@rainbow-robotics/preview-host 1.10.1-dev.0 → 1.10.1

package/dist/assets/{__federation_expose_App.Cr76Vrqb.js → __federation_expose_App.CbZuUDnb.js}

@@ -1,5 +1,5 @@
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xie,fy as $je,fz as Uje,fA as jje,fB as OLe,fC as FLe,fD as BLe,fE as Gje,fF as qje,fG as Kje,fH as Jje,fI as Yje,fJ as o9,fK as nB,fL as Xje,fM as Qje,fN as Zje,fO as eGe,fP as tGe,fQ as nGe,fR as iGe,fS as sGe,fT as oGe,fU as rGe,fV as aGe,fW as Cue,fX as lGe,fY as cGe,fZ as o_,f_ as Sue,f$ as dGe,g0 as xue,g1 as uGe,g2 as hGe,g3 as VLe,g4 as gGe,g5 as mGe,g6 as fGe,g7 as pGe,g8 as _Ge,g9 as Xb,ga as bGe,gb as vGe,gc as wGe,gd as yGe,ge as CGe}from"./RbLocalizationProvider.DiNCanKM.js";import{j as nr,J as SGe}from"./jsx-runtime.CBqCNPYB.js";import{g as rA,a as zLe,r as xGe}from"./index.P6snMalu.js";import{r as NGe}from"./index.B3zY1kf7.js";import{R as IGe,l as kGe,a as LGe,V as Ve,M as WLe,b as Xf,c as DGe,A as TGe,S as EGe,N as PGe,B as HLe,C as r9,L as sK,d as gl,e as cs,f as Do,g as Eu,h as co,i as nb,P as aA,j as Id,T as zx,D as GP,k as $Le,m as RGe,F as Nue,n as iB,o as Nie,p as Iie,q as IE,r as ULe,s as MGe,t as AGe,u as Iw,G as pg,v as Bc,w as Iue,x as kE,y as jLe,Q as Us,O as kue,E as OGe,z as FGe,H as BGe,I as FN,J as GLe,U as qLe,K as KLe,W as VGe,X as zGe,Y as JLe,Z as YLe,_ as XLe,$ as QLe,a0 as WGe,a1 as HGe,a2 as $Ge,a3 as ZLe,a4 as UGe,a5 as jGe,a6 as eDe,a7 as tDe,a8 as GGe,a9 as BI,aa as qGe,ab as KGe,ac as JGe,ad as YGe,ae as XGe,af as QGe,ag as ZGe,ah as SS,ai as Lue,aj as z2,ak as eqe,al as kie,am as U7,an as tqe,ao as nqe,ap as iqe,aq as nDe,ar as iDe,as as sqe,at as xS,au as oqe,av as yc,aw as rqe,ax as sB,ay as sDe,az as oDe,aA as rDe,aB as aqe,aC as lqe,aD as aDe,aE as cqe,aF as dqe,aG as uqe,aH as hqe,aI as gqe,aJ as mqe,aK as fqe,aL as pqe,aM as _qe,aN as bqe,aO as vqe,aP as wqe,aQ as yqe,aR as Cqe,aS as Sqe,aT as xqe,aU as Nqe,aV as Iqe,aW as kqe,aX as lDe,aY as Lqe,aZ as Dqe}from"./useFileDownload.B4x3iw6f.js";import{l as Lie,c as $t,m as Dt,a as Fs,r as Na,L as a9,b as lA,f as $v,i as Gl,M as Die,d as Tie,e as l9,g as Eie,h as Tqe,j as Eqe,k as cDe,u as xb,n as dDe,J as Xh,o as Pqe,p as Rqe,q as Mqe,s as Aqe,t as Oqe,v as uDe,w as Due,x as Tue,y as hDe,z as Fqe,A as Bqe,R as Vqe,B as zqe,C as gDe,D as Wqe,E as Hqe}from"./index.D_wrWuT_.js";import{s as $qe,h as Uqe,E as jqe,a as Gqe,c as c9,_ as Eue}from"./emotion-styled-base.browser.esm.BIcjgOzg.js";function qqe(i,e){for(var t=0;t<e.length;t++){const n=e[t];if(typeof n!="string"&&!Array.isArray(n)){for(const s in n)if(s!=="default"&&!(s in i)){const o=Object.getOwnPropertyDescriptor(n,s);o&&Object.defineProperty(i,s,o.get?o:{enumerable:!0,get:()=>n[s]})}}}return Object.freeze(Object.defineProperty(i,Symbol.toStringTag,{value:"Module"}))}var W2={},Pue;function Kqe(){if(Pue)return W2;Pue=1;var i=NGe();return W2.createRoot=i.createRoot,W2.hydrateRoot=i.hydrateRoot,W2}var mDe=Kqe();const Jqe=rA(mDe),Yqe=qqe({__proto__:null,default:Jqe},[mDe]),Rue=await F("react");var Mue=function(e,t){var n=arguments;if(t==null||!Uqe.call(t,"css"))return Rue.createElement.apply(void 0,n);var s=n.length,o=new Array(s);o[0]=jqe,o[1]=Gqe(e,t);for(var r=2;r<s;r++)o[r]=n[r];return Rue.createElement.apply(null,o)};(function(i){var e;e||(e=i.JSX||(i.JSX={}))})(Mue||(Mue={}));function Xqe(){for(var i=arguments.length,e=new Array(i),t=0;t<i;t++)e[t]=arguments[t];return $qe(e)}function Pie(){var i=Xqe.apply(void 0,arguments),e="animation-"+i.name;return{name:e,styles:"@keyframes "+e+"{"+i.styles+"}",anim:1,toString:function(){return"_EMO_"+this.name+"_"+this.styles+"_EMO_"}}}/**
  * @license lucide-react v0.486.0 - ISC
  *
  * This source code is licensed under the ISC license.
@@ -373,7 +373,7 @@ Execution control:
   check_stop() # check if the script step is stopped
 """`}}},jht={label:"program.button.variables",command:"Variables",icon:mUe,data:{method:"Variables",summary:"",funcName:"rb_program_sdk.set_variables",args:{variables:[]}}},qu={label:"program.button.preProgram",command:"ActionPre",icon:oUe,data:{method:"ActionPre",name:"PreProgram"},requireChildren:!0,isStrict:!0,notAllowChildren:["Move","MoveJ","MoveL","MoveJB","MoveLB","MoveXB","Point","ForceControl","Conveyor","Weaving"]},$a={label:"program.button.postProgram",command:"ActionPost",icon:rUe,data:{method:"ActionPost",name:"PostProgram"},requireChildren:!0,isStrict:!0,notAllowChildren:["Move","MoveJ","MoveL","MoveJB","MoveLB","MoveXB","Point","ForceControl","Conveyor","Weaving"]},Ght={label:"program.button.subTask",command:"SubTask",icon:aUe,confirmModal:nht},UPe={label:"program.button.sync",command:"Sync",icon:iUe,disabled:Gl(),data:{method:"Sync",summary:"Flag => 1",args:{flag:"1",timeout:null}}},Y3={label:"program.button.thread",command:"Thread",icon:pLe,confirmModal:sht,factoryDataFn:async i=>({method:"Thread",taskId:ut.uniqueId(),summary:"",memo:"",name:"General Thread",args:{thread_type:"GENERAL",disable_pause:!1}}),requireChildren:!0,isStrict:!0,notAllowChildren:["Move","MoveJ","MoveL","MoveJB","MoveLB","MoveXB","Point","ForceControl","Conveyor","Weaving","Thread","CallEvent","ActionPost"]},rJ={label:"program.button.callEventThread",command:"CallEvent",icon:pLe,factoryDataFn:i=>({method:"CallEvent",summary:"Call: Ev Th 1",name:"Call Event Thread",args:{index:0}}),requireChildren:!1,isStrict:!1,notAllowChildren:[]},qht={label:"program.button.interface",command:"Interface",icon:_Ue,data:{method:"Interface",summary:"",funcName:"rb_program_sdk.interface",args:{option:"MODBUS_CLIENT",data:{type:"WRITE",server_ip:"",server_port:502,function_code:6,timeout_sec:null,register_addr:null,number_of_read:null,payload:null,return_variable_name:null,resolve_option:"SKIP"}}}},Kht={label:"program.button.vision",command:"Vision",icon:BUe,data:{method:"Vision",summary:"",funcName:"rb_manipulate_sdk.vision.vision",args:{option:"MECHMIND_INTERFACE",data:{type:"CONNECT",function_code:99,timeout_sec:null,server_ip:"",server_port:5e4,resolve_option:"SKIP"}}}},Jht={label:"program.button.userInput",command:"UserInput",icon:pUe,data:{method:"UserInput",funcName:"rb_program_sdk.user_input",summary:"",args:{mode:"USER_INPUT",var_form:"STRING",var_selection:void 0}}},jPe={label:"program.button.changeProgram",command:"ChangeProgram",icon:bUe,confirmModal:Aht,disabled:Gl()},$9=[Vht,UPe,{...Eme,data:{...Eme.data,funcName:"rb_program_sdk.alarm_or_halt"}},Y3,qu,$a,Ght,J3,zht,oJ,$ht,iJ,Hht,sJ,$Pe,jht,Uht,Wht,Jht,qht,jPe],Pw=[{label:"program.button.movej",command:"MoveJ",icon:vLe,data:{method:"MoveJ",args:{robot_model:"",move_type:"J",orientation:null,running_mode:null}},requireChildren:!0,allowChildren:["Point"],childrenCommand:"Point"},{label:"program.button.movel",command:"MoveL",icon:wLe,data:{method:"MoveL",args:{robot_model:"",move_type:"L",orientation:null,running_mode:null}},requireChildren:!0,allowChildren:["Point"],childrenCommand:"Point"},{label:"program.button.movejb",command:"MoveJB",icon:vUe,data:{method:"MoveJB",funcName:"rb_manipulate_sdk.move.call_move_jb_clr",postFuncName:"rb_manipulate_sdk.move.call_move_jb_run",args:{robot_model:"",move_type:"JB",orientation:null,running_mode:null}},requireChildren:!0,allowChildren:["Point"],childrenCommand:"Point"},{label:"program.button.movelb",command:"MoveLB",icon:wUe,data:{method:"MoveLB",funcName:"rb_manipulate_sdk.move.call_move_lb_clr",postFuncName:"rb_manipulate_sdk.move.call_move_lb_run",args:{robot_model:"",move_type:"LB",orientation:0,running_mode:null}},requireChildren:!0,allowChildren:["Point"],childrenCommand:"Point"},{label:"program.button.movexb",command:"MoveXB",icon:yUe,data:{method:"MoveXB",funcName:"rb_manipulate_sdk.move.call_move_xb_clr",postFuncName:"rb_manipulate_sdk.move.call_move_xb_run",args:{robot_model:"",move_type:"XB",orientation:null,running_mode:0}},requireChildren:!0,allowChildren:["Point"],childrenCommand:"Point"},{label:"program.button.point",command:"Point",icon:CUe,allowParents:["MoveJ","MoveL","MoveJB","MoveLB","MoveXB"],requireParent:!0,factoryDataFn:async i=>{let e=[0,0,0,0,0,0,0],t=-1;i?.args?.move_type?.startsWith("J")?t=-1:i?.args?.move_type?.startsWith("L")&&(t=0);try{const{jointQRef:s,carteXRef:o}=await QC({robot_model:i.args?.robot_model});s&&t===-1&&(e=s.map(r=>Number(r.toFixed(3)))),o&&t===0&&(e=o.map(r=>Number(r.toFixed(3))))}catch(s){console.error("Error fetching jointQRef",s)}return{method:"Point",summary:`${UN[0].summary} , ${e.map(s=>s.toFixed(3)).join(", ")}`,funcName:"rb_manipulate_sdk.point.set_point",args:{robot_model:"$parent.robot_model",move_type:"$parent.move_type",input_method:0,pnt_para:100,pnt_type:0,tar_frame:t,tar_unit:0,tar_values:e,spd_mode:0,spd_vel_para:.4,spd_acc_para:.1,tcp_num:-1,orientation:"$parent.orientation",running_mode:"$parent.running_mode",method:0}}}},{label:"program.button.home",command:"PosHome",icon:SUe,data:{method:"PosHome",funcName:"rb_manipulate_sdk.move.call_move_home",summary:"Move-J, Top-Level (Main) Project",args:{home_type:0,move_type:0,speed:{spd_mode:0,spd_vel_para:.4,spd_acc_para:.1}}}},{label:"program.button.pinPoint",command:"PinPoint",icon:xUe,factoryDataFn:async(i,e)=>{let t=[0,0,0,0,0,0,0];try{const{carteXRef:n}=await QC({robot_model:e});n&&(t=n.map(s=>Number(s.toFixed(3))))}catch(n){console.error("Error fetching carteXRef",n)}return{method:"PinPoint",summary:`${UN[0].summary} , ${t.map(n=>n.toFixed(3)).join(", ")}`,funcName:"rb_manipulate_sdk.program.set_pin_point_or_joint",args:{input_method:0,pin_type:"POINT",target:{tar_frame:0,tar_unit:0,tar_values:t}}}}},{label:"program.button.pinJoint",command:"PinJoint",icon:NUe,factoryDataFn:async(i,e)=>{let t=[0,0,0,0,0,0,0];try{const{jointQRef:n}=await QC({robot_model:e});n&&(t=n.map(s=>Number(s.toFixed(3))))}catch(n){console.error("Error fetching jointQRef",n)}return{method:"PinJoint",summary:`${UN[0].summary} , ${t.map(n=>n.toFixed(3)).join(", ")}`,funcName:"rb_manipulate_sdk.program.set_pin_point_or_joint",args:{input_method:0,pin_type:"JOINT",target:{tar_frame:-1,tar_unit:0,tar_values:t}}}}},{label:"program.button.motionMacro",command:"MotionMacro",icon:IUe,data:{method:"MotionMacro",summary:"Flat Surface",funcName:"rb_manipulate_sdk.service.call_move_macro",args:{type:0,corner_pnts:["RB_JOINT_REF","RB_JOINT_REF","RB_JOINT_REF","RB_JOINT_REF"],speed:{spd_mode:0,spd_vel_para:.4,spd_acc_para:.1},rotation_mode:0,gap_num:0,margin_h_1:0,margin_h_2:0,margin_w_1:0,margin_w_2:0,margin_over:0,margin_over_para:0}}},{label:"program.button.circle",command:"Circle",icon:yLe,factoryDataFn:async(i,e)=>{let t=[0,0,0,0,0,0,0];try{const{carteXRef:n}=await QC({robot_model:e});n&&(t=n.map(s=>Number(s.toFixed(3))))}catch(n){console.error("Error fetching carteXRef",n)}return{method:"Circle",funcName:"rb_manipulate_sdk.move.call_move_cir_axis",summary:jv[0].summary,args:{center:{input_method:0,tar_frame:0,tar_unit:0,tar_values:t,ref_point:""},axis:{input_method:0,tar_frame:0,tar_unit:0,tar_values:t,ref_point:""},angle:0,mode:0,speed:{spd_mode:0,spd_vel_para:.4,spd_acc_para:.1},radius_option:0,radius_para:0}}}},{label:"program.button.gcode",command:"Gcode",icon:bLe,data:{method:"Gcode",funcName:"rb_manipulate_sdk.service.call_move_gcode",args:{filename:"",gcodeframe:0,feed_spd_default:0,feed_spd_rapid:0,feed_spd_limit:0,feed_spd_rotation:0,default_plane:0,offset_x:0,offset_y:0,offset_z:0}}},{label:"program.button.replay",command:"Replay",icon:CLe,data:{method:"Replay",summary:"",funcName:"rb_manipulate_sdk.service.call_replay_motion_run",args:{filename:"",type:0,speed:{spd_mode:0,spd_vel_para:.4,spd_acc_para:.1}}}},{label:"program.button.pattern",command:"Pattern",icon:kUe,data:{method:"Pattern",summary:`ID 0, ${tJ[0].summary}`,funcName:"rb_manipulate_sdk.service.call_pattern_on",postFuncName:"rb_manipulate_sdk.service.call_pattern_off",args:{id:0,type:0,count_x:2,count_y:2,count_z:2,anchor_pnt:"RB_JOINT_REF",incremental:1,corner_pnts:["RB_JOINT_REF","RB_JOINT_REF"]},postArgs:{id:0}},requireChildren:!0},{label:"program.button.set",command:"Setting",icon:SLe,data:{method:"Setting",summary:"Out Collision - Off",name:"Set",funcName:"rb_manipulate_sdk.program.setting",args:{option:"OUT_COLLISION",out_collision:{onoff:0,react_mode:0,threshold:0}}}},{label:"program.button.tcpSet",command:"TcpSetting",icon:LUe,factoryDataFn:async(i,e)=>{let t="";try{const{tConfigs0:n}=await WTe({robot_model:e});t=n.toolName}catch(n){console.error("Error fetching tool list",n)}return{method:"TcpSetting",summary:t,name:"TCP Set",funcName:"rb_manipulate_sdk.config.set_toollist_num",args:{tool_num:0}}}},{label:"program.button.timer",command:"Timer",icon:fLe,data:{method:"Timer",summary:"Timer 0, Reset Time: 0sec",funcName:"rb_manipulate_sdk.service.call_timer_function",args:{timer_no:0,reset_time:0,option_increase:0,option_action:0}}},{label:"program.button.weaving",command:"Weaving",icon:DUe,data:{method:"Weaving",summary:"Off",funcName:"rb_manipulate_sdk.move.call_tcp_weaving_off",args:{}}},{label:"program.button.arcSensing",command:"ArcSensing",icon:TUe,data:{method:"ArcSensing",summary:"Off",funcName:"rb_manipulate_sdk.move.call_arc_sensing_off"}},{label:"program.button.conveyor",command:"Conveyor",icon:EUe,data:{method:"Conveyor",summary:dm[0].summary,funcName:"rb_manipulate_sdk.move.call_base_conveyor_off",args:{stop_time_sec:0}}},{label:"program.button.forceCtrl",command:"ForceControl",icon:PUe,data:{method:"ForceControl",funcName:"rb_manipulate_sdk.move.call_admittance_force_off"}},{label:"program.button.dout",command:"DOut",icon:RUe,data:{method:"DOut",summary:`${nJ[0].summary}: ${FPe.GENERAL.summary}`,memo:"",funcName:"rb_manipulate_sdk.io.call_multiple_side_dout",args:{side_dout_args:NB}}},{label:"program.button.aout",command:"AOut",icon:MUe,data:{method:"AOut",summary:"",memo:"",funcName:"rb_manipulate_sdk.io.call_multiple_side_aout",args:{side_aout_args:HPe}}},{label:"program.button.toolout",command:"ToolOut",icon:AUe,data:{method:"ToolOut",summary:`${CB[0].label}, ${IB.map((i,e)=>`${e}: Bypass`).join(", ")}`,memo:"",funcName:"rb_manipulate_sdk.program.tool_out",args:{tool_voltage:"-1",tool_dout_args:IB}}},{label:"program.button.gripper",command:"Gripper",icon:OUe,factoryDataFn:async(i,e)=>{let t;try{const{attachOption:n}=await VPe({robot_model:e});n<0?t=0:t=n}catch(n){console.error("Error fetching gripper",n),t=0}return{method:"Gripper",summary:`${rR[t].label} - Initialize`,funcName:"rb_manipulate_sdk.service.call_gripper_action",args:{gripper_type:t,function_list:0,payload:rR[t].initPayload}}}},{label:"program.button.welder",command:"Welding",icon:FUe,data:{method:"Welding",summary:ZC[0].summary,funcName:"rb_manipulate_sdk.service.call_weld_arc_off",args:{time_start:0,cond_mode:0,cond_option:0,cond_jobno:1,cond_current:0,cond_voltage:0,cond_feedrate:0,cond_arccontrol:0,cond_arclength:0,cond_para1:0,cond_para2:0,time_crator:0,time_ending:0}}},Kht,{label:"program.button.functionCall",command:"FunctionCall",icon:xLe,data:{method:"FunctionCall",summary:"",funcName:"rb_manipulate_sdk.get_data.call_functions",args:{calls:[]}}},{label:"progarm.button.rs485",command:"SerialCommunication",icon:VUe,disabled:!0},{label:"program.button.modbus",command:"Modbus",icon:zUe,disabled:!0},{label:"program.button.movingPoint",command:"MovePointPlus",icon:WUe,iconClassName:"size-6 h-7 object-contain object-center",disabled:!0},{label:"program.button.touchSensing",command:"TouchSensing",icon:HUe,disabled:!0}],U9=[{label:"amr.button.goal",command:"Goal",icon:$Ue,data:(()=>{const i={robot_model:"",goal_id:"",goal_name:"",preset:0,method:"pp"};return{method:"Goal",summary:`Move Goal - Goal Id: ${i.goal_id}, Preset: ${i.preset}, Method: ${i.method}`,funcName:"rb_amr_sdk.move.send_move_goal",args:i}})()},{label:"amr.button.target",command:"Target",icon:UUe,data:(()=>{const i={robot_model:"",x:0,y:0,z:0,rz:0,method:"pp",preset:0};return{method:"Target",funcName:"rb_amr_sdk.move.send_move_target",summary:`Move Target - X: ${i.x}m, Y: ${i.y}m, Z: ${i.z}m, ${i.rz}deg`,args:i}})()},{label:"amr.button.linear",command:"Linear",icon:jUe,data:(()=>{const i={robot_model:"",axis_option:"x",target:0,speed:0};return{method:"Linear",funcName:"rb_amr_sdk.move.send_move_x_linear",summary:`Move Linear - Axis: ${i.axis_option.toUpperCase()}, Target: ${i.target}m, Speed: ${i.speed}m/s`,args:i}})()},{label:"amr.button.rotate",command:"Rotate",icon:yLe,data:(()=>{const i={robot_model:"",target:0,speed:0};return{method:"Rotate",funcName:"rb_amr_sdk.move.send_move_rotate",summary:`Move Rotate - Target: ${i.target}m, Speed: ${i.speed}m/s`,args:i}})()},{label:"amr.button.map_load",command:"MapLoad",icon:GUe,data:(()=>{const i={robot_model:"",map_name:""};return{method:"MapLoad",funcName:"rb_amr_sdk.map.map_load",summary:`Map Load - ${i.map_name}`,args:i}})()},{label:"amr.button.loc_init",command:"LocalizationInit",icon:qUe,data:(()=>{const i={robot_model:"",x:0,y:0,z:0,rz:0};return{name:"Localization Init",method:"LocalizationInit",funcName:"rb_amr_sdk.localization.localization_init",summary:`${Ux[0].summary} ${`X: ${i.x}, Y: ${i.y}, Z: ${i.z}, RZ: ${i.rz}`}`,args:i}})()},{label:"amr.button.loc_control",command:"LocalizationControl",icon:KUe,data:{name:"Localization 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F("react"),kgt=({className:i,robotModel:e})=>{const{t}=q(),{modal:n}=Hi(),{theme:s}=tt(),o=oe(y=>y.treeItems),r=oe(y=>y.subTreeItems),a=oe(y=>y.beginInfo),l=oe(y=>y.setInitialInfo),{data:c}=Ys(),{data:d,refetch:h}=Nb({programId:c?.info?.programId||""}),{playState:g}=eL(),{mutateAsync:m}=GPe(),f=Mme(()=>d?.program,[d?.program]),p=Mme(()=>({state:g,lampType:g==="idle"?"normal":g==="play"?"success":g==="waiting"?"warning":"danger"}),[g]),_=()=>{n({component:j9})},b=async()=>{const y=await n({component:ygt});y&&(await m({programId:y.programId,name:y.name,repeatCnt:y.repeatCnt}),l({programInfo:y,treeItems:o,subTreeItems:r,beginInfo:a}),h())},v=()=>{n({component:YPe,props:{robotModel:e,service:c?.modelInfo?.be_service}})};return u(Lw,{className:P("RobotInfo",i),children:x(U,{className:"bg-bg-surface-3 h-full",children:[u("div",{className:"relative flex w-full flex-1",children:u(Km,{className:"absolute top-0 left-0 z-[1] 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F("react"),XPe="/list",Egt=async i=>{const{fromDate:e,toDate:t}={...i},n={...i,fromDate:e?tB(e):void 0,toDate:t?tB(t):void 0};return Lie.get(XPe,{params:n})},Bse=(i,e={})=>{const t=Dgt(),n=Tgt(()=>[XPe,i],[i]);return{...Lgt({queryKey:n,queryFn:async()=>{try{return await Egt(i)}catch(o){throw t.setQueryData(n,{items:[],totalCount:0,hasNext:!1}),o}},gcTime:0,staleTime:0,...e}),queryKey:n}},{useEffect:Pgt,useState:Rgt}=await F("react"),QPe=i=>i?Array.isArray(i)?i:[i]:[],Mgt=()=>{const{data:i,loading:e,changeData:t}=hs("log/state_log"),[n,s]=Rgt([]);return Pgt(()=>{const o=QPe(i);o.length>0&&s(r=>[...[...o].reverse(),...r].slice(0,30))},[i]),{realTimeLogList:n,logData:i,loading:e,changeData:t}},{useCallback:Agt,useEffect:Ame,useState:Ome}=await F("react"),Vse=i=>{const{logData:e,changeData:t}=Mgt(),{data:n}=Bse(i,{gcTime:0,staleTime:100}),[s,o]=Ome("play"),[r,a]=Ome(null),l=Agt(c=>{o(c)},[]);return Ame(()=>{if(e&&s==="play"){const c=QPe(e).filter(d=>!i?.swName||i.swName==="RRS"||d.swName===i.swName).map(d=>({...d,_id:ut.uniqueId()}));c.length>0&&a(d=>d&&[...c.reverse(),...d])}t(null)},[e,s,t,i.swName]),Ame(()=>{n&&a(n.items??[])},[n]),{realTimeLogList:r,playStatus:s,handlePlayStatus:l}},zse=["info","warning","error","user","debug","general"],Wse=zse.reduce((i,e,t)=>(i[t]=e,i),{});zse.reduce((i,e,t)=>(i[e]=t,i),{});const kB={info:u(NE,{className:"text-fg-information size-full"}),warning:u(J0,{className:"text-fg-warning size-full"}),debug:u(NLe,{className:"text-fg-subtler size-full"}),user:u(NE,{className:"text-fg-information size-full"}),error:u(J0,{className:"text-fg-danger size-full"}),general:u(NE,{className:"text-fg-information size-full"})},ZPe=({className:i,logList:e,showDetail:t})=>{const{theme:n}=tt();return u(U,{className:P("SimpleLogList",n==="light"?"text-fg-default":"text-fg-subtle","typo-code-xs-normal gap-1 px-3 py-2.5",i),children:u(Wr,{list:e,noDataMsg:"There is no 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u(Lw,{className:P(i),testId:"recent-logs",contentsScrollable:!0,title:n("dashboard.title.recentLogs"),lightTitleClassName:"bg-overlay",childrenClassName:s==="light"?"bg-white":"bg-alt-2",titleButton:u(Jt,{"data-testid":"recent-logs-expand",icon:u(i9,{}),variant:"transparent",size:"3xs",onClick:d}),footer:x(H,{className:P("gap-1","[&_button]:h-7 [&_button]:w-full [&_button]:px-2"),children:[u(ie,{size:"xs",variant:"outlined",onClick:()=>c(l==="play"?"pause":"play"),children:n(l==="play"?"dashboard.button.stop":"dashboard.button.play")}),u(ie,{className:s==="light"?"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy":void 0,size:"xs",variant:"soft",onClick:h,children:n("dashboard.button.viewAllLogs")})]}),children:u("div",{className:P("RecentLogs","h-full","flex flex-col","justify-between"),children:u(ZPe,{className:P(t),logList:a})})})},{useQueries:Bgt,useQuery:Vgt}=await 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Object.entries(r?.byRobotModel??{}).forEach(([g,m])=>{console.log(m);const f=Object.values(m??{}).find(p=>p.isMainTask);f&&(h[g]=f)}),h},[r]),d=()=>{t({component:Kgt,props:{systemStateData:o,setSelectedRobotModel:s}})};return Jgt(()=>{a()},[l,a]),u(Lw,{className:P("RobotComponents",i),title:n("dashboard.title.robotComponents"),lightTitleClassName:"bg-overlay",childrenClassName:e==="light"?"bg-white":"bg-alt-2",titleButton:u(Jt,{"data-testid":"robot-components-expand",icon:u(i9,{}),variant:"transparent",size:"3xs",onClick:d}),contentsScrollable:!0,children:u("div",{className:P("bg-bg-surface-2 overflow-y-auto","[&>*]:border-border-subtle [&>*]:border-b"),children:u(Wr,{list:o.core_sw_list,noDataMsg:"No Robot Components",noDataMsgClassName:"w-full text-center",loadingWrapperClassName:"[&_svg]:text-[#eee] 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F("@tanstack/react-query"),cmt="/{robot_model}/control_manager",dmt=({robotModel:i,...e})=>Na.post(cmt.replace("{robot_model}",i),e),umt=()=>lmt({mutationFn:dmt}),{useMutation:hmt}=await F("@tanstack/react-query"),gmt="/{robot_model}/tool_flange_power",mmt=({robotModel:i,...e})=>Na.post(gmt.replace("{robot_model}",i),e),fmt=()=>hmt({mutationFn:mmt}),{useMutation:pmt}=await F("@tanstack/react-query"),_mt="/{robot_model}/brake",bmt=({robotModel:i,...e})=>Na.post(_mt.replace("{robot_model}",i),e),vmt=()=>pmt({mutationFn:bmt}),ob=[{label:"Head",value:"head",jointPrefix:"head_",component:"head",tcpGizmo:!1},{label:"Torso",value:"torso",jointPrefix:"torso_",component:"torso",tcpGizmo:!0},{label:"Left",value:"left",jointPrefix:"left_arm_",component:"left_arm",tcpGizmo:!0},{label:"Right",value:"right",jointPrefix:"right_arm_",component:"right_arm",tcpGizmo:!0}],aR=i=>ob.find(({jointPrefix:e})=>i.startsWith(e)),{useMemo:d8,useState:wmt}=await F("react"),Fme=[{label:"Torso",component:"torso"},{label:"Right Arm",component:"right_arm"},{label:"Left Arm",component:"left_arm"},{label:"Head",component:"head"}],u8=[{label:"24V",value:24},{label:"12V",value:12},{label:"OFF",value:0}],DD=({className:i,title:e,count:t,extra:n,action:s,children:o})=>x(U,{className:P("gap-1.5 px-3 py-2",i),children:[x(H,{justifyContent:"space-between",alignItems:"center",children:[x(H,{className:"gap-1.5",alignItems:"center",children:[u("span",{className:"text-fg-default text-sm font-bold",children:e}),t&&u("span",{className:"text-fg-subtle text-xs",children:t}),n]}),s]}),o]}),Bme=({label:i,sub:e,checked:t,disabled:n,onCheckedChange:s})=>x(H,{className:"bg-bg-alt-1 h-8 gap-1 rounded-md px-2.5",justifyContent:"space-between",alignItems:"center",children:[x("span",{className:P("text-sm font-semibold whitespace-nowrap",t?"text-fg-default":"text-fg-subtle"),children:[i,e&&u("span",{className:"text-fg-subtle pl-1 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F("@tanstack/react-query"),{useMemo:Nmt}=await F("react"),rRe="/move/getLogs",Imt=async i=>Fs.get(rRe,{params:i}),$se=(i,e={})=>{const t=xmt(),n=Nmt(()=>[rRe,i],[i]);return{...Smt({queryKey:n,queryFn:async()=>{try{return await Imt(i)}catch(o){throw t.setQueryData(n,{items:[],pageInfo:{limit:0,mode:"",order:"",page:0,pages:0,sort:"",total:0}}),o}},gcTime:0,staleTime:0,...e}),queryKey:n}},{useMemo:kmt}=await F("react"),aRe=({className:i,amrHistoryList:e})=>{const t=kmt(()=>e?.map(n=>{let s=n.message;const o=n.command;if(o==="goal")s=`Move Goal: ${n.goalId||n.goalName}`;else if(o==="rotate")s=`Move Rotate: ${n.target?.toFixed(1)??0}deg`;else if(o==="target"){const r=n.goalPose;s=r?`Move Target: ${r.x?.toFixed(3)??0}, ${r.y?.toFixed(3)??0}, ${r.z?.toFixed(3)??0}`:n.message||"Move Target: -"}else o==="circular"?s=`Move Circular: ${n.target?.toFixed(1)??0}deg`:s=`Move Linear: ${n.target?.toFixed(1)??0}m`;return{command:o,result:n.result,createdAt:n.createdAt,message:s}}),[e]);return u(U,{className:P("SimpleMoveHistory","text-fg-subtle gap-1 px-3 py-2.5",i),children:u(Wr,{list:t,noDataMsg:"There is no movement history.",noDataMsgClassName:"min-h-[15rem] [&_.no-data-text]:typo-compact-sm-medium",children:({item:n,index:s})=>x(H,{children:[u("span",{className:"typo-code-xs-normal text-fg-subtle w-15",children:wr(n.createdAt,"YY-MM-DD HH:mm:ss")}),x(U,{className:"gap-0.5",children:[u("span",{className:"typo-code-xs-normal text-fg-default",children:n.message||"-"}),x(H,{className:P("typo-code-xs-normal text-fg-subtle","[&>span:after]:bg-border-subtle [&>span:after]:mx-2 [&>span:after]:inline-block [&>span:after]:h-2 [&>span:after]:w-px [&>span:after]:content-[''] 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justify-between",children:u(Gm,{className:"h-[calc(var(--vh,1vh)*70)]",children:u(aRe,{amrHistoryList:r?.items??null})})})})},Dmt=({className:i,robotModel:e,connected:t})=>{const n=ir(),{t:s}=q(),{theme:o}=tt(),{modal:r}=Hi(),{setSelectedRobotModel:a}=ui(),{data:l}=$se({limit:30,page:1,searchText:"",sort:"createdAt",order:"DESC",filter:{},fields:{}},{enabled:t,...t?{}:{retry:!1}}),c=()=>{r({component:Lmt,props:{limit:100,handleAllHistory:d}})},d=()=>{n("/muscat/app/move"),a(e)};return u(Lw,{className:P(i),title:s("dashboard.title.amrMoveHistory"),lightTitleClassName:"bg-overlay",titleButton:u(Jt,{icon:u(i9,{}),variant:"transparent",size:"3xs",onClick:c}),contentsScrollable:!0,footer:u(H,{className:"w-full",children:u(ie,{className:P("w-full",o==="light"&&"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy"),size:"xs",variant:"soft",onClick:d,children:s("dashboard.button.viewAllHistory")})}),children:u(aRe,{className:P("px-3 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m({title:h("move.workspace.confirm.openTitle"),content:h("move.workspace.confirm.openContent"),buttonText:{yes:h("move.workspace.button.continue"),no:h("common.button.cancel")}})||(T.current.clear(),_(!1),Nfe(Ne.models)&&O(),i.loadFromModels(Ne.models,Ne.name,E))},bt=async()=>{const Ne=await V({title:h("move.workspace.dialog.createTitle")});Ne&&i.createNew(Ne)},ft=Ne=>{!i.workspaceName||!Ne.includes(i.workspaceName)||(D.filter(ce=>ce.isLoaded).forEach(ce=>T.current.add(ce.modelId)),l?.(null),i.closeWorkspace(E))};Ivt({selectedItemId:i.selectedItemId,gizmoSelectedAssetIds:o,selectionMode:r,tabKind:a,onRequestSceneAssetSelect:l,selectItem:M});const[cn,Mt]=KO(new Set),Yt=E8({mode:!1,idsKey:""}),An=Sfe(Ne=>Ne.filter(ce=>ce.startsWith(`${a}:`)).map(ce=>ce.slice(a.length+1)),[a]),ti=Ne=>[...Ne].sort().join(",");T8(()=>{if(!r){Yt.current.mode!==!1&&(Yt.current={mode:!1,idsKey:""},Mt(new Set));return}const 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Q(),children:h("move.workspace.header.saveNow")})]}),u(Qvt,{items:i.items,isActive:d,isAddPanelOpen:y,onToggleAddPanel:()=>w(Ne=>!Ne),addPanel:u(Vft,{onAddShape:Ne=>{const ce=i.addShape(Ne);ce&&l?.(`${a}:${ce}`)},limitReached:i.isLimitReached,isCustomFileUploading:C,onOpenCustomFilePicker:()=>void me(),draggable:n==="base"}),selectedId:i.selectedItemId,onSelect:Ne=>{if(i.selectedItemId===Ne){i.selectItem(null),l?.(null);return}i.selectItem(Ne),l?.(`${a}:${Ne}`)},onDeselect:()=>{i.selectItem(null),l?.(null)},selectionMode:r,checkedIds:cn,onSelectionModeChange:ge,onCheckedIdsChange:or,loadingIds:i.loadingItemIds,hiddenIds:i.hiddenItemIds,failedIds:i.failedItemIds,loadFailedIds:i.loadFailedItemIds,onToggleVisibility:Ne=>{i.selectedItemId===Ne&&!i.hiddenItemIds.has(Ne)&&l?.(null),i.toggleItemVisibility(Ne)},onRename:i.renameItem,onRenameCommit:(Ne,ce)=>void X(Ne,ce),onDelete:i.removeItem,onBulkDelete:i.removeItems,onBulkHide:i.hideItems}),u(Jvt,{item:Pe,onChange:i.updateItemTransform}),u(Uvt,{open:b,onOpenChange:v,robotModel:e,detailRobotModel:t,modelType:n,attachment:s?{parentJointName:s}:null,resolve:K,close:()=>v(!1),uploadAssetFiles:S,isUploading:C,onCancelUpload:N,onModelsDeleted:z})]}),Ue]})},{useCallback:P8,useEffect:r_,useLayoutEffect:twt,useMemo:qRe,useRef:PB,useState:Z3}=await F("react"),Ife=({robotModel:i,detailRobotModel:e,modelType:t,mountJointName:n,gizmoSelectedAssetIds:s,selectionMode:o,isActive:r,tabKey:a,onAssetsChange:l,assetTransformEvent:c,onRequestSceneAssetSelect:d,onRequestSceneSelectionChange:h,onAssetLoaded:g,shapeDropRequest:m,onLoadingChange:f})=>{const p=mvt({robotModel:i,detailRobotModel:e,modelType:t,mountJointName:n,isActive:r}),_=t==="base"?"base":`tool:${n}`;r_(()=>{l(a,p.assets)},[p.assets,l,a]),r_(()=>{f(a,p.loadingItemIds.size>0)},[p.loadingItemIds,f,a]),r_(()=>{const N=p.assetLoadedEvent;N&&g?.(N.assetId)},[p.assetLoadedEvent,g]);const b=PB(r);r_(()=>{const N=b.current;b.current=r,!(!N||r||!s.some(L=>L.startsWith(`${_}:`)))&&(o?h?.([],!1):d?.(null))},[r,s,o,_,d,h]);const v=PB({workspace:p,shapeDropRequest:m});r_(()=>{v.current={workspace:p,shapeDropRequest:m}});const[y,w]=Z3(null);r_(()=>{if(!c?.assetId.startsWith(`${_}:`))return;const N=c.assetId.slice(_.length+1),{transform:k,final:L}=c,{workspace:D}=v.current,E=D.items.find(R=>R.id===N),T={position:{x:Math.round(k.x*Rn),y:Math.round(k.y*Rn),z:Math.round(k.z*Rn)},rotation:{rx:parseFloat(k.rx.toFixed(2)),ry:parseFloat(k.ry.toFixed(2)),rz:parseFloat(k.rz.toFixed(2))},...E?.kind==="shape"&&typeof k.scale!="number"&&{scale:{x:parseFloat(k.scale.x.toFixed(2)),y:parseFloat(k.scale.y.toFixed(2)),z:parseFloat(k.scale.z.toFixed(2))}}};if(!L){w({itemId:N,update:T});return}w(null),D.updateItemTransform(N,T,`drag:${N}`)},[c,_]);const S=qRe(()=>y?{...p,items:p.items.map(N=>N.id===y.itemId?CRe(N,y.update):N)}:p,[p,y]),C=m?.nonce;return r_(()=>{const{workspace:N,shapeDropRequest:k}=v.current;if(!k||N.stage!=="build")return;const L=N.addShape(k.type,k.at);L&&d?.(`${_}:${L}`)},[C,_,d]),u("div",{className:P(!r&&"hidden"),children:u(ewt,{workspace:S,robotModel:i,detailRobotModel:e,modelType:t,mountJointName:n,gizmoSelectedAssetIds:s,selectionMode:o,tabKind:_,onRequestSceneAssetSelect:d,onRequestSceneSelectionChange:h,isActive:r})})},nwt=({className:i,detailRobotModel:e,tcpJoints:t,gizmoSelectedAssetIds:n=[],selectionMode:s=!1,onAssetsChange:o,assetTransformEvent:r,shapeDropRequest:a,onRequestSceneAssetSelect:l,onRequestSceneSelectionChange:c,onAssetLoaded:d,isMenuActive:h=!0})=>{const{t:g}=q(),{theme:m}=tt(),f=qRe(()=>{const E=R=>{const A=R.toLowerCase();return A.includes("right")?0:A.includes("left")?1:2},T=t.map((R,A)=>({tcp:R,index:A})).sort((R,A)=>E(R.tcp.jointName)-E(A.tcp.jointName)||R.index-A.index);return[{key:"base",label:g("move.workspace.tab.base"),componentModel:e},...T.map(({tcp:R,index:A})=>{const{key:M,params:O}=vft(R.jointName,A,T.length);return{key:`tool:${R.jointName}`,label:g(M,O),componentModel:R.componentModel}})]},[t,e,g]),[p,_]=Z3(f[0].key);r_(()=>{f.some(E=>E.key===p)||_(f[0].key)},[f,p]);const b=P8(E=>f.find(T=>E.startsWith(`${T.key}:`)),[f]),v=n[0]??null;twt(()=>{if(!v)return;const E=b(v);E&&_(T=>E.key!==T?E.key:T)},[v,b]);const[y,w]=Z3({}),S=P8((E,T)=>{w(R=>ME(R[E]??[],T)?R:{...R,[E]:T})},[]),[C,N]=Z3({}),k=P8((E,T)=>{N(R=>R[E]===T?R:{...R,[E]:T})},[]),L=PB([]),D=PB([]);return r_(()=>{const E=y.base??[],T=f.filter(R=>R.key!=="base").flatMap(R=>y[R.key]??[]);ME(L.current,E)&&ME(D.current,T)||(L.current=E,D.current=T,o(E,T))},[y,f,o]),u("div",{className:P("WorkspaceControl","h-full overflow-y-auto [scrollbar-gutter:stable]",i),children:x(U,{className:"gap-3 px-3 pt-2.5",children:[x(U,{className:"gap-2",children:[u(Tg,{subject:g("move.workspace.title")}),u(gA,{value:p,onValueChange:_,className:"w-full",children:u(mA,{className:P("h-7 w-full rounded-md border-none",m==="light"?"bg-fill-navy-subtlest":"bg-fill-subtlest"),children:f.map(({key:E,label:T})=>x(fA,{value:E,className:P("typo-compact-xs2-medium flex-1 items-center gap-1 rounded",m==="light"?["text-fg-subtle","data-[state=active]:bg-fill-navy","data-[state=active]:text-white"]:["text-fg-subtle","data-[state=active]:bg-fill-subtler","data-[state=active]:text-fg-default"]),children:[T,C[E]&&u("span",{className:"bg-fill-warning size-1.5 shrink-0 animate-pulse rounded-full","aria-label":g("move.workspace.tab.loadingLabel"),title:g("move.workspace.tab.loadingLabel")})]},E))})})]}),f.map(({key:E,componentModel:T})=>E==="base"?u(Ife,{robotModel:e,detailRobotModel:e,modelType:"base",gizmoSelectedAssetIds:n,selectionMode:s,isActive:h&&E===p,tabKey:E,onAssetsChange:S,onLoadingChange:k,assetTransformEvent:r,shapeDropRequest:E===p?a:null,onRequestSceneAssetSelect:l,onRequestSceneSelectionChange:c,onAssetLoaded:d},E):u(Ife,{robotModel:T,detailRobotModel:e,modelType:"tool",mountJointName:E.slice(5),gizmoSelectedAssetIds:n,selectionMode:s,isActive:h&&E===p,tabKey:E,onAssetsChange:S,onLoadingChange:k,assetTransformEvent:r,onRequestSceneAssetSelect:l,onRequestSceneSelectionChange:c,onAssetLoaded:d},E))]})})},{useMutation:iwt}=await F("@tanstack/react-query"),swt="/{robot_model}/call_replay_motion_rec_start",owt=i=>{const{robot_model:e,...t}=i,n=swt.replace("{robot_model}",e);return Dt.post(n,t)},rwt=()=>iwt({mutationFn:i=>owt(i)}),{useMutation:awt}=await F("@tanstack/react-query"),lwt="/{robot_model}/call_replay_motion_rec_stop",cwt=i=>{const{robot_model:e}=i,t=lwt.replace("{robot_model}",e);return Dt.post(t,{})},dwt=()=>awt({mutationFn:cwt}),{useMemo:kfe}=await F("react"),uwt=[{label:"move.menu.options.option.noSave",value:"0"},{label:"move.menu.options.option.realTime",value:"1"},{label:"move.menu.options.option.mileStone",value:"2"}],hwt=({className:i,robotModel:e})=>{const{t}=q(),{theme:n}=tt(),{isUseSimulator:s}=ui(),{selectedRobot:o}=Vi(e),{motionMode:r}=Is(e,C=>({motionMode:C.motionMode})),{mutate:a,isPending:l}=rwt(),{mutate:c,isPending:d}=dwt(),{register:h,setValue:g,handleSubmit:m,watch:f,control:p}=he({defaultValues:{mode:0,frequency:1,filename:""}}),_=f("frequency"),b=kfe(()=>r!==0,[r]),v=kfe(()=>b||o?.connected==="DISCONNECT"&&!s,[b,o?.connected,s]),y=(C,N)=>{g(C,N)},w=C=>{a({robot_model:e,mode:Number(C.mode),frequency:Number(C.frequency),filename:C.filename})},S=()=>{c({robot_model:e})};return u("div",{className:P("RecordControl","h-full",i),children:x(U,{className:"gap-2 px-3 py-2.5",children:[u(Tg,{subject:t("move.menu.button.label.record")}),x(U,{className:"w-full gap-4",children:[u(fe,{label:t("dashboard.content.mode"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:u(se,{name:"mode",control:p,render:({field:C})=>u(ae,{className:"w-full",size:"sm",...C,onChange:N=>C.onChange(N),children:uwt.map(N=>u(J,{value:N.value,children:t(N.label)},N.label))})})}),u(fe,{label:t("move.menu.label.mileStoneFreq"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:u(uie,{size:"sm",className:"w-full",type:"nx-number",name:"frequency",handleChange:C=>y("frequency",Number(C)),value:String(_)})}),u(fe,{label:t("move.menu.label.fileName"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:u(et,{size:"sm",className:"w-full",type:"text",inputMode:"text",...h("filename",{onChange:C=>y("filename",C.target.value)})})})]}),x(H,{className:"mt-2 w-full gap-1.5",children:[u(ie,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:n==="light"?"danger":"soft",loading:l||d,onClick:S,children:t("move.menu.button.label.recordStop")}),u(ie,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:"brand",disabled:v,loading:l||d,onClick:m(w),children:t("move.menu.button.label.recordStart")})]})]})})},{useMutation:gwt}=await F("@tanstack/react-query"),mwt="/{robot_model}/call_weld_wire",fwt=i=>{const{robot_model:e,...t}=i,n=mwt.replace("{robot_model}",e);return Dt.post(n,t)},pwt=()=>gwt({mutationFn:fwt}),{useMutation:_wt}=await F("@tanstack/react-query"),bwt="/{robot_model}/call_weld_gas",vwt=i=>{const{robot_model:e,...t}=i,n=bwt.replace("{robot_model}",e);return Dt.post(n,t)},wwt=()=>_wt({mutationFn:vwt}),{useCallback:JO,useMemo:ywt}=await F("react"),Cwt=({className:i,robotModel:e})=>{const{t}=q(),{theme:n}=tt(),{isUseSimulator:s}=ui(),{selectedRobot:o}=Vi(e),{isMoving:r}=T9({tabType:"joint",tickModeInput:null,robotModel:e}),a=ywt(()=>r||o?.connected==="DISCONNECT"&&!s,[r,o?.connected,s]),{mutate:l}=pwt(),{mutate:c}=wwt(),d=JO(f=>{l({robot_model:e,direction:f})},[l,e]),h=JO(()=>{l({robot_model:e,direction:0})},[l,e]),g=JO(()=>{c({robot_model:e,gas_onoff:1})},[c,e]),m=JO(()=>{c({robot_model:e,gas_onoff:0})},[c,e]);return u("div",{className:P("WeldControl","h-full",i),children:x(U,{className:"gap-2 px-3 py-2.5",children:[u(Tg,{subject:t("move.menu.button.label.weld")}),x(H,{className:"gap-2",children:[u(kd,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:n==="light"?"outlined":"soft",disabled:a,onButtonDown:()=>d(1),onButtonUp:h,children:t("move.menu.button.label.weldForward")}),u(kd,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:n==="light"?"outlined":"soft",disabled:a,onButtonDown:()=>d(-1),onButtonUp:h,children:t("move.menu.button.label.weldBackward")})]}),u(kd,{className:"typo-compact-xs-semibold",size:"sm",variant:n==="light"?"brand":"soft",disabled:a,onButtonDown:g,onButtonUp:m,children:t("move.menu.button.label.gasPurge")})]})})},{useMutation:Swt}=await F("@tanstack/react-query"),xwt="/{robot_model}/call_calib_tcp_position",Nwt=i=>{const{robot_model:e,...t}=i,n=xwt.replace("{robot_model}",e);return Dt.post(n,t)},Iwt=()=>Swt({mutationFn:i=>Nwt(i)}),kwt=({className:i,robotModel:e,jointRef:t,isDisabled:n})=>{const{theme:s}=tt(),{t:o}=q(),{mutate:r,isPending:a}=Iwt(),{setValue:l,getValues:c,control:d}=he({defaultValues:{tcpPosition:{joints:[]}}}),{fields:h,append:g,remove:m}=tl({control:d,name:"tcpPosition.joints"}),f=async()=>{g({tar_values:t?.map(_=>Number(_.toFixed(3)))??[0,0,0,0,0,0,0],tar_frame:-1,tar_unit:0})},p=()=>{const _=c().tcpPosition;r({robot_model:e,joints:_.joints})};return x(U,{className:P("TCPPosCalibaration","w-full gap-2.5",i),children:[x(U,{className:"w-full gap-1",children:[x(H,{className:"w-full gap-1.5",children:[u(ie,{className:"w-full",size:"xs",variant:"outlined",disabled:n,loading:a,onClick:()=>l("tcpPosition.joints",[]),children:o("settings.button.settingsReset")}),u(ie,{className:P("w-full",s==="light"&&"outline-fg-navy text-fg-navy"),size:"xs",variant:s==="light"?"outlined":"soft",disabled:n,loading:a,onClick:()=>f(),children:o("program.button.add")})]}),u(ie,{className:"w-full",size:"xs2",variant:"brand",disabled:n||h.length===0,loading:a,onClick:()=>p(),children:o("settings.button.set")})]}),u("div",{className:P("bg-bg-raised flex flex-col justify-center gap-2 rounded-md p-2"),children:u(U,{className:"gap-2",children:u(Wr,{list:h,noDataMsg:u(U,{className:"min-h-40 gap-4 py-4",alignItems:"center",justifyContent:"center",children:u("p",{className:"typo-compact-xs-medium text-fg-subtler",children:o("move.menu.calibTCPPos.desc")})}),children:({item:_,index:b})=>x(U,{className:"bg-bg-card gap-0.5 rounded-md px-2.5 py-1.5",children:[x(H,{className:"w-full",alignItems:"center",justifyContent:"space-between",children:[u("span",{className:"text-fg-default typo-compact-xs-semibold",children:`P${b+1}`}),u(Jt,{size:"3xs",variant:"transparent",icon:u(Sb,{className:"size-3"}),onClick:()=>m(b)})]}),u("div",{className:"flex-1",children:u(se,{control:d,name:`tcpPosition.joints.${b}.tar_values`,render:({field:v})=>u("span",{className:"text-fg-subtle typo-compact-2xs-normal w-full",children:v.value.map(y=>y.toFixed(3)+"º").join(", ")},`j-${b}`)})})]},_.id)})})})]})},{useMutation:Lwt}=await F("@tanstack/react-query"),Dwt="/{robot_model}/call_calib_tcp_orientation",Twt=i=>{const{robot_model:e,...t}=i,n=Dwt.replace("{robot_model}",e);return Dt.post(n,t)},Ewt=()=>Lwt({mutationFn:i=>Twt(i)}),Pwt=[{label:"program.options.frame.global",value:0},{label:"program.options.frame.local",value:1},{label:"program.options.frame.user",value:2}],Rwt=({className:i,robotModel:e,isDisabled:t})=>{const{t:n}=q(),{mutate:s,isPending:o}=Ewt(),{register:r,getValues:a}=he({defaultValues:{tcpOrientation:{frame_option:0}}}),l=()=>{const c=a().tcpOrientation;s({robot_model:e,frame_option:Number(c.frame_option)})};return u(U,{className:P("TCPOrientCalibration","w-full gap-1",i),children:u(fe,{label:n("program.field.option"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:x(H,{className:"w-full gap-1.5",alignItems:"center",children:[u(ae,{className:"w-full flex-1",size:"xs2",...r("tcpOrientation.frame_option",{valueAsNumber:!0}),children:Pwt.map(c=>u(J,{value:c.value,children:n(c.label)},c.label))}),u(ie,{className:"typo-compact-xs-semibold w-20",size:"xs2",variant:"brand",disabled:t,loading:o,onClick:()=>l(),children:n("settings.button.set")})]})})})},{createContext:Mwt,useContext:Awt,useEffect:Owt,useRef:Fwt}=await F("react"),KRe=Mwt(null),tL=()=>{const i=Awt(KRe);if(!i)throw new Error("ManiSetCommand 내부에서만 사용 가능합니다.");return i},go=(i,e)=>{const{registerSection:t,unregisterSection:n}=tL(),s=Fwt(e);s.current=e,Owt(()=>(t(i,()=>s.current()),()=>n(i)),[i,t,n])},Ft={OUT_COLLISION:"OUT_COLLISION",SELF_COLLISION:"SELF_COLLISION",USER_FRAME_SELECTION:"USER_FRAME_SELECTION",FIXED_SPEED:"FIXED_SPEED",TARGET_SHIFT:"TARGET_SHIFT",SPEED_BAR:"SPEED_BAR",TIME_CONSTRAINT:"TIME_CONSTRAINT",ASCII_FUNCTION_CALL:"ASCII_FUNCTION_CALL",JOINT_IMPEDANCE:"JOINT_IMPEDANCE",FREE_DRIVE:"FREE_DRIVE",MASTER_MODE:"MASTER_MODE",USER_FRAME_6DOF:"USER_FRAME_6DOF",USER_FRAME_TCP:"USER_FRAME_TCP",USER_FRAME_3POINTS:"USER_FRAME_3POINTS",TARGET_SHIFT_LANDMARK:"TARGET_SHIFT_LANDMARK",PROGRAM_FLOW_MANAGE:"PROGRAM_FLOW_MANAGE",DIN_FUNCTION_MASK:"DIN_FUNCTION_MASK",DOUT_FUNCTION_MASK:"DOUT_FUNCTION_MASK",JACOBIAN_BASED_SPEED_CONTROL:"JACOBIAN_BASED_SPEED_CONTROL",SELF_VIBRATION_MODE:"SELF_VIBRATION_MODE",VIBRATION_MOTION_BASED:"VIBRATION_MOTION_BASED",EXTERNAL_AXIS_SYNC:"EXTERNAL_AXIS_SYNC",TCP_SPEED_BOUND:"TCP_SPEED_BOUND",MOVE_BREAK_BLOCK:"MOVE_BREAK_BLOCK",JOINT_REFERENCE_FILTER:"JOINT_REFERENCE_FILTER",SELF_COLL_DETECT_BLIND:"SELF_COLL_DETECT_BLIND",JOINT_ORIGIN_CALIBRATION:"JOINT_ORIGIN_CALIBRATION",WRIST_SINGULARITY_MODE:"WRIST_SINGULARITY_MODE",OPERATION_RANGE_CHECK:"OPERATION_RANGE_CHECK",EXTFT_SOFTWARE_NULLING:"EXTFT_SOFTWARE_NULLING"},Bwt=[{label:"program.box.out_collision_detection",value:Ft.OUT_COLLISION},{label:"program.box.self_collision_detection",value:Ft.SELF_COLLISION},{label:"program.box.fixed_speed",value:Ft.FIXED_SPEED},{label:"program.box.speed_bar",value:Ft.SPEED_BAR},{label:"program.box.time_constraint",value:Ft.TIME_CONSTRAINT},{label:"program.box.ascii_function_call",value:Ft.ASCII_FUNCTION_CALL},{label:"program.box.joint_impedance_control",value:Ft.JOINT_IMPEDANCE},{label:"program.box.free_drive_mode",value:Ft.FREE_DRIVE},{label:"program.box.master_mode_selection",value:Ft.MASTER_MODE},{label:"program.box.user_frame_selection",value:Ft.USER_FRAME_SELECTION},{label:"program.box.user_frame_set_via_xyz",value:Ft.USER_FRAME_6DOF},{label:"program.box.user_frame_set_via_tcp",value:Ft.USER_FRAME_TCP},{label:"program.box.user_frame_set_via_3_points",value:Ft.USER_FRAME_3POINTS},{label:"program.box.target_shift_set_via_manual",value:Ft.TARGET_SHIFT},{label:"program.box.target_shift_set_via_landmark",value:Ft.TARGET_SHIFT_LANDMARK},{label:"program.box.program_flow_change",value:Ft.PROGRAM_FLOW_MANAGE},{label:"program.box.digital_input_function_mask",value:Ft.DIN_FUNCTION_MASK},{label:"program.box.digital_output_function_mask",value:Ft.DOUT_FUNCTION_MASK},{label:"program.box.jacobian_based_speed_ctrl",value:Ft.JACOBIAN_BASED_SPEED_CONTROL},{label:"program.box.vibration_torque_based",value:Ft.SELF_VIBRATION_MODE},{label:"program.box.vibration_motion_based",value:Ft.VIBRATION_MOTION_BASED},{label:"program.box.ext_axis_sync",value:Ft.EXTERNAL_AXIS_SYNC},{label:"program.box.tcp_speed_bound",value:Ft.TCP_SPEED_BOUND},{label:"program.box.move_break_block",value:Ft.MOVE_BREAK_BLOCK},{label:"program.box.joint_ref_filter",value:Ft.JOINT_REFERENCE_FILTER},{label:"program.box.self_coll_detect_blind",value:Ft.SELF_COLL_DETECT_BLIND},{label:"program.box.joint_origin_calibration",value:Ft.JOINT_ORIGIN_CALIBRATION},{label:"program.box.wrist_singularity_mode",value:Ft.WRIST_SINGULARITY_MODE},{label:"program.box.operation_range_check",value:Ft.OPERATION_RANGE_CHECK},{label:"program.box.ft_sensor_software_nulling",value:Ft.EXTFT_SOFTWARE_NULLING}],{useMemo:Vwt}=await F("react"),UI=[{label:"program.options.user_frame.restore_saved",value:0},{label:"program.options.user_frame.apply_target_temporary",value:1},{label:"program.options.user_frame.save_target_permanently",value:2}],Lfe=[{label:"program.options.frame.global",value:0},{label:"program.options.frame.local",value:1},{label:"program.options.frame.user",value:2}],Dfe=({register:i,fieldKeys:e})=>u(U,{className:"w-full flex-1 gap-4",children:e.map(t=>{const n=t.split("_")[1],s=n.includes("r");return x(H,{className:"gap-2",alignItems:"center",children:[x(H,{className:"typo-compact-xs-semibold w-16 gap-1",children:[u("span",{className:ki[n],children:n.toUpperCase()}),u("span",{className:"text-fg-subtle",children:s?" (deg)":" (mm)"})]}),u(we,{register:i,name:t})]},t)})}),zwt=({className:i,robotModel:e})=>{const{theme:t}=tt(),{t:n}=q(),{userFrameNameList:s}=tL(),a=(oe(g=>g.showItem)?.args).user_frame_6dof,l=Vwt(()=>({user_frame_num:a?.user_frame_num??0,setting_option:a?.setting_option??0,target_frame:a?.target_frame??0,target_x:a?.target_x??0,target_y:a?.target_y??0,target_z:a?.target_z??0,target_rx:a?.target_rx??0,target_ry:a?.target_ry??0,target_rz:a?.target_rz??0}),[a]),{control:c,register:d,getValues:h}=he({values:l});return go(Ft.USER_FRAME_6DOF,()=>{const g=h(),m={...g,target_x:Ce(g.target_x),target_y:Ce(g.target_y),target_z:Ce(g.target_z),target_rx:Ce(g.target_rx),target_ry:Ce(g.target_ry),target_rz:Ce(g.target_rz)},f=`User Frame: Set via XYZ - ${s[g.user_frame_num]}, ${n(UI[g.setting_option].label,{lng:"en"})}, Target Frame: ${n(Lfe[g.target_frame].label,{lng:"en"})}, X: ${m.target_x}mm, Y: ${m.target_y}mm, Z: ${m.target_z}mm, RX: ${m.target_rx}deg, RY: ${m.target_ry}deg, RZ: ${m.target_rz}deg`;return{user_frame_6dof:m,treeName:f}}),x(ve,{className:P("SetCmdUserFrame6Dof",i),title:n("program.box.user_frame_set_via_xyz"),children:[x(He,{children:[u(G,{label:n("program.field.user_frame"),children:u(se,{name:"user_frame_num",control:c,render:({field:g})=>u(ae,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange(We(m.target.value,0))},children:s.map((m,f)=>u(J,{value:f,children:m},m))})})}),u(G,{label:n("program.field.setting_option"),children:u(se,{name:"setting_option",control:c,render:({field:g})=>u(ae,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange(We(m.target.value,0))},children:UI.map((m,f)=>u(J,{value:f,children:n(m.label)},m.label))})})})]}),x(G,{label:n("program.field.target_frame"),className:"pr-5",children:[" ",u(se,{name:"target_frame",control:c,render:({field:g})=>u(ae,{...g,className:"w-[50%]!",size:"sm",onChange:m=>{g.onChange(We(m.target.value,0))},children:Lfe.map((m,f)=>u(J,{value:f,children:n(m.label)},m.label))})})]}),u("div",{className:P("overflow-hidden rounded-md p-3",t!=="light"&&"bg-bg-alt-1"),children:x(H,{className:"grid grid-cols-2 gap-8",children:[u(Dfe,{register:d,fieldKeys:["target_x","target_y","target_z"]}),u(Dfe,{register:d,fieldKeys:["target_rx","target_ry","target_rz"]})]})})]})},{useMemo:Wwt}=await F("react"),JRe=[{label:"program.options.point_order.origin_x_axis_xy_plane",value:0},{label:"program.options.point_order.origin_y_axis_yz_plane",value:1},{label:"program.options.point_order.origin_z_axis_zx_plane",value:2}],Hwt=["x","y","z"],R8=({register:i,fieldKeys:e,groupNum:t})=>{const{t:n}=q();return x(H,{className:"w-full gap-4",alignItems:"center",children:[x("span",{className:"typo-compact-sm-semibold text-fg-default min-w-16 shrink-0",children:[n("program.button.point")," ",t]}),u("div",{className:"flex min-w-0 flex-1 gap-2",children:e.map((s,o)=>{const r=Hwt[o];return x(U,{className:"min-w-0 flex-1 gap-2",alignItems:"center",children:[x(H,{className:"typo-compact-2xs-semibold w-16 gap-1",children:[u("span",{className:ki[r],children:r.toUpperCase()}),u("span",{className:"text-fg-subtle",children:"(mm)"})]}),u(we,{register:i,name:s})]},s)})})]})},$wt=({className:i,robotModel:e})=>{const{t}=q(),{theme:n}=tt(),{userFrameNameList:s}=tL(),a=(oe(g=>g.showItem)?.args).user_frame_3points,l=Wwt(()=>({user_frame_num:We(a?.user_frame_num,0),setting_option:We(a?.setting_option,0),order_option:We(a?.order_option,0),point_1_x:Ce(a?.point_1_x??""),point_1_y:Ce(a?.point_1_y??""),point_1_z:Ce(a?.point_1_z??""),point_2_x:Ce(a?.point_2_x??""),point_2_y:Ce(a?.point_2_y??""),point_2_z:Ce(a?.point_2_z??""),point_3_x:Ce(a?.point_3_x??""),point_3_y:Ce(a?.point_3_y??""),point_3_z:Ce(a?.point_3_z??"")}),[a]),{control:c,getValues:d,register:h}=he({values:l});return go(Ft.USER_FRAME_3POINTS,()=>{const g=d(),m={...g,point_1_x:Ce(g.point_1_x)||0,point_1_y:Ce(g.point_1_y)||0,point_1_z:Ce(g.point_1_z)||0,point_2_x:Ce(g.point_2_x)||0,point_2_y:Ce(g.point_2_y)||0,point_2_z:Ce(g.point_2_z)||0,point_3_x:Ce(g.point_3_x)||0,point_3_y:Ce(g.point_3_y)||0,point_3_z:Ce(g.point_3_z)||0},f=`User Frame: Set via 3 Points - ${s[m.user_frame_num]}, ${t(UI[m.setting_option].label,{lng:"en"})}`;return{user_frame_3points:m,treeName:f}}),x(ve,{className:P("SetCmdUserFrame3Points",i),title:t("program.box.user_frame_set_via_3_points"),children:[x(He,{children:[u(G,{label:t("program.field.user_frame"),children:u(se,{name:"user_frame_num",control:c,render:({field:g})=>u(ae,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange(Ce(m.target.value))},children:s.map((m,f)=>u(J,{value:f,children:m},m))})})}),u(G,{label:t("program.field.setting_option"),children:u(se,{name:"setting_option",control:c,render:({field:g})=>u(ae,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange(Ce(m.target.value))},children:UI.map((m,f)=>u(J,{value:f,children:t(m.label)},m.label))})})})]}),u(G,{label:t("program.field.point_ordering"),className:"pr-5",children:u(se,{name:"order_option",control:c,render:({field:g})=>u(ae,{...g,className:"w-[50%]!",size:"sm",onChange:m=>{g.onChange(Ce(m.target.value))},children:JRe.map((m,f)=>u(J,{value:f,children:t(m.label)},m.label))})})}),u("div",{className:P("overflow-hidden rounded-md p-3",n!=="light"&&"bg-bg-alt-1"),children:x(U,{className:"w-full gap-8",children:[u(R8,{register:h,fieldKeys:["point_1_x","point_1_y","point_1_z"],groupNum:1}),u(R8,{register:h,fieldKeys:["point_2_x","point_2_y","point_2_z"],groupNum:2}),u(R8,{register:h,fieldKeys:["point_3_x","point_3_y","point_3_z"],groupNum:3})]})})]})},{useMutation:Uwt}=await F("@tanstack/react-query"),jwt="/{robot_model}/set_userframe_3points",Gwt=i=>{const{robot_model:e,...t}=i,n=jwt.replace("{robot_model}",e);return Dt.post(n,t)},qwt=()=>Uwt({mutationFn:i=>Gwt(i)}),M8=({targetData:i,register:e,onFieldChange:t,onGetCurrentValues:n,errors:s,isDisabled:o,isPending:r,groupNum:a})=>{const{t:l}=q();return x(U,{className:"w-full gap-2",children:[x(H,{className:"w-full",alignItems:"center",justifyContent:"space-between",children:[x("span",{className:"typo-compact-xs-semibold text-fg-default min-w-[3rem] shrink-0",children:[l("program.button.point")," ",a]}),u(ie,{className:"self-end px-2",size:"2xs",variant:"outlined",disabled:o,loading:r,onClick:()=>n(a),children:l("move.menu.button.get")})]}),u(H,{className:"gap-1.5",alignItems:"center",children:u("div",{className:"flex min-w-0 flex-1 gap-1",children:i.map(c=>x(U,{className:P("min-w-0 flex-1 gap-1",{"pointer-events-none invisible":!c.label}),alignItems:"center",children:[x(H,{className:"typo-compact-2xs-semibold w-[4rem] gap-1",children:[u("span",{className:ki[c.label],children:c.label.toUpperCase()}),u("span",{className:"text-fg-subtle",children:"(mm)"})]}),u(et,{className:"w-full",size:"xs2",type:"nx-number",inputMode:"text",error:!!ut.get(s,c.fieldKey)?.message,...e(c.fieldKey,{validate:d=>Number.isNaN(Number(d))?"This value is invalid":void 0,onChange:d=>{t(c.fieldKey,d.target.value)}})})]},c.label))})})]})},Kwt=({className:i,tcpRef:e,robotModel:t,isDisabled:n,userFrameNameList:s})=>{const{t:o}=q(),{register:r,setValue:a,watch:l,getValues:c,control:d,trigger:h,formState:{errors:g}}=he({defaultValues:{user3Points:{user_frame_num:0,order_option:0,point_1_x:0,point_1_y:0,point_1_z:0,point_2_x:0,point_2_y:0,point_2_z:0,point_3_x:0,point_3_y:0,point_3_z:0}}}),{mutate:m,isPending:f}=qwt(),p=l("user3Points.order_option"),_=[{label:"x",fieldKey:"user3Points.point_1_x"},{label:"y",fieldKey:"user3Points.point_1_y"},{label:"z",fieldKey:"user3Points.point_1_z"},{label:"x",fieldKey:"user3Points.point_2_x"},{label:"y",fieldKey:"user3Points.point_2_y"},{label:"z",fieldKey:"user3Points.point_2_z"},{label:"x",fieldKey:"user3Points.point_3_x"},{label:"y",fieldKey:"user3Points.point_3_y"},{label:"z",fieldKey:"user3Points.point_3_z"}],b=async y=>{const w=e?.map(S=>Number(S.toFixed(3)));switch(y){case 1:_.slice(0,3).forEach((S,C)=>{a(S.fieldKey,w[C])});break;case 2:_.slice(3,6).forEach((S,C)=>{a(S.fieldKey,w[C])});break;case 3:_.slice(6).forEach((S,C)=>{a(S.fieldKey,w[C])});break}},v=async()=>{const y=c().user3Points;if(!await h("user3Points",{shouldFocus:!0})){rt.openToast({type:"basic",variant:"warning",title:"Invalid value",content:"Please enter valid values"});return}m({robot_model:t,user_frame_num:Number(y.user_frame_num),order_option:Number(y.order_option),setting_option:2,point_1_x:Number(y.point_1_x),point_1_y:Number(y.point_1_y),point_1_z:Number(y.point_1_z),point_2_x:Number(y.point_2_x),point_2_y:Number(y.point_2_y),point_2_z:Number(y.point_2_z),point_3_x:Number(y.point_3_x),point_3_y:Number(y.point_3_y),point_3_z:Number(y.point_3_z)})};return x(U,{className:P("User3PointsCalibration","w-full gap-2.5",i),children:[u(fe,{label:o("program.field.user_frame"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:u(se,{control:d,name:"user3Points.user_frame_num",render:({field:y})=>u(ae,{className:"w-full",size:"xs2",value:y.value,onChange:w=>{const S=w.target.value;y.onChange(S.trim()===""?0:Number(S)),a("user3Points.user_frame_num",S.trim()===""?0:Number(S))},children:Array.from({length:8},(w,S)=>u(J,{value:S,children:`User ${S} (${s[S]})`},`user-3points-${S}`))})})}),u(fe,{label:o("program.field.point_ordering"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:u(se,{control:d,name:"user3Points.order_option",render:({field:y})=>u(ae,{className:"w-full",size:"xs2",value:y.value,onChange:w=>{const S=w.target.value;y.onChange(S.trim()===""?0:Number(S)),a("user3Points.order_option",S.trim()===""?0:Number(S))},children:JRe.map((w,S)=>u(J,{value:S,children:o(w.label)},w.label))})})}),u("div",{className:"flex items-center justify-center",children:u("img",{className:"w-50",src:Ct(`nexus/move/calibration/option_${p}.png`)})}),u("div",{className:"bg-bg-raised overflow-hidden rounded-md p-3",children:x(U,{className:"w-full gap-0",children:[u(M8,{targetData:_.slice(0,3),register:r,onFieldChange:a,onGetCurrentValues:b,isDisabled:n,errors:g,isPending:f,groupNum:1}),u(vo,{size:1,thickness:"thin",spaceSize:12}),u(M8,{targetData:_.slice(3,6),register:r,onFieldChange:a,onGetCurrentValues:b,isDisabled:n,errors:g,isPending:f,groupNum:2}),u(vo,{size:1,thickness:"thin",spaceSize:12}),u(M8,{targetData:_.slice(6),register:r,onFieldChange:a,onGetCurrentValues:b,isDisabled:n,errors:g,isPending:f,groupNum:3})]})}),u(ie,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:"brand",disabled:n,loading:f,onClick:()=>v(),children:o("program.button.save")})]})},{useMutation:Jwt}=await F("@tanstack/react-query"),Ywt="/{robot_model}/set_userframe_tcp",Xwt=i=>{const{robot_model:e,...t}=i,n=Ywt.replace("{robot_model}",e);return Dt.post(n,t)},Qwt=()=>Jwt({mutationFn:i=>Xwt(i)}),Zwt=({className:i,robotModel:e,isDisabled:t,userFrameNameList:n})=>{const{t:s}=q(),{mutate:o,isPending:r}=Qwt(),{setValue:a,getValues:l,control:c}=he({defaultValues:{userTCPFrame:{user_frame_num:0}}}),d=()=>{const h=l().userTCPFrame;o({robot_model:e,user_frame_num:Number(h.user_frame_num),setting_option:2})};return u(U,{className:P("UserTCPCalibration","w-full gap-1",i),children:u(fe,{label:s("program.field.user_frame"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:x(H,{className:"w-full gap-1.5",alignItems:"center",children:[u(se,{control:c,name:"userTCPFrame.user_frame_num",render:({field:h})=>u(ae,{className:"w-full",size:"xs2",value:h.value,onChange:g=>{const m=g.target.value;h.onChange(m.trim()===""?0:Number(m)),a("userTCPFrame.user_frame_num",m.trim()===""?0:Number(m))},children:Array.from({length:8},(g,m)=>u(J,{value:m,children:`User ${m} (${n[m]})`},`user-tcp-${m}`))})}),u(ie,{className:"typo-compact-xs-semibold w-20",size:"xs2",variant:"brand",disabled:t,loading:r,onClick:()=>d(),children:s("program.button.save")})]})})})},{useMutation:eyt}=await F("@tanstack/react-query"),tyt="/{robot_model}/call_extaxis_calib_{command}",nyt=i=>{const{robot_model:e,command:t,...n}=i,s=tyt.replace("{robot_model}",e).replace("{command}",t);return Dt.post(s,n)},iyt=()=>eyt({mutationFn:nyt}),syt=({className:i,robotModel:e,isDisabled:t})=>{const{t:n}=q(),{mutate:s,isPending:o}=iyt(),{setValue:r,getValues:a,control:l}=he({defaultValues:{externalAxis:{joint_no:0}}}),c=d=>{const h=a().externalAxis.joint_no;s({robot_model:e,command:d,joint_no:Number(h)})};return x(U,{className:P("ExternalAxisCalibration","w-full gap-3",i),children:[u(fe,{label:n("move.field.label.jointNumber"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:u(H,{className:"w-full gap-1.5",alignItems:"center",children:u(se,{control:l,name:"externalAxis.joint_no",render:({field:d})=>u(ae,{className:"w-full",size:"xs2",value:d.value,onChange:h=>{const g=h.target.value;d.onChange(g.trim()===""?0:Number(g)),r("externalAxis.joint_no",g.trim()===""?0:Number(g))},children:Array.from({length:7},(h,g)=>u(J,{value:g,children:`External Axis ${g}`},`ext-axis-${g}`))})})})}),x(U,{className:"gap-1",children:[u(ie,{className:"typo-compact-xs-semibold",size:"xs2",variant:"outlined",disabled:t,loading:o,onClick:()=>c("clr"),children:"Calibration Start"}),u(ie,{className:"typo-compact-xs-semibold",size:"xs2",variant:"outlined",disabled:t,loading:o,onClick:()=>c("add"),children:"Calibration Add+"}),u(ie,{className:"typo-compact-xs-semibold",size:"xs2",variant:"outlined",disabled:t,loading:o,onClick:()=>c("run"),children:"Calibration Finish"})]})]})},{useMemo:oyt}=await F("react"),Tfe=[{label:"move.menu.options.option.tcpPosCalib",value:"tcp_pos"},{label:"move.menu.options.option.tcpOriCalib",value:"tcp_ori"},{label:"move.menu.options.option.user3Points",value:"user_3points"},{label:"move.menu.options.option.userTCPFrame",value:"user_tcp"},{label:"move.menu.options.option.extAxis",value:"ext_axis"}],ryt=({className:i,robotModel:e,userFrameNameList:t})=>{const{t:n}=q(),{selectedRobot:s}=Vi(e),{motionMode:o,jointQRef:r,carteXRef:a}=Is(e,p=>({motionMode:p.motionMode,jointQRef:p.jointQRef,carteXRef:p.carteXRef})),{register:l,setValue:c,watch:d,clearErrors:h}=he({defaultValues:{mode:Tfe[0].value}}),g=d("mode"),m=oyt(()=>o!==0||s?.connected==="DISCONNECT",[o,s?.connected]),f=(p,_)=>{c(p,_),h()};return x("div",{className:P("CalibrationControl","h-full px-3",i),children:[u("div",{className:"sticky top-0 z-10",children:u(Tg,{className:"pt-2",subject:n("move.menu.button.label.calibration")})}),x(U,{className:"gap-2 pb-3",children:[u(ae,{className:"w-full",size:"sm",...l("mode",{onChange:p=>f("mode",p.target.value)}),children:Tfe.map(p=>u(J,{value:p.value,children:n(p.label)},p.label))}),g==="tcp_pos"&&u(kwt,{jointRef:r,robotModel:e,isDisabled:m}),g==="tcp_ori"&&u(Rwt,{robotModel:e,isDisabled:m}),g==="user_3points"&&u(Kwt,{tcpRef:a,robotModel:e,isDisabled:m,userFrameNameList:t}),g==="user_tcp"&&u(Zwt,{robotModel:e,isDisabled:m,userFrameNameList:t}),g==="ext_axis"&&u(syt,{robotModel:e,isDisabled:m})]})]})},{useMemo:YO}=await F("react"),ayt=["translate","rotate","surfaceTeach"],Qse=i=>{const{data:e}=Ih(),t=YO(()=>e?.urdfFileName?.replace(/\.urdf$/,"")??"",[e]),n=YO(()=>e?.components?.[i]?.tcpJointName??[],[e,i]),s=YO(()=>/^rby/i.test(t)?n:void 0,[t,n]),o=YO(()=>ZEe(i,e?.components)??void 0,[e,i]),r=(o?.length??0)>=6&&n.length>0,a=/^rby/i.test(t)&&n.length===0&&(o?.length??0)>0;return{detailRobotModel:t,tcpJointNames:n,ghostActiveTcpAnchors:s,ghostDraggableJointNames:o,isGhostRobotSupported:r,isJointOnlyGhost:a,disabledGizmoTypes:a?ayt:void 0}},{useCallback:Efe,useState:PD}=await F("react"),Zse=()=>{const[i,e]=PD(!1),[t,n]=PD("translate"),[s,o]=PD("local"),[r,a]=PD(.7),[l,c]=PD({x:!0,y:!0,z:!0}),d=Efe((g,m)=>{c(f=>({...f,[g]:m}))},[]),h=Efe(g=>{n(m=>m===g?"none":g)},[]);return{isGhostRobot:i,setIsGhostRobot:e,gizmoType:t,handleGizmoTypeChange:h,gizmoSpace:s,setGizmoSpace:o,gizmoSize:r,setGizmoSize:a,axisEnabled:l,handleAxisEnabledChange:d}},{useCallback:lyt,useState:cyt}=await F("react"),eoe=i=>{const[e,t]=cyt(),n=lyt(s=>t(s),[]);return{ghostJointValues:i?e:void 0,handleGhostRobotJointsChanged:n}},{useCallback:dyt}=await F("react"),toe=({gizmo:i,ghostRobotIK:e,isMoving:t,gizmoType:n=i.gizmoType,onGizmoTypeChange:s=i.handleGizmoTypeChange,activeTcpAnchors:o,draggableJointNames:r,onGhostRobotJointsChanged:a})=>{const{setIsGhostRobot:l}=i,{handleGhostRobotChange:c}=e,d=dyt(h=>{l(h),c(h)},[l,c]);return{viewerProps:{showGhostRobot:i.isGhostRobot,ghostRobotTcpOffset:e.ghostRobotTcpOffset,ghostRobotIkOptions:e.ghostRobotIkOptions,ghostRobotActiveTcpAnchors:o,ghostRobotDraggableJointNames:r,ghostRobotGizmoType:n,ghostRobotGizmoSpace:i.gizmoSpace,ghostRobotGizmoSize:i.gizmoSize,ghostRobotAxisEnabled:i.axisEnabled,onIKDragMove:e.handleIKDragMove,onRobotDraggingChanged:e.handleRobotDraggingChanged,onGhostRobotJointsChanged:a},itemProps:{isMoving:t,isGhostRobot:i.isGhostRobot,onGhostRobotChange:d,gizmoType:n,onGizmoTypeChange:s,gizmoSpace:i.gizmoSpace,onGizmoSpaceChange:i.setGizmoSpace,gizmoSize:i.gizmoSize,onGizmoSizeChange:i.setGizmoSize,axisEnabled:i.axisEnabled,onAxisEnabledChange:i.handleAxisEnabledChange,onReset:e.handleGhostRobotReset,onUndo:e.handleGhostRobotUndo,canUndo:e.canUndo,onRedo:e.handleGhostRobotRedo,canRedo:e.canRedo}}},{useCallback:A8,useLayoutEffect:uyt,useMemo:Pfe,useState:XO}=await F("react"),hyt=({urdfViewerRef:i,isGhostRobot:e,gizmoType:t})=>{const{t:n}=q(),[s,o]=XO(!1),[r,a]=XO("free"),[l,c]=XO(!1),[d,h]=XO(!0),g=A8(()=>{rt.openToast({type:"basic",variant:"warning",title:"Warning",content:n("move.ghostRobot.surface.unreachable")})},[n]),m=A8(()=>{if(!e||t!=="surfaceTeach")return;const y=i.current?.getSurfaceFeatureSupport()??!1;c(y),i.current?.setSurfaceTeachFilter(r)},[e,t,r,i]);uyt(()=>{if(!e||t!=="surfaceTeach"){c(!1);return}m()},[e,t,m]);const f=A8(y=>{a(y),i.current?.setSurfaceTeachFilter(y)},[i]),p=e&&t==="surfaceTeach"&&r==="cylinder",_=p&&d,b=Pfe(()=>({onSurfaceTeachAvailableChange:o,surfaceTeachFilter:r,surfaceTeachShowRings:_,onSurfaceTeachUnreachable:g}),[r,_,g]),v=Pfe(()=>({surfaceTeachAvailable:s,surfaceFilter:r,onSurfaceFilterChange:f,surfaceFeatureSupport:l,surfaceShowRings:_,surfaceShowRingsAvailable:p,onSurfaceShowRingsChange:h}),[s,r,f,l,_,p]);return{viewerProps:b,itemProps:v,handleCheckFeatureSupport:m}},JS=({className:i,title:e,currentSignal:t,functionSignal:n,targetSignal:s,onClick:o,onPreview:r})=>{const{t:a}=q(),l=c=>{n&&n[c]!==0||o(c)};return x(U,{className:P("MoveDigitalIOSignal","gap-2.5",i),children:[u("span",{className:"typo-compact-xs-semibold text-fg-default",children:e}),u(fe,{label:a("move.menu.title.currentSignal"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:u(H,{className:"grid grid-cols-16 gap-1",children:Array.from({length:16}).map((c,d)=>x(U,{className:"w-full 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F("react"),Mfe=[{label:"move.menu.tab.lable.controlBox",value:"cb"},{label:"settings.menu.title.tool",value:"tool"},{label:"move.menu.tab.lable.extBoard",value:"ext"}],Vp=[-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1],YS=[-1,-1,-1,-1],fyt=({className:i,robotModel:e})=>{const{t}=q(),{theme:n}=tt(),{cboxDigitalInput:s,cboxDigitalOutput:o,cboxAnalogInput:r,cboxAnalogOutput:a,toolDigitalInput:l,toolDigitalOutput:c,toolAnalogInput:d,toolVoltageOutput:h,exDigitalInput:g,exDigitalOutput:m,exAnalogInput:f,exAnalogOutput:p}=Is(e,_e=>({cboxDigitalInput:_e.cboxDigitalInput,cboxDigitalOutput:_e.cboxDigitalOutput,cboxAnalogInput:_e.cboxAnalogInput,cboxAnalogOutput:_e.cboxAnalogOutput,toolDigitalInput:_e.toolDigitalInput,toolDigitalOutput:_e.toolDigitalOutput,toolAnalogInput:_e.toolAnalogInput,toolVoltageOutput:_e.toolVoltageOutput,exDigitalInput:_e.exDigitalInput,exDigitalOutput:_e.exDigitalOutput,exAnalogInput:_e.exAnalogInput,exAnalogOutput:_e.exAnalogOutput})),{data:_}=Pu({robot_model:e}),{mutate:b}=Ose(),{mutate:v}=YRe(),{mutate:y}=SPe(),{mutate:w}=CPe(),[S,C]=O8(Mfe[0].value),{control:N,setValue:k,getValues:L}=he({defaultValues:{cbTargetDout:Vp,cbTargetAout:YS,toolTargetDout:Vp,toolTargetVoltage:-1,extTargetDout:Vp,extTargetAout:YS}}),D=zl({control:N,name:"cbTargetDout"}),E=zl({control:N,name:"cbTargetAout"}),T=zl({control:N,name:"toolTargetDout"}),R=zl({control:N,name:"toolTargetVoltage"}),A=zl({control:N,name:"extTargetDout"}),M=zl({control:N,name:"extTargetAout"}),[O,B]=O8(E.map(_e=>_e!==-1)),[V,Y]=O8(M.map(_e=>_e!==-1)),$=Rfe(()=>({cbFunctionDout:_?.doutSpecialFunc?.b??Array(16).fill(0),cbFunctionDin:_?.dinSpecialFunc?.b??Array(16).fill(0),extFunctionDout:_?.eoutSpecialFunc?.b??Array(16).fill(0),extFunctionDin:_?.einSpecialFunc?.b??Array(16).fill(0)}),[_]),Q=Rfe(()=>({cbCurrDin:s?.u??Vp,cbCurrDout:o?.u??Vp,cbCurrAin:r?.f??YS,cbCurrAout:a?.f??YS,toolCurrDin:l?.u??Vp,toolCurrDout:c?.u??Vp,toolCurrAin:d?.f??[-1,-1],toolCurrVoltage:h??-1,extCurrDin:g?.u??Vp,extCurrDout:m?.u??Vp,extCurrAin:f?.f??YS,extCurrAout:p?.f??YS}),[o?.u,s?.u,r?.f,a?.f,l?.u,c?.u,d?.f,h,g?.u,m?.u,f?.f,p?.f]),K=(_e,ke)=>{B(Le=>{const Te=[...Le];return Te[ke]=_e,Te}),k(`cbTargetAout.${ke}`,_e?Q.cbCurrAout[ke]:-1)},z=(_e,ke)=>{Y(Le=>{const Te=[...Le];return Te[ke]=_e,Te}),k(`extTargetAout.${ke}`,_e?Q.extCurrAout[ke]:-1)},me=(_e,ke)=>{b({robot_model:e,location:_e,side_dout_args:SB(ke)})},X=_e=>{y({robot_model:e,flange_dout_args:SB(_e)})},re=_e=>{w({robot_model:e,desired_voltage:_e})},be=(_e,ke,Le)=>{const Te=ke.reduce((lt,it,bt)=>(Le[bt]&&lt.push({port_num:bt,desired_voltage:Number(it.toFixed(1))}),lt),[]);v({robot_model:e,location:_e,side_aout_args:Te})};return u("div",{className:P("ManipulateIOControl","h-full",i),children:x(U,{className:"gap-2 px-3 py-2.5",children:[u(Tg,{subject:t("settings.menu.title.io")}),x(gA,{defaultValue:S,className:"flex h-full gap-0",children:[u("div",{className:"h-full flex-1 overflow-y-auto",children:u("div",{className:"sticky top-0 left-0 z-[2] mb-2.5",children:u("div",{children:u(mA,{className:P("h-7 w-full rounded-md 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Le=[..._e.value];Le[ke]=K3[_e.value[ke]],k("cbTargetDout",Le,{shouldDirty:!0,shouldValidate:!0})},onPreview:()=>{const ke=L();me("side",ke.cbTargetDout)}})}),u(vo,{}),u(RD,{title:t("move.menu.label.analogInput",{loc:t("program.options.d.output_location.side")}),currentSignal:Q.cbCurrAin}),u(se,{control:N,name:"cbTargetAout",render:({field:_e})=>u(RD,{title:t("move.menu.label.analogOutput",{loc:t("program.options.d.output_location.side")}),currentSignal:Q.cbCurrAout,targetSignal:E,isChecked:O,onCheckedChange:K,onChange:(ke,Le)=>{const Te=ke.target.value,lt=Te.trim()===""?-1:Number(Te),it=[..._e.value||[]];it[Le]=lt,_e.onChange(it)},onPreview:()=>{const ke=L();be("side",ke.cbTargetAout,O)}})})]})}),u(XC,{value:"tool",className:"w-full",children:x(U,{className:"gap-2.5",children:[u(JS,{title:t("move.menu.label.digitalInput",{loc:t("settings.menu.title.tool")}),currentSignal:Q.toolCurrDin}),u(se,{control:N,name:"toolTargetDout",render:({field:_e})=>u(JS,{title:t("move.menu.label.digitalOutput",{loc:t("settings.menu.title.tool")}),currentSignal:Q.toolCurrDout,targetSignal:T,onClick:ke=>{const Le=[..._e.value];Le[ke]=K3[_e.value[ke]],k("toolTargetDout",Le,{shouldDirty:!0,shouldValidate:!0})},onPreview:()=>{const ke=L();X(ke.toolTargetDout)}})}),u(vo,{}),u(RD,{title:t("move.menu.label.analogInput",{loc:t("settings.menu.title.tool")}),currentSignal:Q.toolCurrAin}),x(U,{className:"gap-2.5",children:[u("span",{className:"typo-compact-xs-semibold text-fg-default",children:`${t("move.menu.label.toolVoltageOutput")} 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self-end",size:"xs2",leadingIcon:u(at,{className:"size-4"}),variant:"outlined",onClick:()=>re(R),children:t("program.button.preview")})]})})]})]})}),u(XC,{value:"ext",className:"w-full",children:x(U,{className:"gap-2.5",children:[u(JS,{title:t("move.menu.label.digitalInput",{loc:t("program.options.d.output_location.ext")}),currentSignal:Q.extCurrDin,functionSignal:$.extFunctionDin}),u(se,{control:N,name:"extTargetDout",render:({field:_e})=>u(JS,{title:t("move.menu.label.digitalOutput",{loc:t("program.options.d.output_location.ext")}),currentSignal:Q.extCurrDout,functionSignal:$.extFunctionDout,targetSignal:A,onClick:ke=>{const Le=[..._e.value];Le[ke]=K3[_e.value[ke]],k("extTargetDout",Le,{shouldDirty:!0,shouldValidate:!0})},onPreview:()=>{const ke=L();me("ext",ke.extTargetDout)}})}),u(vo,{}),u(RD,{title:t("move.menu.label.analogInput",{loc:t("program.options.a.output_location.ext")}),currentSignal:Q.extCurrAin}),u(se,{control:N,name:"extTargetAout",render:({field:_e})=>u(RD,{title:t("move.menu.label.analogOutput",{loc:t("program.options.a.output_location.ext")}),currentSignal:Q.extCurrAout,targetSignal:M,isChecked:V,onCheckedChange:z,onChange:(ke,Le)=>{const Te=ke.target.value,lt=Te.trim()===""?-1:Number(Te),it=[..._e.value||[]];it[Le]=lt,_e.onChange(it)},onPreview:()=>{const ke=L();be("ext",ke.extTargetAout,V)}})})]})})]})]})})},{useMemo:pyt}=await F("react"),_yt=({className:i,robotModel:e,mode:t="real",onChangeMode:n})=>{const{t:s}=q(),{selectedRobot:o}=Vi(e),{theme:r}=tt(),a=pyt(()=>o?.connected==="DISCONNECT",[o]),l=c=>{n(c)};return x("div",{className:P("MoveControlModeSwitch","bg-bg-alt-1 inline-flex w-fit gap-1 rounded-md p-1","[&_button]:typo-compact-xs-medium [&_button]:bg-fill-transparent [&_button]:h-5 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x(G9,{className:P("ManipulateMove","relative overflow-hidden",i),rightIconPanels:Hr,menus:Ta,persistentMenu:aa,beService:o?.modelInfo?.be_service,requestMenuId:$,requestMenuToken:Q,children:[x("div",{className:"h-full flex-1 p-2.5",children:[x("div",{className:"absolute top-0 left-0 z-1 size-full",...K,children:[u(Km,{ref:n,className:"relative size-full",cameraPositionKey:"manipulate-move",showPerformanceHUD:!0,...z,robotModel:o?.info?.robotModel,etcAxesArr:Ai,enablePanning:!0,plugin:Ee,isRealMode:Si,outlinedLinkNames:m,...Og,...ft,...$i,onDoubleClickRobot:fs}),A.length===1&&!M&&Nn==="workspace"&&u("div",{className:"animate-in fade-in absolute top-78 left-3 z-20 duration-200",children:u(Oyt,{mode:O,onModeChange:B,modes:[...T,...R].find(Dn=>Dn.id===A[0])?.source.kind==="file"?["translate","rotate"]:["translate","rotate","scale"]})})]}),x(U,{className:"pointer-events-none relative z-2 h-full",children:[u(_yt,{className:"pointer-events-auto",robotModel:e,mode:Si?"real":"simulation",onChangeMode:sl}),u(bA,{className:"mt-3 mb-4",robotModel:e}),u(XRe,{className:"pointer-events-auto",robotModel:e},e),u(QRe,{className:"pointer-events-auto",robotModel:e})]})]}),u(D9,{isGhostRobot:N,ghostRobotIK:pi,btnHoverInteraction:Hk.isDesktop,showControlPanelButton:Nn!=="jog",onToggleControlPanel:oa,isPanelOpen:Nn!=="jog"&&X,panelContent:u(eJ,{className:"w-full",robotModel:e,onTabChange:()=>{},isPanel:!0,isUseSimulator:a})}),u(u1t,{className:"bg-translucent pointer-events-auto absolute bottom-2 left-2 z-2 w-[calc(100%-12rem)] rounded-md p-2.5",chartMode:Te,groups:ce,selectedChannelIds:it,robotModel:e})]})},{useEffect:I1t,useMemo:rF,useState:k1t}=await F("react"),L1t={dir:"all",method:"all"},D1t=(i,e)=>{const t=e.dir==="all"||e.dir==="forward"&&i.dir==="FORWARD"||e.dir==="reverse"&&i.dir==="REVERSE",n=e.method==="all"||i.method===e.method;return t&&n},T1t=({nodes:i,selectedLinks:e,focusedLinkId:t,onLinkVisibilityFilterChange:n})=>{const[s,o]=k1t(L1t),r=rF(()=>e.filter(d=>D1t(d,s)),[s,e]),a=rF(()=>t?r.find(d=>d.id===t)??null:null,[t,r]),l=rF(()=>r.map(d=>{const h=i.find(m=>m.id===d.from),g=i.find(m=>m.id===d.to);return{id:d.id,title:`${h?.name||d.from} -> ${g?.name||d.to}`,dir:d.dir,method:d.method,speed:d.speed}}),[i,r]),c=rF(()=>{if(!a)return null;const d=i.find(g=>g.id===a.from),h=i.find(g=>g.id===a.to);return!d||!h?null:new Ve((d.x+h.x)/2,(d.y+h.y)/2,(d.z+h.z)/2)},[i,a]);return I1t(()=>{n?.(s)},[s,n]),{linkVisibilityFilter:s,setLinkVisibilityFilter:o,visibleSelectedLinks:r,visibleFocusedLink:a,selectedLinkOverlayItems:l,focusedLinkAnchor:c}},{useMemo:aF}=await F("react"),E1t=i=>{if(!i||i.length===0)return null;let e=0,t=0,n=0;for(let o=0;o<i.length;o+=1){const r=i[o],a=i[(o+1)%i.length],l=r.x*a.y-a.x*r.y;e+=l,t+=(r.x+a.x)*l,n+=(r.y+a.y)*l}if(Math.abs(e)>Number.EPSILON)return new Ve(t/(3*e),n/(3*e),0);const s=i.reduce((o,r)=>({x:o.x+r.x,y:o.y+r.y}),{x:0,y:0});return new Ve(s.x/i.length,s.y/i.length,0)},P1t=({zones:i,selectedZoneIds:e,focusedZoneId:t})=>{const n=aF(()=>{if(!e||e.length===0)return[];const a=new Set(e);return(i??[]).filter(l=>a.has(l.id))},[e,i]),s=aF(()=>n.length===0?null:t?n.find(a=>a.id===t)??null:n[0]??null,[t,n]),o=aF(()=>n.map(a=>({id:a.id,title:a.name||a.id,type:a.type,pointCount:a.polygon.length})),[n]),r=aF(()=>s?E1t(s.polygon):null,[s]);return{selectedZones:n,focusedZone:s,selectedZoneOverlayItems:o,focusedZoneAnchor:r}},{useMemo:R1t}=await F("react"),{useQuery:M1t}=await F("@tanstack/react-query"),YMe="/{robot_model}/setting/getSettingPresetList",A1t=async({robot_model:i,baseURL:e})=>{const t=YMe.replace("{robot_model}",i);return tb.get(t,void 0)},O1t=({robot_model:i,baseURL:e})=>[YMe,i,e??""],F1t=(i,e={},t)=>{const n=R1t(()=>O1t({...i,baseURL:t}),[t,i]);return{...M1t({queryKey:n,queryFn:()=>A1t({...i,baseURL:t}),enabled:!!i.robot_model,...e}),queryKey:n}},{useMemo:B1t}=await F("react"),{useQuery:V1t}=await F("@tanstack/react-query"),XMe="/{robot_model}/info/category",z1t=async({robot_model:i})=>{const e=XMe.replace("{robot_model}",i);return tb.get(e)},W1t=({robot_model:i})=>[XMe,i],H1t=(i,e={})=>{const{robot_model:t}=i,{enabled:n=!0,...s}=e,o=B1t(()=>W1t({robot_model:t}),[t]);return{...V1t({queryKey:o,queryFn:()=>z1t(i),enabled:!!t&&n,...s}),queryKey:o}},{useMemo:$1t}=await F("react"),{useQuery:U1t}=await F("@tanstack/react-query"),QMe="/{robot_model}/setting/getSettingPreset",j1t=async({robot_model:i,level:e,presetId:t,baseURL:n})=>{const s=QMe.replace("{robot_model}",i);return tb.get(s,{params:{level:e,presetId:t}})},G1t=({robot_model:i,level:e,presetId:t,baseURL:n})=>[QMe,i,e,t,n??""],q1t=(i,e={},t)=>{const{robot_model:n,level:s,presetId:o}=i,r=$1t(()=>G1t({robot_model:n,level:s,presetId:o,baseURL:t}),[t,s,o,n]);return{...U1t({queryKey:r,queryFn:()=>j1t({...i,baseURL:t}),enabled:!!n&&typeof s=="number"&&!Number.isNaN(s)&&typeof o=="number"&&!Number.isNaN(o),...e}),queryKey:r}},{useMemo:Y4n}=await F("react"),{useQuery:X4n}=await F("@tanstack/react-query"),{useMemo:Q4n}=await F("react"),{useQuery:Z4n}=await F("@tanstack/react-query"),{useQuery:K1t}=await F("@tanstack/react-query"),poe="/{robot_model}/map/list",J1t=({robot_model:i,baseURL:e})=>[poe,i,""],Y1t=async({robot_model:i,baseURL:e})=>{const t=poe.replace("{robot_model}",i);return tb.get(t,{})},X1t=({robot_model:i,enabled:e=!0},t={},n)=>{const{enabled:s=!0,...o}=t,r=J1t({robot_model:i,baseURL:n});return{...K1t({queryKey:r,queryFn:()=>Y1t({robot_model:i,baseURL:n}),enabled:!!i&&e&&s,...o}),queryKey:r}},{useCallback:OD,useEffect:Q1t,useMemo:Z1t,useRef:Vpe}=await F("react"),eSt=({robotModel:i,linearSpeed:e=.8,rotationSpeed:t=45})=>{const{socketEventEmit:n}=Dg(),s=Vpe({vx:0,vy:0,wz:0}),o=Vpe(null),r=Z1t(()=>`amr/${i}/move/jog`,[i]),a=OD(()=>{n(r,{...s.current})},[r,n]),l=OD(()=>{typeof window>"u"||o.current&&(window.clearInterval(o.current),o.current=null)},[]),c=OD(()=>{typeof window>"u"||o.current||(o.current=window.setInterval(()=>{a()},200))},[a]),d=OD(g=>{switch(g){case"forward":s.current={vx:e,vy:0,wz:0};break;case"backward":s.current={vx:-e,vy:0,wz:0};break;case"left":s.current={vx:0,vy:e,wz:0};break;case"right":s.current={vx:0,vy:-e,wz:0};break;case"rotateLeft":s.current={vx:0,vy:0,wz:t};break;case"rotateRight":s.current={vx:0,vy:0,wz:-t};break;default:s.current={vx:0,vy:0,wz:0}}a(),g==="stop"?l():c()},[a,e,t,c,l]),h=OD(({type:g,data:m})=>{const f=Number((m.normalizedDistance.y*e).toFixed(2)),p=Number((m.normalizedDistance.x*e*-1).toFixed(2)),_=Math.max(-1,Math.min(1,m.normalizedDistance.x)),b=Number((_*-t).toFixed(0));g==="direction"?(s.current.vx=f,s.current.vy=p):s.current.wz=b,a()},[a,e,t]);return Q1t(()=>()=>{l()},[l]),{handleJoystickMove:h,handleButtonMove:d}},tSt={obsBoxMinX:0,obsBoxMaxX:0,obsBoxMinY:0,obsBoxMaxY:0,stopMarginX:0,stopMarginY:0,slowMarginX:0,slowMarginY:0},zpe={layers:[],width:0,height:0,gridSize:0,safety:tSt},nSt=(i,e=!0)=>{const{data:t=zpe,loading:n}=hs(`amr/${i}/socket/obsMap`,{defaultValue:zpe,disabled:!e,selector:s=>({layers:s?.layers?.map(o=>({name:o?.name??"",data:o?.data??[]}))??[],width:s?.width??0,height:s?.height??0,gridSize:s?.gridSize??0,safety:{obsBoxMinX:s?.safety?.obsBoxMinX??0,obsBoxMaxX:s?.safety?.obsBoxMaxX??0,obsBoxMinY:s?.safety?.obsBoxMinY??0,obsBoxMaxY:s?.safety?.obsBoxMaxY??0,stopMarginX:s?.safety?.stopMarginX??0,stopMarginY:s?.safety?.stopMarginY??0,slowMarginX:s?.safety?.slowMarginX??0,slowMarginY:s?.safety?.slowMarginY??0}})});return{data:t,loading:n}},{useRef:iSt}=await F("react"),Wpe={data:[]},sSt=(i,e=!0)=>{const{data:t=Wpe,loading:n}=hs(`amr/${i}/socket/globalPath`,{defaultValue:Wpe,disabled:!e,selector:o=>({data:o?.data??[]})}),s=iSt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:oSt}=await F("react"),Hpe={data:[]},rSt=(i,e=!0)=>{const{data:t=Hpe,loading:n}=hs(`amr/${i}/socket/trajectory`,{defaultValue:Hpe,disabled:!e,selector:o=>({data:o?.data??[]})}),s=oSt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:aSt}=await F("react"),$pe={data:[]},lSt=(i,e=!0)=>{const{data:t=$pe,loading:n}=hs(`amr/${i}/socket/localPath`,{defaultValue:$pe,disabled:!e,selector:o=>({data:o?.data??[]})}),s=aSt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{forwardRef:cSt}=await F("react"),ZMe=cSt(({robotModel:i,...e},t)=>{const{data:n}=fRe(i),{data:s}=sSt(i),{data:o}=lSt(i),{data:r}=rSt(i);return u(oDe,{ref:t,...e,lidarPoints:n,globalPath:s,localPath:o,trajectory:r})});ZMe.displayName="AmrWorldStudio";const{useMutation:dSt}=await F("@tanstack/react-query"),uSt="/{robot_model}/map/setCloud",hSt=async({robot_model:i,mapName:e,fileName:t,data:n})=>{const s=uSt.replace("{robot_model}",i);return Fs.post(s,{mapName:e,fileName:t,data:n})},gSt=()=>dSt({mutationFn:hSt}),{useMutation:mSt}=await F("@tanstack/react-query"),fSt="/{robot_model}/map/setTopology",pSt=async({robot_model:i,mapName:e,nodes:t,links:n,zones:s})=>{const o=fSt.replace("{robot_model}",i);return Fs.post(o,{mapName:e,nodes:t,links:n,zones:s})},_St=()=>mSt({mutationFn:pSt}),{useCallback:G8}=await F("react"),bSt=i=>typeof i=="object"&&i!==null&&"isError"in i&&i.isError===!0,vSt=({selectedRobotModel:i,currentMapName:e,mapTopoParams:t,getMapPointsData:n,getTopologyData:s,loadMapAndRefreshCurrentMap:o,loadTopology:r,refreshTopologyData:a,onTopologySaved:l,onTopologyCanceled:c,onCloudSaved:d})=>{const{mutate:h}=gSt(),{mutate:g,isPending:m}=_St(),f=G8(()=>{const b=t?.mapName??e;if(!b)return;const v=s();g({robot_model:i,mapName:b,nodes:v.nodes,links:v.links,zones:v.zones},{onSuccess:async()=>{try{await r(b),l?.(),rt.openToast({type:"basic",variant:"success",title:"Topology Save Success",content:"Topology data has been saved"})}catch{rt.openToast({type:"basic",variant:"warning",title:"Topology Load Failed",content:"Topology was saved, but failed to load"})}}})},[e,s,r,t?.mapName,l,g,i]),p=G8(async()=>{try{const b=await a?.();if(bSt(b))throw b.error;c?.()}catch{rt.openToast({type:"basic",variant:"warning",title:"Topology Cancel Failed",content:"Failed to revert topology changes"})}},[c,a]),_=G8(()=>{if(!e)return;const b=n();h({robot_model:i,mapName:e,fileName:"cloud.csv",data:b},{onSuccess:()=>{o(e),d?.(),rt.openToast({title:"Cloud Save Success",content:"Cloud data has been saved",type:"basic",variant:"success"})}})},[e,n,o,d,h,i]);return{handleSaveTopologyChanges:f,handleCancelTopologyChanges:p,handleSaveCloud:_,isTopologySaving:m}},{useMemo:wSt}=await F("react"),ySt=({currentMapName:i,mapListData:e})=>({currentMapInfo:wSt(()=>i&&e?.list?e.list.find(n=>n.mapName===i):null,[i,e?.list])}),CSt=({selectedRobotModel:i,mapTopoParams:e})=>{const t=e?.mapName??"",{data:n,dataUpdatedAt:s}=bRe({robot_model:i,mapName:t,fileName:"cloud.csv"},{enabled:!!t}),{data:o,dataUpdatedAt:r,refetch:a}=mRe({robot_model:i,mapName:t},{enabled:!!t});return{mapCloud:n,mapCloudUpdatedAt:s,topology:o,topologyUpdatedAt:r,refetchTopology:a}},{useMemo:SSt}=await F("react"),xSt=({currentMapName:i,createdAt:e,lastModified:t,mapCloudCount:n,mapBounds:s,topologyCount:o,nodeTypeCounts:r,mappingStatus:a,elapsedSeconds:l,completedKeyframeCount:c,totalKeyframePoints:d,onStartMapping:h,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p,isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:y,eraseSelectedAreaDisabled:w,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:N,hasUnsavedCloudChanges:k,onDiscardCloudChanges:L,onLoadMap:D,loadMapDisabled:E,onDownloadMap:T,downloadMapDisabled:R})=>SSt(()=>({mapInfoProps:{currentMapName:i,createdAt:e,lastModified:t,mapCloudCount:n,mapBounds:s,topologyCount:o,nodeTypeCounts:r},mappingTabProps:{mappingStatus:a,elapsedSeconds:l,completedKeyframeCount:c,totalKeyframePoints:d,onStartMapping:h,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p},eraserTabProps:{isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:y,eraseSelectedAreaDisabled:w,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:N},hasUnsavedCloudChanges:k,onDiscardCloudChanges:L,onLoadMap:D,loadMapDisabled:E,onDownloadMap:T,downloadMapDisabled:R}),[c,e,i,l,v,w,k,_,t,s,n,r,f,L,D,T,S,b,C,N,m,h,g,y,E,a,R,o,p,d]),{queryOptions:NSt,useQueries:ISt,useQuery:kSt}=await F("@tanstack/react-query"),eAe="/{robot_model}/setting/getSettingParam",tAe=async i=>{const{robot_model:e,...t}=i,n=eAe.replace("{robot_model}",e);return Fs.get(n,{params:t})},nAe=i=>[eAe,i],LSt=(i,e=!0)=>NSt({queryKey:nAe(i),queryFn:()=>tAe(i),enabled:e}),DSt=(i,e={})=>kSt({queryKey:nAe(i),queryFn:()=>tAe(i),...e}),TSt=({robot_model:i,robotType:e,categories:t,level:n=2,enabled:s=!0})=>ISt({queries:t.map(o=>LSt({robot_model:i,robotType:e,category:o,level:n},s&&!!i&&!!e&&!!o))}),{useMemo:Upe}=await F("react"),ESt=({robotModel:i,monitorStatusSnapshot:e,robotVersion:t,selectedTool:n,onToolChange:s,onStartLocalization:o,onInitLocalization:r,onSemiAutoInitLocalization:a,onStopLocalization:l,onBuildInfoOpenChange:c,onDock:d,onDockPause:h,onDockResume:g,onDockStop:m,onUndock:f,dockRejectMessage:p,taskLogData:_,amrMoveStatus:b,onSetMotorLocked:v,onClearSafetyFlag:y,onLidarFieldSave:w,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:N,onSetSafetyIo:k})=>{const{data:L}=DSt({robot_model:i,robotType:i,category:"docking",level:2}),D=Upe(()=>{const E=L?.params?.find(T=>T.key==="DOCKING_RETRY_COUNT")?.value;return E!==void 0?Number(E):void 0},[L]);return Upe(()=>({robotModel:i,overviewProps:{amrStatus:e,robotVersion:t,selectedTool:n,onStartLocalization:o,onInitLocalization:r,onSemiAutoInitLocalization:a,onStopLocalization:l,onToolChange:s,onBuildInfoOpenChange:c},dockProps:{amrStatus:e,onDock:d,onPause:h,onResume:g,onStop:m,onUndock:f,maxRetryCount:D,rejectMessage:p??void 0},taskProps:{logData:_,moveStatus:b},pduProps:{amrStatus:e,setMotorLocked:v,onClearSafetyRecovery:y,onLidarFieldSave:w,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:N,onSetSafetyIo:k}}),[b,D,e,t,y,w,S,C,N,k,d,h,g,p,m,c,r,a,v,o,l,s,f,n,_,i])},{useMemo:PSt}=await F("react"),RSt=({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n})=>PSt(()=>({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n}),[t,e,i,n]),{useCallback:nc}=await F("react"),MSt=({emit:i,nodes:e,selectedObjects:t,selectedNodeType:n,onToolChange:s,setIsEraserEnabled:o,setEraserRadius:r})=>{const a=nc(k=>{o(k),i("ui:eraser-toggle-requested",k),i("ui:pointer-action-set-requested",k?"erase":"inspect"),s(k?"disabled":"select")},[i,s,o]),l=nc(()=>{i("ui:points-delete-requested",void 0)},[i]),c=nc(()=>{i("ui:unselect-points-requested",void 0)},[i]),d=nc(k=>{k>0&&(r(k),i("eraser:radius-changed",k))},[i,r]),h=nc(k=>{switch(k){case"goal":return"GOAL";case"route":return"ROUTE";case"align":return"ALIGN"}},[]),g=nc(()=>{i("ui:quick-add-node-requested",h(n))},[i,h,n]),m=nc(()=>{i("ui:add-node-by-preview-requested",h(n))},[i,h,n]),f=nc(()=>{const k=e[e.length-1]?.uuid;k&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:k,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,e]),p=nc(()=>{const k=t[t.length-1]?.uuid??null;k&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:k,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,t]),_=nc((k,L)=>{i("ui:node-updated",{nodeId:k,updates:L})},[i]),b=nc((k,L)=>{i("ui:node-type-change-requested",{nodeId:k,type:h(L)})},[i,h]),v=nc((k,L,D)=>{i(D==="delta"?"ui:nodes-transform-delta-requested":"ui:nodes-transform-absolute-requested",{target:k,value:L})},[i]),y=nc((k,L,D)=>{if(!(t.length<2)){if(t.length===2||L==="sequential"){i("ui:link-nodes-requested",{nodes:t,strategy:"sequential",bidirectional:k,properties:D});return}i("ui:link-nodes-requested",{nodes:t,strategy:"complete",bidirectional:k,properties:D})}},[i,t]),w=nc(()=>{t.length<2||i("ui:unlink-nodes-requested",void 0)},[i,t]),S=nc((k,L)=>{i("ui:link-updated",{linkId:k,updates:L})},[i]),C=nc(k=>{i("ui:link-delete-requested",{linkId:k})},[i]),N=nc(k=>{i("ui:link-focus-requested",{linkId:k})},[i]);return{handleEraserToggle:a,handleDeletePoints:l,handleReleasePoint:c,handleEraserRadiusChange:d,handleAddNodeAtRobot:g,handleAddNodeAtCursor:m,handleDeleteLastNode:f,handleDeleteLastSelectedNode:p,handleNodeUpdate:_,handleNodeTypeChange:b,handleSelectedNodesTransform:v,handleCreateLinks:y,handleDeleteLinksBetweenSelected:w,handleLinkUpdate:S,handleLinkDelete:C,handleLinkFocus:N}},{useQuery:eBn}=await F("@tanstack/react-query"),ASt="/{robot_model}/capability/lidar2d",OSt=async({robot_model:i})=>{const e=ASt.replace("{robot_model}",i);return Fs.get(e)},{useCallback:lF}=await F("react"),FSt=({type:i,features:e})=>i?.toUpperCase()==="GOAL"&&Array.isArray(e)&&e.some(t=>t.toUpperCase()==="INIT"),BSt=({selectedRobotModel:i,currentMapName:e,currentMapInfo:t,mapListData:n,topologyNodes:s,hasUnsavedTopologyChanges:o,handleInitLocalization:r,handleSemiAutoInitLocalization:a})=>{const l=lF(()=>!e||!!n?.list?.length&&!t?(rt.openToast({type:"basic",variant:"warning",title:"Map Not Loaded",content:"Load a map before running localization init.",position:"top-right"}),!1):!0,[t,e,n?.list]),c=lF(async()=>{if(!i)return!1;try{return(await OSt({robot_model:i})).info?.some(f=>f.connection)??!1?!0:(rt.openToast({type:"basic",variant:"warning",title:"LiDAR Disconnected",content:"Connect the 2D LiDAR before running localization init.",position:"top-right"}),!1)}catch{return rt.openToast({type:"basic",variant:"warning",title:"LiDAR Status Check Failed",content:"Failed to check 2D LiDAR connection status.",position:"top-right"}),!1}},[i]),d=lF(async()=>{l()&&await c()&&r()},[c,l,r]),h=lF(async()=>{if(!l()||!await c())return;if(o){rt.openToast({type:"basic",variant:"warning",title:"Unsaved Topology Changes",content:"Please save topology changes before running semi auto init.",position:"top-right"});return}if((s??[]).filter(FSt).length===0){rt.openToast({type:"basic",variant:"warning",title:"Semi Auto Init Unavailable",content:"No goal node with INIT feature found in topology.",position:"top-right"});return}a()},[l,c,o,s,a]);return{handleInitLocalizationWithGuard:d,handleSemiAutoInitLocalizationWithGuard:h}},{useMutation:VSt}=await F("@tanstack/react-query"),zSt="/{robot_model}/map/loadMap",WSt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=zSt.replace("{robot_model}",i);return tb.post(n,{mapName:e},t?{baseURL:t}:void 0)},HSt=()=>VSt({mutationFn:WSt}),{useMutation:$St}=await F("@tanstack/react-query"),USt="/{robot_model}/map/loadTopo",jSt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=USt.replace("{robot_model}",i);return tb.post(n,{mapName:e},t?{baseURL:t}:void 0)},GSt=()=>$St({mutationFn:jSt}),{useMutation:qSt}=await F("@tanstack/react-query"),KSt="/{robot_model}/localization/{command}",JSt=async i=>{const{robot_model:e,command:t}=i,n=KSt.replace("{robot_model}",e).replace("{command}",t);return t==="semiAutoInit"?tb.post(n):tb.post(n,i.payload)},YSt=()=>qSt({mutationFn:JSt}),{useMutation:XSt}=await F("@tanstack/react-query"),QSt="/{robot_model}/setting/setSettingPreset";class kJ extends Error{constructor(e){super(e),this.name="SettingPresetRejectError"}}const ZSt=i=>typeof i.result=="string"&&i.result.toLowerCase()!=="accept",ext=async i=>{const{robot_model:e,baseURL:t,...n}=i,s=QSt.replace("{robot_model}",e),o=await tb.post(s,n,t?{baseURL:t}:void 0);if(ZSt(o))throw new kJ(o.message||"setSettingPreset: 요청이 거절되었습니다.");return o},txt=()=>XSt({mutationFn:i=>ext(i)}),{useMutation:tBn}=await F("@tanstack/react-query"),{useCallback:FD}=await F("react"),nxt=({selectedRobotModel:i,getPreviewTransform:e})=>{const{mutate:t}=YSt(),n=FD(l=>{const c=e();c&&t({robot_model:i,command:l,payload:{pose:c}})},[e,t,i]),s=FD(()=>{t({robot_model:i,command:"semiAutoInit"})},[t,i]),o=FD(()=>{n("start")},[n]),r=FD(()=>{n("init")},[n]),a=FD(()=>{n("stop")},[n]);return{handleStartLocalization:o,handleInitLocalization:r,handleSemiAutoInitLocalization:s,handleStopLocalization:a}},{useCallback:q8}=await F("react"),ixt=({selectedRobotModel:i})=>{const{mutateAsync:e}=HSt(),{mutateAsync:t}=GSt(),n=q8(async r=>await e({robot_model:i,mapName:r}),[e,i]),s=q8(async r=>{const a=await t({robot_model:i,mapName:r});if(a.result!=="accept")throw new Error(a.message||"Failed to load topology");return a},[t,i]),o=q8(async r=>{await n(r)},[n]);return{loadMapAndRefreshCurrentMap:n,loadTopology:s,handleLoadMap:o}},sxt=i=>{const{data:e}=X1t({robot_model:i});return{mapListData:e}},{useMutation:K8}=await F("@tanstack/react-query"),oxt="/{robot_model}/mapping/start",rxt="/{robot_model}/mapping/stop",axt="/{robot_model}/mapping/save",lxt=i=>i==="accept",cxt=async({robot_model:i})=>{const e=oxt.replace("{robot_model}",i);return Fs.post(e)},dxt=async({robot_model:i})=>{const e=rxt.replace("{robot_model}",i);return Fs.post(e)},uxt=async({robot_model:i,mapName:e})=>{const t=axt.replace("{robot_model}",i);return Fs.post(t,{mapName:e})},hxt=()=>{const i=K8({mutationFn:cxt}),e=K8({mutationFn:dxt});return{saveMapping:K8({mutationFn:uxt,onSuccess:n=>{if(lxt(n.result)){rt.openToast({type:"basic",variant:"success",title:"Map Save Success",content:"Map data has been saved",position:"top-right"});return}rt.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:n.message||"Failed to save map",position:"top-right"})},onError:()=>{rt.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:"Failed to save map",position:"top-right"})}}).mutateAsync,stopMapping:e.mutateAsync,startMapping:i.mutateAsync}},jpe={data:[],chunkNum:0,chunkId:0},gxt=(i,e=!0)=>{const{data:t=jpe,loading:n}=hs(`amr/${i}/socket/mappingKeyFRM`,{defaultValue:jpe,disabled:!e,selector:s=>({data:s?.data??[],chunkNum:s?.chunkNum??0,chunkId:s?.chunkId??0})});return{...t,loading:n}},{useCallback:BD,useEffect:cF,useRef:VD,useState:tx}=await F("react"),{useQueryClient:mxt}=await F("@tanstack/react-query"),Gpe=i=>i==="accept",fxt=i=>i==="accept",pxt=({selectedRobotModel:i,emit:e,loadMapAndRefreshCurrentMap:t})=>{const n=mxt(),{data:s}=gRe({robot_model:i}),o=s?.mapName,{startMapping:r,stopMapping:a,saveMapping:l}=hxt(),[c,d]=tx("idle"),h=VD("idle"),[g,m]=tx(null),[f,p]=tx(0),[_,b]=tx(!1),[v,y]=tx(0),[w,S]=tx(0),C=VD(null),N=VD(new Set),k=VD(new Map),L=VD(!1),{data:D}=pRe(i,_),E=gxt(i,_);cF(()=>{h.current=c},[c]),cF(()=>{if(c!=="recording"||g===null)return;const B=window.setInterval(()=>{const V=Math.floor((Date.now()-g)/1e3);p(V)},1e3);return()=>{window.clearInterval(B)}},[g,c]);const T=BD(()=>{d("idle"),m(null),p(0),b(!1),y(0),S(0),C.current=null,N.current.clear(),k.current.clear(),L.current=!1},[]);cF(()=>{if(!_||h.current!=="recording"||!E||E.chunkNum<=0)return;const{chunkNum:B,chunkId:V,data:Y}=E;if(V<0||V>=B||((V===0||C.current===null||C.current!==B)&&(C.current=B,N.current.clear(),k.current.clear(),L.current=!1),L.current)||(N.current.add(V),k.current.set(V,Y.length),N.current.size!==B))return;const $=Array.from(k.current.values()).reduce((Q,K)=>Q+K,0);L.current=!0,y(Q=>Q+1),S(Q=>Q+$)},[E,_]);const R=BD(async()=>{if(h.current!=="idle")return!1;try{const B=await r({robot_model:i}),V=Gpe(B.result);return V&&(d("recording"),m(Date.now()),p(0),b(!0),y(0),S(0),C.current=null,N.current.clear(),k.current.clear(),L.current=!1,e("ui:mapping-start-requested",void 0)),V}catch{return!1}},[e,i,r]),A=BD(async()=>{if(h.current!=="recording")return!1;try{const B=await a({robot_model:i}),V=Gpe(B.result);return V&&(d("stopped"),b(!1)),V}catch{return!1}},[i,a]),M=BD(async B=>{if(h.current==="saving")return{ok:!1,reason:"save-failed"};d("saving");try{const V=await l({robot_model:i,mapName:B});if(n.invalidateQueries({queryKey:[poe,i]}),!fxt(V.result))return d("stopped"),{ok:!1,reason:"save-failed"};try{return await t(B),T(),{ok:!0}}catch{return d("stopped"),{ok:!1,reason:"load-failed"}}}catch{return d("stopped"),{ok:!1,reason:"save-failed"}}finally{e("ui:mapping-stop-requested",void 0)}},[e,t,n,T,l,i]),O=BD(async()=>{const B=h.current;if(B!=="discarding"){d("discarding"),b(!1);try{if(B==="recording")try{await a({robot_model:i})}catch(V){console.error("Failed to stop mapping during discard:",V)}e("ui:mapping-stop-requested",void 0),o&&await t(o)}finally{T()}}},[o,e,t,T,i,a]);return cF(()=>()=>{const B=h.current;B!=="idle"&&(b(!1),e("ui:mapping-stop-requested",void 0),B==="recording"&&a({robot_model:i}))},[e,i,a]),{mappingPoints:D,mappingKeyFrame:E,mappingStatus:c,elapsedSeconds:f,mappingSocketEnabled:_,completedKeyframeCount:v,totalKeyframePoints:w,handleStartMapping:R,handleStopMapping:A,handleSaveMapping:M,handleDiscardMapping:O}};function _xt(i,e,t=!0){const{data:n,loading:s,isDefaultData:o}=hs(`amr/${i}/infoStatus`,{defaultValue:{infos:[]},selector:e,disabled:!t});return{data:n,loading:s,isDefaultData:o}}const iAe=/MCU\s*([0-9]+).*?(DIN|DIO|INPUT|OUTPUT|DI|DO|입력|출력|_IN|_OUT)[\s_-]*([0-9]+)/i,bxt=(i,e)=>{const t=i.toUpperCase();return t==="DIO"||t==="DO"?t:t==="DIN"||t==="DI"||t==="INPUT"||t==="입력"?"DIN":t==="OUTPUT"||t==="출력"?"DIO":e==="din"?"DIN":"DIO"},vxt=(i,e)=>i.replace(/[\s_-]*[0-9]+\s*$/,"").trim()||e,wxt=(i,e)=>Object.entries(i).reduce((t,[n,s])=>{if(typeof s!="string"||s.length===0)return t;const o=s.match(iAe);return o&&(t[n]=vxt(o[0],e)),t},{}),yxt=(i,e)=>{if(!(i!==0&&i!==1))return`mcu${i}${e==="din"?"Din":"Dio"}`},Cxt=i=>{const e=i.trim().toLowerCase();if(e==="1"||e==="true"||e==="on")return!0;if(e==="0"||e==="false"||e==="off")return!1},Sxt=i=>Object.values(i).filter(e=>typeof e=="string"&&e.length>0),xxt=i=>{for(const e of Sxt(i)){const t=e.match(iAe);if(!t)continue;const n=Number(t[1]),s=t[2],o=s.toUpperCase(),r=Number(t[3]),a=o==="DI"||o==="DIN"||o==="INPUT"||o==="입력"||o==="_IN"?"din":"dio",l=`MCU${n}`,c=bxt(s,a),d=`${l} ${c}`,h=wxt(i,d);return{key:yxt(n,a),rowKey:`mcu${n}-${a}`,label:h,mcu:n,kind:a,pin:r}}return null},zD=i=>{const e=Array.from(i.values()).sort((t,n)=>t.pin-n.pin);return e.length>0?e:void 0},Nxt=i=>{const e={mcu0Dio:new Map,mcu1Dio:new Map,mcu0Din:new Map,mcu1Din:new Map},t=new Map;for(const o of i?.infos??[]){if(o.categoryId!=="io")continue;const r=xxt(o.name),a=Cxt(o.value);if(!r||a===void 0)continue;const l={pin:r.pin,value:a,rawValue:o.value};r.key&&e[r.key].set(r.pin,l);const c=t.get(r.rowKey);c?c.bits.set(r.pin,l):t.set(r.rowKey,{key:r.rowKey,label:r.label,mcu:r.mcu,kind:r.kind,bits:new Map([[r.pin,l]])})}const n=Array.from(t.values()).map(o=>({...o,bits:zD(o.bits)??[]})).filter(o=>o.bits.length>0).sort((o,r)=>o.kind!==r.kind?o.kind==="din"?-1:1:o.mcu-r.mcu),s={rows:n.length>0?n:void 0,mcu0Dio:zD(e.mcu0Dio),mcu1Dio:zD(e.mcu1Dio),mcu0Din:zD(e.mcu0Din),mcu1Din:zD(e.mcu1Din)};return n.length>0?s:void 0},{useMemo:dF}=await F("react"),Ixt=({selectedRobotModel:i,enableInfoStatus:e=!1,enableTaskLogRefetch:t=!1})=>{const n=Kk(i),s=Use(i),o=_xt(i,void 0,e),{data:r}=$se({limit:10,page:1,searchText:"",sort:"createdAt",order:"DESC",filter:{},fields:{}},{refetchInterval:t?2e3:0,refetchIntervalInBackground:!1}),a=dF(()=>{if(r)return{...r,items:r.items?.map(h=>({...h}))}},[r]),l=dF(()=>({...n,pose:s.pose,vel:s.vel,autoMove:s.moveState?.autoMove,obsState:s.moveState?.obs}),[n,s.pose,s.vel,s.moveState?.autoMove,s.moveState?.obs]),c=dF(()=>{const h=s.pose,g=s.vel;return{localizationStatus:n.locState?.locStatus??"none",autoMove:s.moveState?.autoMove,obsState:s.moveState?.obs??"none",poseX:Number(h?.x??0),poseY:Number(h?.y??0),poseZ:0,poseYaw:Number(h?.rz??0),speed:Math.hypot(g?.vx??0,g?.vy??0),velocityX:g?.vx??0,velocityY:g?.vy??0,velocityWz:g?.wz??0,roll:n.imu?.imuRx??0,pitch:n.imu?.imuRy??0,imuYaw:n.imu?.imuRz??0,angularVelocity:n.imu?.gyrZ??0,inlierError:n.locState?.inlierError??0,inlierRatio:n.locState?.inlierRatio??0}},[s.pose,s.vel,s.moveState?.autoMove,s.moveState?.obs,n.imu?.gyrZ,n.imu?.imuRx,n.imu?.imuRy,n.imu?.imuRz,n.locState?.locStatus,n.locState?.inlierError,n.locState?.inlierRatio]),d=dF(()=>Nxt(o.data),[o.data]);return{baseAmrStatus:n,amrMoveStatus:s,amrInfoStatus:o,amrSafetyIoStatus:d,taskLogData:a,monitorStatusSnapshot:l,hudStatusSnapshot:c}},{useMutation:kxt}=await F("@tanstack/react-query"),Lxt="/{robot_model}/move/{axis}",Dxt=i=>i==="x"?"xLinear":"yLinear",Txt=async i=>{const{robot_model:e,axis:t,...n}=i,s=Lxt.replace("{robot_model}",e).replace("{axis}",Dxt(t));return Fs.post(s,n)},Ext=()=>kxt({mutationFn:Txt}),{useMutation:Pxt}=await F("@tanstack/react-query"),Rxt="/{robot_model}/move/target",Mxt=async({robot_model:i,goalPose:e,method:t,preset:n=0})=>{const s=Rxt.replace("{robot_model}",i);return Fs.post(s,{goalPose:e,method:t,preset:n})},Axt=()=>Pxt({mutationFn:Mxt}),{useMutation:Oxt}=await F("@tanstack/react-query"),Fxt="/{robot_model}/move/goal",Bxt=async({robot_model:i,goalId:e,goalName:t,method:n})=>{const s=Fxt.replace("{robot_model}",i);return Fs.post(s,{goalId:e,...t!==void 0&&{goalName:t},...n!==void 0&&{method:n}})},Vxt=()=>Oxt({mutationFn:Bxt}),{useMutation:zxt}=await F("@tanstack/react-query"),Wxt="/{robot_model}/control/dock",Hxt=async({robot_model:i})=>{const e=Wxt.replace("{robot_model}",i);return Fs.post(e)},$xt=()=>zxt({mutationFn:Hxt}),{useMutation:Uxt}=await F("@tanstack/react-query"),jxt="/{robot_model}/call_pause",Gxt=async({robot_model:i})=>{const e=jxt.replace("{robot_model}",i);return Fs.post(e)},qxt=()=>Uxt({mutationFn:Gxt}),{useMutation:Kxt}=await F("@tanstack/react-query"),Jxt="/{robot_model}/call_resume",Yxt=async({robot_model:i})=>{const e=Jxt.replace("{robot_model}",i);return Fs.post(e)},Xxt=()=>Kxt({mutationFn:Yxt}),{useMutation:Qxt}=await F("@tanstack/react-query"),Zxt="/{robot_model}/control/dockStop",eNt=async({robot_model:i})=>{const e=Zxt.replace("{robot_model}",i);return Fs.post(e)},tNt=()=>Qxt({mutationFn:eNt}),{useMutation:nNt}=await F("@tanstack/react-query"),iNt="/{robot_model}/control/undock",sNt=async({robot_model:i})=>{const e=iNt.replace("{robot_model}",i);return Fs.post(e)},oNt=()=>nNt({mutationFn:sNt}),{useMutation:rNt}=await F("@tanstack/react-query"),aNt="/{robot_model}/control/setDetectMode",lNt=()=>rNt({mutationFn:({robot_model:i,switch:e})=>{const t=aNt.replace("{robot_model}",i);return Fs.post(t,{switch:e})}}),{useMutation:cNt}=await F("@tanstack/react-query"),dNt="/{robot_model}/control/setSafetyField",uNt=()=>cNt({mutationFn:({robot_model:i,safetyField:e})=>{const t=dNt.replace("{robot_model}",i);return Fs.post(t,{safetyField:e})}}),{useMutation:hNt}=await F("@tanstack/react-query"),gNt="/{robot_model}/control/setSafetyFlag",mNt=()=>hNt({mutationFn:({robot_model:i,name:e})=>{const t=gNt.replace("{robot_model}",i);return Fs.post(t,{safetyFlag:[{name:e,value:!1}]})}}),{useMutation:fNt}=await F("@tanstack/react-query"),pNt="/{robot_model}/control/setSafetyIo",_Nt=()=>fNt({mutationFn:async({robot_model:i,mcu0Din:e,mcu1Din:t})=>{const n=pNt.replace("{robot_model}",i),s=await Fs.post(n,{mcu0Din:e,mcu1Din:t});if(s.result==="reject")throw new Error(s.message);return s}}),{useCallback:Wu}=await F("react"),sAe="move.amr.toast.moveReject.title",bNt={"not localized":"move.amr.toast.moveReject.localizationUnavailable","same goal":"move.amr.toast.moveReject.sameTarget","out of bounds":"move.amr.toast.moveReject.outOfMapRange","marker node":"move.amr.toast.moveReject.markerNode","module not ready":"move.amr.toast.moveReject.robotNotReady","map not loaded":"move.amr.toast.moveReject.noMap","goal not found":"move.amr.toast.moveReject.targetNodeNotFound","path not found":"move.amr.toast.moveReject.noLink"},uF=i=>{if(!i||typeof i!="object")return"";const e=i,t=e.response?.data;return typeof t?.message=="string"?t.message:Array.isArray(t?.detail)?t.detail.map(n=>n&&typeof n=="object"&&"msg"in n?String(n.msg??""):"").filter(Boolean).join(" "):typeof e.message=="string"?e.message:""},vNt=(i,e)=>{const t=i?.trim()??"",n=t.startsWith("move.amr.toast.moveReject.")&&t!==sAe?t:bNt[t];return(n?e(n):void 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R=T.direction??(T.target>=0?"right":"left");f({robot_model:i,axis:"y",direction:R,target:Math.abs(T.target),speed:T.speed},{onSuccess:A=>{A?.result!=="accept"&&ov(A?.message,e)},onError:A=>{ov(uF(A),e)}});return}f({robot_model:i,axis:"x",target:T.target,speed:T.speed},{onSuccess:R=>{R?.result!=="accept"&&ov(R?.message,e)},onError:R=>{ov(uF(R),e)}})},[f,i,e]),y=Wu(T=>{a({robot_model:i},{onSuccess:R=>{if(R?.result==="reject"){const 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n({title:t("move.rby1.savedPose.deleteTitle"),content:t("move.rby1.savedPose.deleteContent",{name:R.name}),buttonText:{yes:t("move.rby1.savedPose.delete"),no:t("common.button.cancel")}})&&w({robotModel:e,poseId:R.poseId})};return u("div",{className:P("RBY1SavedPoseControl","h-full",i),children:x(U,{className:"h-full gap-3 overflow-y-auto px-3 py-2.5",children:[x(H,{className:"gap-2",alignItems:"baseline",children:[u("h6",{className:"typo-compact-sm-semibold text-fg-default",children:t("move.rby1.menu.savedPose")}),u("span",{className:"typo-compact-xs-medium text-fg-subtle",children:t("move.rby1.savedPose.count",{count:d.length})})]}),x(U,{className:"border-border-subtle bg-bg-alt-1 gap-2 rounded-lg border p-3",children:[u("span",{className:"typo-compact-xs-medium 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x(U,{className:P("RBY1JogMonitoring","gap-3",i),children:[x("table",{"data-testid":"rby1-joint-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[u("thead",{children:x("tr",{className:"text-fg-subtle font-normal",children:[x("th",{className:P(f,"min-w-16 font-normal"),children:[o("move.rby1.monitor.joint")," (°)"]}),Array.from({length:g},(p,_)=>x("th",{className:P(f,"min-w-14 font-normal"),children:["J",_]},_))]})}),u("tbody",{children:ob.map(p=>{const _=h[p.component]??[];return x("tr",{children:[u("td",{className:P(f,"text-fg-default"),children:l(p.component)}),Array.from({length:g},(b,v)=>u("td",{className:P(f,_[v]===void 0?"text-fg-subtlest":"text-fg-default font-semibold"),children:_[v]===void 0?h_e:_[v].toFixed(3)},v))]},p.value)})})]}),d&&x("table",{"data-testid":"rby1-tcp-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[u("thead",{children:x("tr",{className:"text-fg-subtle 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s=0;s<i.length&&!(s>=e.length);s++){const o=e[s]?.[t];o!=null&&(n[i[s]]=o)}return n}const{useCallback:p_e,useMemo:rU,useRef:vLt,useState:wLt}=await F("react"),yLt=["translate","rotate"],CLt=({className:i,robotModel:e})=>{const 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e=__e(null),t=__e(null),n=NLt(()=>{e.current&&t.current&&(e.current.textContent=wr(Date.now(),"MM-DD"),t.current.textContent=wr(Date.now(),"HH:mm"))},[]);return ILt(()=>{n();const s=setInterval(n,1e3);return()=>clearInterval(s)},[n]),x(H,{className:P("HeaderWatch","text-fg-subtle typo-compact-xs-medium h-6 gap-1",i),alignItems:"center",justifyContent:"flex-start",children:[u("span",{ref:e}),u("span",{ref:t})]})},b_e="header-network-badge",LLt=()=>{const{t:i}=q(),{theme:e}=tt(),{data:t,isPending:n}=kTe({refetchInterval:6e4,refetchOnWindowFocus:!0});if(n)return null;const s=!!t?.internet;return x(un,{children:[u("span",{id:b_e,className:"inline-flex size-8 items-center 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F("react"),N1t=({className:i,robotModel:e})=>{const{t}=q(),n=x1t(null),s=Xk(n),{data:o}=Ys(),[r]=yc(),{isUseSimulator:a,selectedRobotModel:l,setSelectedRobotModel:c}=ui(),[d,h]=ex("global"),{data:g}=Ih(),m=yA(e,Object.keys(g?.components??{}).length),{detailRobotModel:f,ghostActiveTcpAnchors:p,ghostDraggableJointNames:_,isGhostRobotSupported:b,isJointOnlyGhost:v,disabledGizmoTypes:y}=Qse(e),w=b||v,S=sv(()=>Object.entries(g?.components??{}).flatMap(([Dn,Ir])=>(Ir.tcpJointName??[]).map(Mp=>({componentModel:Dn,jointName:Mp}))),[g]),C=Zse(),{isGhostRobot:N,gizmoType:k,handleGizmoTypeChange:L}=C,D=v?k==="none"?"none":null:k,E=eMe(),{baseAssets:T,toolAssets:R,gizmoSelectedAssetIds:A,selectionMode:M,assetGizmoMode:O,setAssetGizmoMode:B,clearGizmoSelection:V,workspaceControlProps:Y,requestMenuId:$,requestMenuToken:Q,sceneHandlers:K,viewerProps:z}=zft({detailRobotModel:f,tcpJoints:S,urdfViewerRef:n,assetGizmoDisabled:N||E.isActive,assetPicker:E}),me=Tyt({urdfViewerRef:n,baseAssets:T,toolAssets:R,picker:E}),[X,re]=ex(!1),[be,_e]=ex(!1),[ke,Le]=ex(0),[Te,lt]=ex("off"),[it,bt]=ex([]),{viewerProps:ft,itemProps:cn,handleCheckFeatureSupport:Mt}=hyt({urdfViewerRef:n,isGhostRobot:N,gizmoType:D}),{userfSelectionNo:Yt,toolSelectionNo:An,statusIsRefon:ti,carteXRef:or,jointQRef:ge,toolName:Ue,motionMode:Pe}=Is(e,Dn=>({userfSelectionNo:Dn.userfSelectionNo,toolSelectionNo:Dn.toolSelectionNo,statusIsRefon:Dn.statusIsRefon,carteXRef:Dn.carteXRef,jointQRef:Dn.jointQRef,toolName:Dn.toolName,motionMode:Dn.motionMode})),Ne=ge?.length??7,ce=sv(()=>jyt(Ne,Yt,An),[Ne,Yt,An]),{data:Re}=Jk({robot_model:e}),{pluginData:Ee}=wA({robotModel:e,paintJointPath:be?{recording:!0,maxAgeSeconds:ke}:void 0,options:{baseAssets:T,toolAssets:R,onAssetLoad:Mt,onAssetTransformUpdate:Mt}}),{selectedRobot:$e,coreSwList:ct}=Vi(e),nn=$e?.connected==="DISCONNECT",{mutate:$n}=ept(),Nn=r.get("menu")??"jog",Si=ti===1,Mi=sv(()=>Pe!==0,[Pe]),{viewerProps:$i,itemProps:ks}=Pyt(me,Mi),Ai=sv(()=>{if(d==="user")return Re?.user_frames.filter((Dn,Ir)=>Ir===Yt).map(Dn=>({name:Dn.userfName,showLabel:!0,position:{x:Dn.userfOffset.v[0]/Rn,y:Dn.userfOffset.v[1]/Rn,z:Dn.userfOffset.v[2]/Rn},rotation:{rx:Dn.userfEuler.v[0],ry:Dn.userfEuler.v[1],rz:Dn.userfEuler.v[2]}}))},[Re,Yt,d]),rr=sv(()=>Re?.user_frames.map(Dn=>Dn.userfName)??LRe.user_frames.map(Dn=>Dn.userfName),[Re?.user_frames]),sl=Dn=>{$n({robot_model:e,refcontrol_option:Dn==="real"?1:0})},oa=()=>{re(Dn=>!Dn)},Zl=ZS(Dn=>{Dn.isDrawTrajectory!==void 0&&_e(Dn.isDrawTrajectory),Dn.maxAgeSeconds!==void 0&&Le(Dn.maxAgeSeconds)},[]),{ghostJointValues:Mh,handleGhostRobotJointsChanged:Zm}=eoe(N),pi=dPe({robotModel:e,urdfViewerRef:n,carteXRef:or,jointQRef:ge,toolName:Ue,isDisconnected:nn,jointOnly:v,ghostJointValuesRad:Mh}),Da=ZS(Dn=>{L(Dn),Dn==="surfaceTeach"&&V()},[L,V]),{viewerProps:Og,itemProps:kc}=toe({gizmo:C,ghostRobotIK:pi,isMoving:Mi,gizmoType:D,onGizmoTypeChange:Da,activeTcpAnchors:p,draggableJointNames:_,onGhostRobotJointsChanged:v?Zm:void 0}),{onGhostRobotChange:ra}=kc,{onMeasureActiveChange:ss}=ks,Lt=ZS(Dn=>{Dn&&me.isMeasureActive&&ss(!1),ra(Dn)},[ra,ss,me.isMeasureActive]),Oi=ZS(Dn=>{Dn&&N&&ra(!1),ss(Dn)},[ra,ss,N]),fs=ZS(Dn=>{const Ir=g?.components;if(!Ir||Object.keys(Ir).length<=1)return;for(const eo of Dn.pathJointNames)for(const[Rl,ol]of Object.entries(Ir))if((ol.type==="array"?ol.mapper:Object.values(ol.mapper)).includes(eo)||ol.tcpJointName?.includes(eo)){Rl!==l&&c(Rl);return}for(const eo of Dn.pathLinkNames)for(const[Rl,ol]of Object.entries(Ir)){const hn=(ol.type==="array"?ol.mapper:Object.values(ol.mapper))[0];if(hn){const Me=hn.charAt(0);if(eo.startsWith(`${Me}link`)){Rl!==l&&c(Rl);return}}}if(Dn.pathLinkNames.some(eo=>/^(mobile|amr|base_link|wheel)/i.test(eo))){const eo=ct?.find(Rl=>Rl.be_service==="amr"||/amr|mobile/i.test(Rl.model)||/amr|mobile/i.test(Rl.sw_name));if(eo&&eo.model!==l){c(eo.model);return}}},[g,l,c,ct]),zi=ZS(Dn=>{Dn.chartMode!==void 0&&lt(Dn.chartMode)},[]);S1t(()=>{Nn==="jog"&&X&&re(!1)},[Nn,X]);const Hr=sv(()=>[{key:"zoom-in-out",element:u(V1,{onZoomIn:s.zoomIn,onZoomOut:s.zoomOut})},{key:"camera-view",element:u(vA,{onSetCameraView:s.setCameraView})},{key:"trajectory",element:u(ZRe,{handleChangeDrawTrajectory:Zl})},...w?[{key:"ghost-robot",element:u(R9,{...kc,...cn,onGhostRobotChange:Lt,disabledGizmoTypes:y,gizmoOptionsDisabled:v})}]:[],{key:"measure-distance",element:u(Syt,{...ks,onMeasureActiveChange:Oi})},{key:"state-core-chart",element:u(Jyt,{chartGroups:ce,handleChangeStateCoreChart:zi,onSelectedChannelIdsChange:bt})}],[s.zoomIn,s.zoomOut,s.setCameraView,Zl,w,y,v,kc,cn,Lt,ks,Oi,zi,ce]),Ta=sv(()=>[{id:"jog",label:t("move.menu.button.label.jog"),icon:u(iK,{}),content:u(eJ,{robotModel:e,onTabChange:h})},{id:"advenced-jog",label:t("move.menu.button.label.advJog"),icon:u(iK,{}),content:u(C1t,{robotModel:e})},{id:"tcp-tool",label:t("move.menu.button.label.tcpTool"),icon:u(DJe,{}),content:u(hpt,{robotModel:e})},{id:"gripper",label:t("move.menu.button.label.gripper"),icon:u(NKe,{}),content:u(wbt,{robotModel:e})},{id:"zero-pose",label:t("move.menu.button.label.zeroPose"),icon:u(wDe,{}),content:u(_pt,{robotModel:e})},{id:"global-pinpoint",label:t("move.menu.button.label.pinpoint"),icon:u(oje,{}),content:u(Dbt,{robotModel:e})},{id:"record",label:t("move.menu.button.label.record"),icon:u(rje,{}),content:u(hwt,{robotModel:e})},{id:"weld",label:t("move.menu.button.label.weld"),icon:u(aje,{className:"rotate-180"}),content:u(Cwt,{robotModel:e})},{id:"calibration",label:t("move.menu.button.label.calibration"),icon:u(CDe,{}),content:u(ryt,{robotModel:e,userFrameNameList:rr})},{id:"move-io",label:t("settings.menu.title.io"),icon:u(nKe,{}),content:u(fyt,{robotModel:e})},{id:"master",label:t("move.menu.button.label.masterMode"),icon:u(WKe,{className:"size-5"}),content:u(Wyt,{robotModel:e})},{id:"workspace",label:t("move.menu.button.label.assetManager"),icon:u(_Je,{className:"size-5"}),content:null}],[t,e,h,rr]),aa=sv(()=>({id:"workspace",content:u(nwt,{...Y,isMenuActive:Nn==="workspace"})}),[Y,Nn]);return x(G9,{className:P("ManipulateMove","relative overflow-hidden",i),rightIconPanels:Hr,menus:Ta,persistentMenu:aa,beService:o?.modelInfo?.be_service,requestMenuId:$,requestMenuToken:Q,children:[x("div",{className:"h-full flex-1 p-2.5",children:[x("div",{className:"absolute top-0 left-0 z-1 size-full",...K,children:[u(Km,{ref:n,className:"relative size-full",cameraPositionKey:"manipulate-move",showPerformanceHUD:!0,...z,robotModel:o?.info?.robotModel,etcAxesArr:Ai,enablePanning:!0,plugin:Ee,isRealMode:Si,outlinedLinkNames:m,...Og,...ft,...$i,onDoubleClickRobot:fs}),A.length===1&&!M&&Nn==="workspace"&&u("div",{className:"animate-in fade-in absolute top-78 left-3 z-20 duration-200",children:u(Oyt,{mode:O,onModeChange:B,modes:[...T,...R].find(Dn=>Dn.id===A[0])?.source.kind==="file"?["translate","rotate"]:["translate","rotate","scale"]})})]}),x(U,{className:"pointer-events-none relative z-2 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s=i.reduce((o,r)=>({x:o.x+r.x,y:o.y+r.y}),{x:0,y:0});return new Ve(s.x/i.length,s.y/i.length,0)},P1t=({zones:i,selectedZoneIds:e,focusedZoneId:t})=>{const n=aF(()=>{if(!e||e.length===0)return[];const a=new Set(e);return(i??[]).filter(l=>a.has(l.id))},[e,i]),s=aF(()=>n.length===0?null:t?n.find(a=>a.id===t)??null:n[0]??null,[t,n]),o=aF(()=>n.map(a=>({id:a.id,title:a.name||a.id,type:a.type,pointCount:a.polygon.length})),[n]),r=aF(()=>s?E1t(s.polygon):null,[s]);return{selectedZones:n,focusedZone:s,selectedZoneOverlayItems:o,focusedZoneAnchor:r}},{useMemo:R1t}=await F("react"),{useQuery:M1t}=await F("@tanstack/react-query"),YMe="/{robot_model}/setting/getSettingPresetList",A1t=async({robot_model:i,baseURL:e})=>{const t=YMe.replace("{robot_model}",i);return tb.get(t,void 0)},O1t=({robot_model:i,baseURL:e})=>[YMe,i,e??""],F1t=(i,e={},t)=>{const n=R1t(()=>O1t({...i,baseURL:t}),[t,i]);return{...M1t({queryKey:n,queryFn:()=>A1t({...i,baseURL:t}),enabled:!!i.robot_model,...e}),queryKey:n}},{useMemo:B1t}=await F("react"),{useQuery:V1t}=await F("@tanstack/react-query"),XMe="/{robot_model}/info/category",z1t=async({robot_model:i})=>{const e=XMe.replace("{robot_model}",i);return tb.get(e)},W1t=({robot_model:i})=>[XMe,i],H1t=(i,e={})=>{const{robot_model:t}=i,{enabled:n=!0,...s}=e,o=B1t(()=>W1t({robot_model:t}),[t]);return{...V1t({queryKey:o,queryFn:()=>z1t(i),enabled:!!t&&n,...s}),queryKey:o}},{useMemo:$1t}=await F("react"),{useQuery:U1t}=await F("@tanstack/react-query"),QMe="/{robot_model}/setting/getSettingPreset",j1t=async({robot_model:i,level:e,presetId:t,baseURL:n})=>{const s=QMe.replace("{robot_model}",i);return tb.get(s,{params:{level:e,presetId:t}})},G1t=({robot_model:i,level:e,presetId:t,baseURL:n})=>[QMe,i,e,t,n??""],q1t=(i,e={},t)=>{const{robot_model:n,level:s,presetId:o}=i,r=$1t(()=>G1t({robot_model:n,level:s,presetId:o,baseURL:t}),[t,s,o,n]);return{...U1t({queryKey:r,queryFn:()=>j1t({...i,baseURL:t}),enabled:!!n&&typeof s=="number"&&!Number.isNaN(s)&&typeof o=="number"&&!Number.isNaN(o),...e}),queryKey:r}},{useMemo:Y4n}=await F("react"),{useQuery:X4n}=await F("@tanstack/react-query"),{useMemo:Q4n}=await F("react"),{useQuery:Z4n}=await F("@tanstack/react-query"),{useQuery:K1t}=await F("@tanstack/react-query"),poe="/{robot_model}/map/list",J1t=({robot_model:i,baseURL:e})=>[poe,i,""],Y1t=async({robot_model:i,baseURL:e})=>{const t=poe.replace("{robot_model}",i);return tb.get(t,{})},X1t=({robot_model:i,enabled:e=!0},t={},n)=>{const{enabled:s=!0,...o}=t,r=J1t({robot_model:i,baseURL:n});return{...K1t({queryKey:r,queryFn:()=>Y1t({robot_model:i,baseURL:n}),enabled:!!i&&e&&s,...o}),queryKey:r}},{useCallback:OD,useEffect:Q1t,useMemo:Z1t,useRef:Vpe}=await F("react"),eSt=({robotModel:i,linearSpeed:e=.8,rotationSpeed:t=45})=>{const{socketEventEmit:n}=Dg(),s=Vpe({vx:0,vy:0,wz:0}),o=Vpe(null),r=Z1t(()=>`amr/${i}/move/jog`,[i]),a=OD(()=>{n(r,{...s.current})},[r,n]),l=OD(()=>{typeof window>"u"||o.current&&(window.clearInterval(o.current),o.current=null)},[]),c=OD(()=>{typeof 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Q1t(()=>()=>{l()},[l]),{handleJoystickMove:h,handleButtonMove:d}},tSt={obsBoxMinX:0,obsBoxMaxX:0,obsBoxMinY:0,obsBoxMaxY:0,stopMarginX:0,stopMarginY:0,slowMarginX:0,slowMarginY:0},zpe={layers:[],width:0,height:0,gridSize:0,safety:tSt},nSt=(i,e=!0)=>{const{data:t=zpe,loading:n}=hs(`amr/${i}/socket/obsMap`,{defaultValue:zpe,disabled:!e,selector:s=>({layers:s?.layers?.map(o=>({name:o?.name??"",data:o?.data??[]}))??[],width:s?.width??0,height:s?.height??0,gridSize:s?.gridSize??0,safety:{obsBoxMinX:s?.safety?.obsBoxMinX??0,obsBoxMaxX:s?.safety?.obsBoxMaxX??0,obsBoxMinY:s?.safety?.obsBoxMinY??0,obsBoxMaxY:s?.safety?.obsBoxMaxY??0,stopMarginX:s?.safety?.stopMarginX??0,stopMarginY:s?.safety?.stopMarginY??0,slowMarginX:s?.safety?.slowMarginX??0,slowMarginY:s?.safety?.slowMarginY??0}})});return{data:t,loading:n}},{useRef:iSt}=await F("react"),Wpe={data:[]},sSt=(i,e=!0)=>{const{data:t=Wpe,loading:n}=hs(`amr/${i}/socket/globalPath`,{defaultValue:Wpe,disabled:!e,selector:o=>({data:o?.data??[]})}),s=iSt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:oSt}=await F("react"),Hpe={data:[]},rSt=(i,e=!0)=>{const{data:t=Hpe,loading:n}=hs(`amr/${i}/socket/trajectory`,{defaultValue:Hpe,disabled:!e,selector:o=>({data:o?.data??[]})}),s=oSt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:aSt}=await F("react"),$pe={data:[]},lSt=(i,e=!0)=>{const{data:t=$pe,loading:n}=hs(`amr/${i}/socket/localPath`,{defaultValue:$pe,disabled:!e,selector:o=>({data:o?.data??[]})}),s=aSt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{forwardRef:cSt}=await F("react"),ZMe=cSt(({robotModel:i,...e},t)=>{const{data:n}=fRe(i),{data:s}=sSt(i),{data:o}=lSt(i),{data:r}=rSt(i);return u(oDe,{ref:t,...e,lidarPoints:n,globalPath:s,localPath:o,trajectory:r})});ZMe.displayName="AmrWorldStudio";const{useMutation:dSt}=await F("@tanstack/react-query"),uSt="/{robot_model}/map/setCloud",hSt=async({robot_model:i,mapName:e,fileName:t,data:n})=>{const s=uSt.replace("{robot_model}",i);return Fs.post(s,{mapName:e,fileName:t,data:n})},gSt=()=>dSt({mutationFn:hSt}),{useMutation:mSt}=await F("@tanstack/react-query"),fSt="/{robot_model}/map/setTopology",pSt=async({robot_model:i,mapName:e,nodes:t,links:n,zones:s})=>{const o=fSt.replace("{robot_model}",i);return Fs.post(o,{mapName:e,nodes:t,links:n,zones:s})},_St=()=>mSt({mutationFn:pSt}),{useCallback:G8}=await F("react"),bSt=i=>typeof i=="object"&&i!==null&&"isError"in i&&i.isError===!0,vSt=({selectedRobotModel:i,currentMapName:e,mapTopoParams:t,getMapPointsData:n,getTopologyData:s,loadMapAndRefreshCurrentMap:o,loadTopology:r,refreshTopologyData:a,onTopologySaved:l,onTopologyCanceled:c,onCloudSaved:d})=>{const{mutate:h}=gSt(),{mutate:g,isPending:m}=_St(),f=G8(()=>{const b=t?.mapName??e;if(!b)return;const v=s();g({robot_model:i,mapName:b,nodes:v.nodes,links:v.links,zones:v.zones},{onSuccess:async()=>{try{await r(b),l?.(),rt.openToast({type:"basic",variant:"success",title:"Topology Save Success",content:"Topology data has been saved"})}catch{rt.openToast({type:"basic",variant:"warning",title:"Topology Load Failed",content:"Topology was saved, but failed to load"})}}})},[e,s,r,t?.mapName,l,g,i]),p=G8(async()=>{try{const b=await a?.();if(bSt(b))throw b.error;c?.()}catch{rt.openToast({type:"basic",variant:"warning",title:"Topology Cancel Failed",content:"Failed to revert topology changes"})}},[c,a]),_=G8(()=>{if(!e)return;const b=n();h({robot_model:i,mapName:e,fileName:"cloud.csv",data:b},{onSuccess:()=>{o(e),d?.(),rt.openToast({title:"Cloud Save Success",content:"Cloud data has been saved",type:"basic",variant:"success"})}})},[e,n,o,d,h,i]);return{handleSaveTopologyChanges:f,handleCancelTopologyChanges:p,handleSaveCloud:_,isTopologySaving:m}},{useMemo:wSt}=await F("react"),ySt=({currentMapName:i,mapListData:e})=>({currentMapInfo:wSt(()=>i&&e?.list?e.list.find(n=>n.mapName===i):null,[i,e?.list])}),CSt=({selectedRobotModel:i,mapTopoParams:e})=>{const t=e?.mapName??"",{data:n,dataUpdatedAt:s}=bRe({robot_model:i,mapName:t,fileName:"cloud.csv"},{enabled:!!t}),{data:o,dataUpdatedAt:r,refetch:a}=mRe({robot_model:i,mapName:t},{enabled:!!t});return{mapCloud:n,mapCloudUpdatedAt:s,topology:o,topologyUpdatedAt:r,refetchTopology:a}},{useMemo:SSt}=await F("react"),xSt=({currentMapName:i,createdAt:e,lastModified:t,mapCloudCount:n,mapBounds:s,topologyCount:o,nodeTypeCounts:r,mappingStatus:a,elapsedSeconds:l,completedKeyframeCount:c,totalKeyframePoints:d,onStartMapping:h,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p,isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:y,eraseSelectedAreaDisabled:w,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:N,hasUnsavedCloudChanges:k,onDiscardCloudChanges:L,onLoadMap:D,loadMapDisabled:E,onDownloadMap:T,downloadMapDisabled:R})=>SSt(()=>({mapInfoProps:{currentMapName:i,createdAt:e,lastModified:t,mapCloudCount:n,mapBounds:s,topologyCount:o,nodeTypeCounts:r},mappingTabProps:{mappingStatus:a,elapsedSeconds:l,completedKeyframeCount:c,totalKeyframePoints:d,onStartMapping:h,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p},eraserTabProps:{isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:y,eraseSelectedAreaDisabled:w,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:N},hasUnsavedCloudChanges:k,onDiscardCloudChanges:L,onLoadMap:D,loadMapDisabled:E,onDownloadMap:T,downloadMapDisabled:R}),[c,e,i,l,v,w,k,_,t,s,n,r,f,L,D,T,S,b,C,N,m,h,g,y,E,a,R,o,p,d]),{queryOptions:NSt,useQueries:ISt,useQuery:kSt}=await F("@tanstack/react-query"),eAe="/{robot_model}/setting/getSettingParam",tAe=async i=>{const{robot_model:e,...t}=i,n=eAe.replace("{robot_model}",e);return Fs.get(n,{params:t})},nAe=i=>[eAe,i],LSt=(i,e=!0)=>NSt({queryKey:nAe(i),queryFn:()=>tAe(i),enabled:e}),DSt=(i,e={})=>kSt({queryKey:nAe(i),queryFn:()=>tAe(i),...e}),TSt=({robot_model:i,robotType:e,categories:t,level:n=2,enabled:s=!0})=>ISt({queries:t.map(o=>LSt({robot_model:i,robotType:e,category:o,level:n},s&&!!i&&!!e&&!!o))}),{useMemo:Upe}=await F("react"),ESt=({robotModel:i,monitorStatusSnapshot:e,robotVersion:t,selectedTool:n,onToolChange:s,onStartLocalization:o,onInitLocalization:r,onSemiAutoInitLocalization:a,onStopLocalization:l,onBuildInfoOpenChange:c,onDock:d,onDockPause:h,onDockResume:g,onDockStop:m,onUndock:f,dockRejectMessage:p,taskLogData:_,amrMoveStatus:b,onSetMotorLocked:v,onClearSafetyFlag:y,onLidarFieldSave:w,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:N,onSetSafetyIo:k})=>{const{data:L}=DSt({robot_model:i,robotType:i,category:"docking",level:2}),D=Upe(()=>{const E=L?.params?.find(T=>T.key==="DOCKING_RETRY_COUNT")?.value;return E!==void 0?Number(E):void 0},[L]);return Upe(()=>({robotModel:i,overviewProps:{amrStatus:e,robotVersion:t,selectedTool:n,onStartLocalization:o,onInitLocalization:r,onSemiAutoInitLocalization:a,onStopLocalization:l,onToolChange:s,onBuildInfoOpenChange:c},dockProps:{amrStatus:e,onDock:d,onPause:h,onResume:g,onStop:m,onUndock:f,maxRetryCount:D,rejectMessage:p??void 0},taskProps:{logData:_,moveStatus:b},pduProps:{amrStatus:e,setMotorLocked:v,onClearSafetyRecovery:y,onLidarFieldSave:w,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:N,onSetSafetyIo:k}}),[b,D,e,t,y,w,S,C,N,k,d,h,g,p,m,c,r,a,v,o,l,s,f,n,_,i])},{useMemo:PSt}=await F("react"),RSt=({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n})=>PSt(()=>({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n}),[t,e,i,n]),{useCallback:nc}=await F("react"),MSt=({emit:i,nodes:e,selectedObjects:t,selectedNodeType:n,onToolChange:s,setIsEraserEnabled:o,setEraserRadius:r})=>{const a=nc(k=>{o(k),i("ui:eraser-toggle-requested",k),i("ui:pointer-action-set-requested",k?"erase":"inspect"),s(k?"disabled":"select")},[i,s,o]),l=nc(()=>{i("ui:points-delete-requested",void 0)},[i]),c=nc(()=>{i("ui:unselect-points-requested",void 0)},[i]),d=nc(k=>{k>0&&(r(k),i("eraser:radius-changed",k))},[i,r]),h=nc(k=>{switch(k){case"goal":return"GOAL";case"route":return"ROUTE";case"align":return"ALIGN"}},[]),g=nc(()=>{i("ui:quick-add-node-requested",h(n))},[i,h,n]),m=nc(()=>{i("ui:add-node-by-preview-requested",h(n))},[i,h,n]),f=nc(()=>{const k=e[e.length-1]?.uuid;k&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:k,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,e]),p=nc(()=>{const k=t[t.length-1]?.uuid??null;k&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:k,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,t]),_=nc((k,L)=>{i("ui:node-updated",{nodeId:k,updates:L})},[i]),b=nc((k,L)=>{i("ui:node-type-change-requested",{nodeId:k,type:h(L)})},[i,h]),v=nc((k,L,D)=>{i(D==="delta"?"ui:nodes-transform-delta-requested":"ui:nodes-transform-absolute-requested",{target:k,value:L})},[i]),y=nc((k,L,D)=>{if(!(t.length<2)){if(t.length===2||L==="sequential"){i("ui:link-nodes-requested",{nodes:t,strategy:"sequential",bidirectional:k,properties:D});return}i("ui:link-nodes-requested",{nodes:t,strategy:"complete",bidirectional:k,properties:D})}},[i,t]),w=nc(()=>{t.length<2||i("ui:unlink-nodes-requested",void 0)},[i,t]),S=nc((k,L)=>{i("ui:link-updated",{linkId:k,updates:L})},[i]),C=nc(k=>{i("ui:link-delete-requested",{linkId:k})},[i]),N=nc(k=>{i("ui:link-focus-requested",{linkId:k})},[i]);return{handleEraserToggle:a,handleDeletePoints:l,handleReleasePoint:c,handleEraserRadiusChange:d,handleAddNodeAtRobot:g,handleAddNodeAtCursor:m,handleDeleteLastNode:f,handleDeleteLastSelectedNode:p,handleNodeUpdate:_,handleNodeTypeChange:b,handleSelectedNodesTransform:v,handleCreateLinks:y,handleDeleteLinksBetweenSelected:w,handleLinkUpdate:S,handleLinkDelete:C,handleLinkFocus:N}},{useQuery:eBn}=await F("@tanstack/react-query"),ASt="/{robot_model}/capability/lidar2d",OSt=async({robot_model:i})=>{const e=ASt.replace("{robot_model}",i);return Fs.get(e)},{useCallback:lF}=await F("react"),FSt=({type:i,features:e})=>i?.toUpperCase()==="GOAL"&&Array.isArray(e)&&e.some(t=>t.toUpperCase()==="INIT"),BSt=({selectedRobotModel:i,currentMapName:e,currentMapInfo:t,mapListData:n,topologyNodes:s,hasUnsavedTopologyChanges:o,handleInitLocalization:r,handleSemiAutoInitLocalization:a})=>{const l=lF(()=>!e||!!n?.list?.length&&!t?(rt.openToast({type:"basic",variant:"warning",title:"Map Not Loaded",content:"Load a map before running localization init.",position:"top-right"}),!1):!0,[t,e,n?.list]),c=lF(async()=>{if(!i)return!1;try{return(await OSt({robot_model:i})).info?.some(f=>f.connection)??!1?!0:(rt.openToast({type:"basic",variant:"warning",title:"LiDAR Disconnected",content:"Connect the 2D LiDAR before running localization init.",position:"top-right"}),!1)}catch{return rt.openToast({type:"basic",variant:"warning",title:"LiDAR Status Check Failed",content:"Failed to check 2D LiDAR connection status.",position:"top-right"}),!1}},[i]),d=lF(async()=>{l()&&await c()&&r()},[c,l,r]),h=lF(async()=>{if(!l()||!await c())return;if(o){rt.openToast({type:"basic",variant:"warning",title:"Unsaved Topology Changes",content:"Please save topology changes before running semi auto init.",position:"top-right"});return}if((s??[]).filter(FSt).length===0){rt.openToast({type:"basic",variant:"warning",title:"Semi Auto Init Unavailable",content:"No goal node with INIT feature found in topology.",position:"top-right"});return}a()},[l,c,o,s,a]);return{handleInitLocalizationWithGuard:d,handleSemiAutoInitLocalizationWithGuard:h}},{useMutation:VSt}=await F("@tanstack/react-query"),zSt="/{robot_model}/map/loadMap",WSt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=zSt.replace("{robot_model}",i);return tb.post(n,{mapName:e},t?{baseURL:t}:void 0)},HSt=()=>VSt({mutationFn:WSt}),{useMutation:$St}=await F("@tanstack/react-query"),USt="/{robot_model}/map/loadTopo",jSt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=USt.replace("{robot_model}",i);return tb.post(n,{mapName:e},t?{baseURL:t}:void 0)},GSt=()=>$St({mutationFn:jSt}),{useMutation:qSt}=await F("@tanstack/react-query"),KSt="/{robot_model}/localization/{command}",JSt=async i=>{const{robot_model:e,command:t}=i,n=KSt.replace("{robot_model}",e).replace("{command}",t);return t==="semiAutoInit"?tb.post(n):tb.post(n,i.payload)},YSt=()=>qSt({mutationFn:JSt}),{useMutation:XSt}=await F("@tanstack/react-query"),QSt="/{robot_model}/setting/setSettingPreset";class kJ extends Error{constructor(e){super(e),this.name="SettingPresetRejectError"}}const ZSt=i=>typeof i.result=="string"&&i.result.toLowerCase()!=="accept",ext=async i=>{const{robot_model:e,baseURL:t,...n}=i,s=QSt.replace("{robot_model}",e),o=await tb.post(s,n,t?{baseURL:t}:void 0);if(ZSt(o))throw new kJ(o.message||"setSettingPreset: 요청이 거절되었습니다.");return o},txt=()=>XSt({mutationFn:i=>ext(i)}),{useMutation:tBn}=await F("@tanstack/react-query"),{useCallback:FD}=await F("react"),nxt=({selectedRobotModel:i,getPreviewTransform:e})=>{const{mutate:t}=YSt(),n=FD(l=>{const c=e();c&&t({robot_model:i,command:l,payload:{pose:c}})},[e,t,i]),s=FD(()=>{t({robot_model:i,command:"semiAutoInit"})},[t,i]),o=FD(()=>{n("start")},[n]),r=FD(()=>{n("init")},[n]),a=FD(()=>{n("stop")},[n]);return{handleStartLocalization:o,handleInitLocalization:r,handleSemiAutoInitLocalization:s,handleStopLocalization:a}},{useCallback:q8}=await F("react"),ixt=({selectedRobotModel:i})=>{const{mutateAsync:e}=HSt(),{mutateAsync:t}=GSt(),n=q8(async r=>await e({robot_model:i,mapName:r}),[e,i]),s=q8(async r=>{const a=await t({robot_model:i,mapName:r});if(a.result!=="accept")throw new Error(a.message||"Failed to load topology");return a},[t,i]),o=q8(async r=>{await n(r)},[n]);return{loadMapAndRefreshCurrentMap:n,loadTopology:s,handleLoadMap:o}},sxt=i=>{const{data:e}=X1t({robot_model:i});return{mapListData:e}},{useMutation:K8}=await F("@tanstack/react-query"),oxt="/{robot_model}/mapping/start",rxt="/{robot_model}/mapping/stop",axt="/{robot_model}/mapping/save",lxt=i=>i==="accept",cxt=async({robot_model:i})=>{const e=oxt.replace("{robot_model}",i);return Fs.post(e)},dxt=async({robot_model:i})=>{const e=rxt.replace("{robot_model}",i);return Fs.post(e)},uxt=async({robot_model:i,mapName:e})=>{const t=axt.replace("{robot_model}",i);return Fs.post(t,{mapName:e})},hxt=()=>{const i=K8({mutationFn:cxt}),e=K8({mutationFn:dxt});return{saveMapping:K8({mutationFn:uxt,onSuccess:n=>{if(lxt(n.result)){rt.openToast({type:"basic",variant:"success",title:"Map Save Success",content:"Map data has been saved",position:"top-right"});return}rt.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:n.message||"Failed to save map",position:"top-right"})},onError:()=>{rt.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:"Failed to save map",position:"top-right"})}}).mutateAsync,stopMapping:e.mutateAsync,startMapping:i.mutateAsync}},jpe={data:[],chunkNum:0,chunkId:0},gxt=(i,e=!0)=>{const{data:t=jpe,loading:n}=hs(`amr/${i}/socket/mappingKeyFRM`,{defaultValue:jpe,disabled:!e,selector:s=>({data:s?.data??[],chunkNum:s?.chunkNum??0,chunkId:s?.chunkId??0})});return{...t,loading:n}},{useCallback:BD,useEffect:cF,useRef:VD,useState:tx}=await F("react"),{useQueryClient:mxt}=await F("@tanstack/react-query"),Gpe=i=>i==="accept",fxt=i=>i==="accept",pxt=({selectedRobotModel:i,emit:e,loadMapAndRefreshCurrentMap:t})=>{const n=mxt(),{data:s}=gRe({robot_model:i}),o=s?.mapName,{startMapping:r,stopMapping:a,saveMapping:l}=hxt(),[c,d]=tx("idle"),h=VD("idle"),[g,m]=tx(null),[f,p]=tx(0),[_,b]=tx(!1),[v,y]=tx(0),[w,S]=tx(0),C=VD(null),N=VD(new Set),k=VD(new Map),L=VD(!1),{data:D}=pRe(i,_),E=gxt(i,_);cF(()=>{h.current=c},[c]),cF(()=>{if(c!=="recording"||g===null)return;const B=window.setInterval(()=>{const V=Math.floor((Date.now()-g)/1e3);p(V)},1e3);return()=>{window.clearInterval(B)}},[g,c]);const T=BD(()=>{d("idle"),m(null),p(0),b(!1),y(0),S(0),C.current=null,N.current.clear(),k.current.clear(),L.current=!1},[]);cF(()=>{if(!_||h.current!=="recording"||!E||E.chunkNum<=0)return;const{chunkNum:B,chunkId:V,data:Y}=E;if(V<0||V>=B||((V===0||C.current===null||C.current!==B)&&(C.current=B,N.current.clear(),k.current.clear(),L.current=!1),L.current)||(N.current.add(V),k.current.set(V,Y.length),N.current.size!==B))return;const $=Array.from(k.current.values()).reduce((Q,K)=>Q+K,0);L.current=!0,y(Q=>Q+1),S(Q=>Q+$)},[E,_]);const R=BD(async()=>{if(h.current!=="idle")return!1;try{const B=await r({robot_model:i}),V=Gpe(B.result);return V&&(d("recording"),m(Date.now()),p(0),b(!0),y(0),S(0),C.current=null,N.current.clear(),k.current.clear(),L.current=!1,e("ui:mapping-start-requested",void 0)),V}catch{return!1}},[e,i,r]),A=BD(async()=>{if(h.current!=="recording")return!1;try{const B=await a({robot_model:i}),V=Gpe(B.result);return V&&(d("stopped"),b(!1)),V}catch{return!1}},[i,a]),M=BD(async B=>{if(h.current==="saving")return{ok:!1,reason:"save-failed"};d("saving");try{const V=await l({robot_model:i,mapName:B});if(n.invalidateQueries({queryKey:[poe,i]}),!fxt(V.result))return d("stopped"),{ok:!1,reason:"save-failed"};try{return await t(B),T(),{ok:!0}}catch{return d("stopped"),{ok:!1,reason:"load-failed"}}}catch{return d("stopped"),{ok:!1,reason:"save-failed"}}finally{e("ui:mapping-stop-requested",void 0)}},[e,t,n,T,l,i]),O=BD(async()=>{const B=h.current;if(B!=="discarding"){d("discarding"),b(!1);try{if(B==="recording")try{await a({robot_model:i})}catch(V){console.error("Failed to stop mapping during discard:",V)}e("ui:mapping-stop-requested",void 0),o&&await t(o)}finally{T()}}},[o,e,t,T,i,a]);return cF(()=>()=>{const B=h.current;B!=="idle"&&(b(!1),e("ui:mapping-stop-requested",void 0),B==="recording"&&a({robot_model:i}))},[e,i,a]),{mappingPoints:D,mappingKeyFrame:E,mappingStatus:c,elapsedSeconds:f,mappingSocketEnabled:_,completedKeyframeCount:v,totalKeyframePoints:w,handleStartMapping:R,handleStopMapping:A,handleSaveMapping:M,handleDiscardMapping:O}};function _xt(i,e,t=!0){const{data:n,loading:s,isDefaultData:o}=hs(`amr/${i}/infoStatus`,{defaultValue:{infos:[]},selector:e,disabled:!t});return{data:n,loading:s,isDefaultData:o}}const iAe=/MCU\s*([0-9]+).*?(DIN|DIO|INPUT|OUTPUT|DI|DO|입력|출력|_IN|_OUT)[\s_-]*([0-9]+)/i,bxt=(i,e)=>{const t=i.toUpperCase();return t==="DIO"||t==="DO"?t:t==="DIN"||t==="DI"||t==="INPUT"||t==="입력"?"DIN":t==="OUTPUT"||t==="출력"?"DIO":e==="din"?"DIN":"DIO"},vxt=(i,e)=>i.replace(/[\s_-]*[0-9]+\s*$/,"").trim()||e,wxt=(i,e)=>Object.entries(i).reduce((t,[n,s])=>{if(typeof s!="string"||s.length===0)return t;const o=s.match(iAe);return o&&(t[n]=vxt(o[0],e)),t},{}),yxt=(i,e)=>{if(!(i!==0&&i!==1))return`mcu${i}${e==="din"?"Din":"Dio"}`},Cxt=i=>{const e=i.trim().toLowerCase();if(e==="1"||e==="true"||e==="on")return!0;if(e==="0"||e==="false"||e==="off")return!1},Sxt=i=>Object.values(i).filter(e=>typeof e=="string"&&e.length>0),xxt=i=>{for(const e of Sxt(i)){const t=e.match(iAe);if(!t)continue;const n=Number(t[1]),s=t[2],o=s.toUpperCase(),r=Number(t[3]),a=o==="DI"||o==="DIN"||o==="INPUT"||o==="입력"||o==="_IN"?"din":"dio",l=`MCU${n}`,c=bxt(s,a),d=`${l} ${c}`,h=wxt(i,d);return{key:yxt(n,a),rowKey:`mcu${n}-${a}`,label:h,mcu:n,kind:a,pin:r}}return null},zD=i=>{const e=Array.from(i.values()).sort((t,n)=>t.pin-n.pin);return e.length>0?e:void 0},Nxt=i=>{const e={mcu0Dio:new Map,mcu1Dio:new Map,mcu0Din:new Map,mcu1Din:new Map},t=new Map;for(const o of i?.infos??[]){if(o.categoryId!=="io")continue;const r=xxt(o.name),a=Cxt(o.value);if(!r||a===void 0)continue;const l={pin:r.pin,value:a,rawValue:o.value};r.key&&e[r.key].set(r.pin,l);const c=t.get(r.rowKey);c?c.bits.set(r.pin,l):t.set(r.rowKey,{key:r.rowKey,label:r.label,mcu:r.mcu,kind:r.kind,bits:new Map([[r.pin,l]])})}const n=Array.from(t.values()).map(o=>({...o,bits:zD(o.bits)??[]})).filter(o=>o.bits.length>0).sort((o,r)=>o.kind!==r.kind?o.kind==="din"?-1:1:o.mcu-r.mcu),s={rows:n.length>0?n:void 0,mcu0Dio:zD(e.mcu0Dio),mcu1Dio:zD(e.mcu1Dio),mcu0Din:zD(e.mcu0Din),mcu1Din:zD(e.mcu1Din)};return n.length>0?s:void 0},{useMemo:dF}=await F("react"),Ixt=({selectedRobotModel:i,enableInfoStatus:e=!1,enableTaskLogRefetch:t=!1})=>{const n=Kk(i),s=Use(i),o=_xt(i,void 0,e),{data:r}=$se({limit:10,page:1,searchText:"",sort:"createdAt",order:"DESC",filter:{},fields:{}},{refetchInterval:t?2e3:0,refetchIntervalInBackground:!1}),a=dF(()=>{if(r)return{...r,items:r.items?.map(h=>({...h}))}},[r]),l=dF(()=>({...n,pose:s.pose,vel:s.vel,autoMove:s.moveState?.autoMove,obsState:s.moveState?.obs}),[n,s.pose,s.vel,s.moveState?.autoMove,s.moveState?.obs]),c=dF(()=>{const h=s.pose,g=s.vel;return{localizationStatus:n.locState?.locStatus??"none",autoMove:s.moveState?.autoMove,obsState:s.moveState?.obs??"none",poseX:Number(h?.x??0),poseY:Number(h?.y??0),poseZ:0,poseYaw:Number(h?.rz??0),speed:Math.hypot(g?.vx??0,g?.vy??0),velocityX:g?.vx??0,velocityY:g?.vy??0,velocityWz:g?.wz??0,roll:n.imu?.imuRx??0,pitch:n.imu?.imuRy??0,imuYaw:n.imu?.imuRz??0,angularVelocity:n.imu?.gyrZ??0,inlierError:n.locState?.inlierError??0,inlierRatio:n.locState?.inlierRatio??0}},[s.pose,s.vel,s.moveState?.autoMove,s.moveState?.obs,n.imu?.gyrZ,n.imu?.imuRx,n.imu?.imuRy,n.imu?.imuRz,n.locState?.locStatus,n.locState?.inlierError,n.locState?.inlierRatio]),d=dF(()=>Nxt(o.data),[o.data]);return{baseAmrStatus:n,amrMoveStatus:s,amrInfoStatus:o,amrSafetyIoStatus:d,taskLogData:a,monitorStatusSnapshot:l,hudStatusSnapshot:c}},{useMutation:kxt}=await F("@tanstack/react-query"),Lxt="/{robot_model}/move/{axis}",Dxt=i=>i==="x"?"xLinear":"yLinear",Txt=async i=>{const{robot_model:e,axis:t,...n}=i,s=Lxt.replace("{robot_model}",e).replace("{axis}",Dxt(t));return Fs.post(s,n)},Ext=()=>kxt({mutationFn:Txt}),{useMutation:Pxt}=await F("@tanstack/react-query"),Rxt="/{robot_model}/move/target",Mxt=async({robot_model:i,goalPose:e,method:t,preset:n=0})=>{const s=Rxt.replace("{robot_model}",i);return Fs.post(s,{goalPose:e,method:t,preset:n})},Axt=()=>Pxt({mutationFn:Mxt}),{useMutation:Oxt}=await F("@tanstack/react-query"),Fxt="/{robot_model}/move/goal",Bxt=async({robot_model:i,goalId:e,goalName:t,method:n})=>{const s=Fxt.replace("{robot_model}",i);return Fs.post(s,{goalId:e,...t!==void 0&&{goalName:t},...n!==void 0&&{method:n}})},Vxt=()=>Oxt({mutationFn:Bxt}),{useMutation:zxt}=await F("@tanstack/react-query"),Wxt="/{robot_model}/control/dock",Hxt=async({robot_model:i})=>{const e=Wxt.replace("{robot_model}",i);return Fs.post(e)},$xt=()=>zxt({mutationFn:Hxt}),{useMutation:Uxt}=await F("@tanstack/react-query"),jxt="/{robot_model}/call_pause",Gxt=async({robot_model:i})=>{const e=jxt.replace("{robot_model}",i);return Fs.post(e)},qxt=()=>Uxt({mutationFn:Gxt}),{useMutation:Kxt}=await F("@tanstack/react-query"),Jxt="/{robot_model}/call_resume",Yxt=async({robot_model:i})=>{const e=Jxt.replace("{robot_model}",i);return Fs.post(e)},Xxt=()=>Kxt({mutationFn:Yxt}),{useMutation:Qxt}=await F("@tanstack/react-query"),Zxt="/{robot_model}/control/dockStop",eNt=async({robot_model:i})=>{const e=Zxt.replace("{robot_model}",i);return Fs.post(e)},tNt=()=>Qxt({mutationFn:eNt}),{useMutation:nNt}=await F("@tanstack/react-query"),iNt="/{robot_model}/control/undock",sNt=async({robot_model:i})=>{const e=iNt.replace("{robot_model}",i);return Fs.post(e)},oNt=()=>nNt({mutationFn:sNt}),{useMutation:rNt}=await F("@tanstack/react-query"),aNt="/{robot_model}/control/setDetectMode",lNt=()=>rNt({mutationFn:({robot_model:i,switch:e})=>{const t=aNt.replace("{robot_model}",i);return 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R=T.direction??(T.target>=0?"right":"left");f({robot_model:i,axis:"y",direction:R,target:Math.abs(T.target),speed:T.speed},{onSuccess:A=>{A?.result!=="accept"&&ov(A?.message,e)},onError:A=>{ov(uF(A),e)}});return}f({robot_model:i,axis:"x",target:T.target,speed:T.speed},{onSuccess:R=>{R?.result!=="accept"&&ov(R?.message,e)},onError:R=>{ov(uF(R),e)}})},[f,i,e]),y=Wu(T=>{a({robot_model:i},{onSuccess:R=>{if(R?.result==="reject"){const A=R.message||e("move.amr.toast.dockReject.default");T?.(A)}}})},[a,i,e]),w=Wu(()=>{h({robot_model:i})},[i,h]),S=Wu(()=>{l({robot_model:i})},[l,i]),C=Wu(()=>{c({robot_model:i})},[c,i]),N=Wu(()=>{d({robot_model:i})},[d,i]),k=Wu(T=>n({robot_model:i,name:T}),[i,n]),L=Wu(T=>s({robot_model:i,safetyField:T}),[i,s]),D=Wu(T=>r({robot_model:i,switch:T}),[i,r]),E=Wu(T=>o({robot_model:i,...T}),[i,o]);return{handleSetMotorLocked:p,handleMoveTarget:_,handleMoveGoal:b,handleMoveLinear:v,handleDock:y,handleDockPause:S,handleDockResume:C,handleDockStop:N,handleUndock:w,handleClearSafetyFlag:k,handleSetSafetyField:L,handleSetSafetyIo:E,handleSetDetectMode:D}},oAe=()=>({GOAL:0,ROUTE:0,ALIGN:0}),yNt=i=>{const e=i.toUpperCase();return e==="GOAL"?"GOAL":e==="ROUTE"?"ROUTE":e==="ALIGN"?"ALIGN":null},qpe=i=>{const e=oAe();return i.forEach(t=>{const n=yNt(t);n&&(e[n]+=1)}),e},{useMemo:CNt}=await F("react"),SNt=({nodes:i,topologyData:e})=>{const t=CNt(()=>i.length>0?qpe(i.map(s=>s.type)):e?.length?qpe(e.map(s=>s.type)):oAe(),[i,e]),n=i.length>0?i.length:e?.length??0;return{nodeTypeCounts:t,topologyCount:n}},{useState:Kpe}=await F("react"),xNt=()=>{const[i,e]=Kpe(.3),[t,n]=Kpe(15);return{linearJogSpeed:i,setLinearJogSpeed:e,rotationJogSpeed:t,setRotationJogSpeed:n}},{useCallback:Jpe,useEffect:Ype,useState:Hy}=await F("react"),NNt=({editorReady:i,worldStudioRef:e})=>{const[t,n]=Hy(!1),[s,o]=Hy(.5),[r,a]=Hy("goal"),[l,c]=Hy("cursor"),[d,h]=Hy(!1),[g,m]=Hy(0),[f,p]=Hy(!1),_=Jpe(()=>{h(!0)},[]),b=Jpe(()=>{h(!1)},[]);return Ype(()=>{i?.editor&&o(e.current?.getEraserRadius()??.5)},[i?.editor,e]),Ype(()=>{if(i?.editor)return e.current?.onTopologyChanged(_)},[i?.editor,e,_]),{isEraserEnabled:t,setIsEraserEnabled:n,eraserRadius:s,setEraserRadius:o,selectedNodeType:r,setSelectedNodeType:a,selectedNodePlacementType:l,setSelectedNodePlacementType:c,hasUnsavedTopologyChanges:d,markTopologyDirty:_,resetTopologyDirty:b,selectedEraserPointsCount:g,setSelectedEraserPointsCount:m,hasUnsavedCloudChanges:f,setHasUnsavedCloudChanges:p}},{useMemo:INt}=await F("react"),{useQuery:kNt}=await F("@tanstack/react-query"),rAe="topology.json",aAe="/{robot_model}/map/getTopology",LNt=999,DNt=i=>({...i,format_version:i.format_version??sB,metadata:i.metadata,nodes:i.nodes??[],links:i.links??[],zones:i.zones??[]}),Xpe=async({robot_model:i,mapName:e,pageNo:t})=>{const n=aAe.replace("{robot_model}",i),s=await Fs.get(n,{params:{mapName:e,fileName:rAe,pageNo:t,pageSize:LNt}});return DNt(s)},TNt=async({robot_model:i,mapName:e})=>{const t=await Xpe({robot_model:i,mapName:e,pageNo:1}),n=Math.max(t.totalPage??1,1);if(n===1)return t;const s=await Promise.all(Array.from({length:n-1},(o,r)=>Xpe({robot_model:i,mapName:e,pageNo:r+2})));return{...t,nodes:[t,...s].flatMap(o=>o.nodes),links:[t,...s].flatMap(o=>o.links),zones:[t,...s].flatMap(o=>o.zones)}},ENt=(i,e={})=>{const t=INt(()=>[aAe,{...i,fileName:rAe}],[i]);return{...kNt({queryKey:t,queryFn:()=>TNt(i),enabled:!!i.mapName,...e}),queryKey:t}},PNt="modulepreload",RNt=function(i){return"/"+i},Qpe={},Nt=function(e,t,n){let s=Promise.resolve();if(t&&t.length>0){let r=function(c){return Promise.all(c.map(d=>Promise.resolve(d).then(h=>({status:"fulfilled",value:h}),h=>({status:"rejected",reason:h}))))};document.getElementsByTagName("link");const a=document.querySelector("meta[property=csp-nonce]"),l=a?.nonce||a?.getAttribute("nonce");s=r(t.map(c=>{if(c=RNt(c),c in Qpe)return;Qpe[c]=!0;const d=c.endsWith(".css"),h=d?'[rel="stylesheet"]':"";if(document.querySelector(`link[href="${c}"]${h}`))return;const g=document.createElement("link");if(g.rel=d?"stylesheet":PNt,d||(g.as="script"),g.crossOrigin="",g.href=c,l&&g.setAttribute("nonce",l),document.head.appendChild(g),d)return new Promise((m,f)=>{g.addEventListener("load",m),g.addEventListener("error",()=>f(new Error(`Unable to preload CSS for ${c}`)))})}))}function o(r){const a=new Event("vite:preloadError",{cancelable:!0});if(a.payload=r,window.dispatchEvent(a),!a.defaultPrevented)throw r}return s.then(r=>{for(const a of r||[])a.status==="rejected"&&o(a.reason);return e().catch(o)})},{lazy:SA,memo:MNt,Suspense:ANt,useEffect:ONt,useState:Zpe}=await F("react"),FNt=SA(()=>Nt(()=>import("./index.NxFdZIH_.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.Overview}))),BNt=SA(()=>Nt(()=>import("./index.NxFdZIH_.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.TaskInformation}))),VNt=SA(()=>Nt(()=>import("./index.NxFdZIH_.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.PduInfo}))),zNt=SA(()=>Nt(()=>import("./index.NxFdZIH_.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.DockControl}))),WNt=SA(()=>Nt(()=>import("./AmrCapabilityControl.BYWtW5zh.js"),__vite__mapDeps([7,3,2,4,5,6,8]))),HNt=[{label:"move.amr.rightPanel.monitor.tab.overview",value:"overview"},{label:"move.amr.rightPanel.monitor.tab.task",value:"task"},{label:"move.amr.rightPanel.monitor.tab.pdu",value:"pdu"},{label:"move.amr.rightPanel.monitor.tab.dock",value:"dock"},{label:"move.amr.rightPanel.monitor.tab.capability",value:"capability"}],e_e=i=>i==="overview"||i==="task"||i==="pdu"||i==="dock"||i==="capability",hF=()=>{},$Nt=({className:i,robotModel:e,overviewProps:t,taskProps:n,pduProps:s,dockProps:o})=>{const[r,a]=yc(),l=ir(),{t:c}=q(),{theme:d}=tt(),[h,g]=Zpe(()=>{const k=r.get("monitor_tab");return k==="motor"?"pdu":k&&e_e(k)?k:"overview"}),[m,f]=Zpe(!1);ONt(()=>{f(!1)},[e]);const p=()=>rt.openToast({type:"basic",variant:"success",title:c("move.amr.pdu.toast.motorConnect.title"),content:c("move.amr.pdu.toast.motorConnect.content")}),_=()=>rt.openToast({type:"basic",variant:"danger",title:c("common.toast.apiError.title"),content:c("common.toast.apiError.content")}),b=()=>{l("../settings?group=drive&menu=docking&expended=1")},v=k=>{g(k);const L=new URLSearchParams(r);L.set("monitor_tab",k),a(L,{replace:!0})},y=()=>{f(!1),o.onDock?.()},w=()=>{f(!0),o.onPause?.()},S=()=>{f(!1),o.onResume?.()},C=()=>{f(!1),o.onStop?.()},N=()=>{f(!1),o.onUndock?.()};return u("div",{className:P("AmrMonitorControl","h-full",i),children:u("div",{className:"flex h-full gap-0",children:x("div",{className:"flex h-full min-h-0 flex-1 flex-col 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t.port=String(e),t.pathname="",t.search="",t.hash="",t.toString().replace(/\/$/,"")},XIt=({robotModel:i})=>{const{t:e}=q(),{selectedRobot:t}=Vi(i),{data:n}=qm(),[s,o]=Ug(!1),{data:r}=dje({robot_model:i,enabled:s}),[a,l]=yc(),c=a.get("expended")==="1",d=a.get("debug")==="1",h=a.get("menu")||"monitor",g=a.get("monitor_tab"),m=h==="monitor"&&(g==="pdu"||g==="motor"),f=h==="monitor"&&g==="task",{data:p}=H1t({robot_model:i},{enabled:d}),_=_F(null),[b,v]=Ug(null),[y,w]=Ug(!1),[S,C]=Ug(!1),[N,k]=Ug(!1),[L,D]=Ug(!1),[E,T]=Ug(!1),R=L||E,{data:A,loading:M}=nSt(i,S),[O,B]=Ug(null),[V,Y]=Ug(!1),[$,Q]=Ug({}),K=_F({}),{modal:z}=Hi(),{confirmDialog:me}=Gn(),X=_F(null),{ready:re,selectedObjects:be,selectedNode:_e,selectedNodeTransform:ke,focusedLinkId:Le,selectedLinks:Te,selectedZoneIds:lt,focusedZoneId:it,nodes:bt,links:ft,zones:cn,mapBounds:Mt,zoneDraft:Yt,worldStudioStateProps:An}=sDe(),ti=Ds((dt,En)=>{X.current?.emit(dt,En)},[]),or=Ds(dt=>{ti("ui:link-visibility-filter-requested",{filter:dt})},[ti]),{linkVisibilityFilter:ge,setLinkVisibilityFilter:Ue,visibleSelectedLinks:Pe,visibleFocusedLink:Ne,selectedLinkOverlayItems:ce,focusedLinkAnchor:Re}=T1t({nodes:bt,selectedLinks:Te,focusedLinkId:Le,onLinkVisibilityFilterChange:or}),{focusedZone:Ee,selectedZoneOverlayItems:$e,focusedZoneAnchor:ct}=P1t({zones:cn,selectedZoneIds:lt,focusedZoneId:it}),nn=dqe({anchorObject:Ne||Ee?null:_e,anchorWorldPosition:Ne?Re:Ee?ct:null,worldStudioRef:X,viewportHostRef:_}),$n=Ds(()=>X.current?.getPreviewTransform()??null,[]),Nn=Ds(()=>X.current?.getMapPointsData()??[],[]),Si=Ds(()=>X.current?.getTopologyData()??{format_version:sB,nodes:[],links:[],zones:[]},[]);Uy(()=>{o(!1)},[i]);const[Mi,$i]=Ug(null),{baseAmrStatus:ks,amrMoveStatus:Ai,amrInfoStatus:rr,amrSafetyIoStatus:sl,taskLogData:oa,monitorStatusSnapshot:Zl,hudStatusSnapshot:Mh}=Ixt({selectedRobotModel:i,enableInfoStatus:d||m,enableTaskLogRefetch:f}),pi=ks.mapState?.mapName||void 0,{mapListData:Da}=sxt(i),Og=Q8(()=>Da?.list?.map(dt=>dt.mapName),[Da?.list]),{mapCloud:kc,mapCloudUpdatedAt:ra,topology:ss,topologyUpdatedAt:Lt,refetchTopology:Oi}=CSt({selectedRobotModel:i,mapTopoParams:b}),{currentMapInfo:fs}=ySt({currentMapName:pi,mapListData:Da}),{nodeTypeCounts:zi,topologyCount:Hr}=SNt({nodes:bt,topologyData:ss?.nodes}),Ta=ss?.metadata?.created_at??ss?.metadata?.createdAt??null,{downloadJsonFile:aa,downloadCsvFile:Dn}=uqe(),{refetch:Ir,isFetching:Mp}=ENt({robot_model:i,mapName:pi??""},{enabled:!1}),{selectedTool:eo,onToolChange:Rl}=hqe(),{showGrid:ol,showJoysticks:Ap,setShowJoysticks:hn,showViewControls:Me,setShowViewControls:vt,showNodeLabels:qt,showSimpleNodes:Ws,showLidar:to,showMapBoundary:So,lidarPointSize:rl,viewportCameraMode:od,visibilityItems:Bu,cameraModeControl:Ah,cameraMoveControl:kr,renderingSettingItems:zb}=gqe(),{isEraserEnabled:Fg,setIsEraserEnabled:vy,eraserRadius:WL,setEraserRadius:HL,selectedNodeType:gS,setSelectedNodeType:Lc,selectedNodePlacementType:$L,setSelectedNodePlacementType:I2,hasUnsavedTopologyChanges:ef,resetTopologyDirty:UL,selectedEraserPointsCount:jL,setSelectedEraserPointsCount:wy,hasUnsavedCloudChanges:mS,setHasUnsavedCloudChanges:Bg}=NNt({editorReady:re,worldStudioRef:X}),tf=Ds(dt=>{if(Fg){if(dt!=="select"&&dt!=="target")return;vy(!1),ti("ui:eraser-toggle-requested",!1)}Rl(dt)},[ti,Fg,Rl,vy]);Uy(()=>{lt.length>0&&(eo==="rotate"||eo==="scale")&&tf("move")},[tf,eo,lt.length]);const{linearJogSpeed:k2,setLinearJogSpeed:L2,rotationJogSpeed:fS,setRotationJogSpeed:pS}=xNt(),{handleJoystickMove:yy,handleButtonMove:k7}=eSt({robotModel:i,linearSpeed:k2,rotationSpeed:fS});Uy(()=>{pi&&b?.mapName!==pi&&v({mapName:pi})},[pi,b?.mapName]);const{loadMapAndRefreshCurrentMap:_S,loadTopology:L7,handleLoadMap:D2}=ixt({selectedRobotModel:i}),{handleStartLocalization:D7,handleInitLocalization:Wb,handleSemiAutoInitLocalization:bS,handleStopLocalization:GL}=nxt({selectedRobotModel:i,getPreviewTransform:$n}),{handleInitLocalizationWithGuard:Cy,handleSemiAutoInitLocalizationWithGuard:T7}=BSt({selectedRobotModel:i,currentMapName:pi,currentMapInfo:fs,mapListData:Da,topologyNodes:ss?.nodes,hasUnsavedTopologyChanges:ef,handleInitLocalization:Wb,handleSemiAutoInitLocalization:bS}),{handleSetMotorLocked:Hb,handleMoveTarget:E7,handleMoveGoal:qL,handleMoveLinear:KL,handleDock:vS,handleDockPause:JL,handleDockResume:$b,handleDockStop:Ub,handleUndock:T2,handleClearSafetyFlag:E2,handleSetSafetyField:jb,handleSetSafetyIo:Gb,handleSetDetectMode:P2}=wNt({selectedRobotModel:i}),R2=Ds(()=>{if(!_e)return;if(ef){rt.openToast({type:"basic",variant:"warning",title:"Unsaved 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Check topology or robot position.",position:"top-right"}),nD.current=En)},[Ai.moveState?.pathState]);const iD=fqe({loading:ks.loading,isDefaultData:ks.isDefaultData,mapCloud:kc,topology:ss,nodes:bt,links:ft}),Iy=Ds(async(dt,En)=>ll==="saving"||ll==="discarding"?!1:ll==="idle"?!0:await me({title:e("move.amr.rightPanel.map.dialog.discardMapping.title"),content:dt,buttonText:{yes:En,no:e("move.amr.rightPanel.common.cancel")}})?(await zg(),!0):!1,[me,zg,ll,e]),ky=Ds(async(dt,En)=>mS?await me({title:"Discard erasing changes?",content:dt,buttonText:{yes:En,no:e("move.amr.rightPanel.common.cancel")}})?(Ny(),!0):!1:!0,[me,Ny,mS,e]),sD=Ds(async()=>Yt.state!=="drawing"&&Yt.state!=="closed"?!0:await me({title:"Leave Zone",content:"Leaving Topology will discard the current zone draft. 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URLSearchParams(a);dt.set("menu","topology"),dt.set("topology_tab","zone"),dt.set("expended",c?"1":"0"),l(dt,{replace:!0})},[c,a,l]),F2=Ds((dt,En="replace")=>{ti("ui:node-selected",{nodeId:dt,intent:En})},[ti]),Ur=Ds(()=>{X.current?.moveCamera("zoomin")},[]),B2=Ds(()=>{X.current?.moveCamera("zoomout")},[]),rD=Ds(dt=>{X.current?.moveCamera(dt)},[]),Ly=Ds(()=>{if(!(ks?.motor?.[0]?.status===1&&ks?.motor?.[1]?.status===1&&ks?.robotState?.power)){rt.openToast({type:"basic",variant:"warning",title:"Motor Not Initialized",content:"Please initialize the motor before docking.",position:"top-right"});return}$i(null),vS($i)},[ks?.motor,ks?.robotState?.power,vS]),z7=Ds(()=>{const dt=_.current;if(dt){if(document.fullscreenElement===dt){document.exitFullscreen();return}if(E){T(!1);return}if(document.fullscreenEnabled&&dt.requestFullscreen){dt.requestFullscreen().catch(()=>{T(!0)});return}T(!0)}},[E]);Uy(()=>{const dt=()=>{D(document.fullscreenElement===_.current)};return document.addEventListener("fullscreenchange",dt),()=>{document.removeEventListener("fullscreenchange",dt)}},[]);const W7=ESt({robotModel:i,monitorStatusSnapshot:Zl,robotVersion:r,selectedTool:eo,onToolChange:tf,onStartLocalization:D7,onInitLocalization:Cy,onSemiAutoInitLocalization:T7,onStopLocalization:GL,onBuildInfoOpenChange:o,onDock:Ly,onDockPause:JL,onDockResume:$b,onDockStop:Ub,onUndock:T2,dockRejectMessage:Mi,taskLogData:oa,amrMoveStatus:Ai,onSetMotorLocked:Hb,onClearSafetyFlag:E2,onLidarFieldSave:jb,onOssdDetectChange:P2,safetyIo:sl,safetyIoLoading:rr.loading,onSetSafetyIo:Gb}),aD=xSt({currentMapName:pi??"",createdAt:fs?.createdAt,lastModified:fs?.updatedAt,mapCloudCount:kc?.rowCount??kc?.data?.length??0,mapBounds:Mt,topologyCount:Hr,nodeTypeCounts:zi,mappingStatus:ll,elapsedSeconds:R7,completedKeyframeCount:M7,totalKeyframePoints:A7,onStartMapping:O7,onStopMapping:Vg,onSaveMapping:of,onDiscard:zg,mapList:Og,isEraserEnabled:Fg,onEraserToggle:Kb,eraserRadius:WL,setEraserRadius:F7,eraseSelectedAreaDisabled:jL===0,onEraseSelectedArea:tD,onReleaseSelectedPoints:Oh,onSaveChanges:qb,hasUnsavedCloudChanges:mS,onDiscardCloudChanges:Ny,onLoadMap:O2,loadMapDisabled:!1,onDownloadMap:al,downloadMapDisabled:mS||!pi}),Z=RSt({overviewTabProps:{createdAt:Ta,downloadDisabled:ef||Mp||!pi,downloadHelpText:ef?"Save 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En=X.current?.getTopologyData();En&&(En.nodes.some(_i=>_i.id===dt.id)||ti("ui:topo-update-requested",{topoData:{...En,nodes:[...En.nodes,dt]}}))},[ti]),ye=RIt({robotModel:i,enabled:h==="marker",mapName:pi,topology:ss,robotPose:Ai?.pose?{x:Number(Ai.pose.x??0),y:Number(Ai.pose.y??0),rz:Number(Ai.pose.rz??0)}:null,onNodeRegistered:ne}),Se=Q8(()=>({...iD,showRobotControlBtn:!N,onToggleRobotControl:oD,showCameraStreams:y,onToggleCameraStreams:()=>w(dt=>!dt),showObstacleMap:S,onToggleObstacleMap:()=>C(dt=>!dt),showDebugPanel:d,onToggleDebugPanel:yS,isFullscreen:R,isMenuExpended:c}),[iD,oD,yS,d,N,S,y,R,c]),Fe=YIt({isFullscreen:R,isMenuExpanded:c}),Xe=R?eU.fullscreen:c?eU.menuExpanded:eU.menuCollapsed,ht=P("bottom-21 z-[60] flex flex-col items-end gap-1",R?"absolute":"fixed",Fe),It=P("z-[70]",R?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",Fe)),Bt=P("z-50",R?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",Fe)),sn=P("z-[70] flex items-end justify-end gap-1",R?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",Fe)),on=Eie()||window.location.hostname,rn=N||Number(y)+Number(S)+Number(d)>1,oi=3e3,Ls=8889,ps=n?.ip||on,xi=i_e(on,oi),Un=i_e(ps,Ls);Uy(()=>{if(!y)return;const dt=new AbortController;return(async()=>{Y(!0);try{const _i=await fetch(`${xi}/amr/${i}/capability/camera`,{signal:dt.signal});if(!_i.ok)throw new Error(`bad status code ${_i.status}`);const la=await _i.json();if(dt.signal.aborted)return;B(la),Q(Rs=>{const No={...Rs},Mo=la.rtspInfo??[];for(const Ra of Mo){const Ma=Mo.filter(qo=>qo.camId===Ra.camId).map(qo=>qo.quality);(No[Ra.camId]===void 0||!Ma.includes(No[Ra.camId]))&&(No[Ra.camId]=Ma.find(qo=>qo==="low")??Ma[0]??Ra.quality)}return No})}catch(_i){dt.signal.aborted||(console.error(_i),B(null))}finally{dt.signal.aborted||Y(!1)}})(),()=>dt.abort()},[xi,i,y]),Uy(()=>{if(!y){K.current={};return}if(!O)return;const dt=O.rtspInfo??[],En=Array.from(new Set(dt.map(_i=>_i.camId)));for(const _i of En){const la=dt.filter(Mo=>Mo.camId===_i).map(Mo=>Mo.quality),Rs=$[_i],No=Rs&&la.includes(Rs)?Rs:la.find(Mo=>Mo==="low")??la[0];No&&K.current[_i]!==No&&(K.current[_i]=No,fetch(`${xi}/amr/${i}/sensor/rtsp/subscribe`,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({camId:_i,quality:No})}).catch(Mo=>{console.error(Mo)}))}},[xi,O,i,$,y]);const kn=Q8(()=>{if(!O)return[];const dt=O.rtspInfo??[],En=new Set(dt.map(Rs=>Rs.camId)),_i=O.info.map(Rs=>Rs.camId);return(O.camNum>0?Array.from({length:O.camNum},(Rs,No)=>No):Array.from(new Set([..._i,...En]))).map(Rs=>{const No=dt.filter(cl=>cl.camId===Rs),Mo=No.map(cl=>cl.quality),Ra=$[Rs],Ma=Ra&&Mo.includes(Ra)?Ra:Mo.find(cl=>cl==="low")??Mo[0]??"low",qo=No.find(cl=>cl.quality===Ma)??No[0];return{id:`cam${Rs}`,camId:Rs,name:e("move.amr.rightPanel.cameraPanel.cameraName",{index:Rs+1}),status:qo?"live":"disconnected",resolution:qo?`${qo.width}x${qo.height} ${qo.fps}fps`:"-",streamUrl:qo?`${Un}/${qo.name}`:void 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x(G9,{className:P("AmrMove","overflow-x-hidden"),menus:[{id:"monitor",label:e("move.amr.rightPanel.menu.monitor"),icon:u(uje,{}),content:u(UNt,{...W7})},{id:"map",label:e("move.amr.rightPanel.menu.map"),icon:u(hje,{}),content:u(eIt,{...aD})},{id:"topology",label:e("move.amr.rightPanel.menu.topology"),icon:u(gje,{}),content:u(Sqe,{...Z})},{id:"marker",label:e("move.amr.rightPanel.menu.marker"),icon:u(mje,{}),content:u(lIt,{markerProps:ye})}],rightIconPanels:[{key:"zoom-in-out",element:u(V1,{onZoomIn:Ur,onZoomOut:B2})},{key:"fullscreen-toggle",element:u(GIt,{isFullscreen:R,onToggle:z7})},{key:"joystick-toggle",element:u(qIt,{showJoysticks:Ap,setShowJoysticks:hn})},{key:"view-controls",element:u(JIt,{showViewControls:Me,setShowViewControls:vt,visibilityItems:Bu,cameraModeControl:Ah,cameraMoveControl:{...kr,onMove:rD},numberItems:zb})}],beService:t?.be_service,onBeforeMenuChange:A2,ref:_,viewportFullscreen:R,viewportClassName:"data-[state=fullscreen]:z-[1000] 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F("@tanstack/react-query"),skt="/{robot_model}/move_l",okt=({robotModel:i,...e})=>Na.post(skt.replace("{robot_model}",i),e),rkt=()=>ikt({mutationFn:okt}),akt="rby1-minimum-time",lkt=3;function uR(){const i=Number(uLe(akt));return i>0?i:lkt}const JI=["x","y","z","rx","ry","rz"];function rL(i,e){const t={},n=new Set;return i.forEach((s,o)=>{const r=aR(s)?.component;if(!r)return;const a=e(o,s);a==null?n.add(r):(t[r]??=[]).push(a)}),n.forEach(s=>delete t[s]),t}function VB(i,e,t){const n=rL(e,s=>t(s)||null);return Object.fromEntries(Object.entries(i).filter(([s])=>s in n))}const Mw=(i,e)=>rL(i,(t,n)=>{const s=e(t,n);return s==null?s:yd(s)});function uAe(i,e){const t={},n={};for(const s of i){const o=aR(s)?.component;if(!o)continue;const r=t[o]??0;t[o]=r+1;const a=e[o]?.[r];a!=null&&(n[s]=ON(a))}return n}const ckt=i=>i==="left_arm"?"right_arm":i==="right_arm"?"left_arm":void 0,hAe=(i,e)=>{const t=e?ckt(i):void 0;return t?[i,t]:[i]},gAe=new 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u("div",{className:P("RBY1ZeroPoseControl","h-full",i),children:x(U,{className:"h-full",justifyContent:"space-between",children:[x(U,{className:"flex-1 gap-2 overflow-y-auto px-3 py-2.5",children:[u(Tg,{subject:t("move.menu.button.label.zeroPose")}),u(zB,{className:"mb-1",value:s,items:ob,onChange:o}),Array.from({length:v},(T,R)=>{const A=`${l.component}-${R}`;return u(kd,{className:D,size:"sm",variant:"outlined",disabled:(p||!w)&&r!==A,onButtonDown:()=>N(A,L(R)),onButtonUp:k,children:t("move.menu.button.label.moveOrigin",{index:R})},A)}),u(kd,{className:D,size:"sm",variant:"soft",disabled:(p||!w)&&r!==l.component,onButtonDown:()=>N(l.component,{[l.component]:b[l.component]}),onButtonUp:k,children:t("move.rby1.zeroPose.partAll",{part:h(l.component)})})]}),u("div",{className:P("border-border-subtle w-full border-t p-3",n==="light"?"bg-default":"bg-alt-2"),children:u(kd,{className:P(D,"w-full"),size:"md",variant:n==="light"?"brand":E?"soft":"inverse",disabled:E,onButtonDown:()=>N("all",y),onButtonUp:k,children:t("move.menu.button.label.moveAllOrigin")})})]})})},{useMemo:Tkt}=await F("react"),Ekt=i=>{const{jointNames:e,jointStates:t}=Cp(i),{cartesian_states:n}=sy(i,s=>({cartesian_states:s?.cartesian_states}));return Tkt(()=>{const s=Mw(e,h=>t?.[h]?.position),o=Object.keys(rL(e,()=>0)),r=o.length>0&&o.every(h=>h in s),{torso:a,left_arm:l,right_arm:c}=n??{};return{joints:s,cartesians:a&&l&&c?{torso:a,left_arm:l,right_arm:c}:null,complete:r}},[e,t,n])},{useQuery:Pkt}=await F("@tanstack/react-query"),xA="/{robot_model}/poses",Rkt=({robotModel:i})=>Na.get(xA.replace("{robot_model}",i)),_Ae=(i,e={})=>Pkt({queryKey:[xA,i],queryFn:()=>Rkt(i),...e}),{useMutation:Mkt,useQueryClient:Akt}=await F("@tanstack/react-query"),Okt="/{robot_model}/poses/create",Fkt=({robotModel:i,...e})=>Na.post(Okt.replace("{robot_model}",i),e),Bkt=()=>{const i=Akt();return Mkt({mutationFn:Fkt,onSuccess:()=>{i.invalidateQueries({queryKey:[xA]})}})},{useMutation:Vkt,useQueryClient:zkt}=await F("@tanstack/react-query"),Wkt="/{robot_model}/poses/{pose_id}/update",Hkt=({robotModel:i,poseId:e,...t})=>Na.put(Wkt.replace("{robot_model}",i).replace("{pose_id}",e),t),$kt=()=>{const i=zkt();return Vkt({mutationFn:Hkt,onSuccess:()=>{i.invalidateQueries({queryKey:[xA]})}})},{useMutation:Ukt,useQueryClient:jkt}=await F("@tanstack/react-query"),Gkt="/{robot_model}/poses/{pose_id}/delete",qkt=({robotModel:i,poseId:e})=>Na.delete(Gkt.replace("{robot_model}",i).replace("{pose_id}",e)),Kkt=()=>{const i=jkt();return Ukt({mutationFn:qkt,onSuccess:()=>{i.invalidateQueries({queryKey:[xA]})}})},{useMutation:Jkt}=await F("@tanstack/react-query"),Ykt="/{robot_model}/poses/{pose_id}/approach",Xkt=({robotModel:i,poseId:e,...t})=>Na.post(Ykt.replace("{robot_model}",i).replace("{pose_id}",e),t),Qkt=()=>Jkt({mutationFn:Xkt}),Zkt=.1,bAe=i=>Object.values(i).reduce((e,t)=>e+(t?.length??0),0);function eLt(i,e,t=Zkt){const n=Object.keys(i);return n.length===0?!1:n.every(s=>{const o=i[s],r=e[s];return!!o&&!!r&&o.length===r.length&&o.every((a,l)=>Math.abs(a-r[l])<=t)})}const tLt="–",bF="px-px py-1 text-right whitespace-nowrap",vAe=({className:i,mode:e,joints:t,cartesians:n})=>{const{t:s}=q(),o=e==="joint",r=ob.filter(c=>o||c.component!=="head"),a=o?Array.from({length:Math.max(0,...Object.values(t).map(c=>c?.length??0))},(c,d)=>String(d)):JI.map(c=>c),l=c=>o?t[c]:c==="head"?void 0:n?.[c];return u("div",{className:P("RBY1PoseValueTable","overflow-x-auto",i),children:x("table",{className:"typo-code-2xs-medium w-full border-collapse",children:[u("thead",{children:x("tr",{className:"typo-compact-2xs-medium 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rounded-lg",i),children:u(Km,{className:"relative size-full",cameraPositionKey:t,robotModel:n?.info?.robotModel,enablePanning:!0,jointValuesRad:o})})},iLt=({className:i,pose:e,open:t,onOpenChange:n})=>u(jo,{className:P(i,"w-fit max-w-[90vw]!"),enableDimClose:!0,header:{title:e.name},open:t,onOpenChange:n,children:u(wAe,{className:"m-4 mt-0 h-[60vh] w-[40rem]",pose:e,cameraPositionKey:"rby1-pose-view"})}),{useState:c_e}=await F("react"),sLt=({className:i,pose:e,isCurrent:t,moveDisabled:n,canUpdateToCurrent:s,onApproachStart:o,onApproachStop:r,onRename:a,onUpdateToCurrent:l,onDelete:c})=>{const{t:d}=q(),{modal:h}=Hi(),[g,m]=c_e("joint"),[f,p]=c_e(null),_=f!==null,b=f?.trim()??"",v=[d("move.rby1.savedPose.axisCount",{count:bAe(e.joints)}),wr(e.updatedAt,"MM-DD HH:mm"),t&&d("move.rby1.savedPose.current")].filter(Boolean).join(" · ");return x(U,{"data-testid":"rby1-saved-pose-card",className:P("RBY1SavedPoseCard","bg-bg-alt-1 gap-3 rounded-lg border p-3",t?"border-border-success":"border-border-subtle",i),children:[_?x(H,{className:"gap-1",alignItems:"center",children:[u(et,{className:"flex-1",size:"sm",value:f,hideBtnReset:!0,handleChange:y=>p(String(y)),handleEnter:()=>{b&&(a(b),p(null))}}),u(Jt,{"aria-label":"confirm",variant:"transparent",size:"xs",disabled:!b,onClick:()=>{a(b),p(null)},children:u(fKe,{className:"text-fg-success size-4"})}),u(Jt,{"aria-label":"cancel",variant:"transparent",size:"xs",onClick:()=>p(null),children:u(Sb,{})})]}):x(H,{justifyContent:"space-between",alignItems:"flex-start",children:[x(U,{className:"min-w-0 gap-1",children:[u("span",{className:"typo-compact-sm-semibold text-fg-default truncate",children:e.name}),u("span",{className:"typo-code-2xs-medium text-fg-subtle",children:v})]}),x(H,{className:"shrink-0 gap-0.5",children:[u(Jt,{"aria-label":"view 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F("react"),rLt=({className:i,robotModel:e})=>{const{t}=q(),{confirmDialog:n}=Gn(),[s,o]=sU(""),[r,a]=sU(""),[l,c]=sU(null),{data:d=[]}=_Ae({robotModel:e}),h=Ekt(e),{isMoving:g,isEmergencyStop:m}=oL(e),{selectedRobot:f}=Vi(e),p=f?.connected==="DISCONNECT",_=g||m||p,{mutate:b,isPending:v}=Bkt(),{mutate:y}=$kt(),{mutate:w}=Kkt(),{mutate:S}=Qkt(),{mutate:C}=n6(),N=oLt(()=>{const R=r.trim().toLowerCase();return R?d.filter(A=>A.name.toLowerCase().includes(R)):d},[d,r]),k=()=>({joints:h.joints,cartesians:h.cartesians??void 0}),L=()=>{const R=s.trim();!R||!h.complete||b({robotModel:e,name:R,...k()},{onSuccess:()=>o("")})},D=d_e((R,A)=>{c(R),S({robotModel:e,poseId:R,mode:A,reference:"base",minimumTime:uR()})},[S,e]),E=d_e(()=>{c(null),C({robotModel:e})},[C,e]),T=async R=>{await n({title:t("move.rby1.savedPose.deleteTitle"),content:t("move.rby1.savedPose.deleteContent",{name:R.name}),buttonText:{yes:t("move.rby1.savedPose.delete"),no:t("common.button.cancel")}})&&w({robotModel:e,poseId:R.poseId})};return u("div",{className:P("RBY1SavedPoseControl","h-full",i),children:x(U,{className:"h-full gap-3 overflow-y-auto px-3 py-2.5",children:[x(H,{className:"gap-2",alignItems:"baseline",children:[u("h6",{className:"typo-compact-sm-semibold text-fg-default",children:t("move.rby1.menu.savedPose")}),u("span",{className:"typo-compact-xs-medium text-fg-subtle",children:t("move.rby1.savedPose.count",{count:d.length})})]}),x(U,{className:"border-border-subtle bg-bg-alt-1 gap-2 rounded-lg border p-3",children:[u("span",{className:"typo-compact-xs-medium text-fg-subtle",children:t("move.rby1.savedPose.saveDesc")}),x(H,{className:"gap-2",children:[u(et,{"data-testid":"rby1-saved-pose-name",className:"flex-1",size:"sm",value:s,placeholder:t("move.rby1.savedPose.namePlaceholder"),handleChange:R=>o(String(R??"")),handleEnter:L}),u(ie,{size:"sm",variant:"brand",leadingIcon:u(Rm,{}),disabled:!s.trim()||!h.complete||p||v,onClick:L,children:t("move.rby1.savedPose.save")})]})]}),u(et,{className:"w-full",type:"search",size:"md",value:r,placeholder:t("move.rby1.savedPose.searchPlaceholder"),handleChange:R=>a(String(R??""))}),N.length===0?u("span",{className:"typo-compact-xs-medium text-fg-subtle py-6 text-center",children:t("move.rby1.savedPose.empty")}):N.map(R=>u(sLt,{pose:R,isCurrent:eLt(R.joints,h.joints),moveDisabled:_&&l!==R.poseId,canUpdateToCurrent:h.complete&&!p,onApproachStart:A=>D(R.poseId,A),onApproachStop:E,onRename:A=>y({robotModel:e,poseId:R.poseId,name:A}),onUpdateToCurrent:A=>y({robotModel:e,poseId:R.poseId,name:A,...k()}),onDelete:()=>T(R)},R.poseId))]})})},{useMemo:u_e}=await F("react"),aLt=["torso","left_arm","right_arm"],h_e="–",lLt=["mm","mm","mm","°","°","°"],i6=({className:i,robotModel:e,mode:t="joint",source:n="real",ghostJointValuesRad:s})=>{const{t:o}=q(),{jointNames:r,jointStates:a,toJointNameText:l}=Cp(e),c=n==="ghost",d=t==="cartesian"&&!c,h=u_e(()=>c?Mw(r,(p,_)=>s?.[_]):Mw(r,p=>a?.[p]?.position),[c,r,s,a]),g=u_e(()=>Math.max(0,...Object.values(rL(r,()=>1)).map(p=>p.length)),[r]),{cartesian_states:m}=sy(e,p=>({cartesian_states:p?.cartesian_states}),d),f="px-1.5 py-0.5 text-left whitespace-nowrap";return x(U,{className:P("RBY1JogMonitoring","gap-3",i),children:[x("table",{"data-testid":"rby1-joint-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[u("thead",{children:x("tr",{className:"text-fg-subtle font-normal",children:[x("th",{className:P(f,"min-w-16 font-normal"),children:[o("move.rby1.monitor.joint")," (°)"]}),Array.from({length:g},(p,_)=>x("th",{className:P(f,"min-w-14 font-normal"),children:["J",_]},_))]})}),u("tbody",{children:ob.map(p=>{const _=h[p.component]??[];return x("tr",{children:[u("td",{className:P(f,"text-fg-default"),children:l(p.component)}),Array.from({length:g},(b,v)=>u("td",{className:P(f,_[v]===void 0?"text-fg-subtlest":"text-fg-default font-semibold"),children:_[v]===void 0?h_e:_[v].toFixed(3)},v))]},p.value)})})]}),d&&x("table",{"data-testid":"rby1-tcp-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[u("thead",{children:x("tr",{className:"text-fg-subtle font-normal",children:[u("th",{className:P(f,"min-w-16 font-normal"),children:"Base"}),JI.map((p,_)=>u("th",{className:P(f,"min-w-14 font-normal"),children:x(H,{className:"gap-1",children:[u("span",{className:P("font-semibold",ki[p]),children:p.toUpperCase()}),u("span",{children:lLt[_]})]})},p))]})}),u("tbody",{children:aLt.map(p=>{const _=m?.[p];return x("tr",{children:[u("td",{className:P(f,"text-fg-default"),children:l(p)}),JI.map((b,v)=>u("td",{className:P(f,_?"text-fg-default font-semibold":"text-fg-subtlest"),children:_?_[v].toFixed(3):h_e},b))]},p)})})]})]})},{useMutation:cLt}=await F("@tanstack/react-query"),dLt="/{robot_model}/approach_l",uLt=({robotModel:i,...e})=>Na.post(dLt.replace("{robot_model}",i),e),yAe=()=>cLt({mutationFn:uLt});function hLt({components:i,cartesians:e,poseOf:t}){const n={};for(const s of i){const o=t(s),r=e[s];if(!o?.real||!o.ghost||!r)continue;const a=lPe({target:o.ghost,reference:o.real,referenceCarteX:r});n[s]=[a.x,a.y,a.z,a.rx,a.ry,a.rz]}return n}const{useCallback:oU,useMemo:g_e,useRef:gLt}=await F("react"),mLt=["torso","right_arm","left_arm"],CAe=({robotModel:i,urdfViewerRef:e,isDisconnected:t,tcpJointNames:n,isTorsoScope:s,torsoAnchors:o,torsoConstraintMode:r})=>{const{jointNames:a,jointStates:l}=Cp(i),c=g_e(()=>a.map((k,L)=>yd(l?.[L]?.position??0)),[a,l]),{ik:d,helpers:h}=cPe({robotModel:i,urdfViewerRef:e,isDisconnected:t,jointQDeg:c}),{getRealRobotJointAngles:g,guardConnected:m}=h,{cartesian_states:f}=sy(i,k=>({cartesian_states:k?.cartesian_states})),{mutate:p}=voe(),{mutate:_}=yAe(),{mutate:b}=n6(),v=gLt(!1),y=oU(k=>{if(!m())return;const L=e.current?.getGhostRobotJointValues()??k.jointAngles,D=VB(Mw(a,(E,T)=>L[T]),a,E=>l?.[E]?.is_ready);Object.keys(D).length!==0&&(v.current=!0,p({robotModel:i,target:D,minimumTime:uR()}))},[m,e,a,l,p,i]),w=oU(()=>{if(!m())return;const k=e.current,L=g();if(!k||!L)return;const D=hLt({components:mLt,cartesians:f??{},poseOf:T=>{const R=ob.find(M=>M.component===T),A=n.find(M=>!!R&&M.toLowerCase().includes(R.value));return A?{ghost:k.getGhostTcpPoseInChainBase(A),real:k.getGhostTcpPoseInChainBase(A,L)}:null}}),E=VB(D,a,T=>l?.[T]?.is_ready);Object.keys(E).length!==0&&(v.current=!0,_({robotModel:i,target:E,reference:"base",minimumTime:uR()}))},[m,e,g,f,n,a,l,_,i]),S=oU(()=>{v.current&&(v.current=!1,b({robotModel:i}))},[b,i]),C=s&&r==="constrained",N=g_e(()=>({...d.ghostRobotIkOptions,pinnedAnchorJointNamesByAnchor:k=>k!==void 0&&o.includes(k)&&!C?[]:void 0}),[d.ghostRobotIkOptions,o,C]);return{...d,ghostRobotIkOptions:N,ghostRobotTcpOffset:null,handleIKMoveJStart:y,handleIKMoveJStop:S,handleIKMoveLStart:w,handleIKMoveLStop:S}},fLt=[{id:"all",label:"All",groups:["left","right","torso"]},{id:"right",groups:["right"]},{id:"left",groups:["left"]},{id:"torso",groups:["torso"]},{id:"head",groups:["head"]}];function pLt(i,e){return fLt.flatMap(({id:t,label:n,groups:s})=>{const o=s.flatMap(l=>{const c=ob.find(d=>d.value===l);return c?[{group:c,jointNames:e.filter(d=>d.startsWith(c.jointPrefix))}]:[]}),r=n??o[0]?.group.label;if(!r||o.length!==s.length||o.some(l=>l.jointNames.length===0))return[];const a=o.every(({group:l})=>l.tcpGizmo);return[{id:t,label:r,tcpGizmo:a,anchors:a?o.flatMap(({group:l})=>i.filter(c=>c.toLowerCase().includes(l.value))):[],jointNames:o.flatMap(l=>l.jointNames)}]})}function _Lt(i,e){return[...new Set([...i,...e])]}function bLt(i,e){return i.find(t=>t.id===e)??i[0]}const{useMemo:m_e,useState:f_e}=await F("react"),SAe=(i,e)=>{const t=m_e(()=>pLt(i,e??[]),[i,e]),[n,s]=f_e(null),[o,r]=f_e("constrained"),a=bLt(t,n),l=a?.id==="torso",c=m_e(()=>t.find(d=>d.id==="torso")?.anchors??[],[t]);return{options:t,selectedId:a?.id,setSelectedId:s,activeAnchors:a?.anchors,tcpGizmo:a?.tcpGizmo??!0,scopeJointNames:a?.jointNames,isTorsoScope:l,torsoAnchors:c,torsoConstraintMode:o,setTorsoConstraintMode:r}};function woe(i,e,t="position"){const n={};if(!e)return n;for(let s=0;s<i.length&&!(s>=e.length);s++){const o=e[s]?.[t];o!=null&&(n[i[s]]=o)}return n}const{useCallback:p_e,useMemo:rU,useRef:vLt,useState:wLt}=await F("react"),yLt=["translate","rotate"],CLt=({className:i,robotModel:e})=>{const t=vLt(null),{t:n}=q(),[s]=yc(),o=s.get("rby1_jog")??"joint",{data:r}=Ys(),a=Xk(t),{isMoving:l}=oL(e),{jointNames:c,jointStates:d}=Cp(e),h=rU(()=>({real:woe(c,d)}),[c,d]),{selectedRobot:g}=Vi(e),m=g?.connected==="DISCONNECT",{tcpJointNames:f,ghostDraggableJointNames:p,isGhostRobotSupported:_}=Qse(e),[b,v]=wLt([]),y=rU(()=>_Lt(f,b),[f,b]),w=SAe(y,p),S=Zse(),{ghostJointValues:C,handleGhostRobotJointsChanged:N}=eoe(S.isGhostRobot),k=w.tcpGizmo?S.gizmoType:S.gizmoType==="none"?"none":null,L=CAe({robotModel:e,urdfViewerRef:t,isDisconnected:m,isTorsoScope:w.isTorsoScope,torsoAnchors:w.torsoAnchors,torsoConstraintMode:w.torsoConstraintMode,tcpJointNames:f}),{viewerProps:D,itemProps:E}=toe({gizmo:S,ghostRobotIK:L,isMoving:l,gizmoType:k,activeTcpAnchors:w.activeAnchors,draggableJointNames:w.scopeJointNames??p,onGhostRobotJointsChanged:N}),T=S.isGhostRobot?"ghost":"real",{onGhostRobotChange:R}=E,A=p_e(B=>R?.(B==="ghost"),[R]),M=p_e(B=>{t.current?.setGhostRobotJointValues(B),t.current?.resetIKTransform()},[]),O=rU(()=>[{key:"zoom-in-out",element:u(V1,{onZoomIn:a.zoomIn,onZoomOut:a.zoomOut},"zoom-in-out")},{key:"camera-view",element:u(vA,{onSetCameraView:a.setCameraView},"camera-view")},..._?[{key:"ghost-robot",element:u(R9,{...E,disabledGizmoTypes:w.tcpGizmo?void 0:yLt,gizmoOptionsDisabled:!w.tcpGizmo,scopeOptions:w.options,scopeValue:w.selectedId,onScopeChange:w.setSelectedId,isTorsoScope:w.isTorsoScope,torsoConstraintMode:w.torsoConstraintMode,onTorsoConstraintModeChange:w.setTorsoConstraintMode},"ghost-robot")}]:[]],[a.zoomIn,a.zoomOut,a.setCameraView,_,E,w.tcpGizmo,w.options,w.selectedId,w.setSelectedId,w.isTorsoScope,w.torsoConstraintMode,w.setTorsoConstraintMode]);return x(G9,{className:P("RBY1Move",i),rightIconPanels:O,menus:[{id:"jog",label:n("move.menu.button.label.jog"),icon:u(iK,{}),content:u(pAe,{robotModel:e,source:T,ghostJointValuesRad:C,onGhostJointsChange:M})},{id:"zero-pose",label:n("move.menu.button.label.zeroPose"),icon:u(wDe,{}),content:u(Dkt,{robotModel:e})},{id:"saved-pose",label:n("move.rby1.menu.savedPose"),icon:u(oKe,{}),content:u(rLt,{robotModel:e})}],beService:r?.modelInfo?.be_service,children:[u("div",{className:"h-full flex-1 p-2.5",children:x("div",{className:"absolute top-0 left-0 z-1 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fetch(`${NAe}?t=${Date.now()}`)).json();return{...e,current:e.total??e.current}},VLt=()=>FLt({queryKey:[NAe],queryFn:BLt,staleTime:1e3,gcTime:60*1e3,refetchInterval:60*1e3}),zLt=({className:i})=>{const{theme:e,setThemeData:t}=tt(),n=e==="dark";return u(Jt,{size:"xs2",variant:"transparent",className:P(i),onClick:()=>t(n?"light":"dark"),children:x("span",{className:"relative block h-4 w-4 overflow-hidden",children:[u(_je,{className:P("absolute inset-0 h-4 w-4 transition-all duration-500 ease-out",n?"translate-y-0 rotate-0 opacity-100":"translate-y-full rotate-90 opacity-0")}),u(bje,{className:P("absolute inset-0 h-4 w-4 transition-all duration-500 ease-out",n?"-translate-y-full -rotate-90 opacity-0":"translate-y-0 rotate-0 opacity-100")})]})})},{useQuery:WLt}=await F("@tanstack/react-query"),IAe="/plugin/{pluginId}",HLt=({pluginId:i})=>{const e=IAe.replace("{pluginId}",i);return $t.get(e)},aL=(i,e)=>WLt({queryKey:[IAe,i.pluginId],queryFn:()=>HLt(i),enabled:!!i.pluginId,...e}),{useMutation:$Lt,useQueryClient:ULt}=await F("@tanstack/react-query"),jLt="/plugin/installed/{pluginId}/enabled",GLt=({pluginId:i,...e})=>{const t=jLt.replace("{pluginId}",i);return $t.patch(t,e)},yoe=()=>{const i=ULt();return $Lt({mutationFn:GLt,onSuccess:(e,{pluginId:t})=>{i.invalidateQueries({queryKey:["/plugin/installed/list"]}),i.invalidateQueries({queryKey:["/plugin/{pluginId}",t]})}})},kAe=({className:i,pluginId:e,pluginName:t,uiContent:n,isPreview:s})=>{const{theme:o}=tt(),{data:r}=aL({pluginId:e},{enabled:!s}),{mutateAsync:a,isPending:l}=yoe(),c=s||!!r?.enabled,d=async h=>{await a({pluginId:e,enabled:h})};return x(U,{className:P("PluginToolbarContent","bg-bg-overlay text-default",i,{"bg-alt-1":o==="light"}),"data-theme":o,draggable:!1,children:[x(H,{className:"typo-compact-xs2-semibold text-default w-full gap-4 px-3 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F("@tanstack/react-query"),YLt="/plugin/installed/{pluginId}",XLt=({pluginId:i})=>{const e=YLt.replace("{pluginId}",i);return $t.delete(e)},Coe=()=>JLt({mutationFn:XLt}),{useEffect:aU,useRef:QLt,useState:ZLt}=await F("react"),{createPortal:eDt}=await F("react-dom"),tDt=({className:i,robotModel:e,pluginId:t,disabled:n})=>{const{theme:s}=tt(),{t:o}=q(),r=QLt(null),a=ir(),[l,c]=ZLt(!1),{refs:d,floatingStyles:h,update:g}=vje({placement:"right-start",middleware:[wje(8),yje(),Cje()]}),{refetchPluginInstalledList:m}=ay({robotModel:e,ui:"toolbar"}),{mutateAsync:f}=Coe(),p=()=>{a(`/muscat/app/plugin/${t}?from=toolbar`)},_=()=>{a(`/muscat/app/plugin/${t}?from=toolbar&tab=logs`)},b=async()=>{const{deleted:C}=await f({pluginId:t});C&&m()};aU(()=>{if(!(!l||!d.reference.current||!d.floating.current))return Sje(d.reference.current,d.floating.current,g)},[l,d.reference,d.floating,g]),aU(()=>{r.current=document.querySelector(".modal-container")},[]),aU(()=>{if(!l)return;const 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  * Sortable 1.15.7
  * @author	RubaXa   <trash@rubaxa.org>
  * @author	owenm    <owen23355@gmail.com>
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n=e.viewModel.documentDiffItem;if(nE(s=>{this._resourceLabel?.setUri(e.viewModel.modifiedUri??e.viewModel.originalUri,{strikethrough:e.viewModel.modifiedUri===void 0});let o=!1,r=!1,a=!1,l="";e.viewModel.modifiedUri&&e.viewModel.originalUri&&e.viewModel.modifiedUri.path!==e.viewModel.originalUri.path?(l="R",o=!0):e.viewModel.modifiedUri?e.viewModel.originalUri||(l="A",a=!0):(l="D",r=!0),this._elements.status.classList.toggle("renamed",o),this._elements.status.classList.toggle("deleted",r),this._elements.status.classList.toggle("added",a),this._elements.status.innerText=l,this._resourceLabel2?.setUri(o?e.viewModel.originalUri:void 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o=e.length-this._headerHeight,r=Math.max(0,Math.min(s.start-e.start,o));this._elements.header.style.transform=`translateY(${r}px)`,nE(a=>{this.editor.layout({width:t-16-2,height:e.length-this._outerEditorHeight})});try{this._isSettingScrollTop=!0,this._lastScrollTop=n,this.editor.getOriginalEditor().setScrollTop(n)}finally{this._isSettingScrollTop=!1}this._elements.header.classList.toggle("shadow",r>0||n>0),this._elements.header.classList.toggle("collapsed",r===o)}hide(){this._elements.root.style.top="-100000px",this._elements.root.style.visibility="hidden"}};Dne=Rdn([USe(3,St),USe(4,Ut)],Dne);class Adn{constructor(e){this._create=e,this._unused=new Set,this._used=new Set,this._itemData=new Map}getUnusedObj(e){let t;if(this._unused.size===0)t=this._create(e),this._itemData.set(t,e);else{const n=[...this._unused.values()];t=n.find(s=>this._itemData.get(s).getId()===e.getId())??n[0],this._unused.delete(t),this._itemData.set(t,e),t.setData(e)}return this._used.add(t),{object:t,dispose:()=>{this._used.delete(t),this._unused.size>5?t.dispose():this._unused.add(t)}}}dispose(){for(const e of this._used)e.dispose();for(const e of this._unused)e.dispose();this._used.clear(),this._unused.clear()}}var Odn=function(i,e,t,n){var s=arguments.length,o=s<3?e:n===null?n=Object.getOwnPropertyDescriptor(e,t):n,r;if(typeof Reflect=="object"&&typeof Reflect.decorate=="function")o=Reflect.decorate(i,e,t,n);else for(var a=i.length-1;a>=0;a--)(r=i[a])&&(o=(s<3?r(o):s>3?r(e,t,o):r(e,t))||o);return s>3&&o&&Object.defineProperty(e,t,o),o},jSe=function(i,e){return function(t,n){e(t,n,i)}};let Tne=class extends 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_&&Yi(b=>{p.setViewState(_,b)}),g.set(f,p),p}),getItem:f=>g.get(f)}}),this._viewItems=this._viewItemsInfo.map(this,c=>c.items),this._spaceBetweenPx=0,this._totalHeight=this._viewItems.map(this,(c,d)=>c.reduce((h,g)=>h+g.contentHeight.read(d)+this._spaceBetweenPx,0)),this.activeControl=Oe(this,c=>{const d=this._viewModel.read(c)?.activeDiffItem.read(c);return d?this._viewItemsInfo.read(c).getItem(d).template.read(c)?.editor:void 0}),this._contextKeyService=this._register(this._parentContextKeyService.createScoped(this._element)),this._instantiationService=this._register(this._parentInstantiationService.createChild(new NL([Ut,this._contextKeyService]))),this._contextKeyService.createKey(te.inMultiDiffEditor.key,!0),this._lastDocStates={},this._register(kl((c,d)=>{const h=this._viewModel.read(c);if(h&&h.contextKeys)for(const[g,m]of Object.entries(h.contextKeys)){const f=this._contextKeyService.createKey(g,void 0);f.set(m),d.add(wt(()=>f.reset()))}}));const a=this._parentContextKeyService.createKey(te.multiDiffEditorAllCollapsed.key,!1);this._register(zt(c=>{const d=this._viewModel.read(c);if(d){const h=d.items.read(c).every(g=>g.collapsed.read(c));a.set(h)}})),this._register(zt(c=>{const d=this._dimension.read(c);this._sizeObserver.observe(d)}));const l=Oe(c=>{if(this._viewItems.read(c).length>0)return;const h=this._viewModel.read(c);return!h||h.isLoading.read(c)?I(145,"Loading..."):I(146,"No Changed Files")});this._register(zt(c=>{const d=l.read(c);this._elements.placeholder.innerText=d??"",this._elements.placeholder.classList.toggle("visible",!!d)})),this._scrollableElements.content.style.position="relative",this._register(zt(c=>{const d=this._sizeObserver.height.read(c);this._scrollableElements.root.style.height=`${d}px`;const h=this._totalHeight.read(c);this._scrollableElements.content.style.height=`${h}px`;const g=this._sizeObserver.width.read(c);let m=g;const f=this._viewItems.read(c),p=Jre(f,Za(_=>_.maxScroll.read(c).maxScroll,Ld));if(p){const _=p.maxScroll.read(c);m=g+_.maxScroll}this._scrollableElement.setScrollDimensions({width:g,height:d,scrollHeight:h,scrollWidth:m})})),e.replaceChildren(this._elements.root),this._register(wt(()=>{e.replaceChildren()})),this._register(zt(c=>{const d=this._viewModel.read(c);if(d&&!d.isLoading.read(c)){if(d.items.read(c).length===0||d.activeDiffItem.read(c))return;this.goToNextChange()}})),this._register(this._register(zt(c=>{nE(d=>{this.render(c)})})))}reveal(e,t){const n=this._viewItems.get(),s=n.findIndex(c=>c.viewModel.originalUri?.toString()===e.original?.toString()&&c.viewModel.modifiedUri?.toString()===e.modified?.toString());if(s===-1)throw new Pt("Resource not found in diff editor");const o=n[s];this._viewModel.get().activeDiffItem.setCache(o.viewModel,void 0);let r=0;for(let c=0;c<s;c++)r+=n[c].contentHeight.get()+this._spaceBetweenPx;this._scrollableElement.setScrollPosition({scrollTop:r});const a=o.template.get()?.editor,l="original"in e?a?.getOriginalEditor():a?.getModifiedEditor();l&&t?.range&&(l.revealRangeInCenter(t.range),Fdn(l,t.range))}goToNextChange(){this._navigateToChange("next")}_navigateToChange(e){const t=this._viewItems.get();if(t.length===0)return;const n=this._viewModel.get()?.activeDiffItem.get(),s=n?t.findIndex(l=>l.viewModel===n):-1;if(s===-1){this._goToFile(0,"first");return}const o=t[s];o.viewModel.collapsed.get()&&o.viewModel.collapsed.set(!1,void 0);const r=o.template.get()?.editor;if(r?.getDiffComputationResult()?.changes2?.length){const l=r.getModifiedEditor().getPosition()?.lineNumber||1,c=r.getDiffComputationResult().changes2;if(e==="next"?c.some(h=>h.modified.startLineNumber>l):c.some(h=>h.modified.endLineNumberExclusive<=l)){r.goToDiff(e);return}}const a=(s+(e==="next"?1:-1)+t.length)%t.length;this._goToFile(a,e==="next"?"first":"last")}_goToFile(e,t){const n=this._viewItems.get()[e];n.viewModel.collapsed.get()&&n.viewModel.collapsed.set(!1,void 0),this.reveal({original:n.viewModel.originalUri,modified:n.viewModel.modifiedUri});const s=n.template.get()?.editor;if(s?.getDiffComputationResult()?.changes2?.length)if(t==="first")s.revealFirstDiff();else{const o=s.getDiffComputationResult().changes2.at(-1),r=s.getModifiedEditor();r.setPosition({lineNumber:o.modified.startLineNumber,column:1}),r.revealLineInCenter(o.modified.startLineNumber)}s?.focus()}render(e){const t=this.scrollTop.read(e);let n=0,s=0,o=0;const r=this._sizeObserver.height.read(e),a=yt.ofStartAndLength(t,r),l=this._sizeObserver.width.read(e);for(const c of this._viewItems.read(e)){const d=c.contentHeight.read(e),h=Math.min(d,r),g=yt.ofStartAndLength(s,h),m=yt.ofStartAndLength(o,d);if(m.isBefore(a))n-=d-h,c.hide();else if(m.isAfter(a))c.hide();else{const f=Math.max(0,Math.min(a.start-m.start,d-h));n-=f;const p=yt.ofStartAndLength(t+n,r);c.render(g,f,l,p)}s+=h+this._spaceBetweenPx,o+=d+this._spaceBetweenPx}this._scrollableElements.content.style.transform=`translateY(${-(t+n)}px)`}};Tne=Odn([jSe(4,Ut),jSe(5,St)],Tne);function Fdn(i,e){const t=i.getModel(),n=i.createDecorationsCollection([{range:e,options:{description:"symbol-navigate-action-highlight",className:"symbolHighlight"}}]);setTimeout(()=>{i.getModel()===t&&n.clear()},350)}class Bdn extends pe{constructor(e,t,n,s){super(),this.viewModel=e,this._objectPool=t,this._scrollLeft=n,this._deltaScrollVertical=s,this._templateRef=this._register(cre(this,void 0)),this.contentHeight=Oe(this,o=>this._templateRef.read(o)?.object.contentHeight?.read(o)??this.viewModel.lastTemplateData.read(o).contentHeight),this.maxScroll=Oe(this,o=>this._templateRef.read(o)?.object.maxScroll.read(o)??{maxScroll:0,scrollWidth:0}),this.template=Oe(this,o=>this._templateRef.read(o)?.object),this._isHidden=Ht(this,!1),this._isFocused=Oe(this,o=>this.template.read(o)?.isFocused.read(o)??!1),this.viewModel.setIsFocused(this._isFocused,void 0),this._register(zt(o=>{const r=this._scrollLeft.read(o);this._templateRef.read(o)?.object.setScrollLeft(r)})),this._register(zt(o=>{const r=this._templateRef.read(o);!r||!this._isHidden.read(o)||r.object.isFocused.read(o)||this._clear()}))}dispose(){this._clear(),super.dispose()}toString(){return`VirtualViewItem(${this.viewModel.documentDiffItem.modified?.uri.toString()})`}getKey(){return this.viewModel.getKey()}setViewState(e,t){this.viewModel.collapsed.set(e.collapsed,t),this._updateTemplateData(t);const n=this.viewModel.lastTemplateData.get(),s=e.selections?.map(gt.liftSelection);this.viewModel.lastTemplateData.set({...n,selections:s},t);const o=this._templateRef.get();o&&s&&o.object.editor.setSelections(s)}_updateTemplateData(e){const t=this._templateRef.get();t&&this.viewModel.lastTemplateData.set({contentHeight:t.object.contentHeight.get(),selections:t.object.editor.getSelections()??void 0},e)}_clear(){const e=this._templateRef.get();e&&Yi(t=>{this._updateTemplateData(t),e.object.hide(),this._templateRef.set(void 0,t)})}hide(){this._isHidden.set(!0,void 0)}render(e,t,n,s){this._isHidden.set(!1,void 0);let o=this._templateRef.get();if(!o){o=this._objectPool.getUnusedObj(new Mdn(this.viewModel,this._deltaScrollVertical)),this._templateRef.set(o,void 0);const r=this.viewModel.lastTemplateData.get().selections;r&&o.object.editor.setSelections(r)}o.object.render(e,n,t,s)}}var Vdn=function(i,e,t,n){var s=arguments.length,o=s<3?e:n===null?n=Object.getOwnPropertyDescriptor(e,t):n,r;if(typeof Reflect=="object"&&typeof Reflect.decorate=="function")o=Reflect.decorate(i,e,t,n);else for(var a=i.length-1;a>=0;a--)(r=i[a])&&(o=(s<3?r(o):s>3?r(e,t,o):r(e,t))||o);return s>3&&o&&Object.defineProperty(e,t,o),o},zdn=function(i,e){return function(t,n){e(t,n,i)}};let Ene=class extends pe{constructor(e,t,n){super(),this._element=e,this._workbenchUIElementFactory=t,this._instantiationService=n,this._dimension=Ht(this,void 0),this._viewModel=Ht(this,void 0),this._widgetImpl=Oe(this,s=>s.store.add(this._instantiationService.createInstance(n_(Tne),this._element,this._dimension,this._viewModel,this._workbenchUIElementFactory))),this._register(tk(this._widgetImpl))}};Ene=Vdn([zdn(2,St)],Ene);function Wdn(i,e,t){return Qt.initialize(t||{}).createInstance(kne,i,e)}function Hdn(i){return Qt.get(Yn).onCodeEditorAdd(t=>{i(t)})}function $dn(i){return Qt.get(Yn).onDiffEditorAdd(t=>{i(t)})}function Udn(){return Qt.get(Yn).listCodeEditors()}function jdn(){return Qt.get(Yn).listDiffEditors()}function Gdn(i,e,t){return Qt.initialize(t||{}).createInstance(Lne,i,e)}function qdn(i,e){const t=Qt.initialize(e||{});return new Ene(i,{},t)}function Kdn(i){if(typeof i.id!="string"||typeof i.run!="function")throw new Error("Invalid command descriptor, `id` and `run` are required properties!");return Wn.registerCommand(i.id,i.run)}function Jdn(i){if(typeof i.id!="string"||typeof i.label!="string"||typeof i.run!="function")throw new Error("Invalid action descriptor, `id`, `label` and `run` are required properties!");const e=ze.deserialize(i.precondition),t=(s,...o)=>xr.runEditorCommand(s,o,e,(r,a,l)=>Promise.resolve(i.run(a,...l))),n=new Ae;if(n.add(Wn.registerCommand(i.id,t)),i.contextMenuGroupId){const s={command:{id:i.id,title:i.label},when:e,group:i.contextMenuGroupId,order:i.contextMenuOrder||0};n.add(ea.appendMenuItem(de.EditorContext,s))}if(Array.isArray(i.keybindings)){const s=Qt.get(ei);if(!(s instanceof Fk))console.warn("Cannot add keybinding because the editor is configured with an unrecognized KeybindingService");else{const o=ze.and(e,ze.deserialize(i.keybindingContext));n.add(s.addDynamicKeybindings(i.keybindings.map(r=>({keybinding:r,command:i.id,when:o}))))}}return n}function Ydn(i){return AWe([i])}function AWe(i){const e=Qt.get(ei);return e instanceof Fk?e.addDynamicKeybindings(i.map(t=>({keybinding:t.keybinding,command:t.command,commandArgs:t.commandArgs,when:ze.deserialize(t.when)}))):(console.warn("Cannot add keybinding because the editor is configured with an unrecognized KeybindingService"),pe.None)}function Xdn(i,e,t){const n=Qt.get(mo),s=n.getLanguageIdByMimeType(e)||e;return MWe(Qt.get(Bs),n,i,s,t)}function Qdn(i,e){const t=Qt.get(mo),n=t.getLanguageIdByMimeType(e)||e||Nu;i.setLanguage(t.createById(n))}function Zdn(i,e,t){i&&Qt.get(Lp).changeOne(e,i.uri,t)}function eun(i){Qt.get(Lp).changeAll(i,[])}function tun(i){return Qt.get(Lp).read(i)}function 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l=n[r],c=t.tokenize(l,!0,o);s[r]=c.tokens,o=c.endState}return s}function mun(i,e){Qt.get(Ou).defineTheme(i,e)}function fun(i){Qt.get(Ou).setTheme(i)}function pun(){wY.clearAllFontInfos()}function _un(i,e){return Wn.registerCommand({id:i,handler:e})}function bun(i){return Qt.get(Rb).registerOpener({async open(t){return typeof t=="string"&&(t=Tt.parse(t)),i.open(t)}})}function vun(i){return Qt.get(Yn).registerCodeEditorOpenHandler(async(t,n,s)=>{if(!n)return null;const o=t.options?.selection;let r;return o&&typeof o.endLineNumber=="number"&&typeof o.endColumn=="number"?r=o:o&&(r={lineNumber:o.startLineNumber,column:o.startColumn}),await i.openCodeEditor(n,t.resource,r)?n:null})}function wun(){return{create:Wdn,getEditors:Udn,getDiffEditors:jdn,onDidCreateEditor:Hdn,onDidCreateDiffEditor:$dn,createDiffEditor:Gdn,addCommand:Kdn,addEditorAction:Jdn,addKeybindingRule:Ydn,addKeybindingRules:AWe,createModel:Xdn,setModelLanguage:Qdn,setModelMarkers:Zdn,getModelMarkers:tun,removeAllMarkers:eun,onDidChangeMarkers:nun,getModels:sun,getModel:iun,onDidCreateModel:oun,onWillDisposeModel:run,onDidChangeModelLanguage:aun,createWebWorker:lun,colorizeElement:cun,colorize:dun,colorizeModelLine:uun,tokenize:gun,defineTheme:mun,setTheme:fun,remeasureFonts:pun,registerCommand:_un,registerLinkOpener:bun,registerEditorOpener:vun,AccessibilitySupport:Wee,ContentWidgetPositionPreference:qee,CursorChangeReason:Kee,DefaultEndOfLine:Jee,EditorAutoIndentStrategy:Xee,EditorOption:Qee,EndOfLinePreference:Zee,EndOfLineSequence:ete,MinimapPosition:hte,MinimapSectionHeaderStyle:gte,MouseTargetType:mte,OverlayWidgetPositionPreference:_te,OverviewRulerLane:bte,GlyphMarginLane:tte,RenderLineNumbersType:yte,RenderMinimap:Cte,ScrollbarVisibility:xte,ScrollType:Ste,TextEditorCursorBlinkingStyle:Ete,TextEditorCursorStyle:Pte,TrackedRangeStickiness:Rte,WrappingIndent:Mte,InjectedTextCursorStops:ste,PositionAffinity:wte,ShowLightbulbIconMode:Ite,TextDirection:Tte,ConfigurationChangedEvent:aFe,BareFontInfo:d1,FontInfo:xV,TextModelResolvedOptions:p4,FindMatch:kR,ApplyUpdateResult:KE,EditorZoom:rh,createMultiFileDiffEditor:qdn,EditorType:KA,EditorOptions:Vl}}function 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- hint: use the 'bracket' attribute if matching on equal brackets is required.`);if(typeof a.open=="string"&&typeof a.token=="string"&&typeof a.close=="string")o.push({token:a.token+t.tokenPostfix,open:Z_(t,a.open),close:Z_(t,a.close)});else throw bs(t,"every element in the 'brackets' array must be a '{open,close,token}' object or array")}return t.brackets=o,t.noThrow=!0,t}function Iun(i){ik.registerLanguage(i)}function kun(){let i=[];return i=i.concat(ik.getLanguages()),i}function Lun(i){return Qt.get(mo).languageIdCodec.encodeLanguageId(i)}function Dun(i,e){return Qt.withServices(()=>{const n=Qt.get(mo).onDidRequestRichLanguageFeatures(s=>{s===i&&(n.dispose(),e())});return n})}function Tun(i,e){return Qt.withServices(()=>{const n=Qt.get(mo).onDidRequestBasicLanguageFeatures(s=>{s===i&&(n.dispose(),e())});return n})}function Eun(i,e){if(!Qt.get(mo).isRegisteredLanguageId(i))throw new Error(`Cannot set configuration for unknown language ${i}`);return Qt.get(Vs).register(i,e,100)}class Pun{constructor(e,t){this._languageId=e,this._actual=t}dispose(){}getInitialState(){return this._actual.getInitialState()}tokenize(e,t,n){if(typeof this._actual.tokenize=="function")return YM.adaptTokenize(this._languageId,this._actual,e,n);throw new Error("Not supported!")}tokenizeEncoded(e,t,n){const s=this._actual.tokenizeEncoded(e,n);return new Z6(s.tokens,s.endState)}}class YM{constructor(e,t,n,s){this._languageId=e,this._actual=t,this._languageService=n,this._standaloneThemeService=s}dispose(){}getInitialState(){return this._actual.getInitialState()}static _toClassicTokens(e,t){const n=[];let s=0;for(let o=0,r=e.length;o<r;o++){const a=e[o];let l=a.startIndex;o===0?l=0:l<s&&(l=s),n[o]=new WR(l,a.scopes,t),s=l}return n}static adaptTokenize(e,t,n,s){const o=t.tokenize(n,s),r=YM._toClassicTokens(o.tokens,e);let a;return o.endState.equals(s)?a=s:a=o.endState,new Xre(r,a)}tokenize(e,t,n){return YM.adaptTokenize(this._languageId,this._actual,e,n)}_toBinaryTokens(e,t){const n=e.encodeLanguageId(this._languageId),s=this._standaloneThemeService.getColorTheme().tokenTheme,o=[];let r=0,a=0;for(let c=0,d=t.length;c<d;c++){const h=t[c],g=s.match(n,h.scopes)|1024;if(r>0&&o[r-1]===g)continue;let m=h.startIndex;c===0?m=0:m<a&&(m=a),o[r++]=m,o[r++]=g,a=m}const l=new Uint32Array(r);for(let c=0;c<r;c++)l[c]=o[c];return l}tokenizeEncoded(e,t,n){const s=this._actual.tokenize(e,n),o=this._toBinaryTokens(this._languageService.languageIdCodec,s.tokens);let r;return s.endState.equals(n)?r=n:r=s.endState,new Z6(o,r)}}function Run(i){return typeof i.getInitialState=="function"}function Mun(i){return"tokenizeEncoded"in i}function FWe(i){return i&&typeof i.then=="function"}function Aun(i){const e=Qt.get(Ou);if(i){const t=[null];for(let n=1,s=i.length;n<s;n++)t[n]=De.fromHex(i[n]);e.setColorMapOverride(t)}else e.setColorMapOverride(null)}function BWe(i,e){return Mun(e)?new Pun(i,e):new YM(i,e,Qt.get(mo),Qt.get(Ou))}function gde(i,e){const t=new Dzt(async()=>{const n=await Promise.resolve(e.create());return n?Run(n)?BWe(i,n):new $M(Qt.get(mo),Qt.get(Ou),i,OWe(i,n),Qt.get(ln)):null});return oo.registerFactory(i,t)}function Oun(i,e){if(!Qt.get(mo).isRegisteredLanguageId(i))throw new Error(`Cannot set tokens provider for unknown language ${i}`);return FWe(e)?gde(i,{create:()=>e}):oo.register(i,BWe(i,e))}function Fun(i,e){const t=n=>new $M(Qt.get(mo),Qt.get(Ou),i,OWe(i,n),Qt.get(ln));return FWe(e)?gde(i,{create:()=>e}):oo.register(i,t(e))}function Bun(i,e){return Qt.get(_t).referenceProvider.register(i,e)}function Vun(i,e){return Qt.get(_t).renameProvider.register(i,e)}function zun(i,e){return Qt.get(_t).newSymbolNamesProvider.register(i,e)}function Wun(i,e){return Qt.get(_t).signatureHelpProvider.register(i,e)}function Hun(i,e){return Qt.get(_t).hoverProvider.register(i,{provideHover:async(n,s,o,r)=>{const a=n.getWordAtPosition(s);return Promise.resolve(e.provideHover(n,s,o,r)).then(l=>{if(l)return!l.range&&a&&(l.range=new 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e.provideCodeActions(s,o,{markers:c,only:r.only,trigger:r.trigger},a)},resolveCodeAction:e.resolveCodeAction})}function Xun(i,e){return Qt.get(_t).documentFormattingEditProvider.register(i,e)}function Qun(i,e){return Qt.get(_t).documentRangeFormattingEditProvider.register(i,e)}function Zun(i,e){return Qt.get(_t).onTypeFormattingEditProvider.register(i,e)}function ehn(i,e){return Qt.get(_t).linkProvider.register(i,e)}function thn(i,e){return Qt.get(_t).completionProvider.register(i,e)}function nhn(i,e){return Qt.get(_t).colorProvider.register(i,e)}function ihn(i,e){return Qt.get(_t).foldingRangeProvider.register(i,e)}function shn(i,e){return Qt.get(_t).declarationProvider.register(i,e)}function ohn(i,e){return Qt.get(_t).selectionRangeProvider.register(i,e)}function rhn(i,e){return Qt.get(_t).documentSemanticTokensProvider.register(i,e)}function ahn(i,e){return Qt.get(_t).documentRangeSemanticTokensProvider.register(i,e)}function lhn(i,e){return Qt.get(_t).inlineCompletionsProvider.register(i,e)}function chn(i,e){return Qt.get(_t).inlayHintsProvider.register(i,e)}function dhn(){return{register:Iun,getLanguages:kun,onLanguage:Dun,onLanguageEncountered:Tun,getEncodedLanguageId:Lun,setLanguageConfiguration:Eun,setColorMap:Aun,registerTokensProviderFactory:gde,setTokensProvider:Oun,setMonarchTokensProvider:Fun,registerReferenceProvider:Bun,registerRenameProvider:Vun,registerNewSymbolNameProvider:zun,registerCompletionItemProvider:thn,registerSignatureHelpProvider:Wun,registerHoverProvider:Hun,registerDocumentSymbolProvider:$un,registerDocumentHighlightProvider:Uun,registerLinkedEditingRangeProvider:jun,registerDefinitionProvider:Gun,registerImplementationProvider:qun,registerTypeDefinitionProvider:Kun,registerCodeLensProvider:Jun,registerCodeActionProvider:Yun,registerDocumentFormattingEditProvider:Xun,registerDocumentRangeFormattingEditProvider:Qun,registerOnTypeFormattingEditProvider:Zun,registerLinkProvider:ehn,registerColorProvider:nhn,registerFoldingRangeProvider:ihn,registerDeclarationProvider:shn,registerSelectionRangeProvider:ohn,registerDocumentSemanticTokensProvider:rhn,registerDocumentRangeSemanticTokensProvider:ahn,registerInlineCompletionsProvider:lhn,registerInlayHintsProvider:chn,DocumentHighlightKind:Yee,CompletionItemKind:Uee,CompletionItemTag:jee,CompletionItemInsertTextRule:$ee,SymbolKind:Lte,SymbolTag:Dte,IndentAction:ite,CompletionTriggerKind:Gee,SignatureHelpTriggerKind:kte,InlayHintKind:ote,InlineCompletionTriggerKind:lte,CodeActionTriggerType:Hee,NewSymbolNameTag:fte,NewSymbolNameTriggerKind:pte,PartialAcceptTriggerKind:vte,HoverVerbosityAction:nte,InlineCompletionEndOfLifeReasonKind:rte,InlineCompletionHintStyle:ate,FoldingRangeKind:Q1,SelectedSuggestionInfo:u5e,EditDeltaInfo:ZR}}Vl.wrappingIndent.defaultValue=0;Vl.glyphMargin.defaultValue=!1;Vl.autoIndent.defaultValue=3;Vl.overviewRulerLanes.defaultValue=2;Lk.setFormatterSelector((i,e,t)=>Promise.resolve(i[0]));const Ic=uWe();Ic.editor=wun();Ic.languages=dhn();const VWe=Ic.CancellationTokenSource,Qw=Ic.Emitter,zWe=Ic.KeyCode,WWe=Ic.KeyMod,Fb=Ic.Position,AL=Ic.Range,HWe=Ic.Selection,$We=Ic.SelectionDirection,fg=Ic.MarkerSeverity,BW=Ic.MarkerTag,u7=Ic.Uri,UWe=Ic.Token,op=Ic.editor,pt=Ic.languages,uhn=Roe(),DI=globalThis;(uhn?.globalAPI||typeof DI.define=="function"&&DI.define.amd)&&(DI.monaco=Ic);typeof DI.require<"u"&&typeof DI.require.config=="function"&&DI.require.config({ignoreDuplicateModules:["vscode-languageserver-types","vscode-languageserver-types/main","vscode-languageserver-textdocument","vscode-languageserver-textdocument/main","vscode-nls","vscode-nls/vscode-nls","jsonc-parser","jsonc-parser/main","vscode-uri","vscode-uri/index","vs/basic-languages/typescript/typescript"]});const hhn=Object.freeze(Object.defineProperty({__proto__:null,CancellationTokenSource:VWe,Emitter:Qw,KeyCode:zWe,KeyMod:WWe,MarkerSeverity:fg,MarkerTag:BW,Position:Fb,Range:AL,Selection:HWe,SelectionDirection:$We,Token:UWe,Uri:u7,editor:op,languages:pt},Symbol.toStringTag,{value:"Module"}));let mde=class{constructor(e,t,n){this._onDidChange=new Qw,this._languageId=e,this.setOptions(t),this.setModeConfiguration(n)}get onDidChange(){return this._onDidChange.event}get languageId(){return this._languageId}get modeConfiguration(){return this._modeConfiguration}get diagnosticsOptions(){return this.options}get options(){return this._options}setOptions(e){this._options=e||Object.create(null),this._onDidChange.fire(this)}setDiagnosticsOptions(e){this.setOptions(e)}setModeConfiguration(e){this._modeConfiguration=e||Object.create(null),this._onDidChange.fire(this)}};const fde={validate:!0,lint:{compatibleVendorPrefixes:"ignore",vendorPrefix:"warning",duplicateProperties:"warning",emptyRules:"warning",importStatement:"ignore",boxModel:"ignore",universalSelector:"ignore",zeroUnits:"ignore",fontFaceProperties:"warning",hexColorLength:"error",argumentsInColorFunction:"error",unknownProperties:"warning",ieHack:"ignore",unknownVendorSpecificProperties:"ignore",propertyIgnoredDueToDisplay:"warning",important:"ignore",float:"ignore",idSelector:"ignore"},data:{useDefaultDataProvider:!0},format:{newlineBetweenSelectors:!0,newlineBetweenRules:!0,spaceAroundSelectorSeparator:!1,braceStyle:"collapse",maxPreserveNewLines:void 0,preserveNewLines:!0}},pde={completionItems:!0,hovers:!0,documentSymbols:!0,definitions:!0,references:!0,documentHighlights:!0,rename:!0,colors:!0,foldingRanges:!0,diagnostics:!0,selectionRanges:!0,documentFormattingEdits:!0,documentRangeFormattingEdits:!0},jWe=new mde("css",fde,pde),GWe=new mde("scss",fde,pde),qWe=new mde("less",fde,pde);function _de(){return Nt(()=>import("./cssMode.DWY0mg29.js"),__vite__mapDeps([9,10]))}pt.onLanguage("less",()=>{_de().then(i=>i.setupMode(qWe))});pt.onLanguage("scss",()=>{_de().then(i=>i.setupMode(GWe))});pt.onLanguage("css",()=>{_de().then(i=>i.setupMode(jWe))});const KWe=Object.freeze(Object.defineProperty({__proto__:null,cssDefaults:jWe,lessDefaults:qWe,scssDefaults:GWe},Symbol.toStringTag,{value:"Module"}));let ghn=class{constructor(e,t,n){this._onDidChange=new Qw,this._languageId=e,this.setOptions(t),this.setModeConfiguration(n)}get onDidChange(){return this._onDidChange.event}get languageId(){return this._languageId}get options(){return this._options}get modeConfiguration(){return this._modeConfiguration}setOptions(e){this._options=e||Object.create(null),this._onDidChange.fire(this)}setModeConfiguration(e){this._modeConfiguration=e||Object.create(null),this._onDidChange.fire(this)}};const 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whn={validate:!0,allowComments:!0,schemas:[],enableSchemaRequest:!1,schemaRequest:"warning",schemaValidation:"warning",comments:"error",trailingCommas:"error"},yhn={documentFormattingEdits:!0,documentRangeFormattingEdits:!0,completionItems:!0,hovers:!0,documentSymbols:!0,tokens:!0,colors:!0,foldingRanges:!0,diagnostics:!0,selectionRanges:!0},ZWe=new vhn("json",whn,yhn),Chn=()=>e9e().then(i=>i.getWorker());function e9e(){return Nt(()=>import("./jsonMode.CgVMHw9T.js"),__vite__mapDeps([12,10]))}pt.register({id:"json",extensions:[".json",".bowerrc",".jshintrc",".jscsrc",".eslintrc",".babelrc",".har"],aliases:["JSON","json"],mimetypes:["application/json"]});pt.onLanguage("json",()=>{e9e().then(i=>i.setupMode(ZWe))});const t9e=Object.freeze(Object.defineProperty({__proto__:null,getWorker:Chn,jsonDefaults:ZWe},Symbol.toStringTag,{value:"Module"})),Shn="5.9.3";var 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this._diagnosticsOptions}setDiagnosticsOptions(e){this._diagnosticsOptions=e||Object.create(null),this._onDidChange.fire(void 0)}setWorkerOptions(e){this._workerOptions=e||Object.create(null),this._onDidChange.fire(void 0)}setInlayHintsOptions(e){this._inlayHintsOptions=e||Object.create(null),this._onDidChange.fire(void 0)}setMaximumWorkerIdleTime(e){}setEagerModelSync(e){this._eagerModelSync=e}getEagerModelSync(){return this._eagerModelSync}setModeConfiguration(e){this._modeConfiguration=e||Object.create(null),this._onDidChange.fire(void 0)}}const xhn=Shn,l9e={completionItems:!0,hovers:!0,documentSymbols:!0,definitions:!0,references:!0,documentHighlights:!0,rename:!0,diagnostics:!0,documentRangeFormattingEdits:!0,signatureHelp:!0,onTypeFormattingEdits:!0,codeActions:!0,inlayHints:!0},c9e=new a9e({allowNonTsExtensions:!0,target:99},{noSemanticValidation:!1,noSyntaxValidation:!1,onlyVisible:!1},{},{},l9e),d9e=new 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Did you forget to call it?`,this)})}static fromTransport(e,t={}){return new b9e(Fhn.createChannel(e,t.logger),t)}startListen(){if(this._requestSender)throw new Error(`"${this.startListen.name}" can be called only once, but it already has been called.`);this._timeout&&(this._timeout.dispose(),this._timeout=void 0),this._requestSender=this.channelCtor.connect({handleRequest:(e,t,n)=>this.handleRequest(e,t,n),handleNotification:(e,t)=>this.handleNotification(e,t)}),this.listeningDeferred.resolve()}checkChannel(e){if(!e)throw new Error(`"${this.startListen.name}" must be called before any messages can be sent or received.`);return!0}async handleRequest(e,t,n){const s=this._handler.get(e.method);if(!s)return this._logger&&this._logger.debug({text:`No request handler for "${e.method}".`,data:{requestObject:e}}),{error:{code:dg.methodNotFound,message:`No request handler for "${e.method}".`,data:{method:e.method}}};if(s.kind!="request"){const r=`"${e.method}" is registered as notification, but was sent as request.`;return this._logger&&this._logger.debug({text:r,data:{requestObject:e}}),{error:{code:dg.invalidRequest,message:r,data:{method:e.method}}}}const o=s.requestType.paramsSerializer.deserializeFromJson(e.params);if(o.hasErrors){const r=`Got invalid params: ${o.errorMessage}`;return this._logger&&this._logger.debug({text:r,data:{requestObject:e,errorMessage:o.errorMessage}}),{error:{code:dg.invalidParams,message:r,data:{errors:o.errorMessage}}}}else{const r=o.value;let a;try{const l=await s.handler(r,t,n);if("error"in l||"errorMessage"in l){const c=l.error?s.requestType.errorSerializer.serializeToJson(l.error):void 0;a={error:{code:l.errorCode||dg.genericApplicationError,message:l.errorMessage||"An error was returned",data:c}}}else a={result:s.requestType.resultSerializer.serializeToJson(l.ok)}}catch(l){l instanceof ZSe?a={error:{code:l.code,message:l.message}}:(this._logger&&this._logger.warn({text:`An exception was thrown while handling a request: ${l}.`,exception:l,data:{requestObject:e}}),a={error:{code:dg.unexpectedServerError,message:this.sendExceptionDetails?`An exception was thrown while handling a request: ${l}.`:"Server has thrown an unexpected exception"}})}return a}}async handleNotification(e,t){const n=this._handler.get(e.method);if(!n){for(const r of this._unknownNotificationHandler)r(e);this._unknownNotificationHandler.size===0&&this._logger&&this._logger.debug({text:`Unhandled notification "${e.method}"`,data:{requestObject:e}});return}if(n.kind!="notification"){this._logger&&this._logger.debug({text:`"${e.method}" is registered as request, but was sent as notification.`,data:{requestObject:e}});return}const s=n.notificationType.paramsSerializer.deserializeFromJson(e.params);if(s.hasErrors){this._logger&&this._logger.debug({text:`Got invalid params: ${s}`,data:{requestObject:e,errorMessage:s.errorMessage}});return}const o=s.value;for(const r of n.handlers)try{r(o,t)}catch(a){this._logger&&this._logger.warn({text:`An exception was thrown while handling a notification: ${a}.`,exception:a,data:{requestObject:e}})}}registerUnknownNotificationHandler(e){return rq(this._unknownNotificationHandler,e)}registerRequestHandler(e,t){if(this._handler.get(e.method))throw new Error(`Handler with method "${e.method}" already registered.`);return rq(this._handler,e.method,{kind:"request",requestType:e,handler:t})}registerNotificationHandler(e,t){let n=this._handler.get(e.method);if(!n)n={kind:"notification",notificationType:e,handlers:new Set},this._handler.set(e.method,n);else{if(n.kind!=="notification")throw new Error(`Method "${e.method}" was already registered as request handler.`);if(n.notificationType!==e)throw new Error(`Method "${e.method}" was registered for a different type.`)}return rq(n.handlers,t)}getRegisteredTypes(){const e=[];for(const t of this._handler.values())t.kind==="notification"?e.push(t.notificationType):t.kind==="request"&&e.push(t.requestType);return e}async request(e,t,n){if(!this.checkChannel(this._requestSender))throw new Error("Impossible");const s=e.paramsSerializer.serializeToJson(t);QSe(s);const o=await this._requestSender.sendRequest({method:e.method,params:s},n);if("error"in o){if(e.isOptional&&o.error.code===dg.methodNotFound)return p9e;let r;if(o.error.data!==void 0){const l=e.errorSerializer.deserializeFromJson(o.error.data);if(l.hasErrors)throw new Error(l.errorMessage);r=l.value}else r=void 0;const a=new ZSe(o.error.message,r,o.error.code);throw this._requestDidErrorEventEmitter.fire({error:a}),a}else{const r=e.resultSerializer.deserializeFromJson(o.result);if(r.hasErrors)throw new Error("Could not deserialize response: "+r.errorMessage+`
 
 ${JSON.stringify(o,null,2)}`);return r.value}}async notify(e,t,n){if(!this.checkChannel(this._requestSender))throw new Error;const s=e.paramsSerializer.serializeToJson(t);QSe(s),this._requestSender.sendNotification({method:e.method,params:s},n)}};function QSe(i){if(i!==null&&Array.isArray(i)&&typeof i!="object")throw new Error("Invalid value! 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Map([[ar.Text,pt.CompletionItemKind.Text],[ar.Method,pt.CompletionItemKind.Method],[ar.Function,pt.CompletionItemKind.Function],[ar.Constructor,pt.CompletionItemKind.Constructor],[ar.Field,pt.CompletionItemKind.Field],[ar.Variable,pt.CompletionItemKind.Variable],[ar.Class,pt.CompletionItemKind.Class],[ar.Interface,pt.CompletionItemKind.Interface],[ar.Module,pt.CompletionItemKind.Module],[ar.Property,pt.CompletionItemKind.Property],[ar.Unit,pt.CompletionItemKind.Unit],[ar.Value,pt.CompletionItemKind.Value],[ar.Enum,pt.CompletionItemKind.Enum],[ar.Keyword,pt.CompletionItemKind.Keyword],[ar.Snippet,pt.CompletionItemKind.Snippet],[ar.Color,pt.CompletionItemKind.Color],[ar.File,pt.CompletionItemKind.File],[ar.Reference,pt.CompletionItemKind.Reference],[ar.Folder,pt.CompletionItemKind.Folder],[ar.EnumMember,pt.CompletionItemKind.EnumMember],[ar.Constant,pt.CompletionItemKind.Constant],[ar.Struct,pt.CompletionItemKind.Struct],[ar.Event,pt.CompletionItemKind.Event],[ar.Operator,pt.CompletionItemKind.Operator],[ar.TypeParameter,pt.CompletionItemKind.TypeParameter]]);function Xhn(i){return i?x9e.get(i)??pt.CompletionItemKind.Text:pt.CompletionItemKind.Text}const N9e=new Map([[jhn.Deprecated,pt.CompletionItemTag.Deprecated]]);function Qhn(i){return N9e.get(i)}const Zhn=new Map([[pt.CompletionTriggerKind.Invoke,K4.Invoked],[pt.CompletionTriggerKind.TriggerCharacter,K4.TriggerCharacter],[pt.CompletionTriggerKind.TriggerForIncompleteCompletions,K4.TriggerForIncompleteCompletions]]);function egn(i){return Zhn.get(i)??K4.Invoked}const tgn=new Map([[Ghn.Snippet,pt.CompletionItemInsertTextRule.InsertAsSnippet]]);function ngn(i){if(i)return tgn.get(i)}const I9e=new Map([[Ko.File,pt.SymbolKind.File],[Ko.Module,pt.SymbolKind.Module],[Ko.Namespace,pt.SymbolKind.Namespace],[Ko.Package,pt.SymbolKind.Package],[Ko.Class,pt.SymbolKind.Class],[Ko.Method,pt.SymbolKind.Method],[Ko.Property,pt.SymbolKind.Property],[Ko.Field,pt.SymbolKind.Field],[Ko.Constructor,pt.SymbolKind.Constructor],[Ko.Enum,pt.SymbolKind.Enum],[Ko.Interface,pt.SymbolKind.Interface],[Ko.Function,pt.SymbolKind.Function],[Ko.Variable,pt.SymbolKind.Variable],[Ko.Constant,pt.SymbolKind.Constant],[Ko.String,pt.SymbolKind.String],[Ko.Number,pt.SymbolKind.Number],[Ko.Boolean,pt.SymbolKind.Boolean],[Ko.Array,pt.SymbolKind.Array],[Ko.Object,pt.SymbolKind.Object],[Ko.Key,pt.SymbolKind.Key],[Ko.Null,pt.SymbolKind.Null],[Ko.EnumMember,pt.SymbolKind.EnumMember],[Ko.Struct,pt.SymbolKind.Struct],[Ko.Event,pt.SymbolKind.Event],[Ko.Operator,pt.SymbolKind.Operator],[Ko.TypeParameter,pt.SymbolKind.TypeParameter]]);function k9e(i){return I9e.get(i)??pt.SymbolKind.File}const ign=new Map([[C9e.Deprecated,pt.SymbolTag.Deprecated]]);function L9e(i){return ign.get(i)}const sgn=new Map([[aq.Text,pt.DocumentHighlightKind.Text],[aq.Read,pt.DocumentHighlightKind.Read],[aq.Write,pt.DocumentHighlightKind.Write]]);function ogn(i){return i?sgn.get(i)??pt.DocumentHighlightKind.Text:pt.DocumentHighlightKind.Text}const rgn=new Map([[EI.Comment,pt.FoldingRangeKind.Comment],[EI.Imports,pt.FoldingRangeKind.Imports],[EI.Region,pt.FoldingRangeKind.Region]]);function agn(i){if(i)return rgn.get(i)}const lgn=new Map([[fg.Error,F_.Error],[fg.Warning,F_.Warning],[fg.Info,F_.Information],[fg.Hint,F_.Hint]]);function cgn(i){return lgn.get(i)??F_.Error}const dgn=new Map([[F_.Error,fg.Error],[F_.Warning,fg.Warning],[F_.Information,fg.Info],[F_.Hint,fg.Hint]]);function ugn(i){return i?dgn.get(i)??fg.Error:fg.Error}const D9e=new Map([[ixe.Unnecessary,BW.Unnecessary],[ixe.Deprecated,BW.Deprecated]]);function hgn(i){return D9e.get(i)}const ggn=new Map([[pt.SignatureHelpTriggerKind.Invoke,J4.Invoked],[pt.SignatureHelpTriggerKind.TriggerCharacter,J4.TriggerCharacter],[pt.SignatureHelpTriggerKind.ContentChange,J4.ContentChange]]);function mgn(i){return ggn.get(i)??J4.Invoked}function PI(i){if(i)return{id:i.command,title:i.title,arguments:i.arguments}}const fgn=new Map([[nxe.Type,pt.InlayHintKind.Type],[nxe.Parameter,pt.InlayHintKind.Parameter]]);function pgn(i){return i?fgn.get(i)??pt.InlayHintKind.Type:pt.InlayHintKind.Type}function Zw(i,e){if("targetUri"in i){const t=e.bridge.translateBackRange({uri:i.targetUri},i.targetRange);return{uri:t.textModel.uri,range:t.range,originSelectionRange:i.originSelectionRange?e.bridge.translateBackRange({uri:i.targetUri},i.originSelectionRange).range:void 0,targetSelectionRange:i.targetSelectionRange?e.bridge.translateBackRange({uri:i.targetUri},i.targetSelectionRange).range:void 0}}else{const t=e.bridge.translateBackRange({uri:i.uri},i.range);return{uri:t.textModel.uri,range:t.range}}}function La(i){return!i||i.length===0?{language:"*"}:i.map(e=>"notebook"in e?typeof e.notebook=="string"?{notebookType:e.notebook,language:e.language}:{notebookType:e.notebook.notebookType,language:e.language,pattern:e.notebook.pattern,scheme:e.notebook.scheme}:{language:e.language,pattern:e.pattern,scheme:e.scheme})}function _gn(i,e){if(!e)return!0;const t=i.getLanguageId();if(i.uri.toString(!0),!e||e.length===0)return!0;for(const n of e)if(!(n.language&&n.language!=="*"&&n.language!==t))return!0;return!1}function Fne(i){const e={severity:ugn(i.severity),startLineNumber:i.range.start.line+1,startColumn:i.range.start.character+1,endLineNumber:i.range.end.line+1,endColumn:i.range.end.character+1,message:i.message,source:i.source,code:typeof i.code=="string"?i.code:i.code?.toString()};return i.tags&&(e.tags=i.tags.map(t=>hgn(t)).filter(t=>t!==void 0)),i.relatedInformation&&(e.relatedInformation=i.relatedInformation.map(t=>({resource:u7.parse(t.location.uri),startLineNumber:t.location.range.start.line+1,startColumn:t.location.range.start.character+1,endLineNumber:t.location.range.end.line+1,endColumn:t.location.range.end.character+1,message:t.message}))),e}var bgn=class extends sr{constructor(i){super(),this._connection=i,this._register(this._connection.capabilities.addStaticClientCapabilities({textDocument:{completion:{dynamicRegistration:!0,contextSupport:!0,completionItemKind:{valueSet:Array.from(x9e.keys())},completionItem:{tagSupport:{valueSet:Array.from(N9e.keys())},commitCharactersSupport:!0,deprecatedSupport:!0,preselectSupport:!0}}}})),this._register(this._connection.capabilities.registerCapabilityHandler(On.textDocumentCompletion,!0,e=>pt.registerCompletionItemProvider(La(e.documentSelector),new vgn(this._connection,e))))}},vgn=class{constructor(i,e){Rt(this,"resolveCompletionItem"),this._client=i,this._capabilities=e,e.resolveProvider&&(this.resolveCompletionItem=async(t,n)=>(T9e(t,await this._client.server.completionItemResolve(t._lspItem),this._client.bridge,t._translated,t._model),t))}get triggerCharacters(){return this._capabilities.triggerCharacters}async provideCompletionItems(i,e,t,n){const s=this._client.bridge.translate(i,e),o=await this._client.server.textDocumentCompletion({textDocument:s.textDocument,position:s.position,context:t.triggerCharacter?{triggerKind:egn(t.triggerKind),triggerCharacter:t.triggerCharacter}:void 0});return o?{suggestions:(Array.isArray(o)?o:o.items).map(r=>({...wgn(r,this._client.bridge,s,i,e),_lspItem:r,_translated:s,_model:i}))}:{suggestions:[]}}};function wgn(i,e,t,n,s){let o=i.insertText||i.label,r;i.textEdit&&("range"in i.textEdit?(o=i.textEdit.newText,r=j0(e.translateBackRange(t.textDocument,i.textEdit.range),n).range):(o=i.textEdit.newText,r={insert:j0(e.translateBackRange(t.textDocument,i.textEdit.insert),n).range,replace:j0(e.translateBackRange(t.textDocument,i.textEdit.replace),n).range})),r||(r=AL.fromPositions(s,s));const a={label:i.label,kind:Xhn(i.kind),insertText:o,sortText:i.sortText,filterText:i.filterText,preselect:i.preselect,commitCharacters:i.commitCharacters,range:r};return T9e(a,i,e,t,n),a}function T9e(i,e,t,n,s){e.detail!==void 0&&(i.detail=e.detail),e.documentation!==void 0&&(i.documentation=ygn(e.documentation)),e.insertTextFormat!==void 0&&(i.insertTextRules=ngn(e.insertTextFormat)),e.tags&&e.tags.length>0&&(i.tags=e.tags.map(Qhn).filter(o=>o!==void 0)),e.additionalTextEdits&&e.additionalTextEdits.length>0&&(i.additionalTextEdits=e.additionalTextEdits.map(o=>({range:j0(t.translateBackRange(n.textDocument,o.range),s).range,text:o.newText}))),e.command&&(i.command=PI(e.command))}function ygn(i){if(i)return typeof i=="string"?i:{value:i.value,isTrusted:!0}}var Cgn=class extends sr{constructor(i){super(),this._connection=i,this._register(this._connection.capabilities.addStaticClientCapabilities({textDocument:{hover:{dynamicRegistration:!0,contentFormat:[VW.Markdown,VW.PlainText]}}})),this._register(this._connection.capabilities.registerCapabilityHandler(On.textDocumentHover,!0,e=>pt.registerHoverProvider(La(e.documentSelector),new Sgn(this._connection,e))))}},Sgn=class{constructor(i,e){this._client=i,this._capabilities=e}async provideHover(i,e,t){const n=this._client.bridge.translate(i,e),s=await this._client.server.textDocumentHover({textDocument:n.textDocument,position:n.position});return!s||!s.contents?null:{contents:xgn(s.contents),range:s.range?this._client.bridge.translateBackRange(n.textDocument,s.range).range:void 0}}};function xgn(i){return Array.isArray(i)?i.map(e=>sxe(e)):[sxe(i)]}function sxe(i){return typeof i=="string"?{value:i,isTrusted:!0}:"kind"in i?{value:i.value,isTrusted:!0}:{value:`\`\`\`${i.language}
 ${i.value}