@wandelbots/wandelbots-js-react-components 6.3.0-pr.ci-nova-dev-instance.642.2e11f62 → 6.3.0-pr.feat-RB-4575-v7-cleanup.644.0feb6ca

package/README.md

@@ -258,6 +258,30 @@ WANDELAPI_BASE_URL=http://<instance-ip>
 CELL_ID=cell
 ```
 
+### e2e Tests
+
+The e2e tests run against a real NOVA instance. There are two kinds:
+
+- The vitest tests in `e2e/` test the NOVA connections of the library (motion state, jogging), without a browser.
+- The Playwright tests in `e2e/playground/` test the playground app in Chromium. First they add a virtual robot with 2 safety zones and a stored collision setup to the cell. Then they open each page of the playground, jog the robot, check the values, the 3D view and the safety bar, and take screenshots. At the end, they remove the robot and the collision setup again.
+
+Both kinds use the same instance values:
+
+- `NOVA_INSTANCE_URL`, and `NOVA_ACCESS_TOKEN` for a cloud instance, or
+- `WANDELAPI_BASE_URL` in `.env.local`, which `pnpm td` writes for a test instance (see above).
+
+Without an instance, the tests fail. To run them on your computer:
+
+```bash
+pnpm exec playwright install chromium  # once, for the Playwright tests
+pnpm run test:e2e                      # vitest
+pnpm run test:playground               # builds the playground, then runs Playwright
+```
+
+The built playground (`playground/dist`) contains the URL and the access token of the instance, so `test:playground` builds it again each time. Never publish or upload it. The results and the screenshots of the Playwright tests are in `e2e-results/`.
+
+For each pull request, the workflow `e2e` creates a NOVA cloud instance with the newest released NOVA version, runs both kinds of tests, and deletes the instance again. The results are in the artifact `e2e-results` of the run: the output and the reports of the tests, the screenshots of the playground (`screenshots/`), and the state of the instance after the tests. The summary of the job lists the tests and the screenshots.
+
 ### Local Testing
 
 Build and test the package locally:

package/dist/3d.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-eD7yFEcF.cjs"),o=require("./chunks/useSmoothedMotionState-VYxEIyfr.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.JointLimitGizmo=e.JointLimitGizmo;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.MotionGroupVisualizerExact=e.MotionGroupVisualizerExact;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedLinearAxisExact=e.SupportedLinearAxisExact;exports.SupportedRobot=e.SupportedRobot;exports.SupportedRobotExact=e.SupportedRobotExact;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;exports.ValueInterpolator=o.ValueInterpolator;exports.useSmoothedMotionState=o.useSmoothedMotionState;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/Robot-CKQKy_Dr.cjs"),o=require("./chunks/useSmoothedMotionState-Con0E5Bx.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.JointLimitGizmo=e.JointLimitGizmo;exports.LinearAxis=e.LinearAxis;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.MotionGroupVisualizerExact=e.MotionGroupVisualizerExact;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedLinearAxisExact=e.SupportedLinearAxisExact;exports.SupportedRobot=e.SupportedRobot;exports.SupportedRobotExact=e.SupportedRobotExact;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultGetModel=e.defaultGetModel;exports.ValueInterpolator=o.ValueInterpolator;exports.useSmoothedMotionState=o.useSmoothedMotionState;

package/dist/3d.d.ts

@@ -3,10 +3,7 @@ export { JointLimitGizmo, type GizmoChainOffset, type GizmoDhParameter, type Giz
 export * from "./components/3d-viewport/PresetEnvironment";
 export * from "./components/3d-viewport/SafetyZonesRenderer";
 export * from "./components/3d-viewport/TrajectoryRenderer";
-export * from "./components/RobotCard";
-export * from "./components/robots/AxisConfig";
 export * from "./components/robots/LinearAxis";
-export { extractManufacturer, getDefaultHomeConfig, MANUFACTURER_HOME_CONFIGS, } from "./components/robots/manufacturerHomePositions";
 export * from "./components/robots/MotionGroupVisualizer";
 export * from "./components/robots/Robot";
 export { defaultGetModel } from "./components/robots/robotModelLogic";

package/dist/3d.js

@@ -1,25 +1,20 @@
-import { C as o, J as t, L as r, M as s, a as i, b as n, P as u, R as d, c as p, S as f, d as l, e as x, f as R, g as S, T as c, h as M, i as m, j as C, k as A } from "./chunks/MotionGroupVisualizer-DshWR1wY.js";
-import { V as b, g } from "./chunks/useSmoothedMotionState-DyDgSVYX.js";
+import { C as a, J as t, L as r, M as s, a as i, P as n, R as p, S as d, b as u, c as S, d as l, e as x, T as R, f as c } from "./chunks/Robot-THGqCJEj.js";
+import { V as f, a as L } from "./chunks/useSmoothedMotionState-COMJRcOt.js";
 export {
-  o as CollisionSceneRenderer,
+  a as CollisionSceneRenderer,
   t as JointLimitGizmo,
   r as LinearAxis,
-  s as MANUFACTURER_HOME_CONFIGS,
-  i as MotionGroupVisualizer,
-  n as MotionGroupVisualizerExact,
-  u as PresetEnvironment,
-  d as Robot,
-  p as RobotCard,
-  f as SafetyZonesRenderer,
-  l as SupportedLinearAxis,
-  x as SupportedLinearAxisExact,
-  R as SupportedRobot,
-  S as SupportedRobotExact,
-  c as TrajectoryRenderer,
-  b as ValueInterpolator,
-  M as defaultAxisConfig,
-  m as defaultGetModel,
-  C as extractManufacturer,
-  A as getDefaultHomeConfig,
-  g as useSmoothedMotionState
+  s as MotionGroupVisualizer,
+  i as MotionGroupVisualizerExact,
+  n as PresetEnvironment,
+  p as Robot,
+  d as SafetyZonesRenderer,
+  u as SupportedLinearAxis,
+  S as SupportedLinearAxisExact,
+  l as SupportedRobot,
+  x as SupportedRobotExact,
+  R as TrajectoryRenderer,
+  f as ValueInterpolator,
+  c as defaultGetModel,
+  L as useSmoothedMotionState
 };

package/dist/SafetyBar/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("../chunks/SafetyBar-DPrv_OQA.cjs");exports.SafetyBar=e.SafetyBar;exports.default=e.SafetyBar;
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("../chunks/SafetyBar-Cq_WsuK2.cjs");exports.SafetyBar=e.SafetyBar;exports.default=e.SafetyBar;

package/dist/SafetyBar/index.js

@@ -1,4 +1,4 @@
-import { S as f, S as r } from "../chunks/SafetyBar-Cy9DiXp9.js";
+import { S as f, S as r } from "../chunks/SafetyBar-C2-H1ifP.js";
 export {
   f as SafetyBar,
   r as default

package/dist/chunks/ConnectedMotionGroup-BewSDQvD.cjs

@@ -0,0 +1,4 @@
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n+=Math.abs(e.orientation[0]-t.orientation[0]),n+=Math.abs(e.orientation[1]-t.orientation[1]),n+=Math.abs(e.orientation[2]-t.orientation[2]),n+=Math.abs(e.position[0]-t.position[0]),n+=Math.abs(e.position[1]-t.position[1]),n+=Math.abs(e.position[2]-t.position[2]),n<=o}function ct(e,t,o){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&Ct(e.tcp_pose,t.tcp_pose,o)}function It(e,t){const o=new rt.Vector3(t[0],t[1],t[2]),n=new rt.Vector3(e[0],e[1],e[2]),r=o.length(),a=o.normalize();let l=n.length(),s=n.normalize();s.dot(a)<0&&(l=-l,s=s.multiplyScalar(-1));let u=l-r;return u-=2*Math.PI*Math.floor((u+Math.PI)/(2*Math.PI)),l=r+u,[...s.multiplyScalar(l)]}const mt=1e-4;class Q{constructor(t,o,n,r,a,l,s="cell"){this.controller=o,this.motionGroup=n,this.description=r,this.initialMotionState=a,this.motionStateSocket=l,this.cellId=s,this.nova=A.createNovaClient(t),this.rapidlyChangingMotionState=a,l.addEventListener("message",u=>{var d;const g=(d=M.tryParseJson(u.data))==null?void 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0&&this.rapidlyChangingMotionState.tcp!==g.tcp&&y.runInAction(()=>{this.rapidlyChangingMotionState.tcp=g.tcp}),this.rapidlyChangingMotionState.standstill!==g.standstill&&y.runInAction(()=>{this.rapidlyChangingMotionState.standstill=g.standstill});const p=this.rapidlyChangingMotionState.joint_limit_reached.limit_reached,h=g.joint_limit_reached.limit_reached;p.some((c,f)=>c!==h[f])&&y.runInAction(()=>{this.rapidlyChangingMotionState.joint_limit_reached=g.joint_limit_reached}),this.rapidlyChangingMotionState.execute!==g.execute&&y.runInAction(()=>{this.rapidlyChangingMotionState.execute=g.execute})}),y.makeAutoObservable(this)}static async open(t,o,n={}){var f;const r=A.createNovaClient(t),a=n.cellId??A.cellIdOf(t)??"cell",[l,s]=o.split("@"),u=await r.api.controller.getCurrentRobotControllerState(a,s),g=u==null?void 0:u.motion_groups.find(x=>x.motion_group===o);if(!u||!g)throw new Error(`Controller ${s} or motion group ${o} not found`);const p=r.openReconnectingWebsocket(`/cells/${a}/controllers/${s}/motion-groups/${o}/state-stream`),h=await p.firstMessage(),d=(f=M.tryParseJson(h.data))==null?void 0:f.result;if(!d)throw new Error(`Unable to parse initial motion state message ${h.data}`);console.log(`Connected motion state websocket to motion group ${g.motion_group}. Initial state:
+  `,d);const c=await r.api.motionGroup.getMotionGroupDescription(a,s,g.motion_group);return new Q(r,u,g,c,d,p,a)}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 pt="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class tt{constructor(t,o={}){this.motionStream=t,this.options=o,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.ownsMotionStream=!1,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,n={}){const r=await Q.open(t,o,{cellId:n.cellId}),a=new tt(r,n);a.ownsMotionStream=!0;try{await a.setJoggingMode(a.mode)}catch(l){throw a.dispose(),l}return a}getDefaultTcp(t){var n,r;const o=(r=(n=t.description.dh_parameters)==null?void 0:n[0])==null?void 0:r.type;return t.joints.length<6&&(o===D.JointTypeEnum.RevoluteJoint||o===D.JointTypeEnum.PrismaticJoint)?this.NO_TCP:this.DEFAULT_TCP}async setOptions(t){return 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 cellId(){return this.motionStream.cellId}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.closeJoggingSockets();return this.ownsMotionStream&&this.motionStream.dispose(),t}closeJoggingSockets(){var o;(o=this.endJoggingInit)==null||o.call(this);const t=[this.joggingSocket,this.trajectorySocket].filter(n=>n!==null);return t.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(n=>n.closed()))}async setJoggingMode(t,o=!0){if(!(this.mode===t&&o)&&(this.closeJoggingSockets(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,o)=>{const n=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/jogging`);this.joggingSocket=n;let r=!1;const a=setTimeout(()=>{l(new Error(`Jogging initialization timeout after ${this.timeout} ms`))},this.timeout),l=g=>{r||(r=!0,clearTimeout(a),n.removeEventListener("close",u),this.endJoggingInit===s&&(this.endJoggingInit=void 0),g?o(g):t())},s=()=>l(),u=()=>{n.disposed&&l()};this.endJoggingInit=s,n.addEventListener("close",u),n.addEventListener("message",g=>{var h,d,c;const p=M.tryParseJson(g.data);if(((h=p==null?void 0:p.result)==null?void 0:h.kind)==="INITIALIZE_RECEIVED"){l();return}if(((d=p==null?void 0:p.result)==null?void 0:d.kind)==="MOTION_ERROR")if(this.onBlocked&&((c=p==null?void 0:p.result)!=null&&c.message.includes(pt))){l(),n.dispose(),this.onBlocked();return}else this.onError?(l(),this.onError(g.data)):l(new Error(g.data))}),n.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:t,direction:o,velocityValue:n,velocityUnit:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const a=new Array(this.numJoints).fill(0);a[t]=o==="-"?-n:n,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:a})}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 r=[0,0,0],a=[0,0,0];a[M.XYZ_TO_VECTOR[t]]=o==="-"?-n:n,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:a,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}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 r=[0,0,0],a=[0,0,0];r[M.XYZ_TO_VECTOR[t]]=o==="-"?-n:n,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:a,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:o,velocityInRelevantUnits:n,axis:r,direction:a,motion:l}){const s=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(l.type==="translate"){if(!t.position)throw new Error("Current pose has no position, cannot perform translation");const m=[...t.position];m[M.XYZ_TO_VECTOR[r]]+=l.distanceMm*(a==="-"?-1:1),s.push({limits_override:{tcp_velocity_limit:n},path:{path_definition_name:"PathLine",target_pose:{position:m,orientation:t.orientation}}})}else if(l.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const m=new ot.Vector3(t.orientation[0],t.orientation[1],t.orientation[2]),b=m.length(),I=m.clone().normalize(),w=l.distanceRads*(a==="-"?-1:1),E=new ot.Vector3(0,0,0);E[r]=1;const R=Math.cos(.5*w)*Math.cos(.5*b),k=Math.sin(.5*w)*Math.sin(.5*b),O=Math.sin(.5*w)*Math.cos(.5*b),B=Math.cos(.5*w)*Math.sin(.5*b),F=E.dot(I),J=E.clone().cross(I),P=2*Math.acos(R-k*F),H=P/Math.sin(.5*P),j=new ot.Vector3().addScaledVector(J,k).addScaledVector(E,O).addScaledVector(I,B).multiplyScalar(H);s.push({limits_override:{tcp_orientation_velocity_limit:n},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...j]}}})}const u=this.motionStream.description;if(u.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const g={motion_group_model:u.motion_group_model,cycle_time:u.cycle_time,mounting:u.mounting,global:u.operation_limits.auto_limits},p=await this.nova.api.trajectoryPlanning.planTrajectory(this.cellId,{motion_group_setup:g,start_joint_position:o,motion_commands:s}),h=p.response;if(!h)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(p)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/trajectory`);const d=m=>{var b;if(!m||m.add_trajectory_error||m.message)if(this.onError)this.onError(m);else throw new Error(((b=m==null?void 0:m.add_trajectory_error)==null?void 0:b.message)||(m==null?void 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Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.tcpChangeInProgress=!1,this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=D.JointTypeEnum.RevoluteJoint;for(const g of o)if(g.coordinate_system===""){g.coordinate_system="world";break}this.selectedCoordSystemId=((l=o[0])==null?void 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t=M.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const 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u(){e.isLocked||e.activeDiscreteIncrement||(r.current++,await e.deactivate())}const g=[{id:"x",icon:i.jsx(me,{}),colors:nt.X},{id:"y",icon:i.jsx(fe,{}),colors:nt.Y},{id:"z",icon:i.jsx(ye,{}),colors:nt.Z}];function p(d){return o("General.mm.variable",{amount:d.toFixed(1)})}function h(d){return o("General.degree.variable",{amount:M.radiansToDegrees(d).toFixed(1)})}return i.jsxs(v,{"data-testid":"jogging-cartesian-tab","aria-label":"jogging-cartesian-tab",flexGrow:1,gap:2,sx:{padding:"18px 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i.jsxs(v,{"data-testid":"jogging-joint-tab","aria-label":"jogging-joint-tab",flexGrow:1,gap:2,sx:{padding:"18px 24px"},children:[i.jsx(Et,{store:e,useDegree:e.jointType===D.JointTypeEnum.RevoluteJoint}),i.jsx(N,{}),i.jsx(v,{justifyContent:"center",alignItems:"stretch",sx:{flexGrow:"1"},children:i.jsx(v,{"data-testid":"jogging-joint-value-controls-wrapper","aria-label":"jogging-joint-value-controls-wrapper",alignItems:"center",gap:"24px",children:e.jogger.motionStream.joints.map(l=>{var u,g,p;const s=(p=(g=(u=e.motionGroupDescription.operation_limits.auto_limits)==null?void 0:u.joints)==null?void 0:g[l.index])==null?void 0:p.position;return i.jsxs(v,{"data-testid":`jogging-joint-value-control-${l.index}`,"aria-label":`jogging-joint-value-control-${l.index}`,direction:"row",alignItems:"center",justifyContent:"center",spacing:1.5,width:"100%",children:[e.showJointsLegend&&i.jsx(_,{color:e.isLocked?o.palette.text.disabled:o.palette.text.secondary,children:`G${l.index+1}`}),i.jsx(vt,{disabled:e.isLocked,lowerLimit:s==null?void 0:s.lower_limit,upperLimit:s==null?void 0:s.upper_limit,useDegree:e.jointType===D.JointTypeEnum.RevoluteJoint,getValue:()=>{const h=e.jogger.motionStream.rapidlyChangingMotionState.joint_position[l.index];return h!==void 0?h:void 0},startJogging:h=>r({joint:l.index,direction:h}),stopJogging:a})]},`joint-${l.index}`)})})}),i.jsx(_t,{store:e}),i.jsx(N,{}),i.jsx(kt,{store:e}),t&&i.jsx(N,{}),t]})}),Te=W.externalizeComponent(T.observer(e=>{const t=T.useLocalObservable(()=>({joggingStore:null,loadingError:null}));return C.useEffect(()=>{let o=!1,n;async function r(){y.runInAction(()=>{t.loadingError=null,t.joggingStore=null});try{let a=e.store;if(!a){const l=await tt.open(e.nova,e.motionGroupId,{cellId:e.cellId});if(o){l.dispose();return}try{a=await et.loadFor(l)}catch(s){throw l.dispose(),s}if(n=a,o){a.dispose();return}}y.runInAction(()=>{t.joggingStore=a}),e.onSetup&&e.onSetup(a)}catch(a){if(o)return;y.runInAction(()=>{t.loadingError=a})}}return r(),()=>{o=!0,n==null||n.dispose()}},[e.store,e.nova,e.motionGroupId,e.cellId]),C.useEffect(()=>{const o=t.joggingStore;o&&(e.locked?o.lock("external"):o.unlock("external"))},[t.joggingStore,e.locked]),i.jsx(v,{"data-testid":"jogging-panel","aria-label":"jogging-panel",sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:t.joggingStore?i.jsx(Ee,{store:t.joggingStore,children:e.children}):i.jsx(wt,{message:"Loading jogging",error:t.loadingError})})})),Ee=T.observer(({store:e,children:t})=>{const{t:o}=V.useTranslation();function n(){if(e.currentTab.id==="cartesian")return i.jsx(Me,{store:e,children:t});if(e.currentTab.id==="joint")return i.jsx(_e,{store:e,children:t})}return i.jsxs(v,{flexGrow:1,sx:{overflow:"hidden"},children:[i.jsx(Bt,{"data-testid":"jogging-tabs","aria-label":"jogging-tabs",value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(r=>{const a=r.label==="Cartesian"?o("Jogging.Cartesian.bt"):o("Jogging.Joints.bt"),l=r.label==="cartesian"?i.jsx(Dt,{fontSize:"small",sx:{mr:1}}):i.jsx(Lt,{fontSize:"small",sx:{mr:1}});return i.jsx(qt,{"data-testid":`jogging-tab-${r.id}`,"aria-label":`jogging-tab-${r.id}`,label:e.showTabIcons?i.jsxs(v,{direction:"row",alignItems:"center",children:[l,a]}):a,id:`jogging-tab-${r.id}`,"aria-controls":`jogging-tab-${r.id}`},r.id)})}),i.jsx(v,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:n()}),e.blocked&&i.jsx(ue,{store:e})]})});function ke(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function Je({baseUrl:e=ke(),...t}){return i.jsxs(oe,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[i.jsx(re,{id:"no-motion-group-modal-title",children:"No motion group found"}),i.jsxs(ie,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[i.jsx(_,{color:"#fff",children:"Found no devices to connect to."}),i.jsx(_,{color:"#fff",children:"Please ensure a motion group has been created."})]}),i.jsx(ne,{children:i.jsxs(v,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[i.jsx(it,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),i.jsx(it,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const ft=1e-4,Re={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class K{constructor(t,o,n,r,a,l,s,u,g,p,h="cell"){this.controller=o,this.motionGroup=n,this.initialMotionState=r,this.motionStateSocket=a,this.isVirtual=l,this.tcps=s,this.description=u,this.initialControllerState=g,this.controllerStateSocket=p,this.cellId=h,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.nova=A.createNovaClient(t),this.rapidlyChangingMotionState=r,this.controllerState=g,p.addEventListener("message",d=>{var f;const c=(f=M.tryParseJson(d.data))==null?void 0:f.result;c&&y.runInAction(()=>{this.controllerState=c})}),a.addEventListener("message",d=>{var f;const c=(f=M.tryParseJson(d.data))==null?void 0:f.result;if(!c)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);lt(this.rapidlyChangingMotionState.joint_position,c.joint_position,ft)||y.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=c.joint_position}),ct(this.rapidlyChangingMotionState,c,ft)||y.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=c.tcp_pose}),c.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==c.tcp&&y.runInAction(()=>{this.rapidlyChangingMotionState.tcp=c.tcp}),this.rapidlyChangingMotionState.standstill!==c.standstill&&y.runInAction(()=>{this.rapidlyChangingMotionState.standstill=c.standstill})}),y.makeAutoObservable(this)}static async connectMultiple(t,o,n={}){const r=A.createNovaClient(t),a=n.cellId??A.cellIdOf(t);return Promise.all(o.map(l=>K.connect(r,l,{...n,cellId:a})))}static async connect(t,o,n={}){var E,R;const r=A.createNovaClient(t),a=n.cellId??A.cellIdOf(t)??"cell",[l,s]=o.split("@"),u=await r.api.controller.getCurrentRobotControllerState(a,s),g=u==null?void 0:u.motion_groups.find(k=>k.motion_group===o);if(!u||!g)throw new Error(`Controller ${s} or motion group ${o} not found`);const p=r.openReconnectingWebsocket(`/cells/${a}/controllers/${s}/motion-groups/${o}/state-stream`),h=await p.firstMessage(),d=(E=M.tryParseJson(h.data))==null?void 0:E.result;if(!d)throw new Error(`Unable to parse initial motion state message ${h.data}`);console.log(`Connected motion state websocket to motion group ${g.motion_group}. Initial state:
+  `,d);const f=(await r.api.controller.getRobotController(a,u.controller)).configuration.kind==="VirtualController",x=await r.api.motionGroup.getMotionGroupDescription(a,s,g.motion_group),m=Object.entries(x.tcps||{}).map(([k,O])=>({id:k,readable_name:O.name,position:O.pose.position,orientation:O.pose.orientation})),b=r.openReconnectingWebsocket(`/cells/${a}/controllers/${u.controller}/state-stream?response_rate=1000`),I=await b.firstMessage(),w=(R=M.tryParseJson(I.data))==null?void 0:R.result;if(!w)throw new Error(`Unable to parse initial controller state message ${I.data}`);return console.log(`Connected controller state websocket to controller ${u.controller}. Initial state:
+  `,w),new K(r,u,g,d,p,f,m,x,w,b,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((t,o)=>({index:o}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(t=>({...Re,...t}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var t,o,n;return this.description.mounting?[(((t=this.description.mounting.position)==null?void 0:t[0])||0)/1e3,(((o=this.description.mounting.position)==null?void 0:o[1])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,a,l,s,u,g;const t=new ut.Vector3(((a=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:a[0])||0,((s=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:s[1])||0,((g=(u=this.description.mounting)==null?void 0:u.orientation)==null?void 0:g[2])||0),o=t.length(),n=t.normalize();return new ut.Quaternion().setFromAxisAngle(n,o)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}y.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),y.runInAction(()=>{this.activationState="inactive"})}catch(t){throw y.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}y.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),y.runInAction(()=>{this.activationState="active"})}catch(t){throw y.runInAction(()=>{this.activationState="inactive"}),t}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.controllerStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}}exports.AppHeader=ae;exports.ConnectedMotionGroup=K;exports.JoggerConnection=tt;exports.JoggingCartesianAxisControl=at;exports.JoggingJointValueControl=vt;exports.JoggingPanel=Te;exports.JoggingStore=et;exports.LoadingCover=wt;exports.LoadingErrorMessage=Mt;exports.MotionStreamConnection=Q;exports.NoMotionGroupModal=Je;exports.VelocitySlider=Tt;exports.VelocitySliderLabel=gt;exports.jointValuesEqual=lt;exports.poseEqual=Ct;exports.tcpMotionEqual=ct;exports.unwrapRotationVector=It;