@wandelbots/nova-js/dist/lib/v2/index.d.mts

Official JS client for the Wandelbots API

import { n as MockNovaInstance, t as AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket-dHe-kceU.mjs";
import { AxiosInstance } from "axios";
import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, Pose, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
export * from "@wandelbots/nova-api/v2";

//#region src/lib/v2/NovaCellAPIClient.d.ts
type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
  data: infer D;
} ? D : never> : never;
type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>> };
type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
/**
 * API client providing type-safe access to all the Nova API REST endpoints
 * associated with a specific cell id.
 */
declare class NovaCellAPIClient {
  readonly cellId: string;
  readonly opts: Configuration & {
    axiosInstance?: AxiosInstance;
    mock?: boolean;
  };
  constructor(cellId: string, opts: Configuration & {
    axiosInstance?: AxiosInstance;
    mock?: boolean;
  });
  /**
   * Some TypeScript sorcery which alters the API class methods so you don't
   * have to pass the cell id to every single one, and de-encapsulates the
   * response data
   */
  private withCellId;
  /**
   * As withCellId, but only does the response unwrapping
   */
  private withUnwrappedResponsesOnly;
  readonly system: WithUnwrappedAxiosResponse<SystemApi>;
  readonly cell: WithUnwrappedAxiosResponse<CellApi>;
  readonly motionGroup: WithCellId<MotionGroupApi>;
  readonly motionGroupModels: WithCellId<MotionGroupModelsApi>;
  readonly controller: WithCellId<ControllerApi>;
  readonly controllerIOs: WithCellId<ControllerInputsOutputsApi>;
  readonly trajectoryPlanning: WithCellId<TrajectoryPlanningApi>;
  readonly trajectoryExecution: WithCellId<TrajectoryExecutionApi>;
  readonly trajectoryCaching: WithCellId<TrajectoryCachingApi>;
  readonly application: WithCellId<ApplicationApi>;
  readonly applicationGlobal: WithUnwrappedAxiosResponse<ApplicationApi>;
  readonly jogging: WithCellId<JoggingApi>;
  readonly kinematics: WithCellId<KinematicsApi>;
  readonly busInputsOutputs: WithCellId<BUSInputsOutputsApi>;
  readonly virtualController: WithCellId<VirtualControllerApi>;
  readonly virtualControllerBehavior: WithCellId<VirtualControllerBehaviorApi>;
  readonly virtualControllerIOs: WithCellId<VirtualControllerInputsOutputsApi>;
  readonly storeObject: WithCellId<StoreObjectApi>;
  readonly storeCollisionComponents: WithCellId<StoreCollisionComponentsApi>;
  readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>;
}
//#endregion
//#region src/lib/v2/NovaClient.d.ts
type NovaClientConfig = {
  /**
   * Url of the deployed Nova instance to connect to
   * e.g. https://saeattii.instance.wandelbots.io
   */
  instanceUrl: string | "https://mock.example.com";
  /**
   * Identifier of the cell on the Nova instance to connect this client to.
   * If omitted, the default identifier "cell" is used.
   **/
  cellId?: string;
  /**
   * Username for basic auth to the Nova instance.
   * @deprecated use accessToken instead
   */
  username?: string;
  /**
   * Password for basic auth to the Nova instance.
   * @deprecated use accessToken instead
   */
  password?: string;
  /**
   * Access token for Bearer authentication.
   */
  accessToken?: string;
} & Omit<Configuration, "isJsonMime" | "basePath">;
type NovaClientConfigWithDefaults = NovaClientConfig & {
  cellId: string;
};
/**
 *
 * Client for connecting to a Nova instance and controlling robots.
 */
declare class NovaClient {
  readonly api: NovaCellAPIClient;
  readonly config: NovaClientConfigWithDefaults;
  readonly mock?: MockNovaInstance;
  authPromise: Promise<string | null> | null;
  accessToken: string | null;
  constructor(config: NovaClientConfig);
  renewAuthentication(): Promise<void>;
  makeWebsocketURL(path: string): string;
  /**
   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
   * If you explicitly want to reconnect an existing websocket, call `reconnect`
   * on the returned object.
   */
  openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
}
//#endregion
//#region src/lib/v2/wandelscriptUtils.d.ts
/**
 * Convert a Pose object representing a motion group position
 * into a string which represents that pose in Wandelscript.
 */
declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
//#endregion
export { NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
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