@wandelbots/wandelbots-js-react-components/dist/lib/JoggerConnection.d.ts

React UI toolkit for building applications on top of the Wandelbots platform

import { type AutoReconnectingWebsocket } from "@wandelbots/nova-js";
import type { NovaClient, Pose } from "@wandelbots/nova-js/v2";
import { MotionStreamConnection } from "./MotionStreamConnection";
export type Vector3Simple = [number, number, number];
export type JoggerConnectionOptions = {
    mode?: JoggerMode;
    timeout?: number;
    /**
     * When an error message is received from the jogging websocket, it
     * will be passed here. If this handler is not provided, the error will
     * instead be thrown as an unhandled error.
     */
    onError?: (err: unknown) => void;
    tcp?: string;
    orientation?: JoggerOrientation;
};
export type JoggerMode = "jogging" | "trajectory" | "off";
export type JoggerOrientation = "coordsys" | "tool";
export declare class JoggerConnection {
    readonly motionStream: MotionStreamConnection;
    readonly options: JoggerConnectionOptions | undefined;
    ENDPOINT_JOGGING: string;
    ENDPOINT_TRAJECTORY: string;
    DEFAULT_MODE: JoggerMode;
    DEFAULT_TCP: string;
    DEFAULT_INIT_TIMEOUT: number;
    DEFAULT_ORIENTATION: JoggerOrientation;
    mode: JoggerMode;
    joggingSocket: AutoReconnectingWebsocket | null;
    trajectorySocket: AutoReconnectingWebsocket | null;
    timeout: number;
    tcp: string;
    orientation: JoggerOrientation;
    onError?: (err: unknown) => void;
    onBlocked?: () => void;
    /**
     * 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 open(nova: NovaClient, motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
    constructor(motionStream: MotionStreamConnection, options?: JoggerConnectionOptions | undefined);
    setOptions(options: Partial<JoggerConnectionOptions>): Promise<void>;
    get motionGroupId(): string;
    get nova(): NovaClient;
    get numJoints(): number;
    stop(): Promise<void>;
    dispose(): Promise<void[]>;
    setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode?: boolean): Promise<void>;
    initializeJoggingWebsocket(): Promise<void>;
    /**
     * Jogging: Start rotation of a single robot joint at the specified velocity
     */
    rotateJoints({ joint, direction, velocityRadsPerSec, }: {
        /** Index of the joint to rotate */
        joint: number;
        /** Direction of rotation ("+" or "-") */
        direction: "+" | "-";
        /** Speed of the rotation in radians per second */
        velocityRadsPerSec: number;
    }): Promise<void>;
    /**
     * Jogging: Start the TCP moving along a specified axis at a given velocity
     */
    translateTCP({ axis, direction, velocityMmPerSec, }: {
        axis: "x" | "y" | "z";
        direction: "-" | "+";
        velocityMmPerSec: number;
    }): Promise<void>;
    /**
     * Jogging: Start the TCP rotating around a specified axis at a given velocity
     */
    rotateTCP({ axis, direction, velocityRadsPerSec, }: {
        axis: "x" | "y" | "z";
        direction: "-" | "+";
        velocityRadsPerSec: number;
    }): Promise<void>;
    /**
     * 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.
     */
    runIncrementalCartesianMotion({ currentTcpPose, currentJoints, velocityInRelevantUnits, axis, direction, motion, }: {
        currentTcpPose: Pose;
        currentJoints: Vector3Simple;
        coordSystemId: string;
        velocityInRelevantUnits: number;
        axis: "x" | "y" | "z";
        direction: "-" | "+";
        motion: {
            type: "rotate";
            distanceRads: number;
        } | {
            type: "translate";
            distanceMm: number;
        };
    }): Promise<void>;
}
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