@luxonis/visualizer-protobuf 2.67.2 → 2.68.0

package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandlerV2.js

@@ -0,0 +1,410 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+import { getTimestampFromImage, } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/Images/ImageTypes";
+import { normalizeCompressedImage, normalizeRawImage, normalizeRosCompressedImage, normalizeRosImage, } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/Images/imageNormalizers";
+import { normalizeCameraInfo } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/projections";
+import { normalizeAnnotations } from "./annotations/normalizeAnnotations";
+import { IMAGE_MODE_HUD_GROUP_ID, WAITING_FOR_BOTH_MESSAGES_HUD_ID, WAITING_FOR_CALIBRATION_HUD_ID, WAITING_FOR_IMAGES_EMPTY_HUD_ID, WAITING_FOR_IMAGES_NOTICE_ID, WAITING_FOR_SYNC_EMPTY_HUD_ID, WAITING_FOR_SYNC_NOTICE_HUD_ID, } from "./constants";
+import { t3D } from "../../t3D";
+const syncToleranceSec = 0.15; // maximum acceptable time difference for selecting a “closest” annotation.
+const maxStalenessSec = 1.1; // how long we can hold the last older annotation if no better match is available. 1s corresponds to 1 FPS + 100ms window for jitter.
+const hysteresisSec = 0.1; // how much “stickiness” we allow before switching candidates.
+const imageRetentionSec = 5; // keep small window of recent images
+const maxImageBuffer = 150; // cap number of stored images
+// Have constants for the HUD items so that they don't need to be recreated and GCed every message
+export const WAITING_FOR_BOTH_HUD_ITEM = {
+    id: WAITING_FOR_BOTH_MESSAGES_HUD_ID,
+    group: IMAGE_MODE_HUD_GROUP_ID,
+    getMessage: () => t3D("waitingForCalibrationAndImages"),
+    displayType: "empty",
+};
+export const WAITING_FOR_CALIBRATION_HUD_ITEM = {
+    id: WAITING_FOR_CALIBRATION_HUD_ID,
+    group: IMAGE_MODE_HUD_GROUP_ID,
+    getMessage: () => t3D("waitingForCalibration"),
+    displayType: "empty",
+};
+export const WAITING_FOR_IMAGE_NOTICE_HUD_ITEM = {
+    id: WAITING_FOR_IMAGES_NOTICE_ID,
+    group: IMAGE_MODE_HUD_GROUP_ID,
+    getMessage: () => t3D("waitingForImages"),
+    displayType: "notice",
+};
+export const WAITING_FOR_IMAGE_EMPTY_HUD_ITEM = {
+    id: WAITING_FOR_IMAGES_EMPTY_HUD_ID,
+    group: IMAGE_MODE_HUD_GROUP_ID,
+    getMessage: () => t3D("waitingForImages"),
+    displayType: "empty",
+};
+export const WAITING_FOR_SYNC_NOTICE_HUD_ITEM = {
+    id: WAITING_FOR_SYNC_NOTICE_HUD_ID,
+    group: IMAGE_MODE_HUD_GROUP_ID,
+    getMessage: () => t3D("waitingForSyncAnnotations"),
+    displayType: "notice",
+};
+export const WAITING_FOR_SYNC_EMPTY_HUD_ITEM = {
+    id: WAITING_FOR_SYNC_EMPTY_HUD_ID,
+    group: IMAGE_MODE_HUD_GROUP_ID,
+    getMessage: () => t3D("waitingForSyncAnnotations"),
+    displayType: "empty",
+};
+/**
+ * Processes and normalizes incoming messages and manages state of
+ * messages to be rendered given the ImageMode config. A large part of this responsibility
+ * is managing state in synchronized mode and ensuring that the a synchronized set of image and
+ * annotations are handed off to the SceneExtension for rendering.
+ */
+export class MessageHandlerV2 {
+    /** settings that should reflect image mode config */
+    #config;
+    /** Allows message handler push messages to overlay on top of the canvas */
+    #hud;
+    /** last state passed to listeners */
+    #oldRenderState;
+    /** internal state of last received messages */
+    #lastReceivedMessages;
+    /** listener functions that are called when the state changes. */
+    #listeners = [];
+    /** Holds what annotations are currently available on the given source. These are needed because annotations
+     * that are marked as visible may be present in the layout/config, but are not present on the source.
+     * This can cause synchronized annotations to never resolve if the source does not have the annotation topic
+     * with no indication to the user that the annotation is not available.
+     */
+    #onAnnotationReceivedEvent;
+    #annotationsFpsRefreshInterval = null;
+    lastImage;
+    // New: keep a buffer of recent images for annotation-prioritized synchronization
+    imagesBuffer = [];
+    // Store a small buffer of recent annotations per topic with computed seconds timestamps
+    annotationsMap = new Map();
+    // Track last selected annotation per topic to add hysteresis and reduce flicker
+    lastSelectedByTopic = new Map();
+    availableAnnotationTopics;
+    /**
+     * Create a MessageHandler
+     * @param {Immutable<MessageHandlerConfig>} config - subset of ImageMode settings required for message handling
+     * @param {HUDItemManager} hud - HUD manager used to display informational messages on the canvas
+     */
+    constructor(config, hud) {
+        this.#config = config;
+        this.#hud = hud;
+        this.#lastReceivedMessages = {
+            annotationsByTopic: new Map(),
+        };
+        this.availableAnnotationTopics = new Set();
+    }
+    dispose() {
+        if (this.#annotationsFpsRefreshInterval) {
+            clearInterval(this.#annotationsFpsRefreshInterval);
+        }
+    }
+    addListener(listener) {
+        this.#listeners.push(listener);
+    }
+    addAnnotationReceivedEventHandler(handler) {
+        this.#onAnnotationReceivedEvent = handler;
+    }
+    removeListener(listener) {
+        this.#listeners = this.#listeners.filter((fn) => fn !== listener);
+    }
+    handleRosRawImage = (messageEvent) => {
+        this.handleImage(messageEvent, normalizeRosImage(messageEvent.message));
+    };
+    handleRosCompressedImage = (messageEvent) => {
+        this.handleImage(messageEvent, normalizeRosCompressedImage(messageEvent.message));
+    };
+    handleRawImage = (messageEvent) => {
+        this.handleImage(messageEvent, normalizeRawImage(messageEvent.message));
+    };
+    handleCompressedImage = (messageEvent) => {
+        this.handleImage(messageEvent, normalizeCompressedImage(messageEvent.message));
+    };
+    handleImage(message, image) {
+        this.lastImage = {
+            ...message,
+            message: image,
+        };
+        // Compute timestamp seconds for buffer storage (prefer image stamp, then receiveTime, then wall clock)
+        const stamp = getTimestampFromImage(image);
+        let stampTimeSec;
+        const stampSec = stamp?.sec;
+        const stampNsec = stamp?.nsec;
+        if (typeof stampSec === "number" && typeof stampNsec === "number") {
+            stampTimeSec = stampSec + stampNsec / 1e9;
+        }
+        else {
+            const recv = message.receiveTime;
+            const recvSec = recv?.sec;
+            const recvNsec = recv?.nsec;
+            if (typeof recvSec === "number" && typeof recvNsec === "number") {
+                stampTimeSec = recvSec + recvNsec / 1e9;
+            }
+        }
+        const arrivalSec = performance.now() / 1000;
+        if (this.#hasVisibleAnnotationTopics()) {
+            this.imagesBuffer.push({ image: this.lastImage, stampTimeSec, arrivalSec });
+            // Trim by arrival time and length (do not use stamped time for retention)
+            const nowSec = performance.now() / 1000;
+            const cutoffArrival = nowSec - imageRetentionSec;
+            this.imagesBuffer = this.imagesBuffer.filter((e) => e.arrivalSec >= cutoffArrival);
+            if (this.imagesBuffer.length > maxImageBuffer) {
+                this.imagesBuffer.splice(0, this.imagesBuffer.length - maxImageBuffer);
+            }
+            // Do not emit here; when annotations are visible we render on annotation arrival
+            return;
+        }
+        // No visible annotations -> render immediately
+        this.#emitState();
+    }
+    handleCameraInfo = (message) => {
+        this.#lastReceivedMessages.cameraInfo = normalizeCameraInfo(message.message);
+        this.#emitState();
+    };
+    handleAnnotations = (messageEvent) => {
+        const list = normalizeAnnotations(messageEvent.message, messageEvent.schemaName);
+        const arrivalSec = performance.now() / 1000;
+        if (list.length > 0 && messageEvent.topic) {
+            this.#onAnnotationReceivedEvent?.();
+            // Prefer timestamps embedded in the annotations themselves
+            const stampTimes = [];
+            for (const a of list) {
+                const sec = a.stamp?.sec;
+                const nsec = a.stamp?.nsec;
+                if (typeof sec === "number" && typeof nsec === "number") {
+                    stampTimes.push(sec + nsec / 1e9);
+                }
+            }
+            const timeSec = stampTimes.length > 0 ? Math.max(...stampTimes) : arrivalSec;
+            const entry = {
+                annotation: {
+                    originalMessage: messageEvent,
+                    annotations: list,
+                },
+                timeSec,
+                arrivalSec,
+            };
+            const topic = messageEvent.topic;
+            const buffer = this.annotationsMap.get(topic) ?? [];
+            buffer.push(entry);
+            // Keep unlimited buffer length, but drop entries older than 20 seconds based on arrival time
+            const retentionSec = 20;
+            const nowSec = performance.now() / 1000;
+            const cutoffArrival = nowSec - retentionSec;
+            const trimmed = buffer.filter((e) => e.arrivalSec >= cutoffArrival);
+            this.annotationsMap.set(topic, trimmed);
+        }
+        // Always emit; render selection logic will pick appropriate annotations for the last image
+        this.#emitState();
+        if (this.#config.synchronize === false) {
+            return;
+        }
+        // synchronized mode does selection in #getRenderState
+    };
+    setConfig(newConfig) {
+        let changed = false;
+        if (newConfig.synchronize != undefined && newConfig.synchronize !== this.#config.synchronize) {
+            this.#oldRenderState = undefined;
+            changed = true;
+        }
+        if ("imageTopic" in newConfig && this.#config.imageTopic !== newConfig.imageTopic) {
+            this.#lastReceivedMessages.image = undefined;
+            changed = true;
+        }
+        if (this.#config.calibrationTopic !== newConfig.calibrationTopic) {
+            this.#lastReceivedMessages.cameraInfo = undefined;
+            changed = true;
+        }
+        if (newConfig.annotations != undefined &&
+            this.#config.annotations &&
+            this.#config.annotations !== newConfig.annotations) {
+            const newVisibleTopics = new Set();
+            for (const [topic, settings] of Object.entries(newConfig.annotations)) {
+                if (settings?.visible === true) {
+                    newVisibleTopics.add(topic);
+                }
+            }
+            for (const topic of this.#lastReceivedMessages.annotationsByTopic.keys()) {
+                if (!newVisibleTopics.has(topic)) {
+                    this.#lastReceivedMessages.annotationsByTopic.delete(topic);
+                    changed = true;
+                }
+            }
+        }
+        this.#config = newConfig;
+        if (changed) {
+            this.#emitState();
+        }
+    }
+    setAvailableAnnotationTopics(topicNames) {
+        this.availableAnnotationTopics = new Set(topicNames);
+        this.#emitState();
+    }
+    clear() {
+        this.#lastReceivedMessages = {
+            annotationsByTopic: new Map(),
+        };
+        this.annotationsMap.clear();
+        this.lastSelectedByTopic.clear();
+        this.lastImage = undefined;
+        this.imagesBuffer = [];
+        this.#oldRenderState = undefined;
+        this.#emitState();
+    }
+    #emitState() {
+        const state = this.getRenderStateAndUpdateHUD();
+        this.#listeners.forEach((fn) => {
+            fn(state, this.#oldRenderState);
+        });
+        this.#oldRenderState = state;
+    }
+    /** Check if there are any visible annotation topics configured */
+    #hasVisibleAnnotationTopics() {
+        if (!this.#config.annotations) {
+            return false;
+        }
+        for (const settings of Object.values(this.#config.annotations)) {
+            if (settings?.visible === true) {
+                return true;
+            }
+        }
+        return false;
+    }
+    /** Do not use. only public for testing */
+    getRenderStateAndUpdateHUD() {
+        const state = this.#getRenderState();
+        this.#updateHUDFromState(state);
+        return state;
+    }
+    #updateHUDFromState(state) {
+        const calibrationRequired = this.#config.calibrationTopic != undefined;
+        const waitingForImage = this.#lastReceivedMessages.image == undefined && state.image == undefined;
+        const waitingForCalibration = calibrationRequired && state.cameraInfo == undefined;
+        const waitingForBoth = waitingForImage && waitingForCalibration;
+        this.#hud.displayIfTrue(waitingForBoth, WAITING_FOR_BOTH_HUD_ITEM);
+        this.#hud.displayIfTrue(waitingForCalibration && !waitingForBoth, WAITING_FOR_CALIBRATION_HUD_ITEM);
+        this.#hud.displayIfTrue(waitingForImage && !calibrationRequired && !waitingForBoth, WAITING_FOR_IMAGE_EMPTY_HUD_ITEM);
+        this.#hud.displayIfTrue(waitingForImage && calibrationRequired, WAITING_FOR_IMAGE_NOTICE_HUD_ITEM);
+    }
+    #getRenderState() {
+        // Visible topics
+        const visibleTopics = new Set();
+        if (this.#config.annotations) {
+            for (const [topic, settings] of Object.entries(this.#config.annotations)) {
+                if (settings?.visible)
+                    visibleTopics.add(topic);
+            }
+        }
+        // If there are no visible annotation topics, just render the latest image
+        if (visibleTopics.size === 0) {
+            return {
+                image: this.lastImage,
+                annotationsByTopic: new Map(),
+                presentAnnotationTopics: undefined,
+                missingAnnotationTopics: undefined,
+            };
+        }
+        // If annotations are visible but we have no buffered images yet, we cannot render
+        if (this.imagesBuffer.length === 0) {
+            return {
+                annotationsByTopic: new Map(),
+                presentAnnotationTopics: undefined,
+                missingAnnotationTopics: undefined,
+            };
+        }
+        // Required topics (available & visible)
+        const requiredTopics = [];
+        for (const t of visibleTopics) {
+            if (this.availableAnnotationTopics.size === 0 || this.availableAnnotationTopics.has(t)) {
+                requiredTopics.push(t);
+            }
+        }
+        // New policy: always start from newest image by arrival (do not freeze on older frame).
+        const newestImageEntry = this.imagesBuffer[this.imagesBuffer.length - 1];
+        const imageTimestampSec = typeof newestImageEntry.stampTimeSec === "number"
+            ? newestImageEntry.stampTimeSec
+            : newestImageEntry.arrivalSec;
+        const selectedAnnotations = new Map();
+        const presentTopics = [];
+        const missingTopics = [];
+        for (const topic of visibleTopics) {
+            const buffer = this.annotationsMap.get(topic);
+            if (!buffer || buffer.length === 0) {
+                // No annotations yet for this topic
+                if (requiredTopics.includes(topic)) {
+                    // waiting, but we still render image
+                    // do not classify as missing because no candidate arrived yet
+                }
+                continue;
+            }
+            // Find preferred (newest <= image time within staleness)
+            let preferred;
+            for (let i = buffer.length - 1; i >= 0; i--) {
+                const entry = buffer[i];
+                const age = imageTimestampSec - entry.timeSec;
+                if (age >= 0 && age <= maxStalenessSec) {
+                    preferred = entry;
+                    break;
+                }
+            }
+            // Fallback: closest within tolerance window
+            let closest = buffer[0];
+            let closestDelta = Math.abs(closest.timeSec - imageTimestampSec);
+            for (let i = 1; i < buffer.length; i++) {
+                const entry = buffer[i];
+                const delta = Math.abs(entry.timeSec - imageTimestampSec);
+                if (delta < closestDelta) {
+                    closest = entry;
+                    closestDelta = delta;
+                }
+            }
+            let candidate = preferred ?? closest;
+            if (!candidate)
+                continue;
+            const candidateDelta = Math.abs(candidate.timeSec - imageTimestampSec);
+            const candidateAge = imageTimestampSec - candidate.timeSec;
+            const acceptable = (preferred && candidateAge >= 0 && candidateAge <= maxStalenessSec) ||
+                (!preferred && candidateDelta <= syncToleranceSec);
+            const notFutureFar = candidate.timeSec <= imageTimestampSec + syncToleranceSec;
+            if (!acceptable || !notFutureFar) {
+                // can't use for now
+                continue;
+            }
+            // Hysteresis: keep previous if close
+            const prevTime = this.lastSelectedByTopic.get(topic);
+            if (prevTime != undefined) {
+                const prevEntry = buffer.find((e) => Math.abs(e.timeSec - prevTime) < 1e-6);
+                if (prevEntry) {
+                    const prevDelta = Math.abs(prevEntry.timeSec - imageTimestampSec);
+                    const prevAge = imageTimestampSec - prevEntry.timeSec;
+                    const prevValid = (prevAge >= 0 && prevAge <= maxStalenessSec) || prevDelta <= syncToleranceSec;
+                    if (prevValid && Math.abs(prevEntry.timeSec - candidate.timeSec) <= hysteresisSec) {
+                        candidate = prevEntry;
+                    }
+                }
+            }
+            selectedAnnotations.set(topic, candidate.annotation);
+            presentTopics.push(topic);
+            this.lastSelectedByTopic.set(topic, candidate.timeSec);
+        }
+        // Determine missing topics (we have at least some annotation messages for them but could not align one this frame)
+        for (const t of requiredTopics) {
+            if (!presentTopics.includes(t)) {
+                const buf = this.annotationsMap.get(t);
+                if (buf && buf.length > 0) {
+                    // We received data but could not synchronize within tolerance -> mark missing
+                    missingTopics.push(t);
+                }
+            }
+        }
+        // Always return newest image; do not block rendering if annotations incomplete
+        return {
+            image: newestImageEntry.image,
+            annotationsByTopic: selectedAnnotations,
+            // Provide mismatch info only if we have both present and missing; otherwise undefined to reduce HUD noise
+            presentAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? presentTopics.sort() : undefined,
+            missingAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? missingTopics.sort() : undefined,
+        };
+    }
+}
+//# sourceMappingURL=MessageHandlerV2.js.map

package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandlerV2.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"MessageHandlerV2.js","sourceRoot":"","sources":["../../../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandlerV2.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAa1D,OAAO,EAEL,qBAAqB,GACtB,MAAM,2EAA2E,CAAC;AACnF,OAAO,EACL,wBAAwB,EACxB,iBAAiB,EACjB,2BAA2B,EAC3B,iBAAiB,GAClB,MAAM,iFAAiF,CAAC;AACzF,OAAO,EAAE,mBAAmB,EAAE,MAAM,qEAAqE,CAAC;AAM1G,OAAO,EAAE,oBAAoB,EAAE,MAAM,oCAAoC,CAAC;AAE1E,OAAO,EACL,uBAAuB,EACvB,gCAAgC,EAChC,8BAA8B,EAC9B,+BAA+B,EAC/B,4BAA4B,EAC5B,6BAA6B,EAC7B,8BAA8B,GAC/B,MAAM,aAAa,CAAC;AAGrB,OAAO,EAAE,GAAG,EAAE,MAAM,WAAW,CAAC;AAKhC,MAAM,gBAAgB,GAAG,IAAI,CAAC,CAAC,2EAA2E;AAC1G,MAAM,eAAe,GAAG,GAAG,CAAC,CAAC,qIAAqI;AAClK,MAAM,aAAa,GAAG,GAAG,CAAC,CAAC,8DAA8D;AACzF,MAAM,iBAAiB,GAAG,CAAC,CAAC,CAAC,qCAAqC;AAClE,MAAM,cAAc,GAAG,GAAG,CAAC,CAAC,8BAA8B;AAyB1D,kGAAkG;AAClG,MAAM,CAAC,MAAM,yBAAyB,GAAY;IAChD,EAAE,EAAE,gCAAgC;IACpC,KAAK,EAAE,uBAAuB;IAC9B,UAAU,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,gCAAgC,CAAC;IACvD,WAAW,EAAE,OAAO;CACrB,CAAC;AAEF,MAAM,CAAC,MAAM,gCAAgC,GAAY;IACvD,EAAE,EAAE,8BAA8B;IAClC,KAAK,EAAE,uBAAuB;IAC9B,UAAU,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,uBAAuB,CAAC;IAC9C,WAAW,EAAE,OAAO;CACrB,CAAC;AAEF,MAAM,CAAC,MAAM,iCAAiC,GAAY;IACxD,EAAE,EAAE,4BAA4B;IAChC,KAAK,EAAE,uBAAuB;IAC9B,UAAU,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,kBAAkB,CAAC;IACzC,WAAW,EAAE,QAAQ;CACtB,CAAC;AAEF,MAAM,CAAC,MAAM,gCAAgC,GAAY;IACvD,EAAE,EAAE,+BAA+B;IACnC,KAAK,EAAE,uBAAuB;IAC9B,UAAU,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,kBAAkB,CAAC;IACzC,WAAW,EAAE,OAAO;CACrB,CAAC;AAEF,MAAM,CAAC,MAAM,gCAAgC,GAAY;IACvD,EAAE,EAAE,8BAA8B;IAClC,KAAK,EAAE,uBAAuB;IAC9B,UAAU,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,2BAA2B,CAAC;IAClD,WAAW,EAAE,QAAQ;CACtB,CAAC;AAEF,MAAM,CAAC,MAAM,+BAA+B,GAAY;IACtD,EAAE,EAAE,6BAA6B;IACjC,KAAK,EAAE,uBAAuB;IAC9B,UAAU,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,2BAA2B,CAAC;IAClD,WAAW,EAAE,OAAO;CACrB,CAAC;AAEF;;;;;GAKG;AACH,MAAM,OAAO,gBAAgB;IAC3B,qDAAqD;IACrD,OAAO,CAAkC;IAEzC,2EAA2E;IAC3E,IAAI,CAAiB;IAErB,qCAAqC;IACrC,eAAe,CAAiC;IAEhD,+CAA+C;IAC/C,qBAAqB,CAAsB;IAE3C,iEAAiE;IACjE,UAAU,GAA0B,EAAE,CAAC;IAEvC;;;;OAIG;IAEH,0BAA0B,CAAc;IAExC,8BAA8B,GAA0B,IAAI,CAAC;IAErD,SAAS,CAA0B;IAC3C,iFAAiF;IACzE,YAAY,GAAwF,EAAE,CAAC;IAC/G,wFAAwF;IAChF,cAAc,GAOlB,IAAI,GAAG,EAAE,CAAC;IACd,gFAAgF;IACxE,mBAAmB,GAAwB,IAAI,GAAG,EAAE,CAAC;IAC7D,yBAAyB,CAAc;IAEvC;;;;OAIG;IACH,YAAmB,MAAuC,EAAE,GAAmB;QAC7E,IAAI,CAAC,OAAO,GAAG,MAAM,CAAC;QACtB,IAAI,CAAC,IAAI,GAAG,GAAG,CAAC;QAChB,IAAI,CAAC,qBAAqB,GAAG;YAC3B,kBAAkB,EAAE,IAAI,GAAG,EAAE;SAC9B,CAAC;QACF,IAAI,CAAC,yBAAyB,GAAG,IAAI,GAAG,EAAE,CAAC;IAC7C,CAAC;IAEM,OAAO;QACZ,IAAI,IAAI,CAAC,8BAA8B,EAAE,CAAC;YACxC,aAAa,CAAC,IAAI,CAAC,8BAA8B,CAAC,CAAC;QACrD,CAAC;IACH,CAAC;IAEM,WAAW,CAAC,QAA6B;QAC9C,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;IACjC,CAAC;IAEM,iCAAiC,CAAC,OAAmB;QAC1D,IAAI,CAAC,0BAA0B,GAAG,OAAO,CAAC;IAC5C,CAAC;IAEM,cAAc,CAAC,QAA6B;QACjD,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,KAAK,QAAQ,CAAC,CAAC;IACpE,CAAC;IAEM,iBAAiB,GAAG,CAAC,YAA2C,EAAQ,EAAE;QAC/E,IAAI,CAAC,WAAW,CAAC,YAAY,EAAE,iBAAiB,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC;IAC1E,CAAC,CAAC;IAEK,wBAAwB,GAAG,CAChC,YAAqD,EAC/C,EAAE;QACR,IAAI,CAAC,WAAW,CAAC,YAAY,EAAE,2BAA2B,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC;IACpF,CAAC,CAAC;IAEK,cAAc,GAAG,CAAC,YAA2C,EAAQ,EAAE;QAC5E,IAAI,CAAC,WAAW,CAAC,YAAY,EAAE,iBAAiB,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC;IAC1E,CAAC,CAAC;IAEK,qBAAqB,GAAG,CAAC,YAAkD,EAAQ,EAAE;QAC1F,IAAI,CAAC,WAAW,CAAC,YAAY,EAAE,wBAAwB,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC;IACjF,CAAC,CAAC;IAEQ,WAAW,CAAC,OAAsC,EAAE,KAAe;QAC3E,IAAI,CAAC,SAAS,GAAG;YACf,GAAG,OAAO;YACV,OAAO,EAAE,KAAK;SACW,CAAC;QAE5B,uGAAuG;QACvG,MAAM,KAAK,GAAG,qBAAqB,CAAC,KAAK,CAAC,CAAC;QAC3C,IAAI,YAAgC,CAAC;QACrC,MAAM,QAAQ,GAAI,KAAa,EAAE,GAAyB,CAAC;QAC3D,MAAM,SAAS,GAAI,KAAa,EAAE,IAA0B,CAAC;QAC7D,IAAI,OAAO,QAAQ,KAAK,QAAQ,IAAI,OAAO,SAAS,KAAK,QAAQ,EAAE,CAAC;YAClE,YAAY,GAAG,QAAQ,GAAG,SAAS,GAAG,GAAG,CAAC;QAC5C,CAAC;aAAM,CAAC;YACN,MAAM,IAAI,GAAS,OAAe,CAAC,WAAW,CAAC;YAC/C,MAAM,OAAO,GAAG,IAAI,EAAE,GAAyB,CAAC;YAChD,MAAM,QAAQ,GAAG,IAAI,EAAE,IAA0B,CAAC;YAClD,IAAI,OAAO,OAAO,KAAK,QAAQ,IAAI,OAAO,QAAQ,KAAK,QAAQ,EAAE,CAAC;gBAChE,YAAY,GAAG,OAAO,GAAG,QAAQ,GAAG,GAAG,CAAC;YAC1C,CAAC;QACH,CAAC;QAED,MAAM,UAAU,GAAG,WAAW,CAAC,GAAG,EAAE,GAAG,IAAI,CAAC;QAE5C,IAAI,IAAI,CAAC,2BAA2B,EAAE,EAAE,CAAC;YACvC,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,EAAE,KAAK,EAAE,IAAI,CAAC,SAAS,EAAE,YAAY,EAAE,UAAU,EAAE,CAAC,CAAC;YAC5E,0EAA0E;YAC1E,MAAM,MAAM,GAAG,WAAW,CAAC,GAAG,EAAE,GAAG,IAAI,CAAC;YACxC,MAAM,aAAa,GAAG,MAAM,GAAG,iBAAiB,CAAC;YACjD,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,UAAU,IAAI,aAAa,CAAC,CAAC;YACnF,IAAI,IAAI,CAAC,YAAY,CAAC,MAAM,GAAG,cAAc,EAAE,CAAC;gBAC9C,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC,EAAE,IAAI,CAAC,YAAY,CAAC,MAAM,GAAG,cAAc,CAAC,CAAC;YACzE,CAAC;YACD,iFAAiF;YACjF,OAAO;QACT,CAAC;QAED,+CAA+C;QAC/C,IAAI,CAAC,UAAU,EAAE,CAAC;IACpB,CAAC;IAEM,gBAAgB,GAAG,CAAC,OAAwC,EAAQ,EAAE;QAC3E,IAAI,CAAC,qBAAqB,CAAC,UAAU,GAAG,mBAAmB,CAAC,OAAO,CAAC,OAAO,CAAC,CAAC;QAC7E,IAAI,CAAC,UAAU,EAAE,CAAC;IACpB,CAAC,CAAC;IAEK,iBAAiB,GAAG,CACzB,YAA2F,EAC3F,EAAE;QACF,MAAM,IAAI,GAAG,oBAAoB,CAAC,YAAY,CAAC,OAAO,EAAE,YAAY,CAAC,UAAU,CAAC,CAAC;QAEjF,MAAM,UAAU,GAAG,WAAW,CAAC,GAAG,EAAE,GAAG,IAAI,CAAC;QAE5C,IAAI,IAAI,CAAC,MAAM,GAAG,CAAC,IAAI,YAAY,CAAC,KAAK,EAAE,CAAC;YAC1C,IAAI,CAAC,0BAA0B,EAAE,EAAE,CAAC;YAEpC,2DAA2D;YAC3D,MAAM,UAAU,GAAa,EAAE,CAAC;YAChC,KAAK,MAAM,CAAC,IAAI,IAAI,EAAE,CAAC;gBACrB,MAAM,GAAG,GAAI,CAAC,CAAC,KAAa,EAAE,GAAyB,CAAC;gBACxD,MAAM,IAAI,GAAI,CAAC,CAAC,KAAa,EAAE,IAA0B,CAAC;gBAE1D,IAAI,OAAO,GAAG,KAAK,QAAQ,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;oBACxD,UAAU,CAAC,IAAI,CAAC,GAAG,GAAG,IAAI,GAAG,GAAG,CAAC,CAAC;gBACpC,CAAC;YACH,CAAC;YACD,MAAM,OAAO,GAAG,UAAU,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC,UAAU,CAAC;YAE7E,MAAM,KAAK,GAAG;gBACZ,UAAU,EAAE;oBACV,eAAe,EAAE,YAAY;oBAC7B,WAAW,EAAE,IAAI;iBAClB;gBACD,OAAO;gBACP,UAAU;aACX,CAAC;YAEF,MAAM,KAAK,GAAG,YAAY,CAAC,KAAK,CAAC;YACjC,MAAM,MAAM,GAAG,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE,CAAC;YACpD,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;YAEnB,6FAA6F;YAC7F,MAAM,YAAY,GAAG,EAAE,CAAC;YACxB,MAAM,MAAM,GAAG,WAAW,CAAC,GAAG,EAAE,GAAG,IAAI,CAAC;YACxC,MAAM,aAAa,GAAG,MAAM,GAAG,YAAY,CAAC;YAC5C,MAAM,OAAO,GAAG,MAAM,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,UAAU,IAAI,aAAa,CAAC,CAAC;YAEpE,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;QAC1C,CAAC;QAED,2FAA2F;QAC3F,IAAI,CAAC,UAAU,EAAE,CAAC;QAElB,IAAI,IAAI,CAAC,OAAO,CAAC,WAAW,KAAK,KAAK,EAAE,CAAC;YACvC,OAAO;QACT,CAAC;QAED,sDAAsD;IACxD,CAAC,CAAC;IAEK,SAAS,CAAC,SAAqC;QACpD,IAAI,OAAO,GAAG,KAAK,CAAC;QAEpB,IAAI,SAAS,CAAC,WAAW,IAAI,SAAS,IAAI,SAAS,CAAC,WAAW,KAAK,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC;YAC7F,IAAI,CAAC,eAAe,GAAG,SAAS,CAAC;YAEjC,OAAO,GAAG,IAAI,CAAC;QACjB,CAAC;QAED,IAAI,YAAY,IAAI,SAAS,IAAI,IAAI,CAAC,OAAO,CAAC,UAAU,KAAK,SAAS,CAAC,UAAU,EAAE,CAAC;YAClF,IAAI,CAAC,qBAAqB,CAAC,KAAK,GAAG,SAAS,CAAC;YAC7C,OAAO,GAAG,IAAI,CAAC;QACjB,CAAC;QAED,IAAI,IAAI,CAAC,OAAO,CAAC,gBAAgB,KAAK,SAAS,CAAC,gBAAgB,EAAE,CAAC;YACjE,IAAI,CAAC,qBAAqB,CAAC,UAAU,GAAG,SAAS,CAAC;YAClD,OAAO,GAAG,IAAI,CAAC;QACjB,CAAC;QAED,IACE,SAAS,CAAC,WAAW,IAAI,SAAS;YAClC,IAAI,CAAC,OAAO,CAAC,WAAW;YACxB,IAAI,CAAC,OAAO,CAAC,WAAW,KAAK,SAAS,CAAC,WAAW,EAClD,CAAC;YACD,MAAM,gBAAgB,GAAG,IAAI,GAAG,EAAU,CAAC;YAE3C,KAAK,MAAM,CAAC,KAAK,EAAE,QAAQ,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,WAAW,CAAC,EAAE,CAAC;gBACtE,IAAI,QAAQ,EAAE,OAAO,KAAK,IAAI,EAAE,CAAC;oBAC/B,gBAAgB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;gBAC9B,CAAC;YACH,CAAC;YAED,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,qBAAqB,CAAC,kBAAkB,CAAC,IAAI,EAAE,EAAE,CAAC;gBACzE,IAAI,CAAC,gBAAgB,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;oBACjC,IAAI,CAAC,qBAAqB,CAAC,kBAAkB,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;oBAC5D,OAAO,GAAG,IAAI,CAAC;gBACjB,CAAC;YACH,CAAC;QACH,CAAC;QAED,IAAI,CAAC,OAAO,GAAG,SAAS,CAAC;QAEzB,IAAI,OAAO,EAAE,CAAC;YACZ,IAAI,CAAC,UAAU,EAAE,CAAC;QACpB,CAAC;IACH,CAAC;IAEM,4BAA4B,CAAC,UAAoB;QACtD,IAAI,CAAC,yBAAyB,GAAG,IAAI,GAAG,CAAC,UAAU,CAAC,CAAC;QACrD,IAAI,CAAC,UAAU,EAAE,CAAC;IACpB,CAAC;IAEM,KAAK;QACV,IAAI,CAAC,qBAAqB,GAAG;YAC3B,kBAAkB,EAAE,IAAI,GAAG,EAAE;SAC9B,CAAC;QACF,IAAI,CAAC,cAAc,CAAC,KAAK,EAAE,CAAC;QAC5B,IAAI,CAAC,mBAAmB,CAAC,KAAK,EAAE,CAAC;QACjC,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;QAC3B,IAAI,CAAC,YAAY,GAAG,EAAE,CAAC;QACvB,IAAI,CAAC,eAAe,GAAG,SAAS,CAAC;QACjC,IAAI,CAAC,UAAU,EAAE,CAAC;IACpB,CAAC;IAED,UAAU;QACR,MAAM,KAAK,GAAG,IAAI,CAAC,0BAA0B,EAAE,CAAC;QAEhD,IAAI,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,EAAE,EAAE,EAAE;YAC7B,EAAE,CAAC,KAAK,EAAE,IAAI,CAAC,eAAe,CAAC,CAAC;QAClC,CAAC,CAAC,CAAC;QACH,IAAI,CAAC,eAAe,GAAG,KAAK,CAAC;IAC/B,CAAC;IAED,kEAAkE;IAClE,2BAA2B;QACzB,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC;YAC9B,OAAO,KAAK,CAAC;QACf,CAAC;QAED,KAAK,MAAM,QAAQ,IAAI,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,WAAW,CAAC,EAAE,CAAC;YAC/D,IAAI,QAAQ,EAAE,OAAO,KAAK,IAAI,EAAE,CAAC;gBAC/B,OAAO,IAAI,CAAC;YACd,CAAC;QACH,CAAC;QAED,OAAO,KAAK,CAAC;IACf,CAAC;IAED,0CAA0C;IACnC,0BAA0B;QAC/B,MAAM,KAAK,GAAG,IAAI,CAAC,eAAe,EAAE,CAAC;QACrC,IAAI,CAAC,mBAAmB,CAAC,KAAK,CAAC,CAAC;QAChC,OAAO,KAAK,CAAC;IACf,CAAC;IAED,mBAAmB,CAAC,KAAyB;QAC3C,MAAM,mBAAmB,GAAG,IAAI,CAAC,OAAO,CAAC,gBAAgB,IAAI,SAAS,CAAC;QAEvE,MAAM,eAAe,GACnB,IAAI,CAAC,qBAAqB,CAAC,KAAK,IAAI,SAAS,IAAI,KAAK,CAAC,KAAK,IAAI,SAAS,CAAC;QAE5E,MAAM,qBAAqB,GAAG,mBAAmB,IAAI,KAAK,CAAC,UAAU,IAAI,SAAS,CAAC;QAEnF,MAAM,cAAc,GAAG,eAAe,IAAI,qBAAqB,CAAC;QAEhE,IAAI,CAAC,IAAI,CAAC,aAAa,CAAC,cAAc,EAAE,yBAAyB,CAAC,CAAC;QAEnE,IAAI,CAAC,IAAI,CAAC,aAAa,CACrB,qBAAqB,IAAI,CAAC,cAAc,EACxC,gCAAgC,CACjC,CAAC;QACF,IAAI,CAAC,IAAI,CAAC,aAAa,CACrB,eAAe,IAAI,CAAC,mBAAmB,IAAI,CAAC,cAAc,EAC1D,gCAAgC,CACjC,CAAC;QACF,IAAI,CAAC,IAAI,CAAC,aAAa,CACrB,eAAe,IAAI,mBAAmB,EACtC,iCAAiC,CAClC,CAAC;IACJ,CAAC;IAED,eAAe;QACb,iBAAiB;QACjB,MAAM,aAAa,GAAG,IAAI,GAAG,EAAU,CAAC;QACxC,IAAI,IAAI,CAAC,OAAO,CAAC,WAAW,EAAE,CAAC;YAC7B,KAAK,MAAM,CAAC,KAAK,EAAE,QAAQ,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,IAAI,CAAC,OAAO,CAAC,WAAW,CAAC,EAAE,CAAC;gBACzE,IAAI,QAAQ,EAAE,OAAO;oBAAE,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;YAClD,CAAC;QACH,CAAC;QACD,0EAA0E;QAC1E,IAAI,aAAa,CAAC,IAAI,KAAK,CAAC,EAAE,CAAC;YAC7B,OAAO;gBACL,KAAK,EAAE,IAAI,CAAC,SAAS;gBACrB,kBAAkB,EAAE,IAAI,GAAG,EAAE;gBAC7B,uBAAuB,EAAE,SAAS;gBAClC,uBAAuB,EAAE,SAAS;aACnC,CAAC;QACJ,CAAC;QAED,kFAAkF;QAClF,IAAI,IAAI,CAAC,YAAY,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACnC,OAAO;gBACL,kBAAkB,EAAE,IAAI,GAAG,EAAE;gBAC7B,uBAAuB,EAAE,SAAS;gBAClC,uBAAuB,EAAE,SAAS;aACnC,CAAC;QACJ,CAAC;QAED,wCAAwC;QACxC,MAAM,cAAc,GAAa,EAAE,CAAC;QACpC,KAAK,MAAM,CAAC,IAAI,aAAa,EAAE,CAAC;YAC9B,IAAI,IAAI,CAAC,yBAAyB,CAAC,IAAI,KAAK,CAAC,IAAI,IAAI,CAAC,yBAAyB,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC;gBACvF,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;YACzB,CAAC;QACH,CAAC;QAED,wFAAwF;QACxF,MAAM,gBAAgB,GAAG,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,YAAY,CAAC,MAAM,GAAG,CAAC,CAAE,CAAC;QAC1E,MAAM,iBAAiB,GACrB,OAAO,gBAAgB,CAAC,YAAY,KAAK,QAAQ;YAC/C,CAAC,CAAC,gBAAgB,CAAC,YAAY;YAC/B,CAAC,CAAC,gBAAgB,CAAC,UAAU,CAAC;QAElC,MAAM,mBAAmB,GAAG,IAAI,GAAG,EAAiC,CAAC;QACrE,MAAM,aAAa,GAAa,EAAE,CAAC;QACnC,MAAM,aAAa,GAAa,EAAE,CAAC;QAEnC,KAAK,MAAM,KAAK,IAAI,aAAa,EAAE,CAAC;YAClC,MAAM,MAAM,GAAG,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;YAC9C,IAAI,CAAC,MAAM,IAAI,MAAM,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;gBACnC,oCAAoC;gBACpC,IAAI,cAAc,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;oBACnC,qCAAqC;oBACrC,8DAA8D;gBAChE,CAAC;gBACD,SAAS;YACX,CAAC;YAED,yDAAyD;YACzD,IAAI,SAA8C,CAAC;YACnD,KAAK,IAAI,CAAC,GAAG,MAAM,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;gBAC5C,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,CAAE,CAAC;gBACzB,MAAM,GAAG,GAAG,iBAAiB,GAAG,KAAK,CAAC,OAAO,CAAC;gBAC9C,IAAI,GAAG,IAAI,CAAC,IAAI,GAAG,IAAI,eAAe,EAAE,CAAC;oBACvC,SAAS,GAAG,KAAK,CAAC;oBAClB,MAAM;gBACR,CAAC;YACH,CAAC;YAED,4CAA4C;YAC5C,IAAI,OAAO,GAAwC,MAAM,CAAC,CAAC,CAAE,CAAC;YAC9D,IAAI,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,OAAO,GAAG,iBAAiB,CAAC,CAAC;YACjE,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,MAAM,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;gBACvC,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,CAAE,CAAC;gBACzB,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,OAAO,GAAG,iBAAiB,CAAC,CAAC;gBAC1D,IAAI,KAAK,GAAG,YAAY,EAAE,CAAC;oBACzB,OAAO,GAAG,KAAK,CAAC;oBAChB,YAAY,GAAG,KAAK,CAAC;gBACvB,CAAC;YACH,CAAC;YACD,IAAI,SAAS,GAAG,SAAS,IAAI,OAAO,CAAC;YACrC,IAAI,CAAC,SAAS;gBAAE,SAAS;YACzB,MAAM,cAAc,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,OAAO,GAAG,iBAAiB,CAAC,CAAC;YACvE,MAAM,YAAY,GAAG,iBAAiB,GAAG,SAAS,CAAC,OAAO,CAAC;YAC3D,MAAM,UAAU,GACd,CAAC,SAAS,IAAI,YAAY,IAAI,CAAC,IAAI,YAAY,IAAI,eAAe,CAAC;gBACnE,CAAC,CAAC,SAAS,IAAI,cAAc,IAAI,gBAAgB,CAAC,CAAC;YACrD,MAAM,YAAY,GAAG,SAAS,CAAC,OAAO,IAAI,iBAAiB,GAAG,gBAAgB,CAAC;YAC/E,IAAI,CAAC,UAAU,IAAI,CAAC,YAAY,EAAE,CAAC;gBACjC,oBAAoB;gBACpB,SAAS;YACX,CAAC;YACD,qCAAqC;YACrC,MAAM,QAAQ,GAAG,IAAI,CAAC,mBAAmB,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;YACrD,IAAI,QAAQ,IAAI,SAAS,EAAE,CAAC;gBAC1B,MAAM,SAAS,GAAG,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,OAAO,GAAG,QAAQ,CAAC,GAAG,IAAI,CAAC,CAAC;gBAC5E,IAAI,SAAS,EAAE,CAAC;oBACd,MAAM,SAAS,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,OAAO,GAAG,iBAAiB,CAAC,CAAC;oBAClE,MAAM,OAAO,GAAG,iBAAiB,GAAG,SAAS,CAAC,OAAO,CAAC;oBACtD,MAAM,SAAS,GACb,CAAC,OAAO,IAAI,CAAC,IAAI,OAAO,IAAI,eAAe,CAAC,IAAI,SAAS,IAAI,gBAAgB,CAAC;oBAChF,IAAI,SAAS,IAAI,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,OAAO,GAAG,SAAS,CAAC,OAAO,CAAC,IAAI,aAAa,EAAE,CAAC;wBAClF,SAAS,GAAG,SAAS,CAAC;oBACxB,CAAC;gBACH,CAAC;YACH,CAAC;YAED,mBAAmB,CAAC,GAAG,CAAC,KAAK,EAAE,SAAS,CAAC,UAAU,CAAC,CAAC;YACrD,aAAa,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;YAC1B,IAAI,CAAC,mBAAmB,CAAC,GAAG,CAAC,KAAK,EAAE,SAAS,CAAC,OAAO,CAAC,CAAC;QACzD,CAAC;QAED,mHAAmH;QACnH,KAAK,MAAM,CAAC,IAAI,cAAc,EAAE,CAAC;YAC/B,IAAI,CAAC,aAAa,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,CAAC;gBAC/B,MAAM,GAAG,GAAG,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;gBACvC,IAAI,GAAG,IAAI,GAAG,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;oBAC1B,8EAA8E;oBAC9E,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;gBACxB,CAAC;YACH,CAAC;QACH,CAAC;QAED,+EAA+E;QAC/E,OAAO;YACL,KAAK,EAAE,gBAAgB,CAAC,KAAK;YAC7B,kBAAkB,EAAE,mBAAmB;YACvC,0GAA0G;YAC1G,uBAAuB,EACrB,aAAa,CAAC,MAAM,GAAG,CAAC,IAAI,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,aAAa,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,SAAS;YACzF,uBAAuB,EACrB,aAAa,CAAC,MAAM,GAAG,CAAC,IAAI,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,aAAa,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,SAAS;SAC1F,CAAC;IACJ,CAAC;CACF"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@luxonis/visualizer-protobuf",
-  "version": "2.67.2",
+  "version": "2.68.0",
   "type": "module",
   "description": "RobotHub Visualizer Library",
   "author": "Luxonis Corp",