# @wandelbots/nova-js

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This library provides an idiomatic TypeScript client for working with the [Wandelbots NOVA](https://docs.wandelbots.io) robotics software platform API.

```bash
npm install @wandelbots/nova-js
```

If you develop a React application we also provide a set of [React components](https://github.com/wandelbotsgmbh/wandelbots-js-react-components). It includes a [Robot Jogging Panel](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/jogging-joggingpanel--docs), a [Robot Visualization](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/3d-view-robot-robot--docs) and other useful UI widgets.

## Basic usage

The core of this package is the `Nova` client, which represents a connection to a given NOVA instance:

```ts
import { Nova } from "@wandelbots/nova-js/v2"

const nova = new Nova({
  instanceUrl: "https://example.instance.wandelbots.io",

  // Access token is given in the developer portal UI when you create an instance
  // This can be omitted when the frontend is hosted by the instance itself
  // (i.e. when running as a NOVA app)
  accessToken: "...",
})
```

### API calls

You can make calls to the REST API via `nova.api`, which contains a bunch of namespaced methods for each endpoint generated from the OpenAPI spec and documentation.

For example, to list the controllers configured in your cell:

```ts
const controllerIds = await nova.api.controller.listRobotControllers("cell")
// -> e.g. ["ur5e", ...]
```

Documentation for the various API endpoints is available on your Nova instance at `/api/v2/ui` or on [portal.wandelbots.io](https://portal.wandelbots.io/docs/api/v2/ui/)

## Opening websockets

`Nova` has various convenience features for websocket handling in general. Use `openReconnectingWebsocket` to get a persistent socket for a given Nova streaming endpoint that will handle unexpected closes with exponential backoff:
```ts
const joggingWebsocket = nova.openReconnectingWebsocket(`/cells/cell/controllers/ur5e/execution/jogging`)

joggingWebsocket.addEventListener("message", (ev) => {
  console.log(ev.data)
})
```

Websockets on a given NOVA client are deduplicated by path, so if you call `openReconnectingWebsocket` twice with the same path you'll get the same object. The exception is if you called `dispose`, which you may do to permanently clean up a reconnecting websocket and free its resources:

```ts
joggingWebsocket.dispose()
```

## Contributing

If you would like to contribute a change to this repository, see [CONTRIBUTING.md](CONTRIBUTING.md).