(
-        m
-      ), A = d.clone().cross(m), p = 2 * Math.acos(J - j * N), F = p / Math.sin(0.5 * p), v = new E().addScaledVector(A, j).addScaledVector(d, C).addScaledVector(m, D).multiplyScalar(F);
-      h.push({
-        limits_override: {
-          tcp_orientation_velocity_limit: r
-        },
-        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 l = {
-      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
-    }, _ = await this.nova.api.trajectoryPlanning.planTrajectory(
-      {
-        motion_group_setup: l,
-        start_joint_position: e,
-        motion_commands: h
-      }
-    ), f = _.response;
-    if (!f)
-      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 R = (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"
-      });
-    }, I = async () => {
-      var o;
-      await y(() => !this.motionStream.rapidlyChangingMotionState.standstill), await y(() => this.motionStream.rapidlyChangingMotionState.standstill), (o = this.trajectorySocket) == null || o.dispose(), this.trajectorySocket = null;
-    }, O = async () => {
-      var o;
-      await y(() => this.motionStream.rapidlyChangingMotionState.standstill), (o = this.trajectorySocket) == null || o.dispose(), this.trajectorySocket = null;
-    }, M = 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 I() : await O();
-    };
-    this.trajectorySocket.addEventListener("message", (o) => {
-      var m, g;
-      const n = w(o.data);
-      if (!((m = n == null ? void 0 : n.result) != null && m.kind))
-        throw new Error(
-          `Failed to execute trajectory: Received invalid message ${o.data}`
-        );
-      if (this.onBlocked && ((g = n.result.message) != null && g.includes(k))) {
-        this.onBlocked();
-        return;
-      }
-      if (n.result.kind === "INITIALIZE_RECEIVED")
-        R(n.result);
-      else if (n.result.kind === "START_RECEIVED")
-        M(n);
-      else if (n.result.kind !== "PAUSE_RECEIVED") if (n.result.kind === "MOTION_ERROR" && n.result.message)
-        if (this.onError) {
-          this.onError(n);
-          return;
-        } else
-          throw new Error(n.result.message);
-      else
-        throw new Error(
-          `Failed to execute trajectory, cannot handle message type "${n.result.kind}"`
-        );
-    }), this.trajectorySocket.sendJson({
-      message_type: "InitializeMovementRequest",
-      trajectory: {
-        message_type: "TrajectoryData",
-        motion_group: this.motionGroupId,
-        data: f,
-        tcp: this.tcp
-      }
-    });
-  }
-}
-export {
-  S as JoggerConnection,
-  S as default
-};
-//# sourceMappingURL=JoggerConnection.js.map

package/dist/lib/JoggerConnection.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"JoggerConnection.js","sources":["../../src/lib/JoggerConnection.ts"],"sourcesContent":["import {\n  type AutoReconnectingWebsocket,\n  tryParseJson,\n  XYZ_TO_VECTOR,\n} from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type InitializeMovementResponse,\n  type MotionCommand,\n  type NovaClient,\n  type Pose,\n  type StartMovementResponse,\n} from \"@wandelbots/nova-js/v2\"\nimport { when } from \"mobx\"\nimport { Vector3 } from \"three/src/math/Vector3.js\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection\"\n\nexport type Vector3Simple = [number, number, number]\n\nconst API_ERROR_CONNECTION_BLOCKED = `Movement request rejected. Another client is currently executing a 'Jogging' motion!`\n\nexport type JoggerConnectionOptions = {\n  // The mode of the jogger connection - see type description of JoggerMode for details\n  mode?: JoggerMode\n\n  // Connection timeout in milliseconds to wait for jogging initialization to complete\n  timeout?: number\n\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n\n  // The TCP to use for jogging motions.\n  tcp?: string\n\n  // The coordinate system in which jogging takes place in\n  // coordinateSystem?: string,\n\n  // If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option\n  orientation?: JoggerOrientation\n}\n\n// Three modes are supported:\n// - \"jogging\": Continuous jogging mode, where joint velocities or TCP velocities can be commanded. Opens a single websocket connection to jogging endpoint\n// - \"trajectory\": Incremental jogging mode, where fixed distance motions are planned and executed. Opens a short lived websocket for each motion.\n// - \"off\": No jogging, all websockets are closed.\nexport type JoggerMode = \"jogging\" | \"trajectory\" | \"off\"\n\n// If set to \"tool\", will use `use_tool_coordinate_system` option in movement requests\nexport type JoggerOrientation = \"coordsys\" | \"tool\"\n\nexport class JoggerConnection {\n  ENDPOINT_JOGGING = \"/execution/jogging\"\n  ENDPOINT_TRAJECTORY = \"/execution/trajectory\"\n  DEFAULT_MODE = \"off\" as JoggerMode\n  DEFAULT_TCP: string | undefined = \"Flange\"\n  NO_TCP: string | undefined = undefined\n  // DEFAULT_COORDINATE_SYSTEM = \"world\"\n  DEFAULT_INIT_TIMEOUT = 5000\n  DEFAULT_ORIENTATION = \"coordsys\" as JoggerOrientation\n\n  mode: JoggerMode = \"off\"\n  joggingSocket: AutoReconnectingWebsocket | null = null\n  trajectorySocket: AutoReconnectingWebsocket | null = null\n  timeout: number = this.DEFAULT_INIT_TIMEOUT\n  tcp: string | undefined\n  // coordinateSystem?: string\n  orientation: JoggerOrientation\n  onError?: (err: unknown) => void\n  onBlocked?: () => void\n\n  /**\n   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.\n   *\n   * @param nova - The Nova client instance\n   * @param motionGroupId - The ID of the motion group to connect to\n   * @param options - Configuration options for the jogger connection\n   * @param options.mode - The jogging mode to initialize:\n   *   - \"jogging\": Continuous jogging mode with persistent websocket for real-time velocity commands\n   *   - \"trajectory\": Incremental jogging mode for fixed-distance motions via trajectory planning\n   *   - \"off\": No jogging enabled, all websockets closed (default)\n   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)\n   * @param options.tcp - TCP frame to use for motions (default: from motion group)\n   * //param options.coordinateSystem - Coordinate system for jogging commands (default: \"world\"). Please note: Currently not implemented\n   * @param options.orientation - If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: \"coordsys\")\n   * @param options.onError - Error handler for websocket errors\n   * @returns Promise resolving to initialized JoggerConnection instance\n   */\n  static async open(\n    nova: NovaClient,\n    motionGroupId: string,\n    options: JoggerConnectionOptions = {},\n  ) {\n    // Get matching motion stream\n    const motionStream = await MotionStreamConnection.open(nova, motionGroupId)\n\n    // Initialize jogger with options\n    const jogger = new JoggerConnection(motionStream, options)\n\n    // Initialize the jogging websocket, if necessary (mode is \"jogging\")\n    await jogger.setJoggingMode(jogger.mode)\n\n    // Return the initialized jogger\n    return jogger\n  }\n\n  constructor(\n    readonly motionStream: MotionStreamConnection,\n    readonly options: JoggerConnectionOptions | undefined = {},\n  ) {\n    this.tcp =\n      options?.tcp ||\n      motionStream.motionGroup.tcp ||\n      this.getDefaultTcp(motionStream)\n    // this.coordinateSystem = options?.coordinateSystem || this.DEFAULT_COORDINATE_SYSTEM\n    this.orientation = options?.orientation || this.DEFAULT_ORIENTATION\n    this.timeout = options?.timeout || this.DEFAULT_INIT_TIMEOUT\n    this.mode = options?.mode || this.DEFAULT_MODE\n    this.onError = options?.onError\n  }\n\n  getDefaultTcp(motionStream: MotionStreamConnection) {\n    const firstJointType = motionStream.description.dh_parameters?.[0]?.type\n    if (\n      motionStream.joints.length < 6 &&\n      (firstJointType === JointTypeEnum.RevoluteJoint ||\n        firstJointType === JointTypeEnum.PrismaticJoint)\n    ) {\n      return this.NO_TCP\n    }\n    return this.DEFAULT_TCP\n  }\n\n  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket\n  async setOptions(options: Partial<JoggerConnectionOptions>) {\n    if (options.tcp) {\n      this.tcp = options.tcp\n    }\n\n    if (options.orientation) {\n      this.orientation = options.orientation\n    }\n\n    // if (options.coordinateSystem) {\n    //   this.coordinateSystem = options.coordinateSystem\n    // }\n\n    if (options.timeout) {\n      this.timeout = options.timeout\n    }\n\n    if (options.mode) {\n      this.mode = options.mode\n    }\n\n    if (options.onError) {\n      this.onError = options.onError\n    }\n\n    this.setJoggingMode(this.mode, false)\n  }\n\n  get motionGroupId() {\n    return this.motionStream.motionGroupId\n  }\n\n  get nova() {\n    return this.motionStream.nova\n  }\n\n  get numJoints() {\n    return this.motionStream.joints.length\n  }\n\n  // get activeJoggingMode() {\n  //   return this.mode\n  // }\n\n  // get activeWebsocket() {\n  //   return this.mode === \"jogging\" ? this.joggingSocket : this.trajectorySocket;\n  // }\n\n  // Sends stop movement command to robot\n  async stop() {\n    if (this.joggingSocket) {\n      const velocity = new Array(this.numJoints).fill(0)\n      this.joggingSocket.sendJson({\n        message_type: \"JointVelocityRequest\",\n        velocity,\n      })\n    }\n\n    if (this.trajectorySocket) {\n      this.trajectorySocket.sendJson({\n        message_type: \"PauseMovementRequest\",\n      })\n    }\n  }\n\n  // Dispose the jogger, closing all open websockets\n  async dispose() {\n    // Collect all initialized sockets\n    const sockets = [this.joggingSocket, this.trajectorySocket].filter(\n      (s) => s !== null,\n    ) as AutoReconnectingWebsocket[]\n\n    // Call them to dispose\n    sockets.forEach((s) => {\n      s.dispose()\n    })\n\n    // Remove references\n    this.joggingSocket = null\n    this.trajectorySocket = null\n\n    // Return promise that resolves when all sockets are closed\n    return Promise.all(sockets.map((s) => s.closed()))\n  }\n\n  // Activate jogger in one of the supported modes\n  // Will iniitialize or close websockets as necessary\n  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)\n  async setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode = true) {\n    // If not changing mode, do nothing\n    if (this.mode === mode && skipReinitializeIfSameMode) {\n      return\n    }\n\n    // Close any previous websocket connection\n    this.dispose()\n\n    // Set the new mode\n    this.mode = mode\n\n    // Mode is \"jogging\" - open jogging websocket\n    if (this.mode === \"jogging\") {\n      return this.initializeJoggingWebsocket()\n    }\n\n    // Mode is \"trajectory\" or \"off\" - nothing more to do\n    return\n  }\n\n  // Initializes continuous jogging websocket, called by setJoggingMode(\"jogging\")\n  async initializeJoggingWebsocket() {\n    // Wait for initialization with timeout\n    return new Promise<void>((resolve, reject) => {\n      const connectionFailedTimeout = setTimeout(() => {\n        reject(\n          new Error(\n            `Jogging initialization timeout after ${this.timeout} seconds`,\n          ),\n        )\n      }, this.timeout)\n\n      this.joggingSocket = this.nova.openReconnectingWebsocket(\n        this.ENDPOINT_JOGGING,\n      )\n      this.joggingSocket.addEventListener(\"message\", (ev: MessageEvent) => {\n        const data = tryParseJson(ev.data)\n\n        if (data?.result?.kind === \"INITIALIZE_RECEIVED\") {\n          clearTimeout(connectionFailedTimeout)\n          resolve()\n          return\n        }\n\n        if (data?.result?.kind === \"MOTION_ERROR\") {\n          clearTimeout(connectionFailedTimeout)\n          if (\n            this.onBlocked &&\n            data?.result?.message.includes(API_ERROR_CONNECTION_BLOCKED)\n          ) {\n            this.joggingSocket?.dispose()\n            this.onBlocked()\n            return\n          } else if (this.onError) {\n            this.onError(ev.data)\n          } else {\n            reject(new Error(ev.data))\n          }\n        }\n      })\n\n      this.joggingSocket.sendJson({\n        message_type: \"InitializeJoggingRequest\",\n        motion_group: this.motionGroupId,\n        ...(this.tcp ? { tcp: this.tcp } : {}),\n      })\n    })\n  }\n\n  /**\n   * Jogging: Start rotation of a single robot joint at the specified velocity\n   */\n  async rotateJoints({\n    joint,\n    direction,\n    velocityValue,\n    velocityUnit,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Direction of rotation (\"+\" or \"-\") */\n    direction: \"+\" | \"-\"\n    /** Speed of the rotation, unit is currently unused, but i wanted it there to raise awareness that not everything here is rad/s*/\n    velocityValue: number\n    velocityUnit: \"mm/s\" | \"rad/s\"\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n\n    const velocity = new Array(this.numJoints).fill(0)\n\n    velocity[joint] = direction === \"-\" ? -velocityValue : velocityValue\n\n    this.joggingSocket.sendJson({\n      message_type: \"JointVelocityRequest\",\n      velocity,\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP moving along a specified axis at a given velocity\n   */\n  async translateTCP({\n    axis,\n    direction,\n    velocityMmPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityMmPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    translation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityMmPerSec : velocityMmPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n      use_tool_coordinate_system: this.orientation === \"tool\",\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP rotating around a specified axis at a given velocity\n   */\n  async rotateTCP({\n    axis,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    rotation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n    })\n  }\n\n  /**\n   * Trajectory jogging:\n   *\n   * Move the robot by a fixed distance in a single cartesian\n   * axis, either rotating or translating relative to the TCP.\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalCartesianMotion({\n    currentTcpPose,\n    currentJoints,\n    // coordSystemId,\n    velocityInRelevantUnits,\n    axis,\n    direction,\n    motion,\n  }: {\n    currentTcpPose: Pose\n    currentJoints: Vector3Simple\n    coordSystemId: string\n    velocityInRelevantUnits: number\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    motion:\n      | {\n          type: \"rotate\"\n          distanceRads: number\n        }\n      | {\n          type: \"translate\"\n          distanceMm: number\n        }\n  }) {\n    const commands: MotionCommand[] = []\n\n    if (this.mode !== \"trajectory\") {\n      throw new Error(\n        \"Set jogging mode to 'trajectory' to run incremental cartesian motions\",\n      )\n    }\n\n    if (motion.type === \"translate\") {\n      if (!currentTcpPose.position) {\n        throw new Error(\n          \"Current pose has no position, cannot perform translation\",\n        )\n      }\n\n      const targetTcpPosition = [...currentTcpPose.position]\n      targetTcpPosition[XYZ_TO_VECTOR[axis]] +=\n        motion.distanceMm * (direction === \"-\" ? -1 : 1)\n\n      commands.push({\n        limits_override: {\n          tcp_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: targetTcpPosition,\n            orientation: currentTcpPose.orientation,\n          },\n        },\n      })\n    } else if (motion.type === \"rotate\") {\n      // Concatenate rotations expressed by rotation vectors\n      // Equations taken from https://physics.stackexchange.com/a/287819\n\n      if (!currentTcpPose.orientation) {\n        throw new Error(\n          \"Current pose has no orientation, cannot perform rotation\",\n        )\n      }\n\n      // Compute axis and angle of current rotation vector\n      const currentRotationVector = new Vector3(\n        currentTcpPose.orientation[0],\n        currentTcpPose.orientation[1],\n        currentTcpPose.orientation[2],\n      )\n\n      const currentRotationRad = currentRotationVector.length()\n      const currentRotationDirection = currentRotationVector.clone().normalize()\n\n      // Compute axis and angle of difference rotation vector\n      const differenceRotationRad =\n        motion.distanceRads * (direction === \"-\" ? -1 : 1)\n\n      const differenceRotationDirection = new Vector3(0.0, 0.0, 0.0)\n      differenceRotationDirection[axis] = 1.0\n\n      // Some abbreviations to make the following equations more readable\n      const f1 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f2 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n      const f3 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f4 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n\n      const dotProduct = differenceRotationDirection.dot(\n        currentRotationDirection,\n      )\n\n      const crossProduct = differenceRotationDirection\n        .clone()\n        .cross(currentRotationDirection)\n\n      // Compute angle of concatenated rotation\n      const newRotationRad = 2.0 * Math.acos(f1 - f2 * dotProduct)\n\n      // Compute rotation vector of concatenated rotation\n      const f5 = newRotationRad / Math.sin(0.5 * newRotationRad)\n\n      const targetTcpOrientation = new Vector3()\n        .addScaledVector(crossProduct, f2)\n        .addScaledVector(differenceRotationDirection, f3)\n        .addScaledVector(currentRotationDirection, f4)\n        .multiplyScalar(f5)\n\n      commands.push({\n        limits_override: {\n          tcp_orientation_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: currentTcpPose.position,\n            orientation: [...targetTcpOrientation],\n          },\n        },\n      })\n    }\n\n    // Plan the motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/planTrajectory\n    const description = this.motionStream.description\n    if (description.cycle_time === undefined) {\n      console.warn(\n        \"Current motion group has no cycle time, cannot plan jogging motion\",\n      )\n      return\n    }\n\n    const motion_group_setup = {\n      motion_group_model: description.motion_group_model,\n      cycle_time: description.cycle_time,\n      mounting: description.mounting,\n\n      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling\n      // FIXME use proper mode's limits if set\n      global: description.operation_limits.auto_limits,\n    }\n\n    const motionPlanRes = await this.nova.api.trajectoryPlanning.planTrajectory(\n      {\n        motion_group_setup,\n        start_joint_position: currentJoints,\n        motion_commands: commands,\n      },\n    )\n\n    const trajectoryData = motionPlanRes.response\n    if (!trajectoryData) {\n      throw new Error(\n        `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`,\n      )\n    }\n\n    if (this.trajectorySocket) {\n      console.warn(\"Trajectory jogging websocket already open; will close\")\n      this.trajectorySocket.dispose()\n    }\n\n    // Execute the planned motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/executeTrajectory\n    this.trajectorySocket = this.nova.openReconnectingWebsocket(\n      this.ENDPOINT_TRAJECTORY,\n    )\n\n    const messageInitializeMovementResponse = (\n      result: InitializeMovementResponse | undefined,\n    ) => {\n      // Handle errorous response\n      if (!result || result.add_trajectory_error || result.message) {\n        if (this.onError) {\n          this.onError(result)\n        } else {\n          throw new Error(\n            result?.add_trajectory_error?.message ||\n              result?.message ||\n              \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Handle socket gone\n      if (!this.trajectorySocket) {\n        throw new Error(\n          `Failed to execute trajectory, websocket not available anymore`,\n        )\n      }\n\n      // Trajectory locked, now start movement\n      this.trajectorySocket.sendJson({\n        message_type: \"StartMovementRequest\",\n        direction: \"DIRECTION_FORWARD\",\n      })\n    }\n\n    const waitForMovementToStartAndFinish = async () => {\n      // Wait for robot to start moving (standstill becomes false)\n      await when(() => !this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Then wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const waitForMovementToFinish = async () => {\n      // Wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const messageStartMovementResponse = async (\n      data: StartMovementResponse,\n    ) => {\n      if (data?.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(\n            data.message || \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Movement started we now wait to verify the robot is moving\n      // by observing changes to motion state\n      if (this.motionStream.rapidlyChangingMotionState.standstill) {\n        await waitForMovementToStartAndFinish()\n      } else {\n        await waitForMovementToFinish()\n      }\n    }\n\n    this.trajectorySocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data)\n\n      if (!data?.result?.kind) {\n        throw new Error(\n          `Failed to execute trajectory: Received invalid message ${ev.data}`,\n        )\n      }\n\n      if (\n        this.onBlocked &&\n        data.result.message?.includes(API_ERROR_CONNECTION_BLOCKED)\n      ) {\n        this.onBlocked()\n        return\n      }\n\n      if (data.result.kind === \"INITIALIZE_RECEIVED\") {\n        messageInitializeMovementResponse(data.result)\n      } else if (data.result.kind === \"START_RECEIVED\") {\n        messageStartMovementResponse(data)\n      } else if (data.result.kind === 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package/dist/lib/JoggerConnection.test.d.ts

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

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

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

package/dist/lib/MotionStreamConnection.cjs

@@ -1,3 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const m=require("@wandelbots/nova-js"),g=require("mobx"),d=require("./motionStateUpdate.cjs"),_=1e-4;class u{constructor(n,o,h,s,i,e){this.nova=n,this.controller=o,this.motionGroup=h,this.description=s,this.initialMotionState=i,this.motionStateSocket=e,this.rapidlyChangingMotionState=i,e.addEventListener("message",a=>{var r;const t=(r=m.tryParseJson(a.data))==null?void 0:r.result;if(!t)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${a.data}`);d.jointValuesEqual(this.rapidlyChangingMotionState.joint_position,t.joint_position,_)||g.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=t.joint_position}),d.tcpMotionEqual(this.rapidlyChangingMotionState,t,_)||g.runInAction(()=>{var l,p,c;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=t.tcp_pose:(l=t.tcp_pose)!=null&&l.orientation&&((p=t.tcp_pose)!=null&&p.position)&&((c=this.rapidlyChangingMotionState.tcp_pose)!=null&&c.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:t.tcp_pose.position,orientation:d.unwrapRotationVector(t.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",t.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==t.standstill&&g.runInAction(()=>{this.rapidlyChangingMotionState.standstill=t.standstill})}),g.makeAutoObservable(this)}static async open(n,o){var p;const[h,s]=o.split("@"),i=await n.api.controller.getCurrentRobotControllerState(s),e=i==null?void 0:i.motion_groups.find(c=>c.motion_group===o);if(!i||!e)throw new Error(`Controller ${s} or motion group ${o} not found`);const a=n.openReconnectingWebsocket(`/controllers/${s}/motion-groups/${o}/state-stream`),t=await a.firstMessage(),r=(p=m.tryParseJson(t.data))==null?void 0:p.result;if(!r)throw new Error(`Unable to parse initial motion state message ${t.data}`);console.log(`Connected motion state websocket to motion group ${e.motion_group}. Initial state:
-  `,r);const l=await n.api.motionGroup.getMotionGroupDescription(s,e.motion_group);return new u(n,i,e,l,r,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((n,o)=>({index:o}))}dispose(){this.motionStateSocket.close()}}exports.MotionStreamConnection=u;exports.default=u;
-//# sourceMappingURL=MotionStreamConnection.cjs.map

package/dist/lib/MotionStreamConnection.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"MotionStreamConnection.cjs","sources":["../../src/lib/MotionStreamConnection.ts"],"sourcesContent":["import {\n  type AutoReconnectingWebsocket,\n  tryParseJson,\n} from \"@wandelbots/nova-js\"\nimport type {\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  RobotControllerState,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport {\n  jointValuesEqual,\n  tcpMotionEqual,\n  unwrapRotationVector,\n} from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(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: MotionGroupState) => 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    // Get the motion group description for later usage in jogging\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      description,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly description: MotionGroupDescription,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\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          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              latestMotionState.tcp_pose\n          } else if (\n            latestMotionState.tcp_pose?.orientation &&\n            latestMotionState.tcp_pose?.position &&\n            this.rapidlyChangingMotionState.tcp_pose?.orientation\n          ) {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: latestMotionState.tcp_pose.position,\n              orientation: unwrapRotationVector(\n                latestMotionState.tcp_pose.orientation as Vector3Simple,\n                this.rapidlyChangingMotionState.tcp_pose\n                  .orientation as Vector3Simple,\n              ),\n            }\n          } else {\n            console.warn(\n              \"Received incomplete tcp_pose, ignoring\",\n              latestMotionState.tcp_pose,\n            )\n          }\n        })\n      }\n\n      // handle standstill changes\n      if (\n  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package/dist/lib/MotionStreamConnection.d.ts.map

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package/dist/lib/MotionStreamConnection.js

@@ -1,94 +0,0 @@
-import { tryParseJson as d } from "@wandelbots/nova-js";
-import { runInAction as g, makeAutoObservable as _ } from "mobx";
-import { jointValuesEqual as S, tcpMotionEqual as M, unwrapRotationVector as f } from "./motionStateUpdate.js";
-const u = 1e-4;
-class m {
-  constructor(n, o, h, s, i, e) {
-    this.nova = n, this.controller = o, this.motionGroup = h, this.description = s, this.initialMotionState = i, this.motionStateSocket = e, this.rapidlyChangingMotionState = i, e.addEventListener("message", (a) => {
-      var r;
-      const t = (r = d(a.data)) == null ? void 0 : r.result;
-      if (!t)
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${a.data}`
-        );
-      S(
-        this.rapidlyChangingMotionState.joint_position,
-        t.joint_position,
-        u
-      ) || g(() => {
-        this.rapidlyChangingMotionState.joint_position = t.joint_position;
-      }), M(
-        this.rapidlyChangingMotionState,
-        t,
-        u
-      ) || g(() => {
-        var l, p, c;
-        this.rapidlyChangingMotionState.tcp_pose == null ? this.rapidlyChangingMotionState.tcp_pose = t.tcp_pose : (l = t.tcp_pose) != null && l.orientation && ((p = t.tcp_pose) != null && p.position) && ((c = this.rapidlyChangingMotionState.tcp_pose) != null && c.orientation) ? this.rapidlyChangingMotionState.tcp_pose = {
-          position: t.tcp_pose.position,
-          orientation: f(
-            t.tcp_pose.orientation,
-            this.rapidlyChangingMotionState.tcp_pose.orientation
-          )
-        } : console.warn(
-          "Received incomplete tcp_pose, ignoring",
-          t.tcp_pose
-        );
-      }), this.rapidlyChangingMotionState.standstill !== t.standstill && g(() => {
-        this.rapidlyChangingMotionState.standstill = t.standstill;
-      });
-    }), _(this);
-  }
-  static async open(n, o) {
-    var p;
-    const [h, s] = o.split("@"), i = await n.api.controller.getCurrentRobotControllerState(s), e = i == null ? void 0 : i.motion_groups.find(
-      (c) => c.motion_group === o
-    );
-    if (!i || !e)
-      throw new Error(
-        `Controller ${s} or motion group ${o} not found`
-      );
-    const a = n.openReconnectingWebsocket(
-      `/controllers/${s}/motion-groups/${o}/state-stream`
-    ), t = await a.firstMessage(), r = (p = d(t.data)) == null ? void 0 : p.result;
-    if (!r)
-      throw new Error(
-        `Unable to parse initial motion state message ${t.data}`
-      );
-    console.log(
-      `Connected motion state websocket to motion group ${e.motion_group}. Initial state:
-  `,
-      r
-    );
-    const l = await n.api.motionGroup.getMotionGroupDescription(
-      s,
-      e.motion_group
-    );
-    return new m(
-      n,
-      i,
-      e,
-      l,
-      r,
-      a
-    );
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get joints() {
-    return this.initialMotionState.joint_position.map((n, o) => ({
-      index: o
-    }));
-  }
-  dispose() {
-    this.motionStateSocket.close();
-  }
-}
-export {
-  m as MotionStreamConnection,
-  m as default
-};
-//# sourceMappingURL=MotionStreamConnection.js.map

package/dist/lib/MotionStreamConnection.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"MotionStreamConnection.js","sources":["../../src/lib/MotionStreamConnection.ts"],"sourcesContent":["import {\n  type AutoReconnectingWebsocket,\n  tryParseJson,\n} from \"@wandelbots/nova-js\"\nimport type {\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  RobotControllerState,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport {\n  jointValuesEqual,\n  tcpMotionEqual,\n  unwrapRotationVector,\n} from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(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: MotionGroupState) => 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    // Get the motion group description for later usage in jogging\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      description,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly description: MotionGroupDescription,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\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          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              latestMotionState.tcp_pose\n          } else if (\n            latestMotionState.tcp_pose?.orientation &&\n            latestMotionState.tcp_pose?.position &&\n            this.rapidlyChangingMotionState.tcp_pose?.orientation\n          ) {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: latestMotionState.tcp_pose.position,\n              orientation: unwrapRotationVector(\n                latestMotionState.tcp_pose.orientation as Vector3Simple,\n                this.rapidlyChangingMotionState.tcp_pose\n                  .orientation as Vector3Simple,\n              ),\n            }\n          } else {\n            console.warn(\n              \"Received incomplete tcp_pose, ignoring\",\n              latestMotionState.tcp_pose,\n            )\n          }\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 joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n\nexport default 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package/dist/lib/MotionStreamConnection.test.d.ts

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

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

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

package/dist/lib/motionStateUpdate.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const u=require("three");function l(i,t,a){if(t.length!==i.length)return!0;for(let r=0;r<t.length;r++)if(Math.abs(t[r]-i[r])>a)return!1;return!0}function f(i,t,a){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 r=0;return r+=Math.abs(i.orientation[0]-t.orientation[0]),r+=Math.abs(i.orientation[1]-t.orientation[1]),r+=Math.abs(i.orientation[2]-t.orientation[2]),r+=Math.abs(i.position[0]-t.position[0]),r+=Math.abs(i.position[1]-t.position[1]),r+=Math.abs(i.position[2]-t.position[2]),r<=a}function g(i,t,a){return i.coordinate_system===t.coordinate_system&&i.tcp===t.tcp&&f(i.tcp_pose,t.tcp_pose,a)}function M(i,t){const a=new u.Vector3(t[0],t[1],t[2]),r=new u.Vector3(i[0],i[1],i[2]),s=a.length(),h=a.normalize();let n=r.length(),o=r.normalize();o.dot(h)<0&&(n=-n,o=o.multiplyScalar(-1));let e=n-s;return e-=2*Math.PI*Math.floor((e+Math.PI)/(2*Math.PI)),n=s+e,[...o.multiplyScalar(n)]}exports.jointValuesEqual=l;exports.poseEqual=f;exports.tcpMotionEqual=g;exports.unwrapRotationVector=M;
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package/dist/lib/motionStateUpdate.cjs.map

@@ -1 +0,0 @@
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