@2702rebels/wpidata 1.0.0

package/dist/sink.mjs

@@ -0,0 +1,361 @@
+import { addTimestampedRecord, getTimestampedRecord, pruneTimestampedRecords, setValueByPath, toUint8Array } from "./utils.mjs";
+import { JsonDataTransformer } from "./formats/json.mjs";
+import { MsgpackDataTransformer } from "./formats/msgpack.mjs";
+import { ProtobufDataTransformer } from "./formats/protobuf.mjs";
+import { StructDataTransformer } from "./formats/struct.mjs";
+
+//#region src/sink.ts
+/** Converts raw data type name to {@link DataType}. */
+function getDataType(v) {
+	switch (v.toLocaleLowerCase()) {
+		case "boolean": return "boolean";
+		case "string": return "string";
+		case "double":
+		case "int":
+		case "float": return "number";
+		case "boolean[]": return "booleanArray";
+		case "string[]": return "stringArray";
+		case "double[]":
+		case "int[]":
+		case "float[]": return "numberArray";
+		case "json":
+		case "msgpack": return "json";
+		default: return "binary";
+	}
+}
+/** Gets the raw data type of the value to publish. */
+function getRawType(v) {
+	if (Array.isArray(v)) {
+		if (v.length > 0) {
+			const itemType = getRawType(v[0]);
+			return itemType ? `${itemType}[]` : void 0;
+		}
+	} else switch (typeof v) {
+		case "boolean": return "boolean";
+		case "string": return "string";
+		case "number": return "double";
+		case "object": return "json";
+	}
+}
+/** Enqueues data into the composite channel at the specified path. */
+function enqueueDataWithPath(channel, timestamp, data, path) {
+	channel.records ??= [];
+	const [record, recordIndex] = getTimestampedRecord(channel.records, timestamp);
+	let index = recordIndex;
+	if (record != null) if (record.timestamp === timestamp) setValueByPath(record.value, path, data);
+	else index = addTimestampedRecord(channel.records, timestamp, setValueByPath(structuredClone(record.value), path, data));
+	else index = addTimestampedRecord(channel.records, timestamp, setValueByPath({}, path, data));
+	for (let i = index + 1; i < channel.records.length; ++i) setValueByPath(channel.records[i].value, path, data, true);
+}
+/** Enqueues data into the channel. */
+function enqueueData(channel, timestamp, data, dlq) {
+	if (dlq) {
+		channel.dlq ??= [];
+		addTimestampedRecord(channel.dlq, timestamp, toUint8Array(data));
+	} else if (channel.composite != null) {
+		const path = channel.composite.channels.get(channel.id);
+		if (path == null) throw new Error(`Invariant violation: ${channel.id} must be a sub-channel of ${channel.composite.id}`);
+		enqueueDataWithPath(channel.composite, timestamp, data, path);
+	} else {
+		channel.records ??= [];
+		addTimestampedRecord(channel.records, timestamp, data);
+	}
+}
+/** Converts channel into a sub-channel of a composite channel. */
+function convertToSubchannel(channel, composite) {
+	const path = channel.id.substring(composite.id.length + 1).split(/\//).map((_) => _.trim()).filter((_) => _.length > 0);
+	channel.composite = composite;
+	composite.channels.set(channel.id, path);
+}
+/** Compares two arrays for value equality. */
+function arraysEquals(a, b) {
+	if (a === b) return true;
+	if (a == null || b == null) return false;
+	if (a.length !== b.length) return false;
+	for (let i = 0; i < a.length; ++i) if (a[i] !== b[i]) return false;
+	return true;
+}
+/** Default console logger for error messages. */
+function logError(message, error) {
+	console.error(`💣 [DataSink] ${message}`, error);
+}
+/** Default {@link DataTransformer} used by {@link DataSink} that can be reused across instances. */
+const DefaultDataSinkTransformers = [new JsonDataTransformer(), new MsgpackDataTransformer()];
+/** A data sink in the data pipeline with support for protocol transformers, data retention, etc. */
+var DataSink = class DataSink {
+	channels;
+	composites;
+	schemas;
+	transformers;
+	retention;
+	disableCompositeChannels;
+	onDataChannelAdded;
+	onDataChannelRemoved;
+	logger;
+	timestamp;
+	structTransformer = new StructDataTransformer();
+	protobufTransformer = new ProtobufDataTransformer();
+	constructor(options) {
+		this.channels = /* @__PURE__ */ new Map();
+		this.composites = /* @__PURE__ */ new Map();
+		this.schemas = /* @__PURE__ */ new Map();
+		this.retention = options?.retention;
+		this.onDataChannelAdded = options?.onDataChannelAdded;
+		this.onDataChannelRemoved = options?.onDataChannelRemoved;
+		this.disableCompositeChannels = options?.disableCompositeChannels ?? false;
+		this.logger = options?.logger ?? logError;
+		this.timestamp = 0;
+		this.transformers = [
+			...DefaultDataSinkTransformers,
+			this.structTransformer,
+			this.protobufTransformer
+		];
+		if (options?.transformers) this.transformers.push(...options.transformers);
+	}
+	/** Constructs channel identifier. */
+	static createId(source, name) {
+		return `${source}:${name}`;
+	}
+	/** Returns parent composite data channel if one exists. */
+	getCompositeParent(id) {
+		for (const composite of this.composites.values()) if (id.startsWith(`${composite.id}/`)) return composite;
+	}
+	/** Registers new data channel. */
+	registerChannel(channel, publish) {
+		const id = DataSink.createId(channel.source, channel.id);
+		this.channels.set(id, channel);
+		channel.publish = publish ? this.createChannelPublisher(channel, publish) : void 0;
+		let silent = false;
+		if (!this.disableCompositeChannels) {
+			const composite = this.getCompositeParent(channel.id);
+			if (composite != null) {
+				convertToSubchannel(channel, composite);
+				silent = true;
+			}
+		}
+		if (!silent && this.onDataChannelAdded != null) this.onDataChannelAdded(channel);
+	}
+	/** Gets sub-channel by its path. */
+	getSubChannel(channel, path) {
+		for (const [id, p] of channel.channels) if (arraysEquals(path, p)) return this.channels.get(id);
+	}
+	/** Creates channel publisher. */
+	createChannelPublisher(channel, publish) {
+		return (value, path, options) => {
+			if (path != null && channel.dataType === "composite") {
+				const subchannel = this.getSubChannel(channel, path);
+				if (subchannel) {
+					if (subchannel.transformer != null) value = subchannel.transformer.serialize(value, channel.structuredType);
+					publish(subchannel.id, subchannel.publishedDataType, value);
+				} else {
+					const topic = `${channel.id}/${path.join("/")}`;
+					let dataType = getRawType(value);
+					if (options?.structuredType) switch (options.structuredType.format) {
+						case "composite": return;
+						case "struct":
+							value = this.structTransformer.serialize(value, options.structuredType);
+							dataType = `struct:${options.structuredType.name}`;
+							break;
+						case "protobuf":
+							value = this.protobufTransformer.serialize(value, options.structuredType);
+							dataType = `proto:${options.structuredType.name}`;
+							break;
+					}
+					if (dataType) publish(topic, dataType, value);
+				}
+			} else {
+				if (channel.transformer != null) value = channel.transformer.serialize(value, channel.structuredType);
+				publish(channel.id, channel.publishedDataType, value);
+			}
+		};
+	}
+	/** Returns most recent timestamp in microseconds observed by this instance. */
+	get recentTimestamp() {
+		return this.timestamp;
+	}
+	/**
+	* Gets a channel descriptor.
+	*
+	* @param source source, e.g. `nt` or `wpilog`
+	* @param name channel name
+	*/
+	get(source, name) {
+		const channel = this.channels.get(DataSink.createId(source, name));
+		return channel && channel.composite == null ? channel : void 0;
+	}
+	/**
+	* Adds a channel descriptor.
+	*
+	* @param source source, e.g. `nt` or `wpilog`
+	* @param name channel name
+	* @param type channel type
+	* @param properties channel properties
+	* @param publish channel publisher
+	*/
+	add(source, name, type, properties, publish) {
+		let metadata;
+		if (properties != null) {
+			if (typeof properties === "string") try {
+				metadata = JSON.parse(properties);
+			} catch {
+				metadata = properties;
+			}
+			else if (typeof properties === "object") {
+				const { persistent, retained, cached, ...other } = properties;
+				if (Object.keys(other).length > 0) metadata = other;
+			}
+		}
+		const dataType = getDataType(type);
+		if (!this.disableCompositeChannels && name.endsWith("/.type")) {
+			const composite = this.getCompositeParent(name);
+			if (composite) {
+				const channel = {
+					source,
+					id: name,
+					dataType,
+					publishedDataType: type,
+					metadata
+				};
+				channel.publish = publish ? this.createChannelPublisher(channel, publish) : void 0;
+				const id = DataSink.createId(channel.source, channel.id);
+				this.channels.set(id, channel);
+				convertToSubchannel(channel, composite);
+			} else {
+				const channel = {
+					source,
+					id: name.slice(0, -6),
+					dataType: "composite",
+					publishedDataType: "",
+					metadata,
+					channels: /* @__PURE__ */ new Map()
+				};
+				channel.publish = publish ? this.createChannelPublisher(channel, publish) : void 0;
+				const prefix = `${channel.id}/`;
+				this.channels.forEach((value) => {
+					if (value.id.startsWith(prefix)) {
+						convertToSubchannel(value, channel);
+						if (this.onDataChannelRemoved != null) this.onDataChannelRemoved(value);
+					}
+				});
+				const id = DataSink.createId(channel.source, channel.id);
+				this.composites.set(id, channel);
+				this.channels.set(id, channel);
+				if (this.onDataChannelAdded != null) this.onDataChannelAdded(channel);
+			}
+		} else {
+			for (const transformer of this.transformers) try {
+				const result = transformer.inspect(source, name, type, metadata);
+				if (result != null) {
+					if (typeof result === "string") this.schemas.set(DataSink.createId(source, name), [transformer, result]);
+					else this.registerChannel(result, publish);
+					return;
+				}
+			} catch (exception) {
+				this.logger(`Transformer '${typeof transformer}' inspection failed`, exception);
+			}
+			this.registerChannel({
+				source,
+				id: name,
+				dataType,
+				publishedDataType: type,
+				metadata
+			}, publish);
+		}
+	}
+	/**
+	* Enqueues a timestamped value for a named data channel.
+	*
+	* @param source source, e.g. `nt` or `wpilog`
+	* @param name channel name
+	* @param timestamp timestamp in microseconds
+	* @param value raw value
+	*/
+	enqueue(source, name, timestamp, value) {
+		this.timestamp = Math.max(this.timestamp, timestamp);
+		const id = DataSink.createId(source, name);
+		const schema = this.schemas.get(id);
+		if (schema) {
+			const [transformer, typeName] = schema;
+			try {
+				transformer.schema(typeName, value);
+			} catch (exception) {
+				this.logger(`Transformer '${typeof transformer}' failed to ingest schema data`, exception);
+				return false;
+			}
+			this.channels.forEach((channel$1) => {
+				if (channel$1.transformer === transformer && channel$1.dlq != null && channel$1.dlq.length > 0 && channel$1.structuredType != null && channel$1.transformer.canTransform(channel$1.structuredType.name)) {
+					channel$1.records ??= [];
+					for (const record of channel$1.dlq) try {
+						const v$1 = transformer.deserialize(record.value, channel$1.structuredType);
+						if (v$1 != null) enqueueData(channel$1, record.timestamp, v$1, false);
+					} catch (exception) {
+						this.logger(`Transformer '${typeof transformer}' failed to transform data in channel '${id}'`, exception);
+					}
+					channel$1.dlq = void 0;
+				}
+			});
+			return true;
+		}
+		if (!this.disableCompositeChannels && name.endsWith("/.type")) {
+			const channel$1 = this.composites.get(id.slice(0, -6));
+			if (channel$1 != null) {
+				if (typeof value === "string") {
+					channel$1.structuredType = {
+						name: value,
+						format: "composite"
+					};
+					enqueueDataWithPath(channel$1, timestamp, value, [".type"]);
+				}
+				return true;
+			}
+		}
+		const channel = this.channels.get(id);
+		if (channel == null) return false;
+		let v = value;
+		try {
+			if (channel.transformer != null) {
+				v = channel.transformer.deserialize(v, channel.structuredType);
+				if (v == null) {
+					enqueueData(channel, timestamp, value, true);
+					return true;
+				}
+			}
+		} catch (exception) {
+			this.logger(`Transformer '${typeof channel.transformer}' failed to transform data in channel '${id}'`, exception);
+			return false;
+		}
+		enqueueData(channel, timestamp, v, false);
+		return true;
+	}
+	/**
+	* Prunes old records based on the retention policy if configured.
+	*
+	* The `currentTimestamp` represents time in the robot clock, not
+	* wall clock, typically you want to supply the most recent timestamp
+	* reported by live connection protocol, such as NetworkTables.
+	* Defaults to {@link recentTimestamp} field.
+	*
+	* @param currentTimestamp timestamp in microseconds representing current time
+	*/
+	enforceRetention(currentTimestamp) {
+		if (this.retention == null) return;
+		const timestamp = currentTimestamp ?? this.timestamp;
+		const maxSize = this.retention.maxSize;
+		const cutoff = this.retention.maxTimeSeconds != null ? Math.max(0, timestamp - this.retention.maxTimeSeconds * 1e6) : void 0;
+		if (maxSize != null && maxSize > 0 || cutoff != null) this.channels.forEach((channel) => {
+			if (channel.records != null) pruneTimestampedRecords(channel.records, maxSize, cutoff);
+			if (channel.dlq != null) pruneTimestampedRecords(channel.dlq, maxSize, cutoff);
+		});
+	}
+	/** Purges this sink and all its records. */
+	purge() {
+		this.channels.clear();
+		this.composites.clear();
+		this.schemas.clear();
+		this.timestamp = 0;
+	}
+};
+
+//#endregion
+export { DataSink };
+//# sourceMappingURL=sink.mjs.map

package/dist/sink.mjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"sink.mjs","names":["channel","v"],"sources":["../src/sink.ts"],"sourcesContent":["import { JsonDataTransformer } from \"./formats/json\";\nimport { MsgpackDataTransformer } from \"./formats/msgpack\";\nimport { ProtobufDataTransformer } from \"./formats/protobuf\";\nimport { StructDataTransformer } from \"./formats/struct\";\nimport {\n  addTimestampedRecord,\n  getTimestampedRecord,\n  pruneTimestampedRecords,\n  setValueByPath,\n  toUint8Array,\n} from \"./utils\";\n\nimport type {\n  CompositeDataChannel,\n  DataChannel,\n  DataChannelPublisherOptions,\n  DataTransformer,\n  DataTypeImpl,\n} from \"./abstractions\";\n\n/** Converts raw data type name to {@link DataType}. */\nfunction getDataType(v: string) {\n  switch (v.toLocaleLowerCase()) {\n    case \"boolean\":\n      return \"boolean\";\n    case \"string\":\n      return \"string\";\n    case \"double\":\n    case \"int\":\n    case \"float\":\n      return \"number\";\n    case \"boolean[]\":\n      return \"booleanArray\";\n    case \"string[]\":\n      return \"stringArray\";\n    case \"double[]\":\n    case \"int[]\":\n    case \"float[]\":\n      return \"numberArray\";\n    case \"json\":\n    case \"msgpack\":\n      return \"json\";\n    default:\n      // case \"raw\":\n      // case \"rpc\":\n      return \"binary\";\n  }\n}\n\n/** Gets the raw data type of the value to publish. */\nfunction getRawType(v: unknown): string | undefined {\n  if (Array.isArray(v)) {\n    if (v.length > 0) {\n      const itemType = getRawType(v[0]);\n      return itemType ? `${itemType}[]` : undefined;\n    }\n  } else {\n    switch (typeof v) {\n      case \"boolean\":\n        return \"boolean\";\n      case \"string\":\n        return \"string\";\n      case \"number\":\n        return \"double\"; // we can't distinguish between int, float and double\n      case \"object\":\n        return \"json\";\n    }\n  }\n}\n\n/** Enqueues data into the composite channel at the specified path. */\nfunction enqueueDataWithPath(channel: CompositeDataChannel, timestamp: number, data: unknown, path: Array<string>) {\n  channel.records ??= [];\n\n  // three scenarios are possible here:\n  // - merge into existing record value with the same timestamp\n  // - merge into cloned most recent record value\n  // - create new record value\n  //\n  // additionally it is also possible that we are inserting data at\n  // a `historical` timestamp, i.e. there are already newer records\n  // following the record being inserted; in this case we have to\n  // also update each of the following records by setting the incoming\n  // value, unless it is already present there\n  const [record, recordIndex] = getTimestampedRecord(channel.records, timestamp);\n  let index = recordIndex;\n\n  if (record != null) {\n    if (record.timestamp === timestamp) {\n      setValueByPath(record.value, path, data);\n    } else {\n      index = addTimestampedRecord(\n        channel.records,\n        timestamp,\n        setValueByPath(structuredClone(record.value), path, data)\n      );\n    }\n  } else {\n    index = addTimestampedRecord(channel.records, timestamp, setValueByPath({}, path, data));\n  }\n\n  for (let i = index + 1; i < channel.records.length; ++i) {\n    setValueByPath(channel.records[i]!.value, path, data, true);\n  }\n}\n\n/** Enqueues data into the channel. */\nfunction enqueueData(channel: DataChannel, timestamp: number, data: unknown, dlq: boolean) {\n  if (dlq) {\n    channel.dlq ??= [];\n    addTimestampedRecord<Uint8Array>(channel.dlq, timestamp, toUint8Array(data));\n  } else {\n    if (channel.composite != null) {\n      const path = channel.composite.channels.get(channel.id);\n      if (path == null) {\n        throw new Error(`Invariant violation: ${channel.id} must be a sub-channel of ${channel.composite.id}`);\n      }\n\n      enqueueDataWithPath(channel.composite, timestamp, data, path);\n    } else {\n      channel.records ??= [];\n      addTimestampedRecord(channel.records, timestamp, data as DataTypeImpl);\n    }\n  }\n}\n\n/** Converts channel into a sub-channel of a composite channel. */\nfunction convertToSubchannel(channel: DataChannel, composite: CompositeDataChannel) {\n  // compute path to store channel data within the composite channel record\n  // for example,\n  // channel.id = `nt:/SmartDashboard/PowerDistribution[0]/Chan0`\n  // composite.id = `nt:/SmartDashboard/PowerDistribution[0]`\n  // path = [`Chan0`]\n  // -or-\n  // channel.id = `nt:/SmartDashboard/Module 0/RootSpeed/x`\n  // composite.id = `nt:/SmartDashboard/Module 0`\n  // path = [`RootSpeed`, `x`]\n  const path = channel.id\n    .substring(composite.id.length + 1)\n    .split(/\\//)\n    .map((_) => _.trim())\n    .filter((_) => _.length > 0);\n\n  channel.composite = composite;\n  composite.channels.set(channel.id, path);\n}\n\n/** Compares two arrays for value equality. */\nfunction arraysEquals<T>(a: ReadonlyArray<T>, b: ReadonlyArray<T>) {\n  if (a === b) return true;\n  if (a == null || b == null) return false;\n  if (a.length !== b.length) return false;\n\n  for (let i = 0; i < a.length; ++i) {\n    if (a[i] !== b[i]) return false;\n  }\n\n  return true;\n}\n\n/** Default console logger for error messages. */\nfunction logError(message: string, error: unknown) {\n  console.error(`💣 [DataSink] ${message}`, error);\n}\n\nexport type NativeChannelPublisher = (topic: string, type: string, value: unknown) => void;\n\nexport type DataRetentionPolicy = {\n  /** Maximum number of records to retain */\n  maxSize?: number;\n\n  /** Time window in seconds to retain */\n  maxTimeSeconds?: number;\n};\n\n/** Default {@link DataTransformer} used by {@link DataSink} that can be reused across instances. */\nconst DefaultDataSinkTransformers = [new JsonDataTransformer(), new MsgpackDataTransformer()];\n\n/** A data sink in the data pipeline with support for protocol transformers, data retention, etc. */\nexport class DataSink {\n  private readonly channels: Map<string, DataChannel>;\n  private readonly composites: Map<string, CompositeDataChannel>;\n  private readonly schemas: Map<string, readonly [transformer: DataTransformer, typeName: string]>;\n  private readonly transformers: Array<DataTransformer>;\n  private readonly retention?: DataRetentionPolicy;\n  private readonly disableCompositeChannels: boolean;\n  private readonly onDataChannelAdded?: (channel: DataChannel) => void;\n  private readonly onDataChannelRemoved?: (channel: DataChannel) => void;\n  private readonly logger: (message: string, error: unknown) => void;\n  private timestamp: number;\n\n  // these transformers should be instantiated per sink since they maintain internal schema repos\n  private readonly structTransformer = new StructDataTransformer();\n  private readonly protobufTransformer = new ProtobufDataTransformer();\n\n  constructor(options: {\n    /** Additional data transformers. Default transformers for structured and binary types are always used. */\n    transformers?: Array<DataTransformer>;\n    /** Data retention policy. Default is unlimited retention. */\n    retention?: DataRetentionPolicy;\n    /** Callback invoked when new data channel is registered. */\n    onDataChannelAdded?: (channel: DataChannel) => void;\n    /** Callback invoked when existing data channel is removed. */\n    onDataChannelRemoved?: (channel: DataChannel) => void;\n    /** Disables support for composite (legacy) channels. */\n    disableCompositeChannels?: boolean;\n    /** Logger callback. Default is logging to console. */\n    logger?: (message: string, error: unknown) => void;\n  }) {\n    this.channels = new Map();\n    this.composites = new Map();\n    this.schemas = new Map();\n    this.retention = options?.retention;\n    this.onDataChannelAdded = options?.onDataChannelAdded;\n    this.onDataChannelRemoved = options?.onDataChannelRemoved;\n    this.disableCompositeChannels = options?.disableCompositeChannels ?? false;\n    this.logger = options?.logger ?? logError;\n    this.timestamp = 0;\n\n    this.transformers = [...DefaultDataSinkTransformers, this.structTransformer, this.protobufTransformer];\n\n    if (options?.transformers) {\n      this.transformers.push(...options.transformers);\n    }\n  }\n\n  /** Constructs channel identifier. */\n  private static createId(source: string, name: string) {\n    return `${source}:${name}`;\n  }\n\n  /** Returns parent composite data channel if one exists. */\n  private getCompositeParent(id: string) {\n    for (const composite of this.composites.values()) {\n      if (id.startsWith(`${composite.id}/`)) {\n        return composite;\n      }\n    }\n\n    return undefined;\n  }\n\n  /** Registers new data channel. */\n  private registerChannel(channel: DataChannel, publish?: NativeChannelPublisher) {\n    const id = DataSink.createId(channel.source, channel.id);\n    this.channels.set(id, channel);\n\n    // register publisher\n    channel.publish = publish ? this.createChannelPublisher(channel, publish) : undefined;\n\n    let silent = false;\n\n    // test if this channel should be rolled into an existing composite\n    if (!this.disableCompositeChannels) {\n      const composite = this.getCompositeParent(channel.id);\n      if (composite != null) {\n        convertToSubchannel(channel, composite);\n        silent = true;\n      }\n    }\n\n    // notify\n    if (!silent && this.onDataChannelAdded != null) {\n      this.onDataChannelAdded(channel);\n    }\n  }\n\n  /** Gets sub-channel by its path. */\n  private getSubChannel(channel: CompositeDataChannel, path: ReadonlyArray<string>) {\n    for (const [id, p] of channel.channels) {\n      if (arraysEquals(path, p)) {\n        return this.channels.get(id);\n      }\n    }\n\n    return undefined;\n  }\n\n  /** Creates channel publisher. */\n  private createChannelPublisher(channel: DataChannel, publish: NativeChannelPublisher) {\n    return (value: unknown, path?: ReadonlyArray<string>, options?: DataChannelPublisherOptions) => {\n      if (path != null && channel.dataType === \"composite\") {\n        const subchannel = this.getSubChannel(channel, path);\n\n        // sub-channel may not exist, e.g. it has not been published to yet,\n        // in this case publish to the topic constructed by appending the path\n        // to the composite channel id and derive the data type from the value\n        if (subchannel) {\n          // apply transformer\n          if (subchannel.transformer != null) {\n            value = subchannel.transformer.serialize(value, channel.structuredType);\n          }\n\n          publish(subchannel.id, subchannel.publishedDataType, value);\n        } else {\n          const topic = `${channel.id}/${path.join(\"/\")}`;\n          let dataType = getRawType(value);\n\n          if (options?.structuredType) {\n            switch (options.structuredType.format) {\n              case \"composite\":\n                // not supported: must be published via subchannel\n                return;\n\n              case \"struct\":\n                value = this.structTransformer.serialize(value, options.structuredType);\n                dataType = `struct:${options.structuredType.name}`;\n                break;\n\n              case \"protobuf\":\n                value = this.protobufTransformer.serialize(value, options.structuredType);\n                dataType = `proto:${options.structuredType.name}`;\n                break;\n            }\n          }\n\n          // do not publish if we cannot figure out the data type\n          if (dataType) {\n            publish(topic, dataType, value);\n          }\n        }\n      } else {\n        // apply transformer\n        if (channel.transformer != null) {\n          value = channel.transformer.serialize(value, channel.structuredType);\n        }\n\n        publish(channel.id, channel.publishedDataType, value);\n      }\n    };\n  }\n\n  /** Returns most recent timestamp in microseconds observed by this instance. */\n  public get recentTimestamp() {\n    return this.timestamp;\n  }\n\n  /**\n   * Gets a channel descriptor.\n   *\n   * @param source source, e.g. `nt` or `wpilog`\n   * @param name channel name\n   */\n  public get(source: string, name: string) {\n    const channel = this.channels.get(DataSink.createId(source, name));\n    return channel && channel.composite == null ? channel : undefined;\n  }\n\n  /**\n   * Adds a channel descriptor.\n   *\n   * @param source source, e.g. `nt` or `wpilog`\n   * @param name channel name\n   * @param type channel type\n   * @param properties channel properties\n   * @param publish channel publisher\n   */\n  public add(\n    source: string,\n    name: string,\n    type: string,\n    properties?: Record<string, unknown> | string,\n    publish?: NativeChannelPublisher\n  ) {\n    // construct metadata\n    let metadata: Record<string, unknown> | string | undefined;\n    if (properties != null) {\n      if (typeof properties === \"string\") {\n        try {\n          metadata = JSON.parse(properties);\n        } catch {\n          metadata = properties;\n        }\n      } else if (typeof properties === \"object\") {\n        // remove standard properties when constructing metadata\n        const { persistent, retained, cached, ...other } = properties;\n        if (Object.keys(other).length > 0) {\n          metadata = other;\n        }\n      }\n    }\n\n    const dataType = getDataType(type);\n\n    // special handling of composite channels that are identified by the presence of `.type` topic;\n    // allows handling of legacy sendable data structures that are dispersed across individual topics\n    // as a single unified json-typed channel\n    if (!this.disableCompositeChannels && name.endsWith(\"/.type\")) {\n      // ignore deeply nested `.type` entries, instead treat them as\n      // regular sub-channels that are rolled into the parent composite\n      const composite = this.getCompositeParent(name);\n      if (composite) {\n        const channel: DataChannel = {\n          source,\n          id: name,\n          dataType,\n          publishedDataType: type,\n          metadata,\n        };\n\n        // register publisher\n        channel.publish = publish ? this.createChannelPublisher(channel, publish) : undefined;\n\n        const id = DataSink.createId(channel.source, channel.id);\n        this.channels.set(id, channel);\n\n        convertToSubchannel(channel, composite);\n      } else {\n        const channel: CompositeDataChannel = {\n          source,\n          id: name.slice(0, -6),\n          dataType: \"composite\",\n          publishedDataType: \"\", // not applicable\n          metadata,\n          channels: new Map(),\n        };\n\n        // register publisher\n        channel.publish = publish ? this.createChannelPublisher(channel, publish) : undefined;\n\n        // convert any existing channels under this subtree to sub-channels\n        const prefix = `${channel.id}/`;\n        this.channels.forEach((value) => {\n          if (value.id.startsWith(prefix)) {\n            convertToSubchannel(value, channel);\n\n            if (this.onDataChannelRemoved != null) {\n              this.onDataChannelRemoved(value);\n            }\n          }\n        });\n\n        const id = DataSink.createId(channel.source, channel.id);\n        this.composites.set(id, channel);\n        this.channels.set(id, channel);\n\n        // notify\n        if (this.onDataChannelAdded != null) {\n          this.onDataChannelAdded(channel);\n        }\n      }\n    } else {\n      for (const transformer of this.transformers) {\n        try {\n          const result = transformer.inspect(source, name, type, metadata);\n          if (result != null) {\n            if (typeof result === \"string\") {\n              // schema channel\n              this.schemas.set(DataSink.createId(source, name), [transformer, result]);\n            } else {\n              // data channel\n              this.registerChannel(result, publish);\n            }\n            return;\n          }\n        } catch (exception) {\n          this.logger(`Transformer '${typeof transformer}' inspection failed`, exception);\n        }\n      }\n\n      this.registerChannel(\n        {\n          source,\n          id: name,\n          dataType,\n          publishedDataType: type,\n          metadata,\n        },\n        publish\n      );\n    }\n  }\n\n  /**\n   * Enqueues a timestamped value for a named data channel.\n   *\n   * @param source source, e.g. `nt` or `wpilog`\n   * @param name channel name\n   * @param timestamp timestamp in microseconds\n   * @param value raw value\n   */\n  public enqueue(source: string, name: string, timestamp: number, value: unknown): boolean {\n    // update the most recent timestamp\n    this.timestamp = Math.max(this.timestamp, timestamp);\n\n    const id = DataSink.createId(source, name);\n    const schema = this.schemas.get(id);\n    if (schema) {\n      // received data on the schema channel with a registered transformer\n      const [transformer, typeName] = schema;\n      try {\n        transformer.schema(typeName, value);\n      } catch (exception) {\n        // ignore garbage\n        this.logger(`Transformer '${typeof transformer}' failed to ingest schema data`, exception);\n        return false;\n      }\n\n      // process records in DLQ\n      this.channels.forEach((channel) => {\n        if (\n          channel.transformer === transformer &&\n          channel.dlq != null &&\n          channel.dlq.length > 0 &&\n          channel.structuredType != null &&\n          channel.transformer.canTransform(channel.structuredType.name)\n        ) {\n          channel.records ??= [];\n          for (const record of channel.dlq) {\n            try {\n              const v = transformer.deserialize(record.value, channel.structuredType);\n              if (v != null) {\n                enqueueData(channel, record.timestamp, v, false);\n              }\n            } catch (exception) {\n              // ignore garbage\n              this.logger(`Transformer '${typeof transformer}' failed to transform data in channel '${id}'`, exception);\n            }\n          }\n          channel.dlq = undefined;\n        }\n      });\n\n      return true;\n    }\n\n    if (!this.disableCompositeChannels && name.endsWith(\"/.type\")) {\n      const channel = this.composites.get(id.slice(0, -6));\n      if (channel != null) {\n        if (typeof value === \"string\") {\n          channel.structuredType = {\n            name: value,\n            format: \"composite\",\n          };\n\n          enqueueDataWithPath(channel, timestamp, value, [\".type\"]);\n        }\n\n        return true;\n      }\n\n      // fallthrough for deeply nested `.type` channels\n    }\n\n    const channel = this.channels.get(id);\n    if (channel == null) {\n      return false;\n    }\n\n    let v = value;\n\n    // apply transformer\n    try {\n      if (channel.transformer != null) {\n        v = channel.transformer.deserialize(v, channel.structuredType);\n        if (v == null) {\n          enqueueData(channel, timestamp, value, true); // add to DLQ\n          return true;\n        }\n      }\n    } catch (exception) {\n      // ignore garbage\n      this.logger(`Transformer '${typeof channel.transformer}' failed to transform data in channel '${id}'`, exception);\n      return false;\n    }\n\n    enqueueData(channel, timestamp, v, false);\n    return true;\n  }\n\n  /**\n   * Prunes old records based on the retention policy if configured.\n   *\n   * The `currentTimestamp` represents time in the robot clock, not\n   * wall clock, typically you want to supply the most recent timestamp\n   * reported by live connection protocol, such as NetworkTables.\n   * Defaults to {@link recentTimestamp} field.\n   *\n   * @param currentTimestamp timestamp in microseconds representing current time\n   */\n  public enforceRetention(currentTimestamp?: number) {\n    if (this.retention == null) {\n      return;\n    }\n\n    const timestamp = currentTimestamp ?? this.timestamp;\n    const maxSize = this.retention.maxSize;\n    const cutoff =\n      this.retention.maxTimeSeconds != null ? Math.max(0, timestamp - this.retention.maxTimeSeconds * 1e6) : undefined;\n\n    if ((maxSize != null && maxSize > 0) || cutoff != null) {\n      this.channels.forEach((channel) => {\n        if (channel.records != null) {\n          pruneTimestampedRecords(channel.records, maxSize, cutoff);\n        }\n\n        if (channel.dlq != null) {\n          pruneTimestampedRecords(channel.dlq, maxSize, cutoff);\n        }\n      });\n    }\n  }\n\n  /** Purges this sink and all its records. */\n  public purge() {\n    this.channels.clear();\n    this.composites.clear();\n    this.schemas.clear();\n    this.timestamp = 0;\n  }\n}\n"],"mappings":";;;;;;;;AAqBA,SAAS,YAAY,GAAW;AAC9B,SAAQ,EAAE,mBAAmB,EAA7B;EACE,KAAK,UACH,QAAO;EACT,KAAK,SACH,QAAO;EACT,KAAK;EACL,KAAK;EACL,KAAK,QACH,QAAO;EACT,KAAK,YACH,QAAO;EACT,KAAK,WACH,QAAO;EACT,KAAK;EACL,KAAK;EACL,KAAK,UACH,QAAO;EACT,KAAK;EACL,KAAK,UACH,QAAO;EACT,QAGE,QAAO;;;;AAKb,SAAS,WAAW,GAAgC;AAClD,KAAI,MAAM,QAAQ,EAAE,EAClB;MAAI,EAAE,SAAS,GAAG;GAChB,MAAM,WAAW,WAAW,EAAE,GAAG;AACjC,UAAO,WAAW,GAAG,SAAS,MAAM;;OAGtC,SAAQ,OAAO,GAAf;EACE,KAAK,UACH,QAAO;EACT,KAAK,SACH,QAAO;EACT,KAAK,SACH,QAAO;EACT,KAAK,SACH,QAAO;;;;AAMf,SAAS,oBAAoB,SAA+B,WAAmB,MAAe,MAAqB;AACjH,SAAQ,YAAY,EAAE;CAYtB,MAAM,CAAC,QAAQ,eAAe,qBAAqB,QAAQ,SAAS,UAAU;CAC9E,IAAI,QAAQ;AAEZ,KAAI,UAAU,KACZ,KAAI,OAAO,cAAc,UACvB,gBAAe,OAAO,OAAO,MAAM,KAAK;KAExC,SAAQ,qBACN,QAAQ,SACR,WACA,eAAe,gBAAgB,OAAO,MAAM,EAAE,MAAM,KAAK,CAC1D;KAGH,SAAQ,qBAAqB,QAAQ,SAAS,WAAW,eAAe,EAAE,EAAE,MAAM,KAAK,CAAC;AAG1F,MAAK,IAAI,IAAI,QAAQ,GAAG,IAAI,QAAQ,QAAQ,QAAQ,EAAE,EACpD,gBAAe,QAAQ,QAAQ,GAAI,OAAO,MAAM,MAAM,KAAK;;;AAK/D,SAAS,YAAY,SAAsB,WAAmB,MAAe,KAAc;AACzF,KAAI,KAAK;AACP,UAAQ,QAAQ,EAAE;AAClB,uBAAiC,QAAQ,KAAK,WAAW,aAAa,KAAK,CAAC;YAExE,QAAQ,aAAa,MAAM;EAC7B,MAAM,OAAO,QAAQ,UAAU,SAAS,IAAI,QAAQ,GAAG;AACvD,MAAI,QAAQ,KACV,OAAM,IAAI,MAAM,wBAAwB,QAAQ,GAAG,4BAA4B,QAAQ,UAAU,KAAK;AAGxG,sBAAoB,QAAQ,WAAW,WAAW,MAAM,KAAK;QACxD;AACL,UAAQ,YAAY,EAAE;AACtB,uBAAqB,QAAQ,SAAS,WAAW,KAAqB;;;;AAM5E,SAAS,oBAAoB,SAAsB,WAAiC;CAUlF,MAAM,OAAO,QAAQ,GAClB,UAAU,UAAU,GAAG,SAAS,EAAE,CAClC,MAAM,KAAK,CACX,KAAK,MAAM,EAAE,MAAM,CAAC,CACpB,QAAQ,MAAM,EAAE,SAAS,EAAE;AAE9B,SAAQ,YAAY;AACpB,WAAU,SAAS,IAAI,QAAQ,IAAI,KAAK;;;AAI1C,SAAS,aAAgB,GAAqB,GAAqB;AACjE,KAAI,MAAM,EAAG,QAAO;AACpB,KAAI,KAAK,QAAQ,KAAK,KAAM,QAAO;AACnC,KAAI,EAAE,WAAW,EAAE,OAAQ,QAAO;AAElC,MAAK,IAAI,IAAI,GAAG,IAAI,EAAE,QAAQ,EAAE,EAC9B,KAAI,EAAE,OAAO,EAAE,GAAI,QAAO;AAG5B,QAAO;;;AAIT,SAAS,SAAS,SAAiB,OAAgB;AACjD,SAAQ,MAAM,iBAAiB,WAAW,MAAM;;;AAclD,MAAM,8BAA8B,CAAC,IAAI,qBAAqB,EAAE,IAAI,wBAAwB,CAAC;;AAG7F,IAAa,WAAb,MAAa,SAAS;CACpB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAiB;CACjB,AAAQ;CAGR,AAAiB,oBAAoB,IAAI,uBAAuB;CAChE,AAAiB,sBAAsB,IAAI,yBAAyB;CAEpE,YAAY,SAaT;AACD,OAAK,2BAAW,IAAI,KAAK;AACzB,OAAK,6BAAa,IAAI,KAAK;AAC3B,OAAK,0BAAU,IAAI,KAAK;AACxB,OAAK,YAAY,SAAS;AAC1B,OAAK,qBAAqB,SAAS;AACnC,OAAK,uBAAuB,SAAS;AACrC,OAAK,2BAA2B,SAAS,4BAA4B;AACrE,OAAK,SAAS,SAAS,UAAU;AACjC,OAAK,YAAY;AAEjB,OAAK,eAAe;GAAC,GAAG;GAA6B,KAAK;GAAmB,KAAK;GAAoB;AAEtG,MAAI,SAAS,aACX,MAAK,aAAa,KAAK,GAAG,QAAQ,aAAa;;;CAKnD,OAAe,SAAS,QAAgB,MAAc;AACpD,SAAO,GAAG,OAAO,GAAG;;;CAItB,AAAQ,mBAAmB,IAAY;AACrC,OAAK,MAAM,aAAa,KAAK,WAAW,QAAQ,CAC9C,KAAI,GAAG,WAAW,GAAG,UAAU,GAAG,GAAG,CACnC,QAAO;;;CAQb,AAAQ,gBAAgB,SAAsB,SAAkC;EAC9E,MAAM,KAAK,SAAS,SAAS,QAAQ,QAAQ,QAAQ,GAAG;AACxD,OAAK,SAAS,IAAI,IAAI,QAAQ;AAG9B,UAAQ,UAAU,UAAU,KAAK,uBAAuB,SAAS,QAAQ,GAAG;EAE5E,IAAI,SAAS;AAGb,MAAI,CAAC,KAAK,0BAA0B;GAClC,MAAM,YAAY,KAAK,mBAAmB,QAAQ,GAAG;AACrD,OAAI,aAAa,MAAM;AACrB,wBAAoB,SAAS,UAAU;AACvC,aAAS;;;AAKb,MAAI,CAAC,UAAU,KAAK,sBAAsB,KACxC,MAAK,mBAAmB,QAAQ;;;CAKpC,AAAQ,cAAc,SAA+B,MAA6B;AAChF,OAAK,MAAM,CAAC,IAAI,MAAM,QAAQ,SAC5B,KAAI,aAAa,MAAM,EAAE,CACvB,QAAO,KAAK,SAAS,IAAI,GAAG;;;CAQlC,AAAQ,uBAAuB,SAAsB,SAAiC;AACpF,UAAQ,OAAgB,MAA8B,YAA0C;AAC9F,OAAI,QAAQ,QAAQ,QAAQ,aAAa,aAAa;IACpD,MAAM,aAAa,KAAK,cAAc,SAAS,KAAK;AAKpD,QAAI,YAAY;AAEd,SAAI,WAAW,eAAe,KAC5B,SAAQ,WAAW,YAAY,UAAU,OAAO,QAAQ,eAAe;AAGzE,aAAQ,WAAW,IAAI,WAAW,mBAAmB,MAAM;WACtD;KACL,MAAM,QAAQ,GAAG,QAAQ,GAAG,GAAG,KAAK,KAAK,IAAI;KAC7C,IAAI,WAAW,WAAW,MAAM;AAEhC,SAAI,SAAS,eACX,SAAQ,QAAQ,eAAe,QAA/B;MACE,KAAK,YAEH;MAEF,KAAK;AACH,eAAQ,KAAK,kBAAkB,UAAU,OAAO,QAAQ,eAAe;AACvE,kBAAW,UAAU,QAAQ,eAAe;AAC5C;MAEF,KAAK;AACH,eAAQ,KAAK,oBAAoB,UAAU,OAAO,QAAQ,eAAe;AACzE,kBAAW,SAAS,QAAQ,eAAe;AAC3C;;AAKN,SAAI,SACF,SAAQ,OAAO,UAAU,MAAM;;UAG9B;AAEL,QAAI,QAAQ,eAAe,KACzB,SAAQ,QAAQ,YAAY,UAAU,OAAO,QAAQ,eAAe;AAGtE,YAAQ,QAAQ,IAAI,QAAQ,mBAAmB,MAAM;;;;;CAM3D,IAAW,kBAAkB;AAC3B,SAAO,KAAK;;;;;;;;CASd,AAAO,IAAI,QAAgB,MAAc;EACvC,MAAM,UAAU,KAAK,SAAS,IAAI,SAAS,SAAS,QAAQ,KAAK,CAAC;AAClE,SAAO,WAAW,QAAQ,aAAa,OAAO,UAAU;;;;;;;;;;;CAY1D,AAAO,IACL,QACA,MACA,MACA,YACA,SACA;EAEA,IAAI;AACJ,MAAI,cAAc,MAChB;OAAI,OAAO,eAAe,SACxB,KAAI;AACF,eAAW,KAAK,MAAM,WAAW;WAC3B;AACN,eAAW;;YAEJ,OAAO,eAAe,UAAU;IAEzC,MAAM,EAAE,YAAY,UAAU,QAAQ,GAAG,UAAU;AACnD,QAAI,OAAO,KAAK,MAAM,CAAC,SAAS,EAC9B,YAAW;;;EAKjB,MAAM,WAAW,YAAY,KAAK;AAKlC,MAAI,CAAC,KAAK,4BAA4B,KAAK,SAAS,SAAS,EAAE;GAG7D,MAAM,YAAY,KAAK,mBAAmB,KAAK;AAC/C,OAAI,WAAW;IACb,MAAM,UAAuB;KAC3B;KACA,IAAI;KACJ;KACA,mBAAmB;KACnB;KACD;AAGD,YAAQ,UAAU,UAAU,KAAK,uBAAuB,SAAS,QAAQ,GAAG;IAE5E,MAAM,KAAK,SAAS,SAAS,QAAQ,QAAQ,QAAQ,GAAG;AACxD,SAAK,SAAS,IAAI,IAAI,QAAQ;AAE9B,wBAAoB,SAAS,UAAU;UAClC;IACL,MAAM,UAAgC;KACpC;KACA,IAAI,KAAK,MAAM,GAAG,GAAG;KACrB,UAAU;KACV,mBAAmB;KACnB;KACA,0BAAU,IAAI,KAAK;KACpB;AAGD,YAAQ,UAAU,UAAU,KAAK,uBAAuB,SAAS,QAAQ,GAAG;IAG5E,MAAM,SAAS,GAAG,QAAQ,GAAG;AAC7B,SAAK,SAAS,SAAS,UAAU;AAC/B,SAAI,MAAM,GAAG,WAAW,OAAO,EAAE;AAC/B,0BAAoB,OAAO,QAAQ;AAEnC,UAAI,KAAK,wBAAwB,KAC/B,MAAK,qBAAqB,MAAM;;MAGpC;IAEF,MAAM,KAAK,SAAS,SAAS,QAAQ,QAAQ,QAAQ,GAAG;AACxD,SAAK,WAAW,IAAI,IAAI,QAAQ;AAChC,SAAK,SAAS,IAAI,IAAI,QAAQ;AAG9B,QAAI,KAAK,sBAAsB,KAC7B,MAAK,mBAAmB,QAAQ;;SAG/B;AACL,QAAK,MAAM,eAAe,KAAK,aAC7B,KAAI;IACF,MAAM,SAAS,YAAY,QAAQ,QAAQ,MAAM,MAAM,SAAS;AAChE,QAAI,UAAU,MAAM;AAClB,SAAI,OAAO,WAAW,SAEpB,MAAK,QAAQ,IAAI,SAAS,SAAS,QAAQ,KAAK,EAAE,CAAC,aAAa,OAAO,CAAC;SAGxE,MAAK,gBAAgB,QAAQ,QAAQ;AAEvC;;YAEK,WAAW;AAClB,SAAK,OAAO,gBAAgB,OAAO,YAAY,sBAAsB,UAAU;;AAInF,QAAK,gBACH;IACE;IACA,IAAI;IACJ;IACA,mBAAmB;IACnB;IACD,EACD,QACD;;;;;;;;;;;CAYL,AAAO,QAAQ,QAAgB,MAAc,WAAmB,OAAyB;AAEvF,OAAK,YAAY,KAAK,IAAI,KAAK,WAAW,UAAU;EAEpD,MAAM,KAAK,SAAS,SAAS,QAAQ,KAAK;EAC1C,MAAM,SAAS,KAAK,QAAQ,IAAI,GAAG;AACnC,MAAI,QAAQ;GAEV,MAAM,CAAC,aAAa,YAAY;AAChC,OAAI;AACF,gBAAY,OAAO,UAAU,MAAM;YAC5B,WAAW;AAElB,SAAK,OAAO,gBAAgB,OAAO,YAAY,iCAAiC,UAAU;AAC1F,WAAO;;AAIT,QAAK,SAAS,SAAS,cAAY;AACjC,QACEA,UAAQ,gBAAgB,eACxBA,UAAQ,OAAO,QACfA,UAAQ,IAAI,SAAS,KACrBA,UAAQ,kBAAkB,QAC1BA,UAAQ,YAAY,aAAaA,UAAQ,eAAe,KAAK,EAC7D;AACA,eAAQ,YAAY,EAAE;AACtB,UAAK,MAAM,UAAUA,UAAQ,IAC3B,KAAI;MACF,MAAMC,MAAI,YAAY,YAAY,OAAO,OAAOD,UAAQ,eAAe;AACvE,UAAIC,OAAK,KACP,aAAYD,WAAS,OAAO,WAAWC,KAAG,MAAM;cAE3C,WAAW;AAElB,WAAK,OAAO,gBAAgB,OAAO,YAAY,yCAAyC,GAAG,IAAI,UAAU;;AAG7G,eAAQ,MAAM;;KAEhB;AAEF,UAAO;;AAGT,MAAI,CAAC,KAAK,4BAA4B,KAAK,SAAS,SAAS,EAAE;GAC7D,MAAMD,YAAU,KAAK,WAAW,IAAI,GAAG,MAAM,GAAG,GAAG,CAAC;AACpD,OAAIA,aAAW,MAAM;AACnB,QAAI,OAAO,UAAU,UAAU;AAC7B,eAAQ,iBAAiB;MACvB,MAAM;MACN,QAAQ;MACT;AAED,yBAAoBA,WAAS,WAAW,OAAO,CAAC,QAAQ,CAAC;;AAG3D,WAAO;;;EAMX,MAAM,UAAU,KAAK,SAAS,IAAI,GAAG;AACrC,MAAI,WAAW,KACb,QAAO;EAGT,IAAI,IAAI;AAGR,MAAI;AACF,OAAI,QAAQ,eAAe,MAAM;AAC/B,QAAI,QAAQ,YAAY,YAAY,GAAG,QAAQ,eAAe;AAC9D,QAAI,KAAK,MAAM;AACb,iBAAY,SAAS,WAAW,OAAO,KAAK;AAC5C,YAAO;;;WAGJ,WAAW;AAElB,QAAK,OAAO,gBAAgB,OAAO,QAAQ,YAAY,yCAAyC,GAAG,IAAI,UAAU;AACjH,UAAO;;AAGT,cAAY,SAAS,WAAW,GAAG,MAAM;AACzC,SAAO;;;;;;;;;;;;CAaT,AAAO,iBAAiB,kBAA2B;AACjD,MAAI,KAAK,aAAa,KACpB;EAGF,MAAM,YAAY,oBAAoB,KAAK;EAC3C,MAAM,UAAU,KAAK,UAAU;EAC/B,MAAM,SACJ,KAAK,UAAU,kBAAkB,OAAO,KAAK,IAAI,GAAG,YAAY,KAAK,UAAU,iBAAiB,IAAI,GAAG;AAEzG,MAAK,WAAW,QAAQ,UAAU,KAAM,UAAU,KAChD,MAAK,SAAS,SAAS,YAAY;AACjC,OAAI,QAAQ,WAAW,KACrB,yBAAwB,QAAQ,SAAS,SAAS,OAAO;AAG3D,OAAI,QAAQ,OAAO,KACjB,yBAAwB,QAAQ,KAAK,SAAS,OAAO;IAEvD;;;CAKN,AAAO,QAAQ;AACb,OAAK,SAAS,OAAO;AACrB,OAAK,WAAW,OAAO;AACvB,OAAK,QAAQ,OAAO;AACpB,OAAK,YAAY"}