From e20d9cc3d295414312732ddcf55499569b03e904 Mon Sep 17 00:00:00 2001 From: Evan Summers Date: Wed, 10 Jul 2024 15:12:53 +0200 Subject: [PATCH] feat: Initial package publication --- .eslintrc.cjs | 38 + .github/workflows/release.yml | 38 + .gitignore | 3 + .prettierrc | 18 + .vscode/extensions.json | 12 + .vscode/settings.json | 19 + LICENSE | 201 + README.md | 17 + package-lock.json | 11561 ++++++++++++++++++++++++ package.json | 52 + release.config.js | 22 + src/ConnectedMotionGroup.ts | 177 + src/NovaCellAPIClient.ts | 93 + src/NovaClient.ts | 55 + src/ProgramRunner.ts | 245 + src/index.ts | 1 + src/util/AutoReconnectingWebsocket.ts | 52 + src/util/converters.ts | 11 + src/util/websocket.ts | 13 + test/jogging.test.ts | 13 + tsconfig.json | 23 + 21 files changed, 12664 insertions(+) create mode 100644 .eslintrc.cjs create mode 100644 .github/workflows/release.yml create mode 100644 .gitignore create mode 100644 .prettierrc create mode 100644 .vscode/extensions.json create mode 100644 .vscode/settings.json create mode 100644 LICENSE create mode 100644 README.md create mode 100644 package-lock.json create mode 100644 package.json create mode 100644 release.config.js create mode 100644 src/ConnectedMotionGroup.ts create mode 100644 src/NovaCellAPIClient.ts create mode 100644 src/NovaClient.ts create mode 100644 src/ProgramRunner.ts create mode 100644 src/index.ts create mode 100644 src/util/AutoReconnectingWebsocket.ts create mode 100644 src/util/converters.ts create mode 100644 src/util/websocket.ts create mode 100644 test/jogging.test.ts create mode 100644 tsconfig.json 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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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