diff --git a/.eslintrc.cjs b/.eslintrc.cjs new file mode 100644 index 0000000..dad360a --- /dev/null +++ b/.eslintrc.cjs @@ -0,0 +1,38 @@ +module.exports = { + root: true, + env: { browser: true, es2020: true }, + extends: [ + "eslint:recommended", + "plugin:@typescript-eslint/recommended", + "plugin:react-hooks/recommended", + ], + ignorePatterns: ["dist", ".eslintrc.cjs"], + parser: "@typescript-eslint/parser", + plugins: ["react-refresh", "i18next"], + rules: { + "react-refresh/only-export-components": [ + "warn", + { allowConstantExport: true }, + ], + "react-hooks/exhaustive-deps": "off", + "@typescript-eslint/no-explicit-any": "off", + "i18next/no-literal-string": "error", + "no-warning-comments": "warn", + "no-constant-condition": "off", + + // The TypeScript compiler itself already warns about these + "@typescript-eslint/no-unused-vars": "off", + "no-undef": "off", + + /* + * Requires "import type" for imports not used at runtime + * Makes code easier to read due to the explicitness of the imports + * and improves compiler performance with verbatimModuleSyntax + * option in tsconfig + */ + "@typescript-eslint/consistent-type-imports": [ + "error", + { prefer: "type-imports" }, + ], + }, +} diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml new file mode 100644 index 0000000..3f1deb1 --- /dev/null +++ b/.github/workflows/release.yml @@ -0,0 +1,38 @@ +# semantic-release action +# Derived from https://semantic-release.gitbook.io/semantic-release/recipes/ci-configurations/github-actions + +name: Release +on: + push: + branches: + - main + +permissions: + contents: read # for checkout + +jobs: + release: + name: Release + runs-on: ubuntu-latest + permissions: + contents: write + issues: write + pull-requests: write + id-token: write + steps: + - uses: actions/checkout@v4 + + - uses: actions/setup-node@v4 + with: + node-version: "lts/*" + + - run: npm ci + + - name: Verify the integrity of provenance attestations and registry signatures for installed dependencies + run: npm audit signatures + + - run: npx semantic-release + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + NPM_TOKEN: ${{ secrets.NPM_TOKEN }} + NPM_CONFIG_PROVENANCE: true diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ee3dd27 --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +.rollup.cache +node_modules +tsconfig.tsbuildinfo \ No newline at end of file diff --git a/.prettierrc b/.prettierrc new file mode 100644 index 0000000..7ef3e0b --- /dev/null +++ b/.prettierrc @@ -0,0 +1,18 @@ +{ + "tabWidth": 2, + "useTabs": false, + "semi": false, + "singleQuote": false, + "quoteProps": "as-needed", + "jsxSingleQuote": false, + "trailingComma": "all", + "bracketSpacing": true, + "arrowParens": "always", + "requirePragma": false, + "insertPragma": false, + "proseWrap": "preserve", + "htmlWhitespaceSensitivity": "css", + "vueIndentScriptAndStyle": false, + "endOfLine": "auto", + "embeddedLanguageFormatting": "auto" +} diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..8441b0e --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,12 @@ +{ + // See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations. + // Extension identifier format: ${publisher}.${name}. Example: vscode.csharp + // List of extensions which should be recommended for users of this workspace. + "recommendations": [ + "dbaeumer.vscode-eslint", + "rvest.vs-code-prettier-eslint", + "lokalise.i18n-ally" + ], + // List of extensions recommended by VS Code that should not be recommended for users of this workspace. + "unwantedRecommendations": [] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..405a6e2 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,19 @@ +{ + // Configuration recommended by prettier-eslint + // https://github.com/idahogurl/vs-code-prettier-eslint?tab=readme-ov-file#project-settings + "editor.defaultFormatter": "rvest.vs-code-prettier-eslint", + "editor.formatOnType": false, + "editor.formatOnPaste": true, + "editor.formatOnSave": true, + "editor.formatOnSaveMode": "file", + "files.autoSave": "onFocusChange", + "vs-code-prettier-eslint.prettierLast": false, + "editor.tabSize": 2, + "editor.insertSpaces": true, + "typescript.tsdk": "node_modules/typescript/lib", + "typescript.enablePromptUseWorkspaceTsdk": true, + "i18n-ally.localesPaths": [ + "src/i18n/locales" + ], + "i18n-ally.keystyle": "nested" +} \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000..52d59f1 --- /dev/null +++ b/README.md @@ -0,0 +1,17 @@ +# @wandelbots/nova + +The Wandelbots Nova client library provides convenient access to the Nova API from frontend JavaScript applications. In addition to typed methods for each API endpoint, we provide some higher level abstractions that manage the websocket connection state for tracking robot movement and handling jogging and program execution. + +```bash +npm install @wandelbots/nova +``` + +## Contributing + +To set up nova for development, first clone the repo and run: + +```bash +npm install +``` + +TODO - testing diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 0000000..ad2542b --- /dev/null +++ b/package-lock.json @@ -0,0 +1,11561 @@ +{ + "name": "@wandelbots/nova", + "version": "0.0.0-semantically-released", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "@wandelbots/nova", + "version": "0.0.0-semantically-released", + "license": "Apache-2.0", + "dependencies": { + "@wandelbots/wandelbots-api-client": "^0.97.0", + "axios": "^1.7.2", + "reconnecting-websocket": "^4.4.0" + }, + "devDependencies": { + "@rollup/plugin-commonjs": "^25.0.2", + 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} + } +} diff --git a/package.json b/package.json new file mode 100644 index 0000000..d88b1c5 --- /dev/null +++ b/package.json @@ -0,0 +1,52 @@ +{ + "name": "@wandelbots/nova", + "version": "0.0.0-semantically-released", + "description": "Official JS client for the Nova API", + "exports": { + ".": { + "import": "./dist/index.mjs", + "require": "./dist/index.cjs" + } + }, + "main": "./dist/index.cjs", + "types": "./dist/index.d.ts", + "files": [ + "dist" + ], + "scripts": { + "tsc": "tsc --pretty --noEmit", + "build": "tsup src/index.ts --format esm,cjs --clean --dts", + "test": "vitest" + }, + "repository": { + "type": "git", + "url": "git+https://github.com/wandelbotsgmbh/nova.git" + }, + "keywords": [ + "wandelbots", + "nova", + "api" + ], + "author": "Wandelbots", + "license": "Apache-2.0", + "devDependencies": { + "@rollup/plugin-commonjs": "^25.0.2", + "@rollup/plugin-node-resolve": "^15.1.0", + "@rollup/plugin-terser": "^0.4.3", + "@rollup/plugin-typescript": "^11.1.2", + "prettier-eslint": "^16.3.0", + "rollup": "^3.25.3", + "rollup-plugin-dts": "^5.3.0", + "rollup-plugin-peer-deps-external": "^2.2.4", + "rollup-plugin-postcss": "^4.0.2", + "semantic-release": "^24.0.0", + "tsup": "^8.1.0", + "typescript": "^5.1.6", + "vitest": "^1.6.0" + }, + "dependencies": { + "@wandelbots/wandelbots-api-client": "^0.97.0", + "axios": "^1.7.2", + "reconnecting-websocket": "^4.4.0" + } +} diff --git a/release.config.js b/release.config.js new file mode 100644 index 0000000..329e5bb --- /dev/null +++ b/release.config.js @@ -0,0 +1,22 @@ +module.exports = { + branches: [ + "main", + { name: "alpha", prerelease: true }, + { name: "beta", prerelease: true }, + { name: "canary-*", prerelease: true, channel: "canary" }, + ], + plugins: [ + "@semantic-release/commit-analyzer", + "@semantic-release/release-notes-generator", + "@semantic-release/npm", + [ + "@semantic-release/github", + // Workaround for rate limit issue on github + // https://github.com/semantic-release/semantic-release/issues/2204#issuecomment-2154938064 + { + successComment: false, + failTitle: false, + }, + ], + ], +} diff --git a/src/ConnectedMotionGroup.ts b/src/ConnectedMotionGroup.ts new file mode 100644 index 0000000..7f06c4b --- /dev/null +++ b/src/ConnectedMotionGroup.ts @@ -0,0 +1,177 @@ +import { tryParseJson } from "./util/converters" +import type { + ControllerInstance, + MotionGroupPhysical, + MotionGroupSpecification, + MotionGroupState, + RobotTcp, +} from "@wandelbots/wandelbots-api-client" +import { AutoReconnectingWebsocket } from "./util/AutoReconnectingWebsocket" +import { NovaClient } from "./NovaClient" +import { AxiosError } from "axios" + +export type MotionGroupOption = { + selectionId: string +} & MotionGroupPhysical + +/** + * Store representing the current state of a connected motion group. + */ +export class ConnectedMotionGroup { + static async connect( + nova: NovaClient, + motionGroupId: string, + controllers: ControllerInstance[], + ) { + const [_motionGroupIndex, controllerId] = motionGroupId.split("@") as [ + string, + string, + ] + const controller = controllers.find((c) => c.controller === controllerId) + const motionGroup = controller?.physical_motion_groups.find( + (mg) => mg.motion_group === motionGroupId, + ) + if (!controller || !motionGroup) { + throw new Error( + `Controller ${controllerId} or motion group ${motionGroupId} not found`, + ) + } + + const motionStateSocket = new AutoReconnectingWebsocket( + `${nova.config.instanceUrl}/cells/${nova.config.cellId}/motion-groups/${motionGroupId}/state-stream`, + nova.config.username, + nova.config.password, + ) + + // Wait for the first message to get the initial state + const firstMessage = await motionStateSocket.firstMessage() + const initialMotionState = tryParseJson(firstMessage.data)?.result?.state + + if (!initialMotionState) { + throw new Error( + `Unable to parse initial motion state message ${firstMessage.data}`, + ) + } + + console.log( + `Connected motion state websocket to motion group ${motionGroupId}. Initial state:\n `, + initialMotionState, + ) + + // This is used to determine if the robot is virtual or physical + let isVirtual = false + try { + const virtualModeRes = + await nova.api.virtualRobotMode.getOperationMode(controllerId) + + if (virtualModeRes.status === 200) { + isVirtual = true + } + } catch (err) { + if (err instanceof AxiosError) { + console.log( + `Received ${err.status} from getOperationMode, concluding that ${controllerId} is physical`, + ) + } else { + throw err + } + } + + // Find out what TCPs this motion group has (we need it for jogging) + const tcpOptionsRes = + await nova.api.motionGroupInfos.listTcps(motionGroupId) + + const motionGroupSpecification = + await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId) + + return new ConnectedMotionGroup( + nova, + controller, + motionGroup, + initialMotionState, + motionStateSocket, + isVirtual, + tcpOptionsRes.data.tcps!, + motionGroupSpecification.data, + ) + } + + connectedJoggingCartesianSocket: WebSocket | null = null + connectedJoggingJointsSocket: WebSocket | null = null + planData: any | null // tmp + joggingVelocity: number = 10 + + // Not mobx-observable as this changes very fast; should be observed + // using animation frames + rapidlyChangingMotionState: MotionGroupState + + constructor( + readonly nova: NovaClient, + readonly controller: ControllerInstance, + readonly motionGroup: MotionGroupPhysical, + readonly initialMotionState: MotionGroupState, + readonly motionStateSocket: AutoReconnectingWebsocket, + readonly isVirtual: boolean, + readonly tcps: RobotTcp[], + readonly motionGroupSpecification: MotionGroupSpecification, + ) { + this.rapidlyChangingMotionState = initialMotionState + + motionStateSocket.addEventListener("message", (event) => { + const data = tryParseJson(event.data)?.result?.state + + if (!data) { + console.error("Invalid motion state data", event.data) + return + } + + this.rapidlyChangingMotionState = data + }) + } + + get motionGroupId() { + return this.motionGroup.motion_group + } + + get controllerId() { + return this.controller.controller + } + + get modelFromController() { + return this.motionGroup.model_from_controller + } + + get wandelscriptIdentifier() { + const num = this.motionGroupId.split("@")[0] + return `${this.controllerId.replaceAll("-", "_")}_${num}` + } + + /** Jogging velocity in radians for rotation and joint movement */ + get joggingVelocityRads() { + return (this.joggingVelocity * Math.PI) / 180 + } + + get joints() { + return this.initialMotionState.joint_position.joints.map((_, i) => { + return { + index: i, + } + }) + } + + get dhParameters() { + return this.motionGroupSpecification.dh_parameters + } + + dispose() { + this.motionStateSocket.close() + if (this.connectedJoggingCartesianSocket) + this.connectedJoggingCartesianSocket.close() + if (this.connectedJoggingJointsSocket) + this.connectedJoggingJointsSocket.close() + } + + setJoggingVelocity(velocity: number) { + this.joggingVelocity = velocity + } +} diff --git a/src/NovaCellAPIClient.ts b/src/NovaCellAPIClient.ts new file mode 100644 index 0000000..3c6dde7 --- /dev/null +++ b/src/NovaCellAPIClient.ts @@ -0,0 +1,93 @@ +import { + Configuration, + ControllerApi, + ControllerIOsApi, + CoordinateSystemsApi, + DeviceConfigurationApi, + LibraryProgramApi, + LibraryProgramMetadataApi, + LibraryRecipeApi, + LibraryRecipeMetadataApi, + MotionApi, + MotionGroupApi, + MotionGroupInfosApi, + MotionGroupJoggingApi, + MotionGroupKinematicApi, + ProgramApi, + ProgramValuesApi, + VirtualRobotApi, + VirtualRobotBehaviorApi, + VirtualRobotModeApi, + VirtualRobotSetupApi, +} from "@wandelbots/wandelbots-api-client" +import type { BaseAPI } from "@wandelbots/wandelbots-api-client/base" + +type OmitFirstArg = F extends (x: any, ...args: infer P) => infer R + ? (...args: P) => R + : never +export type WithCellId = { + [P in keyof T]: OmitFirstArg +} + +/** + * API client providing type-safe access to all the Nova API REST endpoints + * associated with a specific cell id. + */ +export class NovaCellAPIClient { + constructor( + readonly cellId: string, + readonly config: Configuration, + ) {} + + /** + * Some TypeScript sorcery which alters the API class methods so you don't + * have to pass the cell id to every single one + */ + private withCellId( + ApiConstructor: new (config: Configuration) => T, + ) { + const apiClient = new ApiConstructor(this.config) as { + [key: string | symbol]: any + } + + for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) { + if (key !== "constructor" && typeof apiClient[key] === "function") { + const originalFunction = apiClient[key] + apiClient[key] = (...args: any[]) => { + return originalFunction.apply(apiClient, [this.cellId, ...args]) + } + } + } + + return apiClient as WithCellId + } + + readonly deviceConfig = this.withCellId(DeviceConfigurationApi) + + readonly motionGroup = this.withCellId(MotionGroupApi) + readonly motionGroupInfos = this.withCellId(MotionGroupInfosApi) + + readonly controller = this.withCellId(ControllerApi) + + readonly program = this.withCellId(ProgramApi) + readonly programValues = this.withCellId(ProgramValuesApi) + + readonly controllerIOs = this.withCellId(ControllerIOsApi) + + readonly motionGroupKinematic = this.withCellId(MotionGroupKinematicApi) + readonly motion = this.withCellId(MotionApi) + + readonly coordinateSystems = this.withCellId(CoordinateSystemsApi) + + readonly motionGroupJogging = this.withCellId(MotionGroupJoggingApi) + + readonly virtualRobot = this.withCellId(VirtualRobotApi) + readonly virtualRobotSetup = this.withCellId(VirtualRobotSetupApi) + readonly virtualRobotMode = this.withCellId(VirtualRobotModeApi) + readonly virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi) + + readonly libraryProgramMetadata = this.withCellId(LibraryProgramMetadataApi) + readonly libraryProgram = this.withCellId(LibraryProgramApi) + readonly libraryRecipeMetadata = this.withCellId(LibraryRecipeMetadataApi) + readonly libraryRecipe = this.withCellId(LibraryRecipeApi) +} diff --git a/src/NovaClient.ts b/src/NovaClient.ts new file mode 100644 index 0000000..4d37115 --- /dev/null +++ b/src/NovaClient.ts @@ -0,0 +1,55 @@ +import type { Configuration } from "@wandelbots/wandelbots-api-client" +import { ConnectedMotionGroup } from "./ConnectedMotionGroup" +import { NovaCellAPIClient } from "./NovaCellAPIClient" + +export type NovaClientConfig = { + /** + * Url of the deployed Nova instance to connect to + * e.g. https://saeattii.instance.wandelbots.io + */ + instanceUrl: string + + /** + * Identifier of the cell on the Nova instance to connect this client to. + * If omitted, the default identifier "cell" is used. + **/ + cellId?: string +} & Omit + +/** + * Client for connecting to a Nova instance and controlling robots. + */ +export class NovaClient { + readonly api: NovaCellAPIClient + constructor(readonly config: NovaClientConfig) { + this.api = new NovaCellAPIClient(this.config.cellId ?? "cell", { + ...this.config, + basePath: this.config.instanceUrl, + // Weird isJsonMime thing to work around bug in autogenerated API types + isJsonMime: undefined as any, + }) + } + + async connectMotionGroups( + motionGroupIds: string[], + ): Promise { + const { data: controllersRes } = await this.api.controller.listControllers() + + return Promise.all( + motionGroupIds.map((motionGroupId) => + ConnectedMotionGroup.connect( + this, + motionGroupId, + controllersRes.instances, + ), + ), + ) + } + + async connectMotionGroup( + motionGroupId: string, + ): Promise { + const motionGroups = await this.connectMotionGroups([motionGroupId]) + return motionGroups[0]! + } +} diff --git a/src/ProgramRunner.ts b/src/ProgramRunner.ts new file mode 100644 index 0000000..d3a390d --- /dev/null +++ b/src/ProgramRunner.ts @@ -0,0 +1,245 @@ +import { AxiosError } from "axios" +import { AutoReconnectingWebsocket } from "./util/AutoReconnectingWebsocket" +import { tryParseJson } from "./util/converters" +import type { NovaClient } from "./NovaClient" +import type { ConnectedMotionGroup } from "./ConnectedMotionGroup" + +export type ProgramRunnerLogEntry = { + timestamp: number + message: string + level?: "warn" | "error" +} + +export enum ProgramState { + NotStarted = "not started", + Running = "running", + Stopped = "stopped", + Failed = "failed", + Completed = "completed", +} + +export type CurrentProgram = { + id?: string + wandelscript?: string + state?: ProgramState +} + +type ProgramStateMessage = { + id: string + state: ProgramState + start_time?: number | null + execution_time?: number | null +} + +export class ProgramRunner { + currentProgram: CurrentProgram = {} + logs: ProgramRunnerLogEntry[] = [] + + executionState = "idle" as "idle" | "starting" | "executing" | "stopping" + currentlyExecutingProgramRunnerId = null as string | null + + programStateSocket: AutoReconnectingWebsocket + + constructor(readonly nova: NovaClient) { + this.programStateSocket = new AutoReconnectingWebsocket(` + ${nova.config.instanceUrl}/cells/${nova.config.cellId}/programs/state + `) + + this.programStateSocket.addEventListener("message", (ev) => { + const msg = tryParseJson(ev.data) + + if (!msg) { + console.error("Failed to parse program state message", ev.data) + return + } + + this.handleProgramStateMessage(msg) + }) + } + + /** Handle a program state update from the backend */ + async handleProgramStateMessage(msg: ProgramStateMessage) { + // Ignoring other programs for now + // TODO - show if execution state is busy from another source + if (msg.id !== this.currentlyExecutingProgramRunnerId) return + + if (msg.state === ProgramState.Failed) { + try { + const { data: runnerState } = + await this.nova.api.program.getProgramRunner(msg.id) + + // TODO - wandelengine should send print statements in real time over + // websocket as well, rather than at the end + const stdout = (runnerState as any).stdout + if (stdout) { + this.log(stdout) + } + this.logError( + `Program runner ${msg.id} failed with error: ${runnerState.error}\n${runnerState.traceback}`, + ) + } catch (err) { + this.logError( + `Failed to retrieve results for program ${msg.id}: ${err}`, + ) + } + + this.currentProgram.state = ProgramState.Failed + + this.gotoIdleState() + } else if (msg.state === ProgramState.Stopped) { + try { + const { data: runnerState } = + await this.nova.api.program.getProgramRunner(msg.id) + + const stdout = (runnerState as any).stdout + if (stdout) { + this.log(stdout) + } + + this.currentProgram.state = ProgramState.Stopped + this.log(`Program runner ${msg.id} stopped`) + } catch (err) { + this.logError( + `Failed to retrieve results for program ${msg.id}: ${err}`, + ) + } + + this.gotoIdleState() + } else if (msg.state === ProgramState.Completed) { + try { + const { data: runnerState } = + await this.nova.api.program.getProgramRunner(msg.id) + + const stdout = (runnerState as any).stdout + if (stdout) { + this.log(stdout) + } + this.log( + `Program runner ${msg.id} finished successfully in ${msg.execution_time?.toFixed(2)} seconds`, + ) + + this.currentProgram.state = ProgramState.Completed + } catch (err) { + this.logError( + `Failed to retrieve results for program ${msg.id}: ${err}`, + ) + } + + this.gotoIdleState() + } else if (msg.state === ProgramState.Running) { + this.currentProgram.state = ProgramState.Running + this.log(`Program runner ${msg.id} now running`) + } else if (msg.state !== ProgramState.NotStarted) { + console.error(msg) + this.logError( + `Program runner ${msg.id} entered unexpected state: ${msg.state}`, + ) + this.currentProgram.state = ProgramState.NotStarted + this.gotoIdleState() + } + } + + /** Call when a program is no longer executing */ + gotoIdleState() { + this.executionState = "idle" + this.currentlyExecutingProgramRunnerId = null + } + + async executeProgram( + wandelscript: string, + initial_state?: Object, + activeRobot?: ConnectedMotionGroup, + ) { + this.currentProgram = { + wandelscript: wandelscript, + state: ProgramState.NotStarted, + } + + const { currentProgram: openProgram } = this + if (!openProgram) return + + this.executionState = "starting" + + // Jogging can cause program execution to fail for some time after + // So we need to explicitly stop jogging before running a program + if (activeRobot) { + try { + await this.nova.api.motionGroupJogging.stopJogging( + activeRobot.motionGroupId, + ) + } catch (err) { + console.error(err) + } + } + + // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation + const trimmedCode = openProgram.wandelscript!.replaceAll(/^\s*$/gm, "") + + try { + const { data: programRunnerRef } = + await this.nova.api.program.createProgramRunner( + { + code: trimmedCode, + initial_state: initial_state, + default_robot: activeRobot?.wandelscriptIdentifier, + } as any, + { + headers: { + "Content-Type": "application/json", + }, + }, + ) + + this.log(`Created program runner ${programRunnerRef.id}"`) + + this.executionState = "executing" + this.currentlyExecutingProgramRunnerId = programRunnerRef.id + } catch (error) { + if (error instanceof AxiosError && error.response && error.request) { + this.logError( + `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`, + ) + } else { + this.logError(JSON.stringify(error)) + } + this.executionState = "idle" + } + } + + async stopProgram() { + if (!this.currentlyExecutingProgramRunnerId) return + + this.executionState = "stopping" + + try { + await this.nova.api.program.stopProgramRunner( + this.currentlyExecutingProgramRunnerId, + ) + } catch (err) { + // Reactivate the stop button so user can try again + this.executionState = "executing" + throw err + } + } + + reset() { + this.currentProgram = {} + } + + log(message: string) { + console.log(message) + this.logs.push({ + timestamp: Date.now(), + message, + }) + } + + logError(message: string) { + console.log(message) + this.logs.push({ + timestamp: Date.now(), + message, + level: "error", + }) + } +} diff --git a/src/index.ts b/src/index.ts new file mode 100644 index 0000000..55425dd --- /dev/null +++ b/src/index.ts @@ -0,0 +1 @@ +export { NovaClient } from "./NovaClient" diff --git a/src/util/AutoReconnectingWebsocket.ts b/src/util/AutoReconnectingWebsocket.ts new file mode 100644 index 0000000..f4f57d0 --- /dev/null +++ b/src/util/AutoReconnectingWebsocket.ts @@ -0,0 +1,52 @@ +import ReconnectingWebSocket, { type ErrorEvent } from "reconnecting-websocket" +import { makeURLForWebSocket } from "./websocket" + +export class AutoReconnectingWebsocket extends ReconnectingWebSocket { + receivedFirstMessage?: MessageEvent + path: string + + constructor(path: string, user?: string, password?: string) { + super(() => makeURLForWebSocket(this.path, user, password), undefined, { + startClosed: true, + }) + this.path = path + + this.addEventListener("open", () => { + console.log(`Websocket to ${path} opened`) + }) + + this.addEventListener("close", () => { + console.log(`Websocket to ${path} closed`) + }) + + this.reconnect() + } + + sendJson(data: unknown) { + this.send(JSON.stringify(data)) + } + + async firstMessage() { + if (this.receivedFirstMessage) { + return this.receivedFirstMessage + } + + return new Promise((resolve, reject) => { + const onMessage = (ev: MessageEvent) => { + this.receivedFirstMessage = ev + this.removeEventListener("message", onMessage) + this.removeEventListener("error", onError) + resolve(ev) + } + + const onError = (ev: ErrorEvent) => { + this.removeEventListener("message", onMessage) + this.removeEventListener("error", onError) + reject(ev) + } + + this.addEventListener("message", onMessage) + this.addEventListener("error", onError) + }) + } +} diff --git a/src/util/converters.ts b/src/util/converters.ts new file mode 100644 index 0000000..113ed2a --- /dev/null +++ b/src/util/converters.ts @@ -0,0 +1,11 @@ +export function tryParseJson(json: unknown): any { + try { + return JSON.parse(json as string) + } catch { + return undefined + } +} + +export function radToDeg(radians: number): number { + return radians * (180 / Math.PI) +} diff --git a/src/util/websocket.ts b/src/util/websocket.ts new file mode 100644 index 0000000..ea185df --- /dev/null +++ b/src/util/websocket.ts @@ -0,0 +1,13 @@ +export function makeURLForWebSocket(path: string, user?: string, password?: string): string { + const url = new URL(path, location.href) + url.protocol = url.protocol.replace("http", "ws") + url.protocol = url.protocol.replace("https", "wss") + + // If provided, add basic auth credentials to the URL + if (user && password) { + url.username = user + url.password = password + } + + return url.toString() +} diff --git a/test/jogging.test.ts b/test/jogging.test.ts new file mode 100644 index 0000000..78523ae --- /dev/null +++ b/test/jogging.test.ts @@ -0,0 +1,13 @@ +import { expect, test } from 'vitest' +import { NovaClient } from '../src' + +// TODO - jogging test + +test('adds 1 + 2 to equal 3', () => { + const nova = new NovaClient({ + instanceUrl: 'http://localhost:3000', + cellId: 'cell', + }) + + expect(sum(1, 2)).toBe(3) +}) diff --git a/tsconfig.json b/tsconfig.json new file mode 100644 index 0000000..b974725 --- /dev/null +++ b/tsconfig.json @@ -0,0 +1,23 @@ +{ + "compilerOptions": { + "target": "esnext", + "lib": [ + "esnext", + "DOM" + ], + "module": "esnext", + "moduleResolution": "node", + "resolveJsonModule": true, + "strict": true, + "strictNullChecks": true, + "esModuleInterop": true, + "skipDefaultLibCheck": true, + "skipLibCheck": true + }, + "include": [ + "src", + ], + "exclude": [ + "node_modules", + ] +} \ No newline at end of file