@rainbow-robotics/preview-host 1.3.6-dev.0 → 1.3.6-dev.1

package/dist/assets/{__federation_expose_App.s6a3vB9D.js → __federation_expose_App.Dpockwhb.js}

@@ -1,4 +1,4 @@
-const __vite__mapDeps=(i,m=__vite__mapDeps,d=(m.f||(m.f=["assets/index.gNqUQbXV.js","assets/useFileDownload.u1IqR1tO.js","assets/RbLocalizationProvider.CMEaJz_8.js","assets/__federation_fn_import.DdkEuT6t.js","assets/jsx-runtime.CBqCNPYB.js","assets/index.P6snMalu.js","assets/emotion-styled-base.browser.esm.BIcjgOzg.js","assets/AmrCapabilityControl.BrB4gWci.js","assets/index.BFyW4OKK.js","assets/cssMode.ChPse9lg.js","assets/lspLanguageFeatures.CfhaRrVs.js","assets/htmlMode.DvOzDC6f.js","assets/jsonMode.DwAYYJ29.js","assets/javascript.BmadRzPy.js","assets/typescript._OOg3cKN.js"])))=>i.map(i=>d[i]);
+const __vite__mapDeps=(i,m=__vite__mapDeps,d=(m.f||(m.f=["assets/index.gNqUQbXV.js","assets/useFileDownload.u1IqR1tO.js","assets/RbLocalizationProvider.CMEaJz_8.js","assets/__federation_fn_import.DdkEuT6t.js","assets/jsx-runtime.CBqCNPYB.js","assets/index.P6snMalu.js","assets/emotion-styled-base.browser.esm.BIcjgOzg.js","assets/AmrCapabilityControl.BrB4gWci.js","assets/index.BFyW4OKK.js","assets/cssMode.42O3FGyR.js","assets/lspLanguageFeatures.H4d2NWXd.js","assets/htmlMode.Cfmb4mzU.js","assets/jsonMode.CmZR708h.js","assets/javascript.DJWc8DHq.js","assets/typescript.B9BPeSOl.js"])))=>i.map(i=>d[i]);
 import{importShared as F}from"./__federation_fn_import.DdkEuT6t.js";import{c as Hn,b as X7,a as jL,d as GL,e as m9e,f as wk,u as f9e,R as p9e,g as n1,A as rIe,P as aIe,h as _9e,i as lIe,k as cIe,l as sE,m as dIe,n as b9e,o as v9e,p as y9e,q as w9e,F as C9e,D as S9e,C as x9e,r as I9e,s as k9e,t as N9e,v as L9e,O as D9e,w as T9e,j as h,x as P,L as E9e,T as P9e,y as R9e,z as M9e,B as uIe,E as A9e,S as mb,G as xu,H as k,I as O9e,J as F9e,K as B9e,M as V9e,N as z9e,Q as W9e,U,V as Q,W as hIe,X as dW,Y as H9e,Z as gIe,_ as hy,$ as mIe,a0 as fIe,a1 as $9e,a2 as pIe,a3 as _Ie,a4 as U9e,a5 as bIe,a6 as vIe,a7 as j9e,a8 as yIe,a9 as ea,aa as G9e,ab as q9e,ac as K9e,ad as J9e,ae as wIe,af as uW,ag as Qte,ah as Xte,ai as CIe,aj as SIe,ak as xIe,al as Y9e,am as Q9e,an as X9e,ao as Z9e,ap as e6e,aq as t6e,ar as n6e,as as i6e,at as s6e,au as o6e,av as Zs,aw as r6e,ax as a6e,ay as l6e,az as c6e,aA as d6e,aB as u6e,aC as h6e,aD as g6e,aE as m6e,aF as f6e,aG as p6e,aH as DM,aI as _6e,aJ as TM,aK as b6e,aL as nu,aM as IIe,aN as v6e,aO as y6e,aP as w6e,aQ as hW,aR as C6e,aS as S6e,aT as x6e,aU as I6e,aV as EM,aW as eq,aX as rn,aY as k6e,aZ as Zte,a_ as N6e,a$ as _e,b0 as L6e,b1 as D6e,b2 as T6e,b3 as E6e,b4 as P6e,b5 as R6e,b6 as M6e,b7 as A6e,b8 as O6e,b9 as F6e,ba as B6e,bb as V6e,bc as z6e,bd as W6e,be as H6e,bf as $6e,bg as Gc,bh as U6e,bi as PM,bj as kIe,bk as NIe,bl as j6e,bm as i1,bn as G6e,bo as q6e,bp as tq,bq as LIe,br as nq,bs as ye,bt as K6e,bu as DIe,bv as J6e,bw as Y6e,bx as Q6e,by as X6e,bz as Z6e,bA as e7e,bB as t7e,bC as n7e,bD as i7e,bE as s7e,bF as gW,bG as TIe,bH as _o,bI as _0,bJ as Lo,bK as EIe,bL as ene,bM as o7e,bN as r7e,bO as a7e,bP as l7e,bQ as c7e,bR as d7e,bS as u7e,bT as h7e,bU as g7e,bV as tne,bW as tt,bX as m7e,bY as nt,bZ as f7e,b_ as p7e,b$ as _7e,c0 as Ck,c1 as q,c2 as b7e,c3 as v7e,c4 as y7e,c5 as w7e,c6 as C7e,c7 as S7e,c8 as x7e,c9 as I7e,ca as k7e,cb as N7e,cc as PIe,cd as L7e,ce as D7e,cf as T7e,cg as E7e,ch as P7e,ci as R7e,cj as M7e,ck as A7e,cl as O7e,cm as RM,cn as F7e,co as B7e,cp as V7e,cq as z7e,cr as W7e,cs as H7e,ct as RIe,cu as Vg,cv as $7e,cw as rt,cx as J,cy as $m,cz as xs,cA as ct,cB as $i,cC as U7e,cD as bn,cE as MIe,cF as jr,cG as ve,cH as AIe,cI as OIe,cJ as vt,cK as SI,cL as j7e,cM as G7e,cN as fd,cO as FIe,cP as Ng,cQ as at,cR as BIe,cS as Ai,cT as q7e,cU as TN,cV as Dr,cW as nne,cX as ine,cY as sne,cZ as one,c_ as K7e,c$ as J7e,d0 as Y7e,d1 as Q7e,d2 as X7e,d3 as Z7e,d4 as VIe,d5 as eHe,d6 as Z7,d7 as rne,d8 as zIe,d9 as D1,da as tHe,db as m4,dc as sn,dd as mW,de as T1,df as nHe,dg as WIe,dh as HIe,di as iHe,dj as sHe,dk as $Ie,dl as UIe,dm as oHe,dn as rHe,dp as aHe,dq as jIe,dr as lHe,ds as cHe,dt as GIe,du as dHe,dv as uHe,dw as hHe,dx as qIe,dy as gHe,dz as mHe,dA as fHe,dB as pHe,dC as _He,dD as bHe,dE as vHe,dF as KIe,dG as yHe,dH as wHe,dI as CHe,dJ as SHe,dK as JIe,dL as YIe,dM as xHe,dN as IHe,dO as kHe,dP as NHe,dQ as LHe,dR as DHe,dS as THe,dT as EHe,dU as QIe,dV as XIe,dW as PHe,dX as ZIe,dY as RHe,dZ as MHe,d_ as AHe,d$ as OHe,e0 as FHe,e1 as BHe,e2 as VHe,e3 as zHe,e4 as WHe,e5 as HHe,e6 as $He,e7 as UHe,e8 as jHe,e9 as GHe,ea as qHe,eb as KHe,ec as JHe,ed as YHe,ee as QHe,ef as XHe,eg as ZHe,eh as e8e,ei as t8e,ej as n8e,ek as i8e,el as _2,em as s8e,en as wa,eo as o8e,ep as f4,eq as oE,er as E1,es as ane,et as lne,eu as cne,ev as fW,ew as eke,ex as tke,ey as Sk,ez as nke,eA as ike,eB as ske,eC as r8e,eD as a8e,eE as K_,eF as b0,eG as pW,eH as oke,eI as rke,eJ as ake,eK as l8e,eL as c8e,eM as Rce,eN as dne,eO as _W,eP as d8e,eQ as lke,eR as u8e,eS as h8e,eT as g8e,eU as v0,eV as m8e,eW as f8e,eX as p8e,eY as Mce,eZ as _8e,e_ as b8e,e$ as v8e,f0 as y8e,f1 as MM,f2 as w8e,f3 as C8e,f4 as S8e,f5 as x8e,f6 as I8e,f7 as k8e,f8 as N8e,f9 as L8e,fa as D8e,fb as EN,fc as T8e,fd as E8e,fe as P8e,ff as R8e,fg as M8e,fh as A8e,fi as cke,fj as O8e,fk as dke,fl as uke,fm as une,fn as F8e,fo as hke,fp as PN,fq as B8e,fr as P1,fs as R1,ft as Ao,fu as V8e,fv as z8e,fw as W8e,fx as gke,fy as mke,fz as fke,fA as H8e,fB as $8e,fC as U8e,fD as j8e,fE as G8e,fF as hne,fG as pke,fH as q8e,fI as K8e,fJ as J8e,fK as Y8e,fL as Q8e,fM as X8e,fN as Z8e,fO as e$e,fP as t$e,fQ as n$e,fR as i$e,fS as s$e,fT as Ace,fU as o$e,fV as iq,fW as r$e,fX as Zp,fY as Oce,fZ as eH,f_ as tH,f$ as Fce,g0 as _ke,g1 as a$e,g2 as l$e,g3 as c$e,g4 as d$e,g5 as u$e,g6 as h$e,g7 as zb,g8 as g$e,g9 as m$e,ga as f$e,gb as p$e,gc as _$e}from"./RbLocalizationProvider.CMEaJz_8.js";import{j as tr,J as b$e}from"./jsx-runtime.CBqCNPYB.js";import{g as AM,a as bke,r as v$e}from"./index.P6snMalu.js";import{r as y$e}from"./index.B3zY1kf7.js";import{R as w$e,l as C$e,a as S$e,M as p4,b as $f,c as x$e,A as I$e,S as k$e,N as N$e,B as vke,C as bW,L as sq,V as Be,d as Ju,e as no,f as Vo,g as L$e,D as xP,h as gy,i as yd,G as xm,j as Qu,k as Bce,m as rE,n as D$e,T as yke,Q as Bs,P as OM,O as oq,o as Do,E as T$e,p as E$e,q as P$e,r as xI,s as wke,U as Cke,t as Ske,u as Iu,v as R$e,w as xke,H as Ike,x as kke,W as Nke,y as M$e,z as A$e,F as O$e,I as F$e,J as Lke,K as B$e,X as V$e,Y as Dke,Z as z$e,_ as W$e,$ as J_,a0 as Nx,a1 as Tke,a2 as H$e,a3 as Vce,a4 as xk,a5 as $$e,a6 as U$e,a7 as j$e,a8 as G$e,a9 as q$e,aa as K$e,ab as J$e,ac as Y$e,ad as cS,ae as zce,af as b2,ag as Wce,ah as nH,ai as Q$e,aj as gne,ak as iH,al as Eke,am as Pke,an as Rke,ao as Mke,ap as Ake,aq as dS,ar as X$e,as as gc,at as Z$e,au as _4,av as Oke,aw as Fke,ax as Bke,ay as eUe,az as tUe,aA as Vke,aB as nUe,aC as iUe,aD as sUe,aE as oUe,aF as rUe,aG as aUe,aH as lUe,aI as cUe,aJ as dUe,aK as uUe,aL as hUe,aM as gUe,aN as mUe,aO as fUe,aP as pUe,aQ as _Ue,aR as bUe,aS as vUe,aT as zke,aU as yUe,aV as wUe}from"./useFileDownload.u1IqR1tO.js";import{l as mne,c as Jt,m as Ot,a as FM,f as Ev,i as ia,M as fne,L as pne,r as xa,b as _s,d as vW,g as CUe,e as Wke,u as fb,h as Hke,J as Yh,j as SUe,k as xUe,n as IUe,o as kUe,p as NUe,q as LUe,s as $ke,t as Hce,v as $ce,w as Uke,x as DUe,y as TUe,R as EUe,z as PUe,A as jke,B as RUe,C as MUe}from"./index.BFyW4OKK.js";import{s as AUe,h as OUe,E as FUe,a as BUe,c as yW,_ as Uce}from"./emotion-styled-base.browser.esm.BIcjgOzg.js";function VUe(i,e){for(var t=0;t<e.length;t++){const n=e[t];if(typeof n!="string"&&!Array.isArray(n)){for(const s in n)if(s!=="default"&&!(s in i)){const o=Object.getOwnPropertyDescriptor(n,s);o&&Object.defineProperty(i,s,o.get?o:{enumerable:!0,get:()=>n[s]})}}}return Object.freeze(Object.defineProperty(i,Symbol.toStringTag,{value:"Module"}))}var v2={},jce;function zUe(){if(jce)return v2;jce=1;var i=y$e();return v2.createRoot=i.createRoot,v2.hydrateRoot=i.hydrateRoot,v2}var Gke=zUe();const WUe=AM(Gke),HUe=VUe({__proto__:null,default:WUe},[Gke]),Gce=await F("react");var qce=function(e,t){var n=arguments;if(t==null||!OUe.call(t,"css"))return Gce.createElement.apply(void 0,n);var s=n.length,o=new Array(s);o[0]=FUe,o[1]=BUe(e,t);for(var r=2;r<s;r++)o[r]=n[r];return Gce.createElement.apply(null,o)};(function(i){var e;e||(e=i.JSX||(i.JSX={}))})(qce||(qce={}));function $Ue(){for(var i=arguments.length,e=new Array(i),t=0;t<i;t++)e[t]=arguments[t];return AUe(e)}function _ne(){var i=$Ue.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
  *
@@ -368,7 +368,7 @@ Execution control:
   check_stop() # check if the script step is stopped
 """`}}},glt={label:"program.button.variables",command:"Variables",icon:vHe,data:{method:"Variables",summary:"",funcName:"rb_program_sdk.set_variables",args:{variables:[]}}},Wu={label:"program.button.preProgram",command:"ActionPre",icon:dHe,data:{method:"ActionPre",name:"PreProgram"},requireChildren:!0,isStrict:!0,notAllowChildren:["Move","MoveJ","MoveL","MoveJB","MoveLB","MoveXB","Point","ForceControl","Conveyor","Weaving"]},rl={label:"program.button.postProgram",command:"ActionPost",icon:uHe,data:{method:"ActionPost",name:"PostProgram"},disabled:ia(),requireChildren:!0,isStrict:!0,notAllowChildren:["Move","MoveJ","MoveL","MoveJB","MoveLB","MoveXB","Point","ForceControl","Conveyor","Weaving"]},mlt={label:"program.button.subTask",command:"SubTask",icon:hHe,disabled:ia(),confirmModal:kat},ZDe={label:"program.button.sync",command:"Sync",icon:lHe,disabled:ia(),data:{method:"Sync",summary:"Flag => 1",args:{flag:"1",timeout:null}}},h3={label:"program.button.thread",command:"Thread",icon:GIe,confirmModal:Lat,factoryDataFn:async i=>({method:"Thread",taskId:ct.uniqueId(),summary:"",memo:"",name:"General Thread",args:{thread_type:"GENERAL",disable_pause:!1}}),requireChildren:!0,isStrict:!0,disabled:ia(),notAllowChildren:["Move","MoveJ","MoveL","MoveJB","MoveLB","MoveXB","Point","ForceControl","Conveyor","Weaving","Thread","CallEvent","ActionPost"]},Jq={label:"program.button.callEventThread",command:"CallEvent",icon:GIe,factoryDataFn:i=>({method:"CallEvent",summary:"Call: Ev Th 1",name:"Call Event Thread",args:{index:0}}),requireChildren:!1,isStrict:!1,notAllowChildren:[]},flt={label:"program.button.interface",command:"Interface",icon:CHe,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"}}}},plt={label:"program.button.vision",command:"Vision",icon:$He,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"}}}},_lt={label:"program.button.userInput",command:"UserInput",icon:wHe,data:{method:"UserInput",funcName:"rb_program_sdk.user_input",summary:"",args:{mode:"USER_INPUT",var_form:"STRING",var_selection:void 0}}},eTe={label:"program.button.changeProgram",command:"ChangeProgram",icon:SHe,confirmModal:olt},tTe=[rlt,ZDe,{...Fhe,data:{...Fhe.data,funcName:"rb_program_sdk.alarm_or_halt"}},h3,Wu,rl,mlt,u3,alt,dlt,ult,qq,clt,Kq,XDe,glt,hlt,llt,_lt,flt,eTe],Ek=[{label:"program.button.movej",command:"MoveJ",icon:JIe,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:YIe,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:xHe,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:IHe,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:kHe,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:NHe,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 MC({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:`${TI[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:"$parent.running_mode",method:0}}}},{label:"program.button.home",command:"PosHome",icon:LHe,data:{method:"PosHome",funcName:"rb_manipulate_sdk.move.call_move_home",summary:"Move-J, Top-Level (Main) Project",args:{home_type:0,move_type:0,speed:{spd_mode:0,spd_vel_para:.4,spd_acc_para:.1}}}},{label:"program.button.pinPoint",command:"PinPoint",icon:DHe,factoryDataFn:async(i,e)=>{let t=[0,0,0,0,0,0,0];try{const{carteXRef:n}=await MC({robot_model:e});n&&(t=n.map(s=>Number(s.toFixed(3))))}catch(n){console.error("Error fetching carteXRef",n)}return{method:"PinPoint",summary:`${TI[0].summary} , ${t.map(n=>n.toFixed(3)).join(", ")}`,funcName:"rb_manipulate_sdk.program.set_pin_point_or_joint",args:{input_method:0,pin_type:"POINT",target:{tar_frame:0,tar_unit:0,tar_values:t}}}}},{label:"program.button.pinJoint",command:"PinJoint",icon:THe,factoryDataFn:async(i,e)=>{let t=[0,0,0,0,0,0,0];try{const{jointQRef:n}=await MC({robot_model:e});n&&(t=n.map(s=>Number(s.toFixed(3))))}catch(n){console.error("Error fetching jointQRef",n)}return{method:"PinJoint",summary:`${TI[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:EHe,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:QIe,factoryDataFn:async(i,e)=>{let t=[0,0,0,0,0,0,0];try{const{carteXRef:n}=await MC({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:Rv[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:KIe,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:XIe,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:PHe,data:{method:"Pattern",summary:`ID 0, ${jq[0].summary}`,funcName:"rb_manipulate_sdk.service.call_pattern_on",postFuncName:"rb_manipulate_sdk.service.call_pattern_off",args:{id:0,type:0,count_x:2,count_y:2,count_z:2,anchor_pnt:"RB_JOINT_REF",incremental:1,corner_pnts:["RB_JOINT_REF","RB_JOINT_REF"]},postArgs:{id:0}},requireChildren:!0},{label:"program.button.set",command:"Setting",icon:ZIe,data:{method:"Setting",summary:"Out Collision - Off",name:"Set",funcName:"rb_manipulate_sdk.program.setting",args:{option:"OUT_COLLISION",out_collision:{onoff:0,react_mode:0,threshold:0}}}},{label:"program.button.tcpSet",command:"TcpSetting",icon:RHe,factoryDataFn:async(i,e)=>{let t="";try{const{tConfigs0:n}=await gLe({robot_model:e});t=n.toolName}catch(n){console.error("Error fetching tool list",n)}return{method:"TcpSetting",summary:t,name:"TCP Set",funcName:"rb_manipulate_sdk.config.set_toollist_num",args:{tool_num:0}}}},{label:"program.button.timer",command:"Timer",icon:jIe,data:{method:"Timer",summary:"Timer 0, Reset Time: 0sec",funcName:"rb_manipulate_sdk.service.call_timer_function",args:{timer_no:0,reset_time:0,option_increase:0,option_action:0}}},{label:"program.button.weaving",command:"Weaving",icon:MHe,data:{method:"Weaving",summary:"Off",funcName:"rb_manipulate_sdk.move.call_tcp_weaving_off",args:{}}},{label:"program.button.arcSensing",command:"ArcSensing",icon:AHe,data:{method:"ArcSensing",summary:"Off",funcName:"rb_manipulate_sdk.move.call_arc_sensing_off"}},{label:"program.button.conveyor",command:"Conveyor",icon:OHe,data:{method:"Conveyor",summary:lm[0].summary,funcName:"rb_manipulate_sdk.move.call_base_conveyor_off",args:{stop_time_sec:0}}},{label:"program.button.forceCtrl",command:"ForceControl",icon:FHe,data:{method:"ForceControl",funcName:"rb_manipulate_sdk.move.call_admittance_force_off"}},{label:"program.button.dout",command:"DOut",icon:BHe,data:{method:"DOut",summary:`${Gq[0].summary}: ${YDe.GENERAL.summary}`,memo:"",funcName:"rb_manipulate_sdk.io.call_multiple_side_dout",args:{side_dout_args:O4}}},{label:"program.button.aout",command:"AOut",icon:VHe,data:{method:"AOut",summary:"",memo:"",funcName:"rb_manipulate_sdk.io.call_multiple_side_aout",args:{side_aout_args:QDe}}},{label:"program.button.toolout",command:"ToolOut",icon:zHe,data:{method:"ToolOut",summary:`${M4[0].label}, ${F4.map((i,e)=>`${e}: Bypass`).join(", ")}`,memo:"",funcName:"rb_manipulate_sdk.program.tool_out",args:{tool_voltage:"-1",tool_dout_args:F4}}},{label:"program.button.gripper",command:"Gripper",icon:WHe,data:{method:"Gripper",summary:"Dynamixel Motor - Initialize",funcName:"rb_manipulate_sdk.service.call_gripper_action",args:{gripper_type:0,function_list:0,payload:[0,1,0,0]}}},{label:"program.button.welder",command:"Welding",icon:HHe,data:{method:"Welding",summary:AC[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}}},plt,{label:"progarm.button.rs485",command:"SerialCommunication",icon:UHe,disabled:!0},{label:"program.button.modbus",command:"Modbus",icon:jHe,disabled:!0},{label:"program.button.movingPoint",command:"MovePointPlus",icon:GHe,iconClassName:"size-6 h-7 object-contain object-center",disabled:!0},{label:"program.button.touchSensing",command:"TouchSensing",icon:qHe,disabled:!0}],nTe=[{label:"amr.button.goal",command:"Goal",icon:KHe,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:JHe,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:YHe,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:QIe,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:QHe,data:(()=>{const i={robot_model:"",map_name:""};return{method:"MapLoad",funcName:"rb_amr_sdk.map.map_load",summary:`Map Load - ${i.map_name}`,args:i}})()},{label:"amr.button.loc_init",command:"LocalizationInit",icon:XHe,data:(()=>{const i={robot_model:"",x:0,y:0,z:0,rz:0};return{name:"Localization Init",method:"LocalizationInit",funcName:"rb_amr_sdk.localization.localization_init",summary:`${Ex[0].summary} ${`X: ${i.x}, Y: ${i.y}, Z: ${i.z}, RZ: ${i.rz}`}`,args:i}})()},{label:"amr.button.loc_control",command:"LocalizationControl",icon:ZHe,data:{name:"Localization Start",method:"LocalizationControl",funcName:"rb_amr_sdk.localization.localization_start",summary:"Localization "+i3[0].summary,args:{robot_model:""}}},{label:"amr.button.hw_control",command:"HardwareCtrl",icon:ZIe,data:{method:"HardwareCtrl",funcName:"rb_amr_sdk.control.control_set_motor",summary:Kg[0].summary+": Off",args:{robot_model:"",switch:!1}}},{label:"amr.button.dock",command:"Dock",icon:e8e,data:{method:"Dock",funcName:"rb_amr_sdk.control.control_dock",summary:yq[0].summary,args:{robot_model:""}}},{label:"amr.button.obs_box",command:"SetObsBox",icon:t8e,data:(()=>{const i={robot_model:"",min_x:0,min_y:0,min_z:0,max_x:1,max_y:1,max_z:1,map_range:0};return{name:"OBS Box",method:"SetObsBox",funcName:"rb_amr_sdk.control.control_set_obs_box",summary:`Min - [X: ${i.min_x}, Y: ${i.min_y}, Z: ${i.min_z}], Max - [X: ${i.max_x}, Y: ${i.max_y}, Z: ${i.max_z}], Map Range: ${i.map_range}`,args:i}})()},{label:"amr.button.set_safety",command:"SetSafety",icon:n8e,data:(()=>{const i={robot_model:"",safety_field:0};return{method:"SetSafety",funcName:"rb_amr_sdk.control.control_set_safety_field",summary:mf[0].summary+": "+i.safety_field,args:i}})()},{label:"program.button.canBus",command:"CANBus",icon:i8e,iconClassName:"w-10 h-8 object-contain object-center",data:{method:"CANBus",summary:Kh[0].summary,funcName:Kh[0].value,args:{channel:null,bitrate:1e6,fd:!1,dataBitrate:0,receiveOwnMessages:0,interface:FDe}}},{label:"amr.button.stream",command:"Stream",icon:XIe,data:{method:"Stream",funcName:"rb_amr_sdk.control.control_stream_frequency",args:{robot_model:"",target:"camera",frequency:0}},disabled:!0}],iTe=[{label:"program.button.movel",command:"MoveL_Y1",icon:YIe,data:{method:"MoveL_Y1",funcName:"rb_rby1_sdk.move_l",args:{type:"l",target:{},minimum_time:3}}},{label:"program.button.movej",command:"MoveJ_Y1",icon:JIe,data:{method:"MoveJ_Y1",funcName:"rb_rby1_sdk.move_j",args:{type:"j",target:{},minimum_time:3}}}];let Yq=!1;const blt=100,vlt=100,ylt={initialInfo:{programInfo:null,beginInfo:null,treeItems:null,subTreeItems:null},programInfo:null,beginInfo:null,multiSelectMode:!1,selectedItems:null,showItem:null,copiedItems:[],treeItems:null,subTreeItems:null,undoStack:[],redoStack:[],isChanged:!1},wlt={getItem:async i=>{const e=await $Ye(i);return typeof e=="string"?e:null},setItem:async(i,e)=>{Yq&&await UYe(i,e)},removeItem:async i=>{await jYe(i)}},Hg=(i,e,t,n,s)=>{const o=ct.cloneDeep(n),r=ct.cloneDeep(i.treeItems),a=ct.cloneDeep(s),l=ct.cloneDeep(i.subTreeItems),c=u=>{if(u)for(const g of u)delete g.state,g.children&&c(g.children)},d=u=>{if(u)for(const g of u)c(g.steps)};for(const u of Object.keys(o??{}))c(o[u]);for(const u of Object.keys(r??{}))c(r[u]);for(const u of Object.keys(a??{}))d(a[u]);for(const u of Object.keys(l??{}))d(l[u]);return!cLe({...i,treeItems:r,subTreeItems:l},{programInfo:e,beginInfo:t,treeItems:o,subTreeItems:a})},Clt=rLe()(aLe(lLe((i,e)=>({...ylt,setInitialInfo:(t,n=!1)=>{const s=e().programInfo,o=e().treeItems,r=e().subTreeItems,a=e().showItem,l=e().selectedItems,c=e().copiedItems,d=e().undoStack,u=e().redoStack,g=e().beginInfo,m=ct.cloneDeep(t),f=m.treeItems?Object.entries(m.treeItems).reduce((_,[b,v])=>(_[b]=v.length===0?[{...Wa,stepId:ct.uniqueId(),taskId:b,programId:m.programInfo?.programId}]:v,_),{}):null,p=m.subTreeItems?ct.cloneDeep(m.subTreeItems):null;i({initialInfo:{...m,treeItems:f,subTreeItems:p},programInfo:n?m.programInfo:s,beginInfo:n?m.beginInfo:g,treeItems:n?f:o,subTreeItems:n?p:r,showItem:n?null:a,selectedItems:n?null:l,copiedItems:n?[]:c,undoStack:n?[]:d,redoStack:n?[]:u,isChanged:n?!1:Hg(m,s,g,o,r)})},setProgramInfo:t=>{i({programInfo:t,isChanged:Hg(e().initialInfo,t,e().beginInfo,e().treeItems,e().subTreeItems)})},setBeginInfo:(t,n)=>{n&&!n.speed_ratio&&(n.speed_ratio=null),i({beginInfo:{...e().beginInfo,[t]:n},isChanged:Hg(e().initialInfo,e().programInfo,{...e().beginInfo,[t]:n},e().treeItems,e().subTreeItems)})},setSelectedItems:t=>{const n=e().selectedItems,s=n?.find(o=>o.stepId===t.stepId);if(e().multiSelectMode){if(n?.some(r=>r.parentStepId!==t.parentStepId)){at.openToast({title:_2("program.select.notAllowed.title"),content:_2("program.select.notAllowed.differentParent"),type:"basic",variant:"warning"});return}if(t.groupId){const a=lc(ct.cloneDeep(e().treeItems?.[t.taskId]??[]),{excludeEmpty:!0}).filter(c=>c.groupId===t.groupId);if(!(a?.length>0&&a?.[0]?.stepId===t.stepId)){at.openToast({title:_2("program.select.notAllowed.title"),content:_2("program.select.notAllowed.selectFirstGroupItem"),type:"basic",variant:"warning"});return}}i(s?{selectedItems:ct.sortBy(n?.filter(r=>r.stepId!==t.stepId),"order")}:{selectedItems:ct.sortBy([...n??[],t],"order")})}else i({selectedItems:[t],showItem:s&&t.method!==Wa.method?t:null})},setShowItem:t=>{i({showItem:t})},resetSelectedItems:()=>{i({selectedItems:[],showItem:null})},setTreeItems:(t,n)=>{const s={...Wa,stepId:ct.uniqueId(),taskId:t,programId:e().programInfo?.programId},o=n.length===0?[s]:n;El(o),i(r=>({treeItems:{...r.treeItems,[t]:o},selectedItems:n.length===0?[s]:r.selectedItems,isChanged:Hg(r.initialInfo,r.programInfo,r.beginInfo,{...r.treeItems,[t]:o},r.subTreeItems)}))},setOneTreeItem:(t,n,s)=>{const o=e().treeItems[t]?.length?e().treeItems[t]:[{...Wa,stepId:ct.uniqueId(),taskId:t,programId:e().programInfo?.programId}],r=ct.cloneDeep(o),a=ct.cloneDeep(e().selectedItems);El(r);const l=u=>{for(let g=0;g<u.length;g++){const m=u[g];if(m.stepId===n)return u[g]={...s},!0;if(m.children&&m.children.length>0&&l(m.children))return!0}return!1};if(!l(r))return;const d={...e().treeItems,[t]:r};i({treeItems:d,selectedItems:a.map(u=>u.stepId===n?s:u),isChanged:Hg(e().initialInfo,e().programInfo,e().beginInfo,d,e().subTreeItems)})},setAllTreeItems:t=>{const n=ct.cloneDeep(e().treeItems),s=Object.keys(t??{});for(const o of s)cLe(n[o],t[o])||(n[o]=t[o]?.length===0?[{...Wa,stepId:ct.uniqueId(),taskId:o,programId:e().programInfo?.programId}]:t[o],El(n[o]));i({treeItems:n,isChanged:Hg(e().initialInfo,e().programInfo,e().beginInfo,n,e().subTreeItems)})},setSubTreeItems:(t,n)=>{for(const s of n)El(s.steps);i(s=>({subTreeItems:{...s.subTreeItems,[t]:n??[]},isChanged:Hg(s.initialInfo,s.programInfo,s.beginInfo,s.treeItems,{...s.subTreeItems,[t]:n})}))},setOneSubTreeStepItem:(t,n,s,o)=>{const r=e().subTreeItems?.[t]?.find(f=>f.taskId===n)?.steps?.length?e().subTreeItems?.[t]?.find(f=>f.taskId===n)?.steps:[{...Wa,stepId:ct.uniqueId(),taskId:n,programId:e().programInfo?.programId}],a=ct.cloneDeep(r),l=ct.cloneDeep(e().selectedItems);El(a);const c=f=>{for(let p=0;p<f.length;p++){const _=f[p];if(_.stepId===s)return f[p]={...o},!0;if(_.children&&_.children.length>0&&c(_.children))return!0}return!1};if(!c(a))return;const u=[...e().subTreeItems?.[t]??[]],g=u.findIndex(f=>f.taskId===n);g===-1?u.push({taskId:n,steps:a}):u[g]={taskId:n,steps:a};const m={...e().subTreeItems,[t]:u};i({subTreeItems:m,selectedItems:l.map(f=>f.stepId===s?o:f),isChanged:Hg(e().initialInfo,e().programInfo,e().beginInfo,e().treeItems,m)})},setOneSubTreeItem:(t,n,s)=>{if(s?.steps?.length===0){const c=e().subTreeItems[t]?.filter(u=>u.taskId!==n),d={...e().subTreeItems,[t]:c};i({subTreeItems:d,isChanged:Hg(e().initialInfo,e().programInfo,e().beginInfo,e().treeItems,d)});return}const r=e().subTreeItems?.[t]?.findIndex(c=>c.taskId===n)??-1,a=[...e().subTreeItems?.[t]??[]];El(s.steps),r===-1?a.push(s):a[r]=s;const l={...e().subTreeItems,[t]:a};i({subTreeItems:l,isChanged:Hg(e().initialInfo,e().programInfo,e().beginInfo,e().treeItems,l)})},setAllSubTreeItems:t=>{for(const n of Object.values(t??{}))for(const s of n)El(s.steps);i(n=>({subTreeItems:t??{},isChanged:Hg(n.initialInfo,n.programInfo,n.beginInfo,n.treeItems,t)}))},setAllTreeItemsToIdle:()=>{const t=ct.cloneDeep(e().treeItems);if(!t)return;const n=o=>{for(const r of o)r.state="idle",r.children&&n(r.children)},s=Object.keys(t??{});for(const o of s)n(t[o]);i({treeItems:t})},setStepInfo:(t,n,s,o)=>{const r=!!e().treeItems[t];let a=r?t:"";Object.entries(e().subTreeItems??{}).forEach(([l,c])=>{Array.isArray(c)&&c.find(d=>d.taskId===t)&&(a=l)}),r?e().setOneTreeItem(t,n,s):e().setOneSubTreeStepItem(a,t,n,s),o?.resetShowItem&&e().setShowItem(null)},setCopiedItems:t=>{i({copiedItems:t})},setMultiSelectMode:t=>{i(n=>({...n,multiSelectMode:t,selectedItems:!t&&n.multiSelectMode?[]:n.selectedItems}))},setUndoStack:t=>{t.length>blt&&t.shift(),i({undoStack:t})},setRedoStack:t=>{t.length>vlt&&t.shift(),i({redoStack:t})}}),{name:"program-store",storage:Pne(()=>wlt),partialize:i=>({initialInfo:i.initialInfo,programInfo:i.programInfo,beginInfo:i.beginInfo,treeItems:i.treeItems,subTreeItems:i.subTreeItems,isChanged:i.isChanged}),onRehydrateStorage:()=>(console.log("[program-store] rehydrate start"),Yq=!1,(i,e)=>{if(e){console.warn("[program-store] rehydrate error",e);return}Yq=!0,console.log("[program-store] rehydrate success",i)})}),{name:"program-store",store:"program-store",enabled:!1})),se=Clt,{useEffect:Slt}=await F("react"),xlt=({className:i,open:e,resolve:t,onOpenChange:n})=>{const{barCodeValue:s}=s8e(),{t:o}=J();return Slt(()=>{s&&t(s)},[s,t]),h(ir,{className:P(i,"block border-none p-0"),open:e,onOpenChange:n,header:{title:o("dashboard.modal.title.qrScanGuide")},children:k("div",{className:"px-4 py-3",children:[h("h6",{className:"typo-compact-md-normal text-fg-default mb-3",children:o("dashboard.modal.desc.qrScanGuide")}),h("img",{src:vt("/qr-bar-code-guide-dark-img.png"),alt:"qr-bar-code-guide",className:"h-[100%] w-[100%] object-contain"})]})})},{useCallback:Ilt,useEffect:Bhe}=await F("react"),sTe=({className:i,open:e,robotModel:t,category:n,serialNumber:s,robotName:o,editMode:r,resolve:a,onOpenChange:l})=>{const{t:c}=J(),{modal:d}=$i(),u=se(M=>M.setInitialInfo),g=se(M=>M.programInfo),{register:m,handleSubmit:f,setValue:p,watch:_,control:b,formState:{errors:v}}=Se({defaultValues:{selectedCategory:n,selectedRobotModel:t,serialNumber:s,robotName:o}}),{refetch:w,isFetching:y}=nr({enabled:!1}),{data:S}=DYe(),C=_("selectedCategory"),x=_("selectedRobotModel"),{data:N}=RYe({beService:C,hiddenPart:!0},{enabled:C!==""}),{refetch:L}=Hy({programId:g?.programId},{enabled:!1,refetchOnMount:!1}),{mutateAsync:D,isPending:E}=iLe(),T=Ilt(async()=>{await d({component:xlt})},[d]),R=(M,O)=>{M==="selectedCategory"&&p("selectedRobotModel",""),p(M,O)},A=async M=>{const O=await D({serialNumber:M.serialNumber,robotModel:M.selectedRobotModel,robotName:M.robotName??""});await w();const{program:B,mainSteps:V,subSteps:G,mainTasks:H}=O.programId?await MW({programId:O.programId}):{program:null,mainSteps:null,subSteps:null,mainTasks:null};B?.programId?u({programInfo:B,treeItems:V,subTreeItems:G,beginInfo:H.reduce((X,K)=>(X[K.taskId]=K.begin,X),{})},!0):u({programInfo:null,treeItems:null,subTreeItems:null,beginInfo:null},!0),a(O)};return Bhe(()=>{S&&S.length>0&&!C&&p("selectedCategory",S[0])},[S,C,p]),Bhe(()=>{N&&N.length>0&&!x&&p("selectedRobotModel",N[0])},[N,x,p]),h(Gc,{className:P(i,"block border-none p-0"),header:{title:c("dashboard.modal.title.inputRobotInfo"),description:c("dashboard.modal.desc.inputRobotInfo")},open:e,onOpenChange:l,hideCloseButton:!r,enableDimClose:r,footer:h(U,{alignItems:"center",justifyContent:"end",children:h(_e,{variant:"brand","data-pad-focus":"true",loading:E||y,onClick:f(A),children:c("dashboard.modal.button.submit")})}),children:k(q,{className:"gap-4 px-4 pt-3 pb-4",children:[k(U,{className:"gap-2",children:[k(q,{className:"w-full gap-1.5",children:[h("h6",{className:"typo-compact-xs-semibold text-fg-default",children:c("dashboard.modal.label.category")}),h(ue,{control:b,name:"selectedCategory",render:({field:M})=>h(ye,{className:"h-10 w-full",value:M.value,handleChange:O=>R("selectedCategory",O),children:S?.map(O=>h(Q,{value:O,children:O.toUpperCase()},O))})})]}),k(q,{className:"w-full gap-1.5",children:[h("h6",{className:"typo-compact-xs-semibold text-fg-default",children:c("dashboard.modal.label.robotModel")}),h(ye,{className:"h-10 w-full",...m("selectedRobotModel",{required:!0,onChange:M=>R("selectedRobotModel",M.target.value)}),children:N?.map(M=>h(Q,{value:M,children:M.toUpperCase()},M))})]})]}),S&&C==="amr"&&k(q,{className:"gap-1.5",children:[k("span",{className:"typo-compact-xs-semibold text-fg-default",children:[c("dashboard.modal.label.serialNumber"),v?.serialNumber&&k("span",{className:"text-fg-danger",children:[" ","* ",c("dashboard.modal.msg.serialNumber")]})]}),k(U,{className:"gap-2",children:[h(nt,{className:"h-10 w-full",...m("serialNumber",{required:!0,onChange:M=>R("serialNumber",M.target.value)})}),h(_e,{className:"h-10 w-20",variant:"outlined","data-pad-focus":"true",onClick:T,children:c("dashboard.modal.button.qrCode")})]})]}),k(q,{className:"gap-1.5",children:[k("span",{className:"typo-compact-xs-semibold text-fg-default",children:[c("dashboard.modal.label.robotName")," (",c("dashboard.modal.label.optional"),")"]}),h(nt,{className:"h-10 w-full",...m("robotName",{onChange:M=>R("robotName",M.target.value)})})]})]})})},PS=({className:i,title:e,content:t,testId:n})=>k(q,{className:P("RobotInfoItem","w-full gap-0.5",i),alignItems:"start",justifyContent:"center",children:[h("span",{className:"text-fg-subtle block text-xs leading-4 font-normal",children:e}),h("div",{"data-testid":n,className:"text-fg-default font-['Pretendard_Variable'] text-sm leading-5 font-semibold",children:t})]}),{useMutation:klt}=await F("@tanstack/react-query"),Nlt="/program/edit",Llt=async i=>await Jt.put(Nlt,i),oTe=()=>klt({mutationFn:Llt}),{useMutation:Dlt}=await F("@tanstack/react-query"),Tlt="/program/delete/{program_id}",Elt=async i=>{const{program_id:e}=i,t=Tlt.replace("{program_id}",e);return await Jt.delete(t)},Plt=()=>Dlt({mutationFn:Elt}),Rlt=()=>{const{t:i}=J(),e=se(d=>d.programInfo),t=se(d=>d.setInitialInfo),{confirmDialog:n}=si(),s=Dr(),{refetch:o}=nr(),{mutateAsync:r,isPending:a}=Plt();return{handleDeleteProgram:async d=>{const{programId:u,programName:g}=d;if(!u)return;if(await n({title:i("program.delete.confirm.title"),content:h(q,{className:"gap-1",children:h("p",{className:"text-base",children:i("program.delete.confirm.content",{programName:g})})})}))try{await r({program_id:u}),at.openToast({title:i("program.delete.toast.successTitle"),content:i("program.delete.toast.successContent"),type:"basic",variant:"success"}),e?.programId===u&&(await o(),t({programInfo:null,treeItems:null,subTreeItems:null,beginInfo:null},!0),s("./",{replace:!0}))}catch(f){throw at.openToast({title:i("program.delete.toast.failTitle"),content:i("program.delete.toast.failContent"),type:"basic",variant:"danger"}),f}},isLoading:a}},{useMutation:Mlt}=await F("@tanstack/react-query"),Alt="/program/load",Olt=async i=>await Jt.post(Alt,i),rTe=()=>Mlt({mutationFn:Olt}),{useCallback:Vhe,useRef:Flt,useState:Blt}=await F("react"),aTe=()=>{const i=Flt(!1),{t:e}=J(),t=se(u=>u.isChanged),n=se(u=>u.setInitialInfo),{confirmDialog:s}=si(),{refetch:o}=nr(),[r,a]=Blt(!1),{mutateAsync:l}=rTe(),c=Vhe(u=>{a(u),i.current=u},[]);return{handleLoadProgram:Vhe(async(u,g)=>{const{programId:m,programName:f}=u;if(!m&&i.current)return;if(g?!0:await s({title:e("program.modal.button.load"),content:k(q,{className:"gap-1",children:[h("p",{className:"text-base",children:e("program.load.confirm.content",{programName:f})}),h("span",{className:"text-sm text-slate-400",children:t?e("program.load.confirm.unsavedNotice"):""})]})}))try{c(!0);const{program:_,mainSteps:b,subSteps:v,mainTasks:w}=await l({programId:m});n({programInfo:_,treeItems:b,subTreeItems:v,beginInfo:w.reduce((y,S)=>(y[S.taskId]=S.begin,y),{})},!0),o()}catch(_){at.openToast({title:e("program.load.toast.failTitle"),content:e("program.load.toast.failContent"),type:"basic",variant:"danger"}),console.error(_)}finally{c(!1)}},[s,t,l,o,n,c,e]),isLoading:r}},Vlt=({className:i,programItem:e,selectedProgramId:t,handleSelectProgram:n})=>{const{t:s}=J();return k(q,{"data-pad-focus":"true",className:P("LoadProgramItem","bg-fill-inverse-subtle/40 cursor-pointer gap-2 rounded-lg border-2 border-transparent px-3 py-2",{"border-navy-stronger":t===e.programId},i),onClick:()=>n(e.programId),children:[k(U,{justifyContent:"space-between",alignItems:"center",children:[h("h5",{className:"typo-compact-xs2-semibold text-fg-default",children:e.name}),k(U,{justifyContent:"space-between",alignItems:"center",className:"typo-compact-2xs-normal gap-1",children:[h("h6",{className:"text-fg-subtle",children:s("program.modal.button.lastLoadedAt")}),h("h6",{className:"text-fg-default text-end",children:wa(e.lastLoadedAt,"YYYY-MM-DD")})]})]}),k(U,{justifyContent:"space-between",alignItems:"center",children:[k(U,{justifyContent:"space-between",alignItems:"center",className:"gap-1",children:[h("h6",{className:"text-fg-subtle typo-compact-xs-normal",children:s("program.modal.desc.repeatCount")}),h("h6",{className:"text-fg-default typo-compact-xs-semibold text-end",children:e.repeatCnt===-1?"Infinite":e.repeatCnt})]}),k(U,{justifyContent:"space-between",alignItems:"center",className:"typo-compact-2xs-normal gap-1",children:[h("h6",{className:"text-fg-subtle",children:s("program.modal.button.createdAt")}),h("h6",{className:"text-fg-default text-end",children:wa(e.createdAt,"YYYY-MM-DD")})]})]})]},e.programId)},lTe=async i=>({file:ct.get(i,"target.files[0]",null)??null}),zlt=(i,e="")=>{const t=window.URL.createObjectURL(new Blob([i.data])),n=document.createElement("a");if(!e){e="unknown";const s=i.headers["content-disposition"];if(s){const[o]=s.split(";").filter(r=>r.includes("filename"));o&&([,e]=o.split("="))}}n.href=t,n.setAttribute("download",decodeURI(e)),n.style.cssText="display:none",document.body.appendChild(n),n.click(),n.remove()},{useMutation:Wlt}=await F("@tanstack/react-query"),Hlt="/program/export/{program_key}",$lt=async({programId:i,programName:e,taskId:t})=>{const n=Hlt.replace("{program_key}",i),s=await o8e.get(`${fne}/common${n}`,{params:{taskId:t},responseType:"blob"});zlt(s,`muscat_program_${e}.zip`)},Ult=()=>Wlt({mutationFn:$lt}),{useMemo:zhe,useState:lO}=await F("react"),m8=[{key:"lastLoadedAt",label:"program.modal.button.lastLoadedAt"},{key:"createdAt",label:"program.modal.button.createdAt"},{key:"updatedAt",label:"program.modal.button.updatedAt"}],ZW=({className:i,open:e,onOpenChange:t,close:n,resolve:s})=>{const{t:o}=J(),r=se(M=>M.programInfo),[a,l]=lO(""),[c,d]=lO(""),[u,g]=lO(null),[m,f]=lO(0),{coreSwList:p}=Fi(),{data:_,refetch:b}=jDe({search_name:"",last_load_order:!0}),{handleDeleteProgram:v,isLoading:w}=Rlt(),{handleLoadProgram:y,isLoading:S}=aTe(),{mutateAsync:C}=Ult(),x=zhe(()=>{if(!_?.programs)return[];const M=_.programs.filter(B=>B.name.toLowerCase().includes(a.toLowerCase())),O=m8[m].key;return[...M].sort((B,V)=>{const G=new Date(B[O]).getTime();return new Date(V[O]).getTime()-G})},[_,a,m]),N=zhe(()=>o(m8[m].label),[o,m]),L=()=>{f(M=>(M+1)%m8.length)},D=M=>{l(M.toString()),g(null)},E=M=>{g(M)},T=async()=>{await y({programId:u,programName:x?.find(M=>M.programId===u)?.name}),s(u)},R=async()=>{if(u)try{await v({programId:u,programName:x?.find(M=>M.programId===u)?.name}),b(),r?.programId===u&&n(),g(null)}catch(M){console.error(M)}},A=async()=>{if(u)try{await C({programId:u,programName:_?.programs?.find(M=>M.programId===u)?.name})}catch(M){console.error(M)}};return h(ir,{className:P(i,"block w-[80vw] !max-w-230 border-none p-0"),open:e,onOpenChange:t,disableAutoFocus:!0,header:{title:o("program.modal.title.load"),description:o("program.modal.desc.load")},footer:k(U,{className:"w-full",alignItems:"center",justifyContent:"space-between",children:[k(U,{className:P("[&_button]:typo-compact-xs2-semibold gap-1 [&_button]:h-8"),alignItems:"center",children:[h(_e,{className:"",variant:"outlined",leadingIcon:h(Sje,{className:"w-3.5"}),disabled:!u,loading:w,onClick:A,children:o("program.modal.button.export")}),h(_e,{className:"w-20",variant:"outlined",leadingIcon:h(T1,{}),disabled:!u,loading:w,onClick:R,children:o("program.modal.button.delete")}),h(_e,{className:"w-35",variant:"soft",disabled:x?.length===0,loading:S,onClick:L,children:`${o("program.modal.button.order")}: ${N}`})]}),k(U,{className:"gap-1",alignItems:"center",children:[h(_e,{variant:"outlined",size:"sm",onClick:n,children:o("program.modal.button.cancel")}),h(_e,{variant:"brand",size:"sm",disabled:!u,loading:S,onClick:T,children:o("program.modal.button.load")})]})]}),children:k(U,{className:"h-100 max-h-[80vh] gap-4 px-4 pt-3 pb-0",children:[k(q,{className:"h-full w-90",children:[h(nt,{className:"mb-2.5 h-10 w-full",type:"search",placeholder:o("program.modal.placeholder.search"),autoFocus:!1,value:a,handleChange:D}),h(q,{className:"bg-raised relative max-h-[50vh] min-h-60 flex-1 gap-1.5 overflow-y-auto rounded-sm p-2",children:h(jr,{list:x,loadingWrapperClassName:P("h-full","[&>svg]:size-8"),noDataMsgClassName:P("h-full flex-1","[&_.no-data-text]:typo-compact-sm-normal"),noDataMsg:"Program not found",children:({item:M})=>h(Vlt,{programItem:M,selectedProgramId:u,handleSelectProgram:E},M.programId)})})]}),h(GDe,{className:"h-full",robotModel:c,robotModelList:p,selectedProgramId:u,onRobotModelChange:d})]})})},{useState:jlt}=await F("react"),cTe=({className:i,open:e,onOpenChange:t,resolve:n,close:s})=>{const{t:o}=J(),r=se(m=>m.programInfo),a=se(m=>m.setProgramInfo),[l,c]=jlt({name:r?.name||"",repeatType:r?.repeatCnt===-1?"infinite":"direct",repeatCnt:r?.repeatCnt||1}),d=!l.name||!l.repeatCnt,u=(m,f)=>{if(f==="repeatType"){c(p=>({...p,repeatCnt:m==="infinite"?-1:1,repeatType:m}));return}c(p=>({...p,[f]:m}))},g=async()=>{const m={...r,name:l.name,repeatCnt:l.repeatCnt};a(m),n(m)};return h(ir,{className:P(i,"block border-none p-0"),open:e,onOpenChange:t,disableAutoFocus:!0,header:{title:o("program.modal.title.edit"),description:o("program.modal.desc.edit")},footer:k(U,{className:"h-8 w-full gap-1",alignItems:"center",justifyContent:"flex-end",children:[h(_e,{variant:"outlined",size:"sm",onClick:s,children:o("program.modal.button.cancel")}),h(_e,{variant:"brand",size:"sm",disabled:d,onClick:g,children:o("settings.button.edit")})]}),children:k(q,{className:"gap-4 px-4 pt-3 pb-4",children:[k(q,{className:"gap-1.5",children:[h("h6",{className:"typo-compact-xs-semibold text-fg-default",children:o("program.modal.label.programName")}),h(nt,{className:"h-10 w-full",name:"name",type:"text",value:l.name,handleChange:u,validate:/^[a-zA-Z0-9_-]+$/})]}),k(q,{className:"gap-1.5",children:[h("h6",{className:"typo-compact-xs-semibold text-fg-default",children:o("program.modal.desc.repeatCount")}),k("div",{className:"grid w-full grid-cols-[9.375rem_1fr] gap-2",children:[h("div",{className:"min-w-0",children:k(ye,{name:"repeatType",className:"w-full",value:l.repeatType,handleChange:u,children:[h(Q,{value:"direct",children:o("program.modal.label.directInput")}),h(Q,{value:"infinite",children:o("dashboard.content.infinite")})]})}),h("div",{className:"min-w-0",children:h(nt,{className:"h-10 w-full",name:"repeatCnt",type:"number",validate:l.repeatType==="direct"?/^[1-9]\d*$/:void 0,value:l.repeatCnt,disabled:l.repeatType==="infinite",handleChange:u})})]})]})]})})},{useState:Glt}=await F("react"),f8=({className:i,axisKey:e,values:t})=>{const{theme:n}=rt(),s=e.every(l=>typeof l=="number"),[o,r]=Glt({tcp_enc:!1,tcp_ref:!1,joint_ref:!1,joint_enc:!1,joint_Esti:!1,joint_TMeas:!1,joint_temper:!1,box_output:!1,box_input:!1,ext_output:!1,ext_input:!1,tool_output:!1,tool_input:!1}),a=l=>{r(c=>({...c,[l]:!c[l]}))};return h("div",{className:P("ManipulateValuesCard",n==="light"?"bg-white":"bg-alt-1","w-full rounded-md px-2 py-1.5",i),children:k(q,{className:"gap-0.5",children:[k("div",{className:P("typo-compact-xs-semibold grid grid-cols-[7rem_repeat(7,minmax(0,1fr))] items-center pt-0.5 pb-1 text-center",{"grid-cols-[7rem_repeat(16,minmax(0,1fr))]":s}),children:[h("h6",{}),e.map(l=>typeof l=="string"?h("h6",{className:P("text-fg-default",{"text-fg-danger":l.includes("x"),"text-fg-success":l.includes("y"),"text-fg-information":l.includes("z"),"text-fg-caution":l.includes("aa")}),children:l.toUpperCase()},l):h("h6",{className:"text-fg-default",children:l}))]}),h(Zs,{className:"w-full"}),Object.entries(t).map(([l,c])=>k("div",{onClick:()=>a(l),className:P("grid grid-cols-[7rem_repeat(7,minmax(0,1fr))] place-items-center","border border-transparent py-1","typo-compact-xs-medium text-fg-subtle","hover:cursor-pointer",{"border-subtle bg-fill-subtle rounded-md text-white":o[l],"grid-cols-[7rem_repeat(16,minmax(0,1fr))]":s}),children:[h("h6",{className:"justify-self-start pl-1.5",children:l.toUpperCase()}),Object.keys(c).map(d=>s?h("div",{className:P("aspect-square size-2 self-center rounded-sm",{"bg-fg-danger":c[d]===0,"bg-fg-success":c[d]===1})},d):h("span",{className:"text-center",children:l.includes("temper")?c[d]+"℃":l.includes("ref")||l.includes("enc")?c[d].toFixed(3)+"º":c[d].toFixed(3)},d))]},l))]})})},{useMemo:dD}=await F("react"),qlt=({className:i,robotModel:e})=>{const{carteXRef:t,carteXEnc:n,jointQRef:s,jointQEnc:o,jointTEsti:r,jointTMeas:a,jointTemper:l,cboxDigitalOutput:c,cboxDigitalInput:d,exDigitalInput:u,exDigitalOutput:g,toolDigitalInput:m,toolDigitalOutput:f}=ws(e,y=>({carteXRef:y.carteXRef,carteXEnc:y.carteXEnc,jointQRef:y.jointQRef,jointQEnc:y.jointQEnc,jointTEsti:y.jointTEsti,jointTMeas:y.jointTMeas,jointTemper:y.jointTemper,cboxDigitalOutput:y.cboxDigitalOutput,cboxDigitalInput:y.cboxDigitalInput,exDigitalInput:y.exDigitalInput,exDigitalOutput:y.exDigitalOutput,toolDigitalInput:y.toolDigitalInput,toolDigitalOutput:y.toolDigitalOutput})),p=dD(()=>({tcp_enc:a1.filter(y=>y!=="").reduce((y,S,C)=>(y[S]=n?.[C]??0,y),{}),tcp_ref:a1.filter(y=>y!=="").reduce((y,S,C)=>(y[S]=t?.[C]??0,y),{})}),[t,n]),_=dD(()=>["j0","j1","j2","j3","j4","j5","j6"],[]),b=dD(()=>({joint_ref:_.reduce((y,S,C)=>(y[S]=s?.[C]??0,y),{}),joint_enc:_.reduce((y,S,C)=>(y[S]=o?.[C]??0,y),{}),joint_Esti:_.reduce((y,S,C)=>(y[S]=r?.[C]??0,y),{}),joint_TMeas:_.reduce((y,S,C)=>(y[S]=a?.[C]??0,y),{}),joint_temper:_.reduce((y,S,C)=>(y[S]=l?.[C]??0,y),{})}),[s,o,r,a,l,_]),v=dD(()=>Array.from({length:16},(S,C)=>C),[]),w=dD(()=>{const y=c?.u,S=d?.u,C=g?.u,x=u?.u,N=f?.u,L=m?.u;return{box_output:v.reduce((D,E,T)=>(D[E]=y?.[T]??0,D),{}),box_input:v.reduce((D,E,T)=>(D[E]=S?.[T]??0,D),{}),ext_output:v.reduce((D,E,T)=>(D[E]=C?.[T]??0,D),{}),ext_input:v.reduce((D,E,T)=>(D[E]=x?.[T]??0,D),{}),tool_output:v.reduce((D,E,T)=>(D[E]=N?.[T]??0,D),{}),tool_input:v.reduce((D,E,T)=>(D[E]=L?.[T]??0,D),{})}},[c,d,u,g,m,f,v]);return h("div",{className:P("ManipulateDetailInfo","bg-bg-overlay rounded-b-lg [&_div]:!outline-none",i),children:h("div",{className:"px-4 pb-4",children:k(q,{className:"gap-2",children:[h(f8,{axisKey:a1,values:p}),h(f8,{axisKey:_,values:b}),h(f8,{axisKey:v,values:w})]})})})},Klt={imu:{accX:0,accY:0,accZ:0,gyrX:0,gyrY:0,gyrZ:0,imuRx:0,imuRy:0,imuRz:0},motor:[{connection:!1,status:0,temp:0,current:0}],power:{batIn:0,batOut:0,batCurrent:0,totalPower:0,power:0,batPercent:0,tabosVoltage:0,tabosCurrent:0,tabosSoc:0,tabosSoh:0,tabosTemp:0,chargeCurrent:0,contactVoltage:0},robotState:{emo:!1,power:!1,simul:!1,sssRecovery:!1,swReset:!1,swStop:!1,swStart:!1,sfBumperDetect:!1,sfObsDetect:!1,sfOperationalStop:!1},robotSafetyIoState:{mcu0Dio:[!1,!1,!1,!1,!1,!1,!1,!1],mcu1Dio:[!1,!1,!1,!1,!1,!1,!1,!1],mcu0Din:[!1,!1,!1,!1,!1,!1,!1,!1],mcu1Din:[!1,!1,!1,!1,!1,!1,!1,!1]},setting:{platformType:"",platformName:""},mapState:{mapId:"",mapResult:"",mapName:"",mapStatus:""},chargeState:{dockId:"",dockResult:"",dock:!1,charge:""},locState:{locId:"",locResult:"cancel",locStatus:"none",inlierError:0,inlierRatio:0,mappingError:0,mappingRatio:0},multiState:{multiId:"",multiResult:"",multiStep:0,multiState:""}};function WN(i,e,t=!0){const{data:n,loading:s,isDefaultData:o}=xs(`amr/${i}/status`,{defaultValue:Klt,selector:e,disabled:!t});return{...n,loading:s,isDefaultData:o}}const Jlt=({className:i,infoKeys:e,values:t})=>h("div",{className:P("AmrMotorValuesCard","bg-bg-alt-1 w-full rounded-md px-2 py-1.5",i),children:k(q,{className:"gap-0.5",children:[k("div",{className:P("typo-compact-2xs-semibold grid grid-cols-[5rem_repeat(4,minmax(0,1fr))] items-center pt-0.5 pb-1 text-center"),children:[h("h6",{}),e.map(n=>h("h6",{className:"text-fg-default",children:"Motor_"+n},n))]}),h(Zs,{className:"w-full"}),Object.keys(Object.values(t)[0]||{}).map(n=>k("div",{className:"typo-compact-2xs-medium grid grid-cols-[5rem_repeat(4,minmax(0,1fr))] items-center py-1 text-center",children:[h("h6",{className:"text-fg-subtle justify-self-start pl-1.5 capitalize",children:n}),e.map(s=>{const r=t[Number(s)]?.[n],a=typeof r=="number";let l=String(r);return n.includes("temp")&&a?l=`${r.toFixed(1)}℃`:n.includes("current")&&a?l=`${r.toFixed(1)}A`:n==="connection"&&(l=r?"ON":"OFF"),h("span",{className:P("text-default",{"text-fg-success":n==="connection"&&r===!0,"text-fg-danger":n==="connection"&&r===!1}),children:l},`${s}-${n}`)})]},n))]})}),ef=({className:i,title:e,value:t})=>k(U,{className:P("AmrDetailValues","typo-compact-xs-medium py-1",i),justifyContent:"space-between",alignItems:"center",children:[h("h6",{className:"text-fg-subtle justify-self-start pl-1.5",children:e}),h("span",{className:"text-fg-subtler",children:t})]}),{useMemo:Ylt}=await F("react"),Qlt=({className:i,robotModel:e})=>{const{motor:t,power:n,robotState:s}=WN(e,r=>({motor:r.motor,power:r.power,robotState:r.robotState})),o=Ylt(()=>Object.keys(t),[t]);return h("div",{className:P("AmrDetailInfo","bg-bg-overlay rounded-b-lg [&_div]:!outline-none",i),children:h("div",{className:"px-4 pb-4",children:k(q,{className:"gap-2",children:[h(Jlt,{infoKeys:o,values:t}),k(U,{className:"gap-2",children:[h("div",{className:"bg-bg-alt-1 w-full rounded-md px-2 py-1.5",children:k(q,{className:"gap-0.5",children:[h(ef,{title:"Total Power",value:n.totalPower.toFixed(0)}),h(ef,{title:"Power",value:n.power.toFixed(0)}),h(ef,{title:"Battery In/Out",value:`${n.batIn.toFixed(2)} / ${n.batOut.toFixed(2)}`}),h(ef,{title:"Battery Current",value:n.batCurrent.toFixed(2)}),h(ef,{title:"Battery Percentage",value:n.batPercent.toFixed(0)+"%"})]})}),h("div",{className:"bg-bg-alt-1 w-full rounded-md px-2 py-1.5",children:k(q,{className:"gap-0.5",children:[h(ef,{title:"EMO",value:s.emo.toString()}),h(ef,{title:"Robot State Power",value:s.power.toString()}),h(ef,{title:"SF Bumper Detect",value:s.sfBumperDetect.toString()}),h(ef,{title:"SF Obs Detect",value:s.sfObsDetect.toString()}),h(ef,{title:"SF Operational Stop",value:s.sfOperationalStop.toString()})]})})]})]})})})},dTe=({className:i,robotModel:e,service:t,open:n,onOpenChange:s})=>{const{t:o}=J();return h(ir,{className:P(i,"!max-h-140 w-160 max-w-full border-none p-0"),enableDimClose:!1,open:n,onOpenChange:s,header:{title:e},children:t===""?h(bn,{children:h("div",{className:"flex min-h-100 items-center justify-center text-2xl",children:o("dashboard.detail.robotNotConnected")})}):t==="manipulate"?h(qlt,{robotModel:e}):t==="amr"?h(Qlt,{robotModel:e}):null})},{useMemo:Whe}=await F("react"),Xlt=({className:i,robotModel:e})=>{const{t}=J(),{modal:n}=$i(),{theme:s}=rt(),o=se(y=>y.treeItems),r=se(y=>y.subTreeItems),a=se(y=>y.beginInfo),l=se(y=>y.setInitialInfo),{data:c}=nr(),{data:d,refetch:u}=Hy({programId:c?.info?.programId||""}),{playState:g}=zN(),{mutateAsync:m}=oTe(),f=Whe(()=>d?.program,[d?.program]),p=Whe(()=>({state:g,lampType:g==="idle"?"normal":g==="play"?"success":g==="waiting"?"warning":"danger"}),[g]),_=()=>{n({component:sTe,props:{robotModel:c?.info?.robotModel,robotName:c?.info?.robotName,serialNumber:c?.info?.serialNumber,category:c?.modelInfo?.be_service,editMode:!0}})},b=()=>{n({component:ZW})},v=async()=>{const y=await n({component:cTe});y&&(await m({programId:y.programId,name:y.name,repeatCnt:y.repeatCnt}),l({programInfo:y,treeItems:o,subTreeItems:r,beginInfo:a}),u())},w=()=>{n({component:dTe,props:{robotModel:e,service:c?.modelInfo?.be_service}})};return h(fy,{className:P("RobotInfo",i),children:k(q,{className:"bg-bg-surface-3 h-full",children:[h("div",{className:"relative flex w-full flex-1",children:h(Um,{className:"absolute top-0 left-0 z-[1] size-full",robotModel:e,cameraPositionKey:"robot-info"})}),h("div",{className:"h-fit w-full p-3",children:k(q,{className:P("gap-2","[&>div]:flex-1 [&>div]:gap-7"),children:[k(U,{children:[h(PS,{title:t("dashboard.content.alias"),content:c?.modelInfo?.alias||"-"}),h(PS,{testId:"robot-info-model",title:t("dashboard.content.model"),content:c?.modelInfo?.model||"-"})]}),k(U,{children:[h(PS,{testId:"robot-info-serial",title:"S/N",content:c?.info?.serialNumber||"-"}),h(PS,{title:t("menu.title.program"),content:f?k(U,{className:"h-full gap-1",alignItems:"center","data-testid":"robot-info-program",children:[h("span",{children:f?.name}),h(rn,{variant:"soft",size:"3xs",className:s==="light"?"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy":void 0,"data-testid":"robot-info-program-load",icon:h(D1,{}),onClick:b})]}):h("span",{className:"text-fg-subtle",children:"-"})})]}),k(U,{children:[h(PS,{title:t("dashboard.content.status"),content:k(U,{className:"h-full gap-1",alignItems:"center",children:[h(kP,{lampType:p.lampType}),h("span",{className:"text-fg-default font-['Pretendard_Variable'] text-sm leading-5 font-semibold",children:p.state?.toUpperCase()})]})}),h(PS,{title:t("dashboard.content.repeat"),content:f?k(U,{className:"h-full gap-1",alignItems:"center","data-testid":"robot-info-repeat",children:[h("span",{children:f?.repeatCnt===-1?t("dashboard.content.infinite"):f?.repeatCnt}),h(rn,{"data-pad-focus":"true",variant:"soft",size:"3xs",className:s==="light"?"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy":void 0,"data-testid":"robot-info-repeat-edit",icon:h(D1,{}),onClick:v})]}):"-"})]})]})}),k(U,{className:"h-fit w-full gap-2 p-2",children:[c?.info?.components?.length===1&&h(_e,{"data-pad-focus":"true",className:"h-7 w-full",variant:"outlined",size:"xs",onClick:w,children:t("dashboard.button.detail")}),h(_e,{"data-pad-focus":"true",className:P("h-7 w-full",s==="light"&&"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy"),variant:"soft",size:"xs",onClick:_,children:t("dashboard.button.editInfo")})]})]})})},{useQuery:Zlt,useQueryClient:ect}=await F("@tanstack/react-query"),{useMemo:tct}=await F("react"),uTe="/list",nct=async i=>{const{fromDate:e,toDate:t}={...i},n={...i,fromDate:e?f4(e):void 0,toDate:t?f4(t):void 0};return mne.get(uTe,{params:n})},sie=(i,e={})=>{const t=ect(),n=tct(()=>[uTe,i],[i]);return{...Zlt({queryKey:n,queryFn:async()=>{try{return await nct(i)}catch(o){throw t.setQueryData(n,{items:[],totalCount:0,hasNext:!1}),o}},gcTime:0,staleTime:0,...e}),queryKey:n}},{useEffect:ict,useState:sct}=await F("react"),hTe=i=>i?Array.isArray(i)?i:[i]:[],oct=()=>{const{data:i,loading:e,changeData:t}=xs("log/state_log"),[n,s]=sct([]);return ict(()=>{const o=hTe(i);o.length>0&&s(r=>[...[...o].reverse(),...r].slice(0,30))},[i]),{realTimeLogList:n,logData:i,loading:e,changeData:t}},{useCallback:rct,useEffect:Hhe,useState:$he}=await F("react"),oie=i=>{const{logData:e,changeData:t}=oct(),{data:n}=sie(i,{gcTime:0,staleTime:100}),[s,o]=$he("play"),[r,a]=$he(null),l=rct(c=>{o(c)},[]);return Hhe(()=>{if(e&&s==="play"){const c=hTe(e).filter(d=>!i?.swName||i.swName==="RRS"||d.swName===i.swName).map(d=>({...d,_id:ct.uniqueId()}));c.length>0&&a(d=>d&&[...c.reverse(),...d])}t(null)},[e,s,t,i.swName]),Hhe(()=>{n&&a(n.items??[])},[n]),{realTimeLogList:r,playStatus:s,handlePlayStatus:l}},rie=["info","warning","error","user","debug","general"],aie=rie.reduce((i,e,t)=>(i[t]=e,i),{});rie.reduce((i,e,t)=>(i[e]=t,i),{});const B4={info:h(oE,{className:"text-fg-information size-full"}),warning:h(E1,{className:"text-fg-warning size-full"}),debug:h(ane,{className:"text-fg-subtler size-full"}),user:h(oE,{className:"text-fg-information size-full"}),error:h(E1,{className:"text-fg-danger size-full"}),general:h(oE,{className:"text-fg-information size-full"})},gTe=({className:i,logList:e,showDetail:t})=>{const{theme:n}=rt();return h(q,{className:P("SimpleLogList",n==="light"?"text-fg-default":"text-fg-subtle","typo-code-xs-normal gap-1 px-3 py-2.5",i),children:h(jr,{list:e,noDataMsg:"There is no log.",noDataMsgClassName:"min-h-[17rem] [&_.no-data-text]:typo-compact-sm-medium",children:({item:s})=>k(U,{children:[k(U,{className:"gap-1",children:[h("span",{className:"size-3.5",children:B4[String(s.level).toLowerCase()]||B4[aie[Number(s.level)]]}),h("span",{className:"min-w-[4.375rem]",children:t?wa(s.createdAt,"YYYY-MM-DD HH:mm:ss"):wa(s.createdAt,"HH:mm:ss")})]}),k("p",{className:"line-clamp-2",children:["[",s.swName,"] ",s.contents]})]},s._id)})})},act=({className:i,open:e,onOpenChange:t,limit:n})=>{const{t:s}=J(),o=Dr(),{realTimeLogList:r,playStatus:a,handlePlayStatus:l}=oie({limit:n}),c=()=>{o(pne)};return h(ir,{className:P(i,"block !max-w-[70vw] border-none p-0"),open:e,onOpenChange:t,header:{title:s("dashboard.title.recentLogs")},footer:k(U,{className:"h-8 w-full",alignItems:"center",justifyContent:"space-between",children:[h(_e,{variant:"outlined",leadingIcon:a==="play"?h(lne,{}):h(cne,{}),onClick:()=>l(a==="play"?"pause":"play"),children:s(a==="play"?"dashboard.button.stop":"dashboard.button.play")}),h(_e,{variant:"brand",onClick:c,children:s("dashboard.button.viewAllLogs")})]}),children:h("div",{className:"!bg-bg-alt-2 flex h-full flex-col justify-between",children:h($m,{className:"h-[calc(var(--vh,1vh)*70)]",children:h(gTe,{logList:r})})})})},lct=({className:i,limit:e=100,logListClassName:t})=>{const{t:n}=J(),{theme:s}=rt(),{modal:o}=$i(),r=Dr(),{realTimeLogList:a,playStatus:l,handlePlayStatus:c}=oie({limit:e}),d=()=>{o({component:act,props:{limit:100}})},u=()=>{r(pne)};return h(fy,{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:h(rn,{"data-testid":"recent-logs-expand",icon:h(fW,{}),variant:"transparent",size:"3xs",onClick:d}),footer:k(U,{className:P("gap-1","[&_button]:h-7 [&_button]:w-full [&_button]:px-2"),children:[h(_e,{size:"xs",variant:"outlined",onClick:()=>c(l==="play"?"pause":"play"),children:n(l==="play"?"dashboard.button.stop":"dashboard.button.play")}),h(_e,{className:s==="light"?"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy":void 0,size:"xs",variant:"soft",onClick:u,children:n("dashboard.button.viewAllLogs")})]}),children:h("div",{className:P("RecentLogs","h-full","flex flex-col","justify-between"),children:h(gTe,{className:P(t),logList:a})})})},{useQueries:cct,useQuery:dct}=await F("@tanstack/react-query"),uct={skipErrorToast:!0},mTe="{robot_model}/call_whoami",fTe=async({namespace:i})=>{try{const e=mTe.replace("{robot_model}",i);return Jt.get(e,uct)}catch(e){console.error(e)}},pTe=i=>[mTe,i],hct=(i,{enabled:e=!0,...t}={})=>dct({queryKey:pTe(i),queryFn:()=>fTe(i),retry:1,staleTime:1e3,...t,refetchOnMount:!0,enabled:!!i?.namespace&&!!e}),gct=(i,{enabled:e=!0,...t}={})=>cct({queries:i.map(n=>({queryKey:pTe(n),queryFn:()=>fTe(n),...t,refetchOnMount:!0,enabled:!!n?.namespace&&!!e}))}),{useMemo:mct}=await F("react"),YM=({className:i,status:e,variant:t="default",size:n})=>{const s=mct(()=>{if(!e)return null;const o=e==="STABLE"?"success":e==="CHARGING"?"information":e==="DISCONNECT"||e==="EMERGENCY_STOP"?"danger":"caution",r=e.replace("_"," ");return t==="default"?{label:r,className:P("text-fg-inverse",n==="xs"?"px-1.5 py-0.5":"gap-1.5 px-1.5 py-0.5",e==="POWER_OFF"&&"!bg-fg-subtler !text-fg-inverse",e!=="POWER_OFF"&&o==="caution"&&"bg-fill-caution",o==="success"&&"bg-fill-success",o==="information"&&"bg-fill-information",o==="danger"&&"bg-fill-danger")}:{label:r,className:P("!bg-transparent !px-0",e==="POWER_OFF"&&"!text-fg-subtler",e!=="POWER_OFF"&&o==="caution"&&"text-fill-caution",o==="success"&&"text-fill-success",o==="information"&&"text-fill-information",o==="danger"&&"text-fill-danger")}},[n,e,t]);return s?h("div",{className:P("RobotStatusLabel","typo-compact-2xs-semibold rounded-full",s.className,i),children:h("span",{children:s.label})}):null},_Te=i=>{const{data:e,loading:t}=xs("common/state_core",{selector:i});return{...e,loading:t}},{useMemo:fct}=await F("react"),bTe=({className:i,model:e,alias:t,beService:n,connectedStatus:s,programTaskExecuteState:o,setSelectedRobotModel:r,componentSize:a="md"})=>{const{theme:l}=rt(),{t:c}=J(),{modal:d}=$i(),u=Dr(),{data:g}=hct({namespace:e}),m=a==="md",f={containerPadding:m?"px-2.5 py-3":"",gridCols:m?"grid-cols-2":"grid-cols-4",actionWidth:m?"w-20":"w-36",actionLayout:m?q:U,aliasTypo:m?"typo-compact-sm-semibold":"typo-compact-xs2-semibold"},p=f.actionLayout,{isRealMode:_,motorTempers:b}=_Te(x=>({isRealMode:x?.[e]?.statusIsRefon===1,motorTempers:x?.[e]?.jointTemper??[],toolName:x?.[e]?.toolName||""})),{motor:v,isAmrRealMode:w}=WN(e,x=>({motor:x.motor,isAmrRealMode:x.robotState.simul===!1})),y=fct(()=>{const x={mode:"",motorAvgTemp:0,type:"",lampType:"information"};switch(o){case"idle":x.lampType="normal";break;case"paused":case"stopped":case"error":x.lampType="danger";break;case"waiting":x.lampType="warning";break;default:x.lampType="success";break}const N=n==="manipulate"?_:w;return x.mode=N?"Real":"Simulation",x.motorAvgTemp=Number(n==="manipulate"?(b&&b.length>0?b.reduce((L,D)=>L+D,0)/b.length:0).toFixed(2):(v&&v.length>0?v.reduce((L,D)=>L+(D.temp||0),0)/v.length:0).toFixed(2)),x.type=n,x},[n,_,w,b,v,o]),S=()=>{r(e),u("/muscat/app/move")},C=()=>{d({component:dTe,props:{robotModel:e,service:n}})};return h("div",{className:P("RobotComponentItem",l==="light"?"bg-white":"bg-alt-2",f.containerPadding,i),children:k("div",{className:"justify-between",children:[k(U,{className:"mb-2",alignItems:"center",justifyContent:"space-between",children:[k(U,{className:"gap-1",alignItems:"center",children:[h("span",{className:P(f.aliasTypo,"text-fg-default"),children:t||"-"}),h("span",{className:"typo-compact-xs-medium text-slate-400",children:e?`(${e})`:""})]}),k(U,{className:"gap-2",alignItems:"center",children:[!m&&k(U,{className:"gap-0.5",alignItems:"center",children:[h(kP,{lampType:y?.lampType,size:"sm"}),h("span",{className:"typo-compact-xs2-semibold text-fg-default",children:o})]}),h(YM,{status:s,size:m?"xs":"2xs"})]})]}),k(U,{className:"gap-1",alignItems:"flex-end",justifyContent:"space-between",children:[k("div",{className:P("grid flex-1 grid-cols-4 gap-1",f.gridCols,"[&_.robot-info-item>span:first-child]:typo-compact-2xs-normal [&_.robot-info-item>span:first-child]:text-fg-subtler","[&_.robot-info-item>span:last-child]:typo-compact-xs2-semibold [&_.robot-info-item>span:last-child]:text-fg-default",{"grid-cols-2":m,"[&_.robot-info-item>span:last-child]:typo-compact-xs2-semibold":m}),children:[k(q,{className:"robot-info-item",children:[h("span",{children:c("dashboard.content.type")}),h("span",{children:n||"-"})]}),k(q,{className:"robot-info-item",children:[h("span",{children:c("dashboard.content.motorAvgTmp")}),h("span",{children:(Number.isNaN(y?.motorAvgTemp)?"":y?.motorAvgTemp)+(Number.isNaN(y?.motorAvgTemp)?"-":"°C")})]}),k(q,{className:"robot-info-item",children:[h("span",{children:c("dashboard.content.mode")}),h("span",{children:y?.mode||"-"})]}),k(q,{className:"robot-info-item",children:[h("span",{children:c("dashboard.content.version")}),h("span",{children:g?.version||"-"})]}),m&&k(U,{className:"gap-0.5",alignItems:"center",children:[h(kP,{lampType:y?.lampType,size:"sm"}),h("span",{className:"typo-compact-2xs-semibold text-fg-default uppercase",children:o})]})]}),k(p,{className:P(f.actionWidth,"gap-1","[&_>button]:h-6 [&_>button]:px-1.5"),children:[h(_e,{className:"w-full",variant:"outlined",size:"2xs",onClick:S,children:c("dashboard.button.moveControl")}),h(_e,{className:P("w-full",l==="light"&&"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy"),variant:"soft",size:"2xs",disabled:s==="DISCONNECT",onClick:C,children:c("dashboard.button.detail")})]})]})]})})},{useQuery:pct}=await F("@tanstack/react-query"),vTe="/program/executor/state",_ct=()=>Jt.get(vTe),yTe=(i={})=>pct({queryKey:[vTe],queryFn:_ct,...i}),{useEffect:bct,useMemo:vct}=await F("react"),yct=({className:i,open:e,onOpenChange:t,systemStateData:n,setSelectedRobotModel:s})=>{const{t:o}=J(),{data:r,refetch:a}=yTe({enabled:!1}),{playState:l}=mp(d=>({playState:d?.playState})),c=vct(()=>{const d={};return Object.entries(r?.byRobotModel??{}).forEach(([u,g])=>{console.log(g);const m=Object.values(g??{}).find(f=>f.isMainTask);m&&(d[u]=m)}),d},[r]);return bct(()=>{a()},[l,a]),h(ir,{className:P(i,"block !w-[34.375rem] max-w-full border-none p-0"),open:e,onOpenChange:t,header:{title:o("dashboard.title.robotComponents")},children:h("div",{className:"bg-bg-alt-2 flex max-h-121 flex-col justify-between px-4 pt-3 pb-4",children:h(jr,{list:n.core_sw_list,noDataMsg:"No Robot Components",noDataMsgClassName:"w-full text-center",loadingWrapperClassName:"[&_svg]:text-[#eee] [&_svg]:size-[2.5rem]",children:({item:d,index:u})=>k("div",{children:[h(bTe,{componentSize:"lg",model:d.model,alias:d.alias,beService:d.be_service,programTaskExecuteState:c?.[d.model]?.state??"idle",connectedStatus:d.connected,setSelectedRobotModel:s},d.model),u!==n.core_sw_list.length-1&&h(Zs,{className:"my-2.5"})]})})})})},{useEffect:wct,useMemo:Cct}=await F("react"),Sct=({className:i})=>{const{theme:e}=rt(),{modal:t}=$i(),{t:n}=J(),{setSelectedRobotModel:s}=ui(),{data:o}=gp(u=>({core_sw_list:u?.core_sw_list})),{data:r,refetch:a}=yTe({enabled:!1}),{playState:l}=mp(u=>({playState:u?.playState})),c=Cct(()=>{const u={};return Object.entries(r?.byRobotModel??{}).forEach(([g,m])=>{console.log(m);const f=Object.values(m??{}).find(p=>p.isMainTask);f&&(u[g]=f)}),u},[r]),d=()=>{t({component:yct,props:{systemStateData:o,setSelectedRobotModel:s}})};return wct(()=>{a()},[l,a]),h(fy,{className:P("RobotComponents",i),title:n("dashboard.title.robotComponents"),lightTitleClassName:"bg-overlay",childrenClassName:e==="light"?"bg-white":"bg-alt-2",titleButton:h(rn,{"data-testid":"robot-components-expand",icon:h(fW,{}),variant:"transparent",size:"3xs",onClick:d}),contentsScrollable:!0,children:h("div",{className:P("bg-bg-surface-2 overflow-y-auto","[&>*]:border-border-subtle [&>*]:border-b"),children:h(jr,{list:o.core_sw_list,noDataMsg:"No Robot Components",noDataMsgClassName:"w-full text-center",loadingWrapperClassName:"[&_svg]:text-[#eee] [&_svg]:size-[2.5rem]",children:({item:u})=>h("div",{children:h(bTe,{model:u.model,alias:u.alias,beService:u.be_service,programTaskExecuteState:c?.[u.model]?.state??"idle",connectedStatus:u.connected,setSelectedRobotModel:s},u.model)})})})})};function jy(i,e,t=!0){const{data:n,loading:s}=xs(`rby1/${i}/state`,{selector:e,disabled:!t});return{...n,loading:s}}const{useCallback:xct,useMemo:Ict}=await F("react"),fp=i=>{const{data:e}=wh(),{joint_states:t}=jy(i,o=>({joint_states:o?.joint_states})),n=Ict(()=>{const o=e?.components?.[i];return o?.type!=="array"?[]:o?.mapper??[]},[i,e?.components]),s=xct(o=>o.replace(/_/g," ").replace(/\b\w/g,r=>r.toUpperCase()),[]);return{jointStates:t,jointNames:n,toJointNameText:s}},{useMutation:kct}=await F("@tanstack/react-query"),Nct="/{robot_model}/power",Lct=({robotModel:i,...e})=>xa.post(Nct.replace("{robot_model}",i),e),Dct=()=>kct({mutationFn:Lct}),{useMutation:Tct}=await F("@tanstack/react-query"),Ect="/{robot_model}/servo",Pct=({robotModel:i,...e})=>xa.post(Ect.replace("{robot_model}",i),e),Rct=()=>Tct({mutationFn:Pct}),{useMutation:Mct}=await F("@tanstack/react-query"),Act="/{robot_model}/control_manager",Oct=({robotModel:i,...e})=>xa.post(Act.replace("{robot_model}",i),e),Fct=()=>Mct({mutationFn:Oct}),{useMutation:Bct}=await F("@tanstack/react-query"),Vct="/{robot_model}/tool_flange_power",zct=({robotModel:i,...e})=>xa.post(Vct.replace("{robot_model}",i),e),Wct=()=>Bct({mutationFn:zct}),{useMutation:Hct}=await F("@tanstack/react-query"),$ct="/{robot_model}/brake",Uct=({robotModel:i,...e})=>xa.post($ct.replace("{robot_model}",i),e),jct=()=>Hct({mutationFn:Uct}),Q_=[{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}],AP=i=>Q_.find(({jointPrefix:e})=>i.startsWith(e)),{useMemo:p8,useState:Gct}=await F("react"),Uhe=[{label:"Torso",component:"torso"},{label:"Right Arm",component:"right_arm"},{label:"Left Arm",component:"left_arm"},{label:"Head",component:"head"}],_8=[{label:"24V",value:24},{label:"12V",value:12},{label:"OFF",value:0}],uD=({className:i,title:e,count:t,extra:n,action:s,children:o})=>k(q,{className:P("gap-1.5 px-3 py-2",i),children:[k(U,{justifyContent:"space-between",alignItems:"center",children:[k(U,{className:"gap-1.5",alignItems:"center",children:[h("span",{className:"text-fg-default text-sm font-bold",children:e}),t&&h("span",{className:"text-fg-subtle text-xs",children:t}),n]}),s]}),o]}),jhe=({label:i,sub:e,checked:t,disabled:n,onCheckedChange:s})=>k(U,{className:"bg-bg-alt-1 h-8 gap-1 rounded-md px-2.5",justifyContent:"space-between",alignItems:"center",children:[k("span",{className:P("text-sm font-semibold whitespace-nowrap",t?"text-fg-default":"text-fg-subtle"),children:[i,e&&h("span",{className:"text-fg-subtle pl-1 text-xs",children:e})]}),h(Lo,{checked:t,disabled:n,onCheckedChange:s})]}),b8="border-border-subtle text-fg-default h-8 shrink-0 rounded-md border px-3 text-xs font-semibold disabled:cursor-not-allowed",Ghe=({items:i,active:e,activeClassName:t="bg-bg-overlay text-fg-default",disabled:n,onSelect:s})=>h(U,{className:"bg-bg-alt-1 h-8 flex-1 gap-1 rounded-md p-0.5",children:i.map(o=>k("button",{type:"button",disabled:n,className:P("flex h-full flex-1 items-center justify-center gap-1.5 rounded text-xs font-semibold disabled:cursor-not-allowed",o===e?t:"text-fg-subtle hover:text-fg-default"),onClick:()=>o!==e&&s(o),children:[o===e&&o==="ENABLE"&&h("span",{className:"size-1.5 rounded-full bg-green-500"}),o]},o))}),qct=({className:i,robotModel:e})=>{const{t}=J(),{jointNames:n}=fp(e),[s,o]=Gct([]),r=p8(()=>Uhe.map(A=>({...A,joints:n.filter(M=>AP(M)?.component===A.component)})).filter(A=>A.joints.length>0),[n]),a=r.reduce((A,M)=>A+M.joints.length,0),l=a>0&&s.length===a,{powerStates:c,jointStates:d,controlManager:u,toolFlange:g}=jy(e,A=>({powerStates:A?.power_states,jointStates:A?.joint_states,controlManager:A?.control_manager,toolFlange:A?.tool_flange})),m=["left","right"].map(A=>({side:A,label:A==="left"?"Left Arm":"Right Arm",active:_8.find(M=>M.value===g?.[A])?.label})),{mutate:f,isPending:p}=Dct(),{mutate:_,isPending:b}=Rct(),{mutate:v,isPending:w}=Fct(),{mutate:y,isPending:S}=Wct(),{mutate:C,isPending:x}=jct(),N=p8(()=>c&&!Array.isArray(c)?Object.entries(c).map(([A,M])=>({device:A,label:A.toUpperCase(),on:M})):[],[c]),L=p8(()=>[...Uhe,{label:"Wheel",component:"wheel"}].map(A=>{const M=n.map((O,B)=>({name:O,i:B})).filter(({name:O})=>A.component==="wheel"?O.includes("wheel"):AP(O)?.component===A.component).map(({i:O})=>!!d?.[O]?.is_ready);return{...A,count:M.length,on:M.length>0&&M.every(Boolean)}}).filter(A=>A.count>0),[n,d]),D=N.length>0&&N.every(A=>A.on),E=L.length>0&&L.every(A=>A.on),T=u?.state==="Enabled",R=(A,M,O)=>h("button",{type:"button",className:"text-fg-subtle hover:text-fg-default text-xs font-semibold disabled:opacity-50",disabled:M,onClick:O,children:t(A?"dashboard.button.allOff":"dashboard.button.allOn")});return N.length===0&&L.length===0?h(fy,{className:P("RBY1ControlPanel",i),children:h(q,{className:"h-full",justifyContent:"center",children:h(PM,{className:"w-full",size:"sm",nullText:t("dashboard.detail.robotNotConnected")})})}):h(fy,{className:P("RBY1ControlPanel",i),children:k(q,{className:"[&>*]:border-border-subtle h-full overflow-y-auto",children:[h(uD,{className:"border-b",title:t("dashboard.title.power"),count:`${N.filter(A=>A.on).length}/${N.length}`,action:R(D,p,()=>f({robotModel:e,status:D?"off":"on"})),children:h("div",{className:"grid grid-cols-2 gap-2",children:N.map(A=>h(jhe,{label:A.label,checked:A.on,disabled:p,onCheckedChange:M=>f({robotModel:e,device:A.device,status:M?"on":"off"})},A.device))})}),h(uD,{className:"border-b",title:t("dashboard.title.servo"),count:`${L.filter(A=>A.on).length}/${L.length}`,action:R(E,b,()=>_({robotModel:e,status:E?"off":"on"})),children:h("div",{className:"grid grid-cols-2 gap-2",children:L.map(A=>h(jhe,{label:A.label,sub:t("dashboard.content.axisCount",{count:A.count}),checked:A.on,disabled:b,onCheckedChange:M=>_({robotModel:e,part:A.component,status:M?"on":"off"})},A.component))})}),h(uD,{className:"border-b",title:t("dashboard.title.toolFlangePower"),children:m.map(A=>k(U,{className:"gap-2",alignItems:"center",children:[k(U,{className:"w-24 shrink-0 gap-1.5",alignItems:"center",children:[h("span",{className:P("size-1.5 rounded-full",A.active&&A.active!=="OFF"?"bg-green-500":"bg-fg-subtle")}),h("span",{className:"text-fg-default text-sm font-semibold",children:A.label})]}),h(Ghe,{items:_8.map(M=>M.label),active:A.active,activeClassName:A.active==="OFF"?void 0:"bg-fill-brand text-white",disabled:S,onSelect:M=>y({robotModel:e,side:A.side,voltage:_8.find(O=>O.label===M).value})})]},A.side))}),h(uD,{title:t("dashboard.title.brake"),count:`${s.length}/${a}`,extra:h("button",{type:"button",className:"text-fg-subtle hover:text-fg-default pl-2 text-xs font-semibold",onClick:()=>o(l?[]:r.flatMap(A=>A.joints)),children:t(l?"dashboard.button.deselectAll":"dashboard.button.selectAll")}),action:h(U,{className:"gap-1.5",children:["engage","release"].map(A=>h("button",{type:"button",disabled:!s.length||x,className:P(b8,"disabled:opacity-50"),onClick:()=>C({robotModel:e,action:A,joints:s}),children:A.toUpperCase()},A))}),children:h(q,{className:"bg-bg-alt-1 gap-1 rounded-md px-2.5 py-2",children:r.map(A=>k(U,{className:"gap-2",alignItems:"center",children:[h("span",{className:"text-fg-default w-24 shrink-0 text-xs font-semibold",children:A.label}),h("div",{className:"grid flex-1 grid-cols-7 gap-1",children:A.joints.map(M=>h(ea,{size:"xs",checkValue:!0,value:s.includes(M),handleChange:O=>o(B=>O?[...B,M]:B.filter(V=>V!==M)),children:M.split("_").pop()},M))})]},A.component))})}),k(uD,{className:"mt-auto border-t",title:t("dashboard.title.controlManager"),children:[h(U,{children:h(Ghe,{items:["ENABLE","DISABLE"],active:T?"ENABLE":"DISABLE",disabled:w,onSelect:A=>v({robotModel:e,action:A==="ENABLE"?"enable":"disable"})})}),k("div",{className:"grid grid-cols-2 gap-2",children:[h("button",{type:"button",disabled:w,className:b8,onClick:()=>v({robotModel:e,action:"reset"}),children:"RESET"}),h("button",{type:"button",disabled:w,className:P(b8,"border-yellow-500/50 text-yellow-500",u?.unlimited_mode_enabled&&"bg-yellow-500/15"),onClick:()=>v({robotModel:e,action:"unlimit"}),children:"UNLIMIT"})]})]})]})})},Kct=({className:i,robotModel:e,hideRobotComponents:t})=>{const{data:n}=nr(),s=n?.modelInfo?.be_service==="rby1";return k(U,{className:P("RobotOverview","gap-2.5","[&>*]:w-full [&>*]:flex-1",i),children:[h(Xlt,{className:"h-full",robotModel:e}),s&&h(qct,{className:"h-full",robotModel:e}),!t&&h(Sct,{className:"h-full"}),h(lct,{className:"h-full"})]})},{useQuery:Jct,useQueryClient:Yct}=await F("@tanstack/react-query"),{useMemo:Qct}=await F("react"),wTe="/move/getLogs",Xct=async i=>_s.get(wTe,{params:i}),lie=(i,e={})=>{const t=Yct(),n=Qct(()=>[wTe,i],[i]);return{...Jct({queryKey:n,queryFn:async()=>{try{return await Xct(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:Zct}=await F("react"),CTe=({className:i,amrHistoryList:e})=>{const t=Zct(()=>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: ${n.target?.toFixed(1)??0}m`;return{command:o,result:n.result,createdAt:n.createdAt,message:s}}),[e]);return h(q,{className:P("SimpleMoveHistory","text-fg-subtle gap-1 px-3 py-2.5",i),children:h(jr,{list:t,noDataMsg:"There is no movement history.",noDataMsgClassName:"min-h-[15rem] [&_.no-data-text]:typo-compact-sm-medium",children:({item:n,index:s})=>k(U,{children:[h("span",{className:"typo-code-xs-normal text-fg-subtle w-15",children:wa(n.createdAt,"YY-MM-DD HH:mm:ss")}),k(q,{className:"gap-0.5",children:[h("span",{className:"typo-code-xs-normal text-fg-default",children:n.message||"-"}),k(U,{className:P("typo-code-xs-normal text-fg-subtle","[&>span:after]:bg-border-subtle [&>span:after]:mx-2 [&>span:after]:inline-block [&>span:after]:h-2 [&>span:after]:w-px [&>span:after]:content-[''] [&>span:last-child:after]:hidden"),children:[h("span",{children:n.command}),n.result&&h("span",{className:P({"text-fg-success":n.result==="success","text-fg-danger":n.result==="fail","text-fg-information":n.result==="start","text-fg-disabled":n.result==="cancel"}),children:n.result})]})]})]},s)})})},edt=({className:i,open:e,onOpenChange:t,limit:n,handleAllHistory:s})=>{const{t:o}=J(),{data:r}=lie({limit:n,page:1,searchText:"",sort:"createdAt",order:"DESC",filter:{},fields:{}});return h(ir,{className:P(i,"block !max-w-[50vw] border-none p-0"),open:e,onOpenChange:t,header:{title:o("dashboard.title.amrMoveHistory")},footer:h(U,{className:"h-8 w-full",alignItems:"center",justifyContent:"end",children:h(_e,{variant:"brand",onClick:s,children:o("dashboard.button.viewAllHistory")})}),children:h("div",{className:"!bg-bg-alt-2 flex h-full flex-col justify-between",children:h($m,{className:"h-[calc(var(--vh,1vh)*70)]",children:h(CTe,{amrHistoryList:r?.items??null})})})})},tdt=({className:i,robotModel:e,connected:t})=>{const n=Dr(),{t:s}=J(),{theme:o}=rt(),{modal:r}=$i(),{setSelectedRobotModel:a}=ui(),{data:l}=lie({limit:30,page:1,searchText:"",sort:"createdAt",order:"DESC",filter:{},fields:{}},{enabled:t,...t?{}:{retry:!1}}),c=()=>{r({component:edt,props:{limit:100,handleAllHistory:d}})},d=()=>{n("/muscat/app/move"),a(e)};return h(fy,{className:P(i),title:s("dashboard.title.amrMoveHistory"),lightTitleClassName:"bg-overlay",titleButton:h(rn,{icon:h(fW,{}),variant:"transparent",size:"3xs",onClick:c}),contentsScrollable:!0,footer:h(U,{className:"w-full",children:h(_e,{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:h(CTe,{className:P("px-3 py-2.5"),amrHistoryList:l?.items??null})})},{useQuery:ndt}=await F("@tanstack/react-query"),STe="/{robot_model}/status",idt=async({robot_model:i})=>{const e=STe.replace("{robot_model}",i);return _s.get(e)},sdt=({robot_model:i},e={})=>ndt({queryKey:[STe,i],queryFn:()=>idt({robot_model:i}),...e}),{useQuery:odt}=await F("@tanstack/react-query"),xTe="/getUrl",rdt=()=>eke.get(xTe),ITe=()=>odt({queryKey:[xTe],queryFn:()=>rdt()}),{useQuery:adt}=await F("@tanstack/react-query"),kTe="/network/getInfo",ldt=()=>eke.get(kTe),cdt=()=>adt({queryKey:[kTe],queryFn:()=>ldt()}),{useMemo:ddt}=await F("react"),udt=({className:i,moveStatus:e})=>{const t=ddt(()=>{switch(e){case"move":return"success";case"error":return"danger";case"stop":return"danger";case"pause":return"information";case"not ready":return"normal";case"vir":return"warning";default:return"normal"}},[e]);return k(U,{className:P("AMRLampMoveStatus","gap-0.5",i),alignItems:"center",children:[h(kP,{className:"size-3",lampType:t}),h("span",{className:"text-fg-default typo-compact-sm-semibold uppercase",children:e})]})},{useQuery:hdt}=await F("@tanstack/react-query"),NTe="/{robot_model}/map/current",gdt=async({robot_model:i})=>{const e=NTe.replace("{robot_model}",i);return _s.get(e)},LTe=({robot_model:i},e={})=>hdt({queryKey:[NTe,i],queryFn:()=>gdt({robot_model:i}),...e}),{useMemo:mdt}=await F("react"),{useQuery:fdt}=await F("@tanstack/react-query"),V4="/{robot_model}/map/getTopology",pdt=async({robot_model:i,mapName:e})=>{const t=V4.replace("{robot_model}",i),n=await _s.get(t,{params:{mapName:e,pageSize:999}});return{...n,format_version:n.format_version??_4,metadata:n.metadata,nodes:n.nodes??[],links:n.links??[],zones:n.zones??[]}},DTe=(i,e={})=>{const t=mdt(()=>[V4,i],[i]);return{...fdt({queryKey:t,queryFn:()=>pdt(i),enabled:!!i.mapName,...e}),queryKey:t}},{useRef:_dt}=await F("react"),qhe={data:[],pose:{x:"0",y:"0",rz:"0"}},TTe=(i,e=!0)=>{const{data:t=qhe,loading:n}=xs(`amr/${i}/socket/lidar2d`,{defaultValue:qhe,disabled:!e}),{data:s,pose:o}=t,r=_dt({data:s,pose:o,loading:n});return r.current.data=s,r.current.pose=o,n!==r.current.loading&&(r.current.loading=n),r.current},bdt={data:[],time:0},ETe=(i,e=!0)=>{const{data:t,loading:n}=xs(`amr/${i}/socket/mappingCloud`,{defaultValue:bdt,disabled:!e,equalityFn:(s,o)=>ct.isEqual(s,o)});return{...t,loading:n}},{useMemo:vdt}=await F("react"),{useQuery:ydt}=await F("@tanstack/react-query"),PTe="/{robot_model}/map/getCloud",wdt=async({robot_model:i,mapName:e,fileName:t})=>{const n=PTe.replace("{robot_model}",i);return _s.get(n,{params:{mapName:e,fileName:t}})},RTe=(i,e={})=>{const t=vdt(()=>[PTe,i],[i]);return{...ydt({queryKey:t,queryFn:()=>wdt(i),...e}),queryKey:t}},Cdt={moveState:{autoMove:"stop",dockMove:"",jogMove:"none",obs:"none",pathState:"none",step:0,multiId:"",multiState:""},pose:{x:0,y:0,rz:0},vel:{vx:0,vy:0,wz:0},curNode:{id:"",name:"",pose:{x:0,y:0,rz:0}},goalNode:{id:"",name:"",pose:{x:0,y:0,rz:0}}};function cie(i,e,t=!0){const{data:n,loading:s,isDefaultData:o}=xs(`amr/${i}/moveStatus`,{defaultValue:Cdt,selector:e,disabled:!t});return{...n,isDefaultData:o,loading:s}}const{useRef:Sdt}=await F("react"),MTe=({className:i,robotModel:e,enabled:t=!0})=>{const n=Sdt(null),{worldStudioStateProps:s}=Oke(),{data:o}=LTe({robot_model:e},{enabled:t&&!!e,...t?{}:{retry:!1}}),{data:r}=ETe(e,!1),a=TTe(e,t),{data:l}=a,{pose:c}=cie(e,g=>({pose:g?.pose}),t),{data:d}=RTe({robot_model:e,mapName:o?.mapName??"",fileName:"cloud.csv"},{enabled:t&&!!o?.mapName,...t?{}:{retry:!1}}),{data:u}=DTe({robot_model:e,mapName:o?.mapName??""},{enabled:t&&!!o?.mapName,...t?{}:{retry:!1}});return h("div",{className:P("MuscatSimpleAMRMap",i),children:h(Fke,{ref:n,...s,cameraPositionKey:Bke,pointsData:d?.data,topoData:u,lidarPoints:l,mappingPoints:r,robotPose:c,showGrid:!0,showNodeLabels:!1,showLidar:!0,viewportCameraMode:"topView",robot:e})})},{useQuery:xdt}=await F("@tanstack/react-query"),{useMemo:Idt}=await F("react"),ATe="/{robot_model}/moveStatus",kdt=async({robot_model:i})=>{const e=ATe.replace("{robot_model}",i);return _s.get(e)},Ndt=({robot_model:i},e={})=>{const t=Idt(()=>[ATe,i],[i]);return{...xdt({queryKey:t,queryFn:()=>kdt({robot_model:i}),...e}),queryKey:t}},{useQueryClient:Ldt}=await F("@tanstack/react-query"),{useEffect:Ddt}=await F("react"),Tdt=(i,e,t=!0)=>{const n=Ldt(),{data:s,queryKey:o,...r}=Ndt({robot_model:i},{enabled:t&&!!i,...t?{}:{retry:!1}}),{isDefaultData:a,loading:l,...c}=cie(i,e,t);return Ddt(()=>{!l&&c&&!a&&n.setQueryData(o,d=>({...d,...c}))},[c,o,a,l,n]),{data:s,...r}},{useMemo:Khe}=await F("react"),Edt=({className:i,robotModel:e,connected:t})=>{const n=Dr(),{t:s}=J(),{theme:o}=rt(),{setSelectedRobotModel:r}=ui(),{data:a}=Tdt(e,p=>({moveState:p.moveState,vel:p.vel,curNode:{id:p.curNode.id,name:p.curNode.name},goalNode:{id:p.goalNode.id,name:p.goalNode.name}}),t),{data:l}=sdt({robot_model:e},{enabled:t&&!!e,...t?{}:{retry:!1}}),{data:c}=ITe(),{data:d}=cdt(),u=Khe(()=>{const p=a?.moveState;return{autoMove:p?.autoMove??"-",obs:p?.obs??"none"}},[a?.moveState]),g=Khe(()=>{const p=a?.vel;return{vx:p?.vx??0,vy:p?.vy??0,wz:p?.wz??0}},[a?.vel]),m=()=>{n("/muscat/app/move"),r(e)},f=()=>{n("/muscat/app/move"),r(e)};return h(fy,{className:P("AMRNavStatus",i),children:k(U,{className:"h-full p-2",children:[k(q,{className:"flex h-full w-[50%] flex-1 gap-2",children:[h(MTe,{className:"relative flex h-full flex-1 overflow-hidden rounded",robotModel:e,enabled:t}),k(U,{className:P("gap-1","[&_button]:h-8 [&_button]:w-full [&_button]:px-2"),children:[h(_e,{variant:"outlined",size:"xs",onClick:m,children:s("dashboard.content.localization")}),h(_e,{className:o==="light"?"bg-fill-navy-subtlest hover:bg-fill-navy-subtler text-fg-navy":void 0,variant:"soft",size:"xs",onClick:f,children:s("dashboard.content.mapEditor")})]})]}),k(q,{className:"relative w-full flex-1 gap-6 px-2.5 py-4",children:[h(udt,{className:"absolute top-0.5 right-0.5 z-[2]",moveStatus:u.autoMove}),h(eUe,{currentNode:a?.curNode?.name??a?.curNode?.id??"",targetNode:a?.goalNode?.name??a?.goalNode?.id??"",moveStatus:u.autoMove}),k(q,{className:"relative gap-4 pl-7",children:[k(q,{className:"border-border-subtle gap-0.5 border-t pt-3",children:[h("span",{className:"text-fg-subtle typo-compact-xs-normal",children:s("dashboard.content.mapName")}),h("div",{className:"text-fg-default typo-compact-sm-semibold",children:`${l?.mapState?.mapName??"none"}`})]}),k("div",{className:P("grid grid-cols-2 gap-3","[&>div]:gap-0.5","[&>div>span]:text-fg-subtle [&>div>span]:typo-compact-xs-normal","[&>div>div]:text-fg-default [&>div>div]:typo-compact-sm-semibold"),children:[k(q,{children:[k("span",{children:[s("dashboard.content.linearSpeed")," (Vx, Vy)"]}),h("div",{children:`${g.vx.toFixed(1)}m/s | ${g.vy.toFixed(1)}m/s`})]}),k(q,{children:[h("span",{children:s("dashboard.content.rotationSpeed")}),h("div",{children:`${g.wz.toFixed(2)}deg/s`})]}),k(q,{children:[h("span",{children:s("dashboard.content.localizationStatus")}),h("div",{className:P("!text-fg-subtle",{"!text-fg-information":l?.locState?.locStatus==="good","!text-fg-warning":l?.locState?.locStatus==="none","!text-fg-danger":l?.locState?.locStatus==="fail"}),children:l?.locState?.locStatus||"-"})]}),k(q,{children:[h("span",{children:s("dashboard.content.obstacle")}),h("div",{className:P("!text-fg-subtle",{"!text-fg-warning":u.obs==="none","!text-fg-danger":u.obs==="near","!text-fg-information":u.obs==="far","!text-fg-caution":u.obs==="vir"}),children:u.obs||"-"})]}),k(q,{children:[h("span",{children:"Path State"}),h("div",{className:P("!text-fg-subtle",{"!text-fg-warning":a?.moveState?.pathState==="none","!text-fg-success":a?.moveState?.pathState==="req_path","!text-fg-information":a?.moveState?.pathState==="recv_path"}),children:a?.moveState?.pathState||"-"})]}),k(q,{children:[h("span",{children:"FRS IPv4"}),k("div",{className:"!text-fg-information",children:[c?.ip??"0.0.0.0",` (${d?.wifi?.signal??0})`]})]})]})]})]})]})})},Pdt=({className:i,robotModel:e,connected:t})=>k(U,{className:P("AMROverviewCard","gap-2.5",i),children:[h(Edt,{className:"h-full flex-2",robotModel:e,connected:t}),h(tdt,{className:"h-full flex-1",robotModel:e,connected:t})]}),{useCallback:Jhe,useMemo:Rdt,useRef:Mdt,useState:Adt}=await F("react"),Odt=({className:i})=>{const e=Mdt(null),{t}=J(),{data:n}=RW(),[s,o]=Adt(0),r=Rdt(()=>n.core_sw_list?.filter(c=>c.be_service==="amr")??[],[n.core_sw_list]),a=Jhe(c=>{o(c.activeIndex)},[]),l=Jhe(c=>{e.current?.slideTo(c)},[]);return k(q,{className:P("AMROverview","gap-2",i),children:[k(U,{alignItems:"center",justifyContent:"space-between",children:[h("h4",{className:"typo-title-03-bold text-fg-default",children:t("dashboard.title.amrNavStatus")}),h(U,{className:"gap-1.5",alignItems:"center",children:r.length>1&&r.map((c,d)=>h("button",{className:"relative !size-2 overflow-hidden rounded-full",onClick:()=>l(d),children:h("div",{className:P("bg-fg-subtler size-full",{"bg-fg-default":s===d})})},d))})]}),h(tke,{ref:e,onSlideChange:a,children:r.map(c=>h(Pdt,{className:"h-90 w-full",robotModel:c.model,connected:c.connected!=="DISCONNECT"},c.model))})]})},{useMemo:Yhe}=await F("react"),Fdt=({className:i})=>{const{data:e}=nr(),{data:t}=RW(),n=Yhe(()=>[...new Set(t?.core_sw_list?.map(r=>r.be_service)??[])],[t]),s=Yhe(()=>n.includes("amr"),[n]),o=n.length<=1;return h("div",{className:P("DashboardPage","p-5",i),children:k(q,{className:"mx-auto max-w-[1536px] gap-3",children:[h(yYe,{}),ia()?h(q,{className:"bg-bg-raised text-fg-subtle h-[calc(var(--vh,1vh)*100-13rem-1px)] w-full rounded-md text-xl",alignItems:"center",justifyContent:"center",children:"Preview"}):k(bn,{children:[h(Kct,{className:P("h-[26.875rem] max-h-[1000px]",{"h-[calc(var(--vh,1vh)*100-13rem-1px)]":o&&!s}),robotModel:e?.modelInfo?.model||"",hideRobotComponents:o}),s&&h(Odt,{})]})]})})},g3={x:100,y:100,z:100},die=[{type:"box",nameKey:"move.workspace.addMenu.box",descKey:"move.asset.primitive.boxDesc",dimensions:g3},{type:"cylinder",nameKey:"move.workspace.addMenu.cylinder",descKey:"move.asset.primitive.cylinderDesc",dimensions:g3},{type:"sphere",nameKey:"move.workspace.addMenu.sphere",descKey:"move.asset.primitive.sphereDesc",dimensions:g3}],Qhe="mm",Bdt="°",Vdt=1,zdt=0,Wdt=.1,Hdt=2,$dt=1,Udt=0,OTe={x:0,y:0,z:0},Qq={rx:0,ry:0,rz:0},OP={x:1,y:1,z:1},FTe=(i,e)=>{const{scale:t,position:n,...s}=e,o={...s,...n&&{position:n}};return i.kind!=="shape"?{...i,...o}:{...i,...o,...t&&{scale:t}}},jdt=(i,e,t)=>{const n=i.toLowerCase();return n.includes("right")?{key:"move.workspace.tab.toolRight"}:n.includes("left")?{key:"move.workspace.tab.toolLeft"}:t<=1?{key:"move.workspace.tab.tool"}:{key:"move.workspace.tab.toolIndexed",params:{index:e+1}}},Gdt=5,Xhe=(i,e,t,n)=>{const s=t.trim().toLowerCase();return n&&s===n.trim().toLowerCase()?!1:i.some(o=>o.modelType===e.modelType&&(e.attachment?o.attachment?.parentJointName===e.attachment.parentJointName:!0)&&o.workspace?.name.trim().toLowerCase()===s)},qdt=i=>{const e=new Map;for(const t of i){const n=t.workspace?.name;if(!n)continue;const s=e.get(n)??[];s.push(t),e.set(n,s)}return Array.from(e.entries()).map(([t,n])=>({name:t,models:n}))},v8=i=>{const e=i.map(t=>t.createdAt).sort();return e[e.length-1]},PI=i=>typeof i=="number"&&Number.isFinite(i),Zhe=i=>!!i&&typeof i=="object"&&PI(i.x)&&PI(i.y)&&PI(i.z),Kdt=i=>!!i&&typeof i=="object"&&PI(i.rx)&&PI(i.ry)&&PI(i.rz),Jdt=i=>{if(!i||typeof i!="object")return!1;const e=i;return typeof e.id!="string"||typeof e.name!="string"||e.modelId!==void 0&&typeof e.modelId!="string"||!Zhe(e.position)||!Kdt(e.rotation)?!1:e.kind==="shape"?typeof e.shapeType=="string"&&Zhe(e.scale):e.kind==="custom"?typeof e.fileId=="string"&&typeof e.fileName=="string":!1},ege=i=>Array.isArray(i)&&i.every(Jdt),Ydt=i=>{if(!i||typeof i!="object")return!1;const e=i;return(e.stage==="empty"||e.stage==="build")&&(e.workspaceName===null||typeof e.workspaceName=="string")&&(e.lastSyncedWorkspaceName===null||typeof e.lastSyncedWorkspaceName=="string")&&ege(e.items)&&ege(e.lastSyncedItems)&&Array.isArray(e.hiddenItemIds)&&e.hiddenItemIds.every(t=>typeof t=="string")},cO=150,Qdt={x:200,y:200},Xdt=50,Zdt=i=>{if(i===0)return[[0,0]];const e=[[i,0],[0,i],[-i,0],[0,-i]];for(let t=1;t<i;t++)e.push([i,t],[i,-t],[-i,t],[-i,-t],[t,i],[-t,i],[t,-i],[-t,-i]);return e.push([i,i],[-i,i],[-i,-i],[i,-i]),e},eut=(i,e)=>i==="base"?"base":`tool:${e}`,tut=i=>i==="tool",nut=(i,e,t=Xdt)=>{for(let n=0;n<=t;n++)for(const[s,o]of Zdt(n)){const r=e.x+s*cO,a=e.y+o*cO;if(!i.some(c=>Math.abs(c.position.x-r)<cO/2&&Math.abs(c.position.y-a)<cO/2))return{x:r,y:a}}return{...e}},iut=(i,e,t,n,s,o)=>i.map(r=>{const a=r.kind==="shape"?{kind:"primitive",shape:r.shapeType}:{kind:"file",url:`${fne}/common/files/models/${r.fileName}`,fileName:r.fileName};return{id:`${e}:${r.id}`,source:a,displayName:r.name,transform:{x:r.position.x/Pn,y:r.position.y/Pn,z:r.position.z/Pn,rx:r.rotation.rx,ry:r.rotation.ry,rz:r.rotation.rz,scale:r.kind==="shape"?{x:r.scale.x,y:r.scale.y,z:r.scale.z}:1},mountJointName:t||void 0,visible:!o?.has(r.id),onLoad:n?()=>n(r.id):void 0,onLoadError:s?()=>s(r.id):void 0}}),BTe="local:",Xq=()=>`${BTe}${Date.now().toString(36)}-${Math.random().toString(36).slice(2)}`,tge=i=>i.startsWith(BTe),dO=(i,e)=>{const t=new Set(e.filter(o=>!tge(o))),n=new Set(i.filter(o=>!tge(o))),s=[];for(const o of n)t.has(o)||s.push({modelId:o,isLoaded:!1});for(const o of t)s.push({modelId:o,isLoaded:!0});return s},sut=(i,e,t=new Set)=>new Set(i.filter(n=>n.kind==="custom"&&!e.has(n.id)&&!t.has(n.id)).map(n=>n.id)),nge=(i,e)=>{const t=new Set(e.map(s=>s.id)),n=Array.from(i).filter(s=>t.has(s));return n.length===i.size?i:new Set(n)},VTe=(i,e)=>i.name===e.name&&i.position.x===e.position.x&&i.position.y===e.position.y&&i.position.z===e.position.z&&i.rotation.rx===e.rotation.rx&&i.rotation.ry===e.rotation.ry&&i.rotation.rz===e.rotation.rz?i.kind==="shape"?e.kind==="shape"&&i.shapeType===e.shapeType&&i.scale.x===e.scale.x&&i.scale.y===e.scale.y&&i.scale.z===e.scale.z:e.kind==="custom"&&i.fileId===e.fileId&&i.fileName===e.fileName:!1,out=(i,e)=>i.id===e.id&&VTe(i,e),rut=(i,e)=>{const t=new Map;for(const n of e){if(!n.modelId)return!1;t.set(n.modelId,n)}if(t.size!==i.length)return!1;for(const n of i){if(!n.modelId)return!1;const s=t.get(n.modelId);if(!s||!VTe(n,s))return!1}return!0},zTe=(i,e)=>{const t=[],n=new Set(i.map(s=>s.id));for(const s of i){if(!s.modelId){t.push({kind:"create",item:s});continue}const o=e.get(s.id);if(!o){t.push({kind:"create",item:s});continue}out(o,s)||t.push({kind:"update",item:s,modelId:s.modelId})}for(const[s,o]of e)!n.has(s)&&o.modelId&&t.push({kind:"delete",modelId:o.modelId});return t},aut=(i,e,t,n)=>{const s=zTe(i,e);if(!(t!==n))return s;const r=new Set(s.filter(l=>l.kind!=="delete").map(l=>l.item.id)),a=i.filter(l=>!!l.modelId&&!r.has(l.id)).map(l=>({kind:"update",item:l,modelId:l.modelId}));return[...s,...a]},lut=(i,e,t,n)=>zTe(i,e).length>0||t!==n,gE=(i,e)=>i===e?!0:i.length!==e.length?!1:i.length===0&&e.length===0?!0:JSON.stringify(i)===JSON.stringify(e),ige=i=>{const e={id:Xq(),modelId:i.modelId,position:{x:Math.round(i.pose.x*Pn),y:Math.round(i.pose.y*Pn),z:Math.round(i.pose.z*Pn)},rotation:{rx:i.pose.rx,ry:i.pose.ry,rz:i.pose.rz}};if(i.shapeType!==null)return{...e,name:i.name??i.shapeType,kind:"shape",shapeType:i.shapeType,scale:i.scale??OP};const t=i.fileInfo?.fileName??"";return{...e,name:i.name??t.replace(/\.[^.]+$/,""),kind:"custom",fileId:i.fileId??"",fileName:t}},Zq="application/x-rb-workspace-shape",cut=i=>{switch(i){case"cylinder":return h(ske,{className:"text-fg-subtle group-hover:text-fg-navy size-4.5 shrink-0 transition-colors"});case"sphere":return h(ike,{className:"text-fg-subtle group-hover:text-fg-navy size-4.5 shrink-0 transition-colors"});default:return h(nke,{className:"text-fg-subtle group-hover:text-fg-navy size-4.5 shrink-0 transition-colors"})}},dut=({onAddShape:i,limitReached:e,isCustomFileUploading:t=!1,onOpenCustomFilePicker:n,draggable:s=!1,className:o})=>{const{t:r}=J();return k(q,{className:P("border-border-subtle/70 bg-bg-alt-1/40 w-full gap-1.5 rounded-lg border p-1.5 shadow-2xs transition-all",o),children:[k("div",{className:"grid grid-cols-2 gap-1.5",children:[die.map(a=>k("button",{type:"button",disabled:e,draggable:s&&!e,onDragStart:c=>{c.dataTransfer.setData(Zq,a.type),c.dataTransfer.effectAllowed="copy"},onClick:()=>i(a.type),className:P("group border-border-subtle/80 bg-bg-default relative flex h-9 items-center gap-2 rounded-md border px-2.5 shadow-2xs transition-all duration-150 select-none","hover:border-border-navy-stronger hover:bg-fill-navy-subtler active:bg-fill-navy-subtle active:scale-[0.99]","focus-visible:ring-border-navy-stronger focus-visible:ring-2 focus-visible:outline-hidden",e&&"hover:border-border-subtle/80 hover:bg-bg-default cursor-not-allowed opacity-40"),children:[cut(a.type),h("span",{className:"typo-compact-xs-medium text-fg-default group-hover:text-fg-navy truncate transition-colors",children:r(a.nameKey)})]},a.type)),k("button",{type:"button",disabled:t,onClick:n,className:P("group border-border-subtle/80 bg-bg-default relative flex h-9 items-center gap-2 rounded-md border px-2.5 shadow-2xs transition-all duration-150 select-none","hover:border-border-navy-stronger hover:bg-fill-navy-subtler active:bg-fill-navy-subtle active:scale-[0.99]","focus-visible:ring-border-navy-stronger focus-visible:ring-2 focus-visible:outline-hidden",t&&"cursor-not-allowed opacity-50"),children:[t?h(_0,{size:"1rem",className:"text-fg-subtle shrink-0"}):h(Sk,{className:"text-fg-subtle group-hover:text-fg-navy size-4.5 shrink-0 transition-colors"}),h("span",{className:"typo-compact-xs-medium text-fg-default group-hover:text-fg-navy truncate transition-colors",children:r("move.workspace.addMenu.customFile")})]})]}),e&&h("span",{className:"typo-compact-2xs-normal text-fg-danger px-1",children:r("move.workspace.shapeLimitReached")})]})},{useCallback:tf,useEffect:y8,useMemo:w8,useRef:uO,useState:Iw}=await F("react"),uut=({detailRobotModel:i,tcpJoints:e,urdfViewerRef:t,assetGizmoDisabled:n=!1,assetPicker:s})=>{const[o,r]=Iw([]),[a,l]=Iw(!1),[c,d]=Iw("translate"),u=uO(null),[g,m]=Iw([]),[f,p]=Iw([]),_=tf((H,X)=>{m(K=>gE(K,H)?K:H),p(K=>gE(K,X)?K:X)},[]),[b,v]=Iw(null),w=tf(H=>{v(H)},[]),y=tf(H=>{u.current={x:H.clientX,y:H.clientY}},[]),S=tf(H=>{const X=u.current;if(u.current=null,!X||Math.abs(H.clientX-X.x)>5||Math.abs(H.clientY-X.y)>5||t.current?.isAssetGizmoDragging())return;if(s?.isActive){const z=t.current?.getAssetIdAtPointer?.(H.nativeEvent);if(z){s.onPick(z);return}}if(n)return;const K=t.current?.selectAssetAtPointer(H.nativeEvent);r(K?.assetIds??[]),l(K?.selectionMode??!1)},[n,s,t]),C=tf(H=>{if(H===null){t.current?.clearAssetSelection(),r([]),l(!1);return}r([H]),l(!1),!n&&t.current?.setSelectedAssetIds([H],!1)},[n,t]),x=tf((H,X)=>{r(H),l(X),!n&&t.current?.setSelectedAssetIds(H,X)},[n,t]),N=uO([]);y8(()=>{N.current=o},[o]);const L=tf(H=>{n||a||N.current.length===1&&N.current[0]===H&&t.current?.setSelectedAssetIds([H],!1)},[n,a,t]),D=uO({id:null,mode:"translate"});y8(()=>{if(!o.length||o.length>1){D.current={id:null,mode:"translate"};return}const H=o[0];if([...g,...f].find(z=>z.id===H)?.source.kind==="file"&&c==="scale"){d("translate");return}D.current.id===H&&D.current.mode===c||(D.current={id:H,mode:c},t.current?.setAssetGizmoMode(c))},[c,o,g,f,t]);const E=tf(()=>{t.current?.clearAssetSelection(),r([]),l(!1)},[t]);y8(()=>{n&&E()},[n,E]);const[T,R]=Iw(null),A=uO(0),M=tf(H=>{H.dataTransfer.types.includes(Zq)&&(H.preventDefault(),H.dataTransfer.dropEffect="copy")},[]),O=tf(H=>{const X=H.dataTransfer.getData(Zq);if(!X)return;H.preventDefault();const K=t.current?.screenToGroundPoint({clientX:H.clientX,clientY:H.clientY});K&&(A.current+=1,R({type:X,at:{x:Math.round(K.x*Pn),y:Math.round(K.y*Pn)},nonce:A.current}))},[t]),B=w8(()=>({detailRobotModel:i,tcpJoints:e,gizmoSelectedAssetIds:o,selectionMode:a,onAssetsChange:_,assetTransformEvent:b,shapeDropRequest:T,assetGizmoMode:c,onGizmoModeChange:d,onRequestSceneAssetSelect:C,onRequestSceneSelectionChange:x,onAssetLoaded:L}),[i,e,o,a,_,b,T,c,C,x,L]),V=w8(()=>({onPointerDown:y,onPointerUp:S,onDragOver:M,onDrop:O}),[y,S,M,O]),G=w8(()=>({onAssetTransformChange:w,onAssetSelectionChange:H=>{r(H.assetIds),l(H.selectionMode)}}),[w]);return{baseAssets:g,toolAssets:f,gizmoSelectedAssetIds:o,selectionMode:a,assetGizmoMode:c,setAssetGizmoMode:d,clearGizmoSelection:E,workspaceControlProps:B,requestMenuId:o.length?"workspace":void 0,requestMenuToken:o.join(","),sceneHandlers:V,viewerProps:G}},eK=({className:i,icon:e,active:t,label:n,expended:s,onClick:o})=>{const{theme:r}=rt();return h(_e,{className:P("MoveMenuItem","text-fg-subtle h-7 w-full justify-start gap-1.5","[&_img]:size-3.5 [&_svg]:size-3.5","hover:bg-fill-subtler text-fg-default",t&&(r==="light"?"bg-fill-navy-subtlest text-fg-navy":"bg-fill-subtler"),i,{"hover:bg-fill-navy-subtlest":r==="light"}),size:"xs",variant:"transparent",leadingIcon:typeof e=="string"?h("img",{src:e}):e,onClick:o,children:!!s&&n})},{useState:hut,useCallback:gut,useEffect:mut}=await F("react"),I0=({ui:i,...e})=>{const{usePluginManifest:t}=Ch(),[n,s]=hut([]),{data:o}=t(),{data:r,refetch:a}=YW(e),l=gut(c=>{const d=Ev(c.contributes,i||e.point);return{id:"id"in c?c.id:c.pluginId,name:c.name,isPreview:"id"in c,icon:typeof c.icons=="object"?c.icons?.["16"]:c.icons,enabled:"id"in c?!0:c.enabled,toolbar:"id"in c?!0:c.toolbar,contribute:d}},[e.point,i]);return mut(()=>{const c=r?.plugins?.filter(d=>i==="toolbar"?d.toolbar:!0)?.map(d=>l(d))??[];ia()&&o&&Ev(o.contributes,i||e?.point)&&c.unshift(l(o)),s(c)},[l,e?.point,e?.toolbar,i,r?.plugins,o]),{list:n,setList:s,makeToolbarItem:l,originInstalledList:r?.plugins,previewPlugin:o,refetchPluginInstalledList:a}},fut=({className:i,robotModel:e,currentMenuId:t,expendedMenu:n,onMenuClick:s})=>{const{currentLanguage:o}=J(),{getAssetUrl:r}=Ch(),{list:a}=I0({robotModel:e,point:"move.panel"});return h("div",{className:P("PluginMoveMenuList",i),children:a.map(l=>h(eK,{icon:r(l.id,FM(l.contribute?.icon,16)),label:vW(l.contribute?.label,o)||l.name,active:t===l.id,expended:n,onClick:()=>s(l.id)},l.id))})},{useCallback:put,useEffect:uie,useMemo:tK,useRef:z4,useState:nK}=await F("react");function WTe(i){return{"data-muscat-plugin-root":"","data-muscat-plugin-id":i}}function _ut(i,e,t){const n=z4(null),s=z4(""),o=`${i}::${e}`;return s.current!==o&&(s.current=o,n.current=PW.connect(i,e)),tK(()=>XNe(n.current,w0(),t),[o])}function but({source:i,socketUrl:e,pluginId:t,mount:n}){const s=_ut(e,t,n),[o,r]=nK(null),[a,l]=nK(null);return uie(()=>{let c=!1;return r(null),l(null),import(i.entryUrl).then(d=>{if(!c){if(!d.default)throw new Error(`plugin entry ${i.entryUrl} has no default export`);r(()=>d.default)}}).catch(d=>{c||l(d instanceof Error?d:new Error(String(d)))}),()=>{c=!0}},[i.entryUrl]),a?k("div",{className:"text-fg-danger p-4 text-sm",children:["Failed to load plugin: ",a.message]}):o?h("div",{...WTe(t),children:h(Tne.Provider,{value:s,children:h(o,{})})}):h("div",{className:"flex items-center justify-center p-4",children:h("div",{className:"border-default size-5 animate-spin rounded-full border-2 border-t-transparent"})})}function vut({source:i,socketUrl:e,pluginId:t,mount:n}){const s=z4(null),[o,r]=nK(null);return uie(()=>{const a=s.current;if(!a)return;let l,c=!1;const d=()=>queueMicrotask(()=>l?.());return import(i.bootstrapUrl).then(u=>{c||(l=u.mount(a,{socketUrl:e,pluginId:t,hostServices:w0(),data:n.data,onSave:n.onSave}))}).catch(u=>{c||r(u instanceof Error?u:new Error(String(u)))}),()=>{c=!0,d()}},[i.bootstrapUrl,e,t]),o?k("div",{className:"text-fg-danger p-4 text-sm",children:["Failed to load plugin (dev): ",o.message]}):h("div",{ref:s,...WTe(t)})}function hie({pluginId:i,ui:e,data:t,onRegisterSave:n}){const{getModuleSource:s,getSocketUrl:o}=Ch(),r=tK(()=>s(i,e),[s,i,e]),a=o(i),l=z4(null),c=put(u=>(l.current=u,()=>{l.current===u&&(l.current=null)}),[]);uie(()=>{n?.(()=>l.current?.())},[n]);const d=tK(()=>({data:t,onSave:c}),[c]);return r.kind==="dev"?h(vut,{source:r,socketUrl:a,pluginId:i,mount:d}):h(but,{source:r,socketUrl:a,pluginId:i,mount:d})}const{forwardRef:yut,useCallback:hO,useEffect:C8,useMemo:wut,useRef:S8,useState:sge}=await F("react"),e9=yut(function({className:e,rightIconPanels:t,menus:n,auxiliaryPanel:s,beService:o,children:r,viewportFullscreen:a,viewportClassName:l,onBeforeMenuChange:c,persistentMenu:d,requestMenuId:u,requestMenuToken:g},m){const{t:f}=J(),{theme:p}=rt(),_=Dr(),[b]=gc(),{data:v}=nr(),{list:w}=I0({robotModel:v?.info?.robotModel,point:"move.panel"}),y=S8(o),S=hO(O=>{const B=[...n.map(V=>V.id),...w?.map(V=>V.id)??[]];return O&&B.includes(O)?O:n[0]?.id||w?.[0]?.id||""},[n,w]),[C,x]=sge(()=>S(b.get("menu"))),[N,L]=sge(b.get("expended")==="1"),D=wut(()=>{const O=w?.map(B=>({...B,content:h(hie,{pluginId:B.id,ui:B.contribute?.ui})}))??[];return[...n,...O].find(B=>B.id===C)},[n,w,C]),E=hO(O=>{_({pathname:"/muscat/app/move",search:O.toString()},{replace:!0})},[_]),T=hO(async O=>{if(O===C||!(await c?.({currentMenuId:C,nextMenuId:O})??!0))return;x(O);const V=new URLSearchParams(b);V.set("menu",O),V.set("expended",N?"1":"0"),E(V)},[C,N,E,c,b]),R=S8(!1),A=S8(null);C8(()=>{if(!u){A.current=null;return}const O=A.current;if(O&&O.id===u&&O.token===g)return;A.current={id:u,token:g};const B=S(u);if(!B||B===C)return;x(B),R.current=!0;const V=new URLSearchParams(b);V.set("menu",B),V.set("expended",N?"1":"0"),E(V)},[u,g,C,N,b,E,S]);const M=hO(()=>{const O=!N;L(O);const B=new URLSearchParams(b);B.set("menu",C),B.set("expended",O?"1":"0"),E(B)},[C,N,E,b]);return C8(()=>{if(R.current){R.current=!1;return}const O=S(b.get("menu"));if(x(O),L(b.get("expended")==="1"),O&&O!==b.get("menu")){const B=new URLSearchParams(b);B.set("menu",O),E(B)}},[b,n,w]),C8(()=>{o!==y.current&&(y.current=o,_({pathname:"./",search:""}))},[o]),k("div",{className:P("MoveLayout","relative h-full","[--move-menu-width:2.75rem] [--move-panel-width:17.5rem]","[--move-debug-panel-width:0rem]","min-[1280px]:[--move-panel-width:20rem]",s?.open&&"[--move-debug-panel-width:calc(var(--move-panel-width)*2)]",N&&"[--move-menu-width:8rem]",e),children:[h("div",{className:"relative h-full pr-[calc(var(--move-panel-width)+var(--move-debug-panel-width))] transition-[padding-right] duration-200",children:k("div",{className:"relative h-full pr-(--move-menu-width) transition-[padding-right] duration-200",children:[k("div",{ref:m,"data-slot":"move-viewport","data-state":a?"fullscreen":"windowed",className:P("overflow-hidden",a?"fixed inset-0":"absolute inset-0",l),children:[r,h("div",{"data-flyout-anchor":!0,className:P("text-default absolute top-2 z-11 flex flex-col gap-1.5",a?"right-2":N?"right-33":"right-12"),children:t?.map(O=>h("div",{children:O.element},O.key))})]}),k(q,{className:"bg-translucent border-disabled absolute top-0 right-0 z-1 h-full w-(--move-menu-width) border-r border-l p-1.5 transition-[width] duration-200",alignItems:N?"flex-start":"center",children:[h(_e,{className:"text-fg-subtle h-7 w-full justify-start",size:"xs",variant:"transparent",leadingIcon:N?h(r8e,{className:"size-3.5"}):h(a8e,{className:"size-3.5"}),onClick:M,children:!!N&&f("move.menu.button.label.collapse")}),h(Zs,{type:"horizontal",className:"bg-border-disabled/10",spaceSize:6}),k(q,{className:"w-full gap-2",alignItems:"center",children:[n.map(O=>h(eK,{icon:O.icon,label:O.label,active:C===O.id,expended:N,onClick:()=>T(O.id)},O.id)),s?h(eK,{icon:s.icon,label:s.label,active:s.open,expended:N,onClick:s.onToggle}):null,h(fut,{robotModel:v?.info?.robotModel,expendedMenu:N,currentMenuId:C,onMenuClick:T})]})]})]})}),h("div",{className:P(p==="light"?"bg-white":"bg-alt-1","absolute top-0 right-(--move-debug-panel-width) z-2 h-full w-(--move-panel-width) transition-[right,width] duration-200"),children:k("div",{className:"h-full overflow-y-auto",children:[d&&h("div",{className:P("h-full",C!==d.id&&"hidden"),children:d.content}),(!d||C!==d.id)&&D?.content]})}),s?.open?h("div",{className:P(p==="light"?"bg-white":"bg-alt-1","border-disabled absolute top-0 right-0 z-2 h-full w-(--move-debug-panel-width) border-l transition-[width] duration-200"),children:h("div",{className:"h-full overflow-hidden",children:s.content})}):null]})}),{useMutation:Cut}=await F("@tanstack/react-query"),Sut="/{robot_model}/call_referencecontrol",xut=async i=>{const{robot_model:e,...t}=i,n=Sut.replace("{robot_model}",e),s=await Ot.post(n,t);if(s.returnValue)throw Error(`[Error] error Return value: ${s.returnValue}`);return s},Iut=()=>Cut({mutationFn:async i=>xut(i)}),pp=({className:i,subject:e})=>h("h6",{className:P("MoveRightPannelSubject","typo-compact-sm-semibold text-fg-default pb-2",i),children:e}),x8=({className:i,title:e,dataList:t})=>k(U,{className:P("ToolItemValue","flex w-full gap-4",i),alignItems:"center",justifyContent:"space-between",children:[h("h6",{className:"typo-compact-xs-medium text-fg-subtler w-30 shrink-0 whitespace-nowrap",children:e}),h("div",{className:P("grid flex-1 grid-cols-3 gap-6","*:gap-1"),children:Object.entries(t).map(([n,s])=>k(U,{className:"h-4 gap-1",alignItems:"center",justifyContent:"space-between",children:[h("span",{className:P("typo-compact-xs-semibold w-2",{"text-fg-danger":n.includes("x"),"text-fg-success":n.includes("y"),"text-fg-information":n.includes("z")}),children:n.toUpperCase()}),k("span",{className:"typo-compact-xs-medium text-fg-subtle",children:[Ai(s),n.includes("r")?"º":"mm"]})]},`${e}-${n}`))})]}),{forwardRef:kut}=await F("react"),HTe=kut(({className:i,selectedToolNumber:e,toolNumber:t,toolName:n,weight:s,centerOfGravity:o,tcpPosition:r,tcpRotation:a,onSelectNumber:l},c)=>{const d=()=>{l?.(t)};return k(q,{ref:c,className:P("TcpToolItem","bg-fill-inverse-subtle relative z-1 cursor-pointer gap-1.5 rounded-md p-2.5 outline-2 outline-transparent",{"outline-border-navy-stronger":e===t},i),onClick:d,children:[k(U,{className:"w-full",alignItems:"center",justifyContent:"space-between",children:[h("h6",{className:"typo-compact-xs-semibold text-fg-default",children:n}),k("span",{className:"typo-compact-xs-medium text-fg-subtle",children:[Ai(s),"KG"]})]}),k(q,{children:[h(x8,{title:"Center of Gravity",dataList:o}),h(x8,{title:"TCP Position",dataList:r}),h(x8,{title:"TCP Rotation",dataList:a})]})]})});HTe.displayName="TcpToolItem";const{useMutation:Nut}=await F("@tanstack/react-query"),Lut="/{robot_model}/set_toollist_num",Dut=async i=>{const e=Lut.replace("{robot_model}",i.robotModel);return Ot.post(e,i)},Tut=()=>Nut({mutationFn:Dut}),jb=(i,e)=>({toolName:i,comMass:e,comOffset:{v:[0,0,0]},tcpOffset:{v:[0,0,0]},tcpEuler:{v:[0,0,0]},boxType:0,boxParameter:{f:[0,0,0,0,0,0,0,0,0]}}),Eut={tConfigs0:jb("tool_1",1),tConfigs1:jb("tool_2",2),tConfigs2:jb("tool_3",3),tConfigs3:jb("tool_4",4),tConfigs4:jb("tool_5",5),tConfigs5:jb("tool_6",6),tConfigs6:jb("tool_7",7),tConfigs7:jb("tool_8",8)},Put=i=>({userfName:i,userfOffset:{v:[0,0,0]},userfEuler:{v:[0,0,0]}}),$Te={user_frames:Array.from({length:8}).map((i,e)=>Put(`user_frame_${e}`))},UTe={name:Array.from({length:16},(i,e)=>`pp_${e}`),pinJ:Array.from({length:16},()=>({tarValues:[0,0,0,0,0,0,0],tarFrame:0,tarUnit:0})),pinL:Array.from({length:16},()=>({tarValues:[0,0,0,0,0,0,0],tarFrame:0,tarUnit:0}))},{useEffect:Rut,useMemo:Mut,useRef:oge,useState:Aut}=await F("react"),jTe=({className:i,open:e,robotModel:t,selectedToolNumber:n,onOpenChange:s,isUseSimulator:o,onToolSelected:r,resolve:a,close:l})=>{const{t:c}=J(),d=oge(null),u=oge([]),[g,m]=Aut(n),{data:f}=$y({robot_model:t}),{mutateAsync:p,isPending:_}=Tut(),b=Mut(()=>!f&&!o?null:Object.values(o&&!f?Eut:f).map((C,x)=>({toolNumber:x,toolName:C.toolName,weight:Ai(C.comMass.toFixed(2)),centerOfGravity:{x:Ai(C.comOffset.v[0].toFixed(3)),y:Ai(C.comOffset.v[1].toFixed(3)),z:Ai(C.comOffset.v[2].toFixed(3))},tcpPosition:{x:Ai(C.tcpOffset.v[0].toFixed(3)),y:Ai(C.tcpOffset.v[1].toFixed(3)),z:Ai(C.tcpOffset.v[2].toFixed(3))},tcpRotation:{rx:Ai(C.tcpEuler.v[0].toFixed(3)),ry:Ai(C.tcpEuler.v[1].toFixed(3)),rz:Ai(C.tcpEuler.v[2].toFixed(3))}})),[f,o]),v=C=>{if(!d.current){const x=Number(getComputedStyle(C).paddingTop?.replace("px","")??0),N=C.offsetTop,L=u.current[n]?.offsetTop;L&&C.scrollTo({top:L-x-N-30}),d.current=C}},w=C=>{m(C)},y=async()=>{if(o&&!f){r?.(g),a?.(g);return}await p({robotModel:t,targetToolNum:g}),r?.(g),a?.(g)},S=()=>{l?.()};return Rut(()=>{m(n)},[n]),h(Gc,{disableAutoFocus:TN.isDesktop,className:P(i,"flex max-h-140! w-137.5! flex-col gap-0 border-none p-0"),open:e,onOpenChange:s,header:{title:c("move.tool.modal.title")},footer:k(U,{className:"h-8 w-full gap-1",alignItems:"center",justifyContent:"flex-end",children:[h(_e,{variant:"outlined",onClick:S,children:c("common.button.cancel")}),h(_e,{variant:"brand",disabled:g===void 0,loading:_,onClick:y,children:c("common.button.confirm")})]}),children:h(q,{ref:C=>{v(C)},className:"bg-bg-overlay min-h-20 px-4",children:h($m,{className:"h-full overflow-y-auto",children:h(q,{className:"gap-1.5 p-1",children:h(jr,{list:b,children:({item:C,index:x})=>h(HTe,{ref:N=>{u.current[x]=N},selectedToolNumber:g,toolNumber:C.toolNumber,toolName:C.toolName,weight:C.weight,centerOfGravity:C.centerOfGravity,tcpPosition:C.tcpPosition,tcpRotation:C.tcpRotation,onSelectNumber:w},x)})})})})})},{useMemo:Out}=await F("react"),Fut=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),{modal:s}=$i(),{selectedRobot:o}=Fi(e),{toolName:r}=ws(e,d=>({toolName:d.toolName})),{data:a}=$y({robot_model:e}),l=Out(()=>{const d=Object.values(a??[]),u=d.findIndex(g=>g.toolName===r);return u!==-1?{...d[u],toolNumber:u}:null},[r,a]),c=()=>{document.activeElement instanceof HTMLElement&&document.activeElement.blur(),s({component:jTe,props:{robotModel:e,selectedToolNumber:l?.toolNumber}})};return k("div",{className:P("TCPToolControl","p-2.5",i),children:[h(pp,{subject:t("move.menu.button.label.tcpTool")}),h(q,{className:"bg-raised gap-3 rounded-md p-2.5",children:l?k(bn,{children:[k(U,{className:"typo-compact-xs-medium gap-1.5",justifyContent:"space-between",alignItems:"center",children:[h("b",{className:"text-fg-default font-semibold",children:l.toolName}),k("span",{className:"typo-compact-xs-medium text-fg-subtle",children:[Ai(l.comMass),"KG"]})]}),k(q,{className:P("gap-2","[&>.info-box>.label]:typo-compact-2xs-medium [&>.info-box>.label]:text-fg-subtler [&>.info-box>.label]:mb-0.5","[&_.value-group]:gap-2.5","[&_.value-box]:typo-compact-xs-medium [&_.value-box]:text-fg-default [&_.value-box]:w-full","[&_.value-box:nth-child(1)_.value-label]:text-fg-danger [&_.value-box:nth-child(2)_.value-label]:text-fg-success [&_.value-box:nth-child(3)_.value-label]:text-fg-information"),children:[k(q,{className:"info-box",children:[h("span",{className:"label",children:t("settings.tool.title.centerOfGravity")}),k(U,{className:"value-group",children:[k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"X"}),k("span",{className:"value-value",children:[Ai(l.comOffset.v[0].toFixed(3)),"mm"]})]}),k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"Y"}),k("span",{className:"value-value",children:[Ai(l.comOffset.v[1].toFixed(3)),"mm"]})]}),k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"Z"}),k("span",{className:"value-value",children:[Ai(l.comOffset.v[2].toFixed(3)),"mm"]})]})]})]}),k(q,{className:"info-box",children:[h("span",{className:"label",children:`TCP ${t("settings.tool.title.position")}`}),k(U,{className:"value-group",children:[k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"X"}),k("span",{className:"value-value",children:[Ai(l.tcpOffset.v[0].toFixed(3)),"mm"]})]}),k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"Y"}),k("span",{className:"value-value",children:[Ai(l.tcpOffset.v[1].toFixed(3)),"mm"]})]}),k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"Z"}),k("span",{className:"value-value",children:[Ai(l.tcpOffset.v[2].toFixed(3)),"mm"]})]})]})]}),k(q,{className:"info-box",children:[h("span",{className:"label",children:`TCP ${t("settings.tool.title.rotation")}`}),k(U,{className:"value-group",children:[k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"RX"}),k("span",{className:"value-value",children:[Ai(l.tcpEuler.v[0].toFixed(3)),"°"]})]}),k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"RY"}),k("span",{className:"value-value",children:[Ai(l.tcpEuler.v[1].toFixed(3)),"°"]})]}),k(q,{className:"value-box",children:[h("span",{className:"value-label",children:"RZ"}),k("span",{className:"value-value",children:[Ai(l.tcpEuler.v[2].toFixed(3)),"°"]})]})]})]})]})]}):h(ine,{className:"[&_.no-data-text]:typo-compact-xs-medium h-30",nullText:t("move.menu.msg.tcpTool")})}),h(_e,{className:"mt-2 w-full",variant:n==="light"?"brand":"soft",size:"xs",disabled:o?.connected==="DISCONNECT",onClick:c,children:t("move.button.change")})]})},{useCallback:I8,useEffect:But,useRef:Vut}=await F("react"),wd=({className:i,variant:e,onButtonDown:t,onButtonUp:n,onButtonCancel:s,...o})=>{const r=Vut(!1),{theme:a}=rt(),l=I8(()=>{r.current||(t?.(),r.current=!0)},[t]),c=I8(()=>{r.current&&(r.current=!1,n?.())},[n]),d=I8(()=>{r.current&&(r.current=!1,s?s():n?.())},[s,n]);return But(()=>{const u=()=>{c?.()},g=()=>{d()};return window.addEventListener("pointerup",u),window.addEventListener("pointercancel",g),()=>{window.removeEventListener("pointerup",u),window.removeEventListener("pointercancel",g)}},[c,d]),h(_e,{variant:e,className:P("NxPointerHoldButton",a==="light"&&e==="outlined"&&"outline-fg-navy text-fg-navy",i),...o,onContextMenu:u=>{u.preventDefault()},onPointerDown:u=>{u.currentTarget.setPointerCapture?.(u.pointerId),l()},onPointerUp:c,onPointerCancel:d,children:o.children})},{useCallback:rge,useMemo:zut,useState:Wut}=await F("react"),Hut=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),{selectedRobot:s}=Fi(e),[o,r]=Wut(null),{jointLength:a,isMoving:l}=HW({tabType:"joint",tickModeInput:null,robotModel:e}),c=zut(()=>l||s?.connected==="DISCONNECT",[l,s?.connected]),{mutate:d}=GW(),{mutate:u}=qW(),g=rge((f,p)=>{const _=Array(a).fill(0);let b=[];f==="all"?b=Array(_.length).fill(0):b=_.map((v,w)=>w===p?0:typeof v=="number"?Number(v.toFixed(3)):0),r(p),d({robot_model:e,type:"j",target:{tar_values:b,tar_frame:-1,tar_unit:0},speed:{spd_mode:0,spd_vel_para:.4,spd_acc_para:.1}})},[d,a,e]),m=rge(()=>{r(null),u({robot_model:e,stoptime:.3})},[u,e]);return h("div",{className:P("ZeroPoseControl","h-full",i),children:k(q,{className:"gap-2 px-3 py-2.5",children:[h(pp,{subject:t("move.menu.button.label.zeroPose")}),Array.from({length:a}).map((f,p)=>h(wd,{className:"typo-compact-xs-semibold",size:"sm",variant:"outlined",disabled:c&&o!==p,onButtonDown:()=>g("single",p),onButtonUp:m,children:`${t("move.menu.button.label.moveOrigin",{index:p})}`},`j${p}`)),h(wd,{className:"typo-compact-xs-semibold",size:"sm",variant:n==="light"?"brand":"soft",disabled:c&&o!==-1,onButtonDown:()=>g("all",-1),onButtonUp:m,children:t("move.menu.button.label.moveAllOrigin")})]})})},{useQuery:$ut}=await F("@tanstack/react-query"),GTe="/{robot_model}/call_config_globpinlist",Uut=async({robot_model:i})=>{const e=GTe.replace("{robot_model}",i);return Ot.get(e)},qTe=(i,e={})=>$ut({queryKey:[GTe,i],queryFn:()=>Uut(i),...e}),{useMutation:jut}=await F("@tanstack/react-query"),Gut="/{robot_model}/save_globpin_parameter",qut=async i=>{const{robot_model:e,...t}=i,n=Gut.replace("{robot_model}",e),s=await Ot.post(n,t);if(s.return_value)throw Error(`[Error] error Return value: ${s.return_value}`);return s},Kut=()=>{const{alertDialog:i,closeDialog:e}=si();return jut({mutationFn:async t=>qut(t),onError:t=>{i({modalId:"setGlobalPinPointParameterError",title:"Error",content:"User Parameter Error: "+(t?.message||t),onConfirm:()=>e("setGlobalPinPointParameterError")})}})},{useCallback:age,useEffect:Jut,useMemo:Yut,useState:lge}=await F("react"),Qut=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),{selectedRobot:s}=Fi(e),[o,r]=lge(null),{data:a,refetch:l}=qTe({robot_model:e}),{mutateAsync:c,isPending:d}=Kut(),{motionMode:u}=ws(e,S=>({motionMode:S.motionMode})),{mutate:g}=GW(),{mutate:m}=qW(),[f,p]=lge(a??UTe),_=Yut(()=>u!==0||s?.connected==="DISCONNECT",[u,s?.connected]),b=(S,C)=>{p(x=>{const N={...x},L=[...x.name];return L[S]=C,N.name=L,N})},v=age((S,C,x)=>{const N=C.split(",").map(L=>Number(L.trim()));r(`${S}-${x}`),g({robot_model:e,type:S,target:{tar_values:N,tar_frame:S==="j"?-1:0,tar_unit:0},speed:{spd_mode:0,spd_vel_para:.4,spd_acc_para:.1}})},[g,e]),w=age(()=>{r(null),m({robot_model:e,stoptime:.3})},[m,e]),y=async(S,C)=>{await c({robot_model:e,pin_num:S,pin_name:C}),l()};return Jut(()=>{a&&p(a)},[a]),k($m,{className:P("GlobalPinPointControl","relative h-full w-full px-3 py-2.5"),children:[h("div",{className:"sticky top-0 z-10",children:h(pp,{subject:t("move.menu.button.label.pinpoint")})}),h(q,{className:"w-full max-w-full gap-3 overflow-hidden",children:f&&f?.name?.map((S,C)=>{const x=S,N=f.pinJ[C].tarValues?.map(D=>D.toFixed(2)).join(", "),L=f.pinL[C].tarValues?.map(D=>D.toFixed(2)).join(", ");return k(q,{className:P("gap-2 self-stretch rounded-md p-2.5",n==="light"?"border-fill-navy-subtle border":"bg-bg-alt-2"),children:[k(U,{className:"w-full gap-1.5",alignItems:"center",children:[h("span",{className:"typo-compact-xs-semibold text-fg-subtle min-w-8 shrink-0",children:t("settings.tool.title.name")}),h(nt,{className:"w-0 min-w-0 flex-1",size:"xs2",type:"text",inputMode:"text",value:x,onChange:D=>b(C,D.target.value)})]}),k(q,{className:"typo-compact-2xs-normal text-fg-default w-full gap-0.5",children:[h("span",{children:`J: ${N}`}),h("span",{children:`L: ${L}`})]}),k(U,{className:"w-full gap-1",alignItems:"center",children:[h(wd,{className:P("w-[33%]"),variant:n==="light"?"outlined":"soft",size:"xs",disabled:_&&o!==`j-${C}`,onButtonDown:()=>v("j",N,C),onButtonUp:w,children:t("program.button.movej")}),h(wd,{className:P("w-[33%]"),variant:n==="light"?"outlined":"soft",size:"xs",disabled:_&&o!==`l-${C}`,onButtonDown:()=>v("l",L,C),onButtonUp:w,children:t("program.button.movel")}),h(_e,{className:"w-[33%]",variant:"brand",size:"xs",disabled:_,loading:d,onClick:()=>y(C,x),children:t("settings.button.save")})]})]},`pp-${C}`)})})]})},{useCallback:hD,useRef:Xut,useState:Zut}=await F("react"),eht=500,tht=800,nht=(i=[],e)=>{const[t,n]=Zut(()=>({stack:e?.historyStack??[i],index:e?.historyIndex??0})),s=!!e?.onCommit,o=s?e?.items??t.stack[t.index]:t.stack[t.index],r=s?(e?.historyIndex??0)>0:t.index>0,a=s?(e?.historyIndex??0)<(e?.historyStack?.length??1)-1:t.index<t.stack.length-1,l=Xut(null),c=hD((f,p)=>{const _=Date.now(),b=l.current,v=!!p&&!!b&&b.key===p&&_-b.time<tht;l.current=p?{key:p,time:_}:null;const w=e?.historyStack??t.stack,y=e?.historyIndex??t.index,S=w.slice(0,y+1);let C,x;v&&S.length>1?(S[S.length-1]=f,C=S,x=S.length-1):(S.push(f),S.length>eht&&S.shift(),C=S,x=S.length-1),e?.onCommit?e.onCommit(f,C,x):n({stack:C,index:x})},[e,t]),d=hD(f=>{const p=e?.historyStack??t.stack,_=e?.historyIndex??t.index,b=p.slice();b[_]=f,l.current=null,e?.onCommit?e.onCommit(f,b,_):n({stack:b,index:_})},[e,t]),u=hD(f=>{l.current=null,e?.onReset?e.onReset(f):n({stack:[f],index:0})},[e]),g=hD(()=>{l.current=null;const f=e?.historyIndex??t.index;if(f<=0)return;const p=f-1,b=(e?.historyStack??t.stack)[p];e?.onUndo?e.onUndo(b,p):n(v=>({...v,index:p}))},[e,t]),m=hD(()=>{l.current=null;const f=e?.historyIndex??t.index,p=e?.historyStack??t.stack;if(f>=p.length-1)return;const _=f+1,b=p[_];e?.onRedo?e.onRedo(b,_):n(v=>({...v,index:_}))},[e,t]);return{items:o,canUndo:r,canRedo:a,commit:c,replaceCurrent:d,resetHistory:u,undo:g,redo:m}},{useCallback:k8,useEffect:N8,useMemo:cge,useRef:iht,useState:gO}=await F("react"),sht=3e5,oht=({items:i,tabKind:e,mountJointName:t,hiddenItemIds:n})=>{const[s,o]=gO(()=>new Set),[r,a]=gO(()=>new Set),[l,c]=gO(null),[d,u]=gO(null),g=iht(new Map),m=k8(v=>{o(w=>w.has(v)?w:new Set(w).add(v)),a(w=>{if(!w.has(v))return w;const y=new Set(w);return y.delete(v),y}),u({assetId:`${e}:${v}`,nonce:Date.now()})},[e]),f=k8(v=>{a(w=>w.has(v)?w:new Set(w).add(v))},[]),p=k8(v=>{a(w=>w.has(v)?w:new Set(w).add(v)),c({itemId:v,nonce:Date.now()})},[]);N8(()=>{o(v=>nge(v,i)),a(v=>nge(v,i))},[i]);const _=cge(()=>sut(i,s,r),[i,s,r]);return N8(()=>{const v=g.current;for(const w of _)v.has(w)||v.set(w,setTimeout(()=>{v.delete(w),p(w)},sht));for(const[w,y]of v)_.has(w)||(clearTimeout(y),v.delete(w))},[_,p]),N8(()=>{const v=g.current;return()=>{for(const w of v.values())clearTimeout(w);v.clear()}},[]),{assets:cge(()=>iut(i,e,t,m,f,n),[i,e,t,m,f,n]),loadingItemIds:_,loadFailedItemIds:r,loadTimeoutEvent:l,assetLoadedEvent:d}},{useMutation:rht}=await F("@tanstack/react-query"),aht=1,lht={x:0,y:0,z:0,rx:0,ry:0,rz:0},cht=i=>{const e=i??aht;return typeof e=="number"?{x:e,y:e,z:e}:e},iK=i=>Jt.post("/model/",{robotModel:i.robotModel,detailRobotModel:i.detailRobotModel,modelType:i.modelType,scale:cht(i.scale),pose:i.pose??lht,name:i.name??void 0,workspace:i.workspace,attachment:i.attachment??void 0,...i.fileId!==void 0?{fileId:i.fileId}:{shapeType:i.shapeType}}),dht=()=>rht({mutationFn:iK}),{useMutation:kRn}=await F("@tanstack/react-query"),KTe=({modelId:i,...e})=>Jt.patch(`/model/${i}`,e),{useMutation:uht}=await F("@tanstack/react-query"),JTe=i=>Jt.delete(`/model/${i}`),gie=()=>uht({mutationFn:JTe}),{useQuery:hht}=await F("@tanstack/react-query"),YTe="/model/robot",HN=(i,e)=>[YTe,i,e],ght=async(i,e)=>{try{return(await Jt.get(`/model/robot/${i}/detail/${e}`)).models}catch(t){if(t?.response?.status===404)return[];throw t}},t9=(i,e,t={})=>hht({queryKey:HN(i,e),queryFn:()=>ght(i,e),...t,enabled:!!(i&&e)&&(t.enabled??!0)}),{useMutation:mht,useQueryClient:fht}=await F("@tanstack/react-query"),dge=i=>{if(typeof i!="object"||i===null)return;const{response:e,status:t}=i;if(typeof e?.status=="number")return e.status;if(typeof t=="number")return t},QTe=i=>({x:i.position.x/Pn,y:i.position.y/Pn,z:i.position.z/Pn,rx:i.rotation.rx,ry:i.rotation.ry,rz:i.rotation.rz}),uge=(i,{robotModel:e,detailRobotModel:t,modelType:n,attachment:s,workspaceName:o})=>({robotModel:e,detailRobotModel:t,modelType:n,scale:i.kind==="shape"?i.scale:OP,name:i.name,workspace:{name:o},pose:QTe(i),attachment:s,...i.kind==="shape"?{shapeType:i.shapeType}:{fileId:i.fileId}}),pht=async({changes:i,robotModel:e,detailRobotModel:t,modelType:n,attachment:s,workspaceName:o})=>{const r=[];for(const a of i)try{if(a.kind==="create"){const l=a.item,c=await iK(uge(l,{robotModel:e,detailRobotModel:t,modelType:n,attachment:s,workspaceName:o}));r.push({id:l.id,status:"created",modelId:c.modelId})}else if(a.kind==="update")try{await KTe({modelId:a.modelId,name:a.item.name,workspace:{name:o},pose:QTe(a.item),...a.item.kind==="shape"&&{scale:a.item.scale}}),r.push({id:a.item.id,status:"updated"})}catch(l){if(dge(l)===404){const c=a.item,d=await iK(uge(c,{robotModel:e,detailRobotModel:t,modelType:n,attachment:s,workspaceName:o}));r.push({id:c.id,status:"created",modelId:d.modelId})}else throw l}else{try{await JTe(a.modelId)}catch(l){if(dge(l)!==404)throw l}r.push({id:a.modelId,status:"deleted"})}}catch(l){const c=a.kind==="delete"?a.modelId:a.item.id;r.push({id:c,status:"failed",error:l})}return r},_ht=()=>{const i=fht();return mht({mutationFn:pht,onSuccess:(e,t)=>{i.invalidateQueries({queryKey:HN(t.robotModel,t.detailRobotModel)})}})},{useMutation:bht,useQueryClient:vht}=await F("@tanstack/react-query"),yht=async i=>i.length===0?null:Jt.patch("/model/loaded/change",{models:i}),wht=()=>{const{t:i}=J(),e=vht();return bht({mutationFn:yht,onSuccess:()=>{e.invalidateQueries({queryKey:[YTe]})},onError:()=>{at.openToast({type:"basic",variant:"warning",content:i("move.workspace.toast.loadedSyncFailed"),position:"top-right"})}})},Cht=5e3,hge="unknown",sK=new Map,Sht=(i,e)=>(sK.set(i,e),()=>{sK.delete(i)}),xht=async(i=Cht)=>({failed:(await Promise.all(Array.from(sK.entries()).map(async([t,n])=>{let s;try{return await Promise.race([t().then(()=>!0),new Promise(r=>{s=setTimeout(()=>r(!1),i)})])?null:n??hge}catch{return n??hge}finally{clearTimeout(s)}}))).filter(t=>t!==null)}),{useCallback:Pp,useEffect:Gb,useMemo:gge,useRef:gD,useState:L8}=await F("react"),Iht=1e3,kht=({robotModel:i,detailRobotModel:e,modelType:t,attachment:n,items:s,commit:o,replaceCurrent:r,resetHistory:a,setSelectedItemId:l,setHiddenItemIds:c,setStage:d,isActive:u=!0,isStoreHydrated:g=!1,lastChangeSourceRef:m,workspaceName:f,lastSyncedWorkspaceName:p,lastSyncedItems:_,onWorkspaceNameChange:b,onLastSyncedChange:v})=>{const{t:w}=J(),y=gD(new Map(_.map(Ee=>[Ee.id,Ee])));Gb(()=>{y.current=new Map(_.map(Ee=>[Ee.id,Ee]))},[_]);const[S,C]=L8(0),[x,N]=L8(!1),[L,D]=L8(()=>new Set),E=Pp(Ee=>{const Te=typeof Ee=="function"?Ee(f):Ee;b(Te)},[b,f]),{mutateAsync:T,isPending:R}=_ht(),{mutate:A}=wht(),M=Pp(Ee=>{E(Ee)},[E]),O=Pp(()=>{o(Array.from(y.current.values())),E(p),l(null)},[o,p,l,E]),B=Pp((Ee=[])=>{A(dO(Ee,[])),a([]),E(null),l(null),c(new Set),y.current=new Map,v(null,[]),C(Te=>Te+1),d("empty")},[a,A,l,c,d,E,v]),V=Pp(Ee=>{a([]),E(Ee),l(null),c(new Set),y.current=new Map,v(null,[]),C(Te=>Te+1),d("build")},[a,l,c,d,E,v]),G=Pp((Ee,Te,lt=[])=>{const st=Ee.map(kt=>ige(kt));a(st),A(dO(lt,st.map(kt=>kt.modelId).filter(kt=>kt!==void 0))),E(Te),l(null),c(new Set),y.current=new Map(st.map(kt=>[kt.id,kt])),v(Te,st),C(kt=>kt+1),d("build")},[a,A,l,c,d,E,v]),H=Pp(async()=>{if(!f)throw new Error("Cannot save a workspace without a name");const Ee=f,Te=aut(s,y.current,f,p),lt=await T({changes:Te,robotModel:i,detailRobotModel:e,modelType:t,attachment:n,workspaceName:Ee}),st=new Set;let kt=s;for(const Ft of lt){if(Ft.status==="failed"){st.add(Ft.id);continue}Ft.status==="created"&&(kt=kt.map(nn=>nn.id===Ft.id?{...nn,modelId:Ft.modelId}:nn))}const yt=new Set(lt.filter(Ft=>Ft.status==="deleted").map(Ft=>Ft.id)),Bt=new Map(y.current);for(const[Ft,nn]of y.current)nn.modelId&&yt.has(nn.modelId)&&Bt.delete(Ft);for(const Ft of lt){if(Ft.status==="failed"||Ft.status==="deleted")continue;const nn=kt.find(ei=>ei.id===Ft.id);nn&&Bt.set(nn.id,nn)}if(y.current=Bt,v(Ee,Array.from(Bt.values())),D(st),E(Ee),kt!==s&&r(kt),C(Ft=>Ft+1),A(dO([],kt.map(Ft=>Ft.modelId).filter(Ft=>Ft!==void 0))),st.size>0)throw new Error(`${st.size} item(s) failed to save`)},[s,f,p,i,e,t,n,T,r,A,v,E]),X=Pp(async(Ee,Te=[])=>{const lt=s.map(Ft=>({kind:"create",item:Ft})),st=await T({changes:lt,robotModel:i,detailRobotModel:e,modelType:t,attachment:n,workspaceName:Ee}),kt=new Set;let yt=s;for(const Ft of st){if(Ft.status==="failed"){kt.add(Ft.id);continue}Ft.status==="created"&&(yt=yt.map(nn=>nn.id===Ft.id?{...nn,modelId:Ft.modelId}:nn))}const Bt=new Map;for(const Ft of st){if(Ft.status==="failed"||Ft.status==="deleted")continue;const nn=yt.find(ei=>ei.id===Ft.id);nn&&Bt.set(nn.id,nn)}if(y.current=Bt,v(Ee,Array.from(Bt.values())),D(kt),E(Ee),yt!==s&&r(yt),C(Ft=>Ft+1),A(dO(Te,yt.map(Ft=>Ft.modelId).filter(Ft=>Ft!==void 0))),kt.size>0)throw new Error(`${kt.size} item(s) failed to save`)},[s,i,e,t,n,T,r,A,v,E]),K=gge(()=>lut(s,y.current,f,p),[s,S,f,p]),z=gD(null),de=Pp((Ee,Te)=>{z.current=Te,console.error("[useManiWorkspaceSync] Auto-save failed:",Ee),at.openToast({type:"basic",variant:"danger",content:w("move.workspace.toast.saveFailed"),position:"top-right"})},[w]),{data:te}=t9(i,e),ie=gge(()=>!te||!p?null:te.filter(Ee=>Ee.modelType===t&&(n?Ee.attachment?.parentJointName===n.parentJointName:!0)&&Ee.workspace?.name===p),[te,p,t,n]),he=gD(!1);Gb(()=>{if(!g||he.current)return;if(!f||!K){he.current=!0,N(!1);return}if(!te){N(!0);return}if(he.current=!0,N(!1),!p){at.openToast({type:"basic",variant:"success",content:w("move.workspace.toast.recovered"),position:"top-right"});return}const Ee=ie??[];if(rut(_,Ee.map(ige))){at.openToast({type:"basic",variant:"success",content:w("move.workspace.toast.recovered"),position:"top-right"});return}const Te=s.map(lt=>lt.modelId).filter(lt=>lt!==void 0);if(Ee.length===0){B(Te),at.openToast({type:"basic",variant:"warning",content:w("move.workspace.toast.recoveryRemoved"),position:"top-right"});return}G(Ee,p,Te),at.openToast({type:"basic",variant:"warning",content:w("move.workspace.toast.recoveryDiscarded"),position:"top-right"})},[g,f,K,te,p,_,ie,s,B,G,w]),Gb(()=>{if(x||!K||R||m?.current==="navigation"||z.current===s)return;const Ee=setTimeout(()=>{H().catch(Te=>de(Te,s))},Iht);return()=>clearTimeout(Ee)},[x,K,s,f,R,H,m,de]);const ce=gD(u);Gb(()=>{const Ee=ce.current;ce.current=u,!(!Ee||u)&&(x||!K||R||H().catch(Te=>de(Te,s)))},[u,x,K,R,s,H,de]),Gb(()=>{const Ee=()=>{document.visibilityState==="hidden"&&(x||!K||R||H().catch(Te=>de(Te,s)))};return document.addEventListener("visibilitychange",Ee),()=>document.removeEventListener("visibilitychange",Ee)},[x,K,R,s,H,de]);const Ie=gD(R);return Gb(()=>{Ie.current=R},[R]),Gb(()=>{const Ee=Te=>{Ie.current&&(Te.preventDefault(),Te.returnValue="")};return window.addEventListener("beforeunload",Ee),()=>window.removeEventListener("beforeunload",Ee)},[]),Gb(()=>Sht(async()=>{if(!x&&!(!K||R))try{await H()}catch(Ee){throw z.current=s,Ee}},f??void 0),[x,K,R,s,H,f]),{workspaceName:f,isRecoveryPending:x,renameWorkspace:M,hasUnsavedChanges:K,failedItemIds:L,isSaving:R,save:H,saveAs:X,resetToSaved:O,closeWorkspace:B,createNew:V,loadFromModels:G}},Nht=i=>{let e=!1;const t=i?.debounceMs??0;let n=null,s=null,o=null;const r=(d,u)=>{try{window.localStorage.setItem(d,u)}catch(g){i?.onError?.(g)}},a=()=>{if(o&&(clearTimeout(o),o=null),n!==null&&s!==null){const d=n,u=s;n=null,s=null,r(d,u)}};return typeof window<"u"&&window.addEventListener("beforeunload",()=>{a()}),{storage:{getItem:d=>n===d&&s!==null?s:window.localStorage.getItem(d),setItem:(d,u)=>{if(e){if(t<=0){r(d,u);return}n=d,s=u,o&&clearTimeout(o),o=setTimeout(()=>{o=null,a()},t)}},removeItem:d=>{o&&(clearTimeout(o),o=null),n===d&&(n=null,s=null),window.localStorage.removeItem(d)}},isHydrated:()=>e,flush:a,createRehydrateStorageHandler:()=>(e=!1,(d,u)=>{if(u){i?.name&&console.warn(`[${i.name}] rehydrate error`,u),i?.onError?.(u);return}e=!0,i?.name,i?.onHydrated?.()})}},{useEffect:Lht,useState:Dht}=await F("react"),W4={stage:"empty",workspaceName:null,lastSyncedWorkspaceName:null,items:[],lastSyncedItems:[],historyStack:[[]],historyIndex:0,selectedItemId:null,hiddenItemIds:[]},Tht=i=>({stage:i.stage,workspaceName:i.workspaceName,lastSyncedWorkspaceName:i.lastSyncedWorkspaceName,items:i.items,lastSyncedItems:i.lastSyncedItems,hiddenItemIds:i.hiddenItemIds}),Eht=i=>({...W4,...i,historyStack:[i.items],historyIndex:0,selectedItemId:null}),mge=Nht({name:"workspace-store",debounceMs:100}),Pht=rLe()(aLe(lLe((i,e)=>({tabStates:{},getTabState:t=>e().tabStates[t]??{...W4},setTabState:(t,n)=>{i(s=>{const o=s.tabStates[t]??{...W4},r=typeof n=="function"?n(o):n;return{tabStates:{...s.tabStates,[t]:{...o,...r}}}})},resetTabState:t=>{i(n=>{const s={...n.tabStates};return delete s[t],{tabStates:s}})},clearAllTabs:()=>{i({tabStates:{}})}}),{name:"workspace-store",storage:Pne(()=>mge.storage),partialize:i=>({tabStates:Object.fromEntries(Object.entries(i.tabStates).map(([e,t])=>[e,Tht(t)]))}),merge:(i,e)=>{const t=i?.tabStates??{},n={};for(const[s,o]of Object.entries(t))Ydt(o)&&(n[s]=Eht(o));return{...e,tabStates:{...e.tabStates,...n}}},onRehydrateStorage:mge.createRehydrateStorageHandler}),{name:"workspace-store",store:"workspace-store",enabled:!1})),RI=Pht,Rht=()=>{const[i,e]=Dht(()=>RI.persist.hasHydrated());return Lht(()=>(e(RI.persist.hasHydrated()),RI.persist.onFinishHydration(()=>e(!0))),[]),i},{useCallback:la,useMemo:fge,useRef:Mht}=await F("react"),Aht=({robotModel:i,detailRobotModel:e,modelType:t,mountJointName:n,isActive:s=!0})=>{const o=eut(t,n),r=`${i}:${o}`,a=RI(Ne=>Ne.tabStates[r]??W4),l=RI(Ne=>Ne.setTabState),c=RI(Ne=>Ne.resetTabState),d=Rht(),u=a.stage,g=la(Ne=>{l(r,ze=>({stage:typeof Ne=="function"?Ne(ze.stage):Ne}))},[l,r]),m=a.selectedItemId,f=la(Ne=>{l(r,ze=>({selectedItemId:typeof Ne=="function"?Ne(ze.selectedItemId):Ne}))},[l,r]),p=fge(()=>new Set(a.hiddenItemIds),[a.hiddenItemIds]),_=la(Ne=>{l(r,ze=>{const Ze=new Set(ze.hiddenItemIds),Dt=typeof Ne=="function"?Ne(Ze):Ne;return{hiddenItemIds:Array.from(Dt)}})},[l,r]),b=fge(()=>t==="tool"&&n?{parentJointName:n}:null,[t,n]),v=Mht("edit"),w=la((Ne,ze,Ze)=>{v.current="edit",l(r,{items:Ne,historyStack:ze,historyIndex:Ze})},[l,r]),y=la(Ne=>{l(r,{items:Ne,historyStack:[Ne],historyIndex:0})},[l,r]),S=la((Ne,ze)=>{v.current="navigation",l(r,{items:Ne,historyIndex:ze})},[l,r]),C=la((Ne,ze)=>{v.current="navigation",l(r,{items:Ne,historyIndex:ze})},[l,r]),{items:x,canUndo:N,canRedo:L,commit:D,replaceCurrent:E,resetHistory:T,undo:R,redo:A}=nht(a.items,{items:a.items,historyStack:a.historyStack,historyIndex:a.historyIndex,onCommit:w,onReset:y,onUndo:S,onRedo:C}),M=x.filter(Ne=>Ne.kind==="shape").length,O=tut(t)&&M>=Gdt,B=x.some(Ne=>Ne.kind==="custom"),{assets:V,loadingItemIds:G,loadFailedItemIds:H,loadTimeoutEvent:X,assetLoadedEvent:K}=oht({items:x,tabKind:o,mountJointName:n,hiddenItemIds:p}),z=la(Ne=>{l(r,{workspaceName:Ne})},[l,r]),de=la((Ne,ze)=>{l(r,{lastSyncedWorkspaceName:Ne,lastSyncedItems:ze})},[l,r]),{workspaceName:te,renameWorkspace:ie,hasUnsavedChanges:he,failedItemIds:ce,isSaving:Ie,save:Ee,saveAs:Te,resetToSaved:lt,closeWorkspace:st,createNew:kt,loadFromModels:yt}=kht({robotModel:i,detailRobotModel:e,modelType:t,attachment:b,items:x,commit:D,replaceCurrent:E,resetHistory:T,setSelectedItemId:f,setHiddenItemIds:_,setStage:g,isActive:s,isStoreHydrated:d,lastChangeSourceRef:v,workspaceName:a.workspaceName,lastSyncedWorkspaceName:a.lastSyncedWorkspaceName,lastSyncedItems:a.lastSyncedItems,onWorkspaceNameChange:z,onLastSyncedChange:de}),Bt=la(Ne=>{st(Ne),c(r)},[st,c,r]),Ft=la((Ne,ze)=>{if(O)return;const Ze=die.find(ji=>ji.type===Ne);if(!Ze)return;const Dt=x.filter(ji=>ji.kind==="shape"&&ji.shapeType===Ne).length+1,dn=ze??nut(x,t==="base"?Qdt:{x:0,y:0}),ii=t==="base"?Ze.dimensions.z/2:0,xi={id:Xq(),name:`${Ne}_${Dt}`,kind:"shape",shapeType:Ne,position:{x:dn.x,y:dn.y,z:ze?.z??ii},rotation:{...Qq},scale:{...OP}};return D([...x,xi]),f(xi.id),xi.id},[x,O,t,D,f]),nn=la(Ne=>{const ze={id:Xq(),modelId:Ne.modelId,name:Ne.name??Ne.fileInfo.fileName.replace(/\.[^.]+$/,""),kind:"custom",fileName:Ne.fileInfo.fileName,fileId:Ne.fileId,position:{...OTe},rotation:{...Qq}};return D([...x.filter(Ze=>Ze.kind!=="custom"),ze]),f(ze.id),ze.id},[x,D,f]),ei=la(Ne=>{f(Ne)},[f]),oi=la(Ne=>{const ze=!p.has(Ne);_(Ze=>{const Dt=new Set(Ze);return ze?Dt.add(Ne):Dt.delete(Ne),Dt}),ze&&f(Ze=>Ze===Ne?null:Ze)},[p,_,f]),Nt=la((Ne,ze)=>{D(x.map(Ze=>Ze.id===Ne?{...Ze,name:ze}:Ze),`rename:${Ne}`)},[x,D]),be=la((Ne,ze,Ze)=>{D(x.map(Dt=>Dt.id===Ne?FTe(Dt,ze):Dt),Ze)},[x,D]),Ve=la((Ne,ze,Ze)=>{D(x.map(Dt=>Dt.id===Ne&&Dt.kind==="custom"?{...Dt,fileName:ze,name:Ze}:Dt))},[x,D]),ke=la(Ne=>{D(x.filter(ze=>ze.id!==Ne)),f(ze=>ze===Ne?null:ze)},[x,D,f]),Ke=la(Ne=>{const ze=new Set(Ne);D(x.filter(Ze=>!ze.has(Ze.id))),f(Ze=>Ze!==null&&ze.has(Ze)?null:Ze)},[x,D,f]),xe=la(Ne=>{const ze=new Set(Ne);_(Ze=>{const Dt=new Set(Ze);for(const Ln of ze)Dt.add(Ln);return Dt}),f(Ze=>Ze!==null&&ze.has(Ze)?null:Ze)},[_,f]),fe=la(()=>{D([]),f(null),_(new Set)},[D,_,f]);return{stage:u,createNew:kt,loadFromModels:yt,closeWorkspace:Bt,workspaceName:te,renameWorkspace:ie,hasUnsavedChanges:he,isSaving:Ie,save:Ee,saveAs:Te,canUndo:N,canRedo:L,undo:R,redo:A,resetToSaved:lt,items:x,selectedItemId:m,selectItem:ei,loadingItemIds:G,loadFailedItemIds:H,failedItemIds:ce,hiddenItemIds:p,toggleItemVisibility:oi,addShape:Ft,addCustomFile:nn,hasCustomFile:B,isLimitReached:O,renameItem:Nt,removeItem:ke,removeItems:Ke,hideItems:xe,clearItems:fe,updateItemTransform:be,applyCustomFileRename:Ve,assets:V,loadTimeoutEvent:X,assetLoadedEvent:K}},{useRef:Oht}=await F("react"),{useMutation:Fht}=await F("@tanstack/react-query"),pge=i=>{if(!(i instanceof Error))return"unknown";const e=i;return i.name==="AbortError"||i.name==="CanceledError"||i.message.includes("aborted")||e.code==="ERR_CANCELED"?"abort":"unknown"},Bht=i=>({abort:i("move.modal.workspace.file.upload.abort"),unknown:i("move.modal.workspace.file.upload.unknown")}),Vht=async({file:i,fileName:e},t)=>{const n=new FormData;return n.append("file",i),e&&n.append("fileName",e),Jt.post("/file/upload/model",n,{headers:{"Content-Type":"multipart/form-data"},signal:t})},zht=()=>{const{t:i}=J(),e=Oht(null),t=Bht(i);return{...Fht({mutationFn:async s=>{e.current=new AbortController;try{return await Vht(s,e.current.signal)}catch(o){if(pge(o)==="abort")return null;throw o}},onError:s=>{const o=t[pge(s)];at.openToast({type:"basic",variant:"warning",content:o,position:"top-right"})}}),abort:()=>{e.current?.abort(),at.openToast({type:"basic",variant:"warning",content:t.abort,position:"top-right"})}}},{useMutation:NRn}=await F("@tanstack/react-query"),Wht=({fileId:i,...e})=>Jt.patch(`/file/${i}`,e),{useMutation:Hht,useQueryClient:$ht}=await F("@tanstack/react-query"),Uht=async i=>{if(!i.fileId)throw new Error("renameAssetModel requires fileId to rename the file.");const e=await Wht({fileId:i.fileId,fileName:i.fileName});try{await KTe({modelId:i.modelId,name:i.fileName})}catch(t){console.warn(`[useRenameAssetModel] failed to sync model name after file rename: modelId=${i.modelId}`,t)}return e},jht=()=>{const{t:i}=J(),e=$ht();return Hht({mutationFn:Uht,onSuccess:(t,n)=>{const s=HN(n.robotModel,n.detailRobotModel);e.setQueryData(s,o=>o?o.map(r=>r.modelId===n.modelId?{...r,fileInfo:r.fileInfo?{...r.fileInfo,fileName:n.fileName}:r.fileInfo}:r):[]),at.openToast({type:"basic",variant:"success",content:i("move.workspace.toast.renameSuccess"),position:"top-right"})},onError:()=>{at.openToast({type:"basic",variant:"warning",content:i("move.workspace.toast.renameFailed"),position:"top-right"})}})},{useEffect:_ge,useRef:Ght}=await F("react"),qht=({selectedItemId:i,gizmoSelectedAssetIds:e,selectionMode:t,tabKind:n,onRequestSceneAssetSelect:s,selectItem:o})=>{const r=Ght(i);_ge(()=>{t||i!==r.current&&(r.current=i,s?.(i?`${n}:${i}`:null))},[i,n,s,t]),_ge(()=>{if(t)return;const a=e[0]??null;if(a===null){r.current!==null&&(r.current=null,o(null));return}if(!a.startsWith(`${n}:`))return;const l=a.slice(n.length+1);l!==r.current&&(r.current=l,o(l))},[e,n,o,t])},bge=[".stl",".stp",".step",".obj",".glb",".gltf",".dae"],Kht=50*1024*1024,mO=10,Jht=/[\\/:*?"<>|#%]/,m3=Jht,H4=i=>i.trim(),XTe=(i,e,t)=>{const n=H4(e);return n?i.some(s=>s.modelId!==t&&H4(s.fileInfo.fileName)===n):!1},Yht=i=>i<1024?`${i} B`:i<1024*1024?`${(i/1024).toFixed(1)} KB`:`${(i/(1024*1024)).toFixed(1)} MB`,Qht=i=>{let e=0;return i.traverse(t=>{if(t instanceof no){const n=t.geometry;n.index?e+=n.index.count/3:n.attributes.position&&(e+=n.attributes.position.count/3)}}),Math.round(e)},Xht=i=>i>=1e6?`${(i/1e6).toFixed(2)}M`:i>=1e3?`${(i/1e3).toFixed(1)}K`:`${i}`,Zht=async i=>(await Jt.get("/file/list",{params:{fileName:i,fileType:"3d_model",limit:50}})).files.find(n=>n.fileName.trim()===i.trim())?.fileId??null,egt=i=>{const e=new Ike("#8ea0a8","#000000",.5);e.position.set(0,1,0),i.add(e);const t=new kke(16777215,Math.PI);t.position.set(4,1,10),i.add(t)},tgt=(i,e,t)=>{const n=new Iu().setFromObject(i),s=n.getCenter(new Be),o=n.getSize(new Be),r=Math.max(o.x,o.y,o.z),a=e.fov*(Math.PI/180),l=r/(2*Math.tan(a/2))*1.6;e.near=l*.001,e.far=l*100,e.updateProjectionMatrix(),e.position.set(s.x+l*.6,s.y+l*.5,s.z+l),t.target.copy(s),t.update()},ngt=(i,e)=>{const t=new Set(i);return t.has(e)?t.delete(e):t.add(e),t},ZTe=({items:i,getId:e,targetId:t,selectedIds:n,anchorId:s,selectionMode:o,isRangeSelect:r,isToggleSelect:a=!1})=>{if(r&&s){const l=i.findIndex(d=>e(d)===s),c=i.findIndex(d=>e(d)===t);if(l!==-1&&c!==-1){const d=Math.min(l,c),u=Math.max(l,c);return{selectedIds:new Set(i.slice(d,u+1).map(e)),anchorId:s}}}return a||o?{selectedIds:ngt(n,t),anchorId:t}:{selectedIds:new Set([t]),anchorId:t}},{useEffect:igt,useMemo:vge,useRef:sgt,useState:D8}=await F("react"),eEe=({items:i,getId:e,getSearchText:t,open:n})=>{const[s,o]=D8(""),[r,a]=D8(()=>new Set),[l,c]=D8(!1),d=sgt(null);igt(()=>{n&&(o(""),a(new Set),c(!1),d.current=null)},[n]);const u=vge(()=>{const w=s.trim().toLowerCase();return w?i.filter(y=>t(y).toLowerCase().includes(w)):i},[i,s,t]),g=()=>{c(w=>!w),a(new Set),d.current=null},m=()=>{a(new Set),d.current=null},f=(w,y)=>{a(S=>{const C=ZTe({items:u,getId:e,targetId:e(w),selectedIds:S,anchorId:d.current,selectionMode:l,isRangeSelect:y.shiftKey,isToggleSelect:y.ctrlKey||y.metaKey});return d.current=C.anchorId,C.selectedIds})},p=vge(()=>u.filter(w=>r.has(e(w))),[u,r,e]),_=r.size===1?p[0]??null:null,b=l||r.size>1;return{items:u,searchQuery:s,setSearchQuery:o,selectionMode:l,selectedIds:r,setSelectedIds:a,selectedItems:p,soleSelected:_,isMultiSelectActive:b,toggleSelectionMode:g,exitMultiSelect:l?g:m,clearSelection:m,onItemClick:f}},tEe=({open:i,onOpenChange:e,title:t,className:n,children:s,footerHint:o,isMultiSelectActive:r,selectedCount:a,isBusy:l=!1,deleteSelectedLabel:c,confirmDisabled:d,onDeleteSelected:u,onExitMultiSelect:g,onCancel:m,onConfirm:f})=>{const{t:p}=J();return h(Gc,{open:i,onOpenChange:e,header:{title:t},className:P("flex max-h-140! max-w-none! flex-col gap-0 border-none p-0",n),footer:k(U,{className:"h-8 w-full gap-1",alignItems:"center",justifyContent:"space-between",children:[k(U,{alignItems:"center",className:"gap-1",children:[h(MIe,{className:"text-fg-subtler size-3.5 shrink-0"}),h("span",{className:"typo-compact-2xs-normal text-fg-subtle",children:o})]}),k(U,{alignItems:"center",className:"gap-1",children:[r?k(bn,{children:[h(_e,{variant:"danger",disabled:a===0||l,onClick:u,children:c}),h(_e,{variant:"outlined",onClick:g,children:p("move.modal.workspace.button.selectExit")})]}):h(_e,{variant:"outlined",onClick:m,children:p("common.button.cancel")}),h(_e,{variant:"brand",disabled:d,onClick:f,children:p("move.modal.workspace.button.confirm")})]})]}),children:s})},nEe=({searchQuery:i,onSearchQueryChange:e,searchPlaceholder:t,selectionMode:n,onToggleSelectionMode:s,primaryActionLabel:o,onPrimaryAction:r,isUploading:a=!1,onCancelUpload:l})=>{const{t:c}=J();return k(U,{className:"items-center gap-3",children:[h(nt,{className:"h-8 flex-1",type:"search",placeholder:t??c("move.modal.workspace.file.search.placeholder"),value:i,onChange:d=>e(d.target.value)}),a?k(U,{alignItems:"center",className:"gap-2",children:[h(_0,{size:"1rem",className:"text-fg-warning"}),h("span",{className:"typo-compact-xs-semibold text-fg-warning animate-pulse",children:c("move.modal.workspace.file.slotLoading")}),h(_e,{variant:"danger",size:"xs",onClick:l,children:c("move.modal.workspace.file.button.cancelUpload")})]}):k(bn,{children:[n!==void 0&&s&&h(_e,{variant:n?"outlined":"transparent",size:"xs",onClick:s,children:c(n?"move.modal.workspace.button.selectExit":"move.modal.workspace.button.select")}),o&&r&&h(_e,{variant:"transparent",size:"xs",leadingIcon:h(K_,{}),onClick:r,children:o})]})]})},iEe=({className:i,isLoading:e,isEmpty:t,emptyMessage:n,children:s})=>h($m,{className:P("h-80 overflow-y-auto",i),children:e?h(q,{alignItems:"center",justifyContent:"center",className:"h-24",children:h(_0,{size:"1.25rem",className:"text-fg-subtle"})}):t?h(q,{alignItems:"center",justifyContent:"center",className:"h-24",children:h("span",{className:"typo-compact-xs-normal text-fg-subtle",children:n})}):h("div",{className:"grid grid-cols-3 gap-2 p-1",children:s})}),sEe=({className:i,isSelected:e,selectionMode:t,isBusy:n=!1,name:s,metaText:o,onClick:r,onDoubleClick:a,onDelete:l,deleteAriaLabel:c})=>k(q,{className:P("bg-fill-inverse-subtle relative z-1 cursor-pointer rounded-md p-2.5 outline-2 outline-transparent",{"outline-border-navy-stronger":e},i),onClick:r,onDoubleClick:a,children:[k(q,{className:"w-full gap-1",children:[k(U,{alignItems:"center",className:"min-w-0 gap-0.5 pr-10",children:[t&&h(ea,{size:"xs",readOnly:!0,value:e,className:"-ml-1 shrink-0"}),h("span",{className:"typo-compact-xs-semibold text-fg-default min-w-0 flex-1 truncate",children:s})]}),h("span",{className:"typo-compact-2xs-normal text-fg-subtle pr-6·text-ellipsis·whitespace-nowrap w-full overflow-hidden",children:o})]}),!t&&h("div",{className:P("absolute top-1 right-1 flex items-center gap-0.5",n&&"pointer-events-none opacity-50"),onClick:d=>d.stopPropagation(),children:h(rn,{variant:"transparent",size:"3xs",icon:h(b0,{className:"size-3.5"}),onClick:l,"aria-label":c})})]}),{useMemo:yge,useState:ogt}=await F("react"),{useQueryClient:rgt}=await F("@tanstack/react-query"),agt=({className:i,open:e,onOpenChange:t,robotModel:n,detailRobotModel:s,modelType:o,attachment:r,resolve:a,close:l,onGroupsDeleted:c})=>{const{t:d,currentLanguage:u}=J(),{confirmDialog:g}=pW(),m=rgt(),f=HN(n,s),{data:p,isLoading:_}=t9(n,s),{mutateAsync:b}=gie(),[v,w]=ogt(!1),y=yge(()=>(p??[]).filter(L=>L.modelType===o&&(r?L.attachment?.parentJointName===r.parentJointName:!0)),[p,o,r]),S=yge(()=>[...qdt(y)].sort((D,E)=>new Date(v8(E.models)).getTime()-new Date(v8(D.models)).getTime()),[y]),C=eEe({items:S,getId:L=>L.name,getSearchText:L=>L.name,open:e}),x=async L=>{let D=0;for(const E of L)for(const T of E.models)try{await b(T.modelId)}catch(R){console.error("Failed to delete model:",R),D+=1}await m.invalidateQueries({queryKey:f}),C.setSelectedIds(E=>{const T=new Set(E);return L.forEach(R=>T.delete(R.name)),T}),c?.(L.map(E=>E.name)),D>0&&at.openToast({type:"basic",variant:"warning",content:d("move.modal.workspace.toast.deletePartialFailure",{failed:D,total:L.reduce((E,T)=>E+T.models.length,0)}),position:"top-right"})},N=async L=>{if(L.length===0)return;const D=L.length>1;if(await g({title:d("move.modal.workspace.confirmDelete.title"),content:D?d("move.modal.workspace.confirmDelete.multiContent",{count:L.length}):d("move.modal.workspace.confirmDelete.content",{name:L[0].name}),buttonText:{yes:d("move.modal.workspace.button.delete"),no:d("common.button.cancel")}})){w(!0);try{await x(L)}finally{w(!1)}}};return h(tEe,{open:e,onOpenChange:t,className:P("w-137.5!",i),title:d("move.modal.workspace.title"),footerHint:d("move.modal.workspace.footer.hint"),isMultiSelectActive:C.isMultiSelectActive,selectedCount:C.selectedIds.size,isBusy:v,deleteSelectedLabel:d("move.modal.workspace.button.deleteSelected",{count:C.selectedIds.size}),confirmDisabled:C.selectedIds.size!==1,onDeleteSelected:()=>void N(C.selectedItems),onExitMultiSelect:C.exitMultiSelect,onCancel:l,onConfirm:()=>{C.soleSelected&&a?.(C.soleSelected)},children:k(q,{className:"gap-3 px-4 py-3",children:[h(nEe,{searchQuery:C.searchQuery,onSearchQueryChange:C.setSearchQuery,searchPlaceholder:d("move.modal.workspace.search.placeholder"),selectionMode:C.selectionMode,onToggleSelectionMode:C.toggleSelectionMode}),h(iEe,{isLoading:_,isEmpty:C.items.length===0,emptyMessage:C.searchQuery.trim()?d("move.modal.workspace.empty.noFound"):d("move.modal.workspace.empty.noAvailable"),children:C.items.map(L=>{const D=L.models.filter(T=>T.shapeType!==null).length,E=L.models.length-D;return h(sEe,{isSelected:C.selectedIds.has(L.name),selectionMode:C.isMultiSelectActive,name:L.name,metaText:`${d("move.modal.workspace.card.itemCount",{shapeCount:D,fileCount:E})} · ${oke(v8(L.models),u)}`,onClick:T=>C.onItemClick(L,T),onDoubleClick:()=>{C.isMultiSelectActive||a?.(L)},onDelete:()=>void N([L]),deleteAriaLabel:d("move.modal.workspace.card.deleteLabel")},L.name)})})]})})},{useQueryClient:lgt}=await F("@tanstack/react-query"),cgt=({filteredModels:i,selectedModelIds:e,setSelectedModelIds:t,modelsQueryKey:n,deleteOne:s,wrapExecution:o=a=>a(),onDeleted:r})=>{const{t:a}=J(),{confirmDialog:l}=pW(),c=lgt();return async(u,g)=>{u.stopPropagation();const m=e.has(g.modelId)&&e.size>1,f=m?i.filter(_=>e.has(_.modelId)):[g];await l({title:a("move.modal.workspace.file.deleteTitle"),content:m?a("move.modal.workspace.confirmDelete.multiContent",{count:f.length}):a("move.modal.workspace.confirmDelete.content",{name:g.fileInfo.fileName}),buttonText:{yes:a("move.modal.workspace.button.delete"),no:a("common.button.cancel")}})&&(await o(async()=>{for(const _ of f)await s(_)}),c.setQueryData(n,_=>_?_.filter(b=>!f.some(v=>v.modelId===b.modelId)):[]),t(_=>{const b=new Set(_);return f.forEach(v=>b.delete(v.modelId)),b}),r?.(f))}},{useRef:RS,useState:wge,useEffect:Cge}=await F("react"),dgt=({model:i,isMultiSelected:e,className:t})=>{const{t:n}=J(),s=RS(null),o=RS(null),r=RS(null),a=RS(null),l=RS(null),c=RS(null),[d,u]=wge("idle"),[g,m]=wge(null);return Cge(()=>{const f=s.current;if(!f)return;const p=Math.max(f.clientWidth,100),_=Math.max(f.clientHeight,100),b=new xke;o.current=b,egt(b);const v=new Lke(75,p/_,.1,1e3);v.position.set(0,0,5),a.current=v;const w=new Nke({antialias:!0,alpha:!0});w.setSize(p,_),w.setPixelRatio(window.devicePixelRatio),w.setClearColor(0,0),r.current=w,f.appendChild(w.domElement);const y=new Dke(v,w.domElement);y.enableDamping=!0,y.dampingFactor=.08,l.current=y,w.setAnimationLoop(()=>{y.update(),w.render(b,v)});const S=new ResizeObserver(()=>{if(!f)return;const C=f.clientWidth,x=f.clientHeight;C===0||x===0||(v.aspect=C/x,v.updateProjectionMatrix(),w.setSize(C,x))});return S.observe(f),()=>{w.setAnimationLoop(null),S.disconnect(),y.dispose(),w.dispose(),f.contains(w.domElement)&&f.removeChild(w.domElement),o.current=null,r.current=null,a.current=null,l.current=null}},[]),Cge(()=>{const f=o.current,p=a.current,_=l.current;if(!f||!p||!_)return;if(c.current&&(f.remove(c.current),new hE().disposeObject(c.current),c.current=null),!i){u("idle"),m(null);return}const b=i.fileInfo.fileName,v=`.${b.split(".").pop()?.toLowerCase()??""}`;u("loading"),m(null);let w=!1;const y=x=>{if(w){new hE().disposeObject(x);return}c.current=x,f.add(x),tgt(x,p,_),m(Qht(x)),u("success")},S=()=>{w||u("error")},C=`${fne}/common/files/models/${encodeURIComponent(b)}`;return v===".stl"?new Eke().load(C,x=>{x.computeVertexNormals(),y(new no(x,new p4({color:6719658,specular:2236979,shininess:40})))},void 0,S):v===".glb"||v===".gltf"?new Pke().load(C,x=>y(x.scene),void 0,S):v===".obj"?new tDe().load(C,x=>{x.traverse(N=>{N instanceof no&&!N.material&&(N.material=new p4({color:6719658}))}),y(x)},void 0,S):v===".dae"?new Rke().load(C,x=>y(x.scene),void 0,S):(v===".stp"||v===".step")&&new hE().loadObject(C,b).then(y).catch(N=>{N instanceof DOMException&&N.name==="AbortError"||S()}),()=>{w=!0}},[i]),k(q,{className:P("relative overflow-hidden bg-[#1a1a28]",t),children:[h("div",{ref:s,className:"h-full w-full"}),d==="idle"&&h(q,{className:"absolute inset-0 items-center justify-center px-4 text-center",children:h("span",{className:"typo-compact-xs-normal text-fg-subtle",children:n(e?"move.modal.workspace.file.preview.multiSelectUnsupported":"move.modal.workspace.file.preview.selectPrompt")})}),d==="loading"&&h(q,{className:"absolute inset-0 items-center justify-center",children:h(_0,{size:"1.5rem",className:"text-fg-subtle"})}),d==="error"&&h(q,{className:"absolute inset-0 items-center justify-center px-4 text-center",children:h("span",{className:"typo-compact-xs-normal text-fg-subtle",children:n("move.modal.workspace.file.preview.error")})}),i&&d!=="idle"&&k("div",{className:"pointer-events-none absolute inset-x-0 bottom-0 bg-linear-to-t from-black/70 to-transparent px-4 pt-10 pb-3",children:[h("span",{className:"typo-compact-sm-semibold block truncate text-white",children:i.fileInfo.fileName}),k("span",{className:"typo-compact-2xs-normal mt-0.5 flex items-center gap-1 text-white/70",children:[h("span",{"aria-hidden":"true",children:"△"}),g!==null?k("span",{children:[Xht(g)," ",n("move.modal.workspace.file.preview.triangles")]}):h("span",{"aria-hidden":"true",children:"-"})]})]})]})},{useMemo:T8}=await F("react"),{useQueryClient:ugt}=await F("@tanstack/react-query"),hgt=({className:i,open:e,onOpenChange:t,robotModel:n,detailRobotModel:s,modelType:o,attachment:r,resolve:a,close:l,uploadAssetFiles:c,isUploading:d,onCancelUpload:u,onModelsDeleted:g})=>{const{t:m,currentLanguage:f}=J(),p=ugt(),{isDragging:_,dropProps:b,inputProps:v,open:w}=rke({onFiles:V=>B(V),accept:bge,onRejected:V=>V.forEach(G=>M(G,"move.asset.upload.invalidFormat"))}),y=HN(n,s),{data:S,isLoading:C}=t9(n,s),{mutateAsync:x,isPending:N}=gie(),{mutateAsync:L}=dht(),D=T8(()=>S??[],[S]),E=T8(()=>D.filter(V=>V.modelType===o&&!V.workspace&&V.shapeType===null&&(r?V.attachment?.parentJointName===r.parentJointName:!0)).sort((V,G)=>V.createdAt.localeCompare(G.createdAt)),[D,o,r]),T=eEe({items:E,getId:V=>V.modelId,getSearchText:V=>V.fileInfo.fileName,open:e}),R=T8(()=>{if(T.selectedIds.size!==1)return null;const[V]=T.selectedIds;return E.find(G=>G.modelId===V)??null},[T.selectedIds,E]),A=cgt({filteredModels:T.items,selectedModelIds:T.selectedIds,setSelectedModelIds:T.setSelectedIds,modelsQueryKey:y,deleteOne:async V=>{try{await x(V.modelId)}catch(G){console.error("Failed to delete model:",G)}},onDeleted:V=>g?.(V.map(G=>({modelId:G.modelId,fileId:G.fileId})))}),M=(V,G)=>{at.openToast({type:"basic",variant:"warning",title:V.name,content:m(G),position:"top-right"})},O=async(V,G)=>{try{const H=await L({robotModel:n,detailRobotModel:s,fileId:G,modelType:o,attachment:r??null});await p.invalidateQueries({queryKey:y}),T.setSelectedIds(new Set([H.modelId]))}catch(H){console.error("Create model failed:",H),M(V,"move.modal.workspace.file.upload.createFailed")}},B=async V=>{const G=V.slice(0,mO);V.length>mO&&at.openToast({type:"basic",variant:"warning",content:m("move.modal.workspace.file.upload.maxFilesExceeded",{count:mO}),position:"top-right"});const H=new Set;for(const X of G){const K=H4(X.name),z=`.${X.name.split(".").pop()?.toLowerCase()??""}`;if(m3.test(X.name)){M(X,"move.workspace.toast.invalidCharacters");continue}if(!bge.includes(z)){M(X,"move.modal.workspace.file.upload.invalidFormat");continue}if(X.size>Kht){M(X,"move.modal.workspace.file.upload.tooLarge");continue}if(H.has(K)){M(X,"move.modal.workspace.file.upload.duplicateName");continue}if(XTe(E,X.name)){M(X,"move.modal.workspace.file.upload.duplicateName");continue}const de=D.find(te=>H4(te.fileInfo?.fileName??"")===K)?.fileId??await Zht(X.name);if(de){H.add(K),await O(X,de);continue}try{const te=await c({file:X,fileName:X.name});if(!te)continue;H.add(K),await O(X,te.fileId)}catch(te){console.error("Upload failed:",te)}}};return k(bn,{children:[h("input",{...v}),h(tEe,{open:e,onOpenChange:t,className:P("w-4xl!",i),title:m("move.modal.workspace.file.title"),footerHint:m("move.modal.workspace.file.upload.maxFilesExceeded",{count:mO}),isMultiSelectActive:T.isMultiSelectActive,selectedCount:T.selectedIds.size,isBusy:N,deleteSelectedLabel:m("move.modal.workspace.button.deleteSelected",{count:T.selectedIds.size}),confirmDisabled:T.selectedIds.size!==1,onDeleteSelected:V=>{T.selectedItems[0]&&A(V,T.selectedItems[0])},onExitMultiSelect:T.exitMultiSelect,onCancel:l,onConfirm:()=>{T.soleSelected&&a?.(T.soleSelected)},children:k(U,{className:"min-h-0 flex-1 items-stretch overflow-hidden",children:[k(q,{className:"bg-bg-overlay w-137.5 shrink-0 gap-3 px-4 py-3",children:[h(nEe,{searchQuery:T.searchQuery,onSearchQueryChange:T.setSearchQuery,selectionMode:T.selectionMode,onToggleSelectionMode:T.toggleSelectionMode,primaryActionLabel:m("move.modal.asset.button.add"),onPrimaryAction:w,isUploading:d,onCancelUpload:u}),k("div",{className:P("relative rounded-lg border-2 border-dashed transition-colors duration-200",_?"border-border-navy-stronger":"border-transparent"),...b,children:[_&&k("div",{className:"bg-fill-navy-subtlest/60 pointer-events-none absolute inset-0 z-10 flex flex-col items-center justify-center gap-2 rounded-lg backdrop-blur-[2px]",children:[h(Sk,{className:"text-fg-navy size-8"}),h("span",{className:"typo-compact-xs-semibold text-fg-navy",children:m("move.modal.workspace.file.dropLabel")})]}),h(iEe,{isLoading:C,isEmpty:T.items.length===0,emptyMessage:T.searchQuery.trim()?m("move.modal.workspace.file.empty.noFound"):m("move.modal.workspace.file.empty.noAvailable"),children:T.items.map(V=>h(sEe,{isSelected:T.selectedIds.has(V.modelId),selectionMode:T.isMultiSelectActive,isBusy:N,name:V.fileInfo.fileName,metaText:`${Yht(V.fileInfo.fileSize)} · ${oke(V.fileInfo.createdAt,f)}`,onClick:G=>T.onItemClick(V,G),onDoubleClick:()=>{T.isMultiSelectActive||a?.(V)},onDelete:G=>void A(G,V),deleteAriaLabel:`${m("move.modal.workspace.file.deleteTitle")} ${V.fileInfo.fileName}`},V.modelId))})]})]}),h(dgt,{model:R,isMultiSelected:T.selectedIds.size>1,className:"mr-4 min-w-0 flex-1"})]})})]})},{forwardRef:ggt}=await F("react"),oEe=ggt(function({value:e,onChange:t,onCommit:n,onCancel:s,ariaLabel:o,className:r},a){return h("input",{ref:a,type:"text",autoFocus:!0,value:e,onClick:l=>l.stopPropagation(),onDoubleClick:l=>l.stopPropagation(),onPointerDown:l=>l.stopPropagation(),onFocus:l=>l.currentTarget.select(),onChange:l=>t(l.target.value),onBlur:n,onKeyDown:l=>{l.stopPropagation(),l.key==="Enter"&&(l.preventDefault(),n()),l.key==="Escape"&&(l.preventDefault(),s())},"aria-label":o,className:P("text-fg-default bg-bg-default border-border-brand focus:border-border-brand focus:ring-fill-brand/25 selection:bg-fill-brand-subtle h-7 w-full min-w-0 rounded border selection:text-white focus:ring-2 focus:outline-hidden",r)})}),{useEffect:E8,useRef:fO,useState:P8}=await F("react"),mgt=({workspaceName:i,hasUnsavedChanges:e,onRename:t,canUndo:n,canRedo:s,onUndo:o,onRedo:r,isSaving:a=!1,hasItems:l=!1,onDuplicate:c,onSaveAs:d,onCreateNew:u,onOpenPicker:g,onDelete:m,onClearAll:f,onReset:p})=>{const{t:_}=J(),[b,v]=P8(!1),w=fO(!1),[y,S]=P8(i??""),C=fO(null),[x,N]=P8("idle"),L=fO(!1),D=fO(null),E=c??d;E8(()=>{a?(D.current&&(clearTimeout(D.current),D.current=null),L.current=!0):L.current&&(L.current=!1,N("saved"),D.current&&clearTimeout(D.current),D.current=setTimeout(()=>{N("idle"),D.current=null},1500))},[a]),E8(()=>()=>{D.current&&clearTimeout(D.current)},[]),E8(()=>{w.current=b,b&&(S(i??""),requestAnimationFrame(()=>C.current?.select()))},[b,i]);const T=()=>{const M=y.trim();if(w.current=!1,v(!1),!M){at.openToast({type:"basic",variant:"warning",content:_("move.workspace.toast.renameInvalid"),position:"top-right"});return}M!==i&&t(M)},R=()=>{b||(S(i??""),w.current=!0,v(!0))},A=()=>{R()};return k(U,{alignItems:"center",className:"w-full shrink-0 gap-1 pb-2",children:[k("div",{className:P("flex h-9 min-w-0 flex-1 items-center gap-1.5 rounded px-2 transition-colors",!b&&"hover:bg-bg-alt-1 cursor-pointer select-none"),onDoubleClick:A,children:[h(ake,{width:16,height:16,className:"text-fg-subtle pointer-events-none shrink-0"}),b?h(oEe,{ref:C,value:y,onChange:S,onCommit:T,onCancel:()=>{w.current=!1,v(!1)},ariaLabel:_("move.workspace.header.renameLabel"),className:"typo-compact-xs-semibold px-2"}):k(bn,{children:[h("span",{className:"typo-compact-xs-semibold text-fg-default pointer-events-none min-w-0 flex-1 truncate",children:i??_("move.workspace.jsonSlot.empty")}),e?k("span",{className:"text-fg-warning flex shrink-0 items-center gap-1 px-1 py-0.5",children:[h(HNe,{className:"size-3.5 shrink-0"}),h("span",{className:"typo-compact-sm-medium",children:_("move.workspace.header.unsaved")})]}):x==="saved"?k("span",{className:"text-fg-success pointer-events-none flex shrink-0 items-center gap-1 transition-opacity duration-200",children:[h(WNe,{className:"size-3.5 shrink-0"}),h("span",{className:"typo-compact-sm-medium",children:_("move.workspace.header.saved")})]}):null]})]}),k(U,{alignItems:"center",className:"shrink-0 gap-0.5",children:[h(rn,{variant:"transparent",size:"sm",disabled:!n,onClick:o,icon:h(eNe,{className:"size-3.5"}),"aria-label":_("move.workspace.header.undo")}),h(rn,{variant:"transparent",size:"sm",disabled:!s,onClick:r,icon:h(Xke,{className:"size-3.5"}),"aria-label":_("move.workspace.header.redo")}),k(DM,{children:[h(EM,{asChild:!0,children:h(rn,{variant:"transparent",size:"sm",icon:h(l8e,{width:16,height:16,className:"text-fg-subtle"}),"aria-label":_("move.workspace.header.menu")})}),k(TM,{align:"end",className:"w-40",onCloseAutoFocus:M=>{w.current&&(M.preventDefault(),C.current?.select())},children:[h(nu,{className:"h-10",onClick:u,children:h("span",{className:"typo-compact-xs-medium",children:_("move.workspace.header.createNew")})}),h(nu,{className:"h-10",onClick:g,children:h("span",{className:"typo-compact-xs-medium",children:_("move.workspace.header.open")})}),h(nu,{className:"h-10",onSelect:R,children:h("span",{className:"typo-compact-xs-medium",children:_("move.workspace.header.rename")})}),E&&h(nu,{className:"h-10",onClick:E,disabled:a||!l,children:h("span",{className:"typo-compact-xs-medium",children:_("move.workspace.header.duplicate")})}),m&&h(nu,{className:"h-10",onClick:m,children:h("span",{className:"typo-compact-xs-medium",children:_("move.workspace.header.delete")})}),h(hW,{}),f&&h(nu,{className:"h-10",onClick:f,disabled:!l,children:h("span",{className:"typo-compact-xs-medium",children:_("move.workspace.header.clearAll")})}),h(nu,{className:"h-10",onClick:p,disabled:!e,children:h("span",{className:"typo-compact-xs-medium",children:_("move.workspace.header.reset")})})]})]})]})]})},{useEffect:Sge,useRef:pO,useState:fgt}=await F("react"),xge=300,pgt=50,R8=({label:i,labelColor:e,unit:t,value:n,step:s,min:o,max:r,disabled:a,precision:l=2,onChange:c})=>{const d=N=>{if(N===""||N==="-"||N.endsWith("."))return;const L=parseFloat(N);isNaN(L)||c(L)},u=N=>{const L=parseFloat(N);isNaN(L)||c(L)},g=pO(n);Sge(()=>{g.current=n},[n]);const m=pO(void 0),f=pO(void 0),p=pO(xge),[_,b]=fgt(!1),v=()=>{window.clearTimeout(m.current),window.clearTimeout(f.current),p.current=xge},w=()=>{v(),b(!1)};Sge(()=>v,[]);const y=N=>{const L=N==="up"?s:-s;let D=Number((g.current+L).toFixed(l));o!==void 0&&(D=Math.max(o,D)),r!==void 0&&(D=Math.min(r,D)),g.current=D,c(D)},S=N=>{y(N),window.clearTimeout(f.current),f.current=window.setTimeout(()=>{S(N),p.current>pgt&&(p.current-=p.current/6)},p.current)},C=N=>{if(a||N.key!=="ArrowUp"&&N.key!=="ArrowDown"||(N.preventDefault(),N.repeat))return;b(!0);const L=N.key==="ArrowUp"?"up":"down";y(L),m.current=window.setTimeout(()=>{S(L)},p.current)},x=N=>{N.key!=="ArrowUp"&&N.key!=="ArrowDown"||w()};return k(q,{className:P("AxisNumberInput","gap-1"),children:[k(U,{className:"typo-compact-xs-medium gap-1",children:[h("span",{className:P("text-fg-default",e),children:i.toUpperCase()}),h("span",{className:"text-fg-subtle",children:t?`(${t})`:""})]}),h("div",{onKeyDown:C,onKeyUp:x,onBlur:w,children:h(qne,{value:String((n??0).toFixed(l)),step:s,digit:l,fixedDigit:l,enableArrowKeys:!1,enableWheel:!0,min:o!==void 0?String(o):void 0,max:r!==void 0?String(r):void 0,disabled:a,isDirect:!0,bypassFocusSync:_,notAllowedEmptyValue:!0,onFocus:N=>N.target.select(),handleChange:d,handleEnter:u})})]})},{useEffect:_gt,useRef:bgt,useState:vgt}=await F("react"),ygt=({className:i,item:e,mode:t,onChange:n,onModeChange:s})=>{const{t:o}=J(),[r,a]=vgt("translate"),l=t??r,c=e!==null&&e.kind!=="shape",d=e?.kind==="shape",u=bgt(null);if(_gt(()=>{if(c&&e&&l==="scale"){if(u.current===e.id)return;u.current=e.id,s?.("translate"),a("translate")}else c||(u.current=null)},[c,e,l,s]),!e)return k(q,{className:P("border-border-subtle w-full gap-2 border-t pt-3",i),children:[h(U,{alignItems:"center",className:"h-9 w-full px-1",children:h("span",{className:"typo-compact-xs-semibold text-fg-default",children:o("move.workspace.properties.title")})}),h("div",{className:"border-border-subtle flex h-24 items-center justify-center rounded-md border border-dashed",children:h("span",{className:"typo-compact-xs-normal text-fg-subtle",children:o("move.workspace.properties.selectItem")})})]});const m=(e.kind==="shape"?die.find(S=>S.type===e.shapeType):void 0)?.dimensions??g3,f=e.kind==="shape"?e.scale:OP,p=S=>f[S]*m[S],_=(S,C)=>n(e.id,{scale:{...f,[S]:C/m[S]}},`scale:${e.id}:${S}`),b=[{key:"x",label:"X",color:Ri.x},{key:"y",label:"Y",color:Ri.y},{key:"z",label:"Z",color:Ri.z}],v=[{key:"rx",label:"RX",color:Ri.rx},{key:"ry",label:"RY",color:Ri.ry},{key:"rz",label:"RZ",color:Ri.rz}],w=[{key:"x",label:"SX",color:Ri.x},{key:"y",label:"SY",color:Ri.y},{key:"z",label:"SZ",color:Ri.z}],y=()=>{e&&n(e.id,{position:{...OTe},rotation:{...Qq},...d&&{scale:{...OP}}},`resetTransform:${e.id}`)};return k(q,{className:P("border-border-subtle w-full gap-2 border-t pt-3",i),children:[k(U,{alignItems:"center",justifyContent:"space-between",className:"h-9 w-full px-1",children:[h("span",{className:"typo-compact-xs-semibold text-fg-default",children:o("move.workspace.properties.title")}),h(Zte,{size:"xs",className:"text-fg-subtle hover:text-fg-default",onClick:y,children:o("move.workspace.properties.resetTransform")})]}),k("div",{className:"grid w-full grid-cols-2 gap-2",children:[k(q,{className:"min-w-0 gap-2",children:[h("div",{className:"typo-compact-2xs-medium text-fg-subtle mt-0.5 flex h-5 items-center px-1",children:o("move.workspace.properties.translate")}),b.map(({key:S,label:C,color:x})=>h(R8,{label:C,unit:Qhe,labelColor:x,value:e.position[S],step:Vdt,precision:zdt,onChange:N=>n(e.id,{position:{...e.position,[S]:N}},`position:${e.id}:${S}`)},S))]}),k(q,{className:"min-w-0 gap-2",children:[h("div",{className:"typo-compact-2xs-medium text-fg-subtle mt-0.5 flex h-5 items-center px-1",children:o("move.workspace.properties.rotate")}),v.map(({key:S,label:C,color:x})=>h(R8,{label:C,unit:Bdt,labelColor:x,value:e.rotation[S],step:Wdt,precision:Hdt,onChange:N=>n(e.id,{rotation:{...e.rotation,[S]:N}},`rotation:${e.id}:${S}`)},S))]})]}),h("div",{className:P("grid transition-[grid-template-rows] duration-200 ease-out",d?"grid-rows-[1fr]":"grid-rows-[0fr]"),children:h("div",{className:"grid min-h-0 w-full grid-cols-2 gap-2 overflow-hidden",children:k(q,{className:"min-w-0 gap-2",children:[h("div",{className:"typo-compact-2xs-medium text-fg-subtle mt-1 flex h-5 items-center px-1",children:o("move.workspace.properties.scale")}),w.map(({key:S,label:C,color:x})=>h(R8,{label:C,unit:Qhe,labelColor:x,value:p(S),step:$dt,precision:Udt,onChange:N=>_(S,N)},S))]})})})]})},{useState:Ige,useEffect:M8,useRef:_O}=await F("react"),wgt=i=>{if(i.kind==="custom")return h(Sk,{width:16,height:16});switch(i.shapeType){case"cylinder":return h(ske,{className:"size-4"});case"sphere":return h(ike,{className:"size-4"});case"box":return h(nke,{className:"size-4"});default:return h(dne,{className:"size-4"})}},Cgt=i=>{if(i.kind!=="custom")return null;const e=i.fileName.match(/\.[^.]+$/)?.[0];return e?i.name.toLowerCase().endsWith(e.toLowerCase())?null:e:null},Sgt=({items:i,isActive:e=!0,addPanel:t,isAddPanelOpen:n=!1,onToggleAddPanel:s,addMenu:o,selectedId:r,onSelect:a,onDeselect:l,selectionMode:c,checkedIds:d,onSelectionModeChange:u,onCheckedIdsChange:g,loadingIds:m,hiddenIds:f,failedIds:p,loadFailedIds:_,onToggleVisibility:b,onRename:v,onRenameCommit:w,onDelete:y,onBulkDelete:S,onBulkHide:C})=>{const{t:x}=J(),[N,L]=Ige(null),D=_O(null),[E,T]=Ige(""),R=_O(null),A=_O(null),M=()=>{D.current&&z(D.current),u(!0),A.current=null},O=()=>{u(!1),A.current=null},B=ie=>{g(he=>{const ce=new Set(he);return ce.has(ie)?ce.delete(ie):ce.add(ie),ce}),A.current=ie},V=(ie,he,ce)=>{const Ie=ce.shiftKey;g(Ee=>{const Te=ZTe({items:he,getId:lt=>lt.id,targetId:ie.id,selectedIds:Ee,anchorId:A.current,selectionMode:!0,isRangeSelect:Ie});return A.current=Te.anchorId,Te.selectedIds})},G=()=>{S?.(Array.from(d)),O()},H=()=>{C?.(Array.from(d)),O()},X=_O(null);M8(()=>{if(!r||!e)return;let ie=0,he=30;const ce=()=>{const Ie=X.current?.querySelector(`[data-item-id="${r}"]`);if(Ie?.scrollIntoView){Ie.scrollIntoView({behavior:"smooth",block:"nearest"});return}he-- >0&&(ie=requestAnimationFrame(ce))};return ie=requestAnimationFrame(ce),()=>cancelAnimationFrame(ie)},[r,e]),M8(()=>{D.current=N,N&&requestAnimationFrame(()=>{R.current?.focus(),R.current?.select()})},[N]),M8(()=>{if(!e)return;const ie=he=>{const ce=document.activeElement;ce instanceof HTMLInputElement||ce instanceof HTMLTextAreaElement||ce?.getAttribute("contenteditable")==="true"||c||!r||D.current||(he.key==="Delete"||he.key==="Backspace")&&(he.preventDefault(),y(r))};return window.addEventListener("keydown",ie),()=>window.removeEventListener("keydown",ie)},[e,r,c,y]);const K=ie=>{T(ie.name),D.current=ie.id,L(ie.id)},z=ie=>{v(ie,E),D.current=null,L(null)},de=ie=>{D.current=null,L(null);const he=i.find(Ie=>Ie.id===ie),ce=he?.name.trim()??"";if(!he||!ce){at.openToast({type:"basic",variant:"warning",content:x("move.workspace.toast.renameInvalid"),position:"top-right"}),v(ie,E);return}ce!==he.name&&v(ie,ce),w?.(ie,E)},te=[...i].sort((ie,he)=>ie.kind===he.kind?0:ie.kind==="custom"?-1:1);return k(q,{className:"w-full gap-1.5",children:[k(U,{alignItems:"center",justifyContent:"space-between",className:"w-full gap-2 px-1",children:[k("span",{className:"typo-compact-xs-semibold text-fg-default",children:[x("move.workspace.itemList.title"),i.length>0&&h("span",{className:"text-fg-subtle ml-1",children:i.length})]}),k(U,{alignItems:"center",className:"gap-1",children:[i.length>0&&h(Zte,{size:"xs",className:"text-fg-subtle hover:text-fg-default",onClick:()=>c?O():M(),children:x(c?"move.workspace.itemList.selectionExit":"move.workspace.itemList.selectionMode")}),s?h(rn,{variant:"transparent",size:"sm",onClick:s,icon:h(K_,{className:P("text-fg-default size-3.5 transition-transform duration-200 ease-out",n?"rotate-45":"rotate-0")}),"aria-label":x(n?"common.button.close":"move.workspace.addMenu.trigger"),className:"text-fg-default hover:bg-bg-alt-1 active:bg-bg-alt-2 rounded-md transition-colors"}):o]})]}),h("div",{className:P("grid w-full transition-[grid-template-rows,opacity] duration-200 ease-out",n?"grid-rows-[1fr] opacity-100":"pointer-events-none grid-rows-[0fr] opacity-0"),children:h("div",{className:"min-h-0 overflow-hidden",children:t})}),i.length===0?h("div",{className:"border-border-subtle flex h-16 items-center justify-center rounded-md border border-dashed",children:h("span",{className:"typo-compact-xs-normal text-fg-subtle",children:x("move.workspace.itemList.empty")})}):h(q,{ref:X,className:"border-border-subtle/70 bg-bg-alt-1/40 max-h-52 w-full gap-1 overflow-y-auto rounded-lg border p-1.5 [scrollbar-gutter:stable]",onClick:ie=>{ie.target===ie.currentTarget&&l?.()},children:te.map(ie=>{const he=ie.id===r,ce=ie.id===N,Ie=f?.has(ie.id)??!1,Ee=d.has(ie.id),Te=Cgt(ie),lt=m?.has(ie.id)??!1,st=p?.has(ie.id)??!1,kt=_?.has(ie.id)??!1,yt=x("move.workspace.itemList.loadFailedLabel");return k("div",{"data-item-id":ie.id,role:"button",tabIndex:0,onClick:Bt=>{if(c){V(ie,te,Bt);return}ce||a(ie.id)},onDoubleClick:()=>{!ce&&!c&&K(ie)},onKeyDown:Bt=>{ce||(Bt.key==="Enter"||Bt.key===" ")&&(Bt.preventDefault(),c?B(ie.id):a(ie.id))},className:P("group relative z-1 flex h-9 w-full shrink-0 cursor-pointer items-center justify-between gap-1 rounded-md border pr-0.5 pl-2 transition-all duration-150 select-none",(c?Ee:he)?"border-border-navy-stronger bg-fill-navy-subtler ring-border-navy-stronger ring-1 ring-inset":"border-border-subtle/80 bg-bg-default hover:border-border-navy-stronger hover:bg-fill-navy-subtler active:border-border-navy-stronger active:bg-fill-navy-subtler active:ring-border-navy-stronger shadow-2xs active:ring-1 active:ring-inset",Ie&&"opacity-45"),children:[k("div",{className:"flex h-full min-w-0 flex-1 items-center gap-1.5 pr-1",children:[c&&h(ea,{size:"xs",readOnly:!0,value:Ee,className:"-ml-1 shrink-0"}),h("span",{className:P("pointer-events-none shrink-0 transition-colors",(c?Ee:he)?"text-fg-navy":"text-fg-subtle group-hover:text-fg-navy group-active:text-fg-navy"),children:wgt(ie)}),ce?h(oEe,{ref:R,value:ie.name,onChange:Bt=>v(ie.id,Bt),onCommit:()=>de(ie.id),onCancel:()=>z(ie.id),ariaLabel:x("move.workspace.header.rename"),className:"typo-compact-xs-medium px-1.5"}):k("span",{className:P("pointer-events-none min-w-0 truncate transition-colors",(c?Ee:he)?"typo-compact-xs-semibold text-fg-navy":"typo-compact-xs-medium text-fg-default group-hover:text-fg-navy group-active:typo-compact-xs-semibold group-active:text-fg-navy"),children:[ie.name,Te]}),Ie&&h(c8e,{width:14,height:14,className:"text-fg-subtle shrink-0","aria-label":x("move.workspace.itemList.hiddenLabel"),title:x("move.workspace.itemList.hiddenLabel")}),lt&&h(_0,{size:"0.75rem",className:"text-fg-subtle shrink-0"}),st&&h(Rce,{className:"text-fg-danger size-3.5 shrink-0","aria-label":x("move.workspace.itemList.saveFailedLabel"),title:x("move.workspace.itemList.saveFailedLabel")}),kt&&h(Rce,{className:"text-fg-danger size-3.5 shrink-0","aria-label":yt,title:yt})]}),!c&&h("div",{className:"shrink-0",onClick:Bt=>Bt.stopPropagation(),onPointerDown:Bt=>Bt.stopPropagation(),children:k(DM,{modal:!1,children:[h(EM,{asChild:!0,children:h(rn,{variant:"transparent",size:"xs",className:"text-fg-subtle hover:text-fg-navy flex h-8.5! min-h-8.5! w-8.5! min-w-8.5! items-center justify-center rounded p-0",icon:h(Jke,{className:"size-4"}),"aria-label":x("move.workspace.itemList.actions")})}),k(TM,{align:"end",className:"w-36",onCloseAutoFocus:Bt=>{D.current&&(Bt.preventDefault(),R.current?.select())},children:[h(nu,{className:"h-10",onSelect:()=>K(ie),children:h("span",{className:"typo-compact-xs-medium",children:x("move.workspace.header.rename")})}),b&&h(nu,{className:"h-10",onSelect:()=>b(ie.id),children:h("span",{className:"typo-compact-xs-medium",children:x(Ie?"move.workspace.itemList.showLabel":"move.workspace.itemList.hideLabel")})}),h(nu,{className:"h-10",onSelect:()=>y(ie.id),children:h("span",{className:"typo-compact-xs-medium",children:x("move.workspace.itemList.deleteLabel")})})]})]})})]},ie.id)})}),c&&k(U,{alignItems:"center",justifyContent:"space-between",className:"w-full gap-2 px-1",children:[h("span",{className:"typo-compact-xs-medium text-fg-subtle",children:x("move.workspace.itemList.selectionCount",{count:d.size})}),k(U,{alignItems:"center",className:"gap-1",children:[h(_e,{size:"xs2",variant:"outlined",disabled:d.size===0,onClick:H,children:x("move.workspace.itemList.hideSelected",{count:d.size})}),h(_e,{size:"xs2",variant:"danger",disabled:d.size===0,onClick:G,children:x("move.workspace.itemList.deleteSelected",{count:d.size})})]})]})]})},{useCallback:kge,useEffect:A8,useMemo:Nge,useRef:O8,useState:bO}=await F("react"),{useQueryClient:xgt}=await F("@tanstack/react-query"),Lge=i=>i.some(e=>{const t=e.fileInfo?.fileName?.split(".").pop()?.toLowerCase();return t==="stp"||t==="step"}),Igt=({workspace:i,robotModel:e,detailRobotModel:t,modelType:n,mountJointName:s,gizmoSelectedAssetIds:o,selectionMode:r,tabKind:a,assetGizmoMode:l,onGizmoModeChange:c,onRequestSceneAssetSelect:d,onRequestSceneSelectionChange:u,isActive:g=!0})=>{const{t:m}=J(),{theme:f}=rt(),{confirmDialog:p,promptDialog:_}=pW(),[b,v]=bO(!1),[w,y]=bO(!1),[S,C]=bO(!1),{mutateAsync:x,isPending:N,abort:L}=zht(),{data:D}=t9(e,t),{mutateAsync:E}=jht(),T=Nge(()=>(D??[]).filter(fe=>fe.modelType===n&&(s?fe.attachment?.parentJointName===s:!0)),[D,n,s]),R=Nge(()=>T.filter(fe=>fe.isLoaded).map(fe=>fe.modelId),[T]),A=O8(new Set),{stage:M,loadFromModels:O,selectItem:B}=i,V=kge(()=>{at.openToast({type:"basic",variant:"warning",title:m("move.workspace.stepFormatWarning.title"),content:m("move.workspace.stepFormatWarning.message"),position:"top-right"})},[m]);A8(()=>{if(M!=="empty"||!D)return;const fe=T.filter(Ln=>Ln.isLoaded);if(fe.length===0){A.current.clear();return}const Ze=fe.filter(Ln=>!A.current.has(Ln.modelId))[0]?.workspace?.name;if(!Ze)return;const Dt=T.filter(Ln=>Ln.workspace?.name===Ze);Lge(Dt)&&V(),O(Dt,Ze,R)},[M,D,T,R,O,V]);const G=fe=>{at.openToast({type:"basic",variant:"warning",content:m(fe),position:"top-right"})},H=async({title:fe,initialValue:Ne="",excludeName:ze})=>{const Ze=await _({title:fe,content:m("move.workspace.dialog.namePlaceholder"),placeholder:m("move.workspace.dialog.namePlaceholder"),value:Ne,autoFocus:!0,inputElement:h(nt,{className:"[&_input]:selection:bg-fill-brand-subtle [&_input]:selection:text-white",onFocus:Ln=>Ln.target.select()}),buttonText:{yes:m("common.button.confirm"),no:m("common.button.cancel")}});if(Ze==null)return null;const Dt=Ze.trim();return Dt?m3.test(Dt)?(G("move.workspace.toast.invalidCharacters"),null):Dt===ze?null:Xhe(D??[],{modelType:n,attachment:s?{parentJointName:s}:null},Dt,ze??void 0)?(G("move.workspace.toast.nameDuplicate"),null):Dt:(G("move.workspace.toast.renameInvalid"),null)},X=O8(null);A8(()=>{const fe=i.loadTimeoutEvent;if(!fe||X.current===fe)return;X.current=fe;const Ne=i.items.find(ze=>ze.id===fe.itemId);at.openToast({type:"basic",variant:"warning",content:m("move.workspace.toast.loadTimeout",{name:Ne?.name??""}),position:"top-right"})},[i.loadTimeoutEvent,i.items,m]);const K=async()=>{const fe=await H({title:m("move.workspace.dialog.saveAsTitle")});if(fe)try{await i.saveAs(fe,R),at.openToast({type:"basic",variant:"success",content:m("move.workspace.toast.saveSuccess"),position:"top-right"})}catch{i.failedItemIds.size>0?at.openToast({type:"basic",variant:"warning",content:m("move.workspace.toast.saveFailedPartial",{count:i.failedItemIds.size}),position:"top-right"}):G("move.workspace.toast.saveFailed")}},z=async()=>{try{await i.save(),at.openToast({type:"basic",variant:"success",content:m("move.workspace.toast.saveSuccess"),position:"top-right"})}catch{i.failedItemIds.size>0?at.openToast({type:"basic",variant:"warning",content:m("move.workspace.toast.saveFailedPartial",{count:i.failedItemIds.size}),position:"top-right"}):G("move.workspace.toast.saveFailed")}},de=fe=>{if(y(!1),i.items.find(Ze=>Ze.kind==="custom")?.modelId===fe.modelId)return;const ze=`.${fe.fileInfo.fileName.split(".").pop()?.toLowerCase()??""}`;(ze===".stp"||ze===".step")&&V();try{const Ze=i.addCustomFile(fe);Ze&&d?.(`${a}:${Ze}`)}catch{G("move.workspace.toast.uploadFailed")}},te=fe=>{const Ne=new Set(fe.map(Dt=>Dt.modelId)),ze=new Set(fe.map(Dt=>Dt.fileId).filter(Dt=>!!Dt)),Ze=i.items.filter(Dt=>Dt.kind==="custom"&&(Dt.modelId!=null&&Ne.has(Dt.modelId)||Dt.fileId!=null&&ze.has(Dt.fileId))).map(Dt=>Dt.id);Ze.length!==0&&(i.selectedItemId&&Ze.includes(i.selectedItemId)&&d?.(null),i.removeItems(Ze))},ie=async()=>{i.hasCustomFile&&!await p({title:m("move.workspace.confirm.replaceFileTitle"),content:m("move.workspace.confirm.replaceFileContent"),buttonText:{yes:m("move.workspace.button.continue"),no:m("common.button.cancel")}})||y(!0)},he=async(fe,Ne)=>{const ze=i.items.find(ii=>ii.id===fe);if(!ze)return;const Ze=ze.name.trim();if(!Ze){G("move.workspace.toast.renameInvalid"),i.renameItem(fe,Ne);return}if(ze.kind!=="custom"||!ze.fileId){Ze!==Ne&&i.renameItem(fe,Ze);return}if(m3.test(Ze)){G("move.workspace.toast.invalidCharacters"),i.renameItem(fe,Ne);return}if(Ze===Ne)return;const Dt=ze.fileName.match(/\.[^.]+$/)?.[0]??"",Ln=Dt&&!Ze.toLowerCase().endsWith(Dt.toLowerCase())?`${Ze}${Dt}`:Ze,dn=T.filter(ii=>ii.shapeType===null&&!ii.workspace);if(XTe(dn,Ln,ze.modelId)){G("move.modal.workspace.file.upload.duplicateName"),i.renameItem(fe,Ne);return}if(!ze.modelId){i.renameItem(fe,Ze);return}try{await E({robotModel:e,detailRobotModel:t,modelId:ze.modelId,fileId:ze.fileId,fileName:Ln}),i.applyCustomFileRename(fe,Ln,Ze),at.openToast({type:"basic",variant:"success",content:m("move.workspace.toast.renameSuccess"),position:"top-right"})}catch{i.renameItem(fe,Ne),G("move.workspace.toast.renameFailed")}},ce=fe=>{const Ne=fe.trim();if(!Ne){G("move.workspace.toast.renameInvalid");return}if(m3.test(Ne)){G("move.workspace.toast.invalidCharacters");return}if(Xhe(D??[],{modelType:n,attachment:s?{parentJointName:s}:null},Ne,i.workspaceName??void 0)){G("move.workspace.toast.nameDuplicate");return}i.renameWorkspace(Ne)},Ie=xgt(),{mutateAsync:Ee}=gie(),Te=async()=>{const fe=i.workspaceName;if(!fe||!await p({title:m("move.workspace.confirm.deleteTitle"),content:m("move.workspace.confirm.deleteContent",{name:fe}),buttonText:{yes:m("move.modal.workspace.button.delete"),no:m("common.button.cancel")}}))return;const ze=T.filter(Ze=>Ze.workspace?.name===fe);try{await Promise.all(ze.map(Dt=>Ee(Dt.modelId)));const Ze=HN(e,t);await Ie.invalidateQueries({queryKey:Ze}),i.closeWorkspace(R),at.openToast({type:"basic",variant:"success",content:m("move.workspace.toast.deleteSuccess"),position:"top-right"})}catch{at.openToast({type:"basic",variant:"danger",content:m("move.workspace.toast.deleteFailed"),position:"top-right"})}},lt=async()=>{if(i.hasUnsavedChanges&&!await p({title:m("move.workspace.confirm.closeTitle"),content:m("move.workspace.confirm.closeContent"),buttonText:{yes:m("move.workspace.button.closeWithoutSaving"),no:m("common.button.cancel")}}))return;const fe=T.filter(Ne=>Ne.isLoaded);for(const Ne of fe)A.current.add(Ne.modelId);i.closeWorkspace(R)},st=()=>{v(!0)},kt=()=>{i.clearItems()},yt=async fe=>{if(fe.name===i.workspaceName){v(!1);return}i.hasUnsavedChanges&&!await p({title:m("move.workspace.confirm.openTitle"),content:m("move.workspace.confirm.openContent"),buttonText:{yes:m("move.workspace.button.continue"),no:m("common.button.cancel")}})||(A.current.clear(),v(!1),Lge(fe.models)&&V(),i.loadFromModels(fe.models,fe.name,R))},Bt=async()=>{const fe=await H({title:m("move.workspace.dialog.createTitle")});fe&&i.createNew(fe)},Ft=fe=>{!i.workspaceName||!fe.includes(i.workspaceName)||(T.filter(Ne=>Ne.isLoaded).forEach(Ne=>A.current.add(Ne.modelId)),d?.(null),i.closeWorkspace(R))};qht({selectedItemId:i.selectedItemId,gizmoSelectedAssetIds:o,selectionMode:r,tabKind:a,onRequestSceneAssetSelect:d,selectItem:B});const[nn,ei]=bO(new Set),oi=O8({mode:!1,idsKey:""}),Nt=kge(fe=>fe.filter(Ne=>Ne.startsWith(`${a}:`)).map(Ne=>Ne.slice(a.length+1)),[a]),be=fe=>[...fe].sort().join(",");A8(()=>{if(!r){oi.current.mode!==!1&&(oi.current={mode:!1,idsKey:""},ei(new Set));return}const fe=Nt(o),Ne=be(fe),ze=oi.current;ze.mode===!0&&ze.idsKey===Ne||(oi.current={mode:!0,idsKey:Ne},ei(new Set(fe)))},[o,r,a,Nt]);const Ve=fe=>{ei(Ne=>{const ze=typeof fe=="function"?fe(Ne):fe,Ze=be(ze);return oi.current={mode:!0,idsKey:Ze},u?.([...ze].map(Dt=>`${a}:${Dt}`),!0),ze})},ke=fe=>{fe?(oi.current={mode:!0,idsKey:""},u?.([],!0)):(oi.current={mode:!1,idsKey:""},ei(new Set),u?.([],!1))},Ke=h(agt,{open:b,onOpenChange:v,robotModel:e,detailRobotModel:t,modelType:n,attachment:s?{parentJointName:s}:null,resolve:yt,close:()=>v(!1),onGroupsDeleted:Ft}),xe=i.items.find(fe=>fe.id===i.selectedItemId)??null;return i.stage==="empty"?k(bn,{children:[h(q,{className:"w-full gap-2 pb-2.5",children:k(U,{className:"w-full gap-2 p-1",children:[h(_e,{variant:"outlined",size:"xs2",className:"flex-1",leadingIcon:h(K_,{}),onClick:()=>void Bt(),children:m("move.workspace.header.createNew")}),h(_e,{variant:"brand",size:"xs2",className:"flex-1",leadingIcon:h(ake,{}),onClick:()=>v(!0),children:m("move.workspace.header.open")})]})}),Ke]}):k(bn,{children:[k(q,{className:"w-full gap-3",children:[h(mgt,{workspaceName:i.workspaceName,hasUnsavedChanges:i.hasUnsavedChanges,onRename:ce,canUndo:i.canUndo,canRedo:i.canRedo,onUndo:i.undo,onRedo:i.redo,isSaving:i.isSaving,hasItems:i.items.length>0,onDuplicate:()=>void K(),onCreateNew:()=>void Bt(),onOpenPicker:()=>void st(),onDelete:()=>void Te(),onClearAll:kt,onReset:i.resetToSaved}),k(U,{className:P("border-border-subtle -mt-1.5 w-full shrink-0 gap-2 border-b pb-3",f==="light"?"bg-white":"bg-alt-1"),children:[h(_e,{className:"flex-1",size:"xs2",variant:"outlined",onClick:()=>void lt(),children:m("move.workspace.header.close")}),h(_e,{className:"flex-1",size:"xs2",variant:"brand",disabled:i.isSaving||!i.hasUnsavedChanges,onClick:()=>void z(),children:m("move.workspace.header.saveNow")})]}),h(Sgt,{items:i.items,isActive:g,isAddPanelOpen:S,onToggleAddPanel:()=>C(fe=>!fe),addPanel:h(dut,{onAddShape:fe=>{const Ne=i.addShape(fe);Ne&&d?.(`${a}:${Ne}`)},limitReached:i.isLimitReached,isCustomFileUploading:N,onOpenCustomFilePicker:()=>void ie(),onClose:()=>C(!1),draggable:n==="base"}),selectedId:i.selectedItemId,onSelect:fe=>{if(i.selectedItemId===fe){i.selectItem(null),d?.(null);return}i.selectItem(fe),d?.(`${a}:${fe}`)},onDeselect:()=>{i.selectItem(null),d?.(null)},selectionMode:r,checkedIds:nn,onSelectionModeChange:ke,onCheckedIdsChange:Ve,loadingIds:i.loadingItemIds,hiddenIds:i.hiddenItemIds,failedIds:i.failedItemIds,loadFailedIds:i.loadFailedItemIds,onToggleVisibility:fe=>{i.selectedItemId===fe&&!i.hiddenItemIds.has(fe)&&d?.(null),i.toggleItemVisibility(fe)},onRename:i.renameItem,onRenameCommit:(fe,Ne)=>void he(fe,Ne),onDelete:i.removeItem,onBulkDelete:i.removeItems,onBulkHide:i.hideItems}),h(ygt,{item:xe,mode:l,onChange:i.updateItemTransform,onModeChange:c}),h(hgt,{open:w,onOpenChange:y,robotModel:e,detailRobotModel:t,modelType:n,attachment:s?{parentJointName:s}:null,resolve:de,close:()=>y(!1),uploadAssetFiles:x,isUploading:N,onCancelUpload:L,onModelsDeleted:te})]}),Ke]})},{useCallback:F8,useEffect:e_,useLayoutEffect:kgt,useMemo:rEe,useRef:$4,useState:f3}=await F("react"),Dge=({robotModel:i,detailRobotModel:e,modelType:t,mountJointName:n,gizmoSelectedAssetIds:s,selectionMode:o,isActive:r,tabKey:a,onAssetsChange:l,assetTransformEvent:c,assetGizmoMode:d,onGizmoModeChange:u,onRequestSceneAssetSelect:g,onRequestSceneSelectionChange:m,onAssetLoaded:f,shapeDropRequest:p,onLoadingChange:_})=>{const b=Aht({robotModel:i,detailRobotModel:e,modelType:t,mountJointName:n,isActive:r}),v=t==="base"?"base":`tool:${n}`;e_(()=>{l(a,b.assets)},[b.assets,l,a]),e_(()=>{_(a,b.loadingItemIds.size>0)},[b.loadingItemIds,_,a]),e_(()=>{const L=b.assetLoadedEvent;L&&f?.(L.assetId)},[b.assetLoadedEvent,f]);const w=$4(r);e_(()=>{const L=w.current;w.current=r,!(!L||r||!s.some(E=>E.startsWith(`${v}:`)))&&(o?m?.([],!1):g?.(null))},[r,s,o,v,g,m]);const y=$4({workspace:b,shapeDropRequest:p});e_(()=>{y.current={workspace:b,shapeDropRequest:p}});const[S,C]=f3(null);e_(()=>{if(!c?.assetId.startsWith(`${v}:`))return;const L=c.assetId.slice(v.length+1),{transform:D,final:E}=c,{workspace:T}=y.current,R=T.items.find(M=>M.id===L),A={position:{x:Math.round(D.x*Pn),y:Math.round(D.y*Pn),z:Math.round(D.z*Pn)},rotation:{rx:parseFloat(D.rx.toFixed(2)),ry:parseFloat(D.ry.toFixed(2)),rz:parseFloat(D.rz.toFixed(2))},...R?.kind==="shape"&&typeof D.scale!="number"&&{scale:{x:parseFloat(D.scale.x.toFixed(2)),y:parseFloat(D.scale.y.toFixed(2)),z:parseFloat(D.scale.z.toFixed(2))}}};if(!E){C({itemId:L,update:A});return}C(null),T.updateItemTransform(L,A,`drag:${L}`)},[c,v]);const x=rEe(()=>S?{...b,items:b.items.map(L=>L.id===S.itemId?FTe(L,S.update):L)}:b,[b,S]),N=p?.nonce;return e_(()=>{const{workspace:L,shapeDropRequest:D}=y.current;if(!D||L.stage!=="build")return;const E=L.addShape(D.type,D.at);E&&g?.(`${v}:${E}`)},[N,v,g]),h("div",{className:P(!r&&"hidden"),children:h(Igt,{workspace:x,robotModel:i,detailRobotModel:e,modelType:t,mountJointName:n,gizmoSelectedAssetIds:s,selectionMode:o,tabKind:v,assetGizmoMode:d,onGizmoModeChange:u,onRequestSceneAssetSelect:g,onRequestSceneSelectionChange:m,isActive:r})})},Ngt=({className:i,detailRobotModel:e,tcpJoints:t,gizmoSelectedAssetIds:n=[],selectionMode:s=!1,onAssetsChange:o,assetTransformEvent:r,shapeDropRequest:a,assetGizmoMode:l,onGizmoModeChange:c,onRequestSceneAssetSelect:d,onRequestSceneSelectionChange:u,onAssetLoaded:g,isMenuActive:m=!0})=>{const{t:f}=J(),{theme:p}=rt(),_=rEe(()=>{const R=M=>{const O=M.toLowerCase();return O.includes("right")?0:O.includes("left")?1:2},A=t.map((M,O)=>({tcp:M,index:O})).sort((M,O)=>R(M.tcp.jointName)-R(O.tcp.jointName)||M.index-O.index);return[{key:"base",label:f("move.workspace.tab.base"),componentModel:e},...A.map(({tcp:M,index:O})=>{const{key:B,params:V}=jdt(M.jointName,O,A.length);return{key:`tool:${M.jointName}`,label:f(B,V),componentModel:M.componentModel}})]},[t,e,f]),[b,v]=f3(_[0].key);e_(()=>{_.some(R=>R.key===b)||v(_[0].key)},[_,b]);const w=F8(R=>_.find(A=>R.startsWith(`${A.key}:`)),[_]),y=n[0]??null;kgt(()=>{if(!y)return;const R=w(y);R&&v(A=>R.key!==A?R.key:A)},[y,w]);const[S,C]=f3({}),x=F8((R,A)=>{C(M=>gE(M[R]??[],A)?M:{...M,[R]:A})},[]),[N,L]=f3({}),D=F8((R,A)=>{L(M=>M[R]===A?M:{...M,[R]:A})},[]),E=$4([]),T=$4([]);return e_(()=>{const R=S.base??[],A=_.filter(M=>M.key!=="base").flatMap(M=>S[M.key]??[]);gE(E.current,R)&&gE(T.current,A)||(E.current=R,T.current=A,o(R,A))},[S,_,o]),h("div",{className:P("WorkspaceControl","h-full overflow-y-auto [scrollbar-gutter:stable]",i),children:k(q,{className:"gap-3 px-3 pt-2.5",children:[k(q,{className:"gap-2",children:[h(pp,{subject:f("move.workspace.title")}),h(WM,{value:b,onValueChange:v,className:"w-full",children:h(HM,{className:P("h-7 w-full rounded-md border-none",p==="light"?"bg-fill-navy-subtlest":"bg-fill-subtlest"),children:_.map(({key:R,label:A})=>k($M,{value:R,className:P("typo-compact-xs2-medium flex-1 items-center gap-1 rounded",p==="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:[A,N[R]&&h("span",{className:"size-1.5 shrink-0 animate-pulse rounded-full bg-yellow-500","aria-label":f("move.workspace.tab.loadingLabel"),title:f("move.workspace.tab.loadingLabel")})]},R))})})]}),_.map(({key:R,componentModel:A})=>R==="base"?h(Dge,{robotModel:e,detailRobotModel:e,modelType:"base",gizmoSelectedAssetIds:n,selectionMode:s,isActive:m&&R===b,tabKey:R,onAssetsChange:x,onLoadingChange:D,assetTransformEvent:r,shapeDropRequest:R===b?a:null,assetGizmoMode:l,onGizmoModeChange:c,onRequestSceneAssetSelect:d,onRequestSceneSelectionChange:u,onAssetLoaded:g},R):h(Dge,{robotModel:A,detailRobotModel:e,modelType:"tool",mountJointName:R.slice(5),gizmoSelectedAssetIds:n,selectionMode:s,isActive:m&&R===b,tabKey:R,onAssetsChange:x,onLoadingChange:D,assetTransformEvent:r,assetGizmoMode:l,onGizmoModeChange:c,onRequestSceneAssetSelect:d,onRequestSceneSelectionChange:u,onAssetLoaded:g},R))]})})},{useMutation:Lgt}=await F("@tanstack/react-query"),Dgt="/{robot_model}/call_replay_motion_rec_start",Tgt=i=>{const{robot_model:e,...t}=i,n=Dgt.replace("{robot_model}",e);return Ot.post(n,t)},Egt=()=>Lgt({mutationFn:i=>Tgt(i)}),{useMutation:Pgt}=await F("@tanstack/react-query"),Rgt="/{robot_model}/call_replay_motion_rec_stop",Mgt=i=>{const{robot_model:e}=i,t=Rgt.replace("{robot_model}",e);return Ot.post(t,{})},Agt=()=>Pgt({mutationFn:Mgt}),{useMemo:Tge}=await F("react"),Ogt=[{label:"move.menu.options.option.noSave",value:"0"},{label:"move.menu.options.option.realTime",value:"1"},{label:"move.menu.options.option.mileStone",value:"2"}],Fgt=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),{isUseSimulator:s}=ui(),{selectedRobot:o}=Fi(e),{motionMode:r}=ws(e,C=>({motionMode:C.motionMode})),{mutate:a,isPending:l}=Egt(),{mutate:c,isPending:d}=Agt(),{register:u,setValue:g,handleSubmit:m,watch:f,control:p}=Se({defaultValues:{mode:0,frequency:1,filename:""}}),_=f("frequency"),b=Tge(()=>r!==0,[r]),v=Tge(()=>b||o?.connected==="DISCONNECT"&&!s,[b,o?.connected,s]),w=(C,x)=>{g(C,x)},y=C=>{a({robot_model:e,mode:Number(C.mode),frequency:Number(C.frequency),filename:C.filename})},S=()=>{c({robot_model:e})};return h("div",{className:P("RecordControl","h-full",i),children:k(q,{className:"gap-2 px-3 py-2.5",children:[h(pp,{subject:t("move.menu.button.label.record")}),k(q,{className:"w-full gap-4",children:[h(tt,{label:t("dashboard.content.mode"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(ue,{name:"mode",control:p,render:({field:C})=>h(ye,{className:"w-full",size:"sm",...C,onChange:x=>C.onChange(x),children:Ogt.map(x=>h(Q,{value:x.value,children:t(x.label)},x.label))})})}),h(tt,{label:t("move.menu.label.mileStoneFreq"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(gW,{size:"sm",className:"w-full",type:"nx-number",name:"frequency",handleChange:C=>w("frequency",Number(C)),value:String(_)})}),h(tt,{label:t("move.menu.label.fileName"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(nt,{size:"sm",className:"w-full",type:"text",inputMode:"text",...u("filename",{onChange:C=>w("filename",C.target.value)})})})]}),k(U,{className:"mt-2 w-full gap-1.5",children:[h(_e,{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")}),h(_e,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:"brand",disabled:v,loading:l||d,onClick:m(y),children:t("move.menu.button.label.recordStart")})]})]})})},{useMutation:Bgt}=await F("@tanstack/react-query"),Vgt="/{robot_model}/call_weld_wire",zgt=i=>{const{robot_model:e,...t}=i,n=Vgt.replace("{robot_model}",e);return Ot.post(n,t)},Wgt=()=>Bgt({mutationFn:zgt}),{useMutation:Hgt}=await F("@tanstack/react-query"),$gt="/{robot_model}/call_weld_gas",Ugt=i=>{const{robot_model:e,...t}=i,n=$gt.replace("{robot_model}",e);return Ot.post(n,t)},jgt=()=>Hgt({mutationFn:Ugt}),{useCallback:vO,useMemo:Ggt}=await F("react"),qgt=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),{isUseSimulator:s}=ui(),{selectedRobot:o}=Fi(e),{isMoving:r}=HW({tabType:"joint",tickModeInput:null,robotModel:e}),a=Ggt(()=>r||o?.connected==="DISCONNECT"&&!s,[r,o?.connected,s]),{mutate:l}=Wgt(),{mutate:c}=jgt(),d=vO(f=>{l({robot_model:e,direction:f})},[l,e]),u=vO(()=>{l({robot_model:e,direction:0})},[l,e]),g=vO(()=>{c({robot_model:e,gas_onoff:1})},[c,e]),m=vO(()=>{c({robot_model:e,gas_onoff:0})},[c,e]);return h("div",{className:P("WeldControl","h-full",i),children:k(q,{className:"gap-2 px-3 py-2.5",children:[h(pp,{subject:t("move.menu.button.label.weld")}),k(U,{className:"gap-2",children:[h(wd,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:n==="light"?"outlined":"soft",disabled:a,onButtonDown:()=>d(1),onButtonUp:u,children:t("move.menu.button.label.weldForward")}),h(wd,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:n==="light"?"outlined":"soft",disabled:a,onButtonDown:()=>d(-1),onButtonUp:u,children:t("move.menu.button.label.weldBackward")})]}),h(wd,{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:Kgt}=await F("@tanstack/react-query"),Jgt="/{robot_model}/call_calib_tcp_position",Ygt=i=>{const{robot_model:e,...t}=i,n=Jgt.replace("{robot_model}",e);return Ot.post(n,t)},Qgt=()=>Kgt({mutationFn:i=>Ygt(i)}),Xgt=({className:i,robotModel:e,jointRef:t,isDisabled:n})=>{const{theme:s}=rt(),{t:o}=J(),{mutate:r,isPending:a}=Qgt(),{setValue:l,getValues:c,control:d}=Se({defaultValues:{tcpPosition:{joints:[]}}}),{fields:u,append:g,remove:m}=Ya({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 k(q,{className:P("TCPPosCalibaration","w-full gap-2.5",i),children:[k(q,{className:"w-full gap-1",children:[k(U,{className:"w-full gap-1.5",children:[h(_e,{className:"w-full",size:"xs",variant:"outlined",disabled:n,loading:a,onClick:()=>l("tcpPosition.joints",[]),children:o("settings.button.settingsReset")}),h(_e,{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")})]}),h(_e,{className:"w-full",size:"xs2",variant:"brand",disabled:n||u.length===0,loading:a,onClick:()=>p(),children:o("settings.button.set")})]}),h("div",{className:P("bg-bg-raised flex flex-col justify-center gap-2 rounded-md p-2"),children:h(q,{className:"gap-2",children:h(jr,{list:u,noDataMsg:h(q,{className:"min-h-40 gap-4 py-4",alignItems:"center",justifyContent:"center",children:h("p",{className:"typo-compact-xs-medium text-fg-subtler",children:o("move.menu.calibTCPPos.desc")})}),children:({item:_,index:b})=>k(q,{className:"bg-bg-card gap-0.5 rounded-md px-2.5 py-1.5",children:[k(U,{className:"w-full",alignItems:"center",justifyContent:"space-between",children:[h("span",{className:"text-fg-default typo-compact-xs-semibold",children:`P${b+1}`}),h(rn,{size:"3xs",variant:"transparent",icon:h(b0,{className:"size-3"}),onClick:()=>m(b)})]}),h("div",{className:"flex-1",children:h(ue,{control:d,name:`tcpPosition.joints.${b}.tar_values`,render:({field:v})=>h("span",{className:"text-fg-subtle typo-compact-2xs-normal w-full",children:v.value.map(w=>w.toFixed(3)+"º").join(", ")},`j-${b}`)})})]},_.id)})})})]})},{useMutation:Zgt}=await F("@tanstack/react-query"),emt="/{robot_model}/call_calib_tcp_orientation",tmt=i=>{const{robot_model:e,...t}=i,n=emt.replace("{robot_model}",e);return Ot.post(n,t)},nmt=()=>Zgt({mutationFn:i=>tmt(i)}),imt=[{label:"program.options.frame.global",value:0},{label:"program.options.frame.local",value:1},{label:"program.options.frame.user",value:2}],smt=({className:i,robotModel:e,isDisabled:t})=>{const{t:n}=J(),{mutate:s,isPending:o}=nmt(),{register:r,getValues:a}=Se({defaultValues:{tcpOrientation:{frame_option:0}}}),l=()=>{const c=a().tcpOrientation;s({robot_model:e,frame_option:Number(c.frame_option)})};return h(q,{className:P("TCPOrientCalibration","w-full gap-1",i),children:h(tt,{label:n("program.field.option"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:k(U,{className:"w-full gap-1.5",alignItems:"center",children:[h(ye,{className:"w-full flex-1",size:"xs2",...r("tcpOrientation.frame_option",{valueAsNumber:!0}),children:imt.map(c=>h(Q,{value:c.value,children:n(c.label)},c.label))}),h(_e,{className:"typo-compact-xs-semibold w-20",size:"xs2",variant:"brand",disabled:t,loading:o,onClick:()=>l(),children:n("settings.button.set")})]})})})},{createContext:omt,useContext:rmt,useEffect:amt,useRef:lmt}=await F("react"),aEe=omt(null),$N=()=>{const i=rmt(aEe);if(!i)throw new Error("ManiSetCommand 내부에서만 사용 가능합니다.");return i},Eo=(i,e)=>{const{registerSection:t,unregisterSection:n}=$N(),s=lmt(e);s.current=e,amt(()=>(t(i,()=>s.current()),()=>n(i)),[i,t,n])},Ht={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"},cmt=[{label:"program.box.out_collision_detection",value:Ht.OUT_COLLISION},{label:"program.box.self_collision_detection",value:Ht.SELF_COLLISION},{label:"program.box.fixed_speed",value:Ht.FIXED_SPEED},{label:"program.box.speed_bar",value:Ht.SPEED_BAR},{label:"program.box.time_constraint",value:Ht.TIME_CONSTRAINT},{label:"program.box.ascii_function_call",value:Ht.ASCII_FUNCTION_CALL},{label:"program.box.joint_impedance_control",value:Ht.JOINT_IMPEDANCE},{label:"program.box.free_drive_mode",value:Ht.FREE_DRIVE},{label:"program.box.master_mode_selection",value:Ht.MASTER_MODE},{label:"program.box.user_frame_selection",value:Ht.USER_FRAME_SELECTION},{label:"program.box.user_frame_set_via_xyz",value:Ht.USER_FRAME_6DOF},{label:"program.box.user_frame_set_via_tcp",value:Ht.USER_FRAME_TCP},{label:"program.box.user_frame_set_via_3_points",value:Ht.USER_FRAME_3POINTS},{label:"program.box.target_shift_set_via_manual",value:Ht.TARGET_SHIFT},{label:"program.box.target_shift_set_via_landmark",value:Ht.TARGET_SHIFT_LANDMARK},{label:"program.box.program_flow_change",value:Ht.PROGRAM_FLOW_MANAGE},{label:"program.box.digital_input_function_mask",value:Ht.DIN_FUNCTION_MASK},{label:"program.box.digital_output_function_mask",value:Ht.DOUT_FUNCTION_MASK},{label:"program.box.jacobian_based_speed_ctrl",value:Ht.JACOBIAN_BASED_SPEED_CONTROL},{label:"program.box.vibration_torque_based",value:Ht.SELF_VIBRATION_MODE},{label:"program.box.vibration_motion_based",value:Ht.VIBRATION_MOTION_BASED},{label:"program.box.ext_axis_sync",value:Ht.EXTERNAL_AXIS_SYNC},{label:"program.box.tcp_speed_bound",value:Ht.TCP_SPEED_BOUND},{label:"program.box.move_break_block",value:Ht.MOVE_BREAK_BLOCK},{label:"program.box.joint_ref_filter",value:Ht.JOINT_REFERENCE_FILTER},{label:"program.box.self_coll_detect_blind",value:Ht.SELF_COLL_DETECT_BLIND},{label:"program.box.joint_origin_calibration",value:Ht.JOINT_ORIGIN_CALIBRATION},{label:"program.box.wrist_singularity_mode",value:Ht.WRIST_SINGULARITY_MODE}],{useMemo:dmt}=await F("react"),Pk=[{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}],Ege=[{label:"program.options.frame.global",value:0},{label:"program.options.frame.local",value:1},{label:"program.options.frame.user",value:2}],Pge=({register:i,fieldKeys:e})=>h(q,{className:"w-full flex-1 gap-4",children:e.map(t=>{const n=t.split("_")[1],s=n.includes("r");return k(U,{className:"gap-2",alignItems:"center",children:[k(U,{className:"typo-compact-xs-semibold w-16 gap-1",children:[h("span",{className:Ri[n],children:n.toUpperCase()}),h("span",{className:"text-fg-subtle",children:s?" (deg)":" (mm)"})]}),h(ge,{register:i,name:t})]},t)})}),umt=({className:i,robotModel:e})=>{const{theme:t}=rt(),{t:n}=J(),{userFrameNameList:s}=$N(),a=(se(g=>g.showItem)?.args).user_frame_6dof,l=dmt(()=>({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:u}=Se({values:l});return Eo(Ht.USER_FRAME_6DOF,()=>{const g=u(),m={...g,target_x:ve(g.target_x),target_y:ve(g.target_y),target_z:ve(g.target_z),target_rx:ve(g.target_rx),target_ry:ve(g.target_ry),target_rz:ve(g.target_rz)},f=`User Frame: Set via XYZ - ${s[g.user_frame_num]}, ${n(Pk[g.setting_option].label,{lng:"en"})}, Target Frame: ${n(Ege[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: ${m.target_rz}deg`;return{user_frame_6dof:m,treeName:f}}),k(pe,{className:P("SetCmdUserFrame6Dof",i),title:n("program.box.user_frame_set_via_xyz"),children:[k(We,{children:[h(j,{label:n("program.field.user_frame"),children:h(ue,{name:"user_frame_num",control:c,render:({field:g})=>h(ye,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange($e(m.target.value,0))},children:s.map((m,f)=>h(Q,{value:f,children:m},m))})})}),h(j,{label:n("program.field.setting_option"),children:h(ue,{name:"setting_option",control:c,render:({field:g})=>h(ye,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange($e(m.target.value,0))},children:Pk.map((m,f)=>h(Q,{value:f,children:n(m.label)},m.label))})})})]}),k(j,{label:n("program.field.target_frame"),className:"pr-5",children:[" ",h(ue,{name:"target_frame",control:c,render:({field:g})=>h(ye,{...g,className:"w-[50%]!",size:"sm",onChange:m=>{g.onChange($e(m.target.value,0))},children:Ege.map((m,f)=>h(Q,{value:f,children:n(m.label)},m.label))})})]}),h("div",{className:P("overflow-hidden rounded-md p-3",t!=="light"&&"bg-bg-alt-1"),children:k(U,{className:"grid grid-cols-2 gap-8",children:[h(Pge,{register:d,fieldKeys:["target_x","target_y","target_z"]}),h(Pge,{register:d,fieldKeys:["target_rx","target_ry","target_rz"]})]})})]})},{useMemo:hmt}=await F("react"),lEe=[{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}],gmt=["x","y","z"],B8=({register:i,fieldKeys:e,groupNum:t})=>{const{t:n}=J();return k(U,{className:"w-full gap-4",alignItems:"center",children:[k("span",{className:"typo-compact-sm-semibold text-fg-default min-w-16 shrink-0",children:[n("program.button.point")," ",t]}),h("div",{className:"flex min-w-0 flex-1 gap-2",children:e.map((s,o)=>{const r=gmt[o];return k(q,{className:"min-w-0 flex-1 gap-2",alignItems:"center",children:[k(U,{className:"typo-compact-2xs-semibold w-16 gap-1",children:[h("span",{className:Ri[r],children:r.toUpperCase()}),h("span",{className:"text-fg-subtle",children:"(mm)"})]}),h(ge,{register:i,name:s})]},s)})})]})},mmt=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),{userFrameNameList:s}=$N(),a=(se(g=>g.showItem)?.args).user_frame_3points,l=hmt(()=>({user_frame_num:$e(a?.user_frame_num,0),setting_option:$e(a?.setting_option,0),order_option:$e(a?.order_option,0),point_1_x:ve(a?.point_1_x??""),point_1_y:ve(a?.point_1_y??""),point_1_z:ve(a?.point_1_z??""),point_2_x:ve(a?.point_2_x??""),point_2_y:ve(a?.point_2_y??""),point_2_z:ve(a?.point_2_z??""),point_3_x:ve(a?.point_3_x??""),point_3_y:ve(a?.point_3_y??""),point_3_z:ve(a?.point_3_z??"")}),[a]),{control:c,getValues:d,register:u}=Se({values:l});return Eo(Ht.USER_FRAME_3POINTS,()=>{const g=d(),m={...g,point_1_x:ve(g.point_1_x)||0,point_1_y:ve(g.point_1_y)||0,point_1_z:ve(g.point_1_z)||0,point_2_x:ve(g.point_2_x)||0,point_2_y:ve(g.point_2_y)||0,point_2_z:ve(g.point_2_z)||0,point_3_x:ve(g.point_3_x)||0,point_3_y:ve(g.point_3_y)||0,point_3_z:ve(g.point_3_z)||0},f=`User Frame: Set via 3 Points - ${s[m.user_frame_num]}, ${t(Pk[m.setting_option].label,{lng:"en"})}`;return{user_frame_3points:m,treeName:f}}),k(pe,{className:P("SetCmdUserFrame3Points",i),title:t("program.box.user_frame_set_via_3_points"),children:[k(We,{children:[h(j,{label:t("program.field.user_frame"),children:h(ue,{name:"user_frame_num",control:c,render:({field:g})=>h(ye,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange(ve(m.target.value))},children:s.map((m,f)=>h(Q,{value:f,children:m},m))})})}),h(j,{label:t("program.field.setting_option"),children:h(ue,{name:"setting_option",control:c,render:({field:g})=>h(ye,{...g,className:"w-full",size:"sm",onChange:m=>{g.onChange(ve(m.target.value))},children:Pk.map((m,f)=>h(Q,{value:f,children:t(m.label)},m.label))})})})]}),h(j,{label:t("program.field.point_ordering"),className:"pr-5",children:h(ue,{name:"order_option",control:c,render:({field:g})=>h(ye,{...g,className:"w-[50%]!",size:"sm",onChange:m=>{g.onChange(ve(m.target.value))},children:lEe.map((m,f)=>h(Q,{value:f,children:t(m.label)},m.label))})})}),h("div",{className:P("overflow-hidden rounded-md p-3",n!=="light"&&"bg-bg-alt-1"),children:k(q,{className:"w-full gap-8",children:[h(B8,{register:u,fieldKeys:["point_1_x","point_1_y","point_1_z"],groupNum:1}),h(B8,{register:u,fieldKeys:["point_2_x","point_2_y","point_2_z"],groupNum:2}),h(B8,{register:u,fieldKeys:["point_3_x","point_3_y","point_3_z"],groupNum:3})]})})]})},{useMutation:fmt}=await F("@tanstack/react-query"),pmt="/{robot_model}/set_userframe_3points",_mt=i=>{const{robot_model:e,...t}=i,n=pmt.replace("{robot_model}",e);return Ot.post(n,t)},bmt=()=>fmt({mutationFn:i=>_mt(i)}),V8=({targetData:i,register:e,onFieldChange:t,onGetCurrentValues:n,errors:s,isDisabled:o,isPending:r,groupNum:a})=>{const{t:l}=J();return k(q,{className:"w-full gap-2",children:[k(U,{className:"w-full",alignItems:"center",justifyContent:"space-between",children:[k("span",{className:"typo-compact-xs-semibold text-fg-default min-w-[3rem] shrink-0",children:[l("program.button.point")," ",a]}),h(_e,{className:"self-end px-2",size:"2xs",variant:"outlined",disabled:o,loading:r,onClick:()=>n(a),children:l("move.menu.button.get")})]}),h(U,{className:"gap-1.5",alignItems:"center",children:h("div",{className:"flex min-w-0 flex-1 gap-1",children:i.map(c=>k(q,{className:P("min-w-0 flex-1 gap-1",{"pointer-events-none invisible":!c.label}),alignItems:"center",children:[k(U,{className:"typo-compact-2xs-semibold w-[4rem] gap-1",children:[h("span",{className:Ri[c.label],children:c.label.toUpperCase()}),h("span",{className:"text-fg-subtle",children:"(mm)"})]}),h(nt,{className:"w-full",size:"xs2",type:"nx-number",inputMode:"text",error:!!ct.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))})})]})},vmt=({className:i,tcpRef:e,robotModel:t,isDisabled:n,userFrameNameList:s})=>{const{t:o}=J(),{register:r,setValue:a,watch:l,getValues:c,control:d,trigger:u,formState:{errors:g}}=Se({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}=bmt(),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 w=>{const y=e?.map(S=>Number(S.toFixed(3)));switch(w){case 1:_.slice(0,3).forEach((S,C)=>{a(S.fieldKey,y[C])});break;case 2:_.slice(3,6).forEach((S,C)=>{a(S.fieldKey,y[C])});break;case 3:_.slice(6).forEach((S,C)=>{a(S.fieldKey,y[C])});break}},v=async()=>{const w=c().user3Points;if(!await u("user3Points",{shouldFocus:!0})){at.openToast({type:"basic",variant:"warning",title:"Invalid value",content:"Please enter valid values"});return}m({robot_model:t,user_frame_num:Number(w.user_frame_num),order_option:Number(w.order_option),setting_option:2,point_1_x:Number(w.point_1_x),point_1_y:Number(w.point_1_y),point_1_z:Number(w.point_1_z),point_2_x:Number(w.point_2_x),point_2_y:Number(w.point_2_y),point_2_z:Number(w.point_2_z),point_3_x:Number(w.point_3_x),point_3_y:Number(w.point_3_y),point_3_z:Number(w.point_3_z)})};return k(q,{className:P("User3PointsCalibration","w-full gap-2.5",i),children:[h(tt,{label:o("program.field.user_frame"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(ue,{control:d,name:"user3Points.user_frame_num",render:({field:w})=>h(ye,{className:"w-full",size:"xs2",value:w.value,onChange:y=>{const S=y.target.value;w.onChange(S.trim()===""?0:Number(S)),a("user3Points.user_frame_num",S.trim()===""?0:Number(S))},children:Array.from({length:8},(y,S)=>h(Q,{value:S,children:`User ${S} (${s[S]})`},`user-3points-${S}`))})})}),h(tt,{label:o("program.field.point_ordering"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(ue,{control:d,name:"user3Points.order_option",render:({field:w})=>h(ye,{className:"w-full",size:"xs2",value:w.value,onChange:y=>{const S=y.target.value;w.onChange(S.trim()===""?0:Number(S)),a("user3Points.order_option",S.trim()===""?0:Number(S))},children:lEe.map((y,S)=>h(Q,{value:S,children:o(y.label)},y.label))})})}),h("div",{className:"flex items-center justify-center",children:h("img",{className:"w-50",src:vt(`nexus/move/calibration/option_${p}.png`)})}),h("div",{className:"bg-bg-raised overflow-hidden rounded-md p-3",children:k(q,{className:"w-full gap-0",children:[h(V8,{targetData:_.slice(0,3),register:r,onFieldChange:a,onGetCurrentValues:b,isDisabled:n,errors:g,isPending:f,groupNum:1}),h(Zs,{size:1,thickness:"thin",spaceSize:12}),h(V8,{targetData:_.slice(3,6),register:r,onFieldChange:a,onGetCurrentValues:b,isDisabled:n,errors:g,isPending:f,groupNum:2}),h(Zs,{size:1,thickness:"thin",spaceSize:12}),h(V8,{targetData:_.slice(6),register:r,onFieldChange:a,onGetCurrentValues:b,isDisabled:n,errors:g,isPending:f,groupNum:3})]})}),h(_e,{className:"typo-compact-xs-semibold w-full",size:"sm",variant:"brand",disabled:n,loading:f,onClick:()=>v(),children:o("program.button.save")})]})},{useMutation:ymt}=await F("@tanstack/react-query"),wmt="/{robot_model}/set_userframe_tcp",Cmt=i=>{const{robot_model:e,...t}=i,n=wmt.replace("{robot_model}",e);return Ot.post(n,t)},Smt=()=>ymt({mutationFn:i=>Cmt(i)}),xmt=({className:i,robotModel:e,isDisabled:t,userFrameNameList:n})=>{const{t:s}=J(),{mutate:o,isPending:r}=Smt(),{setValue:a,getValues:l,control:c}=Se({defaultValues:{userTCPFrame:{user_frame_num:0}}}),d=()=>{const u=l().userTCPFrame;o({robot_model:e,user_frame_num:Number(u.user_frame_num),setting_option:2})};return h(q,{className:P("UserTCPCalibration","w-full gap-1",i),children:h(tt,{label:s("program.field.user_frame"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:k(U,{className:"w-full gap-1.5",alignItems:"center",children:[h(ue,{control:c,name:"userTCPFrame.user_frame_num",render:({field:u})=>h(ye,{className:"w-full",size:"xs2",value:u.value,onChange:g=>{const m=g.target.value;u.onChange(m.trim()===""?0:Number(m)),a("userTCPFrame.user_frame_num",m.trim()===""?0:Number(m))},children:Array.from({length:8},(g,m)=>h(Q,{value:m,children:`User ${m} (${n[m]})`},`user-tcp-${m}`))})}),h(_e,{className:"typo-compact-xs-semibold w-20",size:"xs2",variant:"brand",disabled:t,loading:r,onClick:()=>d(),children:s("program.button.save")})]})})})},{useMutation:Imt}=await F("@tanstack/react-query"),kmt="/{robot_model}/call_extaxis_calib_{command}",Nmt=i=>{const{robot_model:e,command:t,...n}=i,s=kmt.replace("{robot_model}",e).replace("{command}",t);return Ot.post(s,n)},Lmt=()=>Imt({mutationFn:Nmt}),Dmt=({className:i,robotModel:e,isDisabled:t})=>{const{t:n}=J(),{mutate:s,isPending:o}=Lmt(),{setValue:r,getValues:a,control:l}=Se({defaultValues:{externalAxis:{joint_no:0}}}),c=d=>{const u=a().externalAxis.joint_no;s({robot_model:e,command:d,joint_no:Number(u)})};return k(q,{className:P("ExternalAxisCalibration","w-full gap-3",i),children:[h(tt,{label:n("move.field.label.jointNumber"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(U,{className:"w-full gap-1.5",alignItems:"center",children:h(ue,{control:l,name:"externalAxis.joint_no",render:({field:d})=>h(ye,{className:"w-full",size:"xs2",value:d.value,onChange:u=>{const g=u.target.value;d.onChange(g.trim()===""?0:Number(g)),r("externalAxis.joint_no",g.trim()===""?0:Number(g))},children:Array.from({length:7},(u,g)=>h(Q,{value:g,children:`External Axis ${g}`},`ext-axis-${g}`))})})})}),k(q,{className:"gap-1",children:[h(_e,{className:"typo-compact-xs-semibold",size:"xs2",variant:"outlined",disabled:t,loading:o,onClick:()=>c("clr"),children:"Calibration Start"}),h(_e,{className:"typo-compact-xs-semibold",size:"xs2",variant:"outlined",disabled:t,loading:o,onClick:()=>c("add"),children:"Calibration Add+"}),h(_e,{className:"typo-compact-xs-semibold",size:"xs2",variant:"outlined",disabled:t,loading:o,onClick:()=>c("run"),children:"Calibration Finish"})]})]})},{useMemo:Tmt}=await F("react"),Rge=[{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"}],Emt=({className:i,robotModel:e,userFrameNameList:t})=>{const{t:n}=J(),{selectedRobot:s}=Fi(e),{motionMode:o,jointQRef:r,carteXRef:a}=ws(e,p=>({motionMode:p.motionMode,jointQRef:p.jointQRef,carteXRef:p.carteXRef})),{register:l,setValue:c,watch:d,clearErrors:u}=Se({defaultValues:{mode:Rge[0].value}}),g=d("mode"),m=Tmt(()=>o!==0||s?.connected==="DISCONNECT",[o,s?.connected]),f=(p,_)=>{c(p,_),u()};return k("div",{className:P("CalibrationControl","h-full px-3",i),children:[h("div",{className:"sticky top-0 z-10",children:h(pp,{className:"pt-2",subject:n("move.menu.button.label.calibration")})}),k(q,{className:"gap-2 pb-3",children:[h(ye,{className:"w-full",size:"sm",...l("mode",{onChange:p=>f("mode",p.target.value)}),children:Rge.map(p=>h(Q,{value:p.value,children:n(p.label)},p.label))}),g==="tcp_pos"&&h(Xgt,{jointRef:r,robotModel:e,isDisabled:m}),g==="tcp_ori"&&h(smt,{robotModel:e,isDisabled:m}),g==="user_3points"&&h(vmt,{tcpRef:a,robotModel:e,isDisabled:m,userFrameNameList:t}),g==="user_tcp"&&h(xmt,{robotModel:e,isDisabled:m,userFrameNameList:t}),g==="ext_axis"&&h(Dmt,{robotModel:e,isDisabled:m})]})]})},{useMemo:yO}=await F("react"),Pmt=["translate","rotate","surfaceTeach"],mie=i=>{const{data:e}=wh(),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(()=>uDe(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?Pmt:void 0}},{useCallback:Mge,useState:mD}=await F("react"),fie=()=>{const[i,e]=mD(!1),[t,n]=mD("translate"),[s,o]=mD("local"),[r,a]=mD(.7),[l,c]=mD({x:!0,y:!0,z:!0}),d=Mge((g,m)=>{c(f=>({...f,[g]:m}))},[]),u=Mge(g=>{n(m=>m===g?"none":g)},[]);return{isGhostRobot:i,setIsGhostRobot:e,gizmoType:t,handleGizmoTypeChange:u,gizmoSpace:s,setGizmoSpace:o,gizmoSize:r,setGizmoSize:a,axisEnabled:l,handleAxisEnabledChange:d}},{useCallback:Rmt,useState:Mmt}=await F("react"),pie=i=>{const[e,t]=Mmt(),n=Rmt(s=>t(s),[]);return{ghostJointValues:i?e:void 0,handleGhostRobotJointsChanged:n}},{useCallback:Amt}=await F("react"),_ie=({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=Amt(u=>{l(u),c(u)},[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:z8,useLayoutEffect:Omt,useMemo:Age,useState:wO}=await F("react"),Fmt=({urdfViewerRef:i,isGhostRobot:e,gizmoType:t})=>{const{t:n}=J(),[s,o]=wO(!1),[r,a]=wO("free"),[l,c]=wO(!1),[d,u]=wO(!0),g=z8(()=>{at.openToast({type:"basic",variant:"warning",title:"Warning",content:n("move.ghostRobot.surface.unreachable")})},[n]),m=z8(()=>{if(!e||t!=="surfaceTeach")return;const w=i.current?.getSurfaceFeatureSupport()??!1;c(w),i.current?.setSurfaceTeachFilter(r)},[e,t,r,i]);Omt(()=>{if(!e||t!=="surfaceTeach"){c(!1);return}m()},[e,t,m]);const f=z8(w=>{a(w),i.current?.setSurfaceTeachFilter(w)},[i]),p=e&&t==="surfaceTeach"&&r==="cylinder",_=p&&d,b=Age(()=>({onSurfaceTeachAvailableChange:o,surfaceTeachFilter:r,surfaceTeachShowRings:_,onSurfaceTeachUnreachable:g}),[r,_,g]),v=Age(()=>({surfaceTeachAvailable:s,surfaceFilter:r,onSurfaceFilterChange:f,surfaceFeatureSupport:l,surfaceShowRings:_,surfaceShowRingsAvailable:p,onSurfaceShowRingsChange:u}),[s,r,f,l,_,p]);return{viewerProps:b,itemProps:v,handleCheckFeatureSupport:m}},MS=({className:i,title:e,currentSignal:t,functionSignal:n,targetSignal:s,onClick:o,onPreview:r})=>{const{t:a}=J(),l=c=>{n&&n[c]!==0||o(c)};return k(q,{className:P("MoveDigitalIOSignal","gap-2.5",i),children:[h("span",{className:"typo-compact-xs-semibold text-fg-default",children:e}),h(tt,{label:a("move.menu.title.currentSignal"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(U,{className:"grid grid-cols-16 gap-1",children:Array.from({length:16}).map((c,d)=>k(q,{className:"w-full gap-1",alignContent:"center",children:[h("span",{className:"typo-compact-xs-medium text-fg-subtler text-center",children:d}),h("div",{className:P("size-3 self-center rounded-[50%]",{"bg-fg-subtler":t[d]===-1,"bg-fg-danger":t[d]===0,"bg-fg-success":t[d]===1})})]},`${e}-curr-${d}`))})}),s&&h(tt,{label:a("move.menu.title.targetSignal"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:k(q,{className:"gap-2.5",children:[h(U,{className:"grid grid-cols-16 gap-1",children:Array.from({length:16}).map((c,d)=>h(_e,{className:P("size-3 justify-self-center rounded-[50%] border-none !p-0",{"bg-fg-subtler":s[d]===-1,"bg-fg-danger":s[d]===0,"bg-fg-success":s[d]===1,"pointer-none bg-fg-caution":n&&n[d]!==0},{"hover:bg-fg-subtler/80":s[d]===-1,"hover:bg-fg-danger/80":s[d]===0,"hover:bg-fg-success/80":s[d]===1,"pointer-none bg-fg-caution":n&&n[d]!==0}),onClick:()=>l(d),children:""},`${e}-editable-${d}`))}),h(_e,{className:"w-25 self-end",size:"xs2",leadingIcon:h(sn,{className:"size-4"}),variant:"outlined",onClick:r,children:a("program.button.preview")})]})})]})},{useMutation:Bmt}=await F("@tanstack/react-query"),Vmt=async i=>{const{robot_model:e,location:t,...n}=i,s=`/${e}/call_multiple_${t}_aout`;return await Ot.post(s,n)},cEe=()=>Bmt({mutationFn:async i=>Vmt(i)}),fD=({className:i,title:e,currentSignal:t,targetSignal:n,onChange:s,onPreview:o,isChecked:r,onCheckedChange:a})=>{const{t:l}=J();return k(q,{className:P("MoveAnalogIOSignal","gap-2.5",i),children:[h("span",{className:"typo-compact-xs-semibold text-fg-default",children:e}),h(tt,{label:l("move.menu.title.currentSignal"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(U,{className:"grid grid-cols-4 gap-1",children:t.map((c,d)=>k(q,{alignItems:"flex-start",justifyContent:"center",className:"w-full gap-1",children:[h("span",{className:"typo-compact-xs-medium text-fg-subtle w-full shrink-0 px-1 text-center",children:d}),h(nt,{size:"xs2",className:"w-full",value:c.toFixed(1),readOnly:!0})]},`${e}-curr-${d}`))})}),n&&h(tt,{label:l("move.menu.title.targetSignal"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:k(q,{className:"gap-2.5",children:[h(U,{className:"grid grid-cols-4 gap-1",children:Array.from({length:4}).map((c,d)=>{const u=r[d];return k(q,{className:"w-full gap-1",justifyContent:"center",alignItems:"center",children:[h(nt,{size:"xs2",className:"w-full",type:"nx-number",value:n[d]===-1?"":n[d],disabled:!r[d],onChange:g=>s(g,d)}),h(ea,{size:"sm",checkValue:!0,value:u,handleChange:g=>{a(!!g,d)}})]},`${e}-editable-${d}`)})}),h(_e,{className:"w-25 self-end",size:"xs2",leadingIcon:h(sn,{className:"size-4"}),variant:"outlined",onClick:o,children:l("program.button.preview")})]})})]})},{useMemo:Oge,useState:W8}=await F("react"),Fge=[{label:"move.menu.tab.lable.controlBox",value:"cb"},{label:"settings.menu.title.tool",value:"tool"},{label:"move.menu.tab.lable.extBoard",value:"ext"}],Rp=[-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1],AS=[-1,-1,-1,-1],zmt=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),{cboxDigitalInput:s,cboxDigitalOutput:o,cboxAnalogInput:r,cboxAnalogOutput:a,toolDigitalInput:l,toolDigitalOutput:c,toolAnalogInput:d,toolVoltageOutput:u,exDigitalInput:g,exDigitalOutput:m,exAnalogInput:f,exAnalogOutput:p}=ws(e,ce=>({cboxDigitalInput:ce.cboxDigitalInput,cboxDigitalOutput:ce.cboxDigitalOutput,cboxAnalogInput:ce.cboxAnalogInput,cboxAnalogOutput:ce.cboxAnalogOutput,toolDigitalInput:ce.toolDigitalInput,toolDigitalOutput:ce.toolDigitalOutput,toolAnalogInput:ce.toolAnalogInput,toolVoltageOutput:ce.toolVoltageOutput,exDigitalInput:ce.exDigitalInput,exDigitalOutput:ce.exDigitalOutput,exAnalogInput:ce.exAnalogInput,exAnalogOutput:ce.exAnalogOutput})),{data:_}=ku({robot_model:e}),{mutate:b}=iie(),{mutate:v}=cEe(),{mutate:w}=ADe(),{mutate:y}=MDe(),[S,C]=W8(Fge[0].value),{control:x,setValue:N,getValues:L}=Se({defaultValues:{cbTargetDout:Rp,cbTargetAout:AS,toolTargetDout:Rp,toolTargetVoltage:-1,extTargetDout:Rp,extTargetAout:AS}}),D=Ml({control:x,name:"cbTargetDout"}),E=Ml({control:x,name:"cbTargetAout"}),T=Ml({control:x,name:"toolTargetDout"}),R=Ml({control:x,name:"toolTargetVoltage"}),A=Ml({control:x,name:"extTargetDout"}),M=Ml({control:x,name:"extTargetAout"}),[O,B]=W8(E.map(ce=>ce!==-1)),[V,G]=W8(M.map(ce=>ce!==-1)),H=Oge(()=>({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)}),[_]),X=Oge(()=>({cbCurrDin:s?.u??Rp,cbCurrDout:o?.u??Rp,cbCurrAin:r?.f??AS,cbCurrAout:a?.f??AS,toolCurrDin:l?.u??Rp,toolCurrDout:c?.u??Rp,toolCurrAin:d?.f??[-1,-1],toolCurrVoltage:u??-1,extCurrDin:g?.u??Rp,extCurrDout:m?.u??Rp,extCurrAin:f?.f??AS,extCurrAout:p?.f??AS}),[o?.u,s?.u,r?.f,a?.f,l?.u,c?.u,d?.f,u,g?.u,m?.u,f?.f,p?.f]),K=(ce,Ie)=>{B(Ee=>{const Te=[...Ee];return Te[Ie]=ce,Te}),N(`cbTargetAout.${Ie}`,ce?X.cbCurrAout[Ie]:-1)},z=(ce,Ie)=>{G(Ee=>{const Te=[...Ee];return Te[Ie]=ce,Te}),N(`extTargetAout.${Ie}`,ce?X.extCurrAout[Ie]:-1)},de=(ce,Ie)=>{b({robot_model:e,location:ce,side_dout_args:A4(Ie)})},te=ce=>{w({robot_model:e,flange_dout_args:A4(ce)})},ie=ce=>{y({robot_model:e,desired_voltage:ce})},he=(ce,Ie,Ee)=>{const Te=Ie.reduce((lt,st,kt)=>(Ee[kt]&&lt.push({port_num:kt,desired_voltage:Number(st.toFixed(1))}),lt),[]);v({robot_model:e,location:ce,side_aout_args:Te})};return h("div",{className:P("ManipulateIOControl","h-full",i),children:k(q,{className:"gap-2 px-3 py-2.5",children:[h(pp,{subject:t("settings.menu.title.io")}),k(WM,{defaultValue:S,className:"flex h-full gap-0",children:[h("div",{className:"h-full flex-1 overflow-y-auto",children:h("div",{className:"sticky top-0 left-0 z-[2] mb-2.5",children:h("div",{children:h(HM,{className:P("h-7 w-full rounded-md border-none",n==="light"?"bg-fill-navy-subtlest":"bg-fill-subtlest"),children:Fge.map((ce,Ie)=>h($M,{value:ce.value,className:P("typo-compact-xs2-medium rounded",n==="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"]),onClick:()=>{C(ce.value)},children:t(ce.label)},Ie))})})})}),h(RC,{value:"cb",className:"w-full",children:k(q,{className:"gap-2.5",children:[h(MS,{title:t("move.menu.label.digitalInput",{loc:t("program.options.d.output_location.side")}),currentSignal:X.cbCurrDin,functionSignal:H.cbFunctionDin}),h(ue,{control:x,name:"cbTargetDout",render:({field:ce})=>h(MS,{title:t("move.menu.label.digitalOutput",{loc:t("program.options.d.output_location.side")}),currentSignal:X.cbCurrDout,functionSignal:H.cbFunctionDout,targetSignal:D,onClick:Ie=>{const Ee=[...ce.value];Ee[Ie]=d3[ce.value[Ie]],N("cbTargetDout",Ee,{shouldDirty:!0,shouldValidate:!0})},onPreview:()=>{const Ie=L();de("side",Ie.cbTargetDout)}})}),h(Zs,{}),h(fD,{title:t("move.menu.label.analogInput",{loc:t("program.options.d.output_location.side")}),currentSignal:X.cbCurrAin}),h(ue,{control:x,name:"cbTargetAout",render:({field:ce})=>h(fD,{title:t("move.menu.label.analogOutput",{loc:t("program.options.d.output_location.side")}),currentSignal:X.cbCurrAout,targetSignal:E,isChecked:O,onCheckedChange:K,onChange:(Ie,Ee)=>{const Te=Ie.target.value,lt=Te.trim()===""?-1:Number(Te),st=[...ce.value||[]];st[Ee]=lt,ce.onChange(st)},onPreview:()=>{const Ie=L();he("side",Ie.cbTargetAout,O)}})})]})}),h(RC,{value:"tool",className:"w-full",children:k(q,{className:"gap-2.5",children:[h(MS,{title:t("move.menu.label.digitalInput",{loc:t("settings.menu.title.tool")}),currentSignal:X.toolCurrDin}),h(ue,{control:x,name:"toolTargetDout",render:({field:ce})=>h(MS,{title:t("move.menu.label.digitalOutput",{loc:t("settings.menu.title.tool")}),currentSignal:X.toolCurrDout,targetSignal:T,onClick:Ie=>{const Ee=[...ce.value];Ee[Ie]=d3[ce.value[Ie]],N("toolTargetDout",Ee,{shouldDirty:!0,shouldValidate:!0})},onPreview:()=>{const Ie=L();te(Ie.toolTargetDout)}})}),h(Zs,{}),h(fD,{title:t("move.menu.label.analogInput",{loc:t("settings.menu.title.tool")}),currentSignal:X.toolCurrAin}),k(q,{className:"gap-2.5",children:[h("span",{className:"typo-compact-xs-semibold text-fg-default",children:`${t("move.menu.label.toolVoltageOutput")} (V)`}),h(tt,{label:t("move.menu.title.currentSignal"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:h(nt,{size:"xs2",className:"w-[calc(100%-104px)]",value:X.toolCurrVoltage,readOnly:!0})}),h(tt,{label:t("move.menu.title.targetSignal"),labelClassName:"[&_[data-slot='text-label-text']]:text-fg-subtle",children:k(U,{className:"gap-1",children:[h(ue,{control:x,name:"toolTargetVoltage",render:({field:ce})=>h(ye,{className:"flex-1",size:"xs2",value:ce.value,onChange:ce.onChange,children:M4.map(Ie=>h(Q,{value:Ie.value,children:Ie.label},Ie.value))})}),h(_e,{className:"w-25 self-end",size:"xs2",leadingIcon:h(sn,{className:"size-4"}),variant:"outlined",onClick:()=>ie(R),children:t("program.button.preview")})]})})]})]})}),h(RC,{value:"ext",className:"w-full",children:k(q,{className:"gap-2.5",children:[h(MS,{title:t("move.menu.label.digitalInput",{loc:t("program.options.d.output_location.ext")}),currentSignal:X.extCurrDin,functionSignal:H.extFunctionDin}),h(ue,{control:x,name:"extTargetDout",render:({field:ce})=>h(MS,{title:t("move.menu.label.digitalOutput",{loc:t("program.options.d.output_location.ext")}),currentSignal:X.extCurrDout,functionSignal:H.extFunctionDout,targetSignal:A,onClick:Ie=>{const Ee=[...ce.value];Ee[Ie]=d3[ce.value[Ie]],N("extTargetDout",Ee,{shouldDirty:!0,shouldValidate:!0})},onPreview:()=>{const Ie=L();de("ext",Ie.extTargetDout)}})}),h(Zs,{}),h(fD,{title:t("move.menu.label.analogInput",{loc:t("program.options.a.output_location.ext")}),currentSignal:X.extCurrAin}),h(ue,{control:x,name:"extTargetAout",render:({field:ce})=>h(fD,{title:t("move.menu.label.analogOutput",{loc:t("program.options.a.output_location.ext")}),currentSignal:X.extCurrAout,targetSignal:M,isChecked:V,onCheckedChange:z,onChange:(Ie,Ee)=>{const Te=Ie.target.value,lt=Te.trim()===""?-1:Number(Te),st=[...ce.value||[]];st[Ee]=lt,ce.onChange(st)},onPreview:()=>{const Ie=L();he("ext",Ie.extTargetAout,V)}})})]})})]})]})})},{useMemo:Wmt}=await F("react"),Hmt=({className:i,robotModel:e,mode:t="real",onChangeMode:n})=>{const{t:s}=J(),{selectedRobot:o}=Fi(e),{theme:r}=rt(),a=Wmt(()=>o?.connected==="DISCONNECT",[o]),l=c=>{n(c)};return k("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 [&_button]:min-w-[4.125rem] [&_button]:rounded-sm [&_button]:px-1.5 [&_button]:py-0.5 [&_button]:text-white",i),children:[h(_e,{className:P({"!bg-fill-navy":t==="real",[r==="light"&&"!text-fg-subtlest"]:t!=="real"}),variant:"transparent",disabled:a,onClick:()=>l("real"),children:s("move.button.label.real")}),h(_e,{className:P({[r==="light"&&"!text-fg-subtlest"]:t!=="simulation",[r==="light"?"!bg-orange-500":"!bg-fill-subtler"]:t==="simulation",[r==="light"&&"!bg-orange-200"]:a&&t==="simulation"}),variant:"transparent",disabled:a,onClick:()=>l("simulation"),children:s("move.button.label.simulation")})]})},{useMemo:Bge}=await F("react"),dEe=({className:i,robotModel:e,isShowEdit:t=!0,size:n="md"})=>{const{t:s}=J(),{isUseSimulator:o}=ui(),{modal:r}=$i(),{selectedRobot:a}=Fi(e),{toolName:l,motionMode:c}=ws(e,f=>({toolName:f?.toolName,motionMode:f?.motionMode})),{data:d}=$y({robot_model:e}),u=Bge(()=>c!==0,[c]),g=Bge(()=>{const f=Object.values(d??[]),p=f.findIndex(_=>_.toolName===l);return p!==-1?{...f[p],toolNumber:p}:null},[l,d]),m=()=>{r({component:jTe,props:{robotModel:e,selectedToolNumber:g?.toolNumber,isUseSimulator:o}})};return h("div",{className:P("TCPToolInfo","w-fit",i),children:k(U,{className:P("gap-1.5",{"typo-compact-xs2-medium":n==="md","typo-compact-2xs-medium":n==="sm"}),inline:!0,alignItems:"center",children:[h("span",{className:"text-fg-subtle",children:`${s("move.menu.button.label.tcpTool")}: `}),h("span",{className:"text-fg-default",children:g?`Tool ${g.toolNumber} (${g.toolName})`:"-"}),t&&h(rn,{className:"ml-0.5",variant:"transparent",size:"sm",disabled:a?.connected==="DISCONNECT"||u,onClick:m,children:h(_W,{})})]})})},{useMemo:Vge}=await F("react"),uEe=({className:i,robotModel:e,isShowEdit:t=!0,size:n="md"})=>{const{t:s}=J(),{modal:o}=$i(),{selectedRobot:r}=Fi(e),{userfSelectionNo:a,motionMode:l}=ws(e,m=>({userfSelectionNo:m?.userfSelectionNo,motionMode:m?.motionMode})),{data:c}=ON({robot_model:e}),d=Vge(()=>l!==0,[l]),u=Vge(()=>c?.user_frames[a]?.userfName,[c,a]),g=()=>{o({component:_De,props:{robotModel:e,selectedUserFrameNumber:a}})};return h("div",{className:P("UserFrameInfo","w-fit",i),children:k(U,{className:P("gap-1.5",{"typo-compact-xs2-medium":n==="md","typo-compact-2xs-medium":n==="sm"}),inline:!0,alignItems:"center",children:[h("span",{className:"text-fg-subtle",children:`${s("program.options.coordinate.user_space")}: `}),h("span",{className:"text-fg-default",children:c?`User ${a} (${u})`:"-"}),t&&h(rn,{className:"ml-0.5",variant:"transparent",size:"sm",disabled:r?.connected==="DISCONNECT"||d,onClick:g,children:h(_W,{})})]})})},{useCallback:$mt,useState:U4}=await F("react"),Umt=({className:i,isDrawTrajectory:e,maxAgeSeconds:t,onDrawTrajectoryChange:n})=>{const{t:s}=J(),o=e!==void 0,[r,a]=U4(!1),l=o?e:r,[c,d]=U4(t??""),u=f=>{d(f)},g=()=>{const f=Number(c);if(isNaN(f)||!f){d("");return}n?.({maxAgeSeconds:f}),d(f)},m=$mt(f=>{o||a(f),n?.({isDrawTrajectory:f})},[o,n]);return k(UW,{className:P("DrawTrajectoryController gap-2 px-3 py-2.5",i),children:[k(U,{className:"text-fg-default typo-compact-xs-semibold gap-1",alignItems:"center",justifyContent:"space-between",children:[h("p",{className:"typo-compact-xs-semibold text-fg-default",children:"Trajectory Drawing"}),h(Lo,{className:"mx-1",checked:l,onCheckedChange:m})]}),k("div",{className:"text-fg-subtle typo-compact-xs-normal grid w-full grid-cols-[1fr_auto] items-center gap-x-1 gap-y-0.5",children:[h(nt,{className:P("w-50"),size:"xs2",type:"nx-number",useSetButton:!0,hideBtnReset:!0,disabled:!l,value:c??0,handleChange:u,onBlur:g}),h("span",{className:"typo-compact-xs-semibold",children:s("common.unit.seconds")}),h("p",{className:"typo-compact-2xs-normal col-span-2",children:s("move.trajectory.description")})]})]})},hEe=({handleChangeDrawTrajectory:i})=>{const{t:e}=J(),[t,n]=U4(!1),[s,o]=U4(""),r=a=>{a.isDrawTrajectory!==void 0&&n(a.isDrawTrajectory),a.maxAgeSeconds!==void 0&&o(a.maxAgeSeconds),i(a)};return h($W,{id:"trajectory-tooltip",label:e("move.panel.trajectory"),icon:h(sGe,{className:"relative z-10 h-4 w-4"}),isActive:t,children:h(Umt,{isDrawTrajectory:t,maxAgeSeconds:s,onDrawTrajectoryChange:r})})},jmt=[{id:"center",labelKey:"move.measure.mode.center"},{id:"min",labelKey:"move.measure.mode.min"}],Gmt=({label:i,ariaLabel:e,emptyPrompt:t,assetId:n,name:s,onDeselect:o,disabled:r})=>{const{slotBgCls:a}=Uy();return k(q,{className:"gap-1",children:[h("p",{className:"typo-compact-2xs-semibold text-fg-disabled",children:i}),n?k(U,{alignItems:"center",justifyContent:"space-between",className:P("border-border-subtle gap-1.5 rounded border px-2 py-1.5",a),children:[h(ZUe,{className:"text-fg-subtle size-3.5 shrink-0"}),h("span",{className:"typo-compact-xs-medium text-fg-default min-w-0 flex-1 truncate",children:s}),h("button",{type:"button","aria-label":e,disabled:r,onClick:()=>o(n),className:"text-fg-subtle hover:text-fg-default disabled:text-fg-disabled cursor-pointer rounded p-0.5 transition-colors disabled:cursor-not-allowed",children:h(d8e,{className:"size-3.5"})})]}):h("div",{className:"border-border-subtle text-fg-disabled typo-compact-2xs-normal flex items-center justify-center rounded border border-dashed px-2 py-1.5 text-center",children:t})]})},qmt=({isMeasureActive:i,onMeasureActiveChange:e,selectedAssetIds:t=[],onDeselectAsset:n,measureMode:s,onMeasureModeChange:o,measureResult:r,onReset:a,getAssetName:l,labelScale:c,onLabelScaleChange:d,className:u,disabled:g=!1})=>{const{t:m}=J(),f=p=>l?.(p)||p;return k(UW,{className:P("MeasureDistanceController",u),children:[k(U,{alignItems:"center",justifyContent:"space-between",className:"px-3 pt-2.5 pb-2",children:[k(q,{className:"gap-0.5",children:[h("p",{className:"typo-compact-xs-semibold text-fg-default",children:m("move.measure.title")}),h("p",{className:"typo-compact-2xs-normal text-fg-subtle",children:m("move.measure.activate")})]}),h(Lo,{className:"ml-2 shrink-0",checked:i,disabled:g,onCheckedChange:e})]}),h(Mf,{children:h(q,{className:"gap-2",children:[{label:m("move.measure.target1"),emptyPrompt:m("move.measure.selectFirstPrompt")},{label:m("move.measure.target2"),emptyPrompt:m("move.measure.selectSecondPrompt")}].map(({label:p,emptyPrompt:_},b)=>{const v=t[b];return h(Gmt,{label:p,ariaLabel:`${p} ${m("common.button.cancel")}`,emptyPrompt:_,assetId:v,name:v?f(v):"",onDeselect:n,disabled:g},b)})})}),i&&h(Mf,{children:h(vDe,{options:jmt.map(({id:p,labelKey:_})=>({id:p,label:m(_)})),value:s,onChange:p=>o(p),disabled:g})}),i&&h(Mf,{children:k(q,{className:"gap-1.5",children:[k(U,{alignItems:"center",justifyContent:"space-between",children:[h("p",{className:"typo-compact-2xs-semibold text-fg-subtle",children:"Label Size"}),h("span",{className:"typo-compact-2xs-normal text-fg-subtle w-8 shrink-0 text-right",children:c.toFixed(1)})]}),h(_o,{className:"w-full",min:ZLe,max:eDe,step:.1,value:[c],disabled:g,onValueChange:([p])=>d(p)})]})}),i&&t.length>=2&&r&&h(Mf,{children:k(q,{className:"gap-0.5",children:[h("span",{className:"typo-compact-2xs-semibold text-fg-subtle",children:m(s==="min"?"move.measure.mode.min":"move.measure.mode.center")}),k("span",{className:"typo-compact-md-semibold text-fg-default font-bold",children:[r.distance.toFixed(2)," mm"]})]})}),h(Mf,{children:h(_e,{size:"xs",variant:"outlined",className:"w-full",disabled:g||t.length===0,onClick:a,leadingIcon:h(nGe,{className:"size-3.5"}),children:m("move.measure.reset")})})]})},Kmt=({isMoving:i,isMeasureActive:e,onMeasureActiveChange:t,selectedAssetIds:n,onDeselectAsset:s,measureMode:o,onMeasureModeChange:r,measureResult:a,onReset:l,getAssetName:c,labelScale:d,onLabelScaleChange:u,className:g})=>{const{t:m}=J();return h($W,{id:"measure-distance-tooltip",label:m("move.panel.measureDistance"),icon:h(Zke,{className:"relative z-10 h-4 w-4"}),isActive:e,disabled:i,anchorToPanelTop:!0,children:h(qmt,{isMeasureActive:e,onMeasureActiveChange:t,selectedAssetIds:n,onDeselectAsset:s,measureMode:o,onMeasureModeChange:r,measureResult:a,onReset:l,getAssetName:c,labelScale:d,onLabelScaleChange:u,className:g,disabled:i})})},{useCallback:zge,useMemo:Jmt,useRef:Ymt,useState:Qmt}=await F("react"),gEe=()=>{const[i,e]=Qmt(!1),t=Ymt(null),n=zge(o=>{t.current=o},[]),s=zge(o=>{t.current?.(o)},[]);return Jmt(()=>({isActive:i,setIsActive:e,onPick:s,setPickHandler:n}),[i,s,n])},{useCallback:OS,useEffect:CO,useRef:Xmt,useState:SO}=await F("react"),Zmt=1e3,eft=i=>i?i.replace(/^(?:base|tool):/,"").replace(/^local:/,""):"",tft=({urdfViewerRef:i,baseAssets:e=[],toolAssets:t=[],picker:n})=>{const s=gEe(),o=n??s,{isActive:r,setIsActive:a}=o,[l,c]=SO([]),[d,u]=SO("center"),[g,m]=SO(null),[f,p]=SO(zW),_=OS(N=>{p(N),i.current?.setMeasureLabelScale(N)},[i]),b=Xmt(!1),v=OS(N=>{if(!N)return;const L=e.find(D=>D.id===N)??t.find(D=>D.id===N);L&&L.source.kind!=="primitive"||c(D=>D.includes(N)?D.filter(E=>E!==N):D.length>=2?[D[D.length-1],N]:[...D,N])},[e,t]),{setPickHandler:w}=o;CO(()=>(w(v),()=>w(null)),[w,v]);const y=OS(N=>{c(L=>L.filter(D=>D!==N))},[]),S=OS(()=>{c([]),m(null),i.current?.clearMeasureDistance(),r&&i.current?.setSelectedAssetIds([],!0)},[i,r]),C=OS(N=>{r&&m(N)},[r]),x=OS(N=>{const L=e.find(D=>D.id===N)??t.find(D=>D.id===N);return L?.displayName?.trim()?L.displayName:eft(N)},[e,t]);return CO(()=>{if((e.length>0||t.length>0)&&(b.current=!0),!b.current)return;const N=window.setTimeout(()=>{const L=new Set([...e.map(D=>D.id),...t.map(D=>D.id)]);c(D=>{const E=D.filter(T=>L.has(T));return E.length===D.length?D:E})},Zmt);return()=>window.clearTimeout(N)},[e,t]),CO(()=>{const N=i.current;if(N?.setMeasureDistanceActive(r),!!r)return()=>{N?.setSelectedAssetIds([],!1),N?.clearAssetSelection?.(),c([]),m(null)}},[r,i]),CO(()=>{if(!r)return;const N=i.current;N?.setSelectedAssetIds(l,!0),l.length===2?m(N?.setMeasureDistanceTargets(l,d)??null):(N?.clearMeasureDistance(),m(null))},[r,l,d,i]),{isMeasureActive:r,setIsMeasureActive:a,selectedAssetIds:l,measureMode:d,setMeasureMode:u,measureResult:g,labelScale:f,setLabelScale:_,handleSelectAsset:v,handleDeselectAsset:y,handleReset:S,handleMeasureResultChange:C,getAssetName:x}},{useMemo:nft}=await F("react"),ift=(i,e)=>{const{isMeasureActive:t,setIsMeasureActive:n,selectedAssetIds:s,handleDeselectAsset:o,measureMode:r,setMeasureMode:a,measureResult:l,handleReset:c,getAssetName:d,handleMeasureResultChange:u,labelScale:g,setLabelScale:m}=i;return nft(()=>({viewerProps:{onMeasureResultChange:u},itemProps:{isMoving:e,isMeasureActive:t,onMeasureActiveChange:n,selectedAssetIds:s,onDeselectAsset:o,measureMode:r,onMeasureModeChange:a,measureResult:l,onReset:c,getAssetName:d,labelScale:g,onLabelScaleChange:m}}),[e,t,n,s,o,r,a,l,c,d,u,g,m])},{memo:sft,useMemo:oft}=await F("react"),rft=({className:i,mode:e,onModeChange:t,modes:n})=>{const{t:s}=J(),o=oft(()=>{const r=tUe.map(l=>{const c=l.id==="move"?"translate":l.id;return{id:c,icon:l.icon,label:s(`move.workspace.properties.${c}`)}});return[n?r.filter(l=>n.includes(l.id)):r]},[s,n]);return h(Vke,{className:i,selectedTool:e,onToolChange:t,toolGroups:o})},aft=sft(rft),{useMutation:lft}=await F("@tanstack/react-query"),cft="/{robot_model}/set_master_mode",dft=async i=>{const{robot_model:e,...t}=i,n=cft.replace("{robot_model}",e),s=await Ot.post(n,t);if(s.returnValue)throw Error(`[Error] error Return value: ${s.returnValue}`);return s},uft=()=>lft({mutationFn:async i=>dft(i)}),H8={STOP:0,MODE_J:1,MODE_L:2},hft=({robotModel:i,className:e})=>{const{t}=J(),{theme:n}=rt(),{selectedRobot:s}=Fi(i),{mutate:o,isPending:r}=uft(),a=n==="light"?"brand":"soft",l=s?.connected==="DISCONNECT",c=d=>{o({robot_model:i,mode:d})};return h("div",{className:P("ManipulateMasterControl","h-full",e),children:k(q,{className:"gap-2 px-3 py-2.5",children:[h(pp,{subject:t("move.menu.button.label.masterMode")}),k(q,{className:"gap-2",children:[k("div",{className:"grid grid-cols-2 gap-2",children:[h(_e,{className:"w-full",variant:a,size:"xs",disabled:l,loading:r,onClick:()=>c(H8.MODE_J),children:t("move.menu.button.label.master.modeJ")}),h(_e,{className:"w-full",variant:a,size:"xs",disabled:l,loading:r,onClick:()=>c(H8.MODE_L),children:t("move.menu.button.label.master.modeL")})]}),h(_e,{className:"w-full",variant:a,size:"xs",disabled:l,loading:r,onClick:()=>c(H8.STOP),children:t("move.menu.button.label.master.stop")})]})]})})},ff=i=>e=>e[i],nf=(i,e)=>t=>t[i]?.[e]??NaN,oK=(i,e)=>t=>{const n=t[i];return n?("u"in n?n.u:n.f)[e]??NaN:NaN},$8=[{key:"x",label:"X",field:"X"},{key:"y",label:"Y",field:"Y"},{key:"z",label:"Z",field:"Z"},{key:"rx",label:"RX",field:"Rx"},{key:"ry",label:"RY",field:"Ry"},{key:"rz",label:"RZ",field:"Rz"},{key:"aa",label:"AA",field:"AA"}],Wge=[{key:"x",label:"X",field:"X"},{key:"y",label:"Y",field:"Y"},{key:"z",label:"Z",field:"Z"},{key:"rx",label:"RX",field:"Rx"},{key:"ry",label:"RY",field:"Ry"},{key:"rz",label:"RZ",field:"Rz"}],gft=(i,e=70,t=60)=>Array.from({length:i},(n,s)=>`hsl(${Math.round(s*137.508%360)}, ${e}%, ${t}%)`),Hge=so.length,$ge=IDe.length,mft=vot.length,fft=bot.length,Uge=2,xO=(i,e,t,n,s,o)=>({key:i,subTitle:o,subclass:[{key:"in",label:"In",legend:`${e}_IN`},{key:"out",label:"Out",legend:`${e}_OUT`,dash:[4,3]}],rows:Array.from({length:t}).map((r,a)=>({key:`${i}-${a}`,label:`${a}`,prefix:e,cells:{in:oK(n,a),out:oK(s,a)}}))}),IO=(i,e,t,n,s)=>({key:i,subTitle:s,rows:Array.from({length:t}).map((o,r)=>({key:`${i}-${r}`,label:`${e} ${r}`,read:oK(n,r)}))}),sf=(i,e,t)=>({key:i,subTitle:t,rows:e.map(({key:n,label:s,field:o,legend:r})=>({key:n,label:s,legend:r,read:ff(o)}))}),pft=(i,e,t)=>[sf("heartBeat",[{key:"heartbeat",label:"Heartbeat",field:"heartBeat"}]),sf("timestampUsecMono",[{key:"tsUsecMono",label:"Timestamp",field:"timestampUsecMono"}]),{key:"jointQ",subTitle:"Joint",subclass:[{key:"ref",label:"Ref",legend:"REF"},{key:"enc",label:"Enc",legend:"ENC",dash:[4,3]}],rows:Array.from({length:i}).map((n,s)=>({key:`j${s}`,label:`J${s}`,cells:{ref:nf("jointQRef",s),enc:nf("jointQEnc",s)}}))},{key:"jointT",subclass:[{key:"esti",label:"Estimated",legend:"ESTI"},{key:"meas",label:"Measured",legend:"MEAS",dash:[4,3]}],rows:Array.from({length:i}).map((n,s)=>({key:`jT${s}`,label:`J${s} Torque`,cells:{esti:nf("jointTEsti",s),meas:nf("jointTMeas",s)}}))},{key:"jointTemper",rows:Array.from({length:i}).map((n,s)=>({key:`jointTemper${s}`,label:`J${s} Temp.`,read:nf("jointTemper",s)}))},{key:"carteX",subTitle:"TCP",subclass:[{key:"ref",label:"Ref",legend:"REF"},{key:"enc",label:"Enc",legend:"ENC",dash:[4,3]}],rows:$8.slice(0,i).map(({key:n,label:s},o)=>({key:`tcp-${n}`,label:s,prefix:"TCP",labelClassName:Ri[n],cells:{ref:nf("carteXRef",o),enc:nf("carteXEnc",o)}}))},{key:"carteSpeed",subclass:[{key:"spdRef",label:"Ref",legend:"SPD_REF"},{key:"spdEnc",label:"Enc",legend:"SPD_ENC",dash:[4,3]}],rows:$8.slice(0,i).map(({key:n,label:s},o)=>({key:`tcp-spd-${n}`,label:s,prefix:"TCP Spd",labelClassName:Ri[n],cells:{spdRef:nf("carteSpeedRef",o),spdEnc:nf("carteSpeedEnc",o)}}))},{key:"userfXRef",subTitle:"User",rows:$8.slice(0,i).map(({key:n,label:s},o)=>({key:`user-${n}`,label:s,prefix:`User ${e}`,legend:`USER_${s}`,read:nf("userfXRef",o)}))},{key:"toolTcp",subTitle:"Tool",rows:Wge.map(({key:n,label:s,field:o})=>({key:`tool-tcp-${n}`,label:s,prefix:`Tool ${t}`,legend:`TOOL_${s}`,read:ff(`toolTcp${o}`)}))},sf("toolComX",[{key:"toolComX",label:`Tool ${t} COM X`,field:"toolComX",legend:"TOOL_COM_X"}]),sf("toolComY",[{key:"toolComY",label:`Tool ${t} COM Y`,field:"toolComY",legend:"TOOL_COM_Y"}]),sf("toolComZ",[{key:"toolComZ",label:`Tool ${t} COM Z`,field:"toolComZ",legend:"TOOL_COM_Z"}]),xO("cboxDigital","CB Digital",Hge,"cboxDigitalInput","cboxDigitalOutput","CB I/O"),xO("cboxAnalog","CB Analog",$ge,"cboxAnalogInput","cboxAnalogOutput"),xO("exDigital","EX Digital",Hge,"exDigitalInput","exDigitalOutput","External I/O"),xO("exAnalog","EX Analog",$ge,"exAnalogInput","exAnalogOutput"),IO("toolDigitalIn","Tool D.In",mft,"toolDigitalInput","Tool I/O"),IO("toolDigitalOut","Tool D.Out",fft,"toolDigitalOutput"),IO("toolAnalogIn","Tool A.In",Uge,"toolAnalogInput"),IO("toolAnalogOut","Tool A.Out",Uge,"toolAnalogOutput"),sf("toolVoltageOutput",[{key:"toolVoltageOutput",label:"Tool Voltage",field:"toolVoltageOutput",legend:"TOOL_VOL"}]),sf("motion",[{key:"mode",label:"Motion Mode",field:"motionMode"},{key:"executionResult",label:"Exec Result",field:"motionExecutionResult"},{key:"speedBar",label:"Speed Bar",field:"motionSpeedBar"},{key:"isPause",label:"Is Pause",field:"motionIsPause"}],"Motion"),sf("status",[{key:"lan2can",label:"Lan2Can",field:"statusLan2can"},{key:"switchEmg",label:"Switch EMG",field:"statusSwitchEmg"},{key:"powerOut",label:"Power Out",field:"statusPowerOut"},{key:"servoNum",label:"Servo Num",field:"statusServoNum"},{key:"isRefon",label:"Is RefOn",field:"statusIsRefon"},{key:"outColl",label:"Out Coll",field:"statusOutColl"},{key:"selfColl",label:"Self Coll",field:"statusSelfColl"},{key:"dtMode",label:"DT Mode",field:"statusDtMode"},{key:"pyfmState",label:"PYFM State",field:"statusPyfmState"}],"Status"),{key:"forcetorque",subTitle:"F/T Sensor",subclass:[{key:"ext",label:"External",legend:"FT_EXT"},{key:"int",label:"Internal",legend:"FT_INT",dash:[4,3]}],rows:Wge.map(({key:n,label:s,field:o})=>({key:n,label:s,prefix:"FT",labelClassName:Ri[n],cells:{ext:ff(`forcetorqueExt${o}`),int:ff(`forcetorqueInt${o}`)}}))},{key:"extAxis",subTitle:"Ext.Axis",subclass:[{key:"extRef",label:"Ref",legend:"EXT_REF"},{key:"extEnc",label:"Enc",legend:"EXT_ENC",dash:[4,3]}],rows:Array.from({length:i}).map((n,s)=>({key:`ext-${s}`,label:`Ext.Axis ${s}`,cells:{extRef:ff(`extAxisRef${s}`),extEnc:ff(`extAxisEnc${s}`)}}))},sf("additionalSystemInfo",[{key:"0",label:"Info 0",field:"additionalSystemInfo0",legend:"SYS_INFO_0"},{key:"1",label:"Info 1",field:"additionalSystemInfo1",legend:"SYS_INFO_1"},{key:"2",label:"Info 2",field:"additionalSystemInfo2",legend:"SYS_INFO_2"},{key:"3",label:"Info 3",field:"additionalSystemInfo3",legend:"SYS_INFO_3"},{key:"4",label:"Info 4",field:"additionalSystemInfo4",legend:"SYS_INFO_4"},{key:"5",label:"Info 5",field:"additionalSystemInfo5",legend:"SYS_INFO_5"}],"Additional System Info"),{key:"weldInfo",subTitle:"Weld",subclass:[{key:"tx",label:"Tx",legend:"WELD_TX"},{key:"rx",label:"Rx",legend:"WELD_RX",dash:[4,3]}],rows:[{key:"chunk",label:"Chunk",field:"Chunk"},{key:"current",label:"Current",field:"Current"},{key:"voltage",label:"Voltage",field:"Voltage"},{key:"feedrate",label:"Feedrate",field:"Feedrate"}].map(({key:n,label:s,field:o})=>({key:n,label:s,cells:{tx:ff(`weldInfoTx${o}`),rx:ff(`weldInfoRx${o}`)}}))},{key:"safetyRawData",subTitle:"Safety",subclass:[{key:"a",label:"A",legend:"SAFETY_A"},{key:"b",label:"B",legend:"SAFETY_B",dash:[4,3]}],rows:[0,1].map(n=>({key:`${n}`,label:`${n}`,prefix:"Safety Raw",cells:{a:ff(`safetyRawDataA${n}`),b:ff(`safetyRawDataB${n}`)}}))},sf("realtimeFeedback",[{key:"value",label:"RT Feedback",field:"realtimeFeedback"}],"ETC")],mE=(i,e,t)=>t?`${i}.${e}.${t}`:`${i}.${e}`,mEe=i=>{const e=i.flatMap(s=>s.rows),t=gft(e.length),n=new Map(e.map((s,o)=>[s,t[o]]));return i.flatMap(s=>s.subclass?s.subclass.flatMap(o=>s.rows.flatMap(r=>{const a=r.cells?.[o.key];return a?[{id:mE(s.key,r.key,o.key),label:`${o.legend??o.label}_${r.label}`,color:n.get(r),dash:o.dash,read:a}]:[]})):s.rows.flatMap(o=>o.read?[{id:mE(s.key,o.key),label:o.legend??o.label,color:n.get(o),read:o.read}]:[]))},{useCallback:jge,useEffect:_ft,useState:j4}=await F("react"),bft=16,vft=({className:i,groups:e,isDrawChart:t,onDrawChartChange:n,selectedChannelIds:s,onSelectedChannelIdsChange:o})=>{const{t:r}=J(),a=t!==void 0,[l,c]=j4(!1),d=a?t:l,u=jge(b=>{a||c(b),n?.({isDrawChart:b})},[a,n]),g=s!==void 0,[m,f]=j4([]),p=g?s:m,_=jge((b,v)=>{if(v&&p.length>=bft){at.openToast({type:"basic",variant:"warning",title:"경고",content:"한번에 볼 수 있는 차트의 최대 갯수는 16개 입니다.",position:"top-right"});return}const w=v?[...p.filter(y=>y!==b),b]:p.filter(y=>y!==b);g||f(w),o?.(w)},[p,g,o]);return k(UW,{className:P("DrawChartController gap-2 px-3 py-1.5",i),children:[k(U,{className:"text-fg-default typo-compact-xs-semibold gap-1",alignItems:"center",justifyContent:"space-between",children:[h("p",{className:"typo-compact-xs-semibold text-fg-default",children:r("move.chart.title")}),h(Lo,{className:"mx-1",checked:d,onCheckedChange:u})]}),h($m,{className:"h-full w-full",children:h(q,{className:"h-100 gap-1.5",children:e.map(b=>{const v={gridTemplateColumns:b.subclass?`repeat(${b.subclass.length+1}, minmax(0, 1fr))`:"minmax(0, 1fr) minmax(0, 2fr)"};return k(bn,{children:[b.subTitle&&k(bn,{children:[h(Zs,{}),h("span",{className:"text-fg-default typo-compact-xs-semibold mt-1",children:b.subTitle})]}),k(q,{className:"text-fg-subtle typo-compact-xs-normal w-full items-center gap-x-1 gap-y-0.5",children:[b.title&&h("p",{className:"typo-compact-xs-semibold text-fg-default w-full",children:r(b.title)}),b.subclass&&k(U,{className:"grid w-full place-items-center",style:v,alignItems:"center",children:[h("div",{}),b.subclass.map(w=>h("span",{className:"w-15 text-center",children:r(w.label)},w.key))]}),b.rows.map(w=>k(U,{className:"grid w-full place-items-center [&>*:first-child]:justify-self-start [&>*:first-child]:text-start",style:v,alignItems:"center",children:[k(U,{className:"gap-1",children:[w.prefix&&h("span",{children:w.prefix}),h("span",{className:w.labelClassName,children:r(w.label)})]}),b.subclass?b.subclass.map(y=>{const S=mE(b.key,w.key,y.key);return h(ea,{className:"mx-1",value:p.includes(S),handleChange:C=>_(S,C)},y.key)}):h(ea,{className:"mx-1",value:p.includes(mE(b.key,w.key)),handleChange:y=>_(mE(b.key,w.key),y)})]},w.key))]},b.key)]})})})})]})},yft=({chartGroups:i,handleChangeStateCoreChart:e,onSelectedChannelIdsChange:t})=>{const{t:n}=J(),[s,o]=j4(!1),[r,a]=j4([]),l=d=>{d.isDrawChart!==void 0&&o(d.isDrawChart),e(d)},c=d=>{a(d),t?.(d)};return _ft(()=>{const d=new Set(mEe(i).map(({id:g})=>g)),u=r.filter(g=>d.has(g));u.length!==r.length&&(a(u),t?.(u))},[i]),h($W,{id:"chart-tooltip",label:n("move.chart.title"),icon:h(oje,{className:"relative z-10 h-4 w-4"}),isActive:s,anchorToPanelTop:!0,children:h(vft,{groups:i,isDrawChart:s,onDrawChartChange:l,selectedChannelIds:r,onSelectedChannelIdsChange:c})})};class wft{constructor(e,t=10){this.channelCount=e,this.windowSec=t,this.ys=Array.from({length:e},()=>[])}xs=[];ys=[];version=0;push(e,t=Date.now()/1e3){this.xs.push(t);for(let n=0;n<this.channelCount;n++)this.ys[n].push(e[n]??NaN);this.trim(t),this.version++}clear(){this.xs=[],this.ys=Array.from({length:this.channelCount},()=>[]),this.version++}stats(){return this.ys.map(e=>{let t=1/0,n=-1/0;for(const s of e)Number.isNaN(s)||(s<t&&(t=s),s>n&&(n=s));return t===1/0?null:{min:t,max:n,range:n-t}})}trim(e){const t=e-this.windowSec;let n=0;for(;n<this.xs.length&&this.xs[n]<t;)n++;if(n!==0){this.xs.splice(0,n);for(const s of this.ys)s.splice(0,n)}}}const Cft=!0,Sl="u-",Sft="uplot",xft=Sl+"hz",Ift=Sl+"vt",kft=Sl+"title",Nft=Sl+"wrap",Lft=Sl+"under",Dft=Sl+"over",Tft=Sl+"axis",uC=Sl+"off",Eft=Sl+"select",Pft=Sl+"cursor-x",Rft=Sl+"cursor-y",Mft=Sl+"cursor-pt",Aft=Sl+"legend",Oft=Sl+"live",Fft=Sl+"inline",Bft=Sl+"series",Vft=Sl+"marker",Gge=Sl+"label",zft=Sl+"value",kT="width",NT="height",pD="top",qge="bottom",FS="left",U8="right",bie="#000",Kge=bie+"0",j8="mousemove",Jge="mousedown",G8="mouseup",Yge="mouseenter",Qge="mouseleave",Xge="dblclick",Wft="resize",Hft="scroll",Zge="change",G4="dppxchange",vie="--",UN=typeof window<"u",rK=UN?document:null,MI=UN?window:null,$ft=UN?navigator:null;let Fs,kO;function aK(){let i=devicePixelRatio;Fs!=i&&(Fs=i,kO&&cK(Zge,kO,aK),kO=matchMedia(`(min-resolution: ${Fs-.001}dppx) and (max-resolution: ${Fs+.001}dppx)`),c1(Zge,kO,aK),MI.dispatchEvent(new CustomEvent(G4)))}function Vu(i,e){if(e!=null){let t=i.classList;!t.contains(e)&&t.add(e)}}function lK(i,e){let t=i.classList;t.contains(e)&&t.remove(e)}function cr(i,e,t){i.style[e]=t+"px"}function Yg(i,e,t,n){let s=rK.createElement(i);return e!=null&&Vu(s,e),t?.insertBefore(s,n),s}function $h(i,e){return Yg("div",i,e)}const eme=new WeakMap;function of(i,e,t,n,s){let o="translate("+e+"px,"+t+"px)",r=eme.get(i);o!=r&&(i.style.transform=o,eme.set(i,o),e<0||t<0||e>n||t>s?Vu(i,uC):lK(i,uC))}const tme=new WeakMap;function nme(i,e,t){let n=e+t,s=tme.get(i);n!=s&&(tme.set(i,n),i.style.background=e,i.style.borderColor=t)}const ime=new WeakMap;function sme(i,e,t,n){let s=e+""+t,o=ime.get(i);s!=o&&(ime.set(i,s),i.style.height=t+"px",i.style.width=e+"px",i.style.marginLeft=n?-e/2+"px":0,i.style.marginTop=n?-t/2+"px":0)}const yie={passive:!0},Uft={...yie,capture:!0};function c1(i,e,t,n){e.addEventListener(i,t,n?Uft:yie)}function cK(i,e,t,n){e.removeEventListener(i,t,yie)}UN&&aK();function cm(i,e,t,n){let s;t=t||0,n=n||e.length-1;let o=n<=2147483647;for(;n-t>1;)s=o?t+n>>1:lh((t+n)/2),e[s]<i?t=s:n=s;return i-e[t]<=e[n]-i?t:n}function fEe(i){return(t,n,s)=>{let o=-1,r=-1;for(let a=n;a<=s;a++)if(i(t[a])){o=a;break}for(let a=s;a>=n;a--)if(i(t[a])){r=a;break}return[o,r]}}const pEe=i=>i!=null,_Ee=i=>i!=null&&i>0,n9=fEe(pEe),jft=fEe(_Ee);function Gft(i,e,t,n=0,s=!1){let o=s?jft:n9,r=s?_Ee:pEe;[e,t]=o(i,e,t);let a=i[e],l=i[e];if(e>-1)if(n==1)a=i[e],l=i[t];else if(n==-1)a=i[t],l=i[e];else for(let c=e;c<=t;c++){let d=i[c];r(d)&&(d<a?a=d:d>l&&(l=d))}return[a??Fo,l??-Fo]}function i9(i,e,t,n){let s=ame(i),o=ame(e);i==e&&(s==-1?(i*=t,e/=t):(i/=t,e*=t));let r=t==10?R_:bEe,a=s==1?lh:tg,l=o==1?tg:lh,c=a(r(ll(i))),d=l(r(ll(e))),u=Rk(t,c),g=Rk(t,d);return t==10&&(c<0&&(u=Bo(u,-c)),d<0&&(g=Bo(g,-d))),n||t==2?(i=u*s,e=g*o):(i=CEe(i,u),e=s9(e,g)),[i,e]}function wie(i,e,t,n){let s=i9(i,e,t,n);return i==0&&(s[0]=0),e==0&&(s[1]=0),s}const Cie=.1,ome={mode:3,pad:Cie},fE={pad:0,soft:null,mode:0},qft={min:fE,max:fE};function q4(i,e,t,n){return o9(t)?rme(i,e,t):(fE.pad=t,fE.soft=n?0:null,fE.mode=n?3:0,rme(i,e,qft))}function Ds(i,e){return i??e}function Kft(i,e,t){for(e=Ds(e,0),t=Ds(t,i.length-1);e<=t;){if(i[e]!=null)return!0;e++}return!1}function rme(i,e,t){let n=t.min,s=t.max,o=Ds(n.pad,0),r=Ds(s.pad,0),a=Ds(n.hard,-Fo),l=Ds(s.hard,Fo),c=Ds(n.soft,Fo),d=Ds(s.soft,-Fo),u=Ds(n.mode,0),g=Ds(s.mode,0),m=e-i,f=R_(m),p=pd(ll(i),ll(e)),_=R_(p),b=ll(_-f);(m<1e-24||b>10)&&(m=0,(i==0||e==0)&&(m=1e-24,u==2&&c!=Fo&&(o=0),g==2&&d!=-Fo&&(r=0)));let v=m||p||1e3,w=R_(v),y=Rk(10,lh(w)),S=v*(m==0?i==0?.1:1:o),C=Bo(CEe(i-S,y/10),24),x=i>=c&&(u==1||u==3&&C<=c||u==2&&C>=c)?c:Fo,N=pd(a,C<x&&i>=x?x:vm(x,C)),L=v*(m==0?e==0?.1:1:r),D=Bo(s9(e+L,y/10),24),E=e<=d&&(g==1||g==3&&D>=d||g==2&&D<=d)?d:-Fo,T=vm(l,D>E&&e<=E?E:pd(E,D));return N==T&&N==0&&(T=100),[N,T]}const Jft=new Intl.NumberFormat(UN?$ft.language:"en-US"),Sie=i=>Jft.format(i),Sh=Math,p3=Sh.PI,ll=Sh.abs,lh=Sh.floor,sl=Sh.round,tg=Sh.ceil,vm=Sh.min,pd=Sh.max,Rk=Sh.pow,ame=Sh.sign,R_=Sh.log10,bEe=Sh.log2,Yft=(i,e=1)=>Sh.sinh(i)*e,q8=(i,e=1)=>Sh.asinh(i/e),Fo=1/0;function lme(i){return(R_((i^i>>31)-(i>>31))|0)+1}function dK(i,e,t){return vm(pd(i,e),t)}function vEe(i){return typeof i=="function"}function Qi(i){return vEe(i)?i:()=>i}const Qft=()=>{},yEe=i=>i,wEe=(i,e)=>e,Xft=i=>null,cme=i=>!0,dme=(i,e)=>i==e,Zft=/\.\d*?(?=9{6,}|0{6,})/gm,A1=i=>{if(xEe(i)||by.has(i))return i;const e=`${i}`,t=e.match(Zft);if(t==null)return i;let n=t[0].length-1;if(e.indexOf("e-")!=-1){let[s,o]=e.split("e");return+`${A1(s)}e${o}`}return Bo(i,n)};function Yw(i,e){return A1(Bo(A1(i/e))*e)}function s9(i,e){return A1(tg(A1(i/e))*e)}function CEe(i,e){return A1(lh(A1(i/e))*e)}function Bo(i,e=0){if(xEe(i))return i;let t=10**e,n=i*t*(1+Number.EPSILON);return sl(n)/t}const by=new Map;function SEe(i){return((""+i).split(".")[1]||"").length}function FP(i,e,t,n){let s=[],o=n.map(SEe);for(let r=e;r<t;r++){let a=ll(r),l=Bo(Rk(i,r),a);for(let c=0;c<n.length;c++){let d=i==10?+`${n[c]}e${r}`:n[c]*l,u=(r>=0?0:a)+(r>=o[c]?0:o[c]),g=i==10?d:Bo(d,u);s.push(g),by.set(g,u)}}return s}const pE={},xie=[],Mk=[null,null],hv=Array.isArray,xEe=Number.isInteger,ept=i=>i===void 0;function ume(i){return typeof i=="string"}function o9(i){let e=!1;if(i!=null){let t=i.constructor;e=t==null||t==Object}return e}function tpt(i){return i!=null&&typeof i=="object"}const npt=Object.getPrototypeOf(Uint8Array),IEe="__proto__";function Ak(i,e=o9){let t;if(hv(i)){let n=i.find(s=>s!=null);if(hv(n)||e(n)){t=Array(i.length);for(let s=0;s<i.length;s++)t[s]=Ak(i[s],e)}else t=i.slice()}else if(i instanceof npt)t=i.slice();else if(e(i)){t={};for(let n in i)n!=IEe&&(t[n]=Ak(i[n],e))}else t=i;return t}function Ba(i){let e=arguments;for(let t=1;t<e.length;t++){let n=e[t];for(let s in n)s!=IEe&&(o9(i[s])?Ba(i[s],Ak(n[s])):i[s]=Ak(n[s]))}return i}const ipt=0,spt=1,opt=2;function rpt(i,e,t){for(let n=0,s,o=-1;n<e.length;n++){let r=e[n];if(r>o){for(s=r-1;s>=0&&i[s]==null;)i[s--]=null;for(s=r+1;s<t&&i[s]==null;)i[o=s++]=null}}}function apt(i,e){if(dpt(i)){let r=i[0].slice();for(let a=1;a<i.length;a++)r.push(...i[a].slice(1));return upt(r[0])||(r=cpt(r)),r}let t=new Set;for(let r=0;r<i.length;r++){let l=i[r][0],c=l.length;for(let d=0;d<c;d++)t.add(l[d])}let n=[Array.from(t).sort((r,a)=>r-a)],s=n[0].length,o=new Map;for(let r=0;r<s;r++)o.set(n[0][r],r);for(let r=0;r<i.length;r++){let a=i[r],l=a[0];for(let c=1;c<a.length;c++){let d=a[c],u=Array(s).fill(void 0),g=e?e[r][c]:spt,m=[];for(let f=0;f<d.length;f++){let p=d[f],_=o.get(l[f]);p===null?g!=ipt&&(u[_]=p,g==opt&&m.push(_)):u[_]=p}rpt(u,m,s),n.push(u)}}return n}const lpt=typeof queueMicrotask>"u"?i=>Promise.resolve().then(i):queueMicrotask;function cpt(i){let e=i[0],t=e.length,n=Array(t);for(let o=0;o<n.length;o++)n[o]=o;n.sort((o,r)=>e[o]-e[r]);let s=[];for(let o=0;o<i.length;o++){let r=i[o],a=Array(t);for(let l=0;l<t;l++)a[l]=r[n[l]];s.push(a)}return s}function dpt(i){let e=i[0][0],t=e.length;for(let n=1;n<i.length;n++){let s=i[n][0];if(s.length!=t)return!1;if(s!=e){for(let o=0;o<t;o++)if(s[o]!=e[o])return!1}}return!0}function upt(i,e=100){const t=i.length;if(t<=1)return!0;let n=0,s=t-1;for(;n<=s&&i[n]==null;)n++;for(;s>=n&&i[s]==null;)s--;if(s<=n)return!0;const o=pd(1,lh((s-n+1)/e));for(let r=i[n],a=n+o;a<=s;a+=o){const l=i[a];if(l!=null){if(l<=r)return!1;r=l}}return!0}const kEe=["January","February","March","April","May","June","July","August","September","October","November","December"],NEe=["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"];function LEe(i){return i.slice(0,3)}const hpt=NEe.map(LEe),gpt=kEe.map(LEe),mpt={MMMM:kEe,MMM:gpt,WWWW:NEe,WWW:hpt};function _D(i){return(i<10?"0":"")+i}function fpt(i){return(i<10?"00":i<100?"0":"")+i}const ppt={YYYY:i=>i.getFullYear(),YY:i=>(i.getFullYear()+"").slice(2),MMMM:(i,e)=>e.MMMM[i.getMonth()],MMM:(i,e)=>e.MMM[i.getMonth()],MM:i=>_D(i.getMonth()+1),M:i=>i.getMonth()+1,DD:i=>_D(i.getDate()),D:i=>i.getDate(),WWWW:(i,e)=>e.WWWW[i.getDay()],WWW:(i,e)=>e.WWW[i.getDay()],HH:i=>_D(i.getHours()),H:i=>i.getHours(),h:i=>{let e=i.getHours();return e==0?12:e>12?e-12:e},AA:i=>i.getHours()>=12?"PM":"AM",aa:i=>i.getHours()>=12?"pm":"am",a:i=>i.getHours()>=12?"p":"a",mm:i=>_D(i.getMinutes()),m:i=>i.getMinutes(),ss:i=>_D(i.getSeconds()),s:i=>i.getSeconds(),fff:i=>fpt(i.getMilliseconds())};function Iie(i,e){e=e||mpt;let t=[],n=/\{([a-z]+)\}|[^{]+/gi,s;for(;s=n.exec(i);)t.push(s[0][0]=="{"?ppt[s[1]]:s[0]);return o=>{let r="";for(let a=0;a<t.length;a++)r+=typeof t[a]=="string"?t[a]:t[a](o,e);return r}}const _pt=new Intl.DateTimeFormat().resolvedOptions().timeZone;function bpt(i,e){let t;return e=="UTC"||e=="Etc/UTC"?t=new Date(+i+i.getTimezoneOffset()*6e4):e==_pt?t=i:(t=new Date(i.toLocaleString("en-US",{timeZone:e})),t.setMilliseconds(i.getMilliseconds())),t}const DEe=i=>i%1==0,K4=[1,2,2.5,5],vpt=FP(10,-32,0,K4),TEe=FP(10,0,32,K4),ypt=TEe.filter(DEe),Qw=vpt.concat(TEe),kie=`
 `,EEe="{YYYY}",hme=kie+EEe,PEe="{M}/{D}",LT=kie+PEe,NO=LT+"/{YY}",REe="{aa}",wpt="{h}:{mm}",Px=wpt+REe,gme=kie+Px,mme=":{ss}",Js=null;function MEe(i){let e=i*1e3,t=e*60,n=t*60,s=n*24,o=s*30,r=s*365,l=(i==1?FP(10,0,3,K4).filter(DEe):FP(10,-3,0,K4)).concat([e,e*5,e*10,e*15,e*30,t,t*5,t*10,t*15,t*30,n,n*2,n*3,n*4,n*6,n*8,n*12,s,s*2,s*3,s*4,s*5,s*6,s*7,s*8,s*9,s*10,s*15,o,o*2,o*3,o*4,o*6,r,r*2,r*5,r*10,r*25,r*50,r*100]);const c=[[r,EEe,Js,Js,Js,Js,Js,Js,1],[s*28,"{MMM}",hme,Js,Js,Js,Js,Js,1],[s,PEe,hme,Js,Js,Js,Js,Js,1],[n,"{h}"+REe,NO,Js,LT,Js,Js,Js,1],[t,Px,NO,Js,LT,Js,Js,Js,1],[e,mme,NO+" "+Px,Js,LT+" "+Px,Js,gme,Js,1],[i,mme+".{fff}",NO+" "+Px,Js,LT+" "+Px,Js,gme,Js,1]];function d(u){return(g,m,f,p,_,b)=>{let v=[],w=_>=r,y=_>=o&&_<r,S=u(f),C=Bo(S*i,3),x=K8(S.getFullYear(),w?0:S.getMonth(),y||w?1:S.getDate()),N=Bo(x*i,3);if(y||w){let L=y?_/o:0,D=w?_/r:0,E=C==N?C:Bo(K8(x.getFullYear()+D,x.getMonth()+L,1)*i,3),T=new Date(sl(E/i)),R=T.getFullYear(),A=T.getMonth();for(let M=0;E<=p;M++){let O=K8(R+D*M,A+L*M,1),B=O-u(Bo(O*i,3));E=Bo((+O+B)*i,3),E<=p&&v.push(E)}}else{let L=_>=s?s:_,D=lh(f)-lh(C),E=N+D+s9(C-N,L);v.push(E);let T=u(E),R=T.getHours()+T.getMinutes()/t+T.getSeconds()/n,A=_/n,M=g.axes[m]._space,O=b/M;for(;E=Bo(E+_,i==1?0:3),!(E>p);)if(A>1){let B=lh(Bo(R+A,6))%24,H=u(E).getHours()-B;H>1&&(H=-1),E-=H*n,R=(R+A)%24;let X=v[v.length-1];Bo((E-X)/_,3)*O>=.7&&v.push(E)}else v.push(E)}return v}}return[l,c,d]}const[Cpt,Spt,xpt]=MEe(1),[Ipt,kpt,Npt]=MEe(.001);FP(2,-53,53,[1]);function fme(i,e){return i.map(t=>t.map((n,s)=>s==0||s==8||n==null?n:e(s==1||t[8]==0?n:t[1]+n)))}function pme(i,e){return(t,n,s,o,r)=>{let a=e.find(f=>r>=f[0])||e[e.length-1],l,c,d,u,g,m;return n.map(f=>{let p=i(f),_=p.getFullYear(),b=p.getMonth(),v=p.getDate(),w=p.getHours(),y=p.getMinutes(),S=p.getSeconds(),C=_!=l&&a[2]||b!=c&&a[3]||v!=d&&a[4]||w!=u&&a[5]||y!=g&&a[6]||S!=m&&a[7]||a[1];return l=_,c=b,d=v,u=w,g=y,m=S,C(p)})}}function Lpt(i,e){let t=Iie(e);return(n,s,o,r,a)=>s.map(l=>t(i(l)))}function K8(i,e,t){return new Date(i,e,t)}function _me(i,e){return e(i)}const Dpt="{YYYY}-{MM}-{DD} {h}:{mm}{aa}";function bme(i,e){return(t,n,s,o)=>o==null?vie:e(i(n))}function Tpt(i,e){let t=i.series[e];return t.width?t.stroke(i,e):t.points.width?t.points.stroke(i,e):null}function Ept(i,e){return i.series[e].fill(i,e)}const Ppt={show:!0,live:!0,isolate:!1,mount:Qft,markers:{show:!0,width:2,stroke:Tpt,fill:Ept,dash:"solid"},idx:null,idxs:null,values:[]};function Rpt(i,e){let t=i.cursor.points,n=$h(),s=t.size(i,e);cr(n,kT,s),cr(n,NT,s);let o=s/-2;cr(n,"marginLeft",o),cr(n,"marginTop",o);let r=t.width(i,e,s);return r&&cr(n,"borderWidth",r),n}function Mpt(i,e){let t=i.series[e].points;return t._fill||t._stroke}function Apt(i,e){let t=i.series[e].points;return t._stroke||t._fill}function Opt(i,e){return i.series[e].points.size}const J8=[0,0];function Fpt(i,e,t){return J8[0]=e,J8[1]=t,J8}function LO(i,e,t,n=!0){return s=>{s.button==0&&(!n||s.target==e)&&t(s)}}function Y8(i,e,t,n=!0){return s=>{(!n||s.target==e)&&t(s)}}const Bpt={show:!0,x:!0,y:!0,lock:!1,move:Fpt,points:{one:!1,show:Rpt,size:Opt,width:0,stroke:Apt,fill:Mpt},bind:{mousedown:LO,mouseup:LO,click:LO,dblclick:LO,mousemove:Y8,mouseleave:Y8,mouseenter:Y8},drag:{setScale:!0,x:!0,y:!1,dist:0,uni:null,click:(i,e)=>{e.stopPropagation(),e.stopImmediatePropagation()},_x:!1,_y:!1},focus:{dist:(i,e,t,n,s)=>n-s,prox:-1,bias:0},hover:{skip:[void 0],prox:null,bias:0},left:-10,top:-10,idx:null,dataIdx:null,idxs:null,event:null},AEe={show:!0,stroke:"rgba(0,0,0,0.07)",width:2},Nie=Ba({},AEe,{filter:wEe}),OEe=Ba({},Nie,{size:10}),FEe=Ba({},AEe,{show:!1}),Lie='12px system-ui, -apple-system, "Segoe UI", Roboto, "Helvetica Neue", Arial, "Noto Sans", sans-serif, "Apple Color Emoji", "Segoe UI Emoji", "Segoe UI Symbol", "Noto Color Emoji"',BEe="bold "+Lie,VEe=1.5,vme={show:!0,scale:"x",stroke:bie,space:50,gap:5,alignTo:1,size:50,labelGap:0,labelSize:30,labelFont:BEe,side:2,grid:Nie,ticks:OEe,border:FEe,font:Lie,lineGap:VEe,rotate:0},Vpt="Value",zpt="Time",yme={show:!0,scale:"x",auto:!1,sorted:1,min:Fo,max:-Fo,idxs:[]};function Wpt(i,e,t,n,s){return e.map(o=>o==null?"":Sie(o))}function Hpt(i,e,t,n,s,o,r){let a=[],l=by.get(s)||0;t=r?t:Bo(s9(t,s),l);for(let c=t;c<=n;c=Bo(c+s,l))a.push(Object.is(c,-0)?0:c);return a}function uK(i,e,t,n,s,o,r){const a=[],l=i.scales[i.axes[e].scale].log,c=l==10?R_:bEe,d=lh(c(t));s=Rk(l,d),l==10&&(s=Qw[cm(s,Qw)]);let u=t,g=s*l;l==10&&(g=Qw[cm(g,Qw)]);do a.push(u),u=u+s,l==10&&!by.has(u)&&(u=Bo(u,by.get(s))),u>=g&&(s=u,g=s*l,l==10&&(g=Qw[cm(g,Qw)]));while(u<=n);return a}function $pt(i,e,t,n,s,o,r){let l=i.scales[i.axes[e].scale].asinh,c=n>l?uK(i,e,pd(l,t),n,s):[l],d=n>=0&&t<=0?[0]:[];return(t<-l?uK(i,e,pd(l,-n),-t,s):[l]).reverse().map(g=>-g).concat(d,c)}const zEe=/./,Upt=/[12357]/,jpt=/[125]/,wme=/1/,hK=(i,e,t,n)=>i.map((s,o)=>e==4&&s==0||o%n==0&&t.test(s.toExponential()[s<0?1:0])?s:null);function Gpt(i,e,t,n,s){let o=i.axes[t],r=o.scale,a=i.scales[r],l=i.valToPos,c=o._space,d=l(10,r),u=l(9,r)-d>=c?zEe:l(7,r)-d>=c?Upt:l(5,r)-d>=c?jpt:wme;if(u==wme){let g=ll(l(1,r)-d);if(g<c)return hK(e.slice().reverse(),a.distr,u,tg(c/g)).reverse()}return hK(e,a.distr,u,1)}function qpt(i,e,t,n,s){let o=i.axes[t],r=o.scale,a=o._space,l=i.valToPos,c=ll(l(1,r)-l(2,r));return c<a?hK(e.slice().reverse(),3,zEe,tg(a/c)).reverse():e}function Kpt(i,e,t,n){return n==null?vie:e==null?"":Sie(e)}const Cme={show:!0,scale:"y",stroke:bie,space:30,gap:5,alignTo:1,size:50,labelGap:0,labelSize:30,labelFont:BEe,side:3,grid:Nie,ticks:OEe,border:FEe,font:Lie,lineGap:VEe,rotate:0};function Jpt(i,e){let t=3+(i||1)*2;return Bo(t*e,3)}function Ypt(i,e){let{scale:t,idxs:n}=i.series[0],s=i._data[0],o=i.valToPos(s[n[0]],t,!0),r=i.valToPos(s[n[1]],t,!0),a=ll(r-o),l=i.series[e],c=a/(l.points.space*Fs);return n[1]-n[0]<=c}const Sme={scale:null,auto:!0,sorted:0,min:Fo,max:-Fo},WEe=(i,e,t,n,s)=>s,xme={show:!0,auto:!0,sorted:0,gaps:WEe,alpha:1,facets:[Ba({},Sme,{scale:"x"}),Ba({},Sme,{scale:"y"})]},Ime={scale:"y",auto:!0,sorted:0,show:!0,spanGaps:!1,gaps:WEe,alpha:1,points:{show:Ypt,filter:null},values:null,min:Fo,max:-Fo,idxs:[],path:null,clip:null};function Qpt(i,e,t,n,s){return t/10}const HEe={time:Cft,auto:!0,distr:1,log:10,asinh:1,min:null,max:null,dir:1,ori:0},Xpt=Ba({},HEe,{time:!1,ori:1}),kme={};function $Ee(i,e){let t=kme[i];return t||(t={key:i,plots:[],sub(n){t.plots.push(n)},unsub(n){t.plots=t.plots.filter(s=>s!=n)},pub(n,s,o,r,a,l,c){for(let d=0;d<t.plots.length;d++)t.plots[d]!=s&&t.plots[d].pub(n,s,o,r,a,l,c)}},i!=null&&(kme[i]=t)),t}const Ok=1,gK=2;function k0(i,e,t){const n=i.mode,s=i.series[e],o=n==2?i._data[e]:i._data,r=i.scales,a=i.bbox;let l=o[0],c=n==2?o[1]:o[e],d=n==2?r[s.facets[0].scale]:r[i.series[0].scale],u=n==2?r[s.facets[1].scale]:r[s.scale],g=a.left,m=a.top,f=a.width,p=a.height,_=i.valToPosH,b=i.valToPosV;return d.ori==0?t(s,l,c,d,u,_,b,g,m,f,p,a9,jN,c9,jEe,qEe):t(s,l,c,d,u,b,_,m,g,p,f,l9,GN,Eie,GEe,KEe)}function Die(i,e){let t=0,n=0,s=Ds(i.bands,xie);for(let o=0;o<s.length;o++){let r=s[o];r.series[0]==e?t=r.dir:r.series[1]==e&&(r.dir==1?n|=1:n|=2)}return[t,n==1?-1:n==2?1:n==3?2:0]}function Zpt(i,e,t,n,s){let o=i.mode,r=i.series[e],a=o==2?r.facets[1].scale:r.scale,l=i.scales[a];return s==-1?l.min:s==1?l.max:l.distr==3?l.dir==1?l.min:l.max:0}function M_(i,e,t,n,s,o){return k0(i,e,(r,a,l,c,d,u,g,m,f,p,_)=>{let b=r.pxRound;const v=c.dir*(c.ori==0?1:-1),w=c.ori==0?jN:GN;let y,S;v==1?(y=t,S=n):(y=n,S=t);let C=b(u(a[y],c,p,m)),x=b(g(l[y],d,_,f)),N=b(u(a[S],c,p,m)),L=b(g(o==1?d.max:d.min,d,_,f)),D=new Path2D(s);return w(D,N,L),w(D,C,L),w(D,C,x),D})}function r9(i,e,t,n,s,o){let r=null;if(i.length>0){r=new Path2D;const a=e==0?c9:Eie;let l=t;for(let u=0;u<i.length;u++){let g=i[u];if(g[1]>g[0]){let m=g[0]-l;m>0&&a(r,l,n,m,n+o),l=g[1]}}let c=t+s-l,d=10;c>0&&a(r,l,n-d/2,c,n+o+d)}return r}function e_t(i,e,t){let n=i[i.length-1];n&&n[0]==e?n[1]=t:i.push([e,t])}function Tie(i,e,t,n,s,o,r){let a=[],l=i.length;for(let c=s==1?t:n;c>=t&&c<=n;c+=s)if(e[c]===null){let u=c,g=c;if(s==1)for(;++c<=n&&e[c]===null;)g=c;else for(;--c>=t&&e[c]===null;)g=c;let m=o(i[u]),f=g==u?m:o(i[g]),p=u-s;m=r<=0&&p>=0&&p<l?o(i[p]):m;let b=g+s;f=r>=0&&b>=0&&b<l?o(i[b]):f,f>=m&&a.push([m,f])}return a}function Nme(i){return i==0?yEe:i==1?sl:e=>Yw(e,i)}function UEe(i){let e=i==0?a9:l9,t=i==0?(s,o,r,a,l,c)=>{s.arcTo(o,r,a,l,c)}:(s,o,r,a,l,c)=>{s.arcTo(r,o,l,a,c)},n=i==0?(s,o,r,a,l)=>{s.rect(o,r,a,l)}:(s,o,r,a,l)=>{s.rect(r,o,l,a)};return(s,o,r,a,l,c=0,d=0)=>{c==0&&d==0?n(s,o,r,a,l):(c=vm(c,a/2,l/2),d=vm(d,a/2,l/2),e(s,o+c,r),t(s,o+a,r,o+a,r+l,c),t(s,o+a,r+l,o,r+l,d),t(s,o,r+l,o,r,d),t(s,o,r,o+a,r,c),s.closePath())}}const a9=(i,e,t)=>{i.moveTo(e,t)},l9=(i,e,t)=>{i.moveTo(t,e)},jN=(i,e,t)=>{i.lineTo(e,t)},GN=(i,e,t)=>{i.lineTo(t,e)},c9=UEe(0),Eie=UEe(1),jEe=(i,e,t,n,s,o)=>{i.arc(e,t,n,s,o)},GEe=(i,e,t,n,s,o)=>{i.arc(t,e,n,s,o)},qEe=(i,e,t,n,s,o,r)=>{i.bezierCurveTo(e,t,n,s,o,r)},KEe=(i,e,t,n,s,o,r)=>{i.bezierCurveTo(t,e,s,n,r,o)};function JEe(i){return(e,t,n,s,o)=>k0(e,t,(r,a,l,c,d,u,g,m,f,p,_)=>{let{pxRound:b,points:v}=r,w,y;c.ori==0?(w=a9,y=jEe):(w=l9,y=GEe);const S=Bo(v.width*Fs,3);let C=(v.size-v.width)/2*Fs,x=Bo(C*2,3),N=new Path2D,L=new Path2D,{left:D,top:E,width:T,height:R}=e.bbox;c9(L,D-x,E-x,T+x*2,R+x*2);const A=M=>{if(l[M]!=null){let O=b(u(a[M],c,p,m)),B=b(g(l[M],d,_,f));w(N,O+C,B),y(N,O,B,C,0,p3*2)}};if(o)o.forEach(A);else for(let M=n;M<=s;M++)A(M);return{stroke:S>0?N:null,fill:N,clip:L,flags:Ok|gK}})}function YEe(i){return(e,t,n,s,o,r)=>{n!=s&&(o!=n&&r!=n&&i(e,t,n),o!=s&&r!=s&&i(e,t,s),i(e,t,r))}}const t_t=YEe(jN),n_t=YEe(GN);function QEe(i){const e=Ds(i?.alignGaps,0);return(t,n,s,o)=>k0(t,n,(r,a,l,c,d,u,g,m,f,p,_)=>{[s,o]=n9(l,s,o);let b=r.pxRound,v=R=>b(u(R,c,p,m)),w=R=>b(g(R,d,_,f)),y,S;c.ori==0?(y=jN,S=t_t):(y=GN,S=n_t);const C=c.dir*(c.ori==0?1:-1),x={stroke:new Path2D,fill:null,clip:null,band:null,gaps:null,flags:Ok},N=x.stroke;let L=!1;if(o-s>=p*4){let R=z=>t.posToVal(z,c.key,!0),A=null,M=null,O,B,V,G=v(a[C==1?s:o]),H=v(a[s]),X=v(a[o]),K=R(C==1?H+1:X-1);for(let z=C==1?s:o;z>=s&&z<=o;z+=C){let de=a[z],ie=(C==1?de<K:de>K)?G:v(de),he=l[z];ie==G?he!=null?(B=he,A==null?(y(N,ie,w(B)),O=A=M=B):B<A?A=B:B>M&&(M=B)):he===null&&(L=!0):(A!=null&&S(N,G,w(A),w(M),w(O),w(B)),he!=null?(B=he,y(N,ie,w(B)),A=M=O=B):(A=M=null,he===null&&(L=!0)),G=ie,K=R(G+C))}A!=null&&A!=M&&V!=G&&S(N,G,w(A),w(M),w(O),w(B))}else for(let R=C==1?s:o;R>=s&&R<=o;R+=C){let A=l[R];A===null?L=!0:A!=null&&y(N,v(a[R]),w(A))}let[E,T]=Die(t,n);if(r.fill!=null||E!=0){let R=x.fill=new Path2D(N),A=r.fillTo(t,n,r.min,r.max,E),M=w(A),O=v(a[s]),B=v(a[o]);C==-1&&([B,O]=[O,B]),y(R,B,M),y(R,O,M)}if(!r.spanGaps){let R=[];L&&R.push(...Tie(a,l,s,o,C,v,e)),x.gaps=R=r.gaps(t,n,s,o,R),x.clip=r9(R,c.ori,m,f,p,_)}return T!=0&&(x.band=T==2?[M_(t,n,s,o,N,-1),M_(t,n,s,o,N,1)]:M_(t,n,s,o,N,T)),x})}function i_t(i){const e=Ds(i.align,1),t=Ds(i.ascDesc,!1),n=Ds(i.alignGaps,0),s=Ds(i.extend,!1);return(o,r,a,l)=>k0(o,r,(c,d,u,g,m,f,p,_,b,v,w)=>{[a,l]=n9(u,a,l);let y=c.pxRound,{left:S,width:C}=o.bbox,x=H=>y(f(H,g,v,_)),N=H=>y(p(H,m,w,b)),L=g.ori==0?jN:GN;const D={stroke:new Path2D,fill:null,clip:null,band:null,gaps:null,flags:Ok},E=D.stroke,T=g.dir*(g.ori==0?1:-1);let R=N(u[T==1?a:l]),A=x(d[T==1?a:l]),M=A,O=A;s&&e==-1&&(O=S,L(E,O,R)),L(E,A,R);for(let H=T==1?a:l;H>=a&&H<=l;H+=T){let X=u[H];if(X==null)continue;let K=x(d[H]),z=N(X);e==1?L(E,K,R):L(E,M,z),L(E,K,z),R=z,M=K}let B=M;s&&e==1&&(B=S+C,L(E,B,R));let[V,G]=Die(o,r);if(c.fill!=null||V!=0){let H=D.fill=new Path2D(E),X=c.fillTo(o,r,c.min,c.max,V),K=N(X);L(H,B,K),L(H,O,K)}if(!c.spanGaps){let H=[];H.push(...Tie(d,u,a,l,T,x,n));let X=c.width*Fs/2,K=t||e==1?X:-X,z=t||e==-1?-X:X;H.forEach(de=>{de[0]+=K,de[1]+=z}),D.gaps=H=c.gaps(o,r,a,l,H),D.clip=r9(H,g.ori,_,b,v,w)}return G!=0&&(D.band=G==2?[M_(o,r,a,l,E,-1),M_(o,r,a,l,E,1)]:M_(o,r,a,l,E,G)),D})}function Lme(i,e,t,n,s,o,r=Fo){if(i.length>1){let a=null;for(let l=0,c=1/0;l<i.length;l++)if(e[l]!==void 0){if(a!=null){let d=ll(i[l]-i[a]);d<c&&(c=d,r=ll(t(i[l],n,s,o)-t(i[a],n,s,o)))}a=l}}return r}function s_t(i){i=i||pE;const e=Ds(i.size,[.6,Fo,1]),t=i.align||0,n=i.gap||0;let s=i.radius;s=s==null?[0,0]:typeof s=="number"?[s,0]:s;const o=Qi(s),r=1-e[0],a=Ds(e[1],Fo),l=Ds(e[2],1),c=Ds(i.disp,pE),d=Ds(i.each,m=>{}),{fill:u,stroke:g}=c;return(m,f,p,_)=>k0(m,f,(b,v,w,y,S,C,x,N,L,D,E)=>{let T=b.pxRound,R=t,A=n*Fs,M=a*Fs,O=l*Fs,B,V;y.ori==0?[B,V]=o(m,f):[V,B]=o(m,f);const G=y.dir*(y.ori==0?1:-1);let H=y.ori==0?c9:Eie,X=y.ori==0?d:(Ke,xe,fe,Ne,ze,Ze,Dt)=>{d(Ke,xe,fe,ze,Ne,Dt,Ze)},K=Ds(m.bands,xie).find(Ke=>Ke.series[0]==f),z=K!=null?K.dir:0,de=b.fillTo(m,f,b.min,b.max,z),te=T(x(de,S,E,L)),ie,he,ce,Ie=D,Ee=T(b.width*Fs),Te=!1,lt=null,st=null,kt=null,yt=null;u!=null&&(Ee==0||g!=null)&&(Te=!0,lt=u.values(m,f,p,_),st=new Map,new Set(lt).forEach(Ke=>{Ke!=null&&st.set(Ke,new Path2D)}),Ee>0&&(kt=g.values(m,f,p,_),yt=new Map,new Set(kt).forEach(Ke=>{Ke!=null&&yt.set(Ke,new Path2D)})));let{x0:Bt,size:Ft}=c;if(Bt!=null&&Ft!=null){R=1,v=Bt.values(m,f,p,_),Bt.unit==2&&(v=v.map(fe=>m.posToVal(N+fe*D,y.key,!0)));let Ke=Ft.values(m,f,p,_);Ft.unit==2?he=Ke[0]*D:he=C(Ke[0],y,D,N)-C(0,y,D,N),Ie=Lme(v,w,C,y,D,N,Ie),ce=Ie-he+A}else Ie=Lme(v,w,C,y,D,N,Ie),ce=Ie*r+A,he=Ie-ce;ce<1&&(ce=0),Ee>=he/2&&(Ee=0),ce<5&&(T=yEe);let nn=ce>0,ei=Ie-ce-(nn?Ee:0);he=T(dK(ei,O,M)),ie=(R==0?he/2:R==G?0:he)-R*G*((R==0?A/2:0)+(nn?Ee/2:0));const oi={stroke:null,fill:null,clip:null,band:null,gaps:null,flags:0},Nt=Te?null:new Path2D;let be=null;if(K!=null)be=m.data[K.series[1]];else{let{y0:Ke,y1:xe}=c;Ke!=null&&xe!=null&&(w=xe.values(m,f,p,_),be=Ke.values(m,f,p,_))}let Ve=B*he,ke=V*he;for(let Ke=G==1?p:_;Ke>=p&&Ke<=_;Ke+=G){let xe=w[Ke];if(xe==null)continue;if(be!=null){let ii=be[Ke]??0;if(xe-ii==0)continue;te=x(ii,S,E,L)}let fe=y.distr!=2||c!=null?v[Ke]:Ke,Ne=C(fe,y,D,N),ze=x(Ds(xe,de),S,E,L),Ze=T(Ne-ie),Dt=T(pd(ze,te)),Ln=T(vm(ze,te)),dn=Dt-Ln;if(xe!=null){let ii=xe<0?ke:Ve,xi=xe<0?Ve:ke;Te?(Ee>0&&kt[Ke]!=null&&H(yt.get(kt[Ke]),Ze,Ln+lh(Ee/2),he,pd(0,dn-Ee),ii,xi),lt[Ke]!=null&&H(st.get(lt[Ke]),Ze,Ln+lh(Ee/2),he,pd(0,dn-Ee),ii,xi)):H(Nt,Ze,Ln+lh(Ee/2),he,pd(0,dn-Ee),ii,xi),X(m,f,Ke,Ze-Ee/2,Ln,he+Ee,dn)}}return Ee>0?oi.stroke=Te?yt:Nt:Te||(oi._fill=b.width==0?b._fill:b._stroke??b._fill,oi.width=0),oi.fill=Te?st:Nt,oi})}function o_t(i,e){const t=Ds(e?.alignGaps,0);return(n,s,o,r)=>k0(n,s,(a,l,c,d,u,g,m,f,p,_,b)=>{[o,r]=n9(c,o,r);let v=a.pxRound,w=B=>v(g(B,d,_,f)),y=B=>v(m(B,u,b,p)),S,C,x;d.ori==0?(S=a9,x=jN,C=qEe):(S=l9,x=GN,C=KEe);const N=d.dir*(d.ori==0?1:-1);let L=w(l[N==1?o:r]),D=L,E=[],T=[];for(let B=N==1?o:r;B>=o&&B<=r;B+=N)if(c[B]!=null){let G=l[B],H=w(G);E.push(D=H),T.push(y(c[B]))}const R={stroke:i(E,T,S,x,C,v),fill:null,clip:null,band:null,gaps:null,flags:Ok},A=R.stroke;let[M,O]=Die(n,s);if(a.fill!=null||M!=0){let B=R.fill=new Path2D(A),V=a.fillTo(n,s,a.min,a.max,M),G=y(V);x(B,D,G),x(B,L,G)}if(!a.spanGaps){let B=[];B.push(...Tie(l,c,o,r,N,w,t)),R.gaps=B=a.gaps(n,s,o,r,B),R.clip=r9(B,d.ori,f,p,_,b)}return O!=0&&(R.band=O==2?[M_(n,s,o,r,A,-1),M_(n,s,o,r,A,1)]:M_(n,s,o,r,A,O)),R})}function r_t(i){return o_t(a_t,i)}function a_t(i,e,t,n,s,o){const r=i.length;if(r<2)return null;const a=new Path2D;if(t(a,i[0],e[0]),r==2)n(a,i[1],e[1]);else{let l=Array(r),c=Array(r-1),d=Array(r-1),u=Array(r-1);for(let g=0;g<r-1;g++)d[g]=e[g+1]-e[g],u[g]=i[g+1]-i[g],c[g]=d[g]/u[g];l[0]=c[0];for(let g=1;g<r-1;g++)c[g]===0||c[g-1]===0||c[g-1]>0!=c[g]>0?l[g]=0:(l[g]=3*(u[g-1]+u[g])/((2*u[g]+u[g-1])/c[g-1]+(u[g]+2*u[g-1])/c[g]),isFinite(l[g])||(l[g]=0));l[r-1]=c[r-2];for(let g=0;g<r-1;g++)s(a,i[g]+u[g]/3,e[g]+l[g]*u[g]/3,i[g+1]-u[g]/3,e[g+1]-l[g+1]*u[g]/3,i[g+1],e[g+1])}return a}const mK=new Set;function Dme(){for(let i of mK)i.syncRect(!0)}UN&&(c1(Wft,MI,Dme),c1(Hft,MI,Dme,!0),c1(G4,MI,()=>{Fc.pxRatio=Fs}));const l_t=QEe(),c_t=JEe();function Tme(i,e,t,n){return(n?[i[0],i[1]].concat(i.slice(2)):[i[0]].concat(i.slice(1))).map((o,r)=>fK(o,r,e,t))}function d_t(i,e){return i.map((t,n)=>n==0?{}:Ba({},e,t))}function fK(i,e,t,n){return Ba({},e==0?t:n,i)}function XEe(i,e,t){return e==null?Mk:[e,t]}const u_t=XEe;function h_t(i,e,t){return e==null?Mk:q4(e,t,Cie,!0)}function ZEe(i,e,t,n){return e==null?Mk:i9(e,t,i.scales[n].log,!1)}const g_t=ZEe;function ePe(i,e,t,n){return e==null?Mk:wie(e,t,i.scales[n].log,!1)}const m_t=ePe;function f_t(i,e,t,n,s){let o=pd(lme(i),lme(e)),r=e-i,a=cm(s/n*r,t);do{let l=t[a],c=n*l/r;if(c>=s&&o+(l<5?by.get(l):0)<=17)return[l,c]}while(++a<t.length);return[0,0]}function Eme(i){let e,t;return i=i.replace(/(\d+)px/,(n,s)=>(e=sl((t=+s)*Fs))+"px"),[i,e,t]}function p_t(i){i.show&&[i.font,i.labelFont].forEach(e=>{let t=Bo(e[2]*Fs,1);e[0]=e[0].replace(/[0-9.]+px/,t+"px"),e[1]=t})}function Fc(i,e,t){const n={mode:Ds(i.mode,1)},s=n.mode;function o(Y,ne,me,we){let Oe=ne.valToPct(Y);return we+me*(ne.dir==-1?1-Oe:Oe)}function r(Y,ne,me,we){let Oe=ne.valToPct(Y);return we+me*(ne.dir==-1?Oe:1-Oe)}function a(Y,ne,me,we){return ne.ori==0?o(Y,ne,me,we):r(Y,ne,me,we)}n.valToPosH=o,n.valToPosV=r;let l=!1;n.status=0;const c=n.root=$h(Sft);if(i.id!=null&&(c.id=i.id),Vu(c,i.class),i.title){let Y=$h(kft,c);Y.textContent=i.title}const d=Yg("canvas"),u=n.ctx=d.getContext("2d"),g=$h(Nft,c);c1("click",g,Y=>{Y.target===f&&(Co!=Ob||Go!=Fb)&&tl.click(n,Y)},!0);const m=n.under=$h(Lft,g);g.appendChild(d);const f=n.over=$h(Dft,g);i=Ak(i);const p=+Ds(i.pxAlign,1),_=Nme(p);(i.plugins||[]).forEach(Y=>{Y.opts&&(i=Y.opts(n,i)||i)});const b=i.ms||.001,v=n.series=s==1?Tme(i.series||[],yme,Ime,!1):d_t(i.series||[null],xme),w=n.axes=Tme(i.axes||[],vme,Cme,!0),y=n.scales={},S=n.bands=i.bands||[];S.forEach(Y=>{Y.fill=Qi(Y.fill||null),Y.dir=Ds(Y.dir,-1)});const C=s==2?v[1].facets[0].scale:v[0].scale,x={axes:B7,series:Z0},N=(i.drawOrder||["axes","series"]).map(Y=>x[Y]);function L(Y){const ne=Y.distr==3?me=>R_(me>0?me:Y.clamp(n,me,Y.min,Y.max,Y.key)):Y.distr==4?me=>q8(me,Y.asinh):Y.distr==100?me=>Y.fwd(me):me=>me;return me=>{let we=ne(me),{_min:Oe,_max:Qe}=Y,dt=Qe-Oe;return(we-Oe)/dt}}function D(Y){let ne=y[Y];if(ne==null){let me=(i.scales||pE)[Y]||pE;if(me.from!=null){D(me.from);let we=Ba({},y[me.from],me,{key:Y});we.valToPct=L(we),y[Y]=we}else{ne=y[Y]=Ba({},Y==C?HEe:Xpt,me),ne.key=Y;let we=ne.time,Oe=ne.range,Qe=hv(Oe);if((Y!=C||s==2&&!we)&&(Qe&&(Oe[0]==null||Oe[1]==null)&&(Oe={min:Oe[0]==null?ome:{mode:1,hard:Oe[0],soft:Oe[0]},max:Oe[1]==null?ome:{mode:1,hard:Oe[1],soft:Oe[1]}},Qe=!1),!Qe&&o9(Oe))){let dt=Oe;Oe=(xt,Rt,tn)=>Rt==null?Mk:q4(Rt,tn,dt)}ne.range=Qi(Oe||(we?u_t:Y==C?ne.distr==3?g_t:ne.distr==4?m_t:XEe:ne.distr==3?ZEe:ne.distr==4?ePe:h_t)),ne.auto=Qi(Qe?!1:ne.auto),ne.clamp=Qi(ne.clamp||Qpt),ne._min=ne._max=null,ne.valToPct=L(ne)}}}D("x"),D("y"),s==1&&v.forEach(Y=>{D(Y.scale)}),w.forEach(Y=>{D(Y.scale)});for(let Y in i.scales)D(Y);const E=y[C],T=E.distr;let R,A;E.ori==0?(Vu(c,xft),R=o,A=r):(Vu(c,Ift),R=r,A=o);const M={};for(let Y in y){let ne=y[Y];(ne.min!=null||ne.max!=null)&&(M[Y]={min:ne.min,max:ne.max},ne.min=ne.max=null)}const O=i.tzDate||(Y=>new Date(sl(Y/b))),B=i.fmtDate||Iie,V=b==1?xpt(O):Npt(O),G=pme(O,fme(b==1?Spt:kpt,B)),H=bme(O,_me(Dpt,B)),X=[],K=n.legend=Ba({},Ppt,i.legend),z=n.cursor=Ba({},Bpt,{drag:{y:s==2}},i.cursor),de=K.show,te=z.show,ie=K.markers;K.idxs=X,ie.width=Qi(ie.width),ie.dash=Qi(ie.dash),ie.stroke=Qi(ie.stroke),ie.fill=Qi(ie.fill);let he,ce,Ie,Ee=[],Te=[],lt,st=!1,kt={};if(K.live){const Y=v[1]?v[1].values:null;st=Y!=null,lt=st?Y(n,1,0):{_:0};for(let ne in lt)kt[ne]=vie}if(de)if(he=Yg("table",Aft,c),Ie=Yg("tbody",null,he),K.mount(n,he),st){ce=Yg("thead",null,he,Ie);let Y=Yg("tr",null,ce);Yg("th",null,Y);for(var yt in lt)Yg("th",Gge,Y).textContent=yt}else Vu(he,Fft),K.live&&Vu(he,Oft);const Bt={show:!0},Ft={show:!1};function nn(Y,ne){if(ne==0&&(st||!K.live||s==2))return Mk;let me=[],we=Yg("tr",Bft,Ie,Ie.childNodes[ne]);Vu(we,Y.class),Y.show||Vu(we,uC);let Oe=Yg("th",null,we);if(ie.show){let xt=$h(Vft,Oe);if(ne>0){let Rt=ie.width(n,ne);Rt&&(xt.style.border=Rt+"px "+ie.dash(n,ne)+" "+ie.stroke(n,ne)),xt.style.background=ie.fill(n,ne)}}let Qe=$h(Gge,Oe);Y.label instanceof HTMLElement?Qe.appendChild(Y.label):Qe.textContent=Y.label,ne>0&&(ie.show||(Qe.style.color=Y.width>0?ie.stroke(n,ne):ie.fill(n,ne)),oi("click",Oe,xt=>{if(z._lock)return;aa(xt);let Rt=v.indexOf(Y);if((xt.ctrlKey||xt.metaKey)!=K.isolate){let tn=v.some((on,gn)=>gn>0&&gn!=Rt&&on.show);v.forEach((on,gn)=>{gn>0&&Ph(gn,tn?gn==Rt?Bt:Ft:Bt,!0,Gr.setSeries)})}else Ph(Rt,{show:!Y.show},!0,Gr.setSeries)},!1),Un&&oi(Yge,Oe,xt=>{z._lock||(aa(xt),Ph(v.indexOf(Y),Tp,!0,Gr.setSeries))},!1));for(var dt in lt){let xt=Yg("td",zft,we);xt.textContent="--",me.push(xt)}return[we,me]}const ei=new Map;function oi(Y,ne,me,we=!0){const Oe=ei.get(ne)||{},Qe=z.bind[Y](n,ne,me,we);Qe&&(c1(Y,ne,Oe[Y]=Qe),ei.set(ne,Oe))}function Nt(Y,ne,me){const we=ei.get(ne)||{};for(let Oe in we)(Y==null||Oe==Y)&&(cK(Oe,ne,we[Oe]),delete we[Oe]);Y==null&&ei.delete(ne)}let be=0,Ve=0,ke=0,Ke=0,xe=0,fe=0,Ne=xe,ze=fe,Ze=ke,Dt=Ke,Ln=0,dn=0,ii=0,xi=0;n.bbox={};let ji=!1,jo=!1,lo=!1,co=!1,Ms=!1,mr=!1;function jl(Y,ne,me){(me||Y!=n.width||ne!=n.height)&&Dh(Y,ne),Pb(!1),lo=!0,jo=!0,Rb()}function Dh(Y,ne){n.width=be=ke=Y,n.height=Ve=Ke=ne,xe=fe=0,vo(),kl();let me=n.bbox;Ln=me.left=Yw(xe*Fs,.5),dn=me.top=Yw(fe*Fs,.5),ii=me.width=Yw(ke*Fs,.5),xi=me.height=Yw(Ke*Fs,.5)}const Rg=3;function Po(){let Y=!1,ne=0;for(;!Y;){ne++;let me=F7(ne),we=i2(ne);Y=ne==Rg||me&&we,Y||(Dh(n.width,n.height),jo=!0)}}function Il({width:Y,height:ne}){jl(Y,ne)}n.setSize=Il;function vo(){let Y=!1,ne=!1,me=!1,we=!1;w.forEach((Oe,Qe)=>{if(Oe.show&&Oe._show){let{side:dt,_size:xt}=Oe,Rt=dt%2,tn=Oe.label!=null?Oe.labelSize:0,on=xt+tn;on>0&&(Rt?(ke-=on,dt==3?(xe+=on,we=!0):me=!0):(Ke-=on,dt==0?(fe+=on,Y=!0):ne=!0))}}),br[0]=Y,br[1]=me,br[2]=ne,br[3]=we,ke-=un[1]+un[3],xe+=un[3],Ke-=un[2]+un[0],fe+=un[0]}function kl(){let Y=xe+ke,ne=fe+Ke,me=xe,we=fe;function Oe(Qe,dt){switch(Qe){case 1:return Y+=dt,Y-dt;case 2:return ne+=dt,ne-dt;case 3:return me-=dt,me+dt;case 0:return we-=dt,we+dt}}w.forEach((Qe,dt)=>{if(Qe.show&&Qe._show){let xt=Qe.side;Qe._pos=Oe(xt,Qe._size),Qe.label!=null&&(Qe._lpos=Oe(xt,Qe.labelSize))}})}if(z.dataIdx==null){let Y=z.hover,ne=Y.skip=new Set(Y.skip??[]);ne.add(void 0);let me=Y.prox=Qi(Y.prox),we=Y.bias??=0;z.dataIdx=(Oe,Qe,dt,xt)=>{if(Qe==0)return dt;let Rt=dt,tn=me(Oe,Qe,dt,xt)??Fo,on=tn>=0&&tn<Fo,gn=E.ori==0?ke:Ke,Jn=z.left,cs=e[0],ds=e[Qe];if(ne.has(ds[dt])){Rt=null;let Bi=null,jn=null,Je;if(we==0||we==-1)for(Je=dt;Bi==null&&Je-- >0;)ne.has(ds[Je])||(Bi=Je);if(we==0||we==1)for(Je=dt;jn==null&&Je++<ds.length;)ne.has(ds[Je])||(jn=Je);if(Bi!=null||jn!=null)if(on){let Bn=Bi==null?-1/0:R(cs[Bi],E,gn,0),pi=jn==null?1/0:R(cs[jn],E,gn,0),qo=Jn-Bn,hi=pi-Jn;qo<=hi?qo<=tn&&(Rt=Bi):hi<=tn&&(Rt=jn)}else Rt=jn==null?Bi:Bi==null?jn:dt-Bi<=jn-dt?Bi:jn}else on&&ll(Jn-R(cs[dt],E,gn,0))>tn&&(Rt=null);return Rt}}const aa=Y=>{z.event=Y};z.idxs=X,z._lock=!1;let Ns=z.points;Ns.show=Qi(Ns.show),Ns.size=Qi(Ns.size),Ns.stroke=Qi(Ns.stroke),Ns.width=Qi(Ns.width),Ns.fill=Qi(Ns.fill);const St=n.focus=Ba({},i.focus||{alpha:.3},z.focus),Un=St.prox>=0,ls=Un&&Ns.one;let Ii=[],yo=[],fr=[];function pr(Y,ne){let me=Ns.show(n,ne);if(me instanceof HTMLElement)return Vu(me,Mft),Vu(me,Y.class),of(me,-10,-10,ke,Ke),f.insertBefore(me,Ii[ne]),me}function xn(Y,ne){if(s==1||ne>0){let me=s==1&&y[Y.scale].time,we=Y.value;Y.value=me?ume(we)?bme(O,_me(we,B)):we||H:we||Kpt,Y.label=Y.label||(me?zpt:Vpt)}if(ls||ne>0){Y.width=Y.width==null?1:Y.width,Y.paths=Y.paths||l_t||Xft,Y.fillTo=Qi(Y.fillTo||Zpt),Y.pxAlign=+Ds(Y.pxAlign,p),Y.pxRound=Nme(Y.pxAlign),Y.stroke=Qi(Y.stroke||null),Y.fill=Qi(Y.fill||null),Y._stroke=Y._fill=Y._paths=Y._focus=null;let me=Jpt(pd(1,Y.width),1),we=Y.points=Ba({},{size:me,width:pd(1,me*.2),stroke:Y.stroke,space:me*2,paths:c_t,_stroke:null,_fill:null},Y.points);we.show=Qi(we.show),we.filter=Qi(we.filter),we.fill=Qi(we.fill),we.stroke=Qi(we.stroke),we.paths=Qi(we.paths),we.pxAlign=Y.pxAlign}if(de){let me=nn(Y,ne);Ee.splice(ne,0,me[0]),Te.splice(ne,0,me[1]),K.values.push(null)}if(te){X.splice(ne,0,null);let me=null;ls?ne==0&&(me=pr(Y,ne)):ne>0&&(me=pr(Y,ne)),Ii.splice(ne,0,me),yo.splice(ne,0,0),fr.splice(ne,0,0)}Da("addSeries",ne)}function _r(Y,ne){ne=ne??v.length,Y=s==1?fK(Y,ne,yme,Ime):fK(Y,ne,{},xme),v.splice(ne,0,Y),xn(v[ne],ne)}n.addSeries=_r;function Bd(Y){if(v.splice(Y,1),de){K.values.splice(Y,1),Te.splice(Y,1);let ne=Ee.splice(Y,1)[0];Nt(null,ne.firstChild),ne.remove()}te&&(X.splice(Y,1),Ii.splice(Y,1)[0].remove(),yo.splice(Y,1),fr.splice(Y,1)),Da("delSeries",Y)}n.delSeries=Bd;const br=[!1,!1,!1,!1];function vc(Y,ne){if(Y._show=Y.show,Y.show){let me=Y.side%2,we=y[Y.scale];we==null&&(Y.scale=me?v[1].scale:C,we=y[Y.scale]);let Oe=we.time;Y.size=Qi(Y.size),Y.space=Qi(Y.space),Y.rotate=Qi(Y.rotate),hv(Y.incrs)&&Y.incrs.forEach(dt=>{!by.has(dt)&&by.set(dt,SEe(dt))}),Y.incrs=Qi(Y.incrs||(we.distr==2?ypt:Oe?b==1?Cpt:Ipt:Qw)),Y.splits=Qi(Y.splits||(Oe&&we.distr==1?V:we.distr==3?uK:we.distr==4?$pt:Hpt)),Y.stroke=Qi(Y.stroke),Y.grid.stroke=Qi(Y.grid.stroke),Y.ticks.stroke=Qi(Y.ticks.stroke),Y.border.stroke=Qi(Y.border.stroke);let Qe=Y.values;Y.values=hv(Qe)&&!hv(Qe[0])?Qi(Qe):Oe?hv(Qe)?pme(O,fme(Qe,B)):ume(Qe)?Lpt(O,Qe):Qe||G:Qe||Wpt,Y.filter=Qi(Y.filter||(we.distr>=3&&we.log==10?Gpt:we.distr==3&&we.log==2?qpt:wEe)),Y.font=Eme(Y.font),Y.labelFont=Eme(Y.labelFont),Y._size=Y.size(n,null,ne,0),Y._space=Y._rotate=Y._incrs=Y._found=Y._splits=Y._values=null,Y._size>0&&(br[ne]=!0,Y._el=$h(Tft,g))}}function Ro(Y,ne,me,we){let[Oe,Qe,dt,xt]=me,Rt=ne%2,tn=0;return Rt==0&&(xt||Qe)&&(tn=ne==0&&!Oe||ne==2&&!dt?sl(vme.size/3):0),Rt==1&&(Oe||dt)&&(tn=ne==1&&!Qe||ne==3&&!xt?sl(Cme.size/2):0),tn}const Th=n.padding=(i.padding||[Ro,Ro,Ro,Ro]).map(Y=>Qi(Ds(Y,Ro))),un=n._padding=Th.map((Y,ne)=>Y(n,ne,br,0));let Pe,ft=null,qt=null;const As=s==1?v[0].idxs:null;let Ks=null,wo=!1;function el(Y,ne){if(e=Y??[],n.data=n._data=e,s==2){Pe=0;for(let me=1;me<v.length;me++)Pe+=e[me][0].length}else{e.length==0&&(n.data=n._data=e=[[]]),Ks=e[0],Pe=Ks.length;let me=e;if(T==2){me=e.slice();let we=me[0]=Array(Pe);for(let Oe=0;Oe<Pe;Oe++)we[Oe]=Oe}n._data=e=me}if(Pb(!0),Da("setData"),T==2&&(lo=!0),ne!==!1){let me=E;me.auto(n,wo)?Xc():Gl(C,me.min,me.max),co=co||z.left>=0,mr=!0,Rb()}}n.setData=el;function Xc(){wo=!0;let Y,ne;s==1&&(Pe>0?(ft=As[0]=0,qt=As[1]=Pe-1,Y=e[0][ft],ne=e[0][qt],T==2?(Y=ft,ne=qt):Y==ne&&(T==3?[Y,ne]=i9(Y,Y,E.log,!1):T==4?[Y,ne]=wie(Y,Y,E.log,!1):E.time?ne=Y+sl(86400/b):[Y,ne]=q4(Y,ne,Cie,!0))):(ft=As[0]=Y=null,qt=As[1]=ne=null)),Gl(C,Y,ne)}let Pu,Eh,Er,Tb,Mg,iw,DL,TL,X0,yc;function EL(Y,ne,me,we,Oe,Qe){Y??=Kge,me??=xie,we??="butt",Oe??=Kge,Qe??="round",Y!=Pu&&(u.strokeStyle=Pu=Y),Oe!=Eh&&(u.fillStyle=Eh=Oe),ne!=Er&&(u.lineWidth=Er=ne),Qe!=Mg&&(u.lineJoin=Mg=Qe),we!=iw&&(u.lineCap=iw=we),me!=Tb&&u.setLineDash(Tb=me)}function e2(Y,ne,me,we){ne!=Eh&&(u.fillStyle=Eh=ne),Y!=DL&&(u.font=DL=Y),me!=TL&&(u.textAlign=TL=me),we!=X0&&(u.textBaseline=X0=we)}function Lp(Y,ne,me,we,Oe=0){if(we.length>0&&Y.auto(n,wo)&&(ne==null||ne.min==null)){let Qe=Ds(ft,0),dt=Ds(qt,we.length-1),xt=me.min==null?Gft(we,Qe,dt,Oe,Y.distr==3):[me.min,me.max];Y.min=vm(Y.min,me.min=xt[0]),Y.max=pd(Y.max,me.max=xt[1])}}const PL={min:null,max:null};function RL(){for(let we in y){let Oe=y[we];M[we]==null&&(Oe.min==null||M[C]!=null&&Oe.auto(n,wo))&&(M[we]=PL)}for(let we in y){let Oe=y[we];M[we]==null&&Oe.from!=null&&M[Oe.from]!=null&&(M[we]=PL)}M[C]!=null&&Pb(!0);let Y={};for(let we in M){let Oe=M[we];if(Oe!=null){let Qe=Y[we]=Ak(y[we],tpt);if(Oe.min!=null)Ba(Qe,Oe);else if(we!=C||s==2)if(Pe==0&&Qe.from==null){let dt=Qe.range(n,null,null,we);Qe.min=dt[0],Qe.max=dt[1]}else Qe.min=Fo,Qe.max=-Fo}}if(Pe>0){v.forEach((we,Oe)=>{if(s==1){let Qe=we.scale,dt=M[Qe];if(dt==null)return;let xt=Y[Qe];if(Oe==0){let Rt=xt.range(n,xt.min,xt.max,Qe);xt.min=Rt[0],xt.max=Rt[1],ft=cm(xt.min,e[0]),qt=cm(xt.max,e[0]),qt-ft>1&&(e[0][ft]<xt.min&&ft++,e[0][qt]>xt.max&&qt--),we.min=Ks[ft],we.max=Ks[qt]}else we.show&&we.auto&&Lp(xt,dt,we,e[Oe],we.sorted);we.idxs[0]=ft,we.idxs[1]=qt}else if(Oe>0&&we.show&&we.auto){let[Qe,dt]=we.facets,xt=Qe.scale,Rt=dt.scale,[tn,on]=e[Oe],gn=Y[xt],Jn=Y[Rt];gn!=null&&Lp(gn,M[xt],Qe,tn,Qe.sorted),Jn!=null&&Lp(Jn,M[Rt],dt,on,dt.sorted),we.min=dt.min,we.max=dt.max}});for(let we in Y){let Oe=Y[we],Qe=M[we];if(Oe.from==null&&(Qe==null||Qe.min==null)){let dt=Oe.range(n,Oe.min==Fo?null:Oe.min,Oe.max==-Fo?null:Oe.max,we);Oe.min=dt[0],Oe.max=dt[1]}}}for(let we in Y){let Oe=Y[we];if(Oe.from!=null){let Qe=Y[Oe.from];if(Qe.min==null)Oe.min=Oe.max=null;else{let dt=Oe.range(n,Qe.min,Qe.max,we);Oe.min=dt[0],Oe.max=dt[1]}}}let ne={},me=!1;for(let we in Y){let Oe=Y[we],Qe=y[we];if(Qe.min!=Oe.min||Qe.max!=Oe.max){Qe.min=Oe.min,Qe.max=Oe.max;let dt=Qe.distr;Qe._min=dt==3?R_(Qe.min):dt==4?q8(Qe.min,Qe.asinh):dt==100?Qe.fwd(Qe.min):Qe.min,Qe._max=dt==3?R_(Qe.max):dt==4?q8(Qe.max,Qe.asinh):dt==100?Qe.fwd(Qe.max):Qe.max,ne[we]=me=!0}}if(me){v.forEach((we,Oe)=>{s==2?Oe>0&&ne.y&&(we._paths=null):ne[we.scale]&&(we._paths=null)});for(let we in ne)lo=!0,Da("setScale",we);te&&z.left>=0&&(co=mr=!0)}for(let we in M)M[we]=null}function sw(Y){let ne=dK(ft-1,0,Pe-1),me=dK(qt+1,0,Pe-1);for(;Y[ne]==null&&ne>0;)ne--;for(;Y[me]==null&&me<Pe-1;)me++;return[ne,me]}function Z0(){if(Pe>0){let Y=v.some(ne=>ne._focus)&&yc!=St.alpha;Y&&(u.globalAlpha=yc=St.alpha),v.forEach((ne,me)=>{if(me>0&&ne.show&&(Ag(me,!1),Ag(me,!0),ne._paths==null)){let we=yc;yc!=ne.alpha&&(u.globalAlpha=yc=ne.alpha);let Oe=s==2?[0,e[me][0].length-1]:sw(e[me]);ne._paths=ne.paths(n,me,Oe[0],Oe[1]),yc!=we&&(u.globalAlpha=yc=we)}}),v.forEach((ne,me)=>{if(me>0&&ne.show){let we=yc;yc!=ne.alpha&&(u.globalAlpha=yc=ne.alpha),ne._paths!=null&&Eb(me,!1);{let Oe=ne._paths!=null?ne._paths.gaps:null,Qe=ne.points.show(n,me,ft,qt,Oe),dt=ne.points.filter(n,me,Qe,Oe);(Qe||dt)&&(ne.points._paths=ne.points.paths(n,me,ft,qt,dt),Eb(me,!0))}yc!=we&&(u.globalAlpha=yc=we),Da("drawSeries",me)}}),Y&&(u.globalAlpha=yc=1)}}function Ag(Y,ne){let me=ne?v[Y].points:v[Y];me._stroke=me.stroke(n,Y),me._fill=me.fill(n,Y)}function Eb(Y,ne){let me=ne?v[Y].points:v[Y],{stroke:we,fill:Oe,clip:Qe,flags:dt,_stroke:xt=me._stroke,_fill:Rt=me._fill,_width:tn=me.width}=me._paths;tn=Bo(tn*Fs,3);let on=null,gn=tn%2/2;ne&&Rt==null&&(Rt=tn>0?"#fff":xt);let Jn=me.pxAlign==1&&gn>0;if(Jn&&u.translate(gn,gn),!ne){let cs=Ln-tn/2,ds=dn-tn/2,Bi=ii+tn,jn=xi+tn;on=new Path2D,on.rect(cs,ds,Bi,jn)}ne?eS(xt,tn,me.dash,me.cap,Rt,we,Oe,dt,Qe):t2(Y,xt,tn,me.dash,me.cap,Rt,we,Oe,dt,on,Qe),Jn&&u.translate(-gn,-gn)}function t2(Y,ne,me,we,Oe,Qe,dt,xt,Rt,tn,on){let gn=!1;Rt!=0&&S.forEach((Jn,cs)=>{if(Jn.series[0]==Y){let ds=v[Jn.series[1]],Bi=e[Jn.series[1]],jn=(ds._paths||pE).band;hv(jn)&&(jn=Jn.dir==1?jn[0]:jn[1]);let Je,Bn=null;ds.show&&jn&&Kft(Bi,ft,qt)?(Bn=Jn.fill(n,cs)||Qe,Je=ds._paths.clip):jn=null,eS(ne,me,we,Oe,Bn,dt,xt,Rt,tn,on,Je,jn),gn=!0}}),gn||eS(ne,me,we,Oe,Qe,dt,xt,Rt,tn,on)}const n2=Ok|gK;function eS(Y,ne,me,we,Oe,Qe,dt,xt,Rt,tn,on,gn){EL(Y,ne,me,we,Oe),(Rt||tn||gn)&&(u.save(),Rt&&u.clip(Rt),tn&&u.clip(tn)),gn?(xt&n2)==n2?(u.clip(gn),on&&u.clip(on),ow(Oe,dt),tS(Y,Qe,ne)):xt&gK?(ow(Oe,dt),u.clip(gn),tS(Y,Qe,ne)):xt&Ok&&(u.save(),u.clip(gn),on&&u.clip(on),ow(Oe,dt),u.restore(),tS(Y,Qe,ne)):(ow(Oe,dt),tS(Y,Qe,ne)),(Rt||tn||gn)&&u.restore()}function tS(Y,ne,me){me>0&&(ne instanceof Map?ne.forEach((we,Oe)=>{u.strokeStyle=Pu=Oe,u.stroke(we)}):ne!=null&&Y&&u.stroke(ne))}function ow(Y,ne){ne instanceof Map?ne.forEach((me,we)=>{u.fillStyle=Eh=we,u.fill(me)}):ne!=null&&Y&&u.fill(ne)}function O7(Y,ne,me,we){let Oe=w[Y],Qe;if(we<=0)Qe=[0,0];else{let dt=Oe._space=Oe.space(n,Y,ne,me,we),xt=Oe._incrs=Oe.incrs(n,Y,ne,me,we,dt);Qe=f_t(ne,me,xt,we,dt)}return Oe._found=Qe}function nS(Y,ne,me,we,Oe,Qe,dt,xt,Rt,tn){let on=dt%2/2;p==1&&u.translate(on,on),EL(xt,dt,Rt,tn,xt),u.beginPath();let gn,Jn,cs,ds,Bi=Oe+(we==0||we==3?-Qe:Qe);me==0?(Jn=Oe,ds=Bi):(gn=Oe,cs=Bi);for(let jn=0;jn<Y.length;jn++)ne[jn]!=null&&(me==0?gn=cs=Y[jn]:Jn=ds=Y[jn],u.moveTo(gn,Jn),u.lineTo(cs,ds));u.stroke(),p==1&&u.translate(-on,-on)}function F7(Y){let ne=!0;return w.forEach((me,we)=>{if(!me.show)return;let Oe=y[me.scale];if(Oe.min==null){me._show&&(ne=!1,me._show=!1,Pb(!1));return}else me._show||(ne=!1,me._show=!0,Pb(!1));let Qe=me.side,dt=Qe%2,{min:xt,max:Rt}=Oe,[tn,on]=O7(we,xt,Rt,dt==0?ke:Ke);if(on==0)return;let gn=Oe.distr==2,Jn=me._splits=me.splits(n,we,xt,Rt,tn,on,gn),cs=Oe.distr==2?Jn.map(Je=>Ks[Je]):Jn,ds=Oe.distr==2?Ks[Jn[1]]-Ks[Jn[0]]:tn,Bi=me._values=me.values(n,me.filter(n,cs,we,on,ds),we,on,ds);me._rotate=Qe==2?me.rotate(n,Bi,we,on):0;let jn=me._size;me._size=tg(me.size(n,Bi,we,Y)),jn!=null&&me._size!=jn&&(ne=!1)}),ne}function i2(Y){let ne=!0;return Th.forEach((me,we)=>{let Oe=me(n,we,br,Y);Oe!=un[we]&&(ne=!1),un[we]=Oe}),ne}function B7(){for(let Y=0;Y<w.length;Y++){let ne=w[Y];if(!ne.show||!ne._show)continue;let me=ne.side,we=me%2,Oe,Qe,dt=ne.stroke(n,Y),xt=me==0||me==3?-1:1,[Rt,tn]=ne._found;if(ne.label!=null){let Zc=ne.labelGap*xt,Mu=sl((ne._lpos+Zc)*Fs);e2(ne.labelFont[0],dt,"center",me==2?pD:qge),u.save(),we==1?(Oe=Qe=0,u.translate(Mu,sl(dn+xi/2)),u.rotate((me==3?-p3:p3)/2)):(Oe=sl(Ln+ii/2),Qe=Mu);let hw=vEe(ne.label)?ne.label(n,Y,Rt,tn):ne.label;u.fillText(hw,Oe,Qe),u.restore()}if(tn==0)continue;let on=y[ne.scale],gn=we==0?ii:xi,Jn=we==0?Ln:dn,cs=ne._splits,ds=on.distr==2?cs.map(Zc=>Ks[Zc]):cs,Bi=on.distr==2?Ks[cs[1]]-Ks[cs[0]]:Rt,jn=ne.ticks,Je=ne.border,Bn=jn.show?jn.size:0,pi=sl(Bn*Fs),qo=sl((ne.alignTo==2?ne._size-Bn-ne.gap:ne.gap)*Fs),hi=ne._rotate*-p3/180,zi=_(ne._pos*Fs),ho=(pi+qo)*xt,or=zi+ho;Qe=we==0?or:0,Oe=we==1?or:0;let nl=ne.font[0],rr=ne.align==1?FS:ne.align==2?U8:hi>0?FS:hi<0?U8:we==0?"center":me==3?U8:FS,Nl=hi||we==1?"middle":me==2?pD:qge;e2(nl,dt,rr,Nl);let Ru=ne.font[1]*ne.lineGap,Ah=cs.map(Zc=>_(a(Zc,on,gn,Jn))),Bg=ne._values;for(let Zc=0;Zc<Bg.length;Zc++){let Mu=Bg[Zc];if(Mu!=null){we==0?Oe=Ah[Zc]:Qe=Ah[Zc],Mu=""+Mu;let hw=Mu.indexOf(`
-`)==-1?[Mu]:Mu.split(/\n/gm);for(let ed=0;ed<hw.length;ed++){let Pce=hw[ed];hi?(u.save(),u.translate(Oe,Qe+ed*Ru),u.rotate(hi),u.fillText(Pce,0,0),u.restore()):u.fillText(Pce,Oe,Qe+ed*Ru)}}}jn.show&&nS(Ah,jn.filter(n,ds,Y,tn,Bi),we,me,zi,pi,Bo(jn.width*Fs,3),jn.stroke(n,Y),jn.dash,jn.cap);let Ym=ne.grid;Ym.show&&nS(Ah,Ym.filter(n,ds,Y,tn,Bi),we,we==0?2:1,we==0?dn:Ln,we==0?xi:ii,Bo(Ym.width*Fs,3),Ym.stroke(n,Y),Ym.dash,Ym.cap),Je.show&&nS([zi],[1],we==0?1:0,we==0?1:2,we==1?dn:Ln,we==1?xi:ii,Bo(Je.width*Fs,3),Je.stroke(n,Y),Je.dash,Je.cap)}Da("drawAxes")}function Pb(Y){v.forEach((ne,me)=>{me>0&&(ne._paths=null,Y&&(s==1?(ne.min=null,ne.max=null):ne.facets.forEach(we=>{we.min=null,we.max=null})))})}let iS=!1,ML=!1,rw=[];function V7(){ML=!1;for(let Y=0;Y<rw.length;Y++)Da(...rw[Y]);rw.length=0}function Rb(){iS||(lpt(AL),iS=!0)}function z7(Y,ne=!1){iS=!0,ML=ne,Y(n),AL(),ne&&rw.length>0&&queueMicrotask(V7)}n.batch=z7;function AL(){if(ji&&(RL(),ji=!1),lo&&(Po(),lo=!1),jo){if(cr(m,FS,xe),cr(m,pD,fe),cr(m,kT,ke),cr(m,NT,Ke),cr(f,FS,xe),cr(f,pD,fe),cr(f,kT,ke),cr(f,NT,Ke),cr(g,kT,be),cr(g,NT,Ve),d.width=sl(be*Fs),d.height=sl(Ve*Fs),w.forEach(({_el:Y,_show:ne,_size:me,_pos:we,side:Oe})=>{if(Y!=null)if(ne){let Qe=Oe===3||Oe===0?me:0,dt=Oe%2==1;cr(Y,dt?"left":"top",we-Qe),cr(Y,dt?"width":"height",me),cr(Y,dt?"top":"left",dt?fe:xe),cr(Y,dt?"height":"width",dt?Ke:ke),lK(Y,uC)}else Vu(Y,uC)}),Pu=Eh=Er=Mg=iw=DL=TL=X0=Tb=null,yc=1,Ep(!0),xe!=Ne||fe!=ze||ke!=Ze||Ke!=Dt){Pb(!1);let Y=ke/Ze,ne=Ke/Dt;if(te&&!co&&z.left>=0){z.left*=Y,z.top*=ne,Mb&&of(Mb,sl(z.left),0,ke,Ke),Ab&&of(Ab,0,sl(z.top),ke,Ke);for(let me=0;me<Ii.length;me++){let we=Ii[me];we!=null&&(yo[me]*=Y,fr[me]*=ne,of(we,tg(yo[me]),tg(fr[me]),ke,Ke))}}if(uo.show&&!Ms&&uo.left>=0&&uo.width>0){uo.left*=Y,uo.width*=Y,uo.top*=ne,uo.height*=ne;for(let me in rS)cr(Bb,me,uo[me])}Ne=xe,ze=fe,Ze=ke,Dt=Ke}Da("setSize"),jo=!1}be>0&&Ve>0&&(u.clearRect(0,0,d.width,d.height),Da("drawClear"),N.forEach(Y=>Y()),Da("draw")),uo.show&&Ms&&(oS(uo),Ms=!1),te&&co&&(Jm(null,!0,!1),co=!1),K.show&&K.live&&mr&&(VL(),mr=!1),l||(l=!0,n.status=1,Da("ready")),wo=!1,iS=!1}n.redraw=(Y,ne)=>{lo=ne||!1,Y!==!1?Gl(C,E.min,E.max):Rb()};function OL(Y,ne){let me=y[Y];if(me.from==null){if(Pe==0){let we=me.range(n,ne.min,ne.max,Y);ne.min=we[0],ne.max=we[1]}if(ne.min>ne.max){let we=ne.min;ne.min=ne.max,ne.max=we}if(Pe>1&&ne.min!=null&&ne.max!=null&&ne.max-ne.min<1e-16)return;Y==C&&me.distr==2&&Pe>0&&(ne.min=cm(ne.min,e[0]),ne.max=cm(ne.max,e[0]),ne.min==ne.max&&ne.max++),M[Y]=ne,ji=!0,Rb()}}n.setScale=OL;let sS,FL,Mb,Ab,s2,o2,Ob,Fb,r2,a2,Co,Go,Km=!1;const tl=z.drag;let La=tl.x,vr=tl.y;te&&(z.x&&(sS=$h(Pft,f)),z.y&&(FL=$h(Rft,f)),E.ori==0?(Mb=sS,Ab=FL):(Mb=FL,Ab=sS),Co=z.left,Go=z.top);const uo=n.select=Ba({show:!0,over:!0,left:0,width:0,top:0,height:0},i.select),Bb=uo.show?$h(Eft,uo.over?f:m):null;function oS(Y,ne){if(uo.show){for(let me in Y)uo[me]=Y[me],me in rS&&cr(Bb,me,Y[me]);ne!==!1&&Da("setSelect")}}n.setSelect=oS;function W7(Y){if(v[Y].show)de&&lK(Ee[Y],uC);else if(de&&Vu(Ee[Y],uC),te){let me=ls?Ii[0]:Ii[Y];me!=null&&of(me,-10,-10,ke,Ke)}}function Gl(Y,ne,me){OL(Y,{min:ne,max:me})}function Ph(Y,ne,me,we){ne.focus!=null&&G7(Y),ne.show!=null&&v.forEach((Oe,Qe)=>{Qe>0&&(Y==Qe||Y==null)&&(Oe.show=ne.show,W7(Qe),s==2?(Gl(Oe.facets[0].scale,null,null),Gl(Oe.facets[1].scale,null,null)):Gl(Oe.scale,null,null),Rb())}),me!==!1&&Da("setSeries",Y,ne),we&&uw("setSeries",n,Y,ne)}n.setSeries=Ph;function H7(Y,ne){Ba(S[Y],ne)}function $7(Y,ne){Y.fill=Qi(Y.fill||null),Y.dir=Ds(Y.dir,-1),ne=ne??S.length,S.splice(ne,0,Y)}function U7(Y){Y==null?S.length=0:S.splice(Y,1)}n.addBand=$7,n.setBand=H7,n.delBand=U7;function j7(Y,ne){v[Y].alpha=ne,te&&Ii[Y]!=null&&(Ii[Y].style.opacity=ne),de&&Ee[Y]&&(Ee[Y].style.opacity=ne)}let Og,Rh,Dp;const Tp={focus:!0};function G7(Y){if(Y!=Dp){let ne=Y==null,me=St.alpha!=1;v.forEach((we,Oe)=>{if(s==1||Oe>0){let Qe=ne||Oe==0||Oe==Y;we._focus=ne?null:Qe,me&&j7(Oe,Qe?1:St.alpha)}}),Dp=Y,me&&Rb()}}de&&Un&&oi(Qge,he,Y=>{z._lock||(aa(Y),Dp!=null&&Ph(null,Tp,!0,Gr.setSeries))});function Mh(Y,ne,me){let we=y[ne];me&&(Y=Y/Fs-(we.ori==1?fe:xe));let Oe=ke;we.ori==1&&(Oe=Ke,Y=Oe-Y),we.dir==-1&&(Y=Oe-Y);let Qe=we._min,dt=we._max,xt=Y/Oe,Rt=Qe+(dt-Qe)*xt,tn=we.distr;return tn==3?Rk(10,Rt):tn==4?Yft(Rt,we.asinh):tn==100?we.bwd(Rt):Rt}function l2(Y,ne){let me=Mh(Y,C,ne);return cm(me,e[0],ft,qt)}n.valToIdx=Y=>cm(Y,e[0]),n.posToIdx=l2,n.posToVal=Mh,n.valToPos=(Y,ne,me)=>y[ne].ori==0?o(Y,y[ne],me?ii:ke,me?Ln:0):r(Y,y[ne],me?xi:Ke,me?dn:0),n.setCursor=(Y,ne,me)=>{Co=Y.left,Go=Y.top,Jm(null,ne,me)};function BL(Y,ne){cr(Bb,FS,uo.left=Y),cr(Bb,kT,uo.width=ne)}function c2(Y,ne){cr(Bb,pD,uo.top=Y),cr(Bb,NT,uo.height=ne)}let aw=E.ori==0?BL:c2,lw=E.ori==1?BL:c2;function q7(){if(de&&K.live)for(let Y=s==2?1:0;Y<v.length;Y++){if(Y==0&&st)continue;let ne=K.values[Y],me=0;for(let we in ne)Te[Y][me++].firstChild.nodeValue=ne[we]}}function VL(Y,ne){if(Y!=null&&(Y.idxs?Y.idxs.forEach((me,we)=>{X[we]=me}):ept(Y.idx)||X.fill(Y.idx),K.idx=X[0]),de&&K.live){for(let me=0;me<v.length;me++)(me>0||s==1&&!st)&&K7(me,X[me]);q7()}mr=!1,ne!==!1&&Da("setLegend")}n.setLegend=VL;function K7(Y,ne){let me=v[Y],we=Y==0&&T==2?Ks:e[Y],Oe;st?Oe=me.values(n,Y,ne)??kt:(Oe=me.value(n,ne==null?null:we[ne],Y,ne),Oe=Oe==null?kt:{_:Oe}),K.values[Y]=Oe}function Jm(Y,ne,me){r2=Co,a2=Go,[Co,Go]=z.move(n,Co,Go),z.left=Co,z.top=Go,te&&(Mb&&of(Mb,sl(Co),0,ke,Ke),Ab&&of(Ab,0,sl(Go),ke,Ke));let we,Oe=ft>qt;Og=Fo,Rh=null;let Qe=E.ori==0?ke:Ke,dt=E.ori==1?ke:Ke;if(Co<0||Pe==0||Oe){we=z.idx=null;for(let xt=0;xt<v.length;xt++){let Rt=Ii[xt];Rt!=null&&of(Rt,-10,-10,ke,Ke)}Un&&Ph(null,Tp,!0,Y==null&&Gr.setSeries),K.live&&(X.fill(we),mr=!0)}else{let xt,Rt,tn;s==1&&(xt=E.ori==0?Co:Go,Rt=Mh(xt,C),we=z.idx=cm(Rt,e[0],ft,qt),tn=R(e[0][we],E,Qe,0));let on=-10,gn=-10,Jn=0,cs=0,ds=!0,Bi="",jn="";for(let Je=s==2?1:0;Je<v.length;Je++){let Bn=v[Je],pi=X[Je],qo=pi==null?null:s==1?e[Je][pi]:e[Je][1][pi],hi=z.dataIdx(n,Je,we,Rt),zi=hi==null?null:s==1?e[Je][hi]:e[Je][1][hi];if(mr=mr||zi!=qo||hi!=pi,X[Je]=hi,Je>0&&Bn.show){let ho=hi==null?-10:hi==we?tn:R(s==1?e[0][hi]:e[Je][0][hi],E,Qe,0),or=zi==null?-10:A(zi,s==1?y[Bn.scale]:y[Bn.facets[1].scale],dt,0);if(Un&&zi!=null){let nl=E.ori==1?Co:Go,rr=ll(St.dist(n,Je,hi,or,nl));if(rr<Og){let Nl=St.bias;if(Nl!=0){let Ru=Mh(nl,Bn.scale),Ah=zi>=0?1:-1,Bg=Ru>=0?1:-1;Bg==Ah&&(Bg==1?Nl==1?zi>=Ru:zi<=Ru:Nl==1?zi<=Ru:zi>=Ru)&&(Og=rr,Rh=Je)}else Og=rr,Rh=Je}}if(mr||ls){let nl,rr;E.ori==0?(nl=ho,rr=or):(nl=or,rr=ho);let Nl,Ru,Ah,Bg,Ym,Zc,Mu=!0,hw=Ns.bbox;if(hw!=null){Mu=!1;let ed=hw(n,Je);Ah=ed.left,Bg=ed.top,Nl=ed.width,Ru=ed.height}else Ah=nl,Bg=rr,Nl=Ru=Ns.size(n,Je);if(Zc=Ns.fill(n,Je),Ym=Ns.stroke(n,Je),ls)Je==Rh&&Og<=St.prox&&(on=Ah,gn=Bg,Jn=Nl,cs=Ru,ds=Mu,Bi=Zc,jn=Ym);else{let ed=Ii[Je];ed!=null&&(yo[Je]=Ah,fr[Je]=Bg,sme(ed,Nl,Ru,Mu),nme(ed,Zc,Ym),of(ed,tg(Ah),tg(Bg),ke,Ke))}}}}if(ls){let Je=St.prox,Bn=Dp==null?Og<=Je:Og>Je||Rh!=Dp;if(mr||Bn){let pi=Ii[0];pi!=null&&(yo[0]=on,fr[0]=gn,sme(pi,Jn,cs,ds),nme(pi,Bi,jn),of(pi,tg(on),tg(gn),ke,Ke))}}}if(uo.show&&Km)if(Y!=null){let[xt,Rt]=Gr.scales,[tn,on]=Gr.match,[gn,Jn]=Y.cursor.sync.scales,cs=Y.cursor.drag;if(La=cs._x,vr=cs._y,La||vr){let{left:ds,top:Bi,width:jn,height:Je}=Y.select,Bn=Y.scales[gn].ori,pi=Y.posToVal,qo,hi,zi,ho,or,nl=xt!=null&&tn(xt,gn),rr=Rt!=null&&on(Rt,Jn);nl&&La?(Bn==0?(qo=ds,hi=jn):(qo=Bi,hi=Je),zi=y[xt],ho=R(pi(qo,gn),zi,Qe,0),or=R(pi(qo+hi,gn),zi,Qe,0),aw(vm(ho,or),ll(or-ho))):aw(0,Qe),rr&&vr?(Bn==1?(qo=ds,hi=jn):(qo=Bi,hi=Je),zi=y[Rt],ho=A(pi(qo,Jn),zi,dt,0),or=A(pi(qo+hi,Jn),zi,dt,0),lw(vm(ho,or),ll(or-ho))):lw(0,dt)}else aS()}else{let xt=ll(r2-s2),Rt=ll(a2-o2);if(E.ori==1){let Jn=xt;xt=Rt,Rt=Jn}La=tl.x&&xt>=tl.dist,vr=tl.y&&Rt>=tl.dist;let tn=tl.uni;tn!=null?La&&vr&&(La=xt>=tn,vr=Rt>=tn,!La&&!vr&&(Rt>xt?vr=!0:La=!0)):tl.x&&tl.y&&(La||vr)&&(La=vr=!0);let on,gn;La&&(E.ori==0?(on=Ob,gn=Co):(on=Fb,gn=Go),aw(vm(on,gn),ll(gn-on)),vr||lw(0,dt)),vr&&(E.ori==1?(on=Ob,gn=Co):(on=Fb,gn=Go),lw(vm(on,gn),ll(gn-on)),La||aw(0,Qe)),!La&&!vr&&(aw(0,0),lw(0,0))}if(tl._x=La,tl._y=vr,Y==null){if(me){if(p2!=null){let[xt,Rt]=Gr.scales;Gr.values[0]=xt!=null?Mh(E.ori==0?Co:Go,xt):null,Gr.values[1]=Rt!=null?Mh(E.ori==1?Co:Go,Rt):null}uw(j8,n,Co,Go,ke,Ke,we)}if(Un){let xt=me&&Gr.setSeries,Rt=St.prox;Dp==null?Og<=Rt&&Ph(Rh,Tp,!0,xt):Og>Rt?Ph(null,Tp,!0,xt):Rh!=Dp&&Ph(Rh,Tp,!0,xt)}}mr&&(K.idx=we,VL()),ne!==!1&&Da("setCursor")}let Fg=null;Object.defineProperty(n,"rect",{get(){return Fg==null&&Ep(!1),Fg}});function Ep(Y=!1){Y?Fg=null:(Fg=f.getBoundingClientRect(),Da("syncRect",Fg))}function d2(Y,ne,me,we,Oe,Qe,dt){z._lock||Km&&Y!=null&&Y.movementX==0&&Y.movementY==0||(zL(Y,ne,me,we,Oe,Qe,dt,!1,Y!=null),Y!=null?Jm(null,!0,!0):Jm(ne,!0,!1))}function zL(Y,ne,me,we,Oe,Qe,dt,xt,Rt){if(Fg==null&&Ep(!1),aa(Y),Y!=null)me=Y.clientX-Fg.left,we=Y.clientY-Fg.top;else{if(me<0||we<0){Co=-10,Go=-10;return}let[tn,on]=Gr.scales,gn=ne.cursor.sync,[Jn,cs]=gn.values,[ds,Bi]=gn.scales,[jn,Je]=Gr.match,Bn=ne.axes[0].side%2==1,pi=E.ori==0?ke:Ke,qo=E.ori==1?ke:Ke,hi=Bn?Qe:Oe,zi=Bn?Oe:Qe,ho=Bn?we:me,or=Bn?me:we;if(ds!=null?me=jn(tn,ds)?a(Jn,y[tn],pi,0):-10:me=pi*(ho/hi),Bi!=null?we=Je(on,Bi)?a(cs,y[on],qo,0):-10:we=qo*(or/zi),E.ori==1){let nl=me;me=we,we=nl}}Rt&&(ne==null||ne.cursor.event.type==j8)&&((me<=1||me>=ke-1)&&(me=Yw(me,ke)),(we<=1||we>=Ke-1)&&(we=Yw(we,Ke))),xt?(s2=me,o2=we,[Ob,Fb]=z.move(n,me,we)):(Co=me,Go=we)}const rS={width:0,height:0,left:0,top:0};function aS(){oS(rS,!1)}let cw,dw,WL,u2;function h2(Y,ne,me,we,Oe,Qe,dt){Km=!0,La=vr=tl._x=tl._y=!1,zL(Y,ne,me,we,Oe,Qe,dt,!0,!1),Y!=null&&(oi(G8,rK,HL,!1),uw(Jge,n,Ob,Fb,ke,Ke,null));let{left:xt,top:Rt,width:tn,height:on}=uo;cw=xt,dw=Rt,WL=tn,u2=on}function HL(Y,ne,me,we,Oe,Qe,dt){Km=tl._x=tl._y=!1,zL(Y,ne,me,we,Oe,Qe,dt,!1,!0);let{left:xt,top:Rt,width:tn,height:on}=uo,gn=tn>0||on>0,Jn=cw!=xt||dw!=Rt||WL!=tn||u2!=on;if(gn&&Jn&&oS(uo),tl.setScale&&gn&&Jn){let cs=xt,ds=tn,Bi=Rt,jn=on;if(E.ori==1&&(cs=Rt,ds=on,Bi=xt,jn=tn),La&&Gl(C,Mh(cs,C),Mh(cs+ds,C)),vr)for(let Je in y){let Bn=y[Je];Je!=C&&Bn.from==null&&Bn.min!=Fo&&Gl(Je,Mh(Bi+jn,Je),Mh(Bi,Je))}aS()}else z.lock&&(z._lock=!z._lock,Jm(ne,!0,Y!=null));Y!=null&&(Nt(G8,rK),uw(G8,n,Co,Go,ke,Ke,null))}function J7(Y,ne,me,we,Oe,Qe,dt){if(z._lock)return;aa(Y);let xt=Km;if(Km){let Rt=!0,tn=!0,on=10,gn,Jn;E.ori==0?(gn=La,Jn=vr):(gn=vr,Jn=La),gn&&Jn&&(Rt=Co<=on||Co>=ke-on,tn=Go<=on||Go>=Ke-on),gn&&Rt&&(Co=Co<Ob?0:ke),Jn&&tn&&(Go=Go<Fb?0:Ke),Jm(null,!0,!0),Km=!1}Co=-10,Go=-10,X.fill(null),Jm(null,!0,!0),xt&&(Km=xt)}function g2(Y,ne,me,we,Oe,Qe,dt){z._lock||(aa(Y),Xc(),aS(),Y!=null&&uw(Xge,n,Co,Go,ke,Ke,null))}function m2(){w.forEach(p_t),jl(n.width,n.height,!0)}c1(G4,MI,m2);const Vb={};Vb.mousedown=h2,Vb.mousemove=d2,Vb.mouseup=HL,Vb.dblclick=g2,Vb.setSeries=(Y,ne,me,we)=>{let Oe=Gr.match[2];me=Oe(n,ne,me),me!=-1&&Ph(me,we,!0,!1)},te&&(oi(Jge,f,h2),oi(j8,f,d2),oi(Yge,f,Y=>{aa(Y),Ep(!1)}),oi(Qge,f,J7),oi(Xge,f,g2),mK.add(n),n.syncRect=Ep);const lS=n.hooks=i.hooks||{};function Da(Y,ne,me){ML?rw.push([Y,ne,me]):Y in lS&&lS[Y].forEach(we=>{we.call(null,n,ne,me)})}(i.plugins||[]).forEach(Y=>{for(let ne in Y.hooks)lS[ne]=(lS[ne]||[]).concat(Y.hooks[ne])});const f2=(Y,ne,me)=>me,Gr=Ba({key:null,setSeries:!1,filters:{pub:cme,sub:cme},scales:[C,v[1]?v[1].scale:null],match:[dme,dme,f2],values:[null,null]},z.sync);Gr.match.length==2&&Gr.match.push(f2),z.sync=Gr;const p2=Gr.key,$L=$Ee(p2);function uw(Y,ne,me,we,Oe,Qe,dt){Gr.filters.pub(Y,ne,me,we,Oe,Qe,dt)&&$L.pub(Y,ne,me,we,Oe,Qe,dt)}$L.sub(n);function Y7(Y,ne,me,we,Oe,Qe,dt){Gr.filters.sub(Y,ne,me,we,Oe,Qe,dt)&&Vb[Y](null,ne,me,we,Oe,Qe,dt)}n.pub=Y7;function Q7(){$L.unsub(n),mK.delete(n),ei.clear(),cK(G4,MI,m2),c.remove(),he?.remove(),Da("destroy")}n.destroy=Q7;function UL(){Da("init",i,e),el(e||i.data,!1),M[C]?OL(C,M[C]):Xc(),Ms=uo.show&&(uo.width>0||uo.height>0),co=mr=!0,jl(i.width,i.height)}return v.forEach(xn),w.forEach(vc),t?t instanceof HTMLElement?(t.appendChild(c),UL()):t(n,UL):UL(),n}Fc.assign=Ba;Fc.fmtNum=Sie;Fc.rangeNum=q4;Fc.rangeLog=i9;Fc.rangeAsinh=wie;Fc.orient=k0;Fc.pxRatio=Fs;Fc.join=apt;Fc.fmtDate=Iie,Fc.tzDate=bpt;Fc.sync=$Ee;{Fc.addGap=e_t,Fc.clipGaps=r9;let i=Fc.paths={points:JEe};i.linear=QEe,i.stepped=i_t,i.bars=s_t,i.spline=r_t}const __t=30,b_t=1e3/__t-1,DT=new Set;let pK=0,Pme=0,tPe=Date.now()/1e3;const nPe=i=>{pK=requestAnimationFrame(nPe),!(i-Pme<b_t)&&(Pme=i,tPe=Date.now()/1e3,DT.forEach(e=>e()))},v_t=()=>tPe,y_t=i=>(DT.add(i),DT.size===1&&(pK=requestAnimationFrame(nPe)),()=>{DT.delete(i),DT.size===0&&cancelAnimationFrame(pK)}),{useEffect:w_t,useRef:C_t}=await F("react"),Rme=(i,e,t)=>getComputedStyle(i).getPropertyValue(e).trim()||t,Q8=i=>typeof i=="number"?i:Math.round(window.innerHeight*parseFloat(i)/100),S_t=({className:i,buffer:e,series:t,height:n=10,syncKey:s="sensors"})=>{const o=C_t(null);return w_t(()=>{const r=o.current;if(!r)return;const a=Rme(r,"--color-fg-subtle","#8b8b8b"),l=Rme(r,"--color-border-subtle","rgba(128,128,128,0.15)"),c={stroke:a,grid:{stroke:l,width:1},ticks:{stroke:l,width:1}},d={width:r.clientWidth/2,height:Q8(n),legend:{show:!0,live:!0},cursor:{sync:{key:s}},scales:{x:{time:!0,range:()=>{const b=v_t();return[b-e.windowSec,b]}}},axes:[{...c,label:"Time (sec)",labelSize:20,size:10,values:(b,v)=>v.map(()=>"")},c],series:[{},...t.map(({label:b,color:v,dash:w})=>({label:b,stroke:v,dash:w,width:1.5,points:{show:!1}}))]},u=[[],...t.map(()=>[])],g=new Fc(d,u,r);let m=-1;const f=y_t(()=>{if(e.version===m)return;m=e.version,g.setData([e.xs,...t.map(({index:v})=>e.ys[v])]);const b=e.xs.length-1;(g.cursor.left??-1)<0&&b>=0&&g.setLegend({idx:b})}),p=new ResizeObserver(([b])=>{const v=Math.floor(b.contentRect.width);v>0&&g.setSize({width:v,height:Q8(n)})});p.observe(r);const _=()=>g.setSize({width:g.width,height:Q8(n)});return typeof n=="string"&&window.addEventListener("resize",_),()=>{f(),p.disconnect(),window.removeEventListener("resize",_),g.destroy()}},[e,t,n,s]),h("div",{ref:o,className:P("MultiDataChart","w-full min-w-0","[&_.u-legend]:text-fg-default [&_.u-legend_.u-series:first-child]:hidden!","[&_.u-legend_tbody]:grid! [&_.u-legend_tbody]:grid-cols-6!",i)})},{useEffect:x_t,useMemo:X8,useRef:Mme}=await F("react"),I_t=10,k_t=i=>i,N_t=50,L_t=({className:i,robotModel:e,groups:t,selectedChannelIds:n})=>{const{t:s}=J(),o=X8(()=>mEe(t),[t]),r=X8(()=>new wft(o.length,I_t),[o]),a=Mme(r);a.current=r;const l=ws(e,k_t),c=Mme([]);c.current=o.map(({read:u})=>u(l)),x_t(()=>{const u=setInterval(()=>a.current.push(c.current),N_t);return()=>clearInterval(u)},[]);const d=X8(()=>o.flatMap(({id:u,label:g,color:m,dash:f},p)=>n.includes(u)?[{label:g,index:p,color:m,dash:f}]:[]),[o,n]);return h("div",{className:P("ChartPanelContent","flex w-full flex-col gap-3",i),children:d.length>0?h(S_t,{buffer:r,series:d,height:"55vh"}):h("div",{className:"flex h-[55vh] w-full items-center justify-center",children:h("p",{className:"text-fg-subtle typo-compact-xs-normal py-4 text-center",children:s("move.chart.emptyDesc")})})})},D_t=({isDrawChart:i,...e})=>i?h(L_t,{...e}):null,{useCallback:BS,useEffect:T_t,useMemo:qb,useRef:E_t,useState:VS}=await F("react"),P_t=({className:i,robotModel:e})=>{const{t}=J(),n=E_t(null),s=BN(n),{data:o}=nr(),[r]=gc(),{isUseSimulator:a,selectedRobotModel:l,setSelectedRobotModel:c}=ui(),[d,u]=VS("global"),{data:g}=wh(),m=qM(e,Object.keys(g?.components??{}).length),{detailRobotModel:f,ghostActiveTcpAnchors:p,ghostDraggableJointNames:_,isGhostRobotSupported:b,isJointOnlyGhost:v,disabledGizmoTypes:w}=mie(e),y=b||v,S=qb(()=>Object.entries(g?.components??{}).flatMap(([xn,_r])=>(_r.tcpJointName??[]).map(Bd=>({componentModel:xn,jointName:Bd}))),[g]),C=fie(),{isGhostRobot:x,gizmoType:N,handleGizmoTypeChange:L}=C,D=v?N==="none"?"none":null:N,E=gEe(),{baseAssets:T,toolAssets:R,gizmoSelectedAssetIds:A,selectionMode:M,assetGizmoMode:O,setAssetGizmoMode:B,clearGizmoSelection:V,workspaceControlProps:G,requestMenuId:H,requestMenuToken:X,sceneHandlers:K,viewerProps:z}=uut({detailRobotModel:f,tcpJoints:S,urdfViewerRef:n,assetGizmoDisabled:x||E.isActive,assetPicker:E}),de=tft({urdfViewerRef:n,baseAssets:T,toolAssets:R,picker:E}),[te,ie]=VS(!1),[he,ce]=VS(!1),[Ie,Ee]=VS(0),[Te,lt]=VS(!1),[st,kt]=VS([]),{viewerProps:yt,itemProps:Bt,handleCheckFeatureSupport:Ft}=Fmt({urdfViewerRef:n,isGhostRobot:x,gizmoType:D}),{userfSelectionNo:nn,toolSelectionNo:ei,statusIsRefon:oi,carteXRef:Nt,jointQRef:be,toolName:Ve,motionMode:ke}=ws(e,xn=>({userfSelectionNo:xn.userfSelectionNo,toolSelectionNo:xn.toolSelectionNo,statusIsRefon:xn.statusIsRefon,carteXRef:xn.carteXRef,jointQRef:xn.jointQRef,toolName:xn.toolName,motionMode:xn.motionMode})),Ke=be?.length??0,xe=qb(()=>pft(Ke,nn,ei),[Ke,nn,ei]),{data:fe}=ON({robot_model:e}),{pluginData:Ne}=GM({robotModel:e,paintJointPath:he?{recording:!0,maxAgeSeconds:Ie}:void 0,options:{baseAssets:T,toolAssets:R,onAssetLoad:Ft,onAssetTransformUpdate:Ft}}),{selectedRobot:ze,coreSwList:Ze}=Fi(e),Dt=ze?.connected==="DISCONNECT",{mutate:Ln}=Iut(),dn=r.get("menu")??"jog",ii=oi===1,xi=qb(()=>ke!==0,[ke]),{viewerProps:ji,itemProps:jo}=ift(de,xi),lo=qb(()=>{if(d==="user")return fe?.user_frames.filter((xn,_r)=>_r===nn).map(xn=>({name:xn.userfName,showLabel:!0,position:{x:xn.userfOffset.v[0]/Pn,y:xn.userfOffset.v[1]/Pn,z:xn.userfOffset.v[2]/Pn},rotation:{rx:xn.userfEuler.v[0],ry:xn.userfEuler.v[1],rz:xn.userfEuler.v[2]}}))},[fe,nn,d]),co=qb(()=>fe?.user_frames.map(xn=>xn.userfName)??$Te.user_frames.map(xn=>xn.userfName),[fe?.user_frames]),Ms=xn=>{Ln({robot_model:e,refcontrol_option:xn==="real"?1:0})},mr=()=>{ie(xn=>!xn)},jl=BS(xn=>{xn.isDrawTrajectory!==void 0&&ce(xn.isDrawTrajectory),xn.maxAgeSeconds!==void 0&&Ee(xn.maxAgeSeconds)},[]),{ghostJointValues:Dh,handleGhostRobotJointsChanged:Rg}=pie(x),Po=CDe({robotModel:e,urdfViewerRef:n,carteXRef:Nt,jointQRef:be,toolName:Ve,isDisconnected:Dt,jointOnly:v,ghostJointValuesRad:Dh}),Il=BS(xn=>{L(xn),xn==="surfaceTeach"&&V()},[L,V]),{viewerProps:vo,itemProps:kl}=_ie({gizmo:C,ghostRobotIK:Po,isMoving:xi,gizmoType:D,onGizmoTypeChange:Il,activeTcpAnchors:p,draggableJointNames:_,onGhostRobotJointsChanged:v?Rg:void 0}),{onGhostRobotChange:aa}=kl,{onMeasureActiveChange:Ns}=jo,St=BS(xn=>{xn&&de.isMeasureActive&&Ns(!1),aa(xn)},[aa,Ns,de.isMeasureActive]),Un=BS(xn=>{xn&&x&&aa(!1),Ns(xn)},[aa,Ns,x]),ls=BS(xn=>{const _r=g?.components;if(!_r||Object.keys(_r).length<=1)return;for(const br of xn.pathJointNames)for(const[vc,Ro]of Object.entries(_r))if((Ro.type==="array"?Ro.mapper:Object.values(Ro.mapper)).includes(br)||Ro.tcpJointName?.includes(br)){vc!==l&&c(vc);return}for(const br of xn.pathLinkNames)for(const[vc,Ro]of Object.entries(_r)){const un=(Ro.type==="array"?Ro.mapper:Object.values(Ro.mapper))[0];if(un){const Pe=un.charAt(0);if(br.startsWith(`${Pe}link`)){vc!==l&&c(vc);return}}}if(xn.pathLinkNames.some(br=>/^(mobile|amr|base_link|wheel)/i.test(br))){const br=Ze?.find(vc=>vc.be_service==="amr"||/amr|mobile/i.test(vc.model)||/amr|mobile/i.test(vc.sw_name));if(br&&br.model!==l){c(br.model);return}}},[g,l,c,Ze]),Ii=BS(xn=>{xn.isDrawChart!==void 0&&lt(xn.isDrawChart)},[]);T_t(()=>{dn==="jog"&&te&&ie(!1)},[dn,te]);const yo=qb(()=>[{key:"zoom-in-out",element:h(C0,{onZoomIn:s.zoomIn,onZoomOut:s.zoomOut})},{key:"camera-view",element:h(jM,{onSetCameraView:s.setCameraView})},{key:"trajectory",element:h(hEe,{handleChangeDrawTrajectory:jl})},...y?[{key:"ghost-robot",element:h(jW,{...kl,...Bt,onGhostRobotChange:St,disabledGizmoTypes:w,gizmoOptionsDisabled:v})}]:[],{key:"measure-distance",element:h(Kmt,{...jo,onMeasureActiveChange:Un})},{key:"state-core-chart",element:h(yft,{chartGroups:xe,handleChangeStateCoreChart:Ii,onSelectedChannelIdsChange:kt})}],[s.zoomIn,s.zoomOut,s.setCameraView,jl,y,w,v,kl,Bt,St,jo,Un,Ii,xe]),fr=qb(()=>[{id:"jog",label:t("move.menu.button.label.jog"),icon:h(lke,{}),content:h(Uq,{robotModel:e,onTabChange:u})},{id:"tcp-tool",label:t("move.menu.button.label.tcpTool"),icon:h(vGe,{}),content:h(Fut,{robotModel:e})},{id:"zero-pose",label:t("move.menu.button.label.zeroPose"),icon:h(Qke,{}),content:h(Hut,{robotModel:e})},{id:"global-pinpoint",label:t("move.menu.button.label.pinpoint"),icon:h(u8e,{}),content:h(Qut,{robotModel:e})},{id:"record",label:t("move.menu.button.label.record"),icon:h(h8e,{}),content:h(Fgt,{robotModel:e})},{id:"weld",label:t("move.menu.button.label.weld"),icon:h(g8e,{className:"rotate-180"}),content:h(qgt,{robotModel:e})},{id:"calibration",label:t("move.menu.button.label.calibration"),icon:h(Zke,{}),content:h(Emt,{robotModel:e,userFrameNameList:co})},{id:"move-io",label:t("settings.menu.title.io"),icon:h(KUe,{}),content:h(zmt,{robotModel:e})},{id:"master",label:t("move.menu.button.label.masterMode"),icon:h(Eje,{className:"size-5"}),content:h(hft,{robotModel:e})},{id:"workspace",label:t("move.menu.button.label.assetManager"),icon:h(cGe,{className:"size-5"}),content:null}],[t,e,u,co]),pr=qb(()=>({id:"workspace",content:h(Ngt,{...G,isMenuActive:dn==="workspace"})}),[G,dn]);return k(e9,{className:P("ManipulateMove","relative overflow-hidden",i),rightIconPanels:yo,menus:fr,persistentMenu:pr,beService:o?.modelInfo?.be_service,requestMenuId:H,requestMenuToken:X,children:[k("div",{className:"h-full flex-1 p-2.5",children:[k("div",{className:"absolute top-0 left-0 z-1 size-full",...K,children:[h(Um,{ref:n,className:"relative size-full",cameraPositionKey:"manipulate-move",showPerformanceHUD:!0,...z,robotModel:o?.info?.robotModel,etcAxesArr:lo,enablePanning:!0,plugin:Ne,isRealMode:ii,outlinedLinkNames:m,...vo,...yt,...ji,onDoubleClickRobot:ls}),A.length===1&&!M&&dn==="workspace"&&h("div",{className:"animate-in fade-in absolute top-78 left-3 z-20 duration-200",children:h(aft,{mode:O,onModeChange:B,modes:[...T,...R].find(xn=>xn.id===A[0])?.source.kind==="file"?["translate","rotate"]:["translate","rotate","scale"]})})]}),k(q,{className:"pointer-events-none relative z-2 h-full",children:[h(Hmt,{className:"pointer-events-auto",robotModel:e,mode:ii?"real":"simulation",onChangeMode:Ms}),h(UM,{className:"mt-3 mb-4",robotModel:e}),h(dEe,{className:"pointer-events-auto",robotModel:e},e),h(uEe,{className:"pointer-events-auto",robotModel:e})]})]}),h(WW,{isGhostRobot:x,ghostRobotIK:Po,btnHoverInteraction:TN.isDesktop,showControlPanelButton:dn!=="jog",onToggleControlPanel:mr,isPanelOpen:dn!=="jog"&&te,panelContent:h(Uq,{className:"w-full",robotModel:e,onTabChange:()=>{},isPanel:!0,isUseSimulator:a})}),h(D_t,{className:"bg-translucent pointer-events-auto absolute bottom-2 left-2 z-2 w-[calc(100%-10rem)] rounded-md p-2.5",isDrawChart:Te,groups:xe,selectedChannelIds:st,robotModel:e})]})},{useEffect:R_t,useMemo:DO,useState:M_t}=await F("react"),A_t={dir:"all",method:"all"},O_t=(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},F_t=({nodes:i,selectedLinks:e,focusedLinkId:t,onLinkVisibilityFilterChange:n})=>{const[s,o]=M_t(A_t),r=DO(()=>e.filter(d=>O_t(d,s)),[s,e]),a=DO(()=>t?r.find(d=>d.id===t)??null:null,[t,r]),l=DO(()=>r.map(d=>{const u=i.find(m=>m.id===d.from),g=i.find(m=>m.id===d.to);return{id:d.id,title:`${u?.name||d.from} -> ${g?.name||d.to}`,dir:d.dir,method:d.method,speed:d.speed}}),[i,r]),c=DO(()=>{if(!a)return null;const d=i.find(g=>g.id===a.from),u=i.find(g=>g.id===a.to);return!d||!u?null:new Be((d.x+u.x)/2,(d.y+u.y)/2,(d.z+u.z)/2)},[i,a]);return R_t(()=>{n?.(s)},[s,n]),{linkVisibilityFilter:s,setLinkVisibilityFilter:o,visibleSelectedLinks:r,visibleFocusedLink:a,selectedLinkOverlayItems:l,focusedLinkAnchor:c}},{useMemo:TO}=await F("react"),B_t=i=>{if(!i||i.length===0)return null;let e=0,t=0,n=0;for(let o=0;o<i.length;o+=1){const r=i[o],a=i[(o+1)%i.length],l=r.x*a.y-a.x*r.y;e+=l,t+=(r.x+a.x)*l,n+=(r.y+a.y)*l}if(Math.abs(e)>Number.EPSILON)return new Be(t/(3*e),n/(3*e),0);const s=i.reduce((o,r)=>({x:o.x+r.x,y:o.y+r.y}),{x:0,y:0});return new Be(s.x/i.length,s.y/i.length,0)},V_t=({zones:i,selectedZoneIds:e,focusedZoneId:t})=>{const n=TO(()=>{if(!e||e.length===0)return[];const a=new Set(e);return(i??[]).filter(l=>a.has(l.id))},[e,i]),s=TO(()=>n.length===0?null:t?n.find(a=>a.id===t)??null:n[0]??null,[t,n]),o=TO(()=>n.map(a=>({id:a.id,title:a.name||a.id,type:a.type,pointCount:a.polygon.length})),[n]),r=TO(()=>s?B_t(s.polygon):null,[s]);return{selectedZones:n,focusedZone:s,selectedZoneOverlayItems:o,focusedZoneAnchor:r}},{useMemo:z_t}=await F("react"),{useQuery:W_t}=await F("@tanstack/react-query"),iPe="/{robot_model}/setting/getSettingPresetList",H_t=async({robot_model:i,baseURL:e})=>{const t=iPe.replace("{robot_model}",i);return v0.get(t,void 0)},$_t=({robot_model:i,baseURL:e})=>[iPe,i,e??""],U_t=(i,e={},t)=>{const n=z_t(()=>$_t({...i,baseURL:t}),[t,i]);return{...W_t({queryKey:n,queryFn:()=>H_t({...i,baseURL:t}),enabled:!!i.robot_model,...e}),queryKey:n}},{useMemo:j_t}=await F("react"),{useQuery:G_t}=await F("@tanstack/react-query"),sPe="/{robot_model}/info/category",q_t=async({robot_model:i})=>{const e=sPe.replace("{robot_model}",i);return v0.get(e)},K_t=({robot_model:i})=>[sPe,i],J_t=(i,e={})=>{const{robot_model:t}=i,{enabled:n=!0,...s}=e,o=j_t(()=>K_t({robot_model:t}),[t]);return{...G_t({queryKey:o,queryFn:()=>q_t(i),enabled:!!t&&n,...s}),queryKey:o}},{useMemo:Y_t}=await F("react"),{useQuery:Q_t}=await F("@tanstack/react-query"),oPe="/{robot_model}/setting/getSettingPreset",X_t=async({robot_model:i,level:e,presetId:t,baseURL:n})=>{const s=oPe.replace("{robot_model}",i);return v0.get(s,{params:{level:e,presetId:t}})},Z_t=({robot_model:i,level:e,presetId:t,baseURL:n})=>[oPe,i,e,t,n??""],ebt=(i,e={},t)=>{const{robot_model:n,level:s,presetId:o}=i,r=Y_t(()=>Z_t({robot_model:n,level:s,presetId:o,baseURL:t}),[t,s,o,n]);return{...Q_t({queryKey:r,queryFn:()=>X_t({...i,baseURL:t}),enabled:!!n&&typeof s=="number"&&!Number.isNaN(s)&&typeof o=="number"&&!Number.isNaN(o),...e}),queryKey:r}},{useMemo:LRn}=await F("react"),{useQuery:DRn}=await F("@tanstack/react-query"),{useMemo:TRn}=await F("react"),{useQuery:ERn}=await F("@tanstack/react-query"),{useQuery:tbt}=await F("@tanstack/react-query"),Pie="/{robot_model}/map/list",nbt=({robot_model:i,baseURL:e})=>[Pie,i,""],ibt=async({robot_model:i,baseURL:e})=>{const t=Pie.replace("{robot_model}",i);return v0.get(t,{})},sbt=({robot_model:i,enabled:e=!0},t={},n)=>{const{enabled:s=!0,...o}=t,r=nbt({robot_model:i,baseURL:n});return{...tbt({queryKey:r,queryFn:()=>ibt({robot_model:i,baseURL:n}),enabled:!!i&&e&&s,...o}),queryKey:r}},{useCallback:bD,useEffect:obt,useMemo:rbt,useRef:Ame}=await F("react"),abt=({robotModel:i,linearSpeed:e=.8,rotationSpeed:t=45})=>{const{socketEventEmit:n}=Ng(),s=Ame({vx:0,vy:0,wz:0}),o=Ame(null),r=rbt(()=>`amr/${i}/move/jog`,[i]),a=bD(()=>{n(r,{...s.current})},[r,n]),l=bD(()=>{typeof window>"u"||o.current&&(window.clearInterval(o.current),o.current=null)},[]),c=bD(()=>{typeof window>"u"||o.current||(o.current=window.setInterval(()=>{a()},200))},[a]),d=bD(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]),u=bD(({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 obt(()=>()=>{l()},[l]),{handleJoystickMove:u,handleButtonMove:d}},lbt={obsBoxMinX:0,obsBoxMaxX:0,obsBoxMinY:0,obsBoxMaxY:0,stopMarginX:0,stopMarginY:0,slowMarginX:0,slowMarginY:0},Ome={layers:[],width:0,height:0,gridSize:0,safety:lbt},cbt=(i,e=!0)=>{const{data:t=Ome,loading:n}=xs(`amr/${i}/socket/obsMap`,{defaultValue:Ome,disabled:!e,selector:s=>({layers:s?.layers?.map(o=>({name:o?.name??"",data:o?.data??[]}))??[],width:s?.width??0,height:s?.height??0,gridSize:s?.gridSize??0,safety:{obsBoxMinX:s?.safety?.obsBoxMinX??0,obsBoxMaxX:s?.safety?.obsBoxMaxX??0,obsBoxMinY:s?.safety?.obsBoxMinY??0,obsBoxMaxY:s?.safety?.obsBoxMaxY??0,stopMarginX:s?.safety?.stopMarginX??0,stopMarginY:s?.safety?.stopMarginY??0,slowMarginX:s?.safety?.slowMarginX??0,slowMarginY:s?.safety?.slowMarginY??0}})});return{data:t,loading:n}},{useRef:dbt}=await F("react"),Fme={data:[]},ubt=(i,e=!0)=>{const{data:t=Fme,loading:n}=xs(`amr/${i}/socket/globalPath`,{defaultValue:Fme,disabled:!e,selector:o=>({data:o?.data??[]})}),s=dbt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:hbt}=await F("react"),Bme={data:[]},gbt=(i,e=!0)=>{const{data:t=Bme,loading:n}=xs(`amr/${i}/socket/trajectory`,{defaultValue:Bme,disabled:!e,selector:o=>({data:o?.data??[]})}),s=hbt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:mbt}=await F("react"),Vme={data:[]},fbt=(i,e=!0)=>{const{data:t=Vme,loading:n}=xs(`amr/${i}/socket/localPath`,{defaultValue:Vme,disabled:!e,selector:o=>({data:o?.data??[]})}),s=mbt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{forwardRef:pbt}=await F("react"),rPe=pbt(({robotModel:i,...e},t)=>{const{data:n}=TTe(i),{data:s}=ubt(i),{data:o}=fbt(i),{data:r}=gbt(i);return h(Fke,{ref:t,...e,lidarPoints:n,globalPath:s,localPath:o,trajectory:r})});rPe.displayName="AmrWorldStudio";const{useMutation:_bt}=await F("@tanstack/react-query"),bbt="/{robot_model}/map/setCloud",vbt=async({robot_model:i,mapName:e,fileName:t,data:n})=>{const s=bbt.replace("{robot_model}",i);return _s.post(s,{mapName:e,fileName:t,data:n})},ybt=()=>_bt({mutationFn:vbt}),{useMutation:wbt}=await F("@tanstack/react-query"),Cbt="/{robot_model}/map/setTopology",Sbt=async({robot_model:i,mapName:e,nodes:t,links:n,zones:s})=>{const o=Cbt.replace("{robot_model}",i);return _s.post(o,{mapName:e,nodes:t,links:n,zones:s})},xbt=()=>wbt({mutationFn:Sbt}),{useCallback:Z8}=await F("react"),Ibt=i=>typeof i=="object"&&i!==null&&"isError"in i&&i.isError===!0,kbt=({selectedRobotModel:i,currentMapName:e,mapTopoParams:t,getMapPointsData:n,getTopologyData:s,loadMapAndRefreshCurrentMap:o,loadTopology:r,refreshTopologyData:a,onTopologySaved:l,onTopologyCanceled:c,onCloudSaved:d})=>{const{mutate:u}=ybt(),{mutate:g}=xbt(),m=Z8(()=>{const _=t?.mapName??e;if(!_)return;const b=s();g({robot_model:i,mapName:_,nodes:b.nodes,links:b.links,zones:b.zones},{onSuccess:async()=>{try{await r(_),l?.(),at.openToast({type:"basic",variant:"success",title:"Topology Save Success",content:"Topology data has been saved"})}catch{at.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]),f=Z8(async()=>{try{const _=await a?.();if(Ibt(_))throw _.error;c?.()}catch{at.openToast({type:"basic",variant:"warning",title:"Topology Cancel Failed",content:"Failed to revert topology changes"})}},[c,a]),p=Z8(()=>{if(!e)return;const _=n();u({robot_model:i,mapName:e,fileName:"cloud.csv",data:_},{onSuccess:()=>{o(e),d?.(),at.openToast({title:"Cloud Save Success",content:"Cloud data has been saved",type:"basic",variant:"success"})}})},[e,n,o,d,u,i]);return{handleSaveTopologyChanges:m,handleCancelTopologyChanges:f,handleSaveCloud:p}},{useMemo:Nbt}=await F("react"),Lbt=({currentMapName:i,mapListData:e})=>({currentMapInfo:Nbt(()=>i&&e?.list?e.list.find(n=>n.mapName===i):null,[i,e?.list])}),Dbt=({selectedRobotModel:i,mapTopoParams:e})=>{const t=e?.mapName??"",{data:n,dataUpdatedAt:s}=RTe({robot_model:i,mapName:t,fileName:"cloud.csv"},{enabled:!!t}),{data:o,dataUpdatedAt:r,refetch:a}=DTe({robot_model:i,mapName:t},{enabled:!!t});return{mapCloud:n,mapCloudUpdatedAt:s,topology:o,topologyUpdatedAt:r,refetchTopology:a}},{useMemo:Tbt}=await F("react"),Ebt=({currentMapName:i,createdAt:e,lastModified:t,mapCloudCount:n,mapBounds:s,topologyCount:o,nodeTypeCounts:r,mappingStatus:a,elapsedSeconds:l,completedKeyframeCount:c,totalKeyframePoints:d,onStartMapping:u,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p,isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:w,eraseSelectedAreaDisabled:y,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:x,hasUnsavedCloudChanges:N,onDiscardCloudChanges:L,onDownloadMap:D,downloadMapDisabled:E})=>Tbt(()=>({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:u,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p},eraserTabProps:{isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:w,eraseSelectedAreaDisabled:y,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:x},hasUnsavedCloudChanges:N,onDiscardCloudChanges:L,onDownloadMap:D,downloadMapDisabled:E}),[c,e,i,l,v,y,N,_,t,s,n,r,f,L,D,S,b,C,x,m,u,g,w,a,E,o,p,d]),{queryOptions:Pbt,useQueries:Rbt,useQuery:Mbt}=await F("@tanstack/react-query"),aPe="/{robot_model}/setting/getSettingParam",lPe=async i=>{const{robot_model:e,...t}=i,n=aPe.replace("{robot_model}",e);return _s.get(n,{params:t})},cPe=i=>[aPe,i],Abt=(i,e=!0)=>Pbt({queryKey:cPe(i),queryFn:()=>lPe(i),enabled:e}),Obt=(i,e={})=>Mbt({queryKey:cPe(i),queryFn:()=>lPe(i),...e}),Fbt=({robot_model:i,robotType:e,categories:t,level:n=2,enabled:s=!0})=>Rbt({queries:t.map(o=>Abt({robot_model:i,robotType:e,category:o,level:n},s&&!!i&&!!e&&!!o))}),{useMemo:zme}=await F("react"),Bbt=({robotModel:i,monitorStatusSnapshot:e,robotVersion:t,selectedTool:n,onToolChange:s,onStartLocalization:o,onInitLocalization:r,onSemiAutoInitLocalization:a,onStopLocalization:l,onBuildInfoOpenChange:c,onDock:d,onDockPause:u,onDockResume:g,onDockStop:m,onUndock:f,dockRejectMessage:p,taskLogData:_,amrMoveStatus:b,onSetMotorLocked:v,onClearSafetyFlag:w,onLidarFieldSave:y,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:x,onSetSafetyIo:N})=>{const{data:L}=Obt({robot_model:i,robotType:i,category:"docking",level:2}),D=zme(()=>{const E=L?.params?.find(T=>T.key==="DOCKING_RETRY_COUNT")?.value;return E!==void 0?Number(E):void 0},[L]);return zme(()=>({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:u,onResume:g,onStop:m,onUndock:f,maxRetryCount:D,rejectMessage:p??void 0},taskProps:{logData:_,moveStatus:b},pduProps:{amrStatus:e,setMotorLocked:v,onClearSafetyRecovery:w,onLidarFieldSave:y,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:x,onSetSafetyIo:N}}),[b,D,e,t,w,y,S,C,x,N,d,u,g,p,m,c,r,a,v,o,l,s,f,n,_,i])},{useMemo:Vbt}=await F("react"),zbt=({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n})=>Vbt(()=>({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n}),[t,e,i,n]),{useCallback:wc}=await F("react"),Wbt=({emit:i,nodes:e,selectedObjects:t,selectedNodeType:n,onToolChange:s,setIsEraserEnabled:o,setEraserRadius:r})=>{const a=wc(x=>{o(x),i("ui:eraser-toggle-requested",x),i("ui:pointer-action-set-requested",x?"erase":"inspect"),s(x?"disabled":"select")},[i,s,o]),l=wc(()=>{i("ui:points-delete-requested",void 0)},[i]),c=wc(()=>{i("ui:unselect-points-requested",void 0)},[i]),d=wc(x=>{x>0&&(r(x),i("eraser:radius-changed",x))},[i,r]),u=wc(x=>{switch(x){case"goal":return"GOAL";case"route":return"ROUTE";case"align":return"ALIGN"}},[]),g=wc(()=>{i("ui:quick-add-node-requested",u(n))},[i,u,n]),m=wc(()=>{i("ui:add-node-by-preview-requested",u(n))},[i,u,n]),f=wc(()=>{const x=e[e.length-1]?.uuid;x&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:x,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,e]),p=wc(()=>{const x=t[t.length-1]?.uuid??null;x&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:x,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,t]),_=wc((x,N)=>{i("ui:node-updated",{nodeId:x,updates:N})},[i]),b=wc((x,N,L)=>{i(L==="delta"?"ui:nodes-transform-delta-requested":"ui:nodes-transform-absolute-requested",{target:x,value:N})},[i]),v=wc((x,N,L)=>{if(!(t.length<2)){if(t.length===2||N==="sequential"){i("ui:link-nodes-requested",{nodes:t,strategy:"sequential",bidirectional:x,properties:L});return}i("ui:link-nodes-requested",{nodes:t,strategy:"complete",bidirectional:x,properties:L})}},[i,t]),w=wc(()=>{t.length<2||i("ui:unlink-nodes-requested",void 0)},[i,t]),y=wc((x,N)=>{i("ui:link-updated",{linkId:x,updates:N})},[i]),S=wc(x=>{i("ui:link-delete-requested",{linkId:x})},[i]),C=wc(x=>{i("ui:link-focus-requested",{linkId:x})},[i]);return{handleEraserToggle:a,handleDeletePoints:l,handleReleasePoint:c,handleEraserRadiusChange:d,handleAddNodeAtRobot:g,handleAddNodeAtCursor:m,handleDeleteLastNode:f,handleDeleteLastSelectedNode:p,handleNodeUpdate:_,handleSelectedNodesTransform:b,handleCreateLinks:v,handleDeleteLinksBetweenSelected:w,handleLinkUpdate:y,handleLinkDelete:S,handleLinkFocus:C}},{useQuery:PRn}=await F("@tanstack/react-query"),Hbt="/{robot_model}/capability/lidar2d",$bt=async({robot_model:i})=>{const e=Hbt.replace("{robot_model}",i);return _s.get(e)},{useCallback:EO}=await F("react"),Ubt=({type:i,features:e})=>i?.toUpperCase()==="GOAL"&&Array.isArray(e)&&e.some(t=>t.toUpperCase()==="INIT"),jbt=({selectedRobotModel:i,currentMapName:e,currentMapInfo:t,mapListData:n,topologyNodes:s,hasUnsavedTopologyChanges:o,handleInitLocalization:r,handleSemiAutoInitLocalization:a})=>{const l=EO(()=>!e||!!n?.list?.length&&!t?(at.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=EO(async()=>{if(!i)return!1;try{return(await $bt({robot_model:i})).info?.some(f=>f.connection)??!1?!0:(at.openToast({type:"basic",variant:"warning",title:"LiDAR Disconnected",content:"Connect the 2D LiDAR before running localization init.",position:"top-right"}),!1)}catch{return at.openToast({type:"basic",variant:"warning",title:"LiDAR Status Check Failed",content:"Failed to check 2D LiDAR connection status.",position:"top-right"}),!1}},[i]),d=EO(async()=>{l()&&await c()&&r()},[c,l,r]),u=EO(async()=>{if(!l()||!await c())return;if(o){at.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(Ubt).length===0){at.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:u}},{useMutation:Gbt}=await F("@tanstack/react-query"),qbt="/{robot_model}/localization/{command}",Kbt=async i=>{const{robot_model:e,command:t}=i,n=qbt.replace("{robot_model}",e).replace("{command}",t);return t==="semiAutoInit"?_s.post(n):_s.post(n,i.payload)},Jbt=()=>Gbt({mutationFn:Kbt}),{useCallback:vD}=await F("react"),Ybt=({selectedRobotModel:i,getPreviewTransform:e})=>{const{mutate:t}=Jbt(),n=vD(l=>{const c=e();c&&t({robot_model:i,command:l,payload:{pose:c}})},[e,t,i]),s=vD(()=>{t({robot_model:i,command:"semiAutoInit"})},[t,i]),o=vD(()=>{n("start")},[n]),r=vD(()=>{n("init")},[n]),a=vD(()=>{n("stop")},[n]);return{handleStartLocalization:o,handleInitLocalization:r,handleSemiAutoInitLocalization:s,handleStopLocalization:a}},{useMutation:Qbt}=await F("@tanstack/react-query"),Xbt="/{robot_model}/map/loadMap",Zbt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=Xbt.replace("{robot_model}",i);return v0.post(n,{mapName:e},t?{baseURL:t}:void 0)},evt=()=>Qbt({mutationFn:Zbt}),{useMutation:tvt}=await F("@tanstack/react-query"),nvt="/{robot_model}/map/loadTopo",ivt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=nvt.replace("{robot_model}",i);return v0.post(n,{mapName:e},t?{baseURL:t}:void 0)},svt=()=>tvt({mutationFn:ivt}),{useMutation:ovt}=await F("@tanstack/react-query"),rvt="/{robot_model}/setting/setSettingPreset";class _K extends Error{constructor(e){super(e),this.name="SettingPresetRejectError"}}const avt=i=>typeof i.result=="string"&&i.result.toLowerCase()!=="accept",lvt=async i=>{const{robot_model:e,baseURL:t,...n}=i,s=rvt.replace("{robot_model}",e),o=await v0.post(s,n,t?{baseURL:t}:void 0);if(avt(o))throw new _K(o.message||"setSettingPreset: 요청이 거절되었습니다.");return o},cvt=()=>ovt({mutationFn:i=>lvt(i)}),{useMutation:RRn}=await F("@tanstack/react-query"),{useCallback:e$}=await F("react"),dvt=({selectedRobotModel:i})=>{const{mutateAsync:e}=evt(),{mutateAsync:t}=svt(),n=e$(async r=>await e({robot_model:i,mapName:r}),[e,i]),s=e$(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=e$(async r=>{await n(r)},[n]);return{loadMapAndRefreshCurrentMap:n,loadTopology:s,handleLoadMap:o}},uvt=i=>{const{data:e}=sbt({robot_model:i});return{mapListData:e}},{useMutation:t$}=await F("@tanstack/react-query"),hvt="/{robot_model}/mapping/start",gvt="/{robot_model}/mapping/stop",mvt="/{robot_model}/mapping/save",fvt=i=>i==="accept",pvt=async({robot_model:i})=>{const e=hvt.replace("{robot_model}",i);return _s.post(e)},_vt=async({robot_model:i})=>{const e=gvt.replace("{robot_model}",i);return _s.post(e)},bvt=async({robot_model:i,mapName:e})=>{const t=mvt.replace("{robot_model}",i);return _s.post(t,{mapName:e})},vvt=()=>{const i=t$({mutationFn:pvt}),e=t$({mutationFn:_vt});return{saveMapping:t$({mutationFn:bvt,onSuccess:n=>{if(fvt(n.result)){at.openToast({type:"basic",variant:"success",title:"Map Save Success",content:"Map data has been saved",position:"top-right"});return}at.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:n.message||"Failed to save map",position:"top-right"})},onError:()=>{at.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:"Failed to save map",position:"top-right"})}}).mutateAsync,stopMapping:e.mutateAsync,startMapping:i.mutateAsync}},Wme={data:[],chunkNum:0,chunkId:0},yvt=(i,e=!0)=>{const{data:t=Wme,loading:n}=xs(`amr/${i}/socket/mappingKeyFRM`,{defaultValue:Wme,disabled:!e,selector:s=>({data:s?.data??[],chunkNum:s?.chunkNum??0,chunkId:s?.chunkId??0})});return{...t,loading:n}},{useCallback:yD,useEffect:PO,useRef:wD,useState:zS}=await F("react"),{useQueryClient:wvt}=await F("@tanstack/react-query"),Hme=i=>i==="accept",Cvt=i=>i==="accept",Svt=({selectedRobotModel:i,emit:e,loadMapAndRefreshCurrentMap:t})=>{const n=wvt(),{data:s}=LTe({robot_model:i}),o=s?.mapName,{startMapping:r,stopMapping:a,saveMapping:l}=vvt(),[c,d]=zS("idle"),u=wD("idle"),[g,m]=zS(null),[f,p]=zS(0),[_,b]=zS(!1),[v,w]=zS(0),[y,S]=zS(0),C=wD(null),x=wD(new Set),N=wD(new Map),L=wD(!1),{data:D}=ETe(i,_),E=yvt(i,_);PO(()=>{u.current=c},[c]),PO(()=>{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=yD(()=>{d("idle"),m(null),p(0),b(!1),w(0),S(0),C.current=null,x.current.clear(),N.current.clear(),L.current=!1},[]);PO(()=>{if(!_||u.current!=="recording"||!E||E.chunkNum<=0)return;const{chunkNum:B,chunkId:V,data:G}=E;if(V<0||V>=B||((V===0||C.current===null||C.current!==B)&&(C.current=B,x.current.clear(),N.current.clear(),L.current=!1),L.current)||(x.current.add(V),N.current.set(V,G.length),x.current.size!==B))return;const H=Array.from(N.current.values()).reduce((X,K)=>X+K,0);L.current=!0,w(X=>X+1),S(X=>X+H)},[E,_]);const R=yD(async()=>{if(u.current!=="idle")return!1;try{const B=await r({robot_model:i}),V=Hme(B.result);return V&&(d("recording"),m(Date.now()),p(0),b(!0),w(0),S(0),C.current=null,x.current.clear(),N.current.clear(),L.current=!1,e("ui:mapping-start-requested",void 0)),V}catch{return!1}},[e,i,r]),A=yD(async()=>{if(u.current!=="recording")return!1;try{const B=await a({robot_model:i}),V=Hme(B.result);return V&&(d("stopped"),b(!1)),V}catch{return!1}},[i,a]),M=yD(async B=>{if(u.current==="saving")return{ok:!1,reason:"save-failed"};d("saving");try{const V=await l({robot_model:i,mapName:B});if(n.invalidateQueries({queryKey:[Pie,i]}),!Cvt(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=yD(async()=>{const B=u.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 PO(()=>()=>{const B=u.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:y,handleStartMapping:R,handleStopMapping:A,handleSaveMapping:M,handleDiscardMapping:O}};function xvt(i,e,t=!0){const{data:n,loading:s,isDefaultData:o}=xs(`amr/${i}/infoStatus`,{defaultValue:{infos:[]},selector:e,disabled:!t});return{data:n,loading:s,isDefaultData:o}}const dPe=/MCU\s*([0-9]+).*?(DIN|DIO|INPUT|OUTPUT|DI|DO|입력|출력|_IN|_OUT)[\s_-]*([0-9]+)/i,Ivt=(i,e)=>{const t=i.toUpperCase();return t==="DIO"||t==="DO"?t:t==="DIN"||t==="DI"||t==="INPUT"||t==="입력"?"DIN":t==="OUTPUT"||t==="출력"?"DIO":e==="din"?"DIN":"DIO"},kvt=(i,e)=>i.replace(/[\s_-]*[0-9]+\s*$/,"").trim()||e,Nvt=(i,e)=>Object.entries(i).reduce((t,[n,s])=>{if(typeof s!="string"||s.length===0)return t;const o=s.match(dPe);return o&&(t[n]=kvt(o[0],e)),t},{}),Lvt=(i,e)=>{if(!(i!==0&&i!==1))return`mcu${i}${e==="din"?"Din":"Dio"}`},Dvt=i=>{const e=i.trim().toLowerCase();if(e==="1"||e==="true"||e==="on")return!0;if(e==="0"||e==="false"||e==="off")return!1},Tvt=i=>Object.values(i).filter(e=>typeof e=="string"&&e.length>0),Evt=i=>{for(const e of Tvt(i)){const t=e.match(dPe);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${n}`,c=Ivt(s,a),d=`${l} ${c}`,u=Nvt(i,d);return{key:Lvt(n,a),rowKey:`mcu${n}-${a}`,label:u,mcu:n,kind:a,pin:r}}return null},CD=i=>{const e=Array.from(i.values()).sort((t,n)=>t.pin-n.pin);return e.length>0?e:void 0},Pvt=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=Evt(o.name),a=Dvt(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:CD(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:CD(e.mcu0Dio),mcu1Dio:CD(e.mcu1Dio),mcu0Din:CD(e.mcu0Din),mcu1Din:CD(e.mcu1Din)};return n.length>0?s:void 0},{useMemo:RO}=await F("react"),Rvt=({selectedRobotModel:i,enableInfoStatus:e=!1,enableTaskLogRefetch:t=!1})=>{const n=WN(i),s=cie(i),o=xvt(i,void 0,e),{data:r}=lie({limit:10,page:1,searchText:"",sort:"createdAt",order:"DESC",filter:{},fields:{}},{refetchInterval:t?2e3:0,refetchIntervalInBackground:!1}),a=RO(()=>{if(r)return{...r,items:r.items?.map(u=>({...u}))}},[r]),l=RO(()=>({...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=RO(()=>{const u=s.pose,g=s.vel;return{localizationStatus:n.locState?.locStatus??"none",autoMove:s.moveState?.autoMove,obsState:s.moveState?.obs??"none",poseX:Number(u?.x??0),poseY:Number(u?.y??0),poseZ:0,poseYaw:Number(u?.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=RO(()=>Pvt(o.data),[o.data]);return{baseAmrStatus:n,amrMoveStatus:s,amrInfoStatus:o,amrSafetyIoStatus:d,taskLogData:a,monitorStatusSnapshot:l,hudStatusSnapshot:c}},{useMutation:Mvt}=await F("@tanstack/react-query"),Avt="/{robot_model}/move/{axis}",Ovt=i=>i==="x"?"xLinear":"yLinear",Fvt=async i=>{const{robot_model:e,axis:t,...n}=i,s=Avt.replace("{robot_model}",e).replace("{axis}",Ovt(t));return _s.post(s,n)},Bvt=()=>Mvt({mutationFn:Fvt}),{useMutation:Vvt}=await F("@tanstack/react-query"),zvt="/{robot_model}/move/target",Wvt=async({robot_model:i,goalPose:e,method:t,preset:n=0})=>{const s=zvt.replace("{robot_model}",i);return _s.post(s,{goalPose:e,method:t,preset:n})},Hvt=()=>Vvt({mutationFn:Wvt}),{useMutation:$vt}=await F("@tanstack/react-query"),Uvt="/{robot_model}/move/goal",jvt=async({robot_model:i,goalId:e,goalName:t,method:n})=>{const s=Uvt.replace("{robot_model}",i);return _s.post(s,{goalId:e,...t!==void 0&&{goalName:t},...n!==void 0&&{method:n}})},Gvt=()=>$vt({mutationFn:jvt}),{useMutation:qvt}=await F("@tanstack/react-query"),Kvt="/{robot_model}/control/dock",Jvt=async({robot_model:i})=>{const e=Kvt.replace("{robot_model}",i);return _s.post(e)},Yvt=()=>qvt({mutationFn:Jvt}),{useMutation:Qvt}=await F("@tanstack/react-query"),Xvt="/{robot_model}/call_pause",Zvt=async({robot_model:i})=>{const e=Xvt.replace("{robot_model}",i);return _s.post(e)},eyt=()=>Qvt({mutationFn:Zvt}),{useMutation:tyt}=await F("@tanstack/react-query"),nyt="/{robot_model}/call_resume",iyt=async({robot_model:i})=>{const e=nyt.replace("{robot_model}",i);return _s.post(e)},syt=()=>tyt({mutationFn:iyt}),{useMutation:oyt}=await F("@tanstack/react-query"),ryt="/{robot_model}/control/dockStop",ayt=async({robot_model:i})=>{const e=ryt.replace("{robot_model}",i);return _s.post(e)},lyt=()=>oyt({mutationFn:ayt}),{useMutation:cyt}=await F("@tanstack/react-query"),dyt="/{robot_model}/control/undock",uyt=async({robot_model:i})=>{const e=dyt.replace("{robot_model}",i);return _s.post(e)},hyt=()=>cyt({mutationFn:uyt}),{useMutation:gyt}=await F("@tanstack/react-query"),myt="/{robot_model}/control/motor",fyt=async({robot_model:i,value:e})=>{const t=myt.replace("{robot_model}",i),n=await _s.post(t,{switch:e});if(n.result==="reject")throw new Error(n.message);return n},uPe=()=>gyt({mutationFn:fyt}),{useMutation:pyt}=await F("@tanstack/react-query"),_yt="/{robot_model}/control/setDetectMode",byt=()=>pyt({mutationFn:({robot_model:i,switch:e})=>{const t=_yt.replace("{robot_model}",i);return _s.post(t,{switch:e})}}),{useMutation:vyt}=await F("@tanstack/react-query"),yyt="/{robot_model}/control/setSafetyField",wyt=()=>vyt({mutationFn:({robot_model:i,safetyField:e})=>{const t=yyt.replace("{robot_model}",i);return _s.post(t,{safetyField:e})}}),{useMutation:Cyt}=await F("@tanstack/react-query"),Syt="/{robot_model}/control/setSafetyFlag",xyt=()=>Cyt({mutationFn:({robot_model:i,name:e})=>{const t=Syt.replace("{robot_model}",i);return _s.post(t,{safetyFlag:[{name:e,value:!1}]})}}),{useMutation:Iyt}=await F("@tanstack/react-query"),kyt="/{robot_model}/control/setSafetyIo",Nyt=()=>Iyt({mutationFn:async({robot_model:i,mcu0Din:e,mcu1Din:t})=>{const n=kyt.replace("{robot_model}",i),s=await _s.post(n,{mcu0Din:e,mcu1Din:t});if(s.result==="reject")throw new Error(s.message);return s}}),{useCallback:Au}=await F("react"),hPe="move.amr.toast.moveReject.title",Lyt={"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"},MO=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:""},Dyt=(i,e)=>{const t=i?.trim()??"",n=t.startsWith("move.amr.toast.moveReject.")&&t!==hPe?t:Lyt[t];return(n?e(n):void 0)||t||e("move.amr.toast.moveReject.default")},Kb=(i,e)=>{at.openToast({type:"basic",variant:"danger",title:e(hPe),content:Dyt(i,e)})},Tyt=({selectedRobotModel:i})=>{const{t:e}=J(),{mutateAsync:t}=uPe(),{mutateAsync:n}=xyt(),{mutateAsync:s}=wyt(),{mutateAsync:o}=Nyt(),{mutateAsync:r}=byt(),{mutate:a}=Yvt(),{mutate:l}=eyt(),{mutate:c}=syt(),{mutate:d}=lyt(),{mutate:u}=hyt(),{mutate:g}=Hvt(),{mutate:m}=Gvt(),{mutate:f}=Bvt(),p=Au(T=>t({robot_model:i,value:!T}),[i,t]),_=Au(T=>{g({robot_model:i,...T},{onSuccess:R=>{R?.result!=="accept"&&Kb(R?.message,e)},onError:R=>{Kb(MO(R),e)}})},[g,i,e]),b=Au(T=>{m({robot_model:i,...T},{onSuccess:R=>{R?.result!=="accept"&&Kb(R?.message,e)},onError:R=>{Kb(MO(R),e)}})},[m,i,e]),v=Au(T=>{if(T.axis==="y"){const 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"&&Kb(A?.message,e)},onError:A=>{Kb(MO(A),e)}});return}f({robot_model:i,axis:"x",target:T.target,speed:T.speed},{onSuccess:R=>{R?.result!=="accept"&&Kb(R?.message,e)},onError:R=>{Kb(MO(R),e)}})},[f,i,e]),w=Au(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]),y=Au(()=>{u({robot_model:i})},[i,u]),S=Au(()=>{l({robot_model:i})},[l,i]),C=Au(()=>{c({robot_model:i})},[c,i]),x=Au(()=>{d({robot_model:i})},[d,i]),N=Au(T=>n({robot_model:i,name:T}),[i,n]),L=Au(T=>s({robot_model:i,safetyField:T}),[i,s]),D=Au(T=>r({robot_model:i,switch:T}),[i,r]),E=Au(T=>o({robot_model:i,...T}),[i,o]);return{handleSetMotorLocked:p,handleMoveTarget:_,handleMoveGoal:b,handleMoveLinear:v,handleDock:w,handleDockPause:S,handleDockResume:C,handleDockStop:x,handleUndock:y,handleClearSafetyFlag:N,handleSetSafetyField:L,handleSetSafetyIo:E,handleSetDetectMode:D}},gPe=()=>({GOAL:0,ROUTE:0,ALIGN:0}),Eyt=i=>{const e=i.toUpperCase();return e==="GOAL"?"GOAL":e==="ROUTE"?"ROUTE":e==="ALIGN"?"ALIGN":null},$me=i=>{const e=gPe();return i.forEach(t=>{const n=Eyt(t);n&&(e[n]+=1)}),e},{useMemo:Pyt}=await F("react"),Ryt=({nodes:i,topologyData:e})=>{const t=Pyt(()=>i.length>0?$me(i.map(s=>s.type)):e?.length?$me(e.map(s=>s.type)):gPe(),[i,e]),n=i.length>0?i.length:e?.length??0;return{nodeTypeCounts:t,topologyCount:n}},{useState:Ume}=await F("react"),Myt=()=>{const[i,e]=Ume(.3),[t,n]=Ume(15);return{linearJogSpeed:i,setLinearJogSpeed:e,rotationJogSpeed:t,setRotationJogSpeed:n}},{useCallback:jme,useEffect:Gme,useState:kw}=await F("react"),Ayt=({editorReady:i,worldStudioRef:e})=>{const[t,n]=kw(!1),[s,o]=kw(.5),[r,a]=kw("goal"),[l,c]=kw("cursor"),[d,u]=kw(!1),[g,m]=kw(0),[f,p]=kw(!1),_=jme(()=>{u(!0)},[]),b=jme(()=>{u(!1)},[]);return Gme(()=>{i?.editor&&o(e.current?.getEraserRadius()??.5)},[i?.editor,e]),Gme(()=>{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:Oyt}=await F("react"),{useQuery:Fyt}=await F("@tanstack/react-query"),mPe="topology.json",fPe="/{robot_model}/map/getTopology",Byt=999,Vyt=i=>({...i,format_version:i.format_version??_4,metadata:i.metadata,nodes:i.nodes??[],links:i.links??[],zones:i.zones??[]}),qme=async({robot_model:i,mapName:e,pageNo:t})=>{const n=fPe.replace("{robot_model}",i),s=await _s.get(n,{params:{mapName:e,fileName:mPe,pageNo:t,pageSize:Byt}});return Vyt(s)},zyt=async({robot_model:i,mapName:e})=>{const t=await qme({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)=>qme({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)}},Wyt=(i,e={})=>{const t=Oyt(()=>[fPe,{...i,fileName:mPe}],[i]);return{...Fyt({queryKey:t,queryFn:()=>zyt(i),enabled:!!i.mapName,...e}),queryKey:t}},Hyt="modulepreload",$yt=function(i){return"/"+i},Kme={},Ct=function(e,t,n){let s=Promise.resolve();if(t&&t.length>0){let r=function(c){return Promise.all(c.map(d=>Promise.resolve(d).then(u=>({status:"fulfilled",value:u}),u=>({status:"rejected",reason:u}))))};document.getElementsByTagName("link");const a=document.querySelector("meta[property=csp-nonce]"),l=a?.nonce||a?.getAttribute("nonce");s=r(t.map(c=>{if(c=$yt(c),c in Kme)return;Kme[c]=!0;const d=c.endsWith(".css"),u=d?'[rel="stylesheet"]':"";if(document.querySelector(`link[href="${c}"]${u}`))return;const g=document.createElement("link");if(g.rel=d?"stylesheet":Hyt,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:QM,memo:Uyt,Suspense:jyt,useEffect:Gyt,useState:Jme}=await F("react"),qyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.Overview}))),Kyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.TaskInformation}))),Jyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.PduInfo}))),Yyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.DockControl}))),Qyt=QM(()=>Ct(()=>import("./AmrCapabilityControl.BrB4gWci.js"),__vite__mapDeps([7,3,2,4,5,6,8]))),Xyt=[{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"}],Yme=i=>i==="overview"||i==="task"||i==="pdu"||i==="dock"||i==="capability",AO=()=>{},Zyt=({className:i,robotModel:e,overviewProps:t,taskProps:n,pduProps:s,dockProps:o})=>{const[r,a]=gc(),l=Dr(),{t:c}=J(),{theme:d}=rt(),[u,g]=Jme(()=>{const N=r.get("monitor_tab");return N==="motor"?"pdu":N&&Yme(N)?N:"overview"}),[m,f]=Jme(!1);Gyt(()=>{f(!1)},[e]);const p=()=>at.openToast({type:"basic",variant:"success",title:c("move.amr.pdu.toast.motorConnect.title"),content:c("move.amr.pdu.toast.motorConnect.content")}),_=()=>at.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=N=>{g(N);const L=new URLSearchParams(r);L.set("monitor_tab",N),a(L,{replace:!0})},w=()=>{f(!1),o.onDock?.()},y=()=>{f(!0),o.onPause?.()},S=()=>{f(!1),o.onResume?.()},C=()=>{f(!1),o.onStop?.()},x=()=>{f(!1),o.onUndock?.()};return h("div",{className:P("AmrMonitorControl","h-full",i),children:h("div",{className:"flex h-full gap-0",children:k("div",{className:"flex h-full min-h-0 flex-1 flex-col overflow-x-hidden",children:[h("div",{className:P("shrink-0",d==="light"?"bg-default":"bg-alt-1"),children:h(uW,{tabItems:Xyt.map(N=>({key:N.value,label:c(N.label)})),activeKey:u,handleChange:N=>{Yme(N)&&v(N)},size:"xs",tabBtnClassName:"typo-compact-xs-bold light:bg-white light:[&.active]:bg-fill-navy! light:[&.active]:text-white!"})}),h(q,{className:"min-h-0 flex-1 overflow-y-auto",children:k(jyt,{fallback:null,children:[u==="overview"&&h(qyt,{amrStatus:t.amrStatus,robotVersion:t.robotVersion,onStartLocalization:t.onStartLocalization??AO,onInitLocalization:t.onInitLocalization??AO,onSemiAutoInitLocalization:t.onSemiAutoInitLocalization??AO,onStopLocalization:t.onStopLocalization??AO,selectedTool:t.selectedTool,onToolChange:t.onToolChange,onBuildInfoOpenChange:t.onBuildInfoOpenChange}),u==="task"&&h(Kyt,{logData:n.logData,moveStatus:n.moveStatus}),u==="pdu"&&h(Jyt,{amrStatus:s.amrStatus,setMotorLocked:s.setMotorLocked,onClearSafetyRecovery:s.onClearSafetyRecovery,onLidarFieldSave:s.onLidarFieldSave,onOssdDetectChange:s.onOssdDetectChange,safetyIo:s.safetyIo,safetyIoLoading:s.safetyIoLoading,onSetSafetyIo:s.onSetSafetyIo,onSafetyIoSetError:_,onMotorConnectSuccess:p,onLidarSaveSuccess:()=>at.openToast({type:"basic",variant:"success",title:c("move.amr.pdu.toast.lidarSave.title"),content:c("move.amr.pdu.toast.lidarSave.content")}),onMotorConnectError:_,onLidarSaveError:_}),u==="dock"&&h(Yyt,{amrStatus:o.amrStatus,isPaused:m,onDock:w,onPause:y,onResume:S,onStop:C,onUndock:x,maxRetryCount:o.maxRetryCount,rejectMessage:o.rejectMessage,onOpenRetrySettings:b,dockDisabled:e.startsWith("S100")}),u==="capability"&&h(Qyt,{robotModel:e})]})})]})})})},ewt=Uyt(Zyt),{lazy:Rie,memo:twt,Suspense:nwt,useEffect:iwt,useState:swt}=await F("react"),owt=Rie(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.EraserTab}))),rwt=Rie(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.MapInfo}))),awt=Rie(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.MappingTab}))),lwt=[{label:"move.amr.rightPanel.map.tab.info",value:"info"},{label:"move.amr.rightPanel.map.tab.mapping",value:"mapping"},{label:"move.amr.rightPanel.map.tab.erasing",value:"erasing"}],n$="map_tab",i$=i=>i==="info"||i==="mapping"||i==="erasing",cwt=({className:i,mapInfoProps:e,mappingTabProps:{mapList:t,...n},eraserTabProps:s,hasUnsavedCloudChanges:o=!1,onDiscardCloudChanges:r,onDownloadMap:a,downloadMapDisabled:l})=>{const{theme:c}=rt(),{t:d}=J(),{confirmDialog:u}=si(),[g,m]=gc(),[f,p]=swt(()=>{const b=g.get(n$)??"";return i$(b)?b:"info"});iwt(()=>{const b=g.get(n$)??"",v=i$(b)?b:"info";p(w=>w!==v?v:w)},[g]);const _=async b=>{if(b===f)return;const v=n?.mappingStatus??"idle",w=f==="mapping"&&b!=="mapping",y=f==="erasing"&&b!=="erasing";if(w){if(v==="saving"||v==="discarding")return;if(v!=="idle"){if(!await u({title:d("move.amr.rightPanel.map.dialog.discardMapping.title"),content:d("move.amr.rightPanel.map.dialog.discardMapping.content"),buttonText:{yes:d("move.amr.rightPanel.map.dialog.discardMapping.yes"),no:d("move.amr.rightPanel.common.cancel")}}))return;await n?.onDiscard?.()}}if(y&&o){if(!await u({title:"Discard erasing changes?",content:"Leaving the erasing tab will discard erased point changes.",buttonText:{yes:d("move.amr.rightPanel.map.dialog.discardMapping.yes"),no:d("move.amr.rightPanel.common.cancel")}}))return;await r?.()}p(b);const S=new URLSearchParams(g);S.set(n$,b),m(S,{replace:!0})};return k(q,{className:P("AmrMapControl","h-full","overflow-x-hidden",i),children:[h("div",{className:P("sticky top-0 left-0 z-2",c==="light"?"bg-default":"bg-alt-1"),children:h(uW,{tabItems:lwt.map(b=>({key:b.value,label:d(b.label)})),activeKey:f,handleChange:b=>{i$(b)&&_(b)},size:"xs",tabBtnClassName:"typo-compact-xs-bold light:bg-white light:[&.active]:bg-fill-navy! light:[&.active]:text-white!"})}),h(q,{className:"min-h-0 flex-1",children:k(nwt,{fallback:null,children:[f==="info"&&h(rwt,{currentMapName:e?.currentMapName??"",createdAt:e?.createdAt,lastModified:e?.lastModified,mapCloudCount:e?.mapCloudCount??0,mapBounds:e?.mapBounds,topologyCount:e?.topologyCount??0,nodeTypeCounts:e?.nodeTypeCounts,onDownloadMap:a,downloadMapDisabled:l}),f==="mapping"&&h(awt,{mappingStatus:n?.mappingStatus,elapsedSeconds:n?.elapsedSeconds,completedKeyframeCount:n?.completedKeyframeCount,totalKeyframePoints:n?.totalKeyframePoints,onStartMapping:n?.onStartMapping,onStopMapping:n?.onStopMapping,onSaveMapping:n?.onSaveMapping,onDiscard:n?.onDiscard,mapList:t}),f==="erasing"&&h(owt,{...s})]})})]})},dwt=twt(cwt),{lazy:uwt,memo:hwt,Suspense:gwt,useState:mwt}=await F("react"),fwt=uwt(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.MarkerControl}))),pwt=[{label:"move.amr.rightPanel.marker.tab.register",value:"register"},{label:"move.amr.rightPanel.marker.tab.teaching",value:"teaching"}],_wt=({className:i,markerProps:e})=>{const{theme:t}=rt(),{t:n}=J(),[s,o]=mwt("register");return h("div",{className:P("AmrMarkerControl","h-full",i),children:h("div",{className:"flex h-full gap-0",children:k("div",{className:"flex h-full flex-1 flex-col overflow-hidden",children:[h("div",{className:P("sticky top-0 left-0 z-2",t==="light"?"bg-default":"bg-alt-1"),children:h(uW,{tabItems:pwt.map(r=>({key:r.value,label:n(r.label)})),activeKey:s,handleChange:r=>o(r),size:"xs",tabBtnClassName:"typo-compact-xs-bold light:bg-white light:[&.active]:bg-fill-navy! light:[&.active]:text-white!"})}),h(q,{className:"h-full",children:h(gwt,{fallback:null,children:h(fwt,{mode:s,isScanning:e.isScanning,detections:e.detections,onScanStart:e.onScanStart,onScanStop:e.onScanStop,onRegisterMarker:e.onRegisterMarker,isRegisterPending:e.isRegisterPending,lastRegisteredMarkerId:e.lastRegisteredMarkerId,registeredMarkers:e.registeredMarkers,capturedPose:e.capturedPose,capturedDetection:e.capturedDetection,onCapturePose:e.onCapturePose,onTeachTarget:e.onTeachTarget})})})]})})})},bwt=hwt(_wt),vwt={detections:[],stamp:0},ywt=i=>({camId:i.camId,markerId:i.markerId,type:i.type,pose:i.pose?{x:i.pose.x,y:i.pose.y,z:i.pose.z,rx:i.pose.rx,ry:i.pose.ry,rz:i.pose.rz}:void 0,confidence:i.confidence,distM:i.distM}),wwt=(i,e=!1)=>{const{data:t}=xs(`amr/${i}/marker/detected`,{defaultValue:vwt,disabled:!e});return{detections:t.detections.map(ywt),stamp:t.stamp}},{useMutation:Cwt}=await F("@tanstack/react-query"),Swt="/{robot_model}/marker/scanStart",xwt=async({robot_model:i})=>{const e=Swt.replace("{robot_model}",i);return _s.post(e)},Iwt=()=>Cwt({mutationFn:xwt}),{useMutation:kwt}=await F("@tanstack/react-query"),Nwt="/{robot_model}/marker/scanStop",Lwt=async({robot_model:i})=>{const e=Nwt.replace("{robot_model}",i);return _s.post(e)},Dwt=()=>kwt({mutationFn:Lwt}),{useMutation:Twt}=await F("@tanstack/react-query"),Ewt="/{robot_model}/marker/register",Pwt=async({robot_model:i,...e})=>{const t=Ewt.replace("{robot_model}",i);return _s.post(t,e)},Rwt=()=>Twt({mutationFn:Pwt}),{useMutation:Mwt}=await F("@tanstack/react-query"),Awt="/{robot_model}/marker/setPrecisionNode",Owt=async({robot_model:i,...e})=>{const t=Awt.replace("{robot_model}",i);return _s.post(t,e)},Fwt=()=>Mwt({mutationFn:Owt}),{useCallback:SD,useEffect:Bwt,useMemo:Vwt,useState:OO}=await F("react"),{useQueryClient:zwt}=await F("@tanstack/react-query"),pPe=i=>{if(!i)return{markerId:NaN,mount:""};const e=t=>{const n=i.match(new RegExp(`${t}=([^;]+)`));return n?n[1]:""};return{markerId:parseInt(e("marker"),10),mount:e("mount")}},Wwt=i=>{if(!i.features.includes("PRECISION"))return null;const{markerId:e}=pPe(i.context);return isNaN(e)?null:{markerId:e,nodeId:i.id,nodeName:i.name,pose:{x:i.pose.x,y:i.pose.y,rz:i.pose.rz},context:i.context}},Hwt=(i,e)=>{const t=i.features.includes("APRIL"),n=i.features.includes("ARUCO");if(!t&&!n)return null;const{markerId:s,mount:o}=pPe(i.context);return isNaN(s)?null:{markerId:s,nodeId:i.id,type:t?"APRIL":"ARUCO",mount:o||"WALL",targets:[],precisionTarget:e.get(s)??null}},$wt=({robotModel:i,enabled:e=!1,mapName:t,topology:n,robotPose:s,onNodeRegistered:o})=>{const{t:r}=J(),a=zwt(),[l,c]=OO(!1),[d,u]=OO(null),[g,m]=OO(null),[f,p]=OO(null),_=Vwt(()=>{const R=n?.nodes??[],A=new Map;for(const M of R){const O=Wwt(M);O&&A.set(O.markerId,O)}return R.filter(M=>M.type==="ALIGN").flatMap(M=>{const O=Hwt(M,A);return O?[O]:[]})},[n]),{detections:b}=wwt(i,l),{locState:v}=WN(i,R=>({locState:R.locState})),{mutate:w}=Iwt(),{mutate:y}=Dwt(),{mutate:S,isPending:C}=Rwt(),{mutate:x}=Fwt(),N=SD((R=!0)=>{if(v?.locStatus!=="good"){R&&at.openToast({title:r("move.amr.toast.markerScanReject.title"),content:r("move.amr.toast.markerScanReject.localizationUnavailable"),type:"basic",variant:"warning"});return}w({robot_model:i},{onSuccess:()=>c(!0)})},[v?.locStatus,i,w,r]),L=SD(()=>{y({robot_model:i},{onSuccess:()=>c(!1)})},[i,y]);Bwt(()=>{if(e){!l&&v?.locStatus==="good"&&N(!1);return}l&&L()},[e,N,L,l,v?.locStatus]);const D=SD(R=>{S({robot_model:i,...R},{onSuccess:A=>{if(!(A.result!=="success"&&A.result!=="accept")&&(u(R.markerId),at.openToast({title:r("move.amr.toast.markerRegister.title"),content:r("move.amr.toast.markerRegister.success",{markerId:R.markerId}),type:"basic",variant:"success"}),A.node&&(o?.(A.node),t))){const M=[V4,{robot_model:i,mapName:t}];a.setQueryData(M,O=>!O||O.nodes.some(B=>B.id===A.node.id)?O:{...O,nodes:[...O.nodes,A.node]}),a.invalidateQueries({queryKey:M})}}})},[t,o,a,i,S,r]),E=SD(()=>{s&&m({x:s.x,y:s.y,rz:s.rz})},[s]),T=SD(R=>{x({robot_model:i,markerId:R.markerId,nodeName:R.nodeName},{onSuccess:A=>{if(A.result==="reject"){A.message==="marker_not_visible"&&at.openToast({title:r("move.amr.toast.markerTeach.title"),content:r("move.amr.toast.markerTeach.reject.markerNotVisible"),type:"basic",variant:"danger"});return}if(!(A.result!=="success"&&A.result!=="accept")){if(A.node&&(at.openToast({title:r("move.amr.toast.markerTeach.title"),content:"",type:"basic",variant:"success"}),o?.(A.node),t)){const M=[V4,{robot_model:i,mapName:t}];a.setQueryData(M,O=>!O||O.nodes.some(B=>B.id===A.node.id)?O:{...O,nodes:[...O.nodes,A.node]}),a.invalidateQueries({queryKey:M})}m(null),p(null)}}})},[i,x,t,o,a,r]);return{isScanning:l,detections:b,onScanStart:N,onScanStop:L,onRegisterMarker:D,isRegisterPending:C,lastRegisteredMarkerId:d,registeredMarkers:_,capturedPose:g,capturedDetection:f,onCapturePose:E,onTeachTarget:T}},{memo:Uwt,useMemo:xD,useState:jwt}=await F("react"),Gwt=i=>typeof i=="object"&&i!==null&&!Array.isArray(i),qwt=i=>Gwt(i)&&("name"in i||"value"in i),BP=(i,e)=>{if(!i)return"";if(typeof i=="string")return i;const t=e.split("-")[0];return i[t]??i.en??i.ko??Object.values(i).find(s=>!!s)??""},Kwt=(i,e,t)=>BP(t.get(i),e)||i,Jwt=i=>{const e=i?.infos;return{items:Array.isArray(e)?e.filter(qwt):[]}},Mie=i=>i==null||i===""?"-":typeof i=="boolean"?i?"true":"false":String(i),Ywt=i=>i.trim().toLowerCase(),Qwt=i=>{const e=Mie(i.value);return i.type===2?{color:e==="1"?"green":"gray",label:e==="1"?"ON":e==="0"?"OFF":e}:i.type===1?{color:"blue",label:e}:null},Xwt=({item:i,currentLanguage:e})=>{const t=BP(i.name,e)||i.categoryId||"unknown",n=BP(i.description,e),s=Mie(i.value),o=Qwt(i);return k("div",{className:"bg-fill-disabled flex w-full min-w-0 shrink-0 items-start justify-between gap-2 rounded-md px-2.5 py-2",children:[k("div",{className:"min-w-0 flex-1",children:[k(U,{className:"min-w-0 items-center gap-1.5",children:[i.color?h("span",{className:"size-2 shrink-0 rounded-full",style:{backgroundColor:i.color}}):null,h("p",{className:"typo-compact-xs2-normal text-fg-subtle min-w-0 break-words",children:t})]}),n?h("p",{className:"typo-compact-2xs-normal text-fg-subtler mt-0.5 min-w-0 break-words",children:n}):null]}),h("div",{className:"flex max-w-[45%] shrink-0 flex-col items-end gap-1",children:o?h(hy,{type:"soft",color:o.color,className:"max-w-full",children:h("span",{className:"max-w-full min-w-0 break-all",children:o.label})}):h("p",{className:"typo-compact-xs2-medium text-fg-default max-w-full min-w-0 text-right font-mono break-all",title:s,children:s})})]})},Zwt=(i,e,t)=>{const n=i(e);return n===e?t:n},eCt=({infoStatus:i,infoCategories:e,infoStatusLoading:t=!1,infoStatusIsDefault:n=!0})=>{const[s,o]=jwt(""),{t:r,currentLanguage:a}=J(),l=xD(()=>(f,p)=>Zwt(r,f,p),[r]),{items:c}=xD(()=>Jwt(i),[i]),d=xD(()=>{const f=new Map;for(const p of e??[])f.set(p.categoryId,p.name);return f},[e]),u=xD(()=>{const f=new Map;for(const p of c){const _=p.categoryId||"uncategorized",b=f.get(_)??[];b.push(p),f.set(_,b)}return Array.from(f.entries()).map(([p,_])=>({id:p,label:Kwt(p,a,d),items:_}))},[d,a,c]),g=xD(()=>{const f=Ywt(s);return f?u.map(p=>{const _=p.items.filter(b=>[p.id,p.label,b.categoryId,b.groupId,BP(b.name,a),BP(b.description,a),Mie(b.value)].filter(Boolean).join(" ").toLowerCase().includes(f));return{...p,items:_}}).filter(p=>p.items.length>0):u},[u,a,s]),m=!n&&i!==void 0&&c.length>0;return k(q,{className:"h-full min-h-0 w-full max-w-full min-w-0",children:[k(U,{className:"h-10 min-w-0 shrink-0 items-center justify-between gap-2 px-5 py-4",children:[h("div",{className:"min-w-0 flex-1",children:h("p",{className:"typo-compact-sm2-semibold text-fg-default break-all",children:l("move.amr.rightPanel.debug.title","Debug")})}),h(hy,{type:"soft",color:t?"blue":m?"green":"gray",className:"max-w-24 shrink-0",children:h("span",{className:"break-all",children:t?l("move.amr.rightPanel.debug.state.loading","Loading"):m?l("move.amr.rightPanel.debug.state.receiving","Receiving"):l("move.amr.rightPanel.debug.state.waiting","Waiting")})})]}),m?h("div",{className:"shrink-0 px-3 py-2",children:h(nt,{className:"w-full",size:"xs2",type:"search",value:s,placeholder:l("move.amr.rightPanel.debug.search","Search"),handleChange:f=>o(String(f??"")),handleReset:()=>o("")})}):null,h(q,{className:"min-h-0 w-full max-w-full min-w-0 flex-1 overflow-x-hidden overflow-y-auto",children:m?g.length>0?g.map(f=>k(q,{className:"border-subtler w-full max-w-full min-w-0 shrink-0 gap-2 border-b px-5 py-4",children:[k(U,{className:"min-w-0 items-center justify-between gap-2",children:[h("div",{className:"min-w-0 flex-1",children:h("p",{className:"typo-compact-sm2-semibold text-fg-subtle min-w-0 break-words",children:f.label})}),h(hy,{type:"soft",color:"gray",className:"shrink-0",children:f.items.length})]}),h("div",{className:"grid w-full min-w-0 shrink-0 grid-cols-2 gap-1.5",children:f.items.map((p,_)=>h(Xwt,{item:p,currentLanguage:a},`${f.id}-${_}`))})]},f.id)):h(eq,{className:"h-full min-h-40 shrink-0 [&_[data-slot='empty-view-section']]:h-full",type:"icon",message:l("move.amr.rightPanel.debug.noSearchResults","No matching debug items.")}):h(eq,{className:"h-full min-h-40 shrink-0 [&_[data-slot='empty-view-section']]:h-full",type:"icon",message:l("move.amr.rightPanel.debug.waitingInfoStatus","Waiting for infoStatus data.")})})]})},tCt=Uwt(eCt),nCt=({isFullscreen:i,onToggle:e})=>h(FN,{id:"fullscreen-toggle-tooltip",label:i?"Exit Full Screen":"Full Screen",icon:i?h(m8e,{className:"h-4 w-4"}):h(fW,{className:"h-4 w-4"}),onClick:e}),iCt=({showJoysticks:i,setShowJoysticks:e})=>{const{t}=J();return h(FN,{id:"joystick-toggle-tooltip",label:t("move.amr.panel.virtualJoysticks"),icon:h(FIe,{className:"relative z-10 h-4 w-4"}),onClick:()=>e(!i),isOpen:i})},{useRef:sCt}=await F("react"),oCt=({showViewControls:i,setShowViewControls:e,visibilityItems:t,cameraModeControl:n,numberItems:s})=>{const{t:o}=J(),{theme:r}=rt(),a=sCt(null);return f8e(a,()=>{e(!1)}),k("div",{ref:a,className:"relative",children:[h(FN,{id:"view-controls-tooltip",label:o("move.amr.panel.viewportVisibility"),icon:h(nne,{className:"relative z-10 h-4 w-4"}),onClick:()=>e(!i),isOpen:i}),i&&k(q,{className:`${r==="light"?"bg-white":"bg-alt-1"} border-disabled shadow-down-xs absolute -top-20 right-full z-50 mr-2 w-64 gap-2.5 rounded-md px-3 py-2.5`,children:[h("p",{className:"typo-compact-xs-semibold text-fg-default",children:o("move.amr.panel.viewportControl")}),n?k(bn,{children:[k(q,{children:[h("p",{className:"typo-compact-xs2-semibold text-fg-subtle pb-2",children:o("move.amr.viewportControls.section.camera")}),k(q,{className:"gap-2",children:[k(q,{className:"gap-0.5",children:[h("p",{className:"typo-compact-xs2-semibold text-fg-default",children:n.label}),n.description?h("p",{className:"typo-compact-xs-normal text-fg-subtle",children:n.description}):null]}),h(U,{className:"gap-1",children:n.items.map(l=>{const c=l.value===n.value;return h(_e,{className:"h-7 flex-1 px-2",size:"xs",variant:c?"brand":"outlined",title:l.description,onClick:()=>n.onChange(l.value),children:l.label},l.value)})})]})]}),h(Zs,{})]}):null,k(q,{children:[h("p",{className:"typo-compact-xs2-semibold text-fg-subtle pb-2",children:o("move.amr.viewportControls.section.visibility")}),t.map((l,c)=>k(q,{children:[k(U,{className:"items-center justify-between",children:[k(q,{className:"gap-0.5",children:[h("p",{className:"typo-compact-xs2-semibold text-fg-default",children:l.label}),l.description?h("p",{className:"typo-compact-xs-normal text-fg-subtle",children:l.description}):null]}),h(Lo,{checked:l.checked,onCheckedChange:d=>{l.onCheckedChange(!!d)}})]}),c<t.length-1?h(Zs,{className:"py-2"}):null]},l.label))]}),!!s?.length&&k(bn,{children:[h(Zs,{}),k(q,{children:[h("p",{className:"typo-compact-xs2-semibold text-fg-subtle pb-2",children:o("move.amr.viewportControls.section.rendering")}),s.map((l,c)=>k(q,{children:[k(U,{className:"items-center justify-between gap-2",children:[k(q,{className:"min-w-0 gap-0.5",children:[h("p",{className:"typo-compact-xs2-semibold text-fg-default",children:l.label}),l.description?h("p",{className:"typo-compact-xs-normal text-fg-subtle",children:l.description}):null]}),k(U,{className:"shrink-0 items-center gap-1",children:[h(gW,{className:"w-24",value:String(l.value),min:l.min,max:l.max,size:"xs2",step:l.step,digit:l.digit,handleChange:d=>{if(d.trim()==="")return;const u=Number(d);Number.isNaN(u)||typeof l.min=="number"&&u<l.min||typeof l.max=="number"&&u>l.max||l.onChange(u)}}),l.unit?h("span",{className:"typo-compact-xs-normal text-fg-subtle",children:l.unit}):null]})]}),c<s.length-1?h(Zs,{className:"py-2"}):null]},l.label))]})]})]})]})},{useCallback:Ls,useEffect:Nw,useMemo:s$,useRef:FO,useState:Bh}=await F("react"),o$={fullscreen:"right-6",menuExpanded:"right-113",menuCollapsed:"right-92"},r$={fullscreen:"right-2",menuExpanded:"right-[8.25rem]",menuCollapsed:"right-[3.25rem]"},rCt=({isFullscreen:i,isMenuExpanded:e})=>i?o$.fullscreen:e?o$.menuExpanded:o$.menuCollapsed,Qme=(i,e)=>{const t=new URL(i.startsWith("http")?i:`http://${i}`);return t.port=String(e),t.pathname="",t.search="",t.hash="",t.toString().replace(/\/$/,"")},aCt=({robotModel:i})=>{const{t:e}=J(),{selectedRobot:t}=Fi(i),{data:n}=gp(),[s,o]=Bh(!1),{data:r}=p8e({robot_model:i,enabled:s}),[a,l]=gc(),c=a.get("expended")==="1",d=a.get("debug")==="1",u=a.get("menu")||"monitor",g=a.get("monitor_tab"),m=u==="monitor"&&(g==="pdu"||g==="motor"),f=u==="monitor"&&g==="task",{data:p}=J_t({robot_model:i},{enabled:d}),_=FO(null),[b,v]=Bh(null),[w,y]=Bh(!1),[S,C]=Bh(!1),[x,N]=Bh(!1),[L,D]=Bh(80),[E,T]=Bh(!1),[R,A]=Bh(!1),M=E||R,{data:O,loading:B}=cbt(i,S),[V,G]=Bh(null),[H,X]=Bh(!1),[K,z]=Bh({}),de=FO({}),{modal:te}=$i(),{confirmDialog:ie}=si(),he=FO(null),{ready:ce,selectedObjects:Ie,selectedNode:Ee,selectedNodeTransform:Te,focusedLinkId:lt,selectedLinks:st,selectedZoneIds:kt,focusedZoneId:yt,nodes:Bt,links:Ft,zones:nn,mapBounds:ei,zoneDraft:oi,worldStudioStateProps:Nt}=Oke(),be=Ls((Je,Bn)=>{he.current?.emit(Je,Bn)},[]),Ve=Ls(Je=>{be("ui:link-visibility-filter-requested",{filter:Je})},[be]),{linkVisibilityFilter:ke,setLinkVisibilityFilter:Ke,visibleSelectedLinks:xe,visibleFocusedLink:fe,selectedLinkOverlayItems:Ne,focusedLinkAnchor:ze}=F_t({nodes:Bt,selectedLinks:st,focusedLinkId:lt,onLinkVisibilityFilterChange:Ve}),{focusedZone:Ze,selectedZoneOverlayItems:Dt,focusedZoneAnchor:Ln}=V_t({zones:nn,selectedZoneIds:kt,focusedZoneId:yt}),dn=nUe({anchorObject:fe||Ze?null:Ee,anchorWorldPosition:fe?ze:Ze?Ln:null,worldStudioRef:he,viewportHostRef:_}),ii=Ls(()=>he.current?.getPreviewTransform()??null,[]),xi=Ls(()=>he.current?.getMapPointsData()??[],[]),ji=Ls(()=>he.current?.getTopologyData()??{format_version:_4,nodes:[],links:[],zones:[]},[]);Nw(()=>{o(!1)},[i]);const[jo,lo]=Bh(null),{baseAmrStatus:co,amrMoveStatus:Ms,amrInfoStatus:mr,amrSafetyIoStatus:jl,taskLogData:Dh,monitorStatusSnapshot:Rg,hudStatusSnapshot:Po}=Rvt({selectedRobotModel:i,enableInfoStatus:d||m,enableTaskLogRefetch:f}),vo=co.mapState?.mapName||void 0,{mapListData:kl}=uvt(i),aa=s$(()=>kl?.list?.map(Je=>Je.mapName),[kl?.list]),{mapCloud:Ns,mapCloudUpdatedAt:St,topology:Un,topologyUpdatedAt:ls,refetchTopology:Ii}=Dbt({selectedRobotModel:i,mapTopoParams:b}),{currentMapInfo:yo}=Lbt({currentMapName:vo,mapListData:kl}),{nodeTypeCounts:fr,topologyCount:pr}=Ryt({nodes:Bt,topologyData:Un?.nodes}),xn=Un?.metadata?.created_at??Un?.metadata?.createdAt??null,{downloadJsonFile:_r,downloadCsvFile:Bd}=iUe(),{refetch:br,isFetching:vc}=Wyt({robot_model:i,mapName:vo??""},{enabled:!1}),{selectedTool:Ro,onToolChange:Th}=sUe();Nw(()=>{const Je=Ro==="move"||Ro==="rotate"||Ro==="scale";Ie.length===0&&Je&&Th("select")},[Th,Ie.length,Ro]);const{showGrid:un,showJoysticks:Pe,setShowJoysticks:ft,showViewControls:qt,setShowViewControls:As,showNodeLabels:Ks,showSimpleNodes:wo,showLidar:el,lidarPointSize:Xc,viewportCameraMode:Pu,visibilityItems:Eh,cameraModeControl:Er,renderingSettingItems:Tb}=oUe(),{isEraserEnabled:Mg,setIsEraserEnabled:iw,eraserRadius:DL,setEraserRadius:TL,selectedNodeType:X0,setSelectedNodeType:yc,selectedNodePlacementType:EL,setSelectedNodePlacementType:e2,hasUnsavedTopologyChanges:Lp,resetTopologyDirty:PL,selectedEraserPointsCount:RL,setSelectedEraserPointsCount:sw,hasUnsavedCloudChanges:Z0,setHasUnsavedCloudChanges:Ag}=Ayt({editorReady:ce,worldStudioRef:he}),Eb=Ls(Je=>{if(Mg){if(Je!=="select"&&Je!=="target")return;iw(!1),be("ui:eraser-toggle-requested",!1)}Th(Je)},[be,Mg,Th,iw]),{linearJogSpeed:t2,setLinearJogSpeed:n2,rotationJogSpeed:eS,setRotationJogSpeed:tS}=Myt(),{handleJoystickMove:ow,handleButtonMove:O7}=abt({robotModel:i,linearSpeed:t2,rotationSpeed:eS});Nw(()=>{vo&&b?.mapName!==vo&&v({mapName:vo})},[vo,b?.mapName]);const{loadMapAndRefreshCurrentMap:nS,loadTopology:F7,handleLoadMap:i2}=dvt({selectedRobotModel:i}),{handleStartLocalization:B7,handleInitLocalization:Pb,handleSemiAutoInitLocalization:iS,handleStopLocalization:ML}=Ybt({selectedRobotModel:i,getPreviewTransform:ii}),{handleInitLocalizationWithGuard:rw,handleSemiAutoInitLocalizationWithGuard:V7}=jbt({selectedRobotModel:i,currentMapName:vo,currentMapInfo:yo,mapListData:kl,topologyNodes:Un?.nodes,hasUnsavedTopologyChanges:Lp,handleInitLocalization:Pb,handleSemiAutoInitLocalization:iS}),{handleSetMotorLocked:Rb,handleMoveTarget:z7,handleMoveGoal:AL,handleMoveLinear:OL,handleDock:sS,handleDockPause:FL,handleDockResume:Mb,handleDockStop:Ab,handleUndock:s2,handleClearSafetyFlag:o2,handleSetSafetyField:Ob,handleSetSafetyIo:Fb,handleSetDetectMode:r2}=Tyt({selectedRobotModel:i}),a2=Ls(()=>{if(!Ee)return;if(Lp){at.openToast({type:"basic",variant:"warning",title:"Unsaved Topology Changes",content:"Please save topology changes before moving the robot.",position:"top-right"});return}const Je=Ee.userData?.id;typeof Je=="string"&&AL({goalId:Je})},[AL,Lp,Ee]),Co=Ls(()=>{Ie.length!==0&&be("ui:nodes-delete-requested",void 0)},[be,Ie.length]),Go=Ls(()=>{he.current?.moveCamera("focus")},[]),Km=Ls(async()=>{const{data:Je}=await br();Je&&_r("topology.json",{format_version:Je.format_version??_4,metadata:Je.metadata,nodes:Je.nodes,links:Je.links,zones:Je.zones})},[_r,br]),tl=Ls(()=>{const Je=xi();if(!Je?.length){at.openToast({type:"basic",variant:"warning",title:e("move.amr.toast.title.mapDownload.fail"),content:e("move.amr.toast.content.mapDownload.fail"),position:"top-right"});return}const Bn=vo?`${vo}_cloud.csv`:"cloud.csv";Bd(Bn,Je)},[vo,Bd,xi,e]),La=Ls(()=>{be("ui:map-points-erase-history-clear-requested",void 0),Ag(!1)},[be,Ag]),{handleSaveTopologyChanges:vr,handleCancelTopologyChanges:uo,handleSaveCloud:Bb}=kbt({selectedRobotModel:i,currentMapName:vo,mapTopoParams:b,getMapPointsData:xi,getTopologyData:ji,loadMapAndRefreshCurrentMap:nS,loadTopology:F7,refreshTopologyData:Ii,onTopologySaved:PL,onTopologyCanceled:PL,onCloudSaved:La}),{mappingPoints:oS,mappingKeyFrame:W7,mappingStatus:Gl,elapsedSeconds:Ph,completedKeyframeCount:H7,totalKeyframePoints:$7,handleStartMapping:U7,handleStopMapping:j7,handleSaveMapping:Og,handleDiscardMapping:Rh}=Svt({selectedRobotModel:i,emit:be,loadMapAndRefreshCurrentMap:nS}),{handleEraserToggle:Dp,handleDeletePoints:Tp,handleReleasePoint:G7,handleEraserRadiusChange:Mh,handleAddNodeAtRobot:l2,handleAddNodeAtCursor:BL,handleDeleteLastSelectedNode:c2,handleNodeUpdate:aw,handleSelectedNodesTransform:lw,handleCreateLinks:q7,handleDeleteLinksBetweenSelected:VL,handleLinkUpdate:K7,handleLinkDelete:Jm,handleLinkFocus:Fg}=Wbt({emit:be,nodes:Bt,selectedObjects:Ie,selectedNodeType:X0,onToolChange:Th,setIsEraserEnabled:iw,setEraserRadius:TL}),Ep=Ls(()=>{be("ui:map-points-restore-requested",void 0),sw(0),Ag(!1)},[be,Ag,sw]),d2=Ls(()=>{sw(0),Ag(!1)},[Ag,sw]),zL=Ls(()=>{RL!==0&&(Tp(),Ag(!0))},[Tp,RL,Ag]);rUe({tools:{selectedTool:Ro,onToolChange:Eb,hasSelectedNode:Ie.length>0},topology:{selectedNodePlacementType:EL,onAddNodeAtRobot:l2,onAddNodeAtCursor:BL},selection:{hasSelectedNodes:Ie.length>0,onDeleteSelectedNodes:Co},camera:{hasSelectedNode:Ie.length>0,onFocusSelectedNode:Go}});const rS=FO(Ms.moveState?.pathState);Nw(()=>{const Je=rS.current,Bn=Ms.moveState?.pathState;Bn!==void 0&&(Je==="req_path"&&Bn==="none"&&at.openToast({type:"basic",variant:"danger",title:"Move Failed",content:"No path to target. Check topology or robot position.",position:"top-right"}),rS.current=Bn)},[Ms.moveState?.pathState]);const aS=aUe({loading:co.loading,isDefaultData:co.isDefaultData,mapCloud:Ns,topology:Un,nodes:Bt,links:Ft}),cw=Ls(async(Je,Bn)=>Gl==="saving"||Gl==="discarding"?!1:Gl==="idle"?!0:await ie({title:e("move.amr.rightPanel.map.dialog.discardMapping.title"),content:Je,buttonText:{yes:Bn,no:e("move.amr.rightPanel.common.cancel")}})?(await Rh(),!0):!1,[ie,Rh,Gl,e]),dw=Ls(async(Je,Bn)=>Z0?await ie({title:"Discard erasing changes?",content:Je,buttonText:{yes:Bn,no:e("move.amr.rightPanel.common.cancel")}})?(Ep(),!0):!1:!0,[ie,Ep,Z0,e]),WL=Ls(async()=>oi.state!=="drawing"&&oi.state!=="closed"?!0:await ie({title:"Leave Zone",content:"Leaving Topology will discard the current zone draft. Continue?",buttonText:{yes:"Leave",no:e("move.amr.rightPanel.common.cancel")}})?(he.current?.cancelZoneDraft(),!0):!1,[ie,e,oi.state]),u2=Ls(async({currentMenuId:Je,nextMenuId:Bn})=>{switch(Je){case"map":return await cw(e("move.amr.rightPanel.map.dialog.discardMapping.leaveMenuContent"),e("move.amr.rightPanel.map.dialog.discardMapping.yes"))?dw("Leaving the map menu will discard erased point changes.",e("move.amr.rightPanel.map.dialog.discardMapping.yes")):!1;case"topology":return Bn!==Je&&(oi.state==="drawing"||oi.state==="closed")?WL():!0;default:return!0}},[dw,cw,WL,oi.state,e]),h2=Ls(async()=>{Gl==="saving"||Gl==="discarding"||!await cw(e("move.amr.rightPanel.map.dialog.discardMapping.loadMapContent"),e("move.amr.rightPanel.map.dialog.discardMapping.loadYes"))||!await dw("Loading another map will discard erased point changes.",e("move.amr.rightPanel.map.dialog.discardMapping.loadYes"))||te({component:lUe,props:{currentMap:vo??"",onLoadMap:i2,mapList:kl}})},[cw,dw,vo,i2,kl,Gl,te,e]),HL=Ls(()=>{N(Je=>!Je)},[]),J7=Ls(()=>{const Je=new URLSearchParams(a);d?Je.delete("debug"):Je.set("debug","1"),l(Je,{replace:!0})},[d,a,l]),g2=Ls(()=>{const Je=new URLSearchParams(a);Je.set("menu","topology"),Je.set("topology_tab","node"),Je.set("expended",c?"1":"0"),l(Je,{replace:!0})},[c,a,l]),m2=Ls(()=>{const Je=new URLSearchParams(a);Je.set("menu","topology"),Je.set("topology_tab","link"),Je.set("expended",c?"1":"0"),l(Je,{replace:!0})},[c,a,l]),Vb=Ls(()=>{const Je=new URLSearchParams(a);Je.set("menu","topology"),Je.set("topology_tab","zone"),Je.set("expended",c?"1":"0"),l(Je,{replace:!0})},[c,a,l]),lS=Ls((Je,Bn="replace")=>{be("ui:node-selected",{nodeId:Je,intent:Bn})},[be]),Da=Ls(()=>{he.current?.moveCamera("zoomin")},[]),f2=Ls(()=>{he.current?.moveCamera("zoomout")},[]),Gr=Ls(()=>{if(!(co?.motor?.[0]?.status===1&&co?.motor?.[1]?.status===1&&co?.robotState?.power)){at.openToast({type:"basic",variant:"warning",title:"Motor Not Initialized",content:"Please initialize the motor before docking.",position:"top-right"});return}lo(null),sS(lo)},[co?.motor,co?.robotState?.power,sS]),p2=Ls(()=>{const Je=_.current;if(Je){if(document.fullscreenElement===Je){document.exitFullscreen();return}if(R){A(!1);return}if(document.fullscreenEnabled&&Je.requestFullscreen){Je.requestFullscreen().catch(()=>{A(!0)});return}A(!0)}},[R]);Nw(()=>{const Je=()=>{T(document.fullscreenElement===_.current)};return document.addEventListener("fullscreenchange",Je),()=>{document.removeEventListener("fullscreenchange",Je)}},[]);const $L=Bbt({robotModel:i,monitorStatusSnapshot:Rg,robotVersion:r,selectedTool:Ro,onToolChange:Eb,onStartLocalization:B7,onInitLocalization:rw,onSemiAutoInitLocalization:V7,onStopLocalization:ML,onBuildInfoOpenChange:o,onDock:Gr,onDockPause:FL,onDockResume:Mb,onDockStop:Ab,onUndock:s2,dockRejectMessage:jo,taskLogData:Dh,amrMoveStatus:Ms,onSetMotorLocked:Rb,onClearSafetyFlag:o2,onLidarFieldSave:Ob,onOssdDetectChange:r2,safetyIo:jl,safetyIoLoading:mr.loading,onSetSafetyIo:Fb}),uw=Ebt({currentMapName:vo??"",createdAt:yo?.createdAt,lastModified:yo?.updatedAt,mapCloudCount:Ns?.rowCount??Ns?.data?.length??0,mapBounds:ei,topologyCount:pr,nodeTypeCounts:fr,mappingStatus:Gl,elapsedSeconds:Ph,completedKeyframeCount:H7,totalKeyframePoints:$7,onStartMapping:U7,onStopMapping:j7,onSaveMapping:Og,onDiscard:Rh,mapList:aa,isEraserEnabled:Mg,onEraserToggle:Dp,eraserRadius:DL,setEraserRadius:Mh,eraseSelectedAreaDisabled:RL===0,onEraseSelectedArea:zL,onReleaseSelectedPoints:G7,onSaveChanges:Bb,hasUnsavedCloudChanges:Z0,onDiscardCloudChanges:Ep,onDownloadMap:tl,downloadMapDisabled:Z0||!vo}),Y7=zbt({overviewTabProps:{createdAt:xn,downloadDisabled:Lp||vc||!vo,downloadHelpText:Lp?"Save topology changes before downloading the server topology.json file.":void 0,onDownloadTopology:Km},nodeTabProps:{nodes:Bt,selectedObjects:Ie,selectedNodeTransform:Te,robotPose:Ms?.pose??null,onNodeSelected:lS,selectedTool:Ro,onToolChange:Eb,selectedNodeType:X0,onSelectNodeType:yc,selectedNodePlacementType:EL,onSelectNodePlacementType:e2,onAddNodeAtRobot:l2,onAddNodeAtCursor:BL,onUpdateNode:aw,onTransformSelectedNodes:lw,onDeleteSelectedNodes:Co,onSaveTopologyChanges:vr,onCancelTopologyChanges:uo},linkTabProps:{selectedObjects:Ie,focusedLinkId:lt,linkVisibilityFilter:ke,nodes:Bt,links:Ft,visibleSelectedLinks:xe,onFocusedLinkChange:Fg,onLinkVisibilityFilterChange:Ke,onToolChange:Eb,onCreateLinks:q7,onUpdateLink:K7,onDeleteLink:Jm,onDeleteLinksBetweenSelected:VL,onSaveTopologyChanges:vr,onCancelTopologyChanges:uo},zoneTabProps:{draft:oi,selectedZoneIds:kt,focusedZoneId:yt,zones:nn,onDraftStart:Je=>{he.current?.startZoneDraft(Je)},onDraftCancel:()=>{he.current?.cancelZoneDraft()},onDraftClear:()=>{he.current?.clearZoneDraft()},onDraftUndo:()=>{he.current?.undoZoneDraft()},onDraftClose:()=>{he.current?.closeZoneDraft()},onDraftReopen:()=>{he.current?.reopenZoneDraft()},onDraftCommit:()=>{he.current?.commitZoneDraft()},onDraftMetaChange:Je=>{he.current?.updateZoneDraftMeta(Je)},onDeleteZone:Je=>{he.current?.deleteTopologyZone(Je),vr()},onEditZone:Je=>{he.current?.startZoneEdit(Je)},onFocusedZoneChange:Je=>{he.current?.focusActiveTopologyZone(Je)},onSaveTopologyChanges:vr,onCancelTopologyChanges:uo}}),Q7=Ls(Je=>{const Bn=he.current?.getTopologyData();Bn&&(Bn.nodes.some(pi=>pi.id===Je.id)||be("ui:topo-update-requested",{topoData:{...Bn,nodes:[...Bn.nodes,Je]}}))},[be]),UL=$wt({robotModel:i,enabled:u==="marker",mapName:vo,topology:Un,robotPose:Ms?.pose?{x:Number(Ms.pose.x??0),y:Number(Ms.pose.y??0),rz:Number(Ms.pose.rz??0)}:null,onNodeRegistered:Q7}),Y=s$(()=>({...aS,showRobotControlBtn:!x,onToggleRobotControl:HL,showCameraStreams:w,onToggleCameraStreams:()=>y(Je=>!Je),showObstacleMap:S,onToggleObstacleMap:()=>C(Je=>!Je),isFullscreen:M,isMenuExpended:c}),[aS,HL,x,S,w,M,c]),ne=rCt({isFullscreen:M,isMenuExpanded:c}),me=M?r$.fullscreen:c?r$.menuExpanded:r$.menuCollapsed,we=P("bottom-21 z-[60] flex flex-col items-end gap-1",M?"absolute":"fixed",ne),Oe=P("z-[70]",M?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",ne)),Qe=P("z-50",M?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",ne)),dt=P("z-[70] flex items-end justify-end gap-1",M?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",ne)),xt=CUe()||window.location.hostname,Rt=x||w&&S,tn=3e3,on=8889,gn=n?.ip||xt,Jn=Qme(xt,tn),cs=Qme(gn,on);Nw(()=>{if(!w)return;const Je=new AbortController;return(async()=>{X(!0);try{const pi=await fetch(`${Jn}/amr/${i}/capability/camera`,{signal:Je.signal});if(!pi.ok)throw new Error(`bad status code ${pi.status}`);const qo=await pi.json();if(Je.signal.aborted)return;G(qo),z(hi=>{const zi={...hi},ho=qo.rtspInfo??[];for(const or of ho){const nl=ho.filter(rr=>rr.camId===or.camId).map(rr=>rr.quality);(zi[or.camId]===void 0||!nl.includes(zi[or.camId]))&&(zi[or.camId]=nl.find(rr=>rr==="low")??nl[0]??or.quality)}return zi})}catch(pi){Je.signal.aborted||(console.error(pi),G(null))}finally{Je.signal.aborted||X(!1)}})(),()=>Je.abort()},[Jn,i,w]),Nw(()=>{if(!w){de.current={};return}if(!V)return;const Je=V.rtspInfo??[],Bn=Array.from(new Set(Je.map(pi=>pi.camId)));for(const pi of Bn){const qo=Je.filter(ho=>ho.camId===pi).map(ho=>ho.quality),hi=K[pi],zi=hi&&qo.includes(hi)?hi:qo.find(ho=>ho==="low")??qo[0];zi&&de.current[pi]!==zi&&(de.current[pi]=zi,fetch(`${Jn}/amr/${i}/sensor/rtsp/subscribe`,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({camId:pi,quality:zi})}).catch(ho=>{console.error(ho)}))}},[Jn,V,i,K,w]);const ds=s$(()=>{if(!V)return[];const Je=V.rtspInfo??[],Bn=new Set(Je.map(hi=>hi.camId)),pi=V.info.map(hi=>hi.camId);return(V.camNum>0?Array.from({length:V.camNum},(hi,zi)=>zi):Array.from(new Set([...pi,...Bn]))).map(hi=>{const zi=Je.filter(Nl=>Nl.camId===hi),ho=zi.map(Nl=>Nl.quality),or=K[hi],nl=or&&ho.includes(or)?or:ho.find(Nl=>Nl==="low")??ho[0]??"low",rr=zi.find(Nl=>Nl.quality===nl)??zi[0];return{id:`cam${hi}`,camId:hi,name:e("move.amr.rightPanel.cameraPanel.cameraName",{index:hi+1}),status:rr?"live":"disconnected",resolution:rr?`${rr.width}x${rr.height} ${rr.fps}fps`:"-",streamUrl:rr?`${cs}/${rr.name}`:void 0,quality:nl,qualityOptions:ho}})},[V,K,e,cs]),Bi=Ls((Je,Bn)=>{z(pi=>({...pi,[Je]:Bn}))},[]),jn=()=>dn?fe?h(pUe,{x:dn.x,y:dn.y,placement:dn.placement,items:Ne,activeItemId:fe.id,onSelectItem:Fg,onEdit:m2,onDelete:()=>{Jm(fe.id)}}):Ze&&oi.state==="idle"?h(_Ue,{x:dn.x,y:dn.y,placement:dn.placement,items:Dt,activeItemId:Ze.id,onSelectItem:Je=>{he.current?.focusActiveTopologyZone(Je)},onEdit:()=>{Vb(),he.current?.startZoneEdit(Ze.id)},onDelete:async()=>{await ie({title:"Delete Zone",content:"Delete this selected zone?",buttonText:{yes:"Delete",no:"Keep"}})&&(he.current?.deleteTopologyZone(Ze.id),vr())}}):Ee?h(bUe,{x:dn.x,y:dn.y,placement:dn.placement,currentX:Ee.position.x,currentY:Ee.position.y,currentRz:Ee.rotation.z,nodeName:Ee.name||"-",onEdit:g2,onDelete:c2,onMove:a2}):null:null;return k(e9,{className:P("AmrMove","overflow-x-hidden"),menus:[{id:"monitor",label:e("move.amr.rightPanel.menu.monitor"),icon:h(_8e,{}),content:h(ewt,{...$L})},{id:"map",label:e("move.amr.rightPanel.menu.map"),icon:h(b8e,{}),content:h(dwt,{...uw})},{id:"topology",label:e("move.amr.rightPanel.menu.topology"),icon:h(v8e,{}),content:h(fUe,{...Y7})},{id:"marker",label:e("move.amr.rightPanel.menu.marker"),icon:h(y8e,{}),content:h(bwt,{markerProps:UL})}],rightIconPanels:[{key:"zoom-in-out",element:h(C0,{onZoomIn:Da,onZoomOut:f2})},{key:"fullscreen-toggle",element:h(nCt,{isFullscreen:M,onToggle:p2})},{key:"joystick-toggle",element:h(iCt,{showJoysticks:Pe,setShowJoysticks:ft})},{key:"view-controls",element:h(oCt,{showViewControls:qt,setShowViewControls:As,visibilityItems:Eh,cameraModeControl:Er,numberItems:Tb})}],auxiliaryPanel:{id:"debug",label:e("move.amr.rightPanel.menu.debug"),icon:h(ane,{}),open:d,onToggle:J7,content:h(tCt,{infoStatus:mr.data,infoCategories:p?.categories,infoStatusLoading:mr.loading,infoStatusIsDefault:mr.isDefaultData})},beService:t?.be_service,onBeforeMenuChange:u2,ref:_,viewportFullscreen:M,viewportClassName:"data-[state=fullscreen]:z-[1000] data-[state=fullscreen]:h-[100dvh] data-[state=fullscreen]:w-[100dvw]",children:[h(cUe,{...Po}),h(dUe,{mapName:vo??"",onMapNameClick:h2}),h(rPe,{ref:he,...Nt,cameraPositionKey:Bke,robotModel:i,pointsData:Ns?.data,topoData:Un,mapCloudUpdatedAt:St,topologyUpdatedAt:ls,mappingPoints:oS,mappingKeyFrame:W7,robotPose:Ms?.pose,selectedTool:Ro,showGrid:un,showNodeLabels:Ks,nodeRenderMode:wo?"simple":"default",showLidar:el,lidarPointSize:Xc,viewportCameraMode:Pu,onEraserHistoryInvalidated:d2,onEraserSelectionChange:sw,robot:i}),jn(),!Mg&&h("div",{className:"absolute top-60 left-3 z-20",children:h(Vke,{selectedTool:Ro,onToolChange:Eb,hasSelectedNode:Ie.length>0})}),Pe&&k("div",{className:P("pointer-events-none absolute bottom-21 left-0 flex flex-row justify-between",me),children:[h(Mce,{joystickType:"direction",buttonsDirection:"left",disableDiagonal:!0,className:"pointer-events-auto ml-4 flex items-center justify-center",onJoystickMove:({data:Je})=>{ow({type:"direction",data:Je})}}),h(Mce,{xOnly:!0,joystickType:"curved",buttonsDirection:"right",className:"pointer-events-auto",onJoystickMove:({data:Je})=>ow({type:"curved",data:Je})})]}),(w||S||x)&&k("div",{className:x?we:"pointer-events-none contents",children:[k("div",{className:Rt?x?"flex items-end justify-end gap-1":dt:"contents",children:[w&&h("div",{className:Rt?"relative z-70":Oe,children:h(uUe,{cameras:ds,transparency:L,onQualityChange:Bi,onClose:()=>y(!1)})}),S&&h("div",{className:Rt?"relative z-50":Qe,children:h(hUe,{layers:O.layers,width:O.width,height:O.height,gridSize:O.gridSize,safety:O.safety,loading:B,transparency:L,onClose:()=>C(!1)})})]}),x&&h(gUe,{robotPose:{x:Number(Ms?.pose?.x??0),y:Number(Ms?.pose?.y??0),yaw:Number(Ms?.pose?.rz??0)},handleButtonJog:O7,onClose:()=>N(!1),onMoveTarget:z7,onMoveLinear:OL,linearSpeed:t2,setLinearSpeed:n2,rotationSpeed:eS,setRotationSpeed:tS,transparency:L,onTransparencyChange:D})]}),h(mUe,{...Y})]})},lCt=({className:i})=>{const{t:e}=J();return h(e9,{className:P("PreviewMove",i),beService:"",menus:[],children:h(q,{className:"h-full",alignItems:"center",justifyContent:"center",children:k("div",{className:"text-fg-subtle text-center text-lg",children:[k("div",{children:[e("move.preview.descriptionLine1"),h("br",{})," ",e("move.preview.descriptionLine2")]}),k("div",{className:"text-fg-subtler text-base",children:[h("br",{})," ",e("move.preview.connectionGuideBefore"),h("br",{})," ",h("span",{className:"bg-fg-brand-hovered rounded-sm px-1.5 py-0.5 text-white",children:"muscat-pk dev"})," ",e("move.preview.connectionGuideAfter")]})]})})})},_Pe=({className:i,value:e,disabled:t,onChange:n})=>{const{t:s}=J(),{theme:o}=rt();return k("div",{"data-testid":"rby1-source-switch",className:P("RBY1ControlSourceSwitch","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 [&_button]:min-w-[4.125rem] [&_button]:rounded-sm [&_button]:px-1.5 [&_button]:py-0.5 [&_button]:text-white",i),children:[h(_e,{className:P({"!bg-fill-navy":e==="real",[o==="light"&&"!text-fg-subtlest"]:e!=="real"}),variant:"transparent",disabled:t,"aria-pressed":e==="real",onClick:()=>n("real"),children:s("move.button.label.real")}),h(_e,{className:P({[o==="light"&&"!text-fg-subtlest"]:e!=="ghost",[o==="light"?"!bg-orange-500":"!bg-fill-subtler"]:e==="ghost"}),variant:"transparent",disabled:t,"aria-pressed":e==="ghost",onClick:()=>n("ghost"),children:s("move.rby1.source.ghost")})]})},qN=i=>{const{isMoving:e,isEmergencyStop:t}=jy(i,n=>({isMoving:n?.control_manager?.control_state==="Executing",isEmergencyStop:n?.emo_states?.some(s=>s?.state==="Pressed")}));return{isMoving:e,isEmergencyStop:t}},bPe=()=>xs("common/speedbar"),{useMutation:cCt}=await F("@tanstack/react-query"),dCt="/{robot_model}/move_j",uCt=({robotModel:i,...e})=>xa.post(dCt.replace("{robot_model}",i),e),hCt=()=>cCt({mutationFn:uCt}),{useMutation:gCt}=await F("@tanstack/react-query"),mCt="/{robot_model}/move_l",fCt=({robotModel:i,...e})=>xa.post(mCt.replace("{robot_model}",i),e),pCt=()=>gCt({mutationFn:fCt}),_Ct="rby1-minimum-time",bCt=3;function VP(){const i=Number(WIe(_Ct));return i>0?i:bCt}const Fk=["x","y","z","rx","ry","rz"];function KN(i,e){const t={},n=new Set;return i.forEach((s,o)=>{const r=AP(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 J4(i,e,t){const n=KN(e,s=>t(s)||null);return Object.fromEntries(Object.entries(i).filter(([s])=>s in n))}const vy=(i,e)=>KN(i,(t,n)=>{const s=e(t,n);return s==null?s:fd(s)});function vPe(i,e){const t={},n={};for(const s of i){const o=AP(s)?.component;if(!o)continue;const r=t[o]??0;t[o]=r+1;const a=e[o]?.[r];a!=null&&(n[s]=SI(a))}return n}const vCt=i=>i==="left_arm"?"right_arm":i==="right_arm"?"left_arm":void 0,yPe=(i,e)=>{const t=e?vCt(i):void 0;return t?[i,t]:[i]},wPe=new Set([0,3,5]),yCt=i=>i.map((e,t)=>wPe.has(t)?e:-e),CPe=new Set([1,3,5]),wCt=i=>i.map((e,t)=>CPe.has(t)?-e:e);function CCt({groups:i,component:e,index:t,deltaDeg:n,bothArms:s}){const o={};for(const r of yPe(e,s)){const a=i[r];if(!a||t>=a.length)continue;const l=r!==e&&!wPe.has(t)?-n:n;o[r]=a.map((c,d)=>d===t?c+l:c)}return o}function SCt({cartesians:i,component:e,axis:t,delta:n,bothArms:s}){const o={};for(const r of yPe(e,s)){const a=i[r];if(!a)continue;const l=[...a];l[t]+=r!==e&&CPe.has(t)?-n:n,o[r]=l}return o}function SPe(i,e,t){return i==="base"?e??{}:{torso:e?.torso??null,right_arm:t?.right_arm??null,left_arm:t?.left_arm??null}}const{useCallback:ID,useEffect:xCt,useMemo:WS,useRef:Xme}=await F("react"),a$={jointDeg:.49,linearMm:1.49,rotDeg:.349},ICt=3,kCt=50,NCt=300,LCt=100,DCt=({robotModel:i,mode:e,component:t,reference:n,bothArms:s,tickModeInput:o,source:r,ghostJointValuesRad:a,onGhostJointsChange:l})=>{const{jointNames:c,jointStates:d}=fp(i),{mutateAsync:u}=hCt(),{mutateAsync:g}=pCt(),{socketEventEmit:m}=Ng(),f=ID(O=>`rby1/${i}/${O}`,[i]),p=r==="ghost",_=WS(()=>p?vy(c,(O,B)=>a?.[B]):vy(c,O=>d?.[O]?.position),[p,c,a,d]),b=WS(()=>KN(c,O=>p?!0:!!d?.[O]?.is_ready),[p,c,d]),{cartesian_states:v,cartesian_states_torso:w}=jy(i,O=>({cartesian_states:O?.cartesian_states,cartesian_states_torso:O?.cartesian_states_torso}),e==="cartesian"),y=WS(()=>SPe(n,v,w),[n,v,w]),S=WS(()=>e==="joint"?_[t]??[]:y[t]??[],[e,_,y,t]),C=WS(()=>e==="joint"?b[t]??[]:S.map(()=>!0),[e,b,t,S]),x=WS(()=>e==="joint"?c.filter(O=>AP(O)?.component===t):[...Fk],[e,c,t]),N=Xme({groups:_,refCartesians:y});N.current={groups:_,refCartesians:y};const L=Xme(null),{data:D}=bPe(),E=Math.min(Math.max(D?.speedbar??1,0),1),T=ID((O,B,V,G,H=s)=>{if(e==="joint"){const K=CCt({groups:V.groups,component:t,index:O,deltaDeg:B,bothArms:H});return Object.keys(K).length===0?Promise.resolve(void 0):p?(l?.(vPe(c,K)),Promise.resolve(void 0)):G==="smooth"?(m(f("call_smoothjog_j"),{target:K}),Promise.resolve(void 0)):u({robotModel:i,target:K,minimumTime:VP()})}if(p)return Promise.resolve(void 0);const X=SCt({cartesians:V.refCartesians,component:t,axis:O,delta:B,bothArms:H});return Object.keys(X).length===0?Promise.resolve(void 0):G==="smooth"?(m(f("call_smoothjog_l"),{target:X,reference:n}),Promise.resolve(void 0)):g({robotModel:i,target:X,reference:n,minimumTime:VP()})},[e,t,s,p,l,c,u,g,m,f,n,i]),R=ID(()=>{const O=L.current;O&&(O.timer&&(clearTimeout(O.timer),clearInterval(O.timer)),O.release(),L.current=null,!p&&m(f("call_smoothjog_stop"),{}))},[p,m,f]),A=ID(({type:O,index:B})=>{const V=O==="up"?1:-1,G=(e==="joint"?p?ICt:a$.jointDeg:B<3?a$.linearMm:a$.rotDeg)*E,H=e==="joint"?o?.joint:B<3?o?.distance:o?.rotation,X=o?H??0:G,K=N.current;if(!X)return;if(o&&!p){T(B,V*X,K,"move").catch(()=>{});return}R();const z=()=>R();window.addEventListener("pointerup",z),window.addEventListener("pointercancel",z),window.addEventListener("blur",z);const de={timer:null,base:K,delta:0,release:()=>{window.removeEventListener("pointerup",z),window.removeEventListener("pointercancel",z),window.removeEventListener("blur",z)}},te=()=>{de.delta+=V*X,T(B,de.delta,de.base,"smooth")};L.current=de,te(),o?de.timer=setTimeout(()=>{L.current===de&&(de.timer=setInterval(te,LCt))},NCt):de.timer=setInterval(te,kCt)},[e,o,p,E,T,R]);MM({topic:"common/message",callback:O=>{const B=L.current;!B||p||O?.type!==2||O.sw_name!==i||(B.base=N.current,B.delta=0)},options:{equalityFn:()=>!1}});const M=ID(async(O,B)=>{const V=S[O]??0,G=await T(O,B-V,N.current,"move",!1);if(G&&"finish_code"in G&&G.finish_code!=="Ok")throw new Error(G.finish_code)},[S,T]);return xCt(()=>R,[e,n,t,o,R]),{values:S,ready:C,keys:x,handleJogStart:A,handleJogStop:R,handleInputValueChange:M}},Y4=({className:i,value:e,items:t,size:n="default",onChange:s})=>{const{theme:o}=rt();return h(WM,{className:P("RBY1SegmentTabs",i),value:e,onValueChange:r=>s(r),children:h(HM,{className:P("w-full rounded-md border-none",n==="sm"?"h-6":"h-7",o==="light"?"bg-fill-navy-subtlest":"bg-fill-subtlest"),children:t.map(r=>h($M,{value:r.value,disabled:r.disabled,className:P("rounded",n==="sm"?"typo-compact-2xs-medium px-2":"typo-compact-xs2-medium","text-fg-subtle",o==="light"?"data-[state=active]:bg-fill-navy data-[state=active]:text-white":"data-[state=active]:bg-fill-subtler data-[state=active]:text-fg-default"),children:r.label},r.value))})})},{useCallback:Zme,useEffect:efe,useMemo:TCt,useState:l$}=await F("react"),ECt=[{value:"joint",labelKey:"move.rby1.jogMode.joint"},{value:"cartesian",labelKey:"move.rby1.jogMode.cartesian"}],PCt=[{value:"base",label:"Base"},{value:"link_torso_5",label:"T5"}],xPe=({className:i,robotModel:e,source:t,ghostJointValuesRad:n,onGhostJointsChange:s})=>{const{t:o}=J(),{theme:r}=rt(),{confirmDialog:a}=si(),[l,c]=gc(),d=l.get("rby1_jog")??"joint",u=l.get("rby1_tab")??"head",g=l.get("rby1_ref")??"base",m=Zme((K,z)=>{c(de=>{const te=new URLSearchParams(de);return te.set(K,z),te},{replace:!0})},[c]),[f,p]=l$(!1),[_,b]=l$(null),[v,w]=l$({}),y=t==="ghost",S=TCt(()=>Q_.filter(K=>d==="joint"||K.value!=="head"),[d]),C=Q_.find(K=>K.value===u),x=u==="left"||u==="right";efe(()=>{y&&d==="cartesian"&&m("rby1_jog","joint")},[y,d,m]),efe(()=>{d==="cartesian"&&u==="head"&&m("rby1_tab","torso")},[d,u,m]);const{toJointNameText:N}=fp(e),{isMoving:L,isEmergencyStop:D}=qN(e),{selectedRobot:E}=Fi(e),T=E?.connected==="DISCONNECT",{values:R,ready:A,keys:M,handleJogStart:O,handleJogStop:B,handleInputValueChange:V}=DCt({robotModel:e,mode:d,component:C.component,reference:g,bothArms:f,tickModeInput:_,source:t,ghostJointValuesRad:n,onGhostJointsChange:s}),G=y?!1:L||D||T,H=Zme(async(K,z)=>{const{value:de,readOnly:te}=z.target;if(te)return;const ie=Number(de.replace(/,/g,"")),he=R[K];if(he===void 0||!Number.isFinite(ie)||Math.abs(ie-he)<5e-4)return;const ce=()=>w(Ie=>({...Ie,[K]:!Ie[K]}));if(console.log("isGhost",y,"next",ie,"current",he),!y&&!await a({title:o("move.rby1.inputMove.title"),content:o("move.rby1.inputMove.content",{key:d==="joint"?N(M[K]):`${N(C.component)} ${M[K].toUpperCase()}`,value:`${ie}${d==="joint"||K>2?"°":"mm"}`}),buttonText:{yes:o("common.button.confirm"),no:o("common.button.cancel")}}))return ce();try{await V(K,ie)}catch{ce()}},[V,R,y,a,o,d,M,C.component,N]),X=P("border-border-subtle w-full border-t p-2.5",r==="light"?"bg-default":"bg-alt-2");return h("div",{className:P("RBY1JogControl","h-full",i),children:k(q,{className:"h-full",justifyContent:"space-between",children:[k("div",{className:"h-full flex-1 overflow-y-auto",children:[k(q,{className:P("sticky top-0 left-0 z-2 gap-2.5 p-2.5 pb-2.5",r==="light"?"bg-default":"bg-alt-1"),children:[k(U,{"data-testid":"rby1-jog-mode",alignItems:"center",justifyContent:"space-between",children:[h(ye,{className:"w-36",size:"xs2",value:d,handleChange:K=>m("rby1_jog",String(K)),children:ECt.map(K=>h(Q,{value:K.value,disabled:y&&K.value==="cartesian",children:o(K.labelKey)},K.value))}),d==="cartesian"&&h(Y4,{className:"w-auto",size:"sm",value:g,items:PCt,onChange:K=>m("rby1_ref",K)})]}),h(Y4,{value:u,items:S,onChange:K=>m("rby1_tab",K)})]}),h(q,{className:"gap-2 px-2.5 pb-2",children:M.map((K,z)=>{const de=R[z],te=d==="joint"?N(K):K.toUpperCase(),ie=d==="joint"||z>2?"°":"mm";return k(q,{className:"gap-1",children:[k(U,{className:"typo-compact-xs-medium gap-1",children:[h("span",{className:P("text-fg-default",d==="cartesian"&&Ri[K]),children:te}),k("span",{className:"text-fg-subtle",children:["(",ie,")"]})]}),h(qne,{step:0,inputMode:"numeric",value:de===void 0?"":de.toFixed(3),notAllowedEmptyValue:!0,disableAutoAccel:!0,disableLongPress:!0,detectDobleClick:!0,autoComplete:"off",disabled:G||de===void 0||!A[z],inputDisabled:_!==null,onBlur:he=>H(z,he),onButtonPointerDown:he=>O({type:he,index:z}),onButtonPointerUp:B})]},`${K}-${v[z]??0}`)})})]}),x&&h("div",{className:X,children:k(U,{className:"gap-2",alignItems:"center",children:[h(Lo,{"data-testid":"rby1-both-arms",size:"default",checked:f,onCheckedChange:p}),h("span",{className:"typo-compact-sm-medium text-fg-default",children:o("move.rby1.switch.bothArms")})]})}),h(gDe,{className:X,currentTab:d==="joint"?"joint":"cartesian",tickModeInput:_,disabled:T&&!y,onChangeTickModeInput:b})]})})},{useMutation:RCt}=await F("@tanstack/react-query"),MCt="/{robot_model}/approach_j",ACt=({robotModel:i,...e})=>xa.post(MCt.replace("{robot_model}",i),e),Aie=()=>RCt({mutationFn:ACt}),{useMutation:OCt}=await F("@tanstack/react-query"),FCt="/{robot_model}/approach_stop",BCt=({robotModel:i})=>xa.post(FCt.replace("{robot_model}",i),{}),d9=()=>OCt({mutationFn:BCt}),{useCallback:tfe,useMemo:c$,useState:nfe}=await F("react"),VCt=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),[s,o]=nfe("head"),[r,a]=nfe(null),l=Q_.find(T=>T.value===s),{jointNames:c,jointStates:d,toJointNameText:u}=fp(e),{isMoving:g,isEmergencyStop:m}=qN(e),{selectedRobot:f}=Fi(e),p=g||m||f?.connected==="DISCONNECT",_=c$(()=>vy(c,T=>d?.[T]?.position),[c,d]),b=c$(()=>KN(c,()=>0),[c]),v=b[l.component]?.length??0,w=c$(()=>J4(b,c,T=>d?.[T]?.is_ready),[c,d,b]),y=l.component in w,{mutate:S}=Aie(),{mutate:C}=d9(),x=tfe((T,R)=>{Object.keys(R).length!==0&&(a(T),S({robotModel:e,target:R,minimumTime:3}))},[S,e]),N=tfe(()=>{a(null),C({robotModel:e})},[C,e]),L=T=>{const R=_[l.component];return R?{[l.component]:R.map((A,M)=>M===T?0:A)}:{}},D="typo-compact-xs-semibold",E=(p||Object.keys(w).length===0)&&r!=="all";return h("div",{className:P("RBY1ZeroPoseControl","h-full",i),children:k(q,{className:"h-full",justifyContent:"space-between",children:[k(q,{className:"flex-1 gap-2 overflow-y-auto px-3 py-2.5",children:[h(pp,{subject:t("move.menu.button.label.zeroPose")}),h(Y4,{className:"mb-1",value:s,items:Q_,onChange:o}),Array.from({length:v},(T,R)=>{const A=`${l.component}-${R}`;return h(wd,{className:D,size:"sm",variant:"outlined",disabled:(p||!y)&&r!==A,onButtonDown:()=>x(A,L(R)),onButtonUp:N,children:t("move.menu.button.label.moveOrigin",{index:R})},A)}),h(wd,{className:D,size:"sm",variant:"soft",disabled:(p||!y)&&r!==l.component,onButtonDown:()=>x(l.component,{[l.component]:b[l.component]}),onButtonUp:N,children:t("move.rby1.zeroPose.partAll",{part:u(l.component)})})]}),h("div",{className:P("border-border-subtle w-full border-t p-3",n==="light"?"bg-default":"bg-alt-2"),children:h(wd,{className:P(D,"w-full"),size:"md",variant:n==="light"?"brand":E?"soft":"inverse",disabled:E,onButtonDown:()=>x("all",w),onButtonUp:N,children:t("move.menu.button.label.moveAllOrigin")})})]})})},{useMemo:zCt}=await F("react"),WCt=i=>{const{jointNames:e,jointStates:t}=fp(i),{cartesian_states:n}=jy(i,s=>({cartesian_states:s?.cartesian_states}));return zCt(()=>{const s=vy(e,u=>t?.[u]?.position),o=Object.keys(KN(e,()=>0)),r=o.length>0&&o.every(u=>u in s),{torso:a,left_arm:l,right_arm:c}=n??{};return{joints:s,cartesians:a&&l&&c?{torso:a,left_arm:l,right_arm:c}:null,complete:r}},[e,t,n])},{useQuery:HCt}=await F("@tanstack/react-query"),XM="/{robot_model}/poses",$Ct=({robotModel:i})=>xa.get(XM.replace("{robot_model}",i)),IPe=(i,e={})=>HCt({queryKey:[XM,i],queryFn:()=>$Ct(i),...e}),{useMutation:UCt,useQueryClient:jCt}=await F("@tanstack/react-query"),GCt="/{robot_model}/poses/create",qCt=({robotModel:i,...e})=>xa.post(GCt.replace("{robot_model}",i),e),KCt=()=>{const i=jCt();return UCt({mutationFn:qCt,onSuccess:()=>{i.invalidateQueries({queryKey:[XM]})}})},{useMutation:JCt,useQueryClient:YCt}=await F("@tanstack/react-query"),QCt="/{robot_model}/poses/{pose_id}/update",XCt=({robotModel:i,poseId:e,...t})=>xa.put(QCt.replace("{robot_model}",i).replace("{pose_id}",e),t),ZCt=()=>{const i=YCt();return JCt({mutationFn:XCt,onSuccess:()=>{i.invalidateQueries({queryKey:[XM]})}})},{useMutation:e1t,useQueryClient:t1t}=await F("@tanstack/react-query"),n1t="/{robot_model}/poses/{pose_id}/delete",i1t=({robotModel:i,poseId:e})=>xa.delete(n1t.replace("{robot_model}",i).replace("{pose_id}",e)),s1t=()=>{const i=t1t();return e1t({mutationFn:i1t,onSuccess:()=>{i.invalidateQueries({queryKey:[XM]})}})},{useMutation:o1t}=await F("@tanstack/react-query"),r1t="/{robot_model}/poses/{pose_id}/approach",a1t=({robotModel:i,poseId:e,...t})=>xa.post(r1t.replace("{robot_model}",i).replace("{pose_id}",e),t),l1t=()=>o1t({mutationFn:a1t}),c1t=.1,kPe=i=>Object.values(i).reduce((e,t)=>e+(t?.length??0),0);function d1t(i,e,t=c1t){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 u1t="–",BO="px-px py-1 text-right whitespace-nowrap",NPe=({className:i,mode:e,joints:t,cartesians:n})=>{const{t:s}=J(),o=e==="joint",r=Q_.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)):Fk.map(c=>c),l=c=>o?t[c]:c==="head"?void 0:n?.[c];return h("div",{className:P("RBY1PoseValueTable","overflow-x-auto",i),children:k("table",{className:"typo-code-2xs-medium w-full border-collapse",children:[h("thead",{children:k("tr",{className:"typo-compact-2xs-medium text-fg-subtle",children:[h("th",{className:P(BO,"text-left font-normal"),children:s(o?"move.rby1.monitor.joint":"move.rby1.monitor.tcp")}),a.map(c=>h("th",{className:P(BO,"font-normal",!o&&Ri[c]),children:o?c:c.toUpperCase()},c))]})}),h("tbody",{children:r.map(c=>{const d=l(c.component);return k("tr",{className:"border-border-subtle border-t first:border-t-0",children:[h("td",{className:P(BO,"text-fg-default text-left"),children:c.label}),a.map((u,g)=>{const m=d?.[g];return h("td",{className:P(BO,m===void 0?"text-fg-subtlest":"text-fg-default font-semibold"),children:m===void 0?u1t:m.toFixed(1)},u)})]},c.value)})})]})})},{useMemo:h1t}=await F("react"),LPe=({className:i,pose:e,cameraPositionKey:t})=>{const{data:n}=nr(),{data:s}=wh(),o=h1t(()=>{const r=e&&s?.components?.[e.robotModel],a=r?.type==="array"?r.mapper:[];return{real:e?vPe(a,e.joints):{}}},[s,e]);return h("div",{className:P("RBY1PoseViewer","bg-bg-alt-1 relative overflow-hidden rounded-lg",i),children:h(Um,{className:"relative size-full",cameraPositionKey:t,robotModel:n?.info?.robotModel,enablePanning:!0,jointValuesRad:o})})},g1t=({className:i,pose:e,open:t,onOpenChange:n})=>h(ir,{className:P(i,"w-fit max-w-[90vw]!"),enableDimClose:!0,header:{title:e.name},open:t,onOpenChange:n,children:h(LPe,{className:"m-4 mt-0 h-[60vh] w-[40rem]",pose:e,cameraPositionKey:"rby1-pose-view"})}),{useState:ife}=await F("react"),m1t=({className:i,pose:e,isCurrent:t,moveDisabled:n,canUpdateToCurrent:s,onApproachStart:o,onApproachStop:r,onRename:a,onUpdateToCurrent:l,onDelete:c})=>{const{t:d}=J(),{modal:u}=$i(),[g,m]=ife("joint"),[f,p]=ife(null),_=f!==null,b=f?.trim()??"",v=[d("move.rby1.savedPose.axisCount",{count:kPe(e.joints)}),wa(e.updatedAt,"MM-DD HH:mm"),t&&d("move.rby1.savedPose.current")].filter(Boolean).join(" · ");return k(q,{"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:[_?k(U,{className:"gap-1",alignItems:"center",children:[h(nt,{className:"flex-1",size:"sm",value:f,hideBtnReset:!0,handleChange:w=>p(String(w)),handleEnter:()=>{b&&(a(b),p(null))}}),h(rn,{"aria-label":"confirm",variant:"transparent",size:"xs",disabled:!b,onClick:()=>{a(b),p(null)},children:h(aje,{className:"text-fg-success size-4"})}),h(rn,{"aria-label":"cancel",variant:"transparent",size:"xs",onClick:()=>p(null),children:h(b0,{})})]}):k(U,{justifyContent:"space-between",alignItems:"flex-start",children:[k(q,{className:"min-w-0 gap-1",children:[h("span",{className:"typo-compact-sm-semibold text-fg-default truncate",children:e.name}),h("span",{className:"typo-code-2xs-medium text-fg-subtle",children:v})]}),k(U,{className:"shrink-0 gap-0.5",children:[h(rn,{"aria-label":"view pose",variant:"transparent",size:"xs",onClick:()=>u({component:g1t,props:{pose:e}}),children:h(w8e,{})}),h(rn,{"aria-label":"edit",variant:"transparent",size:"xs",onClick:()=>p(e.name),children:h(_W,{})}),h(rn,{"aria-label":"delete",variant:"transparent",size:"xs",onClick:c,children:h(T1,{})})]})]}),k(q,{className:"bg-bg-alt-2 gap-2 rounded-md p-2",children:[k(U,{justifyContent:"space-between",alignItems:"center",children:[h("span",{className:"typo-compact-2xs-medium text-fg-subtle",children:d(g==="joint"?"move.rby1.savedPose.jointTitle":"move.rby1.savedPose.tcpTitle")}),h(Y4,{className:"w-auto",size:"sm",value:g,items:[{value:"joint",label:d("move.menu.label.joint")},{value:"cartesian",label:d("move.rby1.savedPose.cartesian"),disabled:!e.cartesians}],onChange:m})]}),h(NPe,{mode:g,joints:e.joints,cartesians:e.cartesians})]}),_?h(_e,{className:"w-full",size:"sm",variant:"soft",leadingIcon:h(VIe,{className:"size-4"}),disabled:!b||!s,onClick:()=>{l(b),p(null)},children:d("move.rby1.savedPose.updateToCurrent")}):h(wd,{className:"w-full",size:"sm",variant:"brand",leadingIcon:h(UIe,{}),disabled:n,onButtonDown:()=>o(g),onButtonUp:r,children:d("move.rby1.savedPose.approach")})]})},{useCallback:sfe,useMemo:f1t,useState:d$}=await F("react"),p1t=({className:i,robotModel:e})=>{const{t}=J(),{confirmDialog:n}=si(),[s,o]=d$(""),[r,a]=d$(""),[l,c]=d$(null),{data:d=[]}=IPe({robotModel:e}),u=WCt(e),{isMoving:g,isEmergencyStop:m}=qN(e),{selectedRobot:f}=Fi(e),p=f?.connected==="DISCONNECT",_=g||m||p,{mutate:b,isPending:v}=KCt(),{mutate:w}=ZCt(),{mutate:y}=s1t(),{mutate:S}=l1t(),{mutate:C}=d9(),x=f1t(()=>{const R=r.trim().toLowerCase();return R?d.filter(A=>A.name.toLowerCase().includes(R)):d},[d,r]),N=()=>({joints:u.joints,cartesians:u.cartesians??void 0}),L=()=>{const R=s.trim();!R||!u.complete||b({robotModel:e,name:R,...N()},{onSuccess:()=>o("")})},D=sfe((R,A)=>{c(R),S({robotModel:e,poseId:R,mode:A,reference:"base",minimumTime:VP()})},[S,e]),E=sfe(()=>{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")}})&&y({robotModel:e,poseId:R.poseId})};return h("div",{className:P("RBY1SavedPoseControl","h-full",i),children:k(q,{className:"h-full gap-3 overflow-y-auto px-3 py-2.5",children:[k(U,{className:"gap-2",alignItems:"baseline",children:[h("h6",{className:"typo-compact-sm-semibold text-fg-default",children:t("move.rby1.menu.savedPose")}),h("span",{className:"typo-compact-xs-medium text-fg-subtle",children:t("move.rby1.savedPose.count",{count:d.length})})]}),k(q,{className:"border-border-subtle bg-bg-alt-1 gap-2 rounded-lg border p-3",children:[h("span",{className:"typo-compact-xs-medium text-fg-subtle",children:t("move.rby1.savedPose.saveDesc")}),k(U,{className:"gap-2",children:[h(nt,{"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}),h(_e,{size:"sm",variant:"brand",leadingIcon:h(K_,{}),disabled:!s.trim()||!u.complete||p||v,onClick:L,children:t("move.rby1.savedPose.save")})]})]}),h(nt,{className:"w-full",type:"search",size:"md",value:r,placeholder:t("move.rby1.savedPose.searchPlaceholder"),handleChange:R=>a(String(R??""))}),x.length===0?h("span",{className:"typo-compact-xs-medium text-fg-subtle py-6 text-center",children:t("move.rby1.savedPose.empty")}):x.map(R=>h(m1t,{pose:R,isCurrent:d1t(R.joints,u.joints),moveDisabled:_&&l!==R.poseId,canUpdateToCurrent:u.complete&&!p,onApproachStart:A=>D(R.poseId,A),onApproachStop:E,onRename:A=>w({robotModel:e,poseId:R.poseId,name:A}),onUpdateToCurrent:A=>w({robotModel:e,poseId:R.poseId,name:A,...N()}),onDelete:()=>T(R)},R.poseId))]})})},{useMemo:ofe}=await F("react"),_1t=["torso","left_arm","right_arm"],rfe="–",b1t=["mm","mm","mm","°","°","°"],u9=({className:i,robotModel:e,mode:t="joint",source:n="real",ghostJointValuesRad:s})=>{const{t:o}=J(),{jointNames:r,jointStates:a,toJointNameText:l}=fp(e),c=n==="ghost",d=t==="cartesian"&&!c,u=ofe(()=>c?vy(r,(p,_)=>s?.[_]):vy(r,p=>a?.[p]?.position),[c,r,s,a]),g=ofe(()=>Math.max(0,...Object.values(KN(r,()=>1)).map(p=>p.length)),[r]),{cartesian_states:m}=jy(e,p=>({cartesian_states:p?.cartesian_states}),d),f="px-1.5 py-0.5 text-left whitespace-nowrap";return k(q,{className:P("RBY1JogMonitoring","gap-3",i),children:[k("table",{"data-testid":"rby1-joint-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[h("thead",{children:k("tr",{className:"text-fg-subtle font-normal",children:[k("th",{className:P(f,"min-w-16 font-normal"),children:[o("move.rby1.monitor.joint")," (°)"]}),Array.from({length:g},(p,_)=>k("th",{className:P(f,"min-w-14 font-normal"),children:["J",_]},_))]})}),h("tbody",{children:Q_.map(p=>{const _=u[p.component]??[];return k("tr",{children:[h("td",{className:P(f,"text-fg-default"),children:l(p.component)}),Array.from({length:g},(b,v)=>h("td",{className:P(f,_[v]===void 0?"text-fg-subtlest":"text-fg-default font-semibold"),children:_[v]===void 0?rfe:_[v].toFixed(3)},v))]},p.value)})})]}),d&&k("table",{"data-testid":"rby1-tcp-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[h("thead",{children:k("tr",{className:"text-fg-subtle font-normal",children:[h("th",{className:P(f,"min-w-16 font-normal"),children:"Base"}),Fk.map((p,_)=>h("th",{className:P(f,"min-w-14 font-normal"),children:k(U,{className:"gap-1",children:[h("span",{className:P("font-semibold",Ri[p]),children:p.toUpperCase()}),h("span",{children:b1t[_]})]})},p))]})}),h("tbody",{children:_1t.map(p=>{const _=m?.[p];return k("tr",{children:[h("td",{className:P(f,"text-fg-default"),children:l(p)}),Fk.map((b,v)=>h("td",{className:P(f,_?"text-fg-default font-semibold":"text-fg-subtlest"),children:_?_[v].toFixed(3):rfe},b))]},p)})})]})]})},{useMutation:v1t}=await F("@tanstack/react-query"),y1t="/{robot_model}/approach_l",w1t=({robotModel:i,...e})=>xa.post(y1t.replace("{robot_model}",i),e),DPe=()=>v1t({mutationFn:w1t});function C1t({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=yDe({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:u$,useMemo:afe,useRef:S1t}=await F("react"),x1t=["torso","right_arm","left_arm"],TPe=({robotModel:i,urdfViewerRef:e,isDisconnected:t,tcpJointNames:n,isTorsoScope:s,torsoAnchors:o,torsoConstraintMode:r})=>{const{jointNames:a,jointStates:l}=fp(i),c=afe(()=>a.map((N,L)=>fd(l?.[L]?.position??0)),[a,l]),{ik:d,helpers:u}=wDe({robotModel:i,urdfViewerRef:e,isDisconnected:t,jointQDeg:c}),{getRealRobotJointAngles:g,guardConnected:m}=u,{cartesian_states:f}=jy(i,N=>({cartesian_states:N?.cartesian_states})),{mutate:p}=Aie(),{mutate:_}=DPe(),{mutate:b}=d9(),v=S1t(!1),w=u$(N=>{if(!m())return;const L=e.current?.getGhostRobotJointValues()??N.jointAngles,D=J4(vy(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:VP()}))},[m,e,a,l,p,i]),y=u$(()=>{if(!m())return;const N=e.current,L=g();if(!N||!L)return;const D=C1t({components:x1t,cartesians:f??{},poseOf:T=>{const R=Q_.find(M=>M.component===T),A=n.find(M=>!!R&&M.toLowerCase().includes(R.value));return A?{ghost:N.getGhostTcpPoseInChainBase(A),real:N.getGhostTcpPoseInChainBase(A,L)}:null}}),E=J4(D,a,T=>l?.[T]?.is_ready);Object.keys(E).length!==0&&(v.current=!0,_({robotModel:i,target:E,reference:"base",minimumTime:VP()}))},[m,e,g,f,n,a,l,_,i]),S=u$(()=>{v.current&&(v.current=!1,b({robotModel:i}))},[b,i]),C=s&&r==="constrained",x=afe(()=>({...d.ghostRobotIkOptions,pinnedAnchorJointNamesByAnchor:N=>N!==void 0&&o.includes(N)&&!C?[]:void 0}),[d.ghostRobotIkOptions,o,C]);return{...d,ghostRobotIkOptions:x,ghostRobotTcpOffset:null,handleIKMoveJStart:w,handleIKMoveJStop:S,handleIKMoveLStart:y,handleIKMoveLStop:S}},I1t=[{id:"both",label:"Both",groups:["left","right","torso"]},{id:"right",groups:["right"]},{id:"left",groups:["left"]},{id:"torso",groups:["torso"]},{id:"head",groups:["head"]}];function k1t(i,e){return I1t.flatMap(({id:t,label:n,groups:s})=>{const o=s.flatMap(l=>{const c=Q_.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 N1t(i,e){return[...new Set([...i,...e])]}function L1t(i,e){return i.find(t=>t.id===e)??i[0]}const{useMemo:lfe,useState:cfe}=await F("react"),EPe=(i,e)=>{const t=lfe(()=>k1t(i,e??[]),[i,e]),[n,s]=cfe(null),[o,r]=cfe("constrained"),a=L1t(t,n),l=a?.id==="torso",c=lfe(()=>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 Oie(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:dfe,useMemo:h$,useRef:D1t,useState:T1t}=await F("react"),E1t=["translate","rotate"],P1t=({className:i,robotModel:e})=>{const t=D1t(null),{t:n}=J(),[s]=gc(),o=s.get("rby1_jog")??"joint",{data:r}=nr(),a=BN(t),{isMoving:l}=qN(e),{jointNames:c,jointStates:d}=fp(e),u=h$(()=>({real:Oie(c,d)}),[c,d]),{selectedRobot:g}=Fi(e),m=g?.connected==="DISCONNECT",{tcpJointNames:f,ghostDraggableJointNames:p,isGhostRobotSupported:_}=mie(e),[b,v]=T1t([]),w=h$(()=>N1t(f,b),[f,b]),y=EPe(w,p),S=fie(),{ghostJointValues:C,handleGhostRobotJointsChanged:x}=pie(S.isGhostRobot),N=y.tcpGizmo?S.gizmoType:S.gizmoType==="none"?"none":null,L=TPe({robotModel:e,urdfViewerRef:t,isDisconnected:m,isTorsoScope:y.isTorsoScope,torsoAnchors:y.torsoAnchors,torsoConstraintMode:y.torsoConstraintMode,tcpJointNames:f}),{viewerProps:D,itemProps:E}=_ie({gizmo:S,ghostRobotIK:L,isMoving:l,gizmoType:N,activeTcpAnchors:y.activeAnchors,draggableJointNames:y.scopeJointNames??p,onGhostRobotJointsChanged:x}),T=S.isGhostRobot?"ghost":"real",{onGhostRobotChange:R}=E,A=dfe(B=>R?.(B==="ghost"),[R]),M=dfe(B=>{t.current?.setGhostRobotJointValues(B),t.current?.resetIKTransform()},[]),O=h$(()=>[{key:"zoom-in-out",element:h(C0,{onZoomIn:a.zoomIn,onZoomOut:a.zoomOut},"zoom-in-out")},{key:"camera-view",element:h(jM,{onSetCameraView:a.setCameraView},"camera-view")},..._?[{key:"ghost-robot",element:h(jW,{...E,disabledGizmoTypes:y.tcpGizmo?void 0:E1t,gizmoOptionsDisabled:!y.tcpGizmo,scopeOptions:y.options,scopeValue:y.selectedId,onScopeChange:y.setSelectedId,isTorsoScope:y.isTorsoScope,torsoConstraintMode:y.torsoConstraintMode,onTorsoConstraintModeChange:y.setTorsoConstraintMode},"ghost-robot")}]:[]],[a.zoomIn,a.zoomOut,a.setCameraView,_,E,y.tcpGizmo,y.options,y.selectedId,y.setSelectedId,y.isTorsoScope,y.torsoConstraintMode,y.setTorsoConstraintMode]);return k(e9,{className:P("RBY1Move",i),rightIconPanels:O,menus:[{id:"jog",label:n("move.menu.button.label.jog"),icon:h(lke,{}),content:h(xPe,{robotModel:e,source:T,ghostJointValuesRad:C,onGhostJointsChange:M})},{id:"zero-pose",label:n("move.menu.button.label.zeroPose"),icon:h(Qke,{}),content:h(VCt,{robotModel:e})},{id:"saved-pose",label:n("move.rby1.menu.savedPose"),icon:h(QUe,{}),content:h(p1t,{robotModel:e})}],beService:r?.modelInfo?.be_service,children:[h("div",{className:"h-full flex-1 p-2.5",children:k("div",{className:"absolute top-0 left-0 z-1 size-full",children:[h(Um,{ref:t,className:"relative size-full",cameraPositionKey:"rby1-move",robotModel:r?.info?.robotModel,enablePanning:!0,jointValuesRad:u,onToolJointNamesChange:v,...D}),k(q,{className:"absolute top-0 left-0 z-10 gap-3 p-4",children:[h(_Pe,{className:"pointer-events-auto",value:T,disabled:!_,onChange:A}),h(u9,{robotModel:e,mode:o,source:T,ghostJointValuesRad:C})]})]})}),h(WW,{isGhostRobot:S.isGhostRobot,ghostRobotIK:L,btnHoverInteraction:TN.isDesktop})]})},R1t=({className:i})=>{const{connected:e}=Ng(),{selectedRobotModel:t}=ui(),{selectedRobot:n}=Fi(t);return h("div",{className:P("MovePage","h-full",i),children:h(U,{justifyContent:"space-between",className:"relative h-full",children:h("div",{className:"size-full flex-1",children:ia()?h(lCt,{}):e?k(bn,{children:[n?.be_service==="manipulate"&&h(P_t,{robotModel:t}),n?.be_service==="amr"&&h(aCt,{robotModel:t}),n?.be_service==="rby1"&&h(P1t,{robotModel:t})]}):h("div",{className:"text-fg-default flex size-full items-center justify-center",children:h(mb,{className:"text-fg-default size-8"})})})})})},{forwardRef:M1t}=await F("react"),Bk=M1t(({className:i,...e},t)=>h(C8e,{ref:t,className:P(i,"NxPopoverButton","[&_.popover-element]:!bg-transparent"),"data-pad-focus":"true",...e,excludeOutSideIds:["dialog-container",...e?.excludeOutSideIds??[]]}));Bk.displayName="NxPopoverButton";const{useMutation:A1t}=await F("@tanstack/react-query"),O1t="/{robot_model}/call_servocontrol",F1t=async i=>{const{robot_model:e,...t}=i,n=O1t.replace("{robot_model}",e);return await Ot.post(n,t)},PPe=()=>A1t({mutationFn:async i=>F1t(i)}),{useMutation:B1t}=await F("@tanstack/react-query"),V1t="/{robot_model}/call_powercontrol",z1t=async i=>{const{robot_model:e,...t}=i,n=V1t.replace("{robot_model}",e);return await Ot.post(n,t)},RPe=()=>B1t({mutationFn:async i=>z1t(i)}),{useMutation:W1t}=await F("@tanstack/react-query"),H1t="{robot_model}/control_power",$1t=async i=>{const{robotModel:e,status:t}=i,n=H1t.replace("{robot_model}",e);return await xa.post(n,{status:t})},U1t=()=>W1t({mutationFn:$1t}),{useMutation:j1t}=await F("@tanstack/react-query"),G1t="{robot_model}/control_servo",q1t=async i=>{const{robotModel:e,status:t}=i,n=G1t.replace("{robot_model}",e);return await xa.post(n,{status:t})},K1t=()=>j1t({mutationFn:q1t}),{useEffect:bK,useMemo:J1t,useState:vK}=await F("react"),zP=({className:i,label:e,status:t,disabled:n,onCheckedChange:s})=>k(U,{className:P("typo-compact-xs-medium text-fg-subtle gap-1",i),alignItems:"center",children:[h("span",{children:e}),h(Lo,{checked:t,disabled:n,onCheckedChange:s})]}),h9=({className:i,robotAlias:e,robotStatus:t,loading:n,children:s,robotModel:o})=>k(U,{className:P("SimpleRobotConnectStatusItem","gap-2",i),alignItems:"center",justifyContent:"space-between",children:[k(q,{className:"gap-0.5",children:[h(YM,{status:t,variant:"only-text",size:"xs"}),k(U,{className:"typo-compact-xs2-semibold text-fg-default gap-2",alignItems:"center",children:[n&&h(_0,{className:"text-fg-default size-3.5"}),k("span",{className:"line-clamp-1",children:[e||"-",o&&h("span",{className:"typo-compact-2xs-normal text-fg-subtle pl-1",children:`(${o})`})]})]})]}),h(U,{className:"gap-2",children:s})]}),Y1t=({className:i,robotModel:e,robotAlias:t,robotStatus:n})=>{const{t:s}=J(),{motorInit:o}=WN(e,u=>({motorInit:u?.motor[0]?.status===1&&u?.motor[1]?.status===1&&u?.robotState?.power})),[r,a]=vK(o),{mutateAsync:l,isPending:c}=uPe(),d=async()=>{if(n==="DISCONNECT")return;const u=o;try{a(!u),await l({robot_model:e,value:!u})}catch(g){console.error(g),a(u)}};return bK(()=>{c||a(o)},[o,c]),h(h9,{className:i,robotModel:e,robotAlias:t,robotStatus:n,loading:c,children:h(U,{alignItems:"center",children:h(zP,{className:P({"pointer-events-none opacity-50":o}),label:"Motor Init",status:r,disabled:n==="DISCONNECT",onCheckedChange:d})})})},Q1t=({className:i,robotModel:e,robotAlias:t,robotStatus:n})=>{const{t:s}=J(),{mutateAsync:o,isPending:r}=PPe(),{mutateAsync:a,isPending:l}=RPe(),{servoNum:c,powerOut:d}=ws(e,f=>({servoNum:f.statusServoNum,powerOut:f.statusPowerOut})),u={servoOn:n!=="DISCONNECT"&&c===6,powerOn:n!=="DISCONNECT"&&d!==0},g=async()=>{if(n!=="DISCONNECT")try{u.servoOn?await a({robot_model:e,power_option:0}):await o({robot_model:e,servo_option:1})}catch(f){console.error(f)}},m=async()=>{if(n!=="DISCONNECT")try{await a({robot_model:e,power_option:u.powerOn?0:1})}catch(f){console.error(f)}};return h(h9,{className:i,robotAlias:t,robotModel:e,robotStatus:n,loading:r||l,children:k(U,{alignItems:"center",children:[h(zP,{label:s("modal.conn.button.servo"),status:u.servoOn,disabled:r||n==="DISCONNECT",onCheckedChange:g}),h(Zs,{type:"vertical",className:"h-4 w-0.5",spaceSize:8}),h(zP,{label:s("modal.conn.button.power"),status:u.powerOn,disabled:l||n==="DISCONNECT",onCheckedChange:m})]})})},X1t=({className:i,robotModel:e,robotAlias:t,robotStatus:n})=>{const{t:s}=J(),{mutateAsync:o,isPending:r}=K1t(),{mutateAsync:a,isPending:l}=U1t(),{isServoOn:c,isPowerOn:d}=jy(e,v=>({isPowerOn:v?.is_power_on,isServoOn:v?.is_servo_on})),u=J1t(()=>({servoOn:n!=="DISCONNECT"&&c,powerOn:n!=="DISCONNECT"&&d}),[n,c,d]),[g,m]=vK(u.powerOn),[f,p]=vK(u.servoOn),_=async()=>{if(n==="DISCONNECT")return;const v=f;try{p(!v),await o({robotModel:e,status:f?"off":"on"})}catch(w){console.error(w),p(v)}},b=async()=>{if(n==="DISCONNECT")return;const v=g;try{m(!v),await a({robotModel:e,status:v?"off":"on"})}catch(w){console.error(w),m(v)}};return bK(()=>{r||p(u.servoOn)},[u.servoOn,r]),bK(()=>{l||m(u.powerOn)},[u.powerOn,l]),h(h9,{className:i,robotAlias:t,robotModel:e,robotStatus:n,loading:r||l,children:k(U,{alignItems:"center",children:[h(zP,{label:s("modal.conn.button.servo"),status:f,disabled:r||n==="DISCONNECT",onCheckedChange:_}),h(Zs,{type:"vertical",className:"h-4 w-0.5",spaceSize:8}),h(zP,{label:s("modal.conn.button.power"),status:g,disabled:l||n==="DISCONNECT",onCheckedChange:b})]})})},g$=Object.assign(({className:i,robotAlias:e,robotStatus:t,children:n})=>h(h9,{className:i,robotAlias:e,robotStatus:t,children:n}),{AMR:Y1t,Manipulate:Q1t,RBY1:X1t}),{useMutation:Z1t}=await F("@tanstack/react-query"),e0t="/call_powercontrol",t0t=async i=>{try{return await Jt.post(e0t,i)}catch(e){throw console.error(e),e}},n0t=()=>Z1t({mutationFn:i=>t0t(i)}),{useMemo:i0t}=await F("react"),s0t=({className:i})=>{const{t:e}=J(),{theme:t}=rt(),{data:n}=gp(c=>({all_connected:c?.all_connected,core_sw_list:c?.core_sw_list})),{mutateAsync:s,isPending:o}=n0t(),r=o,a=i0t(()=>n?.core_sw_list?.filter(d=>d.connected!=="DISCONNECT")?.every(d=>d.connected==="STABLE"),[n?.core_sw_list]),l=async c=>{try{await s({power_option:c?1:0,motor_init:c,sync_servo:!0,stoptime:.5})}catch(d){at.openToast({title:e("header.toast.title.powerCtrlFail"),content:d instanceof Error?d.message:e("header.toast.desc.powerCtrlFail"),type:"alert",variant:"danger"})}};return h("div",{"data-theme":t,children:k(Dne,{className:P("PopoverSwConnectionStatus",t==="light"?"bg-alt-1":"bg-overlay","outline-border-disabled shadow-down-xl w-full max-w-120 min-w-100 rounded-md p-1.5 outline-1 -outline-offset-1","text-default",i),children:[k(U,{className:"px-1.5 pt-1 pb-2",alignItems:"center",justifyContent:"space-between",children:[h("b",{className:"typo-compact-xs2-semibold inline-block",children:e("dashboard.title.robotComponents")}),k(U,{className:"gap-1.5",alignItems:"center",children:[h("div",{className:"typo-compact-xs2-semibold text-fg-subtle inline-block",children:r?h(mb,{className:"text-fg-default size-3.5"}):e("modal.conn.button.all")}),h(Lo,{checked:r?!a:a,disabled:r||n.all_connected==="DISCONNECT",onCheckedChange:l})]})]}),h(q,{className:P(t==="light"?"bg-default":"bg-alt-2","relative min-h-16 rounded p-3","[&_.robot-item:after]:border-border-subtle [&_.robot-item:after]:my-2 [&_.robot-item:after]:h-px [&_.robot-item:after]:w-full [&_.robot-item:after]:border-b [&_.robot-item:after]:content-[''] [&_.robot-item:not(:last-child):after]:block",{"pointer-events-none":r}),children:h($m,{className:"max-h-120",children:h(jr,{list:n.core_sw_list,noDataMsg:"No robot components",loadingWrapperClassName:"[&_svg]:size-[2rem]",noDataMsgClassName:"&[_.no-data-text]:text-slate-500 [&_.no-data-text]:text-[1rem] [&_.no-data-text]:font-normal [&_.no-data-text]:p-5",children:({item:c})=>k("div",{className:"robot-item",children:[c.be_service==="manipulate"&&h(g$.Manipulate,{robotModel:c.model,robotAlias:c.alias,robotStatus:c.connected}),c.be_service==="amr"&&h(g$.AMR,{robotModel:c.model,robotAlias:c.alias,robotStatus:c.connected}),c.be_service==="rby1"&&h(g$.RBY1,{robotModel:c.model,robotAlias:c.alias,robotStatus:c.connected})]},c.model)})})})]})})},o0t=({className:i})=>{const{theme:e}=rt(),{data:t}=gp(s=>({all_connected:s?.all_connected})),n=P("text-fg-inverse",e==="light"&&"text-white");return k("div",{className:P("HeaderConnectStatusBtn",i),"data-testid":"header-connect-status",children:[k(Bk,{className:P("bg-fill-success outline-border-subtle/20 inline-flex h-8 items-center justify-start self-stretch rounded-md pl-2.5 outline outline-1 outline-offset-[-1px]",{"bg-fill-success":t?.all_connected==="STABLE","bg-fill-caution":t?.all_connected==="UNSTABLE","bg-fill-danger":t?.all_connected==="DISCONNECT"}),"data-pad-focus":"true",anchorId:"robot-connection-status",popoverElement:h(s0t,{}),popoverStyle:{top:"0.4rem",left:"-0.7rem"},children:[k("div",{className:"flex flex-1 items-center justify-start gap-1",children:[k("div",{className:"relative h-4 w-4 overflow-hidden",children:[h("div",{className:P("absolute top-[50%] left-[50%] h-3 w-3 -translate-x-1/2 -translate-y-1/2 rounded-full",e==="light"?"bg-white/30":"bg-fill-inverse-subtle-hovered/30")}),h("div",{className:P("absolute top-[50%] left-[50%] h-1.5 w-1.5 -translate-x-1/2 -translate-y-1/2 rounded-full",e==="light"?"bg-white/40":"bg-fill-inverse-subtle/40")})]}),h("div",{className:"flex flex-1 items-center justify-start overflow-hidden pr-2",children:h("div",{className:P(n,"min-w-17 justify-center text-left font-['Pretendard_Variable'] text-xs leading-4 font-semibold"),children:t?.all_connected})})]}),h(q,{className:"relative size-8 overflow-hidden",alignItems:"center",justifyContent:"center",children:h(D1,{className:P(n,"absolute top-[50%] left-[50%] size-4 -translate-x-1/2 -translate-y-1/2")})})]}),h("div",{id:"robot-connection-status"})]})},{useCallback:r0t,useEffect:a0t,useRef:ufe}=await F("react"),l0t=({className:i})=>{const e=ufe(null),t=ufe(null),n=r0t(()=>{e.current&&t.current&&(e.current.textContent=wa(Date.now(),"MM-DD"),t.current.textContent=wa(Date.now(),"HH:mm"))},[]);return a0t(()=>{n();const s=setInterval(n,1e3);return()=>clearInterval(s)},[n]),k(U,{className:P("HeaderWatch","text-fg-subtle typo-compact-xs-medium h-6 gap-1",i),alignItems:"center",justifyContent:"flex-start",children:[h("span",{ref:e}),h("span",{ref:t})]})},c0t=[{shortLabel:"ENG",label:"ENGLISH",value:"en"},{shortLabel:"KOR",label:"한국어",value:"ko"}],d0t=({className:i})=>{const{changeLanguage:e,currentLanguage:t}=J();return h("div",{className:P("LanguageSelect",i),children:h(ye,{className:"bg-fill-transparent-hovered hover:bg-fill-transparent-hovered! h-8 min-w-0 outline-0! [&_label_span]:text-xs",size:"sm",enableModal:!0,enableGamepadFocus:!0,value:t,onChange:n=>e(n.target.value),children:c0t.map(n=>h(Q,{value:n.value,label:h(U,{alignItems:"center",className:"gap-1.5",children:h("span",{children:n.shortLabel})}),children:n.label},n.value))})})},{useQuery:u0t}=await F("@tanstack/react-query"),MPe="/battery_state",h0t=async()=>Jt.get(MPe),g0t=(i={})=>u0t({queryKey:[MPe],queryFn:()=>h0t(),...i}),m0t=i=>{const{data:e,loading:t}=xs("common/battery_state",{selector:i});return{data:e,loading:t}},{useMemo:f0t}=await F("react"),p0t=()=>{const{data:i}=g0t(),{data:e}=m0t();return{batteryState:f0t(()=>({...i,...e}),[i,e])}},{useMutation:_0t}=await F("@tanstack/react-query"),b0t="/emergency_stop",v0t=async()=>await Jt.post(b0t),y0t=()=>_0t({mutationFn:v0t}),{useQuery:w0t}=await F("@tanstack/react-query"),APe="/version.json",C0t=async()=>await(await fetch(`${APe}?t=${Date.now()}`)).json(),S0t=()=>w0t({queryKey:[APe],queryFn:C0t,staleTime:1e3,gcTime:60*1e3,refetchInterval:60*1e3}),x0t=({className:i})=>{const{theme:e,setThemeData:t}=rt(),n=e==="dark";return h(rn,{size:"xs2",variant:"transparent",className:P(i),onClick:()=>t(n?"light":"dark"),children:k("span",{className:"relative block h-4 w-4 overflow-hidden",children:[h(S8e,{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")}),h(x8e,{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:I0t}=await F("@tanstack/react-query"),OPe="/plugin/{pluginId}",k0t=({pluginId:i})=>{const e=OPe.replace("{pluginId}",i);return Jt.get(e)},JN=(i,e)=>I0t({queryKey:[OPe,i.pluginId],queryFn:()=>k0t(i),enabled:!!i.pluginId,...e}),FPe=({className:i,pluginId:e,pluginName:t,uiContent:n,isPreview:s})=>{const{theme:o}=rt(),{data:r}=JN({pluginId:e},{enabled:!s});return k(q,{className:P("PluginToolbarContent","bg-bg-overlay text-default",i,{"bg-alt-1":o==="light"}),"data-theme":o,children:[k(U,{className:"typo-compact-xs2-semibold text-default w-full gap-4 px-3 py-3",alignItems:"center",justifyContent:"space-between",children:[h("span",{className:"whitespace-pre",children:t}),h(Lo,{size:"default",className:"cursor-default",disabled:s,checked:s?!0:r?.enabled})]}),!!n&&h("div",{className:"bg-alt-2",children:h(hie,{pluginId:e,ui:n},e)})]})},N0t=({className:i,pluginId:e,pluginName:t,uiContent:n,isPreview:s})=>{const{theme:o}=rt();return h(Dne,{className:P("PopoverToolbarContent",i),children:h(FPe,{className:"min-w-50 rounded-sm",pluginId:e,pluginName:t,uiContent:n,isPreview:s})})},L0t=({className:i,pluginId:e,pluginName:t,uiContent:n,isPreview:s,open:o,onOpenChange:r})=>h(ir,{className:P("rounded-none",i),type:"right-sheet",hideCloseButton:!0,open:o,onOpenChange:r,children:h(FPe,{pluginId:e,pluginName:t,uiContent:n,isPreview:s})}),{useMutation:D0t}=await F("@tanstack/react-query"),T0t="/plugin/installed/{pluginId}",E0t=({pluginId:i})=>{const e=T0t.replace("{pluginId}",i);return Jt.delete(e)},Fie=()=>D0t({mutationFn:E0t}),{useEffect:m$,useRef:P0t,useState:R0t}=await F("react"),{createPortal:M0t}=await F("react-dom"),A0t=({className:i,robotModel:e,pluginId:t,disabled:n})=>{const{t:s}=J(),o=P0t(null),r=Dr(),[a,l]=R0t(!1),{refs:c,floatingStyles:d,update:u}=I8e({placement:"right-start",middleware:[k8e(4),N8e(),L8e()]}),{refetchPluginInstalledList:g}=I0({robotModel:e,ui:"toolbar"}),{mutateAsync:m}=Fie(),f=()=>{r(`/muscat/app/plugin/${t}?from=toolbar`)},p=async()=>{const{deleted:_}=await m({pluginId:t});_&&g()};return m$(()=>{if(!(!a||!c.reference.current||!c.floating.current))return D8e(c.reference.current,c.floating.current,u)},[a,c.reference,c.floating,u]),m$(()=>{o.current=document.querySelector(".modal-container")},[]),m$(()=>{if(!a)return;const _=b=>{!c.floating.current?.contains(b.target)&&!c.reference.current?.contains(b.target)&&l(!1)};return document.addEventListener("mousedown",_),()=>document.removeEventListener("mousedown",_)},[a,c.floating,c.reference]),k(bn,{children:[h(rn,{ref:c.setReference,className:P("inline-flex size-6 items-center justify-center rounded-sm",{"bg-[#dddddd1a]":a},i),variant:"transparent",icon:h(Jke,{className:"size-4"}),"aria-label":s("plugin.options.ariaLabel.more"),disabled:n,onClick:()=>l(_=>!_)}),a&&M0t(h("div",{ref:c.setFloating,style:d,className:"z-200",children:k(q,{className:"bg-bg-tooltip shadow-down-xl border-border-subtler rounded-md border-1 p-1.5",children:[h(_e,{className:"typo-compact-xs-normal justify-start",size:"sm",variant:"transparent",onClick:f,children:s("plugin.options.button.detailInfo")}),h(_e,{className:"typo-compact-xs-normal justify-start",size:"sm",variant:"transparent",onClick:p,children:s("plugin.options.button.uninstall")})]})}),o.current??document.body)]})},{useMutation:O0t}=await F("@tanstack/react-query"),F0t="/plugin/installed/{pluginId}/toolbar",B0t=({pluginId:i,...e})=>{const t=F0t.replace("{pluginId}",i);return Jt.patch(t,e)},V0t=()=>O0t({mutationFn:B0t}),{useState:z0t}=await F("react"),W0t=({className:i,icon:e,name:t,pluginId:n,enabled:s,toolbar:o,isPreview:r,robotModel:a,onPluginClick:l})=>{const{getAssetUrl:c}=Ch(),{refetchPluginInstalledList:d}=I0({robotModel:a,ui:"toolbar"}),[u,g]=z0t(!!o),{mutateAsync:m}=V0t(),f=async()=>{await m({pluginId:n,toolbar:!u}),d(),g(_=>!_)},p=()=>{l?.(n)};return k(U,{className:P("PluginSimpleInstalledItem",i),alignItems:"center",justifyContent:"space-between",children:[h(_e,{variant:"transparent",className:"h-auto w-full justify-start !px-1 !py-1",onClick:p,children:k(U,{className:"gap-2",alignItems:"center",children:[h("img",{className:P("size-6.5 overflow-hidden rounded-sm object-cover object-center",{grayscale:!s}),src:c(n,e),alt:t}),h("span",{className:"typo-compact-xs2-normal max-w-[9rem] overflow-hidden leading-0 text-ellipsis whitespace-nowrap",children:t})]})}),k(U,{alignItems:"center",children:[h(rn,{icon:u?h(Gje,{className:"text-fg-brand size-4"}):h(Kje,{className:"size-3.5"}),variant:"transparent",size:"2xs",disabled:r,"aria-label":o?"Unpin from toolbar":"Pin to toolbar",onClick:f}),h(A0t,{pluginId:n,robotModel:a,disabled:r})]})]},n)},{useMemo:H0t}=await F("react"),$0t=({className:i,robotModel:e,onPluginClick:t,close:n})=>{const{t:s}=J(),o=Dr(),{usePluginManifest:r}=Ch(),{data:a}=r(),{data:l}=YW({robotModel:e}),c=H0t(()=>{const g=l?.plugins?.map(m=>({pluginId:m.pluginId,name:m.name,isPreview:!1,uiContent:Ev(m.contributes,"toolbar")?.ui,icon:typeof m.icons=="object"?m.icons?.["16"]:m.icons,toolbar:m.toolbar,enabled:m.enabled,openType:Ev(m.contributes,"toolbar")?.opens}))??[];return ia()&&a&&g.unshift({pluginId:a.id,name:a.name,uiContent:Ev(a.contributes,"toolbar")?.ui,isPreview:!0,toolbar:!0,enabled:!0,icon:typeof a.icons=="string"?a.icons:a.icons?.["16"],openType:Ev(a.contributes,"toolbar")?.opens}),g},[l?.plugins,a]),d=g=>{t?.(g),n?.()},u=()=>{o("/muscat/app/plugin?installed=1"),n?.()};return h(Dne,{className:P("PopoverInstalledPluginList","bg-bg-overlay text-default overflow-visible",i),children:k(q,{className:"w-max max-w-80 p-3",children:[k(U,{className:"mb-1",justifyContent:"space-between",alignItems:"center",children:[h("h6",{className:"typo-compact-sm-semibold",children:s("plugin.tab.registryList")}),h(rn,{icon:h(b0,{className:"size-3.5"}),variant:"transparent",size:"2xs",onClick:n})]}),k(q,{className:"relative max-h-[calc(var(--vh,1vh)*40)] min-h-30 gap-1 !overflow-x-visible overflow-y-auto",children:[h("p",{className:"typo-compact-xs-normal text-fg-subtle mb-3",children:s("plugin.popover.installedList.desc")}),h(jr,{list:c,loadingWrapperClassName:"flex items-center justify-center [&_svg]:size-[1.5rem]",noDataMsgClassName:"flex align-items justify-center h-20 [&_.no-data-text]:typo-compact-xs-semibold",noDataMsg:s("plugin.popover.installedList.empty"),children:({item:g})=>h(W0t,{pluginId:g.pluginId,name:g.name,icon:g.icon,enabled:g.enabled,toolbar:g.toolbar,isPreview:g.isPreview,robotModel:e,onPluginClick:d},g.pluginId)})]}),h("div",{className:"pt-2",children:h(_e,{className:"typo-compact-xs-normal w-full",leadingIcon:h(bne,{className:"mr-1 size-4"}),variant:"soft",size:"sm",onClick:u,children:s("plugin.popover.button.manageInstalled")})})]})})};var f$={exports:{}};/**!
+`)==-1?[Mu]:Mu.split(/\n/gm);for(let ed=0;ed<hw.length;ed++){let Pce=hw[ed];hi?(u.save(),u.translate(Oe,Qe+ed*Ru),u.rotate(hi),u.fillText(Pce,0,0),u.restore()):u.fillText(Pce,Oe,Qe+ed*Ru)}}}jn.show&&nS(Ah,jn.filter(n,ds,Y,tn,Bi),we,me,zi,pi,Bo(jn.width*Fs,3),jn.stroke(n,Y),jn.dash,jn.cap);let Ym=ne.grid;Ym.show&&nS(Ah,Ym.filter(n,ds,Y,tn,Bi),we,we==0?2:1,we==0?dn:Ln,we==0?xi:ii,Bo(Ym.width*Fs,3),Ym.stroke(n,Y),Ym.dash,Ym.cap),Je.show&&nS([zi],[1],we==0?1:0,we==0?1:2,we==1?dn:Ln,we==1?xi:ii,Bo(Je.width*Fs,3),Je.stroke(n,Y),Je.dash,Je.cap)}Da("drawAxes")}function Pb(Y){v.forEach((ne,me)=>{me>0&&(ne._paths=null,Y&&(s==1?(ne.min=null,ne.max=null):ne.facets.forEach(we=>{we.min=null,we.max=null})))})}let iS=!1,ML=!1,rw=[];function V7(){ML=!1;for(let Y=0;Y<rw.length;Y++)Da(...rw[Y]);rw.length=0}function Rb(){iS||(lpt(AL),iS=!0)}function z7(Y,ne=!1){iS=!0,ML=ne,Y(n),AL(),ne&&rw.length>0&&queueMicrotask(V7)}n.batch=z7;function AL(){if(ji&&(RL(),ji=!1),lo&&(Po(),lo=!1),jo){if(cr(m,FS,xe),cr(m,pD,fe),cr(m,kT,ke),cr(m,NT,Ke),cr(f,FS,xe),cr(f,pD,fe),cr(f,kT,ke),cr(f,NT,Ke),cr(g,kT,be),cr(g,NT,Ve),d.width=sl(be*Fs),d.height=sl(Ve*Fs),w.forEach(({_el:Y,_show:ne,_size:me,_pos:we,side:Oe})=>{if(Y!=null)if(ne){let Qe=Oe===3||Oe===0?me:0,dt=Oe%2==1;cr(Y,dt?"left":"top",we-Qe),cr(Y,dt?"width":"height",me),cr(Y,dt?"top":"left",dt?fe:xe),cr(Y,dt?"height":"width",dt?Ke:ke),lK(Y,uC)}else Vu(Y,uC)}),Pu=Eh=Er=Mg=iw=DL=TL=X0=Tb=null,yc=1,Ep(!0),xe!=Ne||fe!=ze||ke!=Ze||Ke!=Dt){Pb(!1);let Y=ke/Ze,ne=Ke/Dt;if(te&&!co&&z.left>=0){z.left*=Y,z.top*=ne,Mb&&of(Mb,sl(z.left),0,ke,Ke),Ab&&of(Ab,0,sl(z.top),ke,Ke);for(let me=0;me<Ii.length;me++){let we=Ii[me];we!=null&&(yo[me]*=Y,fr[me]*=ne,of(we,tg(yo[me]),tg(fr[me]),ke,Ke))}}if(uo.show&&!Ms&&uo.left>=0&&uo.width>0){uo.left*=Y,uo.width*=Y,uo.top*=ne,uo.height*=ne;for(let me in rS)cr(Bb,me,uo[me])}Ne=xe,ze=fe,Ze=ke,Dt=Ke}Da("setSize"),jo=!1}be>0&&Ve>0&&(u.clearRect(0,0,d.width,d.height),Da("drawClear"),N.forEach(Y=>Y()),Da("draw")),uo.show&&Ms&&(oS(uo),Ms=!1),te&&co&&(Jm(null,!0,!1),co=!1),K.show&&K.live&&mr&&(VL(),mr=!1),l||(l=!0,n.status=1,Da("ready")),wo=!1,iS=!1}n.redraw=(Y,ne)=>{lo=ne||!1,Y!==!1?Gl(C,E.min,E.max):Rb()};function OL(Y,ne){let me=y[Y];if(me.from==null){if(Pe==0){let we=me.range(n,ne.min,ne.max,Y);ne.min=we[0],ne.max=we[1]}if(ne.min>ne.max){let we=ne.min;ne.min=ne.max,ne.max=we}if(Pe>1&&ne.min!=null&&ne.max!=null&&ne.max-ne.min<1e-16)return;Y==C&&me.distr==2&&Pe>0&&(ne.min=cm(ne.min,e[0]),ne.max=cm(ne.max,e[0]),ne.min==ne.max&&ne.max++),M[Y]=ne,ji=!0,Rb()}}n.setScale=OL;let sS,FL,Mb,Ab,s2,o2,Ob,Fb,r2,a2,Co,Go,Km=!1;const tl=z.drag;let La=tl.x,vr=tl.y;te&&(z.x&&(sS=$h(Pft,f)),z.y&&(FL=$h(Rft,f)),E.ori==0?(Mb=sS,Ab=FL):(Mb=FL,Ab=sS),Co=z.left,Go=z.top);const uo=n.select=Ba({show:!0,over:!0,left:0,width:0,top:0,height:0},i.select),Bb=uo.show?$h(Eft,uo.over?f:m):null;function oS(Y,ne){if(uo.show){for(let me in Y)uo[me]=Y[me],me in rS&&cr(Bb,me,Y[me]);ne!==!1&&Da("setSelect")}}n.setSelect=oS;function W7(Y){if(v[Y].show)de&&lK(Ee[Y],uC);else if(de&&Vu(Ee[Y],uC),te){let me=ls?Ii[0]:Ii[Y];me!=null&&of(me,-10,-10,ke,Ke)}}function Gl(Y,ne,me){OL(Y,{min:ne,max:me})}function Ph(Y,ne,me,we){ne.focus!=null&&G7(Y),ne.show!=null&&v.forEach((Oe,Qe)=>{Qe>0&&(Y==Qe||Y==null)&&(Oe.show=ne.show,W7(Qe),s==2?(Gl(Oe.facets[0].scale,null,null),Gl(Oe.facets[1].scale,null,null)):Gl(Oe.scale,null,null),Rb())}),me!==!1&&Da("setSeries",Y,ne),we&&uw("setSeries",n,Y,ne)}n.setSeries=Ph;function H7(Y,ne){Ba(S[Y],ne)}function $7(Y,ne){Y.fill=Qi(Y.fill||null),Y.dir=Ds(Y.dir,-1),ne=ne??S.length,S.splice(ne,0,Y)}function U7(Y){Y==null?S.length=0:S.splice(Y,1)}n.addBand=$7,n.setBand=H7,n.delBand=U7;function j7(Y,ne){v[Y].alpha=ne,te&&Ii[Y]!=null&&(Ii[Y].style.opacity=ne),de&&Ee[Y]&&(Ee[Y].style.opacity=ne)}let Og,Rh,Dp;const Tp={focus:!0};function G7(Y){if(Y!=Dp){let ne=Y==null,me=St.alpha!=1;v.forEach((we,Oe)=>{if(s==1||Oe>0){let Qe=ne||Oe==0||Oe==Y;we._focus=ne?null:Qe,me&&j7(Oe,Qe?1:St.alpha)}}),Dp=Y,me&&Rb()}}de&&Un&&oi(Qge,he,Y=>{z._lock||(aa(Y),Dp!=null&&Ph(null,Tp,!0,Gr.setSeries))});function Mh(Y,ne,me){let we=y[ne];me&&(Y=Y/Fs-(we.ori==1?fe:xe));let Oe=ke;we.ori==1&&(Oe=Ke,Y=Oe-Y),we.dir==-1&&(Y=Oe-Y);let Qe=we._min,dt=we._max,xt=Y/Oe,Rt=Qe+(dt-Qe)*xt,tn=we.distr;return tn==3?Rk(10,Rt):tn==4?Yft(Rt,we.asinh):tn==100?we.bwd(Rt):Rt}function l2(Y,ne){let me=Mh(Y,C,ne);return cm(me,e[0],ft,qt)}n.valToIdx=Y=>cm(Y,e[0]),n.posToIdx=l2,n.posToVal=Mh,n.valToPos=(Y,ne,me)=>y[ne].ori==0?o(Y,y[ne],me?ii:ke,me?Ln:0):r(Y,y[ne],me?xi:Ke,me?dn:0),n.setCursor=(Y,ne,me)=>{Co=Y.left,Go=Y.top,Jm(null,ne,me)};function BL(Y,ne){cr(Bb,FS,uo.left=Y),cr(Bb,kT,uo.width=ne)}function c2(Y,ne){cr(Bb,pD,uo.top=Y),cr(Bb,NT,uo.height=ne)}let aw=E.ori==0?BL:c2,lw=E.ori==1?BL:c2;function q7(){if(de&&K.live)for(let Y=s==2?1:0;Y<v.length;Y++){if(Y==0&&st)continue;let ne=K.values[Y],me=0;for(let we in ne)Te[Y][me++].firstChild.nodeValue=ne[we]}}function VL(Y,ne){if(Y!=null&&(Y.idxs?Y.idxs.forEach((me,we)=>{X[we]=me}):ept(Y.idx)||X.fill(Y.idx),K.idx=X[0]),de&&K.live){for(let me=0;me<v.length;me++)(me>0||s==1&&!st)&&K7(me,X[me]);q7()}mr=!1,ne!==!1&&Da("setLegend")}n.setLegend=VL;function K7(Y,ne){let me=v[Y],we=Y==0&&T==2?Ks:e[Y],Oe;st?Oe=me.values(n,Y,ne)??kt:(Oe=me.value(n,ne==null?null:we[ne],Y,ne),Oe=Oe==null?kt:{_:Oe}),K.values[Y]=Oe}function Jm(Y,ne,me){r2=Co,a2=Go,[Co,Go]=z.move(n,Co,Go),z.left=Co,z.top=Go,te&&(Mb&&of(Mb,sl(Co),0,ke,Ke),Ab&&of(Ab,0,sl(Go),ke,Ke));let we,Oe=ft>qt;Og=Fo,Rh=null;let Qe=E.ori==0?ke:Ke,dt=E.ori==1?ke:Ke;if(Co<0||Pe==0||Oe){we=z.idx=null;for(let xt=0;xt<v.length;xt++){let Rt=Ii[xt];Rt!=null&&of(Rt,-10,-10,ke,Ke)}Un&&Ph(null,Tp,!0,Y==null&&Gr.setSeries),K.live&&(X.fill(we),mr=!0)}else{let xt,Rt,tn;s==1&&(xt=E.ori==0?Co:Go,Rt=Mh(xt,C),we=z.idx=cm(Rt,e[0],ft,qt),tn=R(e[0][we],E,Qe,0));let on=-10,gn=-10,Jn=0,cs=0,ds=!0,Bi="",jn="";for(let Je=s==2?1:0;Je<v.length;Je++){let Bn=v[Je],pi=X[Je],qo=pi==null?null:s==1?e[Je][pi]:e[Je][1][pi],hi=z.dataIdx(n,Je,we,Rt),zi=hi==null?null:s==1?e[Je][hi]:e[Je][1][hi];if(mr=mr||zi!=qo||hi!=pi,X[Je]=hi,Je>0&&Bn.show){let ho=hi==null?-10:hi==we?tn:R(s==1?e[0][hi]:e[Je][0][hi],E,Qe,0),or=zi==null?-10:A(zi,s==1?y[Bn.scale]:y[Bn.facets[1].scale],dt,0);if(Un&&zi!=null){let nl=E.ori==1?Co:Go,rr=ll(St.dist(n,Je,hi,or,nl));if(rr<Og){let Nl=St.bias;if(Nl!=0){let Ru=Mh(nl,Bn.scale),Ah=zi>=0?1:-1,Bg=Ru>=0?1:-1;Bg==Ah&&(Bg==1?Nl==1?zi>=Ru:zi<=Ru:Nl==1?zi<=Ru:zi>=Ru)&&(Og=rr,Rh=Je)}else Og=rr,Rh=Je}}if(mr||ls){let nl,rr;E.ori==0?(nl=ho,rr=or):(nl=or,rr=ho);let Nl,Ru,Ah,Bg,Ym,Zc,Mu=!0,hw=Ns.bbox;if(hw!=null){Mu=!1;let ed=hw(n,Je);Ah=ed.left,Bg=ed.top,Nl=ed.width,Ru=ed.height}else Ah=nl,Bg=rr,Nl=Ru=Ns.size(n,Je);if(Zc=Ns.fill(n,Je),Ym=Ns.stroke(n,Je),ls)Je==Rh&&Og<=St.prox&&(on=Ah,gn=Bg,Jn=Nl,cs=Ru,ds=Mu,Bi=Zc,jn=Ym);else{let ed=Ii[Je];ed!=null&&(yo[Je]=Ah,fr[Je]=Bg,sme(ed,Nl,Ru,Mu),nme(ed,Zc,Ym),of(ed,tg(Ah),tg(Bg),ke,Ke))}}}}if(ls){let Je=St.prox,Bn=Dp==null?Og<=Je:Og>Je||Rh!=Dp;if(mr||Bn){let pi=Ii[0];pi!=null&&(yo[0]=on,fr[0]=gn,sme(pi,Jn,cs,ds),nme(pi,Bi,jn),of(pi,tg(on),tg(gn),ke,Ke))}}}if(uo.show&&Km)if(Y!=null){let[xt,Rt]=Gr.scales,[tn,on]=Gr.match,[gn,Jn]=Y.cursor.sync.scales,cs=Y.cursor.drag;if(La=cs._x,vr=cs._y,La||vr){let{left:ds,top:Bi,width:jn,height:Je}=Y.select,Bn=Y.scales[gn].ori,pi=Y.posToVal,qo,hi,zi,ho,or,nl=xt!=null&&tn(xt,gn),rr=Rt!=null&&on(Rt,Jn);nl&&La?(Bn==0?(qo=ds,hi=jn):(qo=Bi,hi=Je),zi=y[xt],ho=R(pi(qo,gn),zi,Qe,0),or=R(pi(qo+hi,gn),zi,Qe,0),aw(vm(ho,or),ll(or-ho))):aw(0,Qe),rr&&vr?(Bn==1?(qo=ds,hi=jn):(qo=Bi,hi=Je),zi=y[Rt],ho=A(pi(qo,Jn),zi,dt,0),or=A(pi(qo+hi,Jn),zi,dt,0),lw(vm(ho,or),ll(or-ho))):lw(0,dt)}else aS()}else{let xt=ll(r2-s2),Rt=ll(a2-o2);if(E.ori==1){let Jn=xt;xt=Rt,Rt=Jn}La=tl.x&&xt>=tl.dist,vr=tl.y&&Rt>=tl.dist;let tn=tl.uni;tn!=null?La&&vr&&(La=xt>=tn,vr=Rt>=tn,!La&&!vr&&(Rt>xt?vr=!0:La=!0)):tl.x&&tl.y&&(La||vr)&&(La=vr=!0);let on,gn;La&&(E.ori==0?(on=Ob,gn=Co):(on=Fb,gn=Go),aw(vm(on,gn),ll(gn-on)),vr||lw(0,dt)),vr&&(E.ori==1?(on=Ob,gn=Co):(on=Fb,gn=Go),lw(vm(on,gn),ll(gn-on)),La||aw(0,Qe)),!La&&!vr&&(aw(0,0),lw(0,0))}if(tl._x=La,tl._y=vr,Y==null){if(me){if(p2!=null){let[xt,Rt]=Gr.scales;Gr.values[0]=xt!=null?Mh(E.ori==0?Co:Go,xt):null,Gr.values[1]=Rt!=null?Mh(E.ori==1?Co:Go,Rt):null}uw(j8,n,Co,Go,ke,Ke,we)}if(Un){let xt=me&&Gr.setSeries,Rt=St.prox;Dp==null?Og<=Rt&&Ph(Rh,Tp,!0,xt):Og>Rt?Ph(null,Tp,!0,xt):Rh!=Dp&&Ph(Rh,Tp,!0,xt)}}mr&&(K.idx=we,VL()),ne!==!1&&Da("setCursor")}let Fg=null;Object.defineProperty(n,"rect",{get(){return Fg==null&&Ep(!1),Fg}});function Ep(Y=!1){Y?Fg=null:(Fg=f.getBoundingClientRect(),Da("syncRect",Fg))}function d2(Y,ne,me,we,Oe,Qe,dt){z._lock||Km&&Y!=null&&Y.movementX==0&&Y.movementY==0||(zL(Y,ne,me,we,Oe,Qe,dt,!1,Y!=null),Y!=null?Jm(null,!0,!0):Jm(ne,!0,!1))}function zL(Y,ne,me,we,Oe,Qe,dt,xt,Rt){if(Fg==null&&Ep(!1),aa(Y),Y!=null)me=Y.clientX-Fg.left,we=Y.clientY-Fg.top;else{if(me<0||we<0){Co=-10,Go=-10;return}let[tn,on]=Gr.scales,gn=ne.cursor.sync,[Jn,cs]=gn.values,[ds,Bi]=gn.scales,[jn,Je]=Gr.match,Bn=ne.axes[0].side%2==1,pi=E.ori==0?ke:Ke,qo=E.ori==1?ke:Ke,hi=Bn?Qe:Oe,zi=Bn?Oe:Qe,ho=Bn?we:me,or=Bn?me:we;if(ds!=null?me=jn(tn,ds)?a(Jn,y[tn],pi,0):-10:me=pi*(ho/hi),Bi!=null?we=Je(on,Bi)?a(cs,y[on],qo,0):-10:we=qo*(or/zi),E.ori==1){let nl=me;me=we,we=nl}}Rt&&(ne==null||ne.cursor.event.type==j8)&&((me<=1||me>=ke-1)&&(me=Yw(me,ke)),(we<=1||we>=Ke-1)&&(we=Yw(we,Ke))),xt?(s2=me,o2=we,[Ob,Fb]=z.move(n,me,we)):(Co=me,Go=we)}const rS={width:0,height:0,left:0,top:0};function aS(){oS(rS,!1)}let cw,dw,WL,u2;function h2(Y,ne,me,we,Oe,Qe,dt){Km=!0,La=vr=tl._x=tl._y=!1,zL(Y,ne,me,we,Oe,Qe,dt,!0,!1),Y!=null&&(oi(G8,rK,HL,!1),uw(Jge,n,Ob,Fb,ke,Ke,null));let{left:xt,top:Rt,width:tn,height:on}=uo;cw=xt,dw=Rt,WL=tn,u2=on}function HL(Y,ne,me,we,Oe,Qe,dt){Km=tl._x=tl._y=!1,zL(Y,ne,me,we,Oe,Qe,dt,!1,!0);let{left:xt,top:Rt,width:tn,height:on}=uo,gn=tn>0||on>0,Jn=cw!=xt||dw!=Rt||WL!=tn||u2!=on;if(gn&&Jn&&oS(uo),tl.setScale&&gn&&Jn){let cs=xt,ds=tn,Bi=Rt,jn=on;if(E.ori==1&&(cs=Rt,ds=on,Bi=xt,jn=tn),La&&Gl(C,Mh(cs,C),Mh(cs+ds,C)),vr)for(let Je in y){let Bn=y[Je];Je!=C&&Bn.from==null&&Bn.min!=Fo&&Gl(Je,Mh(Bi+jn,Je),Mh(Bi,Je))}aS()}else z.lock&&(z._lock=!z._lock,Jm(ne,!0,Y!=null));Y!=null&&(Nt(G8,rK),uw(G8,n,Co,Go,ke,Ke,null))}function J7(Y,ne,me,we,Oe,Qe,dt){if(z._lock)return;aa(Y);let xt=Km;if(Km){let Rt=!0,tn=!0,on=10,gn,Jn;E.ori==0?(gn=La,Jn=vr):(gn=vr,Jn=La),gn&&Jn&&(Rt=Co<=on||Co>=ke-on,tn=Go<=on||Go>=Ke-on),gn&&Rt&&(Co=Co<Ob?0:ke),Jn&&tn&&(Go=Go<Fb?0:Ke),Jm(null,!0,!0),Km=!1}Co=-10,Go=-10,X.fill(null),Jm(null,!0,!0),xt&&(Km=xt)}function g2(Y,ne,me,we,Oe,Qe,dt){z._lock||(aa(Y),Xc(),aS(),Y!=null&&uw(Xge,n,Co,Go,ke,Ke,null))}function m2(){w.forEach(p_t),jl(n.width,n.height,!0)}c1(G4,MI,m2);const Vb={};Vb.mousedown=h2,Vb.mousemove=d2,Vb.mouseup=HL,Vb.dblclick=g2,Vb.setSeries=(Y,ne,me,we)=>{let Oe=Gr.match[2];me=Oe(n,ne,me),me!=-1&&Ph(me,we,!0,!1)},te&&(oi(Jge,f,h2),oi(j8,f,d2),oi(Yge,f,Y=>{aa(Y),Ep(!1)}),oi(Qge,f,J7),oi(Xge,f,g2),mK.add(n),n.syncRect=Ep);const lS=n.hooks=i.hooks||{};function Da(Y,ne,me){ML?rw.push([Y,ne,me]):Y in lS&&lS[Y].forEach(we=>{we.call(null,n,ne,me)})}(i.plugins||[]).forEach(Y=>{for(let ne in Y.hooks)lS[ne]=(lS[ne]||[]).concat(Y.hooks[ne])});const f2=(Y,ne,me)=>me,Gr=Ba({key:null,setSeries:!1,filters:{pub:cme,sub:cme},scales:[C,v[1]?v[1].scale:null],match:[dme,dme,f2],values:[null,null]},z.sync);Gr.match.length==2&&Gr.match.push(f2),z.sync=Gr;const p2=Gr.key,$L=$Ee(p2);function uw(Y,ne,me,we,Oe,Qe,dt){Gr.filters.pub(Y,ne,me,we,Oe,Qe,dt)&&$L.pub(Y,ne,me,we,Oe,Qe,dt)}$L.sub(n);function Y7(Y,ne,me,we,Oe,Qe,dt){Gr.filters.sub(Y,ne,me,we,Oe,Qe,dt)&&Vb[Y](null,ne,me,we,Oe,Qe,dt)}n.pub=Y7;function Q7(){$L.unsub(n),mK.delete(n),ei.clear(),cK(G4,MI,m2),c.remove(),he?.remove(),Da("destroy")}n.destroy=Q7;function UL(){Da("init",i,e),el(e||i.data,!1),M[C]?OL(C,M[C]):Xc(),Ms=uo.show&&(uo.width>0||uo.height>0),co=mr=!0,jl(i.width,i.height)}return v.forEach(xn),w.forEach(vc),t?t instanceof HTMLElement?(t.appendChild(c),UL()):t(n,UL):UL(),n}Fc.assign=Ba;Fc.fmtNum=Sie;Fc.rangeNum=q4;Fc.rangeLog=i9;Fc.rangeAsinh=wie;Fc.orient=k0;Fc.pxRatio=Fs;Fc.join=apt;Fc.fmtDate=Iie,Fc.tzDate=bpt;Fc.sync=$Ee;{Fc.addGap=e_t,Fc.clipGaps=r9;let i=Fc.paths={points:JEe};i.linear=QEe,i.stepped=i_t,i.bars=s_t,i.spline=r_t}const __t=30,b_t=1e3/__t-1,DT=new Set;let pK=0,Pme=0,tPe=Date.now()/1e3;const nPe=i=>{pK=requestAnimationFrame(nPe),!(i-Pme<b_t)&&(Pme=i,tPe=Date.now()/1e3,DT.forEach(e=>e()))},v_t=()=>tPe,y_t=i=>(DT.add(i),DT.size===1&&(pK=requestAnimationFrame(nPe)),()=>{DT.delete(i),DT.size===0&&cancelAnimationFrame(pK)}),{useEffect:w_t,useRef:C_t}=await F("react"),Rme=(i,e,t)=>getComputedStyle(i).getPropertyValue(e).trim()||t,Q8=i=>typeof i=="number"?i:Math.round(window.innerHeight*parseFloat(i)/100),S_t=({className:i,buffer:e,series:t,height:n=10,syncKey:s="sensors"})=>{const o=C_t(null);return w_t(()=>{const r=o.current;if(!r)return;const a=Rme(r,"--color-fg-subtle","#8b8b8b"),l=Rme(r,"--color-border-subtle","rgba(128,128,128,0.15)"),c={stroke:a,grid:{stroke:l,width:1},ticks:{stroke:l,width:1}},d={width:r.clientWidth/2,height:Q8(n),legend:{show:!0,live:!0},cursor:{sync:{key:s}},scales:{x:{time:!0,range:()=>{const b=v_t();return[b-e.windowSec,b]}}},axes:[{...c,label:"Time (sec)",labelSize:20,size:10,values:(b,v)=>v.map(()=>"")},c],series:[{},...t.map(({label:b,color:v,dash:w})=>({label:b,stroke:v,dash:w,width:1.5,points:{show:!1}}))]},u=[[],...t.map(()=>[])],g=new Fc(d,u,r);let m=-1;const f=y_t(()=>{if(e.version===m)return;m=e.version,g.setData([e.xs,...t.map(({index:v})=>e.ys[v])]);const b=e.xs.length-1;(g.cursor.left??-1)<0&&b>=0&&g.setLegend({idx:b})}),p=new ResizeObserver(([b])=>{const v=Math.floor(b.contentRect.width);v>0&&g.setSize({width:v,height:Q8(n)})});p.observe(r);const _=()=>g.setSize({width:g.width,height:Q8(n)});return typeof n=="string"&&window.addEventListener("resize",_),()=>{f(),p.disconnect(),window.removeEventListener("resize",_),g.destroy()}},[e,t,n,s]),h("div",{ref:o,className:P("MultiDataChart","w-full min-w-0","[&_.u-legend]:text-fg-default [&_.u-legend_.u-series:first-child]:hidden!","[&_.u-legend_tbody]:grid! [&_.u-legend_tbody]:grid-cols-6!",i)})},{useEffect:x_t,useMemo:X8,useRef:Mme}=await F("react"),I_t=10,k_t=i=>i,N_t=50,L_t=({className:i,robotModel:e,groups:t,selectedChannelIds:n})=>{const{t:s}=J(),o=X8(()=>mEe(t),[t]),r=X8(()=>new wft(o.length,I_t),[o]),a=Mme(r);a.current=r;const l=ws(e,k_t),c=Mme([]);c.current=o.map(({read:u})=>u(l)),x_t(()=>{const u=setInterval(()=>a.current.push(c.current),N_t);return()=>clearInterval(u)},[]);const d=X8(()=>o.flatMap(({id:u,label:g,color:m,dash:f},p)=>n.includes(u)?[{label:g,index:p,color:m,dash:f}]:[]),[o,n]);return h("div",{className:P("ChartPanelContent","flex w-full flex-col gap-3",i),children:d.length>0?h(S_t,{buffer:r,series:d,height:"55vh"}):h("div",{className:"flex h-[55vh] w-full items-center justify-center",children:h("p",{className:"text-fg-subtle typo-compact-xs-normal py-4 text-center",children:s("move.chart.emptyDesc")})})})},D_t=({isDrawChart:i,...e})=>i?h(L_t,{...e}):null,{useCallback:BS,useEffect:T_t,useMemo:qb,useRef:E_t,useState:VS}=await F("react"),P_t=({className:i,robotModel:e})=>{const{t}=J(),n=E_t(null),s=BN(n),{data:o}=nr(),[r]=gc(),{isUseSimulator:a,selectedRobotModel:l,setSelectedRobotModel:c}=ui(),[d,u]=VS("global"),{data:g}=wh(),m=qM(e,Object.keys(g?.components??{}).length),{detailRobotModel:f,ghostActiveTcpAnchors:p,ghostDraggableJointNames:_,isGhostRobotSupported:b,isJointOnlyGhost:v,disabledGizmoTypes:w}=mie(e),y=b||v,S=qb(()=>Object.entries(g?.components??{}).flatMap(([xn,_r])=>(_r.tcpJointName??[]).map(Bd=>({componentModel:xn,jointName:Bd}))),[g]),C=fie(),{isGhostRobot:x,gizmoType:N,handleGizmoTypeChange:L}=C,D=v?N==="none"?"none":null:N,E=gEe(),{baseAssets:T,toolAssets:R,gizmoSelectedAssetIds:A,selectionMode:M,assetGizmoMode:O,setAssetGizmoMode:B,clearGizmoSelection:V,workspaceControlProps:G,requestMenuId:H,requestMenuToken:X,sceneHandlers:K,viewerProps:z}=uut({detailRobotModel:f,tcpJoints:S,urdfViewerRef:n,assetGizmoDisabled:x||E.isActive,assetPicker:E}),de=tft({urdfViewerRef:n,baseAssets:T,toolAssets:R,picker:E}),[te,ie]=VS(!1),[he,ce]=VS(!1),[Ie,Ee]=VS(0),[Te,lt]=VS(!1),[st,kt]=VS([]),{viewerProps:yt,itemProps:Bt,handleCheckFeatureSupport:Ft}=Fmt({urdfViewerRef:n,isGhostRobot:x,gizmoType:D}),{userfSelectionNo:nn,toolSelectionNo:ei,statusIsRefon:oi,carteXRef:Nt,jointQRef:be,toolName:Ve,motionMode:ke}=ws(e,xn=>({userfSelectionNo:xn.userfSelectionNo,toolSelectionNo:xn.toolSelectionNo,statusIsRefon:xn.statusIsRefon,carteXRef:xn.carteXRef,jointQRef:xn.jointQRef,toolName:xn.toolName,motionMode:xn.motionMode})),Ke=be?.length??0,xe=qb(()=>pft(Ke,nn,ei),[Ke,nn,ei]),{data:fe}=ON({robot_model:e}),{pluginData:Ne}=GM({robotModel:e,paintJointPath:he?{recording:!0,maxAgeSeconds:Ie}:void 0,options:{baseAssets:T,toolAssets:R,onAssetLoad:Ft,onAssetTransformUpdate:Ft}}),{selectedRobot:ze,coreSwList:Ze}=Fi(e),Dt=ze?.connected==="DISCONNECT",{mutate:Ln}=Iut(),dn=r.get("menu")??"jog",ii=oi===1,xi=qb(()=>ke!==0,[ke]),{viewerProps:ji,itemProps:jo}=ift(de,xi),lo=qb(()=>{if(d==="user")return fe?.user_frames.filter((xn,_r)=>_r===nn).map(xn=>({name:xn.userfName,showLabel:!0,position:{x:xn.userfOffset.v[0]/Pn,y:xn.userfOffset.v[1]/Pn,z:xn.userfOffset.v[2]/Pn},rotation:{rx:xn.userfEuler.v[0],ry:xn.userfEuler.v[1],rz:xn.userfEuler.v[2]}}))},[fe,nn,d]),co=qb(()=>fe?.user_frames.map(xn=>xn.userfName)??$Te.user_frames.map(xn=>xn.userfName),[fe?.user_frames]),Ms=xn=>{Ln({robot_model:e,refcontrol_option:xn==="real"?1:0})},mr=()=>{ie(xn=>!xn)},jl=BS(xn=>{xn.isDrawTrajectory!==void 0&&ce(xn.isDrawTrajectory),xn.maxAgeSeconds!==void 0&&Ee(xn.maxAgeSeconds)},[]),{ghostJointValues:Dh,handleGhostRobotJointsChanged:Rg}=pie(x),Po=CDe({robotModel:e,urdfViewerRef:n,carteXRef:Nt,jointQRef:be,toolName:Ve,isDisconnected:Dt,jointOnly:v,ghostJointValuesRad:Dh}),Il=BS(xn=>{L(xn),xn==="surfaceTeach"&&V()},[L,V]),{viewerProps:vo,itemProps:kl}=_ie({gizmo:C,ghostRobotIK:Po,isMoving:xi,gizmoType:D,onGizmoTypeChange:Il,activeTcpAnchors:p,draggableJointNames:_,onGhostRobotJointsChanged:v?Rg:void 0}),{onGhostRobotChange:aa}=kl,{onMeasureActiveChange:Ns}=jo,St=BS(xn=>{xn&&de.isMeasureActive&&Ns(!1),aa(xn)},[aa,Ns,de.isMeasureActive]),Un=BS(xn=>{xn&&x&&aa(!1),Ns(xn)},[aa,Ns,x]),ls=BS(xn=>{const _r=g?.components;if(!_r||Object.keys(_r).length<=1)return;for(const br of xn.pathJointNames)for(const[vc,Ro]of Object.entries(_r))if((Ro.type==="array"?Ro.mapper:Object.values(Ro.mapper)).includes(br)||Ro.tcpJointName?.includes(br)){vc!==l&&c(vc);return}for(const br of xn.pathLinkNames)for(const[vc,Ro]of Object.entries(_r)){const un=(Ro.type==="array"?Ro.mapper:Object.values(Ro.mapper))[0];if(un){const Pe=un.charAt(0);if(br.startsWith(`${Pe}link`)){vc!==l&&c(vc);return}}}if(xn.pathLinkNames.some(br=>/^(mobile|amr|base_link|wheel)/i.test(br))){const br=Ze?.find(vc=>vc.be_service==="amr"||/amr|mobile/i.test(vc.model)||/amr|mobile/i.test(vc.sw_name));if(br&&br.model!==l){c(br.model);return}}},[g,l,c,Ze]),Ii=BS(xn=>{xn.isDrawChart!==void 0&&lt(xn.isDrawChart)},[]);T_t(()=>{dn==="jog"&&te&&ie(!1)},[dn,te]);const yo=qb(()=>[{key:"zoom-in-out",element:h(C0,{onZoomIn:s.zoomIn,onZoomOut:s.zoomOut})},{key:"camera-view",element:h(jM,{onSetCameraView:s.setCameraView})},{key:"trajectory",element:h(hEe,{handleChangeDrawTrajectory:jl})},...y?[{key:"ghost-robot",element:h(jW,{...kl,...Bt,onGhostRobotChange:St,disabledGizmoTypes:w,gizmoOptionsDisabled:v})}]:[],{key:"measure-distance",element:h(Kmt,{...jo,onMeasureActiveChange:Un})},{key:"state-core-chart",element:h(yft,{chartGroups:xe,handleChangeStateCoreChart:Ii,onSelectedChannelIdsChange:kt})}],[s.zoomIn,s.zoomOut,s.setCameraView,jl,y,w,v,kl,Bt,St,jo,Un,Ii,xe]),fr=qb(()=>[{id:"jog",label:t("move.menu.button.label.jog"),icon:h(lke,{}),content:h(Uq,{robotModel:e,onTabChange:u})},{id:"tcp-tool",label:t("move.menu.button.label.tcpTool"),icon:h(vGe,{}),content:h(Fut,{robotModel:e})},{id:"zero-pose",label:t("move.menu.button.label.zeroPose"),icon:h(Qke,{}),content:h(Hut,{robotModel:e})},{id:"global-pinpoint",label:t("move.menu.button.label.pinpoint"),icon:h(u8e,{}),content:h(Qut,{robotModel:e})},{id:"record",label:t("move.menu.button.label.record"),icon:h(h8e,{}),content:h(Fgt,{robotModel:e})},{id:"weld",label:t("move.menu.button.label.weld"),icon:h(g8e,{className:"rotate-180"}),content:h(qgt,{robotModel:e})},{id:"calibration",label:t("move.menu.button.label.calibration"),icon:h(Zke,{}),content:h(Emt,{robotModel:e,userFrameNameList:co})},{id:"move-io",label:t("settings.menu.title.io"),icon:h(KUe,{}),content:h(zmt,{robotModel:e})},{id:"master",label:t("move.menu.button.label.masterMode"),icon:h(Eje,{className:"size-5"}),content:h(hft,{robotModel:e})},{id:"workspace",label:t("move.menu.button.label.assetManager"),icon:h(cGe,{className:"size-5"}),content:null}],[t,e,u,co]),pr=qb(()=>({id:"workspace",content:h(Ngt,{...G,isMenuActive:dn==="workspace"})}),[G,dn]);return k(e9,{className:P("ManipulateMove","relative overflow-hidden",i),rightIconPanels:yo,menus:fr,persistentMenu:pr,beService:o?.modelInfo?.be_service,requestMenuId:H,requestMenuToken:X,children:[k("div",{className:"h-full flex-1 p-2.5",children:[k("div",{className:"absolute top-0 left-0 z-1 size-full",...K,children:[h(Um,{ref:n,className:"relative size-full",cameraPositionKey:"manipulate-move",showPerformanceHUD:!0,...z,robotModel:o?.info?.robotModel,etcAxesArr:lo,enablePanning:!0,plugin:Ne,isRealMode:ii,outlinedLinkNames:m,...vo,...yt,...ji,onDoubleClickRobot:ls}),A.length===1&&!M&&dn==="workspace"&&h("div",{className:"animate-in fade-in absolute top-78 left-3 z-20 duration-200",children:h(aft,{mode:O,onModeChange:B,modes:[...T,...R].find(xn=>xn.id===A[0])?.source.kind==="file"?["translate","rotate"]:["translate","rotate","scale"]})})]}),k(q,{className:"pointer-events-none relative z-2 h-full",children:[h(Hmt,{className:"pointer-events-auto",robotModel:e,mode:ii?"real":"simulation",onChangeMode:Ms}),h(UM,{className:"mt-3 mb-4",robotModel:e}),h(dEe,{className:"pointer-events-auto",robotModel:e},e),h(uEe,{className:"pointer-events-auto",robotModel:e})]})]}),h(WW,{isGhostRobot:x,ghostRobotIK:Po,btnHoverInteraction:TN.isDesktop,showControlPanelButton:dn!=="jog",onToggleControlPanel:mr,isPanelOpen:dn!=="jog"&&te,panelContent:h(Uq,{className:"w-full",robotModel:e,onTabChange:()=>{},isPanel:!0,isUseSimulator:a})}),h(D_t,{className:"bg-translucent pointer-events-auto absolute bottom-2 left-2 z-2 w-[calc(100%-10rem)] rounded-md p-2.5",isDrawChart:Te,groups:xe,selectedChannelIds:st,robotModel:e})]})},{useEffect:R_t,useMemo:DO,useState:M_t}=await F("react"),A_t={dir:"all",method:"all"},O_t=(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},F_t=({nodes:i,selectedLinks:e,focusedLinkId:t,onLinkVisibilityFilterChange:n})=>{const[s,o]=M_t(A_t),r=DO(()=>e.filter(d=>O_t(d,s)),[s,e]),a=DO(()=>t?r.find(d=>d.id===t)??null:null,[t,r]),l=DO(()=>r.map(d=>{const u=i.find(m=>m.id===d.from),g=i.find(m=>m.id===d.to);return{id:d.id,title:`${u?.name||d.from} -> ${g?.name||d.to}`,dir:d.dir,method:d.method,speed:d.speed}}),[i,r]),c=DO(()=>{if(!a)return null;const d=i.find(g=>g.id===a.from),u=i.find(g=>g.id===a.to);return!d||!u?null:new Be((d.x+u.x)/2,(d.y+u.y)/2,(d.z+u.z)/2)},[i,a]);return R_t(()=>{n?.(s)},[s,n]),{linkVisibilityFilter:s,setLinkVisibilityFilter:o,visibleSelectedLinks:r,visibleFocusedLink:a,selectedLinkOverlayItems:l,focusedLinkAnchor:c}},{useMemo:TO}=await F("react"),B_t=i=>{if(!i||i.length===0)return null;let e=0,t=0,n=0;for(let o=0;o<i.length;o+=1){const r=i[o],a=i[(o+1)%i.length],l=r.x*a.y-a.x*r.y;e+=l,t+=(r.x+a.x)*l,n+=(r.y+a.y)*l}if(Math.abs(e)>Number.EPSILON)return new Be(t/(3*e),n/(3*e),0);const s=i.reduce((o,r)=>({x:o.x+r.x,y:o.y+r.y}),{x:0,y:0});return new Be(s.x/i.length,s.y/i.length,0)},V_t=({zones:i,selectedZoneIds:e,focusedZoneId:t})=>{const n=TO(()=>{if(!e||e.length===0)return[];const a=new Set(e);return(i??[]).filter(l=>a.has(l.id))},[e,i]),s=TO(()=>n.length===0?null:t?n.find(a=>a.id===t)??null:n[0]??null,[t,n]),o=TO(()=>n.map(a=>({id:a.id,title:a.name||a.id,type:a.type,pointCount:a.polygon.length})),[n]),r=TO(()=>s?B_t(s.polygon):null,[s]);return{selectedZones:n,focusedZone:s,selectedZoneOverlayItems:o,focusedZoneAnchor:r}},{useMemo:z_t}=await F("react"),{useQuery:W_t}=await F("@tanstack/react-query"),iPe="/{robot_model}/setting/getSettingPresetList",H_t=async({robot_model:i,baseURL:e})=>{const t=iPe.replace("{robot_model}",i);return v0.get(t,void 0)},$_t=({robot_model:i,baseURL:e})=>[iPe,i,e??""],U_t=(i,e={},t)=>{const n=z_t(()=>$_t({...i,baseURL:t}),[t,i]);return{...W_t({queryKey:n,queryFn:()=>H_t({...i,baseURL:t}),enabled:!!i.robot_model,...e}),queryKey:n}},{useMemo:j_t}=await F("react"),{useQuery:G_t}=await F("@tanstack/react-query"),sPe="/{robot_model}/info/category",q_t=async({robot_model:i})=>{const e=sPe.replace("{robot_model}",i);return v0.get(e)},K_t=({robot_model:i})=>[sPe,i],J_t=(i,e={})=>{const{robot_model:t}=i,{enabled:n=!0,...s}=e,o=j_t(()=>K_t({robot_model:t}),[t]);return{...G_t({queryKey:o,queryFn:()=>q_t(i),enabled:!!t&&n,...s}),queryKey:o}},{useMemo:Y_t}=await F("react"),{useQuery:Q_t}=await F("@tanstack/react-query"),oPe="/{robot_model}/setting/getSettingPreset",X_t=async({robot_model:i,level:e,presetId:t,baseURL:n})=>{const s=oPe.replace("{robot_model}",i);return v0.get(s,{params:{level:e,presetId:t}})},Z_t=({robot_model:i,level:e,presetId:t,baseURL:n})=>[oPe,i,e,t,n??""],ebt=(i,e={},t)=>{const{robot_model:n,level:s,presetId:o}=i,r=Y_t(()=>Z_t({robot_model:n,level:s,presetId:o,baseURL:t}),[t,s,o,n]);return{...Q_t({queryKey:r,queryFn:()=>X_t({...i,baseURL:t}),enabled:!!n&&typeof s=="number"&&!Number.isNaN(s)&&typeof o=="number"&&!Number.isNaN(o),...e}),queryKey:r}},{useMemo:LRn}=await F("react"),{useQuery:DRn}=await F("@tanstack/react-query"),{useMemo:TRn}=await F("react"),{useQuery:ERn}=await F("@tanstack/react-query"),{useQuery:tbt}=await F("@tanstack/react-query"),Pie="/{robot_model}/map/list",nbt=({robot_model:i,baseURL:e})=>[Pie,i,""],ibt=async({robot_model:i,baseURL:e})=>{const t=Pie.replace("{robot_model}",i);return v0.get(t,{})},sbt=({robot_model:i,enabled:e=!0},t={},n)=>{const{enabled:s=!0,...o}=t,r=nbt({robot_model:i,baseURL:n});return{...tbt({queryKey:r,queryFn:()=>ibt({robot_model:i,baseURL:n}),enabled:!!i&&e&&s,...o}),queryKey:r}},{useCallback:bD,useEffect:obt,useMemo:rbt,useRef:Ame}=await F("react"),abt=({robotModel:i,linearSpeed:e=.8,rotationSpeed:t=45})=>{const{socketEventEmit:n}=Ng(),s=Ame({vx:0,vy:0,wz:0}),o=Ame(null),r=rbt(()=>`amr/${i}/move/jog`,[i]),a=bD(()=>{n(r,{...s.current})},[r,n]),l=bD(()=>{typeof window>"u"||o.current&&(window.clearInterval(o.current),o.current=null)},[]),c=bD(()=>{typeof window>"u"||o.current||(o.current=window.setInterval(()=>{a()},200))},[a]),d=bD(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]),u=bD(({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 obt(()=>()=>{l()},[l]),{handleJoystickMove:u,handleButtonMove:d}},lbt={obsBoxMinX:0,obsBoxMaxX:0,obsBoxMinY:0,obsBoxMaxY:0,stopMarginX:0,stopMarginY:0,slowMarginX:0,slowMarginY:0},Ome={layers:[],width:0,height:0,gridSize:0,safety:lbt},cbt=(i,e=!0)=>{const{data:t=Ome,loading:n}=xs(`amr/${i}/socket/obsMap`,{defaultValue:Ome,disabled:!e,selector:s=>({layers:s?.layers?.map(o=>({name:o?.name??"",data:o?.data??[]}))??[],width:s?.width??0,height:s?.height??0,gridSize:s?.gridSize??0,safety:{obsBoxMinX:s?.safety?.obsBoxMinX??0,obsBoxMaxX:s?.safety?.obsBoxMaxX??0,obsBoxMinY:s?.safety?.obsBoxMinY??0,obsBoxMaxY:s?.safety?.obsBoxMaxY??0,stopMarginX:s?.safety?.stopMarginX??0,stopMarginY:s?.safety?.stopMarginY??0,slowMarginX:s?.safety?.slowMarginX??0,slowMarginY:s?.safety?.slowMarginY??0}})});return{data:t,loading:n}},{useRef:dbt}=await F("react"),Fme={data:[]},ubt=(i,e=!0)=>{const{data:t=Fme,loading:n}=xs(`amr/${i}/socket/globalPath`,{defaultValue:Fme,disabled:!e,selector:o=>({data:o?.data??[]})}),s=dbt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:hbt}=await F("react"),Bme={data:[]},gbt=(i,e=!0)=>{const{data:t=Bme,loading:n}=xs(`amr/${i}/socket/trajectory`,{defaultValue:Bme,disabled:!e,selector:o=>({data:o?.data??[]})}),s=hbt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{useRef:mbt}=await F("react"),Vme={data:[]},fbt=(i,e=!0)=>{const{data:t=Vme,loading:n}=xs(`amr/${i}/socket/localPath`,{defaultValue:Vme,disabled:!e,selector:o=>({data:o?.data??[]})}),s=mbt({...t,loading:n});return s.current.data=t.data,n!==s.current.loading&&(s.current.loading=n),s.current},{forwardRef:pbt}=await F("react"),rPe=pbt(({robotModel:i,...e},t)=>{const{data:n}=TTe(i),{data:s}=ubt(i),{data:o}=fbt(i),{data:r}=gbt(i);return h(Fke,{ref:t,...e,lidarPoints:n,globalPath:s,localPath:o,trajectory:r})});rPe.displayName="AmrWorldStudio";const{useMutation:_bt}=await F("@tanstack/react-query"),bbt="/{robot_model}/map/setCloud",vbt=async({robot_model:i,mapName:e,fileName:t,data:n})=>{const s=bbt.replace("{robot_model}",i);return _s.post(s,{mapName:e,fileName:t,data:n})},ybt=()=>_bt({mutationFn:vbt}),{useMutation:wbt}=await F("@tanstack/react-query"),Cbt="/{robot_model}/map/setTopology",Sbt=async({robot_model:i,mapName:e,nodes:t,links:n,zones:s})=>{const o=Cbt.replace("{robot_model}",i);return _s.post(o,{mapName:e,nodes:t,links:n,zones:s})},xbt=()=>wbt({mutationFn:Sbt}),{useCallback:Z8}=await F("react"),Ibt=i=>typeof i=="object"&&i!==null&&"isError"in i&&i.isError===!0,kbt=({selectedRobotModel:i,currentMapName:e,mapTopoParams:t,getMapPointsData:n,getTopologyData:s,loadMapAndRefreshCurrentMap:o,loadTopology:r,refreshTopologyData:a,onTopologySaved:l,onTopologyCanceled:c,onCloudSaved:d})=>{const{mutate:u}=ybt(),{mutate:g}=xbt(),m=Z8(()=>{const _=t?.mapName??e;if(!_)return;const b=s();g({robot_model:i,mapName:_,nodes:b.nodes,links:b.links,zones:b.zones},{onSuccess:async()=>{try{await r(_),l?.(),at.openToast({type:"basic",variant:"success",title:"Topology Save Success",content:"Topology data has been saved"})}catch{at.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]),f=Z8(async()=>{try{const _=await a?.();if(Ibt(_))throw _.error;c?.()}catch{at.openToast({type:"basic",variant:"warning",title:"Topology Cancel Failed",content:"Failed to revert topology changes"})}},[c,a]),p=Z8(()=>{if(!e)return;const _=n();u({robot_model:i,mapName:e,fileName:"cloud.csv",data:_},{onSuccess:()=>{o(e),d?.(),at.openToast({title:"Cloud Save Success",content:"Cloud data has been saved",type:"basic",variant:"success"})}})},[e,n,o,d,u,i]);return{handleSaveTopologyChanges:m,handleCancelTopologyChanges:f,handleSaveCloud:p}},{useMemo:Nbt}=await F("react"),Lbt=({currentMapName:i,mapListData:e})=>({currentMapInfo:Nbt(()=>i&&e?.list?e.list.find(n=>n.mapName===i):null,[i,e?.list])}),Dbt=({selectedRobotModel:i,mapTopoParams:e})=>{const t=e?.mapName??"",{data:n,dataUpdatedAt:s}=RTe({robot_model:i,mapName:t,fileName:"cloud.csv"},{enabled:!!t}),{data:o,dataUpdatedAt:r,refetch:a}=DTe({robot_model:i,mapName:t},{enabled:!!t});return{mapCloud:n,mapCloudUpdatedAt:s,topology:o,topologyUpdatedAt:r,refetchTopology:a}},{useMemo:Tbt}=await F("react"),Ebt=({currentMapName:i,createdAt:e,lastModified:t,mapCloudCount:n,mapBounds:s,topologyCount:o,nodeTypeCounts:r,mappingStatus:a,elapsedSeconds:l,completedKeyframeCount:c,totalKeyframePoints:d,onStartMapping:u,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p,isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:w,eraseSelectedAreaDisabled:y,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:x,hasUnsavedCloudChanges:N,onDiscardCloudChanges:L,onDownloadMap:D,downloadMapDisabled:E})=>Tbt(()=>({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:u,onStopMapping:g,onSaveMapping:m,onDiscard:f,mapList:p},eraserTabProps:{isEraserEnabled:_,onEraserToggle:b,eraserRadius:v,setEraserRadius:w,eraseSelectedAreaDisabled:y,onEraseSelectedArea:S,onReleaseSelectedPoints:C,onSaveChanges:x},hasUnsavedCloudChanges:N,onDiscardCloudChanges:L,onDownloadMap:D,downloadMapDisabled:E}),[c,e,i,l,v,y,N,_,t,s,n,r,f,L,D,S,b,C,x,m,u,g,w,a,E,o,p,d]),{queryOptions:Pbt,useQueries:Rbt,useQuery:Mbt}=await F("@tanstack/react-query"),aPe="/{robot_model}/setting/getSettingParam",lPe=async i=>{const{robot_model:e,...t}=i,n=aPe.replace("{robot_model}",e);return _s.get(n,{params:t})},cPe=i=>[aPe,i],Abt=(i,e=!0)=>Pbt({queryKey:cPe(i),queryFn:()=>lPe(i),enabled:e}),Obt=(i,e={})=>Mbt({queryKey:cPe(i),queryFn:()=>lPe(i),...e}),Fbt=({robot_model:i,robotType:e,categories:t,level:n=2,enabled:s=!0})=>Rbt({queries:t.map(o=>Abt({robot_model:i,robotType:e,category:o,level:n},s&&!!i&&!!e&&!!o))}),{useMemo:zme}=await F("react"),Bbt=({robotModel:i,monitorStatusSnapshot:e,robotVersion:t,selectedTool:n,onToolChange:s,onStartLocalization:o,onInitLocalization:r,onSemiAutoInitLocalization:a,onStopLocalization:l,onBuildInfoOpenChange:c,onDock:d,onDockPause:u,onDockResume:g,onDockStop:m,onUndock:f,dockRejectMessage:p,taskLogData:_,amrMoveStatus:b,onSetMotorLocked:v,onClearSafetyFlag:w,onLidarFieldSave:y,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:x,onSetSafetyIo:N})=>{const{data:L}=Obt({robot_model:i,robotType:i,category:"docking",level:2}),D=zme(()=>{const E=L?.params?.find(T=>T.key==="DOCKING_RETRY_COUNT")?.value;return E!==void 0?Number(E):void 0},[L]);return zme(()=>({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:u,onResume:g,onStop:m,onUndock:f,maxRetryCount:D,rejectMessage:p??void 0},taskProps:{logData:_,moveStatus:b},pduProps:{amrStatus:e,setMotorLocked:v,onClearSafetyRecovery:w,onLidarFieldSave:y,onOssdDetectChange:S,safetyIo:C,safetyIoLoading:x,onSetSafetyIo:N}}),[b,D,e,t,w,y,S,C,x,N,d,u,g,p,m,c,r,a,v,o,l,s,f,n,_,i])},{useMemo:Vbt}=await F("react"),zbt=({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n})=>Vbt(()=>({overviewTabProps:i,nodeTabProps:e,linkTabProps:t,zoneTabProps:n}),[t,e,i,n]),{useCallback:wc}=await F("react"),Wbt=({emit:i,nodes:e,selectedObjects:t,selectedNodeType:n,onToolChange:s,setIsEraserEnabled:o,setEraserRadius:r})=>{const a=wc(x=>{o(x),i("ui:eraser-toggle-requested",x),i("ui:pointer-action-set-requested",x?"erase":"inspect"),s(x?"disabled":"select")},[i,s,o]),l=wc(()=>{i("ui:points-delete-requested",void 0)},[i]),c=wc(()=>{i("ui:unselect-points-requested",void 0)},[i]),d=wc(x=>{x>0&&(r(x),i("eraser:radius-changed",x))},[i,r]),u=wc(x=>{switch(x){case"goal":return"GOAL";case"route":return"ROUTE";case"align":return"ALIGN"}},[]),g=wc(()=>{i("ui:quick-add-node-requested",u(n))},[i,u,n]),m=wc(()=>{i("ui:add-node-by-preview-requested",u(n))},[i,u,n]),f=wc(()=>{const x=e[e.length-1]?.uuid;x&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:x,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,e]),p=wc(()=>{const x=t[t.length-1]?.uuid??null;x&&(i("ui:selection-reset-requested",void 0),i("ui:node-selected",{nodeId:x,intent:"replace"}),i("ui:nodes-delete-requested",void 0))},[i,t]),_=wc((x,N)=>{i("ui:node-updated",{nodeId:x,updates:N})},[i]),b=wc((x,N,L)=>{i(L==="delta"?"ui:nodes-transform-delta-requested":"ui:nodes-transform-absolute-requested",{target:x,value:N})},[i]),v=wc((x,N,L)=>{if(!(t.length<2)){if(t.length===2||N==="sequential"){i("ui:link-nodes-requested",{nodes:t,strategy:"sequential",bidirectional:x,properties:L});return}i("ui:link-nodes-requested",{nodes:t,strategy:"complete",bidirectional:x,properties:L})}},[i,t]),w=wc(()=>{t.length<2||i("ui:unlink-nodes-requested",void 0)},[i,t]),y=wc((x,N)=>{i("ui:link-updated",{linkId:x,updates:N})},[i]),S=wc(x=>{i("ui:link-delete-requested",{linkId:x})},[i]),C=wc(x=>{i("ui:link-focus-requested",{linkId:x})},[i]);return{handleEraserToggle:a,handleDeletePoints:l,handleReleasePoint:c,handleEraserRadiusChange:d,handleAddNodeAtRobot:g,handleAddNodeAtCursor:m,handleDeleteLastNode:f,handleDeleteLastSelectedNode:p,handleNodeUpdate:_,handleSelectedNodesTransform:b,handleCreateLinks:v,handleDeleteLinksBetweenSelected:w,handleLinkUpdate:y,handleLinkDelete:S,handleLinkFocus:C}},{useQuery:PRn}=await F("@tanstack/react-query"),Hbt="/{robot_model}/capability/lidar2d",$bt=async({robot_model:i})=>{const e=Hbt.replace("{robot_model}",i);return _s.get(e)},{useCallback:EO}=await F("react"),Ubt=({type:i,features:e})=>i?.toUpperCase()==="GOAL"&&Array.isArray(e)&&e.some(t=>t.toUpperCase()==="INIT"),jbt=({selectedRobotModel:i,currentMapName:e,currentMapInfo:t,mapListData:n,topologyNodes:s,hasUnsavedTopologyChanges:o,handleInitLocalization:r,handleSemiAutoInitLocalization:a})=>{const l=EO(()=>!e||!!n?.list?.length&&!t?(at.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=EO(async()=>{if(!i)return!1;try{return(await $bt({robot_model:i})).info?.some(f=>f.connection)??!1?!0:(at.openToast({type:"basic",variant:"warning",title:"LiDAR Disconnected",content:"Connect the 2D LiDAR before running localization init.",position:"top-right"}),!1)}catch{return at.openToast({type:"basic",variant:"warning",title:"LiDAR Status Check Failed",content:"Failed to check 2D LiDAR connection status.",position:"top-right"}),!1}},[i]),d=EO(async()=>{l()&&await c()&&r()},[c,l,r]),u=EO(async()=>{if(!l()||!await c())return;if(o){at.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(Ubt).length===0){at.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:u}},{useMutation:Gbt}=await F("@tanstack/react-query"),qbt="/{robot_model}/localization/{command}",Kbt=async i=>{const{robot_model:e,command:t}=i,n=qbt.replace("{robot_model}",e).replace("{command}",t);return t==="semiAutoInit"?_s.post(n):_s.post(n,i.payload)},Jbt=()=>Gbt({mutationFn:Kbt}),{useCallback:vD}=await F("react"),Ybt=({selectedRobotModel:i,getPreviewTransform:e})=>{const{mutate:t}=Jbt(),n=vD(l=>{const c=e();c&&t({robot_model:i,command:l,payload:{pose:c}})},[e,t,i]),s=vD(()=>{t({robot_model:i,command:"semiAutoInit"})},[t,i]),o=vD(()=>{n("start")},[n]),r=vD(()=>{n("init")},[n]),a=vD(()=>{n("stop")},[n]);return{handleStartLocalization:o,handleInitLocalization:r,handleSemiAutoInitLocalization:s,handleStopLocalization:a}},{useMutation:Qbt}=await F("@tanstack/react-query"),Xbt="/{robot_model}/map/loadMap",Zbt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=Xbt.replace("{robot_model}",i);return v0.post(n,{mapName:e},t?{baseURL:t}:void 0)},evt=()=>Qbt({mutationFn:Zbt}),{useMutation:tvt}=await F("@tanstack/react-query"),nvt="/{robot_model}/map/loadTopo",ivt=async({robot_model:i,mapName:e,baseURL:t})=>{const n=nvt.replace("{robot_model}",i);return v0.post(n,{mapName:e},t?{baseURL:t}:void 0)},svt=()=>tvt({mutationFn:ivt}),{useMutation:ovt}=await F("@tanstack/react-query"),rvt="/{robot_model}/setting/setSettingPreset";class _K extends Error{constructor(e){super(e),this.name="SettingPresetRejectError"}}const avt=i=>typeof i.result=="string"&&i.result.toLowerCase()!=="accept",lvt=async i=>{const{robot_model:e,baseURL:t,...n}=i,s=rvt.replace("{robot_model}",e),o=await v0.post(s,n,t?{baseURL:t}:void 0);if(avt(o))throw new _K(o.message||"setSettingPreset: 요청이 거절되었습니다.");return o},cvt=()=>ovt({mutationFn:i=>lvt(i)}),{useMutation:RRn}=await F("@tanstack/react-query"),{useCallback:e$}=await F("react"),dvt=({selectedRobotModel:i})=>{const{mutateAsync:e}=evt(),{mutateAsync:t}=svt(),n=e$(async r=>await e({robot_model:i,mapName:r}),[e,i]),s=e$(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=e$(async r=>{await n(r)},[n]);return{loadMapAndRefreshCurrentMap:n,loadTopology:s,handleLoadMap:o}},uvt=i=>{const{data:e}=sbt({robot_model:i});return{mapListData:e}},{useMutation:t$}=await F("@tanstack/react-query"),hvt="/{robot_model}/mapping/start",gvt="/{robot_model}/mapping/stop",mvt="/{robot_model}/mapping/save",fvt=i=>i==="accept",pvt=async({robot_model:i})=>{const e=hvt.replace("{robot_model}",i);return _s.post(e)},_vt=async({robot_model:i})=>{const e=gvt.replace("{robot_model}",i);return _s.post(e)},bvt=async({robot_model:i,mapName:e})=>{const t=mvt.replace("{robot_model}",i);return _s.post(t,{mapName:e})},vvt=()=>{const i=t$({mutationFn:pvt}),e=t$({mutationFn:_vt});return{saveMapping:t$({mutationFn:bvt,onSuccess:n=>{if(fvt(n.result)){at.openToast({type:"basic",variant:"success",title:"Map Save Success",content:"Map data has been saved",position:"top-right"});return}at.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:n.message||"Failed to save map",position:"top-right"})},onError:()=>{at.openToast({type:"basic",variant:"warning",title:"Map Save Failed",content:"Failed to save map",position:"top-right"})}}).mutateAsync,stopMapping:e.mutateAsync,startMapping:i.mutateAsync}},Wme={data:[],chunkNum:0,chunkId:0},yvt=(i,e=!0)=>{const{data:t=Wme,loading:n}=xs(`amr/${i}/socket/mappingKeyFRM`,{defaultValue:Wme,disabled:!e,selector:s=>({data:s?.data??[],chunkNum:s?.chunkNum??0,chunkId:s?.chunkId??0})});return{...t,loading:n}},{useCallback:yD,useEffect:PO,useRef:wD,useState:zS}=await F("react"),{useQueryClient:wvt}=await F("@tanstack/react-query"),Hme=i=>i==="accept",Cvt=i=>i==="accept",Svt=({selectedRobotModel:i,emit:e,loadMapAndRefreshCurrentMap:t})=>{const n=wvt(),{data:s}=LTe({robot_model:i}),o=s?.mapName,{startMapping:r,stopMapping:a,saveMapping:l}=vvt(),[c,d]=zS("idle"),u=wD("idle"),[g,m]=zS(null),[f,p]=zS(0),[_,b]=zS(!1),[v,w]=zS(0),[y,S]=zS(0),C=wD(null),x=wD(new Set),N=wD(new Map),L=wD(!1),{data:D}=ETe(i,_),E=yvt(i,_);PO(()=>{u.current=c},[c]),PO(()=>{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=yD(()=>{d("idle"),m(null),p(0),b(!1),w(0),S(0),C.current=null,x.current.clear(),N.current.clear(),L.current=!1},[]);PO(()=>{if(!_||u.current!=="recording"||!E||E.chunkNum<=0)return;const{chunkNum:B,chunkId:V,data:G}=E;if(V<0||V>=B||((V===0||C.current===null||C.current!==B)&&(C.current=B,x.current.clear(),N.current.clear(),L.current=!1),L.current)||(x.current.add(V),N.current.set(V,G.length),x.current.size!==B))return;const H=Array.from(N.current.values()).reduce((X,K)=>X+K,0);L.current=!0,w(X=>X+1),S(X=>X+H)},[E,_]);const R=yD(async()=>{if(u.current!=="idle")return!1;try{const B=await r({robot_model:i}),V=Hme(B.result);return V&&(d("recording"),m(Date.now()),p(0),b(!0),w(0),S(0),C.current=null,x.current.clear(),N.current.clear(),L.current=!1,e("ui:mapping-start-requested",void 0)),V}catch{return!1}},[e,i,r]),A=yD(async()=>{if(u.current!=="recording")return!1;try{const B=await a({robot_model:i}),V=Hme(B.result);return V&&(d("stopped"),b(!1)),V}catch{return!1}},[i,a]),M=yD(async B=>{if(u.current==="saving")return{ok:!1,reason:"save-failed"};d("saving");try{const V=await l({robot_model:i,mapName:B});if(n.invalidateQueries({queryKey:[Pie,i]}),!Cvt(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=yD(async()=>{const B=u.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 PO(()=>()=>{const B=u.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:y,handleStartMapping:R,handleStopMapping:A,handleSaveMapping:M,handleDiscardMapping:O}};function xvt(i,e,t=!0){const{data:n,loading:s,isDefaultData:o}=xs(`amr/${i}/infoStatus`,{defaultValue:{infos:[]},selector:e,disabled:!t});return{data:n,loading:s,isDefaultData:o}}const dPe=/MCU\s*([0-9]+).*?(DIN|DIO|INPUT|OUTPUT|DI|DO|입력|출력|_IN|_OUT)[\s_-]*([0-9]+)/i,Ivt=(i,e)=>{const t=i.toUpperCase();return t==="DIO"||t==="DO"?t:t==="DIN"||t==="DI"||t==="INPUT"||t==="입력"?"DIN":t==="OUTPUT"||t==="출력"?"DIO":e==="din"?"DIN":"DIO"},kvt=(i,e)=>i.replace(/[\s_-]*[0-9]+\s*$/,"").trim()||e,Nvt=(i,e)=>Object.entries(i).reduce((t,[n,s])=>{if(typeof s!="string"||s.length===0)return t;const o=s.match(dPe);return o&&(t[n]=kvt(o[0],e)),t},{}),Lvt=(i,e)=>{if(!(i!==0&&i!==1))return`mcu${i}${e==="din"?"Din":"Dio"}`},Dvt=i=>{const e=i.trim().toLowerCase();if(e==="1"||e==="true"||e==="on")return!0;if(e==="0"||e==="false"||e==="off")return!1},Tvt=i=>Object.values(i).filter(e=>typeof e=="string"&&e.length>0),Evt=i=>{for(const e of Tvt(i)){const t=e.match(dPe);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${n}`,c=Ivt(s,a),d=`${l} ${c}`,u=Nvt(i,d);return{key:Lvt(n,a),rowKey:`mcu${n}-${a}`,label:u,mcu:n,kind:a,pin:r}}return null},CD=i=>{const e=Array.from(i.values()).sort((t,n)=>t.pin-n.pin);return e.length>0?e:void 0},Pvt=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=Evt(o.name),a=Dvt(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:CD(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:CD(e.mcu0Dio),mcu1Dio:CD(e.mcu1Dio),mcu0Din:CD(e.mcu0Din),mcu1Din:CD(e.mcu1Din)};return n.length>0?s:void 0},{useMemo:RO}=await F("react"),Rvt=({selectedRobotModel:i,enableInfoStatus:e=!1,enableTaskLogRefetch:t=!1})=>{const n=WN(i),s=cie(i),o=xvt(i,void 0,e),{data:r}=lie({limit:10,page:1,searchText:"",sort:"createdAt",order:"DESC",filter:{},fields:{}},{refetchInterval:t?2e3:0,refetchIntervalInBackground:!1}),a=RO(()=>{if(r)return{...r,items:r.items?.map(u=>({...u}))}},[r]),l=RO(()=>({...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=RO(()=>{const u=s.pose,g=s.vel;return{localizationStatus:n.locState?.locStatus??"none",autoMove:s.moveState?.autoMove,obsState:s.moveState?.obs??"none",poseX:Number(u?.x??0),poseY:Number(u?.y??0),poseZ:0,poseYaw:Number(u?.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=RO(()=>Pvt(o.data),[o.data]);return{baseAmrStatus:n,amrMoveStatus:s,amrInfoStatus:o,amrSafetyIoStatus:d,taskLogData:a,monitorStatusSnapshot:l,hudStatusSnapshot:c}},{useMutation:Mvt}=await F("@tanstack/react-query"),Avt="/{robot_model}/move/{axis}",Ovt=i=>i==="x"?"xLinear":"yLinear",Fvt=async i=>{const{robot_model:e,axis:t,...n}=i,s=Avt.replace("{robot_model}",e).replace("{axis}",Ovt(t));return _s.post(s,n)},Bvt=()=>Mvt({mutationFn:Fvt}),{useMutation:Vvt}=await F("@tanstack/react-query"),zvt="/{robot_model}/move/target",Wvt=async({robot_model:i,goalPose:e,method:t,preset:n=0})=>{const s=zvt.replace("{robot_model}",i);return _s.post(s,{goalPose:e,method:t,preset:n})},Hvt=()=>Vvt({mutationFn:Wvt}),{useMutation:$vt}=await F("@tanstack/react-query"),Uvt="/{robot_model}/move/goal",jvt=async({robot_model:i,goalId:e,goalName:t,method:n})=>{const s=Uvt.replace("{robot_model}",i);return _s.post(s,{goalId:e,...t!==void 0&&{goalName:t},...n!==void 0&&{method:n}})},Gvt=()=>$vt({mutationFn:jvt}),{useMutation:qvt}=await F("@tanstack/react-query"),Kvt="/{robot_model}/control/dock",Jvt=async({robot_model:i})=>{const e=Kvt.replace("{robot_model}",i);return _s.post(e)},Yvt=()=>qvt({mutationFn:Jvt}),{useMutation:Qvt}=await F("@tanstack/react-query"),Xvt="/{robot_model}/call_pause",Zvt=async({robot_model:i})=>{const e=Xvt.replace("{robot_model}",i);return _s.post(e)},eyt=()=>Qvt({mutationFn:Zvt}),{useMutation:tyt}=await F("@tanstack/react-query"),nyt="/{robot_model}/call_resume",iyt=async({robot_model:i})=>{const e=nyt.replace("{robot_model}",i);return _s.post(e)},syt=()=>tyt({mutationFn:iyt}),{useMutation:oyt}=await F("@tanstack/react-query"),ryt="/{robot_model}/control/dockStop",ayt=async({robot_model:i})=>{const e=ryt.replace("{robot_model}",i);return _s.post(e)},lyt=()=>oyt({mutationFn:ayt}),{useMutation:cyt}=await F("@tanstack/react-query"),dyt="/{robot_model}/control/undock",uyt=async({robot_model:i})=>{const e=dyt.replace("{robot_model}",i);return _s.post(e)},hyt=()=>cyt({mutationFn:uyt}),{useMutation:gyt}=await F("@tanstack/react-query"),myt="/{robot_model}/control/motor",fyt=async({robot_model:i,value:e})=>{const t=myt.replace("{robot_model}",i),n=await _s.post(t,{switch:e});if(n.result==="reject")throw new Error(n.message);return n},uPe=()=>gyt({mutationFn:fyt}),{useMutation:pyt}=await F("@tanstack/react-query"),_yt="/{robot_model}/control/setDetectMode",byt=()=>pyt({mutationFn:({robot_model:i,switch:e})=>{const t=_yt.replace("{robot_model}",i);return _s.post(t,{switch:e})}}),{useMutation:vyt}=await F("@tanstack/react-query"),yyt="/{robot_model}/control/setSafetyField",wyt=()=>vyt({mutationFn:({robot_model:i,safetyField:e})=>{const t=yyt.replace("{robot_model}",i);return _s.post(t,{safetyField:e})}}),{useMutation:Cyt}=await F("@tanstack/react-query"),Syt="/{robot_model}/control/setSafetyFlag",xyt=()=>Cyt({mutationFn:({robot_model:i,name:e})=>{const t=Syt.replace("{robot_model}",i);return _s.post(t,{safetyFlag:[{name:e,value:!1}]})}}),{useMutation:Iyt}=await F("@tanstack/react-query"),kyt="/{robot_model}/control/setSafetyIo",Nyt=()=>Iyt({mutationFn:async({robot_model:i,mcu0Din:e,mcu1Din:t})=>{const n=kyt.replace("{robot_model}",i),s=await _s.post(n,{mcu0Din:e,mcu1Din:t});if(s.result==="reject")throw new Error(s.message);return s}}),{useCallback:Au}=await F("react"),hPe="move.amr.toast.moveReject.title",Lyt={"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"},MO=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:""},Dyt=(i,e)=>{const t=i?.trim()??"",n=t.startsWith("move.amr.toast.moveReject.")&&t!==hPe?t:Lyt[t];return(n?e(n):void 0)||t||e("move.amr.toast.moveReject.default")},Kb=(i,e)=>{at.openToast({type:"basic",variant:"danger",title:e(hPe),content:Dyt(i,e)})},Tyt=({selectedRobotModel:i})=>{const{t:e}=J(),{mutateAsync:t}=uPe(),{mutateAsync:n}=xyt(),{mutateAsync:s}=wyt(),{mutateAsync:o}=Nyt(),{mutateAsync:r}=byt(),{mutate:a}=Yvt(),{mutate:l}=eyt(),{mutate:c}=syt(),{mutate:d}=lyt(),{mutate:u}=hyt(),{mutate:g}=Hvt(),{mutate:m}=Gvt(),{mutate:f}=Bvt(),p=Au(T=>t({robot_model:i,value:!T}),[i,t]),_=Au(T=>{g({robot_model:i,...T},{onSuccess:R=>{R?.result!=="accept"&&Kb(R?.message,e)},onError:R=>{Kb(MO(R),e)}})},[g,i,e]),b=Au(T=>{m({robot_model:i,...T},{onSuccess:R=>{R?.result!=="accept"&&Kb(R?.message,e)},onError:R=>{Kb(MO(R),e)}})},[m,i,e]),v=Au(T=>{if(T.axis==="y"){const 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"&&Kb(A?.message,e)},onError:A=>{Kb(MO(A),e)}});return}f({robot_model:i,axis:"x",target:T.target,speed:T.speed},{onSuccess:R=>{R?.result!=="accept"&&Kb(R?.message,e)},onError:R=>{Kb(MO(R),e)}})},[f,i,e]),w=Au(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]),y=Au(()=>{u({robot_model:i})},[i,u]),S=Au(()=>{l({robot_model:i})},[l,i]),C=Au(()=>{c({robot_model:i})},[c,i]),x=Au(()=>{d({robot_model:i})},[d,i]),N=Au(T=>n({robot_model:i,name:T}),[i,n]),L=Au(T=>s({robot_model:i,safetyField:T}),[i,s]),D=Au(T=>r({robot_model:i,switch:T}),[i,r]),E=Au(T=>o({robot_model:i,...T}),[i,o]);return{handleSetMotorLocked:p,handleMoveTarget:_,handleMoveGoal:b,handleMoveLinear:v,handleDock:w,handleDockPause:S,handleDockResume:C,handleDockStop:x,handleUndock:y,handleClearSafetyFlag:N,handleSetSafetyField:L,handleSetSafetyIo:E,handleSetDetectMode:D}},gPe=()=>({GOAL:0,ROUTE:0,ALIGN:0}),Eyt=i=>{const e=i.toUpperCase();return e==="GOAL"?"GOAL":e==="ROUTE"?"ROUTE":e==="ALIGN"?"ALIGN":null},$me=i=>{const e=gPe();return i.forEach(t=>{const n=Eyt(t);n&&(e[n]+=1)}),e},{useMemo:Pyt}=await F("react"),Ryt=({nodes:i,topologyData:e})=>{const t=Pyt(()=>i.length>0?$me(i.map(s=>s.type)):e?.length?$me(e.map(s=>s.type)):gPe(),[i,e]),n=i.length>0?i.length:e?.length??0;return{nodeTypeCounts:t,topologyCount:n}},{useState:Ume}=await F("react"),Myt=()=>{const[i,e]=Ume(.3),[t,n]=Ume(15);return{linearJogSpeed:i,setLinearJogSpeed:e,rotationJogSpeed:t,setRotationJogSpeed:n}},{useCallback:jme,useEffect:Gme,useState:kw}=await F("react"),Ayt=({editorReady:i,worldStudioRef:e})=>{const[t,n]=kw(!1),[s,o]=kw(.5),[r,a]=kw("goal"),[l,c]=kw("cursor"),[d,u]=kw(!1),[g,m]=kw(0),[f,p]=kw(!1),_=jme(()=>{u(!0)},[]),b=jme(()=>{u(!1)},[]);return Gme(()=>{i?.editor&&o(e.current?.getEraserRadius()??.5)},[i?.editor,e]),Gme(()=>{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:Oyt}=await F("react"),{useQuery:Fyt}=await F("@tanstack/react-query"),mPe="topology.json",fPe="/{robot_model}/map/getTopology",Byt=999,Vyt=i=>({...i,format_version:i.format_version??_4,metadata:i.metadata,nodes:i.nodes??[],links:i.links??[],zones:i.zones??[]}),qme=async({robot_model:i,mapName:e,pageNo:t})=>{const n=fPe.replace("{robot_model}",i),s=await _s.get(n,{params:{mapName:e,fileName:mPe,pageNo:t,pageSize:Byt}});return Vyt(s)},zyt=async({robot_model:i,mapName:e})=>{const t=await qme({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)=>qme({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)}},Wyt=(i,e={})=>{const t=Oyt(()=>[fPe,{...i,fileName:mPe}],[i]);return{...Fyt({queryKey:t,queryFn:()=>zyt(i),enabled:!!i.mapName,...e}),queryKey:t}},Hyt="modulepreload",$yt=function(i){return"/"+i},Kme={},Ct=function(e,t,n){let s=Promise.resolve();if(t&&t.length>0){let r=function(c){return Promise.all(c.map(d=>Promise.resolve(d).then(u=>({status:"fulfilled",value:u}),u=>({status:"rejected",reason:u}))))};document.getElementsByTagName("link");const a=document.querySelector("meta[property=csp-nonce]"),l=a?.nonce||a?.getAttribute("nonce");s=r(t.map(c=>{if(c=$yt(c),c in Kme)return;Kme[c]=!0;const d=c.endsWith(".css"),u=d?'[rel="stylesheet"]':"";if(document.querySelector(`link[href="${c}"]${u}`))return;const g=document.createElement("link");if(g.rel=d?"stylesheet":Hyt,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:QM,memo:Uyt,Suspense:jyt,useEffect:Gyt,useState:Jme}=await F("react"),qyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.Overview}))),Kyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.TaskInformation}))),Jyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.PduInfo}))),Yyt=QM(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.DockControl}))),Qyt=QM(()=>Ct(()=>import("./AmrCapabilityControl.BrB4gWci.js"),__vite__mapDeps([7,3,2,4,5,6,8]))),Xyt=[{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"}],Yme=i=>i==="overview"||i==="task"||i==="pdu"||i==="dock"||i==="capability",AO=()=>{},Zyt=({className:i,robotModel:e,overviewProps:t,taskProps:n,pduProps:s,dockProps:o})=>{const[r,a]=gc(),l=Dr(),{t:c}=J(),{theme:d}=rt(),[u,g]=Jme(()=>{const N=r.get("monitor_tab");return N==="motor"?"pdu":N&&Yme(N)?N:"overview"}),[m,f]=Jme(!1);Gyt(()=>{f(!1)},[e]);const p=()=>at.openToast({type:"basic",variant:"success",title:c("move.amr.pdu.toast.motorConnect.title"),content:c("move.amr.pdu.toast.motorConnect.content")}),_=()=>at.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=N=>{g(N);const L=new URLSearchParams(r);L.set("monitor_tab",N),a(L,{replace:!0})},w=()=>{f(!1),o.onDock?.()},y=()=>{f(!0),o.onPause?.()},S=()=>{f(!1),o.onResume?.()},C=()=>{f(!1),o.onStop?.()},x=()=>{f(!1),o.onUndock?.()};return h("div",{className:P("AmrMonitorControl","h-full",i),children:h("div",{className:"flex h-full gap-0",children:k("div",{className:"flex h-full min-h-0 flex-1 flex-col overflow-x-hidden",children:[h("div",{className:P("shrink-0",d==="light"?"bg-default":"bg-alt-1"),children:h(uW,{tabItems:Xyt.map(N=>({key:N.value,label:c(N.label)})),activeKey:u,handleChange:N=>{Yme(N)&&v(N)},size:"xs",tabBtnClassName:"typo-compact-xs-bold light:bg-white light:[&.active]:bg-fill-navy! light:[&.active]:text-white!"})}),h(q,{className:"min-h-0 flex-1 overflow-y-auto",children:k(jyt,{fallback:null,children:[u==="overview"&&h(qyt,{amrStatus:t.amrStatus,robotVersion:t.robotVersion,onStartLocalization:t.onStartLocalization??AO,onInitLocalization:t.onInitLocalization??AO,onSemiAutoInitLocalization:t.onSemiAutoInitLocalization??AO,onStopLocalization:t.onStopLocalization??AO,selectedTool:t.selectedTool,onToolChange:t.onToolChange,onBuildInfoOpenChange:t.onBuildInfoOpenChange}),u==="task"&&h(Kyt,{logData:n.logData,moveStatus:n.moveStatus}),u==="pdu"&&h(Jyt,{amrStatus:s.amrStatus,setMotorLocked:s.setMotorLocked,onClearSafetyRecovery:s.onClearSafetyRecovery,onLidarFieldSave:s.onLidarFieldSave,onOssdDetectChange:s.onOssdDetectChange,safetyIo:s.safetyIo,safetyIoLoading:s.safetyIoLoading,onSetSafetyIo:s.onSetSafetyIo,onSafetyIoSetError:_,onMotorConnectSuccess:p,onLidarSaveSuccess:()=>at.openToast({type:"basic",variant:"success",title:c("move.amr.pdu.toast.lidarSave.title"),content:c("move.amr.pdu.toast.lidarSave.content")}),onMotorConnectError:_,onLidarSaveError:_}),u==="dock"&&h(Yyt,{amrStatus:o.amrStatus,isPaused:m,onDock:w,onPause:y,onResume:S,onStop:C,onUndock:x,maxRetryCount:o.maxRetryCount,rejectMessage:o.rejectMessage,onOpenRetrySettings:b,dockDisabled:e.startsWith("S100")}),u==="capability"&&h(Qyt,{robotModel:e})]})})]})})})},ewt=Uyt(Zyt),{lazy:Rie,memo:twt,Suspense:nwt,useEffect:iwt,useState:swt}=await F("react"),owt=Rie(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.EraserTab}))),rwt=Rie(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.MapInfo}))),awt=Rie(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.MappingTab}))),lwt=[{label:"move.amr.rightPanel.map.tab.info",value:"info"},{label:"move.amr.rightPanel.map.tab.mapping",value:"mapping"},{label:"move.amr.rightPanel.map.tab.erasing",value:"erasing"}],n$="map_tab",i$=i=>i==="info"||i==="mapping"||i==="erasing",cwt=({className:i,mapInfoProps:e,mappingTabProps:{mapList:t,...n},eraserTabProps:s,hasUnsavedCloudChanges:o=!1,onDiscardCloudChanges:r,onDownloadMap:a,downloadMapDisabled:l})=>{const{theme:c}=rt(),{t:d}=J(),{confirmDialog:u}=si(),[g,m]=gc(),[f,p]=swt(()=>{const b=g.get(n$)??"";return i$(b)?b:"info"});iwt(()=>{const b=g.get(n$)??"",v=i$(b)?b:"info";p(w=>w!==v?v:w)},[g]);const _=async b=>{if(b===f)return;const v=n?.mappingStatus??"idle",w=f==="mapping"&&b!=="mapping",y=f==="erasing"&&b!=="erasing";if(w){if(v==="saving"||v==="discarding")return;if(v!=="idle"){if(!await u({title:d("move.amr.rightPanel.map.dialog.discardMapping.title"),content:d("move.amr.rightPanel.map.dialog.discardMapping.content"),buttonText:{yes:d("move.amr.rightPanel.map.dialog.discardMapping.yes"),no:d("move.amr.rightPanel.common.cancel")}}))return;await n?.onDiscard?.()}}if(y&&o){if(!await u({title:"Discard erasing changes?",content:"Leaving the erasing tab will discard erased point changes.",buttonText:{yes:d("move.amr.rightPanel.map.dialog.discardMapping.yes"),no:d("move.amr.rightPanel.common.cancel")}}))return;await r?.()}p(b);const S=new URLSearchParams(g);S.set(n$,b),m(S,{replace:!0})};return k(q,{className:P("AmrMapControl","h-full","overflow-x-hidden",i),children:[h("div",{className:P("sticky top-0 left-0 z-2",c==="light"?"bg-default":"bg-alt-1"),children:h(uW,{tabItems:lwt.map(b=>({key:b.value,label:d(b.label)})),activeKey:f,handleChange:b=>{i$(b)&&_(b)},size:"xs",tabBtnClassName:"typo-compact-xs-bold light:bg-white light:[&.active]:bg-fill-navy! light:[&.active]:text-white!"})}),h(q,{className:"min-h-0 flex-1",children:k(nwt,{fallback:null,children:[f==="info"&&h(rwt,{currentMapName:e?.currentMapName??"",createdAt:e?.createdAt,lastModified:e?.lastModified,mapCloudCount:e?.mapCloudCount??0,mapBounds:e?.mapBounds,topologyCount:e?.topologyCount??0,nodeTypeCounts:e?.nodeTypeCounts,onDownloadMap:a,downloadMapDisabled:l}),f==="mapping"&&h(awt,{mappingStatus:n?.mappingStatus,elapsedSeconds:n?.elapsedSeconds,completedKeyframeCount:n?.completedKeyframeCount,totalKeyframePoints:n?.totalKeyframePoints,onStartMapping:n?.onStartMapping,onStopMapping:n?.onStopMapping,onSaveMapping:n?.onSaveMapping,onDiscard:n?.onDiscard,mapList:t}),f==="erasing"&&h(owt,{...s})]})})]})},dwt=twt(cwt),{lazy:uwt,memo:hwt,Suspense:gwt,useState:mwt}=await F("react"),fwt=uwt(()=>Ct(()=>import("./index.gNqUQbXV.js"),__vite__mapDeps([0,1,2,3,4,5,6])).then(i=>({default:i.MarkerControl}))),pwt=[{label:"move.amr.rightPanel.marker.tab.register",value:"register"},{label:"move.amr.rightPanel.marker.tab.teaching",value:"teaching"}],_wt=({className:i,markerProps:e})=>{const{theme:t}=rt(),{t:n}=J(),[s,o]=mwt("register");return h("div",{className:P("AmrMarkerControl","h-full",i),children:h("div",{className:"flex h-full gap-0",children:k("div",{className:"flex h-full flex-1 flex-col overflow-hidden",children:[h("div",{className:P("sticky top-0 left-0 z-2",t==="light"?"bg-default":"bg-alt-1"),children:h(uW,{tabItems:pwt.map(r=>({key:r.value,label:n(r.label)})),activeKey:s,handleChange:r=>o(r),size:"xs",tabBtnClassName:"typo-compact-xs-bold light:bg-white light:[&.active]:bg-fill-navy! light:[&.active]:text-white!"})}),h(q,{className:"h-full",children:h(gwt,{fallback:null,children:h(fwt,{mode:s,isScanning:e.isScanning,detections:e.detections,onScanStart:e.onScanStart,onScanStop:e.onScanStop,onRegisterMarker:e.onRegisterMarker,isRegisterPending:e.isRegisterPending,lastRegisteredMarkerId:e.lastRegisteredMarkerId,registeredMarkers:e.registeredMarkers,capturedPose:e.capturedPose,capturedDetection:e.capturedDetection,onCapturePose:e.onCapturePose,onTeachTarget:e.onTeachTarget})})})]})})})},bwt=hwt(_wt),vwt={detections:[],stamp:0},ywt=i=>({camId:i.camId,markerId:i.markerId,type:i.type,pose:i.pose?{x:i.pose.x,y:i.pose.y,z:i.pose.z,rx:i.pose.rx,ry:i.pose.ry,rz:i.pose.rz}:void 0,confidence:i.confidence,distM:i.distM}),wwt=(i,e=!1)=>{const{data:t}=xs(`amr/${i}/marker/detected`,{defaultValue:vwt,disabled:!e});return{detections:t.detections.map(ywt),stamp:t.stamp}},{useMutation:Cwt}=await F("@tanstack/react-query"),Swt="/{robot_model}/marker/scanStart",xwt=async({robot_model:i})=>{const e=Swt.replace("{robot_model}",i);return _s.post(e)},Iwt=()=>Cwt({mutationFn:xwt}),{useMutation:kwt}=await F("@tanstack/react-query"),Nwt="/{robot_model}/marker/scanStop",Lwt=async({robot_model:i})=>{const e=Nwt.replace("{robot_model}",i);return _s.post(e)},Dwt=()=>kwt({mutationFn:Lwt}),{useMutation:Twt}=await F("@tanstack/react-query"),Ewt="/{robot_model}/marker/register",Pwt=async({robot_model:i,...e})=>{const t=Ewt.replace("{robot_model}",i);return _s.post(t,e)},Rwt=()=>Twt({mutationFn:Pwt}),{useMutation:Mwt}=await F("@tanstack/react-query"),Awt="/{robot_model}/marker/setPrecisionNode",Owt=async({robot_model:i,...e})=>{const t=Awt.replace("{robot_model}",i);return _s.post(t,e)},Fwt=()=>Mwt({mutationFn:Owt}),{useCallback:SD,useEffect:Bwt,useMemo:Vwt,useState:OO}=await F("react"),{useQueryClient:zwt}=await F("@tanstack/react-query"),pPe=i=>{if(!i)return{markerId:NaN,mount:""};const e=t=>{const n=i.match(new RegExp(`${t}=([^;]+)`));return n?n[1]:""};return{markerId:parseInt(e("marker"),10),mount:e("mount")}},Wwt=i=>{if(!i.features.includes("PRECISION"))return null;const{markerId:e}=pPe(i.context);return isNaN(e)?null:{markerId:e,nodeId:i.id,nodeName:i.name,pose:{x:i.pose.x,y:i.pose.y,rz:i.pose.rz},context:i.context}},Hwt=(i,e)=>{const t=i.features.includes("APRIL"),n=i.features.includes("ARUCO");if(!t&&!n)return null;const{markerId:s,mount:o}=pPe(i.context);return isNaN(s)?null:{markerId:s,nodeId:i.id,type:t?"APRIL":"ARUCO",mount:o||"WALL",targets:[],precisionTarget:e.get(s)??null}},$wt=({robotModel:i,enabled:e=!1,mapName:t,topology:n,robotPose:s,onNodeRegistered:o})=>{const{t:r}=J(),a=zwt(),[l,c]=OO(!1),[d,u]=OO(null),[g,m]=OO(null),[f,p]=OO(null),_=Vwt(()=>{const R=n?.nodes??[],A=new Map;for(const M of R){const O=Wwt(M);O&&A.set(O.markerId,O)}return R.filter(M=>M.type==="ALIGN").flatMap(M=>{const O=Hwt(M,A);return O?[O]:[]})},[n]),{detections:b}=wwt(i,l),{locState:v}=WN(i,R=>({locState:R.locState})),{mutate:w}=Iwt(),{mutate:y}=Dwt(),{mutate:S,isPending:C}=Rwt(),{mutate:x}=Fwt(),N=SD((R=!0)=>{if(v?.locStatus!=="good"){R&&at.openToast({title:r("move.amr.toast.markerScanReject.title"),content:r("move.amr.toast.markerScanReject.localizationUnavailable"),type:"basic",variant:"warning"});return}w({robot_model:i},{onSuccess:()=>c(!0)})},[v?.locStatus,i,w,r]),L=SD(()=>{y({robot_model:i},{onSuccess:()=>c(!1)})},[i,y]);Bwt(()=>{if(e){!l&&v?.locStatus==="good"&&N(!1);return}l&&L()},[e,N,L,l,v?.locStatus]);const D=SD(R=>{S({robot_model:i,...R},{onSuccess:A=>{if(!(A.result!=="success"&&A.result!=="accept")&&(u(R.markerId),at.openToast({title:r("move.amr.toast.markerRegister.title"),content:r("move.amr.toast.markerRegister.success",{markerId:R.markerId}),type:"basic",variant:"success"}),A.node&&(o?.(A.node),t))){const M=[V4,{robot_model:i,mapName:t}];a.setQueryData(M,O=>!O||O.nodes.some(B=>B.id===A.node.id)?O:{...O,nodes:[...O.nodes,A.node]}),a.invalidateQueries({queryKey:M})}}})},[t,o,a,i,S,r]),E=SD(()=>{s&&m({x:s.x,y:s.y,rz:s.rz})},[s]),T=SD(R=>{x({robot_model:i,markerId:R.markerId,nodeName:R.nodeName},{onSuccess:A=>{if(A.result==="reject"){A.message==="marker_not_visible"&&at.openToast({title:r("move.amr.toast.markerTeach.title"),content:r("move.amr.toast.markerTeach.reject.markerNotVisible"),type:"basic",variant:"danger"});return}if(!(A.result!=="success"&&A.result!=="accept")){if(A.node&&(at.openToast({title:r("move.amr.toast.markerTeach.title"),content:"",type:"basic",variant:"success"}),o?.(A.node),t)){const M=[V4,{robot_model:i,mapName:t}];a.setQueryData(M,O=>!O||O.nodes.some(B=>B.id===A.node.id)?O:{...O,nodes:[...O.nodes,A.node]}),a.invalidateQueries({queryKey:M})}m(null),p(null)}}})},[i,x,t,o,a,r]);return{isScanning:l,detections:b,onScanStart:N,onScanStop:L,onRegisterMarker:D,isRegisterPending:C,lastRegisteredMarkerId:d,registeredMarkers:_,capturedPose:g,capturedDetection:f,onCapturePose:E,onTeachTarget:T}},{memo:Uwt,useMemo:xD,useState:jwt}=await F("react"),Gwt=i=>typeof i=="object"&&i!==null&&!Array.isArray(i),qwt=i=>Gwt(i)&&("name"in i||"value"in i),BP=(i,e)=>{if(!i)return"";if(typeof i=="string")return i;const t=e.split("-")[0];return i[t]??i.en??i.ko??Object.values(i).find(s=>!!s)??""},Kwt=(i,e,t)=>BP(t.get(i),e)||i,Jwt=i=>{const e=i?.infos;return{items:Array.isArray(e)?e.filter(qwt):[]}},Mie=i=>i==null||i===""?"-":typeof i=="boolean"?i?"true":"false":String(i),Ywt=i=>i.trim().toLowerCase(),Qwt=i=>{const e=Mie(i.value);return i.type===2?{color:e==="1"?"green":"gray",label:e==="1"?"ON":e==="0"?"OFF":e}:i.type===1?{color:"blue",label:e}:null},Xwt=({item:i,currentLanguage:e})=>{const t=BP(i.name,e)||i.categoryId||"unknown",n=BP(i.description,e),s=Mie(i.value),o=Qwt(i);return k("div",{className:"bg-fill-disabled flex w-full min-w-0 shrink-0 items-start justify-between gap-2 rounded-md px-2.5 py-2",children:[k("div",{className:"min-w-0 flex-1",children:[k(U,{className:"min-w-0 items-center gap-1.5",children:[i.color?h("span",{className:"size-2 shrink-0 rounded-full",style:{backgroundColor:i.color}}):null,h("p",{className:"typo-compact-xs2-normal text-fg-subtle min-w-0 break-words",children:t})]}),n?h("p",{className:"typo-compact-2xs-normal text-fg-subtler mt-0.5 min-w-0 break-words",children:n}):null]}),h("div",{className:"flex max-w-[45%] shrink-0 flex-col items-end gap-1",children:o?h(hy,{type:"soft",color:o.color,className:"max-w-full",children:h("span",{className:"max-w-full min-w-0 break-all",children:o.label})}):h("p",{className:"typo-compact-xs2-medium text-fg-default max-w-full min-w-0 text-right font-mono break-all",title:s,children:s})})]})},Zwt=(i,e,t)=>{const n=i(e);return n===e?t:n},eCt=({infoStatus:i,infoCategories:e,infoStatusLoading:t=!1,infoStatusIsDefault:n=!0})=>{const[s,o]=jwt(""),{t:r,currentLanguage:a}=J(),l=xD(()=>(f,p)=>Zwt(r,f,p),[r]),{items:c}=xD(()=>Jwt(i),[i]),d=xD(()=>{const f=new Map;for(const p of e??[])f.set(p.categoryId,p.name);return f},[e]),u=xD(()=>{const f=new Map;for(const p of c){const _=p.categoryId||"uncategorized",b=f.get(_)??[];b.push(p),f.set(_,b)}return Array.from(f.entries()).map(([p,_])=>({id:p,label:Kwt(p,a,d),items:_}))},[d,a,c]),g=xD(()=>{const f=Ywt(s);return f?u.map(p=>{const _=p.items.filter(b=>[p.id,p.label,b.categoryId,b.groupId,BP(b.name,a),BP(b.description,a),Mie(b.value)].filter(Boolean).join(" ").toLowerCase().includes(f));return{...p,items:_}}).filter(p=>p.items.length>0):u},[u,a,s]),m=!n&&i!==void 0&&c.length>0;return k(q,{className:"h-full min-h-0 w-full max-w-full min-w-0",children:[k(U,{className:"h-10 min-w-0 shrink-0 items-center justify-between gap-2 px-5 py-4",children:[h("div",{className:"min-w-0 flex-1",children:h("p",{className:"typo-compact-sm2-semibold text-fg-default break-all",children:l("move.amr.rightPanel.debug.title","Debug")})}),h(hy,{type:"soft",color:t?"blue":m?"green":"gray",className:"max-w-24 shrink-0",children:h("span",{className:"break-all",children:t?l("move.amr.rightPanel.debug.state.loading","Loading"):m?l("move.amr.rightPanel.debug.state.receiving","Receiving"):l("move.amr.rightPanel.debug.state.waiting","Waiting")})})]}),m?h("div",{className:"shrink-0 px-3 py-2",children:h(nt,{className:"w-full",size:"xs2",type:"search",value:s,placeholder:l("move.amr.rightPanel.debug.search","Search"),handleChange:f=>o(String(f??"")),handleReset:()=>o("")})}):null,h(q,{className:"min-h-0 w-full max-w-full min-w-0 flex-1 overflow-x-hidden overflow-y-auto",children:m?g.length>0?g.map(f=>k(q,{className:"border-subtler w-full max-w-full min-w-0 shrink-0 gap-2 border-b px-5 py-4",children:[k(U,{className:"min-w-0 items-center justify-between gap-2",children:[h("div",{className:"min-w-0 flex-1",children:h("p",{className:"typo-compact-sm2-semibold text-fg-subtle min-w-0 break-words",children:f.label})}),h(hy,{type:"soft",color:"gray",className:"shrink-0",children:f.items.length})]}),h("div",{className:"grid w-full min-w-0 shrink-0 grid-cols-2 gap-1.5",children:f.items.map((p,_)=>h(Xwt,{item:p,currentLanguage:a},`${f.id}-${_}`))})]},f.id)):h(eq,{className:"h-full min-h-40 shrink-0 [&_[data-slot='empty-view-section']]:h-full",type:"icon",message:l("move.amr.rightPanel.debug.noSearchResults","No matching debug items.")}):h(eq,{className:"h-full min-h-40 shrink-0 [&_[data-slot='empty-view-section']]:h-full",type:"icon",message:l("move.amr.rightPanel.debug.waitingInfoStatus","Waiting for infoStatus data.")})})]})},tCt=Uwt(eCt),nCt=({isFullscreen:i,onToggle:e})=>h(FN,{id:"fullscreen-toggle-tooltip",label:i?"Exit Full Screen":"Full Screen",icon:i?h(m8e,{className:"h-4 w-4"}):h(fW,{className:"h-4 w-4"}),onClick:e}),iCt=({showJoysticks:i,setShowJoysticks:e})=>{const{t}=J();return h(FN,{id:"joystick-toggle-tooltip",label:t("move.amr.panel.virtualJoysticks"),icon:h(FIe,{className:"relative z-10 h-4 w-4"}),onClick:()=>e(!i),isOpen:i})},{useRef:sCt}=await F("react"),oCt=({showViewControls:i,setShowViewControls:e,visibilityItems:t,cameraModeControl:n,numberItems:s})=>{const{t:o}=J(),{theme:r}=rt(),a=sCt(null);return f8e(a,()=>{e(!1)}),k("div",{ref:a,className:"relative",children:[h(FN,{id:"view-controls-tooltip",label:o("move.amr.panel.viewportVisibility"),icon:h(nne,{className:"relative z-10 h-4 w-4"}),onClick:()=>e(!i),isOpen:i}),i&&k(q,{className:`${r==="light"?"bg-white":"bg-alt-1"} border-disabled shadow-down-xs absolute -top-20 right-full z-50 mr-2 w-64 gap-2.5 rounded-md px-3 py-2.5`,children:[h("p",{className:"typo-compact-xs-semibold text-fg-default",children:o("move.amr.panel.viewportControl")}),n?k(bn,{children:[k(q,{children:[h("p",{className:"typo-compact-xs2-semibold text-fg-subtle pb-2",children:o("move.amr.viewportControls.section.camera")}),k(q,{className:"gap-2",children:[k(q,{className:"gap-0.5",children:[h("p",{className:"typo-compact-xs2-semibold text-fg-default",children:n.label}),n.description?h("p",{className:"typo-compact-xs-normal text-fg-subtle",children:n.description}):null]}),h(U,{className:"gap-1",children:n.items.map(l=>{const c=l.value===n.value;return h(_e,{className:"h-7 flex-1 px-2",size:"xs",variant:c?"brand":"outlined",title:l.description,onClick:()=>n.onChange(l.value),children:l.label},l.value)})})]})]}),h(Zs,{})]}):null,k(q,{children:[h("p",{className:"typo-compact-xs2-semibold text-fg-subtle pb-2",children:o("move.amr.viewportControls.section.visibility")}),t.map((l,c)=>k(q,{children:[k(U,{className:"items-center justify-between",children:[k(q,{className:"gap-0.5",children:[h("p",{className:"typo-compact-xs2-semibold text-fg-default",children:l.label}),l.description?h("p",{className:"typo-compact-xs-normal text-fg-subtle",children:l.description}):null]}),h(Lo,{checked:l.checked,onCheckedChange:d=>{l.onCheckedChange(!!d)}})]}),c<t.length-1?h(Zs,{className:"py-2"}):null]},l.label))]}),!!s?.length&&k(bn,{children:[h(Zs,{}),k(q,{children:[h("p",{className:"typo-compact-xs2-semibold text-fg-subtle pb-2",children:o("move.amr.viewportControls.section.rendering")}),s.map((l,c)=>k(q,{children:[k(U,{className:"items-center justify-between gap-2",children:[k(q,{className:"min-w-0 gap-0.5",children:[h("p",{className:"typo-compact-xs2-semibold text-fg-default",children:l.label}),l.description?h("p",{className:"typo-compact-xs-normal text-fg-subtle",children:l.description}):null]}),k(U,{className:"shrink-0 items-center gap-1",children:[h(gW,{className:"w-24",value:String(l.value),min:l.min,max:l.max,size:"xs2",step:l.step,digit:l.digit,handleChange:d=>{if(d.trim()==="")return;const u=Number(d);Number.isNaN(u)||typeof l.min=="number"&&u<l.min||typeof l.max=="number"&&u>l.max||l.onChange(u)}}),l.unit?h("span",{className:"typo-compact-xs-normal text-fg-subtle",children:l.unit}):null]})]}),c<s.length-1?h(Zs,{className:"py-2"}):null]},l.label))]})]})]})]})},{useCallback:Ls,useEffect:Nw,useMemo:s$,useRef:FO,useState:Bh}=await F("react"),o$={fullscreen:"right-6",menuExpanded:"right-113",menuCollapsed:"right-92"},r$={fullscreen:"right-2",menuExpanded:"right-[8.25rem]",menuCollapsed:"right-[3.25rem]"},rCt=({isFullscreen:i,isMenuExpanded:e})=>i?o$.fullscreen:e?o$.menuExpanded:o$.menuCollapsed,Qme=(i,e)=>{const t=new URL(i.startsWith("http")?i:`http://${i}`);return t.port=String(e),t.pathname="",t.search="",t.hash="",t.toString().replace(/\/$/,"")},aCt=({robotModel:i})=>{const{t:e}=J(),{selectedRobot:t}=Fi(i),{data:n}=gp(),[s,o]=Bh(!1),{data:r}=p8e({robot_model:i,enabled:s}),[a,l]=gc(),c=a.get("expended")==="1",d=a.get("debug")==="1",u=a.get("menu")||"monitor",g=a.get("monitor_tab"),m=u==="monitor"&&(g==="pdu"||g==="motor"),f=u==="monitor"&&g==="task",{data:p}=J_t({robot_model:i},{enabled:d}),_=FO(null),[b,v]=Bh(null),[w,y]=Bh(!1),[S,C]=Bh(!1),[x,N]=Bh(!1),[L,D]=Bh(80),[E,T]=Bh(!1),[R,A]=Bh(!1),M=E||R,{data:O,loading:B}=cbt(i,S),[V,G]=Bh(null),[H,X]=Bh(!1),[K,z]=Bh({}),de=FO({}),{modal:te}=$i(),{confirmDialog:ie}=si(),he=FO(null),{ready:ce,selectedObjects:Ie,selectedNode:Ee,selectedNodeTransform:Te,focusedLinkId:lt,selectedLinks:st,selectedZoneIds:kt,focusedZoneId:yt,nodes:Bt,links:Ft,zones:nn,mapBounds:ei,zoneDraft:oi,worldStudioStateProps:Nt}=Oke(),be=Ls((Je,Bn)=>{he.current?.emit(Je,Bn)},[]),Ve=Ls(Je=>{be("ui:link-visibility-filter-requested",{filter:Je})},[be]),{linkVisibilityFilter:ke,setLinkVisibilityFilter:Ke,visibleSelectedLinks:xe,visibleFocusedLink:fe,selectedLinkOverlayItems:Ne,focusedLinkAnchor:ze}=F_t({nodes:Bt,selectedLinks:st,focusedLinkId:lt,onLinkVisibilityFilterChange:Ve}),{focusedZone:Ze,selectedZoneOverlayItems:Dt,focusedZoneAnchor:Ln}=V_t({zones:nn,selectedZoneIds:kt,focusedZoneId:yt}),dn=nUe({anchorObject:fe||Ze?null:Ee,anchorWorldPosition:fe?ze:Ze?Ln:null,worldStudioRef:he,viewportHostRef:_}),ii=Ls(()=>he.current?.getPreviewTransform()??null,[]),xi=Ls(()=>he.current?.getMapPointsData()??[],[]),ji=Ls(()=>he.current?.getTopologyData()??{format_version:_4,nodes:[],links:[],zones:[]},[]);Nw(()=>{o(!1)},[i]);const[jo,lo]=Bh(null),{baseAmrStatus:co,amrMoveStatus:Ms,amrInfoStatus:mr,amrSafetyIoStatus:jl,taskLogData:Dh,monitorStatusSnapshot:Rg,hudStatusSnapshot:Po}=Rvt({selectedRobotModel:i,enableInfoStatus:d||m,enableTaskLogRefetch:f}),vo=co.mapState?.mapName||void 0,{mapListData:kl}=uvt(i),aa=s$(()=>kl?.list?.map(Je=>Je.mapName),[kl?.list]),{mapCloud:Ns,mapCloudUpdatedAt:St,topology:Un,topologyUpdatedAt:ls,refetchTopology:Ii}=Dbt({selectedRobotModel:i,mapTopoParams:b}),{currentMapInfo:yo}=Lbt({currentMapName:vo,mapListData:kl}),{nodeTypeCounts:fr,topologyCount:pr}=Ryt({nodes:Bt,topologyData:Un?.nodes}),xn=Un?.metadata?.created_at??Un?.metadata?.createdAt??null,{downloadJsonFile:_r,downloadCsvFile:Bd}=iUe(),{refetch:br,isFetching:vc}=Wyt({robot_model:i,mapName:vo??""},{enabled:!1}),{selectedTool:Ro,onToolChange:Th}=sUe();Nw(()=>{const Je=Ro==="move"||Ro==="rotate"||Ro==="scale";Ie.length===0&&Je&&Th("select")},[Th,Ie.length,Ro]);const{showGrid:un,showJoysticks:Pe,setShowJoysticks:ft,showViewControls:qt,setShowViewControls:As,showNodeLabels:Ks,showSimpleNodes:wo,showLidar:el,lidarPointSize:Xc,viewportCameraMode:Pu,visibilityItems:Eh,cameraModeControl:Er,renderingSettingItems:Tb}=oUe(),{isEraserEnabled:Mg,setIsEraserEnabled:iw,eraserRadius:DL,setEraserRadius:TL,selectedNodeType:X0,setSelectedNodeType:yc,selectedNodePlacementType:EL,setSelectedNodePlacementType:e2,hasUnsavedTopologyChanges:Lp,resetTopologyDirty:PL,selectedEraserPointsCount:RL,setSelectedEraserPointsCount:sw,hasUnsavedCloudChanges:Z0,setHasUnsavedCloudChanges:Ag}=Ayt({editorReady:ce,worldStudioRef:he}),Eb=Ls(Je=>{if(Mg){if(Je!=="select"&&Je!=="target")return;iw(!1),be("ui:eraser-toggle-requested",!1)}Th(Je)},[be,Mg,Th,iw]),{linearJogSpeed:t2,setLinearJogSpeed:n2,rotationJogSpeed:eS,setRotationJogSpeed:tS}=Myt(),{handleJoystickMove:ow,handleButtonMove:O7}=abt({robotModel:i,linearSpeed:t2,rotationSpeed:eS});Nw(()=>{vo&&b?.mapName!==vo&&v({mapName:vo})},[vo,b?.mapName]);const{loadMapAndRefreshCurrentMap:nS,loadTopology:F7,handleLoadMap:i2}=dvt({selectedRobotModel:i}),{handleStartLocalization:B7,handleInitLocalization:Pb,handleSemiAutoInitLocalization:iS,handleStopLocalization:ML}=Ybt({selectedRobotModel:i,getPreviewTransform:ii}),{handleInitLocalizationWithGuard:rw,handleSemiAutoInitLocalizationWithGuard:V7}=jbt({selectedRobotModel:i,currentMapName:vo,currentMapInfo:yo,mapListData:kl,topologyNodes:Un?.nodes,hasUnsavedTopologyChanges:Lp,handleInitLocalization:Pb,handleSemiAutoInitLocalization:iS}),{handleSetMotorLocked:Rb,handleMoveTarget:z7,handleMoveGoal:AL,handleMoveLinear:OL,handleDock:sS,handleDockPause:FL,handleDockResume:Mb,handleDockStop:Ab,handleUndock:s2,handleClearSafetyFlag:o2,handleSetSafetyField:Ob,handleSetSafetyIo:Fb,handleSetDetectMode:r2}=Tyt({selectedRobotModel:i}),a2=Ls(()=>{if(!Ee)return;if(Lp){at.openToast({type:"basic",variant:"warning",title:"Unsaved Topology Changes",content:"Please save topology changes before moving the robot.",position:"top-right"});return}const Je=Ee.userData?.id;typeof Je=="string"&&AL({goalId:Je})},[AL,Lp,Ee]),Co=Ls(()=>{Ie.length!==0&&be("ui:nodes-delete-requested",void 0)},[be,Ie.length]),Go=Ls(()=>{he.current?.moveCamera("focus")},[]),Km=Ls(async()=>{const{data:Je}=await br();Je&&_r("topology.json",{format_version:Je.format_version??_4,metadata:Je.metadata,nodes:Je.nodes,links:Je.links,zones:Je.zones})},[_r,br]),tl=Ls(()=>{const Je=xi();if(!Je?.length){at.openToast({type:"basic",variant:"warning",title:e("move.amr.toast.title.mapDownload.fail"),content:e("move.amr.toast.content.mapDownload.fail"),position:"top-right"});return}const Bn=vo?`${vo}_cloud.csv`:"cloud.csv";Bd(Bn,Je)},[vo,Bd,xi,e]),La=Ls(()=>{be("ui:map-points-erase-history-clear-requested",void 0),Ag(!1)},[be,Ag]),{handleSaveTopologyChanges:vr,handleCancelTopologyChanges:uo,handleSaveCloud:Bb}=kbt({selectedRobotModel:i,currentMapName:vo,mapTopoParams:b,getMapPointsData:xi,getTopologyData:ji,loadMapAndRefreshCurrentMap:nS,loadTopology:F7,refreshTopologyData:Ii,onTopologySaved:PL,onTopologyCanceled:PL,onCloudSaved:La}),{mappingPoints:oS,mappingKeyFrame:W7,mappingStatus:Gl,elapsedSeconds:Ph,completedKeyframeCount:H7,totalKeyframePoints:$7,handleStartMapping:U7,handleStopMapping:j7,handleSaveMapping:Og,handleDiscardMapping:Rh}=Svt({selectedRobotModel:i,emit:be,loadMapAndRefreshCurrentMap:nS}),{handleEraserToggle:Dp,handleDeletePoints:Tp,handleReleasePoint:G7,handleEraserRadiusChange:Mh,handleAddNodeAtRobot:l2,handleAddNodeAtCursor:BL,handleDeleteLastSelectedNode:c2,handleNodeUpdate:aw,handleSelectedNodesTransform:lw,handleCreateLinks:q7,handleDeleteLinksBetweenSelected:VL,handleLinkUpdate:K7,handleLinkDelete:Jm,handleLinkFocus:Fg}=Wbt({emit:be,nodes:Bt,selectedObjects:Ie,selectedNodeType:X0,onToolChange:Th,setIsEraserEnabled:iw,setEraserRadius:TL}),Ep=Ls(()=>{be("ui:map-points-restore-requested",void 0),sw(0),Ag(!1)},[be,Ag,sw]),d2=Ls(()=>{sw(0),Ag(!1)},[Ag,sw]),zL=Ls(()=>{RL!==0&&(Tp(),Ag(!0))},[Tp,RL,Ag]);rUe({tools:{selectedTool:Ro,onToolChange:Eb,hasSelectedNode:Ie.length>0},topology:{selectedNodePlacementType:EL,onAddNodeAtRobot:l2,onAddNodeAtCursor:BL},selection:{hasSelectedNodes:Ie.length>0,onDeleteSelectedNodes:Co},camera:{hasSelectedNode:Ie.length>0,onFocusSelectedNode:Go}});const rS=FO(Ms.moveState?.pathState);Nw(()=>{const Je=rS.current,Bn=Ms.moveState?.pathState;Bn!==void 0&&(Je==="req_path"&&Bn==="none"&&at.openToast({type:"basic",variant:"danger",title:"Move Failed",content:"No path to target. Check topology or robot position.",position:"top-right"}),rS.current=Bn)},[Ms.moveState?.pathState]);const aS=aUe({loading:co.loading,isDefaultData:co.isDefaultData,mapCloud:Ns,topology:Un,nodes:Bt,links:Ft}),cw=Ls(async(Je,Bn)=>Gl==="saving"||Gl==="discarding"?!1:Gl==="idle"?!0:await ie({title:e("move.amr.rightPanel.map.dialog.discardMapping.title"),content:Je,buttonText:{yes:Bn,no:e("move.amr.rightPanel.common.cancel")}})?(await Rh(),!0):!1,[ie,Rh,Gl,e]),dw=Ls(async(Je,Bn)=>Z0?await ie({title:"Discard erasing changes?",content:Je,buttonText:{yes:Bn,no:e("move.amr.rightPanel.common.cancel")}})?(Ep(),!0):!1:!0,[ie,Ep,Z0,e]),WL=Ls(async()=>oi.state!=="drawing"&&oi.state!=="closed"?!0:await ie({title:"Leave Zone",content:"Leaving Topology will discard the current zone draft. Continue?",buttonText:{yes:"Leave",no:e("move.amr.rightPanel.common.cancel")}})?(he.current?.cancelZoneDraft(),!0):!1,[ie,e,oi.state]),u2=Ls(async({currentMenuId:Je,nextMenuId:Bn})=>{switch(Je){case"map":return await cw(e("move.amr.rightPanel.map.dialog.discardMapping.leaveMenuContent"),e("move.amr.rightPanel.map.dialog.discardMapping.yes"))?dw("Leaving the map menu will discard erased point changes.",e("move.amr.rightPanel.map.dialog.discardMapping.yes")):!1;case"topology":return Bn!==Je&&(oi.state==="drawing"||oi.state==="closed")?WL():!0;default:return!0}},[dw,cw,WL,oi.state,e]),h2=Ls(async()=>{Gl==="saving"||Gl==="discarding"||!await cw(e("move.amr.rightPanel.map.dialog.discardMapping.loadMapContent"),e("move.amr.rightPanel.map.dialog.discardMapping.loadYes"))||!await dw("Loading another map will discard erased point changes.",e("move.amr.rightPanel.map.dialog.discardMapping.loadYes"))||te({component:lUe,props:{currentMap:vo??"",onLoadMap:i2,mapList:kl}})},[cw,dw,vo,i2,kl,Gl,te,e]),HL=Ls(()=>{N(Je=>!Je)},[]),J7=Ls(()=>{const Je=new URLSearchParams(a);d?Je.delete("debug"):Je.set("debug","1"),l(Je,{replace:!0})},[d,a,l]),g2=Ls(()=>{const Je=new URLSearchParams(a);Je.set("menu","topology"),Je.set("topology_tab","node"),Je.set("expended",c?"1":"0"),l(Je,{replace:!0})},[c,a,l]),m2=Ls(()=>{const Je=new URLSearchParams(a);Je.set("menu","topology"),Je.set("topology_tab","link"),Je.set("expended",c?"1":"0"),l(Je,{replace:!0})},[c,a,l]),Vb=Ls(()=>{const Je=new URLSearchParams(a);Je.set("menu","topology"),Je.set("topology_tab","zone"),Je.set("expended",c?"1":"0"),l(Je,{replace:!0})},[c,a,l]),lS=Ls((Je,Bn="replace")=>{be("ui:node-selected",{nodeId:Je,intent:Bn})},[be]),Da=Ls(()=>{he.current?.moveCamera("zoomin")},[]),f2=Ls(()=>{he.current?.moveCamera("zoomout")},[]),Gr=Ls(()=>{if(!(co?.motor?.[0]?.status===1&&co?.motor?.[1]?.status===1&&co?.robotState?.power)){at.openToast({type:"basic",variant:"warning",title:"Motor Not Initialized",content:"Please initialize the motor before docking.",position:"top-right"});return}lo(null),sS(lo)},[co?.motor,co?.robotState?.power,sS]),p2=Ls(()=>{const Je=_.current;if(Je){if(document.fullscreenElement===Je){document.exitFullscreen();return}if(R){A(!1);return}if(document.fullscreenEnabled&&Je.requestFullscreen){Je.requestFullscreen().catch(()=>{A(!0)});return}A(!0)}},[R]);Nw(()=>{const Je=()=>{T(document.fullscreenElement===_.current)};return document.addEventListener("fullscreenchange",Je),()=>{document.removeEventListener("fullscreenchange",Je)}},[]);const $L=Bbt({robotModel:i,monitorStatusSnapshot:Rg,robotVersion:r,selectedTool:Ro,onToolChange:Eb,onStartLocalization:B7,onInitLocalization:rw,onSemiAutoInitLocalization:V7,onStopLocalization:ML,onBuildInfoOpenChange:o,onDock:Gr,onDockPause:FL,onDockResume:Mb,onDockStop:Ab,onUndock:s2,dockRejectMessage:jo,taskLogData:Dh,amrMoveStatus:Ms,onSetMotorLocked:Rb,onClearSafetyFlag:o2,onLidarFieldSave:Ob,onOssdDetectChange:r2,safetyIo:jl,safetyIoLoading:mr.loading,onSetSafetyIo:Fb}),uw=Ebt({currentMapName:vo??"",createdAt:yo?.createdAt,lastModified:yo?.updatedAt,mapCloudCount:Ns?.rowCount??Ns?.data?.length??0,mapBounds:ei,topologyCount:pr,nodeTypeCounts:fr,mappingStatus:Gl,elapsedSeconds:Ph,completedKeyframeCount:H7,totalKeyframePoints:$7,onStartMapping:U7,onStopMapping:j7,onSaveMapping:Og,onDiscard:Rh,mapList:aa,isEraserEnabled:Mg,onEraserToggle:Dp,eraserRadius:DL,setEraserRadius:Mh,eraseSelectedAreaDisabled:RL===0,onEraseSelectedArea:zL,onReleaseSelectedPoints:G7,onSaveChanges:Bb,hasUnsavedCloudChanges:Z0,onDiscardCloudChanges:Ep,onDownloadMap:tl,downloadMapDisabled:Z0||!vo}),Y7=zbt({overviewTabProps:{createdAt:xn,downloadDisabled:Lp||vc||!vo,downloadHelpText:Lp?"Save topology changes before downloading the server topology.json file.":void 0,onDownloadTopology:Km},nodeTabProps:{nodes:Bt,selectedObjects:Ie,selectedNodeTransform:Te,robotPose:Ms?.pose??null,onNodeSelected:lS,selectedTool:Ro,onToolChange:Eb,selectedNodeType:X0,onSelectNodeType:yc,selectedNodePlacementType:EL,onSelectNodePlacementType:e2,onAddNodeAtRobot:l2,onAddNodeAtCursor:BL,onUpdateNode:aw,onTransformSelectedNodes:lw,onDeleteSelectedNodes:Co,onSaveTopologyChanges:vr,onCancelTopologyChanges:uo},linkTabProps:{selectedObjects:Ie,focusedLinkId:lt,linkVisibilityFilter:ke,nodes:Bt,links:Ft,visibleSelectedLinks:xe,onFocusedLinkChange:Fg,onLinkVisibilityFilterChange:Ke,onToolChange:Eb,onCreateLinks:q7,onUpdateLink:K7,onDeleteLink:Jm,onDeleteLinksBetweenSelected:VL,onSaveTopologyChanges:vr,onCancelTopologyChanges:uo},zoneTabProps:{draft:oi,selectedZoneIds:kt,focusedZoneId:yt,zones:nn,onDraftStart:Je=>{he.current?.startZoneDraft(Je)},onDraftCancel:()=>{he.current?.cancelZoneDraft()},onDraftClear:()=>{he.current?.clearZoneDraft()},onDraftUndo:()=>{he.current?.undoZoneDraft()},onDraftClose:()=>{he.current?.closeZoneDraft()},onDraftReopen:()=>{he.current?.reopenZoneDraft()},onDraftCommit:()=>{he.current?.commitZoneDraft()},onDraftMetaChange:Je=>{he.current?.updateZoneDraftMeta(Je)},onDeleteZone:Je=>{he.current?.deleteTopologyZone(Je),vr()},onEditZone:Je=>{he.current?.startZoneEdit(Je)},onFocusedZoneChange:Je=>{he.current?.focusActiveTopologyZone(Je)},onSaveTopologyChanges:vr,onCancelTopologyChanges:uo}}),Q7=Ls(Je=>{const Bn=he.current?.getTopologyData();Bn&&(Bn.nodes.some(pi=>pi.id===Je.id)||be("ui:topo-update-requested",{topoData:{...Bn,nodes:[...Bn.nodes,Je]}}))},[be]),UL=$wt({robotModel:i,enabled:u==="marker",mapName:vo,topology:Un,robotPose:Ms?.pose?{x:Number(Ms.pose.x??0),y:Number(Ms.pose.y??0),rz:Number(Ms.pose.rz??0)}:null,onNodeRegistered:Q7}),Y=s$(()=>({...aS,showRobotControlBtn:!x,onToggleRobotControl:HL,showCameraStreams:w,onToggleCameraStreams:()=>y(Je=>!Je),showObstacleMap:S,onToggleObstacleMap:()=>C(Je=>!Je),isFullscreen:M,isMenuExpended:c}),[aS,HL,x,S,w,M,c]),ne=rCt({isFullscreen:M,isMenuExpanded:c}),me=M?r$.fullscreen:c?r$.menuExpanded:r$.menuCollapsed,we=P("bottom-21 z-[60] flex flex-col items-end gap-1",M?"absolute":"fixed",ne),Oe=P("z-[70]",M?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",ne)),Qe=P("z-50",M?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",ne)),dt=P("z-[70] flex items-end justify-end gap-1",M?"absolute bottom-11 left-1/2 -translate-x-1/2":P("fixed bottom-21",ne)),xt=CUe()||window.location.hostname,Rt=x||w&&S,tn=3e3,on=8889,gn=n?.ip||xt,Jn=Qme(xt,tn),cs=Qme(gn,on);Nw(()=>{if(!w)return;const Je=new AbortController;return(async()=>{X(!0);try{const pi=await fetch(`${Jn}/amr/${i}/capability/camera`,{signal:Je.signal});if(!pi.ok)throw new Error(`bad status code ${pi.status}`);const qo=await pi.json();if(Je.signal.aborted)return;G(qo),z(hi=>{const zi={...hi},ho=qo.rtspInfo??[];for(const or of ho){const nl=ho.filter(rr=>rr.camId===or.camId).map(rr=>rr.quality);(zi[or.camId]===void 0||!nl.includes(zi[or.camId]))&&(zi[or.camId]=nl.find(rr=>rr==="low")??nl[0]??or.quality)}return zi})}catch(pi){Je.signal.aborted||(console.error(pi),G(null))}finally{Je.signal.aborted||X(!1)}})(),()=>Je.abort()},[Jn,i,w]),Nw(()=>{if(!w){de.current={};return}if(!V)return;const Je=V.rtspInfo??[],Bn=Array.from(new Set(Je.map(pi=>pi.camId)));for(const pi of Bn){const qo=Je.filter(ho=>ho.camId===pi).map(ho=>ho.quality),hi=K[pi],zi=hi&&qo.includes(hi)?hi:qo.find(ho=>ho==="low")??qo[0];zi&&de.current[pi]!==zi&&(de.current[pi]=zi,fetch(`${Jn}/amr/${i}/sensor/rtsp/subscribe`,{method:"POST",headers:{"Content-Type":"application/json"},body:JSON.stringify({camId:pi,quality:zi})}).catch(ho=>{console.error(ho)}))}},[Jn,V,i,K,w]);const ds=s$(()=>{if(!V)return[];const Je=V.rtspInfo??[],Bn=new Set(Je.map(hi=>hi.camId)),pi=V.info.map(hi=>hi.camId);return(V.camNum>0?Array.from({length:V.camNum},(hi,zi)=>zi):Array.from(new Set([...pi,...Bn]))).map(hi=>{const zi=Je.filter(Nl=>Nl.camId===hi),ho=zi.map(Nl=>Nl.quality),or=K[hi],nl=or&&ho.includes(or)?or:ho.find(Nl=>Nl==="low")??ho[0]??"low",rr=zi.find(Nl=>Nl.quality===nl)??zi[0];return{id:`cam${hi}`,camId:hi,name:e("move.amr.rightPanel.cameraPanel.cameraName",{index:hi+1}),status:rr?"live":"disconnected",resolution:rr?`${rr.width}x${rr.height} ${rr.fps}fps`:"-",streamUrl:rr?`${cs}/${rr.name}`:void 0,quality:nl,qualityOptions:ho}})},[V,K,e,cs]),Bi=Ls((Je,Bn)=>{z(pi=>({...pi,[Je]:Bn}))},[]),jn=()=>dn?fe?h(pUe,{x:dn.x,y:dn.y,placement:dn.placement,items:Ne,activeItemId:fe.id,onSelectItem:Fg,onEdit:m2,onDelete:()=>{Jm(fe.id)}}):Ze&&oi.state==="idle"?h(_Ue,{x:dn.x,y:dn.y,placement:dn.placement,items:Dt,activeItemId:Ze.id,onSelectItem:Je=>{he.current?.focusActiveTopologyZone(Je)},onEdit:()=>{Vb(),he.current?.startZoneEdit(Ze.id)},onDelete:async()=>{await ie({title:"Delete Zone",content:"Delete this selected zone?",buttonText:{yes:"Delete",no:"Keep"}})&&(he.current?.deleteTopologyZone(Ze.id),vr())}}):Ee?h(bUe,{x:dn.x,y:dn.y,placement:dn.placement,currentX:Ee.position.x,currentY:Ee.position.y,currentRz:Ee.rotation.z,nodeName:Ee.name||"-",onEdit:g2,onDelete:c2,onMove:a2}):null:null;return k(e9,{className:P("AmrMove","overflow-x-hidden"),menus:[{id:"monitor",label:e("move.amr.rightPanel.menu.monitor"),icon:h(_8e,{}),content:h(ewt,{...$L})},{id:"map",label:e("move.amr.rightPanel.menu.map"),icon:h(b8e,{}),content:h(dwt,{...uw})},{id:"topology",label:e("move.amr.rightPanel.menu.topology"),icon:h(v8e,{}),content:h(fUe,{...Y7})},{id:"marker",label:e("move.amr.rightPanel.menu.marker"),icon:h(y8e,{}),content:h(bwt,{markerProps:UL})}],rightIconPanels:[{key:"zoom-in-out",element:h(C0,{onZoomIn:Da,onZoomOut:f2})},{key:"fullscreen-toggle",element:h(nCt,{isFullscreen:M,onToggle:p2})},{key:"joystick-toggle",element:h(iCt,{showJoysticks:Pe,setShowJoysticks:ft})},{key:"view-controls",element:h(oCt,{showViewControls:qt,setShowViewControls:As,visibilityItems:Eh,cameraModeControl:Er,numberItems:Tb})}],auxiliaryPanel:{id:"debug",label:e("move.amr.rightPanel.menu.debug"),icon:h(ane,{}),open:d,onToggle:J7,content:h(tCt,{infoStatus:mr.data,infoCategories:p?.categories,infoStatusLoading:mr.loading,infoStatusIsDefault:mr.isDefaultData})},beService:t?.be_service,onBeforeMenuChange:u2,ref:_,viewportFullscreen:M,viewportClassName:"data-[state=fullscreen]:z-[1000] data-[state=fullscreen]:h-[100dvh] data-[state=fullscreen]:w-[100dvw]",children:[h(cUe,{...Po}),h(dUe,{mapName:vo??"",onMapNameClick:h2}),h(rPe,{ref:he,...Nt,cameraPositionKey:Bke,robotModel:i,pointsData:Ns?.data,topoData:Un,mapCloudUpdatedAt:St,topologyUpdatedAt:ls,mappingPoints:oS,mappingKeyFrame:W7,robotPose:Ms?.pose,selectedTool:Ro,showGrid:un,showNodeLabels:Ks,nodeRenderMode:wo?"simple":"default",showLidar:el,lidarPointSize:Xc,viewportCameraMode:Pu,onEraserHistoryInvalidated:d2,onEraserSelectionChange:sw,robot:i}),jn(),!Mg&&h("div",{className:"absolute top-60 left-3 z-20",children:h(Vke,{selectedTool:Ro,onToolChange:Eb,hasSelectedNode:Ie.length>0})}),Pe&&k("div",{className:P("pointer-events-none absolute bottom-21 left-0 flex flex-row justify-between",me),children:[h(Mce,{joystickType:"direction",buttonsDirection:"left",disableDiagonal:!0,className:"pointer-events-auto ml-4 flex items-center justify-center",onJoystickMove:({data:Je})=>{ow({type:"direction",data:Je})}}),h(Mce,{xOnly:!0,joystickType:"curved",buttonsDirection:"right",className:"pointer-events-auto",onJoystickMove:({data:Je})=>ow({type:"curved",data:Je})})]}),(w||S||x)&&k("div",{className:x?we:"pointer-events-none contents",children:[k("div",{className:Rt?x?"flex items-end justify-end gap-1":dt:"contents",children:[w&&h("div",{className:Rt?"relative z-70":Oe,children:h(uUe,{cameras:ds,transparency:L,onQualityChange:Bi,onClose:()=>y(!1)})}),S&&h("div",{className:Rt?"relative z-50":Qe,children:h(hUe,{layers:O.layers,width:O.width,height:O.height,gridSize:O.gridSize,safety:O.safety,loading:B,transparency:L,onClose:()=>C(!1)})})]}),x&&h(gUe,{robotPose:{x:Number(Ms?.pose?.x??0),y:Number(Ms?.pose?.y??0),yaw:Number(Ms?.pose?.rz??0)},handleButtonJog:O7,onClose:()=>N(!1),onMoveTarget:z7,onMoveLinear:OL,linearSpeed:t2,setLinearSpeed:n2,rotationSpeed:eS,setRotationSpeed:tS,transparency:L,onTransparencyChange:D})]}),h(mUe,{...Y})]})},lCt=({className:i})=>{const{t:e}=J();return h(e9,{className:P("PreviewMove",i),beService:"",menus:[],children:h(q,{className:"h-full",alignItems:"center",justifyContent:"center",children:k("div",{className:"text-fg-subtle text-center text-lg",children:[k("div",{children:[e("move.preview.descriptionLine1"),h("br",{})," ",e("move.preview.descriptionLine2")]}),k("div",{className:"text-fg-subtler text-base",children:[h("br",{})," ",e("move.preview.connectionGuideBefore"),h("br",{})," ",h("span",{className:"bg-fg-brand-hovered rounded-sm px-1.5 py-0.5 text-white",children:"muscat-pk dev"})," ",e("move.preview.connectionGuideAfter")]})]})})})},_Pe=({className:i,value:e,disabled:t,onChange:n})=>{const{t:s}=J(),{theme:o}=rt();return k("div",{"data-testid":"rby1-source-switch",className:P("RBY1ControlSourceSwitch","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 [&_button]:min-w-[4.125rem] [&_button]:rounded-sm [&_button]:px-1.5 [&_button]:py-0.5 [&_button]:text-white",i),children:[h(_e,{className:P({"!bg-fill-navy":e==="real",[o==="light"&&"!text-fg-subtlest"]:e!=="real"}),variant:"transparent",disabled:t,"aria-pressed":e==="real",onClick:()=>n("real"),children:s("move.button.label.real")}),h(_e,{className:P({[o==="light"&&"!text-fg-subtlest"]:e!=="ghost",[o==="light"?"!bg-orange-500":"!bg-fill-subtler"]:e==="ghost"}),variant:"transparent",disabled:t,"aria-pressed":e==="ghost",onClick:()=>n("ghost"),children:s("move.rby1.source.ghost")})]})},qN=i=>{const{isMoving:e,isEmergencyStop:t}=jy(i,n=>({isMoving:n?.control_manager?.control_state==="Executing",isEmergencyStop:n?.emo_states?.some(s=>s?.state==="Pressed")}));return{isMoving:e,isEmergencyStop:t}},bPe=()=>xs("common/speedbar"),{useMutation:cCt}=await F("@tanstack/react-query"),dCt="/{robot_model}/move_j",uCt=({robotModel:i,...e})=>xa.post(dCt.replace("{robot_model}",i),e),hCt=()=>cCt({mutationFn:uCt}),{useMutation:gCt}=await F("@tanstack/react-query"),mCt="/{robot_model}/move_l",fCt=({robotModel:i,...e})=>xa.post(mCt.replace("{robot_model}",i),e),pCt=()=>gCt({mutationFn:fCt}),_Ct="rby1-minimum-time",bCt=3;function VP(){const i=Number(WIe(_Ct));return i>0?i:bCt}const Fk=["x","y","z","rx","ry","rz"];function KN(i,e){const t={},n=new Set;return i.forEach((s,o)=>{const r=AP(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 J4(i,e,t){const n=KN(e,s=>t(s)||null);return Object.fromEntries(Object.entries(i).filter(([s])=>s in n))}const vy=(i,e)=>KN(i,(t,n)=>{const s=e(t,n);return s==null?s:fd(s)});function vPe(i,e){const t={},n={};for(const s of i){const o=AP(s)?.component;if(!o)continue;const r=t[o]??0;t[o]=r+1;const a=e[o]?.[r];a!=null&&(n[s]=SI(a))}return n}const vCt=i=>i==="left_arm"?"right_arm":i==="right_arm"?"left_arm":void 0,yPe=(i,e)=>{const t=e?vCt(i):void 0;return t?[i,t]:[i]},wPe=new Set([0,3,5]),yCt=i=>i.map((e,t)=>wPe.has(t)?e:-e),CPe=new Set([1,3,5]),wCt=i=>i.map((e,t)=>CPe.has(t)?-e:e);function CCt({groups:i,component:e,index:t,deltaDeg:n,bothArms:s}){const o={};for(const r of yPe(e,s)){const a=i[r];if(!a||t>=a.length)continue;const l=r!==e&&!wPe.has(t)?-n:n;o[r]=a.map((c,d)=>d===t?c+l:c)}return o}function SCt({cartesians:i,component:e,axis:t,delta:n,bothArms:s}){const o={};for(const r of yPe(e,s)){const a=i[r];if(!a)continue;const l=[...a];l[t]+=r!==e&&CPe.has(t)?-n:n,o[r]=l}return o}function SPe(i,e,t){return i==="base"?e??{}:{torso:e?.torso??null,right_arm:t?.right_arm??null,left_arm:t?.left_arm??null}}const{useCallback:ID,useEffect:xCt,useMemo:WS,useRef:Xme}=await F("react"),a$={jointDeg:.49,linearMm:1.49,rotDeg:.349},ICt=3,kCt=50,NCt=300,LCt=100,DCt=({robotModel:i,mode:e,component:t,reference:n,bothArms:s,tickModeInput:o,source:r,ghostJointValuesRad:a,onGhostJointsChange:l})=>{const{jointNames:c,jointStates:d}=fp(i),{mutateAsync:u}=hCt(),{mutateAsync:g}=pCt(),{socketEventEmit:m}=Ng(),f=ID(O=>`rby1/${i}/${O}`,[i]),p=r==="ghost",_=WS(()=>p?vy(c,(O,B)=>a?.[B]):vy(c,O=>d?.[O]?.position),[p,c,a,d]),b=WS(()=>KN(c,O=>p?!0:!!d?.[O]?.is_ready),[p,c,d]),{cartesian_states:v,cartesian_states_torso:w}=jy(i,O=>({cartesian_states:O?.cartesian_states,cartesian_states_torso:O?.cartesian_states_torso}),e==="cartesian"),y=WS(()=>SPe(n,v,w),[n,v,w]),S=WS(()=>e==="joint"?_[t]??[]:y[t]??[],[e,_,y,t]),C=WS(()=>e==="joint"?b[t]??[]:S.map(()=>!0),[e,b,t,S]),x=WS(()=>e==="joint"?c.filter(O=>AP(O)?.component===t):[...Fk],[e,c,t]),N=Xme({groups:_,refCartesians:y});N.current={groups:_,refCartesians:y};const L=Xme(null),{data:D}=bPe(),E=Math.min(Math.max(D?.speedbar??1,0),1),T=ID((O,B,V,G,H=s)=>{if(e==="joint"){const K=CCt({groups:V.groups,component:t,index:O,deltaDeg:B,bothArms:H});return Object.keys(K).length===0?Promise.resolve(void 0):p?(l?.(vPe(c,K)),Promise.resolve(void 0)):G==="smooth"?(m(f("call_smoothjog_j"),{target:K}),Promise.resolve(void 0)):u({robotModel:i,target:K,minimumTime:VP()})}if(p)return Promise.resolve(void 0);const X=SCt({cartesians:V.refCartesians,component:t,axis:O,delta:B,bothArms:H});return Object.keys(X).length===0?Promise.resolve(void 0):G==="smooth"?(m(f("call_smoothjog_l"),{target:X,reference:n}),Promise.resolve(void 0)):g({robotModel:i,target:X,reference:n,minimumTime:VP()})},[e,t,s,p,l,c,u,g,m,f,n,i]),R=ID(()=>{const O=L.current;O&&(O.timer&&(clearTimeout(O.timer),clearInterval(O.timer)),O.release(),L.current=null,!p&&m(f("call_smoothjog_stop"),{}))},[p,m,f]),A=ID(({type:O,index:B})=>{const V=O==="up"?1:-1,G=(e==="joint"?p?ICt:a$.jointDeg:B<3?a$.linearMm:a$.rotDeg)*E,H=e==="joint"?o?.joint:B<3?o?.distance:o?.rotation,X=o?H??0:G,K=N.current;if(!X)return;if(o&&!p){T(B,V*X,K,"move").catch(()=>{});return}R();const z=()=>R();window.addEventListener("pointerup",z),window.addEventListener("pointercancel",z),window.addEventListener("blur",z);const de={timer:null,base:K,delta:0,release:()=>{window.removeEventListener("pointerup",z),window.removeEventListener("pointercancel",z),window.removeEventListener("blur",z)}},te=()=>{de.delta+=V*X,T(B,de.delta,de.base,"smooth")};L.current=de,te(),o?de.timer=setTimeout(()=>{L.current===de&&(de.timer=setInterval(te,LCt))},NCt):de.timer=setInterval(te,kCt)},[e,o,p,E,T,R]);MM({topic:"common/message",callback:O=>{const B=L.current;!B||p||O?.type!==2||O.sw_name!==i||(B.base=N.current,B.delta=0)},options:{equalityFn:()=>!1}});const M=ID(async(O,B)=>{const V=S[O]??0,G=await T(O,B-V,N.current,"move",!1);if(G&&"finish_code"in G&&G.finish_code!=="Ok")throw new Error(G.finish_code)},[S,T]);return xCt(()=>R,[e,n,t,o,R]),{values:S,ready:C,keys:x,handleJogStart:A,handleJogStop:R,handleInputValueChange:M}},Y4=({className:i,value:e,items:t,size:n="default",onChange:s})=>{const{theme:o}=rt();return h(WM,{className:P("RBY1SegmentTabs",i),value:e,onValueChange:r=>s(r),children:h(HM,{className:P("w-full rounded-md border-none",n==="sm"?"h-6":"h-7",o==="light"?"bg-fill-navy-subtlest":"bg-fill-subtlest"),children:t.map(r=>h($M,{value:r.value,disabled:r.disabled,className:P("rounded",n==="sm"?"typo-compact-2xs-medium px-2":"typo-compact-xs2-medium","text-fg-subtle",o==="light"?"data-[state=active]:bg-fill-navy data-[state=active]:text-white":"data-[state=active]:bg-fill-subtler data-[state=active]:text-fg-default"),children:r.label},r.value))})})},{useCallback:Zme,useEffect:efe,useMemo:TCt,useState:l$}=await F("react"),ECt=[{value:"joint",labelKey:"move.rby1.jogMode.joint"},{value:"cartesian",labelKey:"move.rby1.jogMode.cartesian"}],PCt=[{value:"base",label:"Base"},{value:"link_torso_5",label:"T5"}],xPe=({className:i,robotModel:e,source:t,ghostJointValuesRad:n,onGhostJointsChange:s})=>{const{t:o}=J(),{theme:r}=rt(),{confirmDialog:a}=si(),[l,c]=gc(),d=l.get("rby1_jog")??"joint",u=l.get("rby1_tab")??"head",g=l.get("rby1_ref")??"base",m=Zme((K,z)=>{c(de=>{const te=new URLSearchParams(de);return te.set(K,z),te},{replace:!0})},[c]),[f,p]=l$(!1),[_,b]=l$(null),[v,w]=l$({}),y=t==="ghost",S=TCt(()=>Q_.filter(K=>d==="joint"||K.value!=="head"),[d]),C=Q_.find(K=>K.value===u),x=u==="left"||u==="right";efe(()=>{y&&d==="cartesian"&&m("rby1_jog","joint")},[y,d,m]),efe(()=>{d==="cartesian"&&u==="head"&&m("rby1_tab","torso")},[d,u,m]);const{toJointNameText:N}=fp(e),{isMoving:L,isEmergencyStop:D}=qN(e),{selectedRobot:E}=Fi(e),T=E?.connected==="DISCONNECT",{values:R,ready:A,keys:M,handleJogStart:O,handleJogStop:B,handleInputValueChange:V}=DCt({robotModel:e,mode:d,component:C.component,reference:g,bothArms:f,tickModeInput:_,source:t,ghostJointValuesRad:n,onGhostJointsChange:s}),G=y?!1:L||D||T,H=Zme(async(K,z)=>{const{value:de,readOnly:te}=z.target;if(te)return;const ie=Number(de.replace(/,/g,"")),he=R[K];if(he===void 0||!Number.isFinite(ie)||Math.abs(ie-he)<5e-4)return;const ce=()=>w(Ie=>({...Ie,[K]:!Ie[K]}));if(console.log("isGhost",y,"next",ie,"current",he),!y&&!await a({title:o("move.rby1.inputMove.title"),content:o("move.rby1.inputMove.content",{key:d==="joint"?N(M[K]):`${N(C.component)} ${M[K].toUpperCase()}`,value:`${ie}${d==="joint"||K>2?"°":"mm"}`}),buttonText:{yes:o("common.button.confirm"),no:o("common.button.cancel")}}))return ce();try{await V(K,ie)}catch{ce()}},[V,R,y,a,o,d,M,C.component,N]),X=P("border-border-subtle w-full border-t p-2.5",r==="light"?"bg-default":"bg-alt-2");return h("div",{className:P("RBY1JogControl","h-full",i),children:k(q,{className:"h-full",justifyContent:"space-between",children:[k("div",{className:"h-full flex-1 overflow-y-auto",children:[k(q,{className:P("sticky top-0 left-0 z-2 gap-2.5 p-2.5 pb-2.5",r==="light"?"bg-default":"bg-alt-1"),children:[k(U,{"data-testid":"rby1-jog-mode",alignItems:"center",justifyContent:"space-between",children:[h(ye,{className:"w-36",size:"xs2",value:d,handleChange:K=>m("rby1_jog",String(K)),children:ECt.map(K=>h(Q,{value:K.value,disabled:y&&K.value==="cartesian",children:o(K.labelKey)},K.value))}),d==="cartesian"&&h(Y4,{className:"w-auto",size:"sm",value:g,items:PCt,onChange:K=>m("rby1_ref",K)})]}),h(Y4,{value:u,items:S,onChange:K=>m("rby1_tab",K)})]}),h(q,{className:"gap-2 px-2.5 pb-2",children:M.map((K,z)=>{const de=R[z],te=d==="joint"?N(K):K.toUpperCase(),ie=d==="joint"||z>2?"°":"mm";return k(q,{className:"gap-1",children:[k(U,{className:"typo-compact-xs-medium gap-1",children:[h("span",{className:P("text-fg-default",d==="cartesian"&&Ri[K]),children:te}),k("span",{className:"text-fg-subtle",children:["(",ie,")"]})]}),h(qne,{step:0,inputMode:"numeric",value:de===void 0?"":de.toFixed(3),notAllowedEmptyValue:!0,disableAutoAccel:!0,disableLongPress:!0,detectDobleClick:!0,autoComplete:"off",disabled:G||de===void 0||!A[z],inputDisabled:_!==null,onBlur:he=>H(z,he),onButtonPointerDown:he=>O({type:he,index:z}),onButtonPointerUp:B})]},`${K}-${v[z]??0}`)})})]}),x&&h("div",{className:X,children:k(U,{className:"gap-2",alignItems:"center",children:[h(Lo,{"data-testid":"rby1-both-arms",size:"default",checked:f,onCheckedChange:p}),h("span",{className:"typo-compact-sm-medium text-fg-default",children:o("move.rby1.switch.bothArms")})]})}),h(gDe,{className:X,currentTab:d==="joint"?"joint":"cartesian",tickModeInput:_,disabled:T&&!y,onChangeTickModeInput:b})]})})},{useMutation:RCt}=await F("@tanstack/react-query"),MCt="/{robot_model}/approach_j",ACt=({robotModel:i,...e})=>xa.post(MCt.replace("{robot_model}",i),e),Aie=()=>RCt({mutationFn:ACt}),{useMutation:OCt}=await F("@tanstack/react-query"),FCt="/{robot_model}/approach_stop",BCt=({robotModel:i})=>xa.post(FCt.replace("{robot_model}",i),{}),d9=()=>OCt({mutationFn:BCt}),{useCallback:tfe,useMemo:c$,useState:nfe}=await F("react"),VCt=({className:i,robotModel:e})=>{const{t}=J(),{theme:n}=rt(),[s,o]=nfe("head"),[r,a]=nfe(null),l=Q_.find(T=>T.value===s),{jointNames:c,jointStates:d,toJointNameText:u}=fp(e),{isMoving:g,isEmergencyStop:m}=qN(e),{selectedRobot:f}=Fi(e),p=g||m||f?.connected==="DISCONNECT",_=c$(()=>vy(c,T=>d?.[T]?.position),[c,d]),b=c$(()=>KN(c,()=>0),[c]),v=b[l.component]?.length??0,w=c$(()=>J4(b,c,T=>d?.[T]?.is_ready),[c,d,b]),y=l.component in w,{mutate:S}=Aie(),{mutate:C}=d9(),x=tfe((T,R)=>{Object.keys(R).length!==0&&(a(T),S({robotModel:e,target:R,minimumTime:3}))},[S,e]),N=tfe(()=>{a(null),C({robotModel:e})},[C,e]),L=T=>{const R=_[l.component];return R?{[l.component]:R.map((A,M)=>M===T?0:A)}:{}},D="typo-compact-xs-semibold",E=(p||Object.keys(w).length===0)&&r!=="all";return h("div",{className:P("RBY1ZeroPoseControl","h-full",i),children:k(q,{className:"h-full",justifyContent:"space-between",children:[k(q,{className:"flex-1 gap-2 overflow-y-auto px-3 py-2.5",children:[h(pp,{subject:t("move.menu.button.label.zeroPose")}),h(Y4,{className:"mb-1",value:s,items:Q_,onChange:o}),Array.from({length:v},(T,R)=>{const A=`${l.component}-${R}`;return h(wd,{className:D,size:"sm",variant:"outlined",disabled:(p||!y)&&r!==A,onButtonDown:()=>x(A,L(R)),onButtonUp:N,children:t("move.menu.button.label.moveOrigin",{index:R})},A)}),h(wd,{className:D,size:"sm",variant:"soft",disabled:(p||!y)&&r!==l.component,onButtonDown:()=>x(l.component,{[l.component]:b[l.component]}),onButtonUp:N,children:t("move.rby1.zeroPose.partAll",{part:u(l.component)})})]}),h("div",{className:P("border-border-subtle w-full border-t p-3",n==="light"?"bg-default":"bg-alt-2"),children:h(wd,{className:P(D,"w-full"),size:"md",variant:n==="light"?"brand":E?"soft":"inverse",disabled:E,onButtonDown:()=>x("all",w),onButtonUp:N,children:t("move.menu.button.label.moveAllOrigin")})})]})})},{useMemo:zCt}=await F("react"),WCt=i=>{const{jointNames:e,jointStates:t}=fp(i),{cartesian_states:n}=jy(i,s=>({cartesian_states:s?.cartesian_states}));return zCt(()=>{const s=vy(e,u=>t?.[u]?.position),o=Object.keys(KN(e,()=>0)),r=o.length>0&&o.every(u=>u in s),{torso:a,left_arm:l,right_arm:c}=n??{};return{joints:s,cartesians:a&&l&&c?{torso:a,left_arm:l,right_arm:c}:null,complete:r}},[e,t,n])},{useQuery:HCt}=await F("@tanstack/react-query"),XM="/{robot_model}/poses",$Ct=({robotModel:i})=>xa.get(XM.replace("{robot_model}",i)),IPe=(i,e={})=>HCt({queryKey:[XM,i],queryFn:()=>$Ct(i),...e}),{useMutation:UCt,useQueryClient:jCt}=await F("@tanstack/react-query"),GCt="/{robot_model}/poses/create",qCt=({robotModel:i,...e})=>xa.post(GCt.replace("{robot_model}",i),e),KCt=()=>{const i=jCt();return UCt({mutationFn:qCt,onSuccess:()=>{i.invalidateQueries({queryKey:[XM]})}})},{useMutation:JCt,useQueryClient:YCt}=await F("@tanstack/react-query"),QCt="/{robot_model}/poses/{pose_id}/update",XCt=({robotModel:i,poseId:e,...t})=>xa.put(QCt.replace("{robot_model}",i).replace("{pose_id}",e),t),ZCt=()=>{const i=YCt();return JCt({mutationFn:XCt,onSuccess:()=>{i.invalidateQueries({queryKey:[XM]})}})},{useMutation:e1t,useQueryClient:t1t}=await F("@tanstack/react-query"),n1t="/{robot_model}/poses/{pose_id}/delete",i1t=({robotModel:i,poseId:e})=>xa.delete(n1t.replace("{robot_model}",i).replace("{pose_id}",e)),s1t=()=>{const i=t1t();return e1t({mutationFn:i1t,onSuccess:()=>{i.invalidateQueries({queryKey:[XM]})}})},{useMutation:o1t}=await F("@tanstack/react-query"),r1t="/{robot_model}/poses/{pose_id}/approach",a1t=({robotModel:i,poseId:e,...t})=>xa.post(r1t.replace("{robot_model}",i).replace("{pose_id}",e),t),l1t=()=>o1t({mutationFn:a1t}),c1t=.1,kPe=i=>Object.values(i).reduce((e,t)=>e+(t?.length??0),0);function d1t(i,e,t=c1t){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 u1t="–",BO="px-px py-1 text-right whitespace-nowrap",NPe=({className:i,mode:e,joints:t,cartesians:n})=>{const{t:s}=J(),o=e==="joint",r=Q_.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)):Fk.map(c=>c),l=c=>o?t[c]:c==="head"?void 0:n?.[c];return h("div",{className:P("RBY1PoseValueTable","overflow-x-auto",i),children:k("table",{className:"typo-code-2xs-medium w-full border-collapse",children:[h("thead",{children:k("tr",{className:"typo-compact-2xs-medium text-fg-subtle",children:[h("th",{className:P(BO,"text-left font-normal"),children:s(o?"move.rby1.monitor.joint":"move.rby1.monitor.tcp")}),a.map(c=>h("th",{className:P(BO,"font-normal",!o&&Ri[c]),children:o?c:c.toUpperCase()},c))]})}),h("tbody",{children:r.map(c=>{const d=l(c.component);return k("tr",{className:"border-border-subtle border-t first:border-t-0",children:[h("td",{className:P(BO,"text-fg-default text-left"),children:c.label}),a.map((u,g)=>{const m=d?.[g];return h("td",{className:P(BO,m===void 0?"text-fg-subtlest":"text-fg-default font-semibold"),children:m===void 0?u1t:m.toFixed(1)},u)})]},c.value)})})]})})},{useMemo:h1t}=await F("react"),LPe=({className:i,pose:e,cameraPositionKey:t})=>{const{data:n}=nr(),{data:s}=wh(),o=h1t(()=>{const r=e&&s?.components?.[e.robotModel],a=r?.type==="array"?r.mapper:[];return{real:e?vPe(a,e.joints):{}}},[s,e]);return h("div",{className:P("RBY1PoseViewer","bg-bg-alt-1 relative overflow-hidden rounded-lg",i),children:h(Um,{className:"relative size-full",cameraPositionKey:t,robotModel:n?.info?.robotModel,enablePanning:!0,jointValuesRad:o})})},g1t=({className:i,pose:e,open:t,onOpenChange:n})=>h(ir,{className:P(i,"w-fit max-w-[90vw]!"),enableDimClose:!0,header:{title:e.name},open:t,onOpenChange:n,children:h(LPe,{className:"m-4 mt-0 h-[60vh] w-[40rem]",pose:e,cameraPositionKey:"rby1-pose-view"})}),{useState:ife}=await F("react"),m1t=({className:i,pose:e,isCurrent:t,moveDisabled:n,canUpdateToCurrent:s,onApproachStart:o,onApproachStop:r,onRename:a,onUpdateToCurrent:l,onDelete:c})=>{const{t:d}=J(),{modal:u}=$i(),[g,m]=ife("joint"),[f,p]=ife(null),_=f!==null,b=f?.trim()??"",v=[d("move.rby1.savedPose.axisCount",{count:kPe(e.joints)}),wa(e.updatedAt,"MM-DD HH:mm"),t&&d("move.rby1.savedPose.current")].filter(Boolean).join(" · ");return k(q,{"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:[_?k(U,{className:"gap-1",alignItems:"center",children:[h(nt,{className:"flex-1",size:"sm",value:f,hideBtnReset:!0,handleChange:w=>p(String(w)),handleEnter:()=>{b&&(a(b),p(null))}}),h(rn,{"aria-label":"confirm",variant:"transparent",size:"xs",disabled:!b,onClick:()=>{a(b),p(null)},children:h(aje,{className:"text-fg-success size-4"})}),h(rn,{"aria-label":"cancel",variant:"transparent",size:"xs",onClick:()=>p(null),children:h(b0,{})})]}):k(U,{justifyContent:"space-between",alignItems:"flex-start",children:[k(q,{className:"min-w-0 gap-1",children:[h("span",{className:"typo-compact-sm-semibold text-fg-default truncate",children:e.name}),h("span",{className:"typo-code-2xs-medium text-fg-subtle",children:v})]}),k(U,{className:"shrink-0 gap-0.5",children:[h(rn,{"aria-label":"view pose",variant:"transparent",size:"xs",onClick:()=>u({component:g1t,props:{pose:e}}),children:h(w8e,{})}),h(rn,{"aria-label":"edit",variant:"transparent",size:"xs",onClick:()=>p(e.name),children:h(_W,{})}),h(rn,{"aria-label":"delete",variant:"transparent",size:"xs",onClick:c,children:h(T1,{})})]})]}),k(q,{className:"bg-bg-alt-2 gap-2 rounded-md p-2",children:[k(U,{justifyContent:"space-between",alignItems:"center",children:[h("span",{className:"typo-compact-2xs-medium text-fg-subtle",children:d(g==="joint"?"move.rby1.savedPose.jointTitle":"move.rby1.savedPose.tcpTitle")}),h(Y4,{className:"w-auto",size:"sm",value:g,items:[{value:"joint",label:d("move.menu.label.joint")},{value:"cartesian",label:d("move.rby1.savedPose.cartesian"),disabled:!e.cartesians}],onChange:m})]}),h(NPe,{mode:g,joints:e.joints,cartesians:e.cartesians})]}),_?h(_e,{className:"w-full",size:"sm",variant:"soft",leadingIcon:h(VIe,{className:"size-4"}),disabled:!b||!s,onClick:()=>{l(b),p(null)},children:d("move.rby1.savedPose.updateToCurrent")}):h(wd,{className:"w-full",size:"sm",variant:"brand",leadingIcon:h(UIe,{}),disabled:n,onButtonDown:()=>o(g),onButtonUp:r,children:d("move.rby1.savedPose.approach")})]})},{useCallback:sfe,useMemo:f1t,useState:d$}=await F("react"),p1t=({className:i,robotModel:e})=>{const{t}=J(),{confirmDialog:n}=si(),[s,o]=d$(""),[r,a]=d$(""),[l,c]=d$(null),{data:d=[]}=IPe({robotModel:e}),u=WCt(e),{isMoving:g,isEmergencyStop:m}=qN(e),{selectedRobot:f}=Fi(e),p=f?.connected==="DISCONNECT",_=g||m||p,{mutate:b,isPending:v}=KCt(),{mutate:w}=ZCt(),{mutate:y}=s1t(),{mutate:S}=l1t(),{mutate:C}=d9(),x=f1t(()=>{const R=r.trim().toLowerCase();return R?d.filter(A=>A.name.toLowerCase().includes(R)):d},[d,r]),N=()=>({joints:u.joints,cartesians:u.cartesians??void 0}),L=()=>{const R=s.trim();!R||!u.complete||b({robotModel:e,name:R,...N()},{onSuccess:()=>o("")})},D=sfe((R,A)=>{c(R),S({robotModel:e,poseId:R,mode:A,reference:"base",minimumTime:VP()})},[S,e]),E=sfe(()=>{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")}})&&y({robotModel:e,poseId:R.poseId})};return h("div",{className:P("RBY1SavedPoseControl","h-full",i),children:k(q,{className:"h-full gap-3 overflow-y-auto px-3 py-2.5",children:[k(U,{className:"gap-2",alignItems:"baseline",children:[h("h6",{className:"typo-compact-sm-semibold text-fg-default",children:t("move.rby1.menu.savedPose")}),h("span",{className:"typo-compact-xs-medium text-fg-subtle",children:t("move.rby1.savedPose.count",{count:d.length})})]}),k(q,{className:"border-border-subtle bg-bg-alt-1 gap-2 rounded-lg border p-3",children:[h("span",{className:"typo-compact-xs-medium text-fg-subtle",children:t("move.rby1.savedPose.saveDesc")}),k(U,{className:"gap-2",children:[h(nt,{"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}),h(_e,{size:"sm",variant:"brand",leadingIcon:h(K_,{}),disabled:!s.trim()||!u.complete||p||v,onClick:L,children:t("move.rby1.savedPose.save")})]})]}),h(nt,{className:"w-full",type:"search",size:"md",value:r,placeholder:t("move.rby1.savedPose.searchPlaceholder"),handleChange:R=>a(String(R??""))}),x.length===0?h("span",{className:"typo-compact-xs-medium text-fg-subtle py-6 text-center",children:t("move.rby1.savedPose.empty")}):x.map(R=>h(m1t,{pose:R,isCurrent:d1t(R.joints,u.joints),moveDisabled:_&&l!==R.poseId,canUpdateToCurrent:u.complete&&!p,onApproachStart:A=>D(R.poseId,A),onApproachStop:E,onRename:A=>w({robotModel:e,poseId:R.poseId,name:A}),onUpdateToCurrent:A=>w({robotModel:e,poseId:R.poseId,name:A,...N()}),onDelete:()=>T(R)},R.poseId))]})})},{useMemo:ofe}=await F("react"),_1t=["torso","left_arm","right_arm"],rfe="–",b1t=["mm","mm","mm","°","°","°"],u9=({className:i,robotModel:e,mode:t="joint",source:n="real",ghostJointValuesRad:s})=>{const{t:o}=J(),{jointNames:r,jointStates:a,toJointNameText:l}=fp(e),c=n==="ghost",d=t==="cartesian"&&!c,u=ofe(()=>c?vy(r,(p,_)=>s?.[_]):vy(r,p=>a?.[p]?.position),[c,r,s,a]),g=ofe(()=>Math.max(0,...Object.values(KN(r,()=>1)).map(p=>p.length)),[r]),{cartesian_states:m}=jy(e,p=>({cartesian_states:p?.cartesian_states}),d),f="px-1.5 py-0.5 text-left whitespace-nowrap";return k(q,{className:P("RBY1JogMonitoring","gap-3",i),children:[k("table",{"data-testid":"rby1-joint-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[h("thead",{children:k("tr",{className:"text-fg-subtle font-normal",children:[k("th",{className:P(f,"min-w-16 font-normal"),children:[o("move.rby1.monitor.joint")," (°)"]}),Array.from({length:g},(p,_)=>k("th",{className:P(f,"min-w-14 font-normal"),children:["J",_]},_))]})}),h("tbody",{children:Q_.map(p=>{const _=u[p.component]??[];return k("tr",{children:[h("td",{className:P(f,"text-fg-default"),children:l(p.component)}),Array.from({length:g},(b,v)=>h("td",{className:P(f,_[v]===void 0?"text-fg-subtlest":"text-fg-default font-semibold"),children:_[v]===void 0?rfe:_[v].toFixed(3)},v))]},p.value)})})]}),d&&k("table",{"data-testid":"rby1-tcp-table",className:"typo-compact-2xs-medium border-separate border-spacing-0",children:[h("thead",{children:k("tr",{className:"text-fg-subtle font-normal",children:[h("th",{className:P(f,"min-w-16 font-normal"),children:"Base"}),Fk.map((p,_)=>h("th",{className:P(f,"min-w-14 font-normal"),children:k(U,{className:"gap-1",children:[h("span",{className:P("font-semibold",Ri[p]),children:p.toUpperCase()}),h("span",{children:b1t[_]})]})},p))]})}),h("tbody",{children:_1t.map(p=>{const _=m?.[p];return k("tr",{children:[h("td",{className:P(f,"text-fg-default"),children:l(p)}),Fk.map((b,v)=>h("td",{className:P(f,_?"text-fg-default font-semibold":"text-fg-subtlest"),children:_?_[v].toFixed(3):rfe},b))]},p)})})]})]})},{useMutation:v1t}=await F("@tanstack/react-query"),y1t="/{robot_model}/approach_l",w1t=({robotModel:i,...e})=>xa.post(y1t.replace("{robot_model}",i),e),DPe=()=>v1t({mutationFn:w1t});function C1t({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=yDe({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:u$,useMemo:afe,useRef:S1t}=await F("react"),x1t=["torso","right_arm","left_arm"],TPe=({robotModel:i,urdfViewerRef:e,isDisconnected:t,tcpJointNames:n,isTorsoScope:s,torsoAnchors:o,torsoConstraintMode:r})=>{const{jointNames:a,jointStates:l}=fp(i),c=afe(()=>a.map((N,L)=>fd(l?.[L]?.position??0)),[a,l]),{ik:d,helpers:u}=wDe({robotModel:i,urdfViewerRef:e,isDisconnected:t,jointQDeg:c}),{getRealRobotJointAngles:g,guardConnected:m}=u,{cartesian_states:f}=jy(i,N=>({cartesian_states:N?.cartesian_states})),{mutate:p}=Aie(),{mutate:_}=DPe(),{mutate:b}=d9(),v=S1t(!1),w=u$(N=>{if(!m())return;const L=e.current?.getGhostRobotJointValues()??N.jointAngles,D=J4(vy(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:VP()}))},[m,e,a,l,p,i]),y=u$(()=>{if(!m())return;const N=e.current,L=g();if(!N||!L)return;const D=C1t({components:x1t,cartesians:f??{},poseOf:T=>{const R=Q_.find(M=>M.component===T),A=n.find(M=>!!R&&M.toLowerCase().includes(R.value));return A?{ghost:N.getGhostTcpPoseInChainBase(A),real:N.getGhostTcpPoseInChainBase(A,L)}:null}}),E=J4(D,a,T=>l?.[T]?.is_ready);Object.keys(E).length!==0&&(v.current=!0,_({robotModel:i,target:E,reference:"base",minimumTime:VP()}))},[m,e,g,f,n,a,l,_,i]),S=u$(()=>{v.current&&(v.current=!1,b({robotModel:i}))},[b,i]),C=s&&r==="constrained",x=afe(()=>({...d.ghostRobotIkOptions,pinnedAnchorJointNamesByAnchor:N=>N!==void 0&&o.includes(N)&&!C?[]:void 0}),[d.ghostRobotIkOptions,o,C]);return{...d,ghostRobotIkOptions:x,ghostRobotTcpOffset:null,handleIKMoveJStart:w,handleIKMoveJStop:S,handleIKMoveLStart:y,handleIKMoveLStop:S}},I1t=[{id:"both",label:"Both",groups:["left","right","torso"]},{id:"right",groups:["right"]},{id:"left",groups:["left"]},{id:"torso",groups:["torso"]},{id:"head",groups:["head"]}];function k1t(i,e){return I1t.flatMap(({id:t,label:n,groups:s})=>{const o=s.flatMap(l=>{const c=Q_.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 N1t(i,e){return[...new Set([...i,...e])]}function L1t(i,e){return i.find(t=>t.id===e)??i[0]}const{useMemo:lfe,useState:cfe}=await F("react"),EPe=(i,e)=>{const t=lfe(()=>k1t(i,e??[]),[i,e]),[n,s]=cfe(null),[o,r]=cfe("constrained"),a=L1t(t,n),l=a?.id==="torso",c=lfe(()=>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 Oie(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:dfe,useMemo:h$,useRef:D1t,useState:T1t}=await F("react"),E1t=["translate","rotate"],P1t=({className:i,robotModel:e})=>{const t=D1t(null),{t:n}=J(),[s]=gc(),o=s.get("rby1_jog")??"joint",{data:r}=nr(),a=BN(t),{isMoving:l}=qN(e),{jointNames:c,jointStates:d}=fp(e),u=h$(()=>({real:Oie(c,d)}),[c,d]),{selectedRobot:g}=Fi(e),m=g?.connected==="DISCONNECT",{tcpJointNames:f,ghostDraggableJointNames:p,isGhostRobotSupported:_}=mie(e),[b,v]=T1t([]),w=h$(()=>N1t(f,b),[f,b]),y=EPe(w,p),S=fie(),{ghostJointValues:C,handleGhostRobotJointsChanged:x}=pie(S.isGhostRobot),N=y.tcpGizmo?S.gizmoType:S.gizmoType==="none"?"none":null,L=TPe({robotModel:e,urdfViewerRef:t,isDisconnected:m,isTorsoScope:y.isTorsoScope,torsoAnchors:y.torsoAnchors,torsoConstraintMode:y.torsoConstraintMode,tcpJointNames:f}),{viewerProps:D,itemProps:E}=_ie({gizmo:S,ghostRobotIK:L,isMoving:l,gizmoType:N,activeTcpAnchors:y.activeAnchors,draggableJointNames:y.scopeJointNames??p,onGhostRobotJointsChanged:x}),T=S.isGhostRobot?"ghost":"real",{onGhostRobotChange:R}=E,A=dfe(B=>R?.(B==="ghost"),[R]),M=dfe(B=>{t.current?.setGhostRobotJointValues(B),t.current?.resetIKTransform()},[]),O=h$(()=>[{key:"zoom-in-out",element:h(C0,{onZoomIn:a.zoomIn,onZoomOut:a.zoomOut},"zoom-in-out")},{key:"camera-view",element:h(jM,{onSetCameraView:a.setCameraView},"camera-view")},..._?[{key:"ghost-robot",element:h(jW,{...E,disabledGizmoTypes:y.tcpGizmo?void 0:E1t,gizmoOptionsDisabled:!y.tcpGizmo,scopeOptions:y.options,scopeValue:y.selectedId,onScopeChange:y.setSelectedId,isTorsoScope:y.isTorsoScope,torsoConstraintMode:y.torsoConstraintMode,onTorsoConstraintModeChange:y.setTorsoConstraintMode},"ghost-robot")}]:[]],[a.zoomIn,a.zoomOut,a.setCameraView,_,E,y.tcpGizmo,y.options,y.selectedId,y.setSelectedId,y.isTorsoScope,y.torsoConstraintMode,y.setTorsoConstraintMode]);return k(e9,{className:P("RBY1Move",i),rightIconPanels:O,menus:[{id:"jog",label:n("move.menu.button.label.jog"),icon:h(lke,{}),content:h(xPe,{robotModel:e,source:T,ghostJointValuesRad:C,onGhostJointsChange:M})},{id:"zero-pose",label:n("move.menu.button.label.zeroPose"),icon:h(Qke,{}),content:h(VCt,{robotModel:e})},{id:"saved-pose",label:n("move.rby1.menu.savedPose"),icon:h(QUe,{}),content:h(p1t,{robotModel:e})}],beService:r?.modelInfo?.be_service,children:[h("div",{className:"h-full flex-1 p-2.5",children:k("div",{className:"absolute top-0 left-0 z-1 size-full",children:[h(Um,{ref:t,className:"relative size-full",cameraPositionKey:"rby1-move",robotModel:r?.info?.robotModel,enablePanning:!0,jointValuesRad:u,onToolJointNamesChange:v,...D}),k(q,{className:"absolute top-0 left-0 z-10 gap-3 p-4",children:[h(_Pe,{className:"pointer-events-auto",value:T,disabled:!_,onChange:A}),h(u9,{robotModel:e,mode:o,source:T,ghostJointValuesRad:C})]})]})}),h(WW,{isGhostRobot:S.isGhostRobot,ghostRobotIK:L,btnHoverInteraction:TN.isDesktop})]})},R1t=({className:i})=>{const{connected:e}=Ng(),{selectedRobotModel:t}=ui(),{selectedRobot:n}=Fi(t);return h("div",{className:P("MovePage","h-full",i),children:h(U,{justifyContent:"space-between",className:"relative h-full",children:h("div",{className:"size-full flex-1",children:ia()?h(lCt,{}):e?k(bn,{children:[n?.be_service==="manipulate"&&h(P_t,{robotModel:t}),n?.be_service==="amr"&&h(aCt,{robotModel:t}),n?.be_service==="rby1"&&h(P1t,{robotModel:t})]}):h("div",{className:"text-fg-default flex size-full items-center justify-center",children:h(mb,{className:"text-fg-default size-8"})})})})})},{forwardRef:M1t}=await F("react"),Bk=M1t(({className:i,...e},t)=>h(C8e,{ref:t,className:P(i,"NxPopoverButton","[&_.popover-element]:!bg-transparent"),"data-pad-focus":"true",...e,excludeOutSideIds:["dialog-container",...e?.excludeOutSideIds??[]]}));Bk.displayName="NxPopoverButton";const{useMutation:A1t}=await F("@tanstack/react-query"),O1t="/{robot_model}/call_servocontrol",F1t=async i=>{const{robot_model:e,...t}=i,n=O1t.replace("{robot_model}",e);return await Ot.post(n,t)},PPe=()=>A1t({mutationFn:async i=>F1t(i)}),{useMutation:B1t}=await F("@tanstack/react-query"),V1t="/{robot_model}/call_powercontrol",z1t=async i=>{const{robot_model:e,...t}=i,n=V1t.replace("{robot_model}",e);return await Ot.post(n,t)},RPe=()=>B1t({mutationFn:async i=>z1t(i)}),{useMutation:W1t}=await F("@tanstack/react-query"),H1t="{robot_model}/control_power",$1t=async i=>{const{robotModel:e,status:t}=i,n=H1t.replace("{robot_model}",e);return await xa.post(n,{status:t})},U1t=()=>W1t({mutationFn:$1t}),{useMutation:j1t}=await F("@tanstack/react-query"),G1t="{robot_model}/control_servo",q1t=async i=>{const{robotModel:e,status:t}=i,n=G1t.replace("{robot_model}",e);return await xa.post(n,{status:t})},K1t=()=>j1t({mutationFn:q1t}),{useEffect:bK,useMemo:J1t,useState:vK}=await F("react"),zP=({className:i,label:e,status:t,disabled:n,onCheckedChange:s})=>k(U,{className:P("typo-compact-xs-medium text-fg-subtle gap-1",i),alignItems:"center",children:[h("span",{children:e}),h(Lo,{checked:t,disabled:n,onCheckedChange:s})]}),h9=({className:i,robotAlias:e,robotStatus:t,loading:n,children:s,robotModel:o})=>k(U,{className:P("SimpleRobotConnectStatusItem","gap-2",i),alignItems:"center",justifyContent:"space-between",children:[k(q,{className:"gap-0.5",children:[h(YM,{status:t,variant:"only-text",size:"xs"}),k(U,{className:"typo-compact-xs2-semibold text-fg-default gap-2",alignItems:"center",children:[n&&h(_0,{className:"text-fg-default size-3.5"}),k("span",{className:"line-clamp-1",children:[e||"-",o&&h("span",{className:"typo-compact-2xs-normal text-fg-subtle pl-1",children:`(${o})`})]})]})]}),h(U,{className:"gap-2",children:s})]}),Y1t=({className:i,robotModel:e,robotAlias:t,robotStatus:n})=>{const{t:s}=J(),{motorInit:o}=WN(e,u=>({motorInit:u?.motor[0]?.status===1&&u?.motor[1]?.status===1&&u?.robotState?.power})),[r,a]=vK(o),{mutateAsync:l,isPending:c}=uPe(),d=async()=>{if(n==="DISCONNECT")return;const u=o;try{a(!u),await l({robot_model:e,value:!u})}catch(g){console.error(g),a(u)}};return bK(()=>{c||a(o)},[o,c]),h(h9,{className:i,robotModel:e,robotAlias:t,robotStatus:n,loading:c,children:h(U,{alignItems:"center",children:h(zP,{className:P({"pointer-events-none opacity-50":o}),label:"Motor Init",status:r,disabled:n==="DISCONNECT",onCheckedChange:d})})})},Q1t=({className:i,robotModel:e,robotAlias:t,robotStatus:n})=>{const{t:s}=J(),{mutateAsync:o,isPending:r}=PPe(),{mutateAsync:a,isPending:l}=RPe(),{servoNum:c,powerOut:d}=ws(e,f=>({servoNum:f.statusServoNum,powerOut:f.statusPowerOut})),u={servoOn:n!=="DISCONNECT"&&c===6,powerOn:n!=="DISCONNECT"&&d!==0},g=async()=>{if(n!=="DISCONNECT")try{u.servoOn?await a({robot_model:e,power_option:0}):await o({robot_model:e,servo_option:1})}catch(f){console.error(f)}},m=async()=>{if(n!=="DISCONNECT")try{await a({robot_model:e,power_option:u.powerOn?0:1})}catch(f){console.error(f)}};return h(h9,{className:i,robotAlias:t,robotModel:e,robotStatus:n,loading:r||l,children:k(U,{alignItems:"center",children:[h(zP,{label:s("modal.conn.button.servo"),status:u.servoOn,disabled:r||n==="DISCONNECT",onCheckedChange:g}),h(Zs,{type:"vertical",className:"h-4 w-0.5",spaceSize:8}),h(zP,{label:s("modal.conn.button.power"),status:u.powerOn,disabled:l||n==="DISCONNECT",onCheckedChange:m})]})})},X1t=({className:i,robotModel:e,robotAlias:t,robotStatus:n})=>{const{t:s}=J(),{mutateAsync:o,isPending:r}=K1t(),{mutateAsync:a,isPending:l}=U1t(),{isServoOn:c,isPowerOn:d}=jy(e,v=>({isPowerOn:v?.is_power_on,isServoOn:v?.is_servo_on})),u=J1t(()=>({servoOn:n!=="DISCONNECT"&&c,powerOn:n!=="DISCONNECT"&&d}),[n,c,d]),[g,m]=vK(u.powerOn),[f,p]=vK(u.servoOn),_=async()=>{if(n==="DISCONNECT")return;const v=f;try{p(!v),await o({robotModel:e,status:f?"off":"on"})}catch(w){console.error(w),p(v)}},b=async()=>{if(n==="DISCONNECT")return;const v=g;try{m(!v),await a({robotModel:e,status:v?"off":"on"})}catch(w){console.error(w),m(v)}};return bK(()=>{r||p(u.servoOn)},[u.servoOn,r]),bK(()=>{l||m(u.powerOn)},[u.powerOn,l]),h(h9,{className:i,robotAlias:t,robotModel:e,robotStatus:n,loading:r||l,children:k(U,{alignItems:"center",children:[h(zP,{label:s("modal.conn.button.servo"),status:f,disabled:r||n==="DISCONNECT",onCheckedChange:_}),h(Zs,{type:"vertical",className:"h-4 w-0.5",spaceSize:8}),h(zP,{label:s("modal.conn.button.power"),status:g,disabled:l||n==="DISCONNECT",onCheckedChange:b})]})})},g$=Object.assign(({className:i,robotAlias:e,robotStatus:t,children:n})=>h(h9,{className:i,robotAlias:e,robotStatus:t,children:n}),{AMR:Y1t,Manipulate:Q1t,RBY1:X1t}),{useMutation:Z1t}=await F("@tanstack/react-query"),e0t="/call_powercontrol",t0t=async i=>{try{return await Jt.post(e0t,i)}catch(e){throw console.error(e),e}},n0t=()=>Z1t({mutationFn:i=>t0t(i)}),{useMemo:i0t}=await F("react"),s0t=({className:i})=>{const{t:e}=J(),{theme:t}=rt(),{data:n}=gp(c=>({all_connected:c?.all_connected,core_sw_list:c?.core_sw_list})),{mutateAsync:s,isPending:o}=n0t(),r=o,a=i0t(()=>n?.core_sw_list?.filter(d=>d.connected!=="DISCONNECT")?.every(d=>d.connected==="STABLE"),[n?.core_sw_list]),l=async c=>{try{await s({power_option:c?1:0,motor_init:c,sync_servo:!0,stoptime:.5})}catch(d){at.openToast({title:e("header.toast.title.powerCtrlFail"),content:d instanceof Error?d.message:e("header.toast.desc.powerCtrlFail"),type:"alert",variant:"danger"})}};return h("div",{"data-theme":t,children:k(Dne,{className:P("PopoverSwConnectionStatus",t==="light"?"bg-alt-1":"bg-overlay","outline-border-disabled shadow-down-xl w-full max-w-120 min-w-100 rounded-md p-1.5 outline-1 -outline-offset-1","text-default",i),children:[k(U,{className:"px-1.5 pt-1 pb-2",alignItems:"center",justifyContent:"space-between",children:[h("b",{className:"typo-compact-xs2-semibold inline-block",children:e("dashboard.title.robotComponents")}),k(U,{className:"gap-1.5",alignItems:"center",children:[h("div",{className:"typo-compact-xs2-semibold text-fg-subtle inline-block",children:r?h(mb,{className:"text-fg-default size-3.5"}):e("modal.conn.button.all")}),h(Lo,{checked:r?!a:a,disabled:r||n.all_connected==="DISCONNECT",onCheckedChange:l})]})]}),h(q,{className:P(t==="light"?"bg-default":"bg-alt-2","relative min-h-16 rounded p-3","[&_.robot-item:after]:border-border-subtle [&_.robot-item:after]:my-2 [&_.robot-item:after]:h-px [&_.robot-item:after]:w-full [&_.robot-item:after]:border-b [&_.robot-item:after]:content-[''] [&_.robot-item:not(:last-child):after]:block",{"pointer-events-none":r}),children:h($m,{className:"max-h-120",children:h(jr,{list:n.core_sw_list,noDataMsg:"No robot components",loadingWrapperClassName:"[&_svg]:size-[2rem]",noDataMsgClassName:"&[_.no-data-text]:text-slate-500 [&_.no-data-text]:text-[1rem] [&_.no-data-text]:font-normal [&_.no-data-text]:p-5",children:({item:c})=>k("div",{className:"robot-item",children:[c.be_service==="manipulate"&&h(g$.Manipulate,{robotModel:c.model,robotAlias:c.alias,robotStatus:c.connected}),c.be_service==="amr"&&h(g$.AMR,{robotModel:c.model,robotAlias:c.alias,robotStatus:c.connected}),c.be_service==="rby1"&&h(g$.RBY1,{robotModel:c.model,robotAlias:c.alias,robotStatus:c.connected})]},c.model)})})})]})})},o0t=({className:i})=>{const{theme:e}=rt(),{data:t}=gp(s=>({all_connected:s?.all_connected})),n=P("text-fg-inverse",e==="light"&&"text-white");return k("div",{className:P("HeaderConnectStatusBtn",i),"data-testid":"header-connect-status",children:[k(Bk,{className:P("bg-fill-success outline-border-subtle/20 inline-flex h-8 items-center justify-start self-stretch rounded-md pl-2.5 outline outline-1 outline-offset-[-1px]",{"bg-fill-success":t?.all_connected==="STABLE","bg-fill-caution":t?.all_connected==="UNSTABLE","bg-fill-danger":t?.all_connected==="DISCONNECT"}),"data-pad-focus":"true",anchorId:"robot-connection-status",popoverElement:h(s0t,{}),popoverStyle:{top:"0.4rem",left:"-0.7rem"},children:[k("div",{className:"flex flex-1 items-center justify-start gap-1",children:[k("div",{className:"relative h-4 w-4 overflow-hidden",children:[h("div",{className:P("absolute top-[50%] left-[50%] h-3 w-3 -translate-x-1/2 -translate-y-1/2 rounded-full",e==="light"?"bg-white/30":"bg-fill-inverse-subtle-hovered/30")}),h("div",{className:P("absolute top-[50%] left-[50%] h-1.5 w-1.5 -translate-x-1/2 -translate-y-1/2 rounded-full",e==="light"?"bg-white/40":"bg-fill-inverse-subtle/40")})]}),h("div",{className:"flex flex-1 items-center justify-start overflow-hidden pr-2",children:h("div",{className:P(n,"min-w-17 justify-center text-left font-['Pretendard_Variable'] text-xs leading-4 font-semibold"),children:t?.all_connected})})]}),h(q,{className:"relative size-8 overflow-hidden",alignItems:"center",justifyContent:"center",children:h(D1,{className:P(n,"absolute top-[50%] left-[50%] size-4 -translate-x-1/2 -translate-y-1/2")})})]}),h("div",{id:"robot-connection-status"})]})},{useCallback:r0t,useEffect:a0t,useRef:ufe}=await F("react"),l0t=({className:i})=>{const e=ufe(null),t=ufe(null),n=r0t(()=>{e.current&&t.current&&(e.current.textContent=wa(Date.now(),"MM-DD"),t.current.textContent=wa(Date.now(),"HH:mm"))},[]);return a0t(()=>{n();const s=setInterval(n,1e3);return()=>clearInterval(s)},[n]),k(U,{className:P("HeaderWatch","text-fg-subtle typo-compact-xs-medium h-6 gap-1",i),alignItems:"center",justifyContent:"flex-start",children:[h("span",{ref:e}),h("span",{ref:t})]})},c0t=[{shortLabel:"ENG",label:"ENGLISH",value:"en"},{shortLabel:"KOR",label:"한국어",value:"ko"}],d0t=({className:i})=>{const{changeLanguage:e,currentLanguage:t}=J();return h("div",{className:P("LanguageSelect",i),children:h(ye,{className:"bg-fill-transparent-hovered hover:bg-fill-transparent-hovered! h-8 min-w-0 outline-0! [&_label_span]:text-xs",size:"sm",enableModal:!0,enableGamepadFocus:!0,value:t,onChange:n=>e(n.target.value),children:c0t.map(n=>h(Q,{value:n.value,label:h(U,{alignItems:"center",className:"gap-1.5",children:h("span",{children:n.shortLabel})}),children:n.label},n.value))})})},{useQuery:u0t}=await F("@tanstack/react-query"),MPe="/battery_state",h0t=async()=>Jt.get(MPe),g0t=(i={})=>u0t({queryKey:[MPe],queryFn:()=>h0t(),...i}),m0t=i=>{const{data:e,loading:t}=xs("common/battery_state",{selector:i});return{data:e,loading:t}},{useMemo:f0t}=await F("react"),p0t=()=>{const{data:i}=g0t(),{data:e}=m0t();return{batteryState:f0t(()=>({...i,...e}),[i,e])}},{useMutation:_0t}=await F("@tanstack/react-query"),b0t="/emergency_stop",v0t=async()=>await Jt.post(b0t),y0t=()=>_0t({mutationFn:v0t}),{useQuery:w0t}=await F("@tanstack/react-query"),APe="/version.json",C0t=async()=>await(await fetch(`${APe}?t=${Date.now()}`)).json(),S0t=()=>w0t({queryKey:[APe],queryFn:C0t,staleTime:1e3,gcTime:60*1e3,refetchInterval:60*1e3}),x0t=({className:i})=>{const{theme:e,setThemeData:t}=rt(),n=e==="dark";return h(rn,{size:"xs2",variant:"transparent",className:P(i),onClick:()=>t(n?"light":"dark"),children:k("span",{className:"relative block h-4 w-4 overflow-hidden",children:[h(S8e,{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")}),h(x8e,{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:I0t}=await F("@tanstack/react-query"),OPe="/plugin/{pluginId}",k0t=({pluginId:i})=>{const e=OPe.replace("{pluginId}",i);return Jt.get(e)},JN=(i,e)=>I0t({queryKey:[OPe,i.pluginId],queryFn:()=>k0t(i),enabled:!!i.pluginId,...e}),FPe=({className:i,pluginId:e,pluginName:t,uiContent:n,isPreview:s})=>{const{theme:o}=rt(),{data:r}=JN({pluginId:e},{enabled:!s});return k(q,{className:P("PluginToolbarContent","bg-bg-overlay text-default",i,{"bg-alt-1":o==="light"}),"data-theme":o,children:[k(U,{className:"typo-compact-xs2-semibold text-default w-full gap-4 px-3 py-3",alignItems:"center",justifyContent:"space-between",children:[h("span",{className:"whitespace-pre",children:t}),h(Lo,{size:"default",className:"cursor-default",disabled:s,checked:s?!0:r?.enabled})]}),!!n&&h("div",{className:"bg-alt-2",children:h(hie,{pluginId:e,ui:n},e)})]})},N0t=({className:i,pluginId:e,pluginName:t,uiContent:n,isPreview:s})=>{const{theme:o}=rt();return h(Dne,{className:P("PopoverToolbarContent",i),children:h(FPe,{className:"min-w-50 rounded-sm",pluginId:e,pluginName:t,uiContent:n,isPreview:s})})},L0t=({className:i,pluginId:e,pluginName:t,uiContent:n,isPreview:s,open:o,onOpenChange:r})=>h(ir,{className:P("rounded-none",i),type:"right-sheet",hideCloseButton:!0,open:o,onOpenChange:r,children:h(FPe,{pluginId:e,pluginName:t,uiContent:n,isPreview:s})}),{useMutation:D0t}=await F("@tanstack/react-query"),T0t="/plugin/installed/{pluginId}",E0t=({pluginId:i})=>{const e=T0t.replace("{pluginId}",i);return Jt.delete(e)},Fie=()=>D0t({mutationFn:E0t}),{useEffect:m$,useRef:P0t,useState:R0t}=await F("react"),{createPortal:M0t}=await F("react-dom"),A0t=({className:i,robotModel:e,pluginId:t,disabled:n})=>{const{theme:s}=rt(),{t:o}=J(),r=P0t(null),a=Dr(),[l,c]=R0t(!1),{refs:d,floatingStyles:u,update:g}=I8e({placement:"right-start",middleware:[k8e(4),N8e(),L8e()]}),{refetchPluginInstalledList:m}=I0({robotModel:e,ui:"toolbar"}),{mutateAsync:f}=Fie(),p=()=>{a(`/muscat/app/plugin/${t}?from=toolbar`)},_=async()=>{const{deleted:b}=await f({pluginId:t});b&&m()};return m$(()=>{if(!(!l||!d.reference.current||!d.floating.current))return D8e(d.reference.current,d.floating.current,g)},[l,d.reference,d.floating,g]),m$(()=>{r.current=document.querySelector(".modal-container")},[]),m$(()=>{if(!l)return;const b=v=>{!d.floating.current?.contains(v.target)&&!d.reference.current?.contains(v.target)&&c(!1)};return document.addEventListener("mousedown",b),()=>document.removeEventListener("mousedown",b)},[l,d.floating,d.reference]),k(bn,{children:[h(rn,{ref:d.setReference,className:P("inline-flex size-6 items-center justify-center rounded-sm",{"bg-[#dddddd1a]":l},i),variant:"transparent",icon:h(Jke,{className:"size-4"}),"aria-label":o("plugin.options.ariaLabel.more"),disabled:n,onClick:()=>c(b=>!b)}),l&&M0t(h("div",{ref:d.setFloating,"data-theme":s,style:u,className:"z-200",children:k(q,{className:"bg-bg-raised shadow-down-xl border-border-subtler rounded-md border-1 p-1.5",children:[h(_e,{className:"typo-compact-xs-normal justify-start",size:"sm",variant:"transparent",onClick:p,children:o("plugin.options.button.detailInfo")}),h(_e,{className:"typo-compact-xs-normal justify-start",size:"sm",variant:"transparent",onClick:_,children:o("plugin.options.button.uninstall")})]})}),r.current??document.body)]})},{useMutation:O0t}=await F("@tanstack/react-query"),F0t="/plugin/installed/{pluginId}/toolbar",B0t=({pluginId:i,...e})=>{const t=F0t.replace("{pluginId}",i);return Jt.patch(t,e)},V0t=()=>O0t({mutationFn:B0t}),{useState:z0t}=await F("react"),W0t=({className:i,icon:e,name:t,pluginId:n,enabled:s,toolbar:o,isPreview:r,robotModel:a,onPluginClick:l})=>{const{getAssetUrl:c}=Ch(),{refetchPluginInstalledList:d}=I0({robotModel:a,ui:"toolbar"}),[u,g]=z0t(!!o),{mutateAsync:m}=V0t(),f=async()=>{await m({pluginId:n,toolbar:!u}),d(),g(_=>!_)},p=()=>{l?.(n)};return k(U,{className:P("PluginSimpleInstalledItem",i),alignItems:"center",justifyContent:"space-between",children:[h(_e,{variant:"transparent",className:"h-auto w-full justify-start !px-1 !py-1",onClick:p,children:k(U,{className:"gap-2",alignItems:"center",children:[h("img",{className:P("size-6.5 overflow-hidden rounded-sm object-cover object-center",{grayscale:!s}),src:c(n,e),alt:t}),h("span",{className:"typo-compact-xs2-normal max-w-[9rem] overflow-hidden leading-0 text-ellipsis whitespace-nowrap",children:t})]})}),k(U,{alignItems:"center",children:[h(rn,{icon:u?h(Gje,{className:"text-fg-brand size-4"}):h(Kje,{className:"size-3.5"}),variant:"transparent",size:"2xs",disabled:r,"aria-label":o?"Unpin from toolbar":"Pin to toolbar",onClick:f}),h(A0t,{pluginId:n,robotModel:a,disabled:r})]})]},n)},{useMemo:H0t}=await F("react"),$0t=({className:i,robotModel:e,onPluginClick:t,close:n})=>{const{t:s}=J(),o=Dr(),{usePluginManifest:r}=Ch(),{data:a}=r(),{data:l}=YW({robotModel:e}),c=H0t(()=>{const g=l?.plugins?.map(m=>({pluginId:m.pluginId,name:m.name,isPreview:!1,uiContent:Ev(m.contributes,"toolbar")?.ui,icon:typeof m.icons=="object"?m.icons?.["16"]:m.icons,toolbar:m.toolbar,enabled:m.enabled,openType:Ev(m.contributes,"toolbar")?.opens}))??[];return ia()&&a&&g.unshift({pluginId:a.id,name:a.name,uiContent:Ev(a.contributes,"toolbar")?.ui,isPreview:!0,toolbar:!0,enabled:!0,icon:typeof a.icons=="string"?a.icons:a.icons?.["16"],openType:Ev(a.contributes,"toolbar")?.opens}),g},[l?.plugins,a]),d=g=>{t?.(g),n?.()},u=()=>{o("/muscat/app/plugin?installed=1"),n?.()};return h(Dne,{className:P("PopoverInstalledPluginList","bg-bg-overlay text-default overflow-visible",i),children:k(q,{className:"w-max max-w-80 p-3",children:[k(U,{className:"mb-1",justifyContent:"space-between",alignItems:"center",children:[h("h6",{className:"typo-compact-sm-semibold",children:s("plugin.tab.registryList")}),h(rn,{icon:h(b0,{className:"size-3.5"}),variant:"transparent",size:"2xs",onClick:n})]}),k(q,{className:"relative max-h-[calc(var(--vh,1vh)*40)] min-h-30 gap-1 !overflow-x-visible overflow-y-auto",children:[h("p",{className:"typo-compact-xs-normal text-fg-subtle mb-3",children:s("plugin.popover.installedList.desc")}),h(jr,{list:c,loadingWrapperClassName:"flex items-center justify-center [&_svg]:size-[1.5rem]",noDataMsgClassName:"flex align-items justify-center h-20 [&_.no-data-text]:typo-compact-xs-semibold",noDataMsg:s("plugin.popover.installedList.empty"),children:({item:g})=>h(W0t,{pluginId:g.pluginId,name:g.name,icon:g.icon,enabled:g.enabled,toolbar:g.toolbar,isPreview:g.isPreview,robotModel:e,onPluginClick:d},g.pluginId)})]}),h("div",{className:"pt-2",children:h(_e,{className:"typo-compact-xs-normal w-full",leadingIcon:h(bne,{className:"mr-1 size-4"}),variant:"soft",size:"sm",onClick:u,children:s("plugin.popover.button.manageInstalled")})})]})})};var f$={exports:{}};/**!
  * Sortable 1.15.7
  * @author	RubaXa   <trash@rubaxa.org>
  * @author	owenm    <owen23355@gmail.com>
@@ -1294,7 +1294,7 @@ ${e.toString()}`}}class Hz{constructor(e=new gL,t=!1,n,s=tin){this._services=e,t
 `:`\r
 `}};ute=xp([Wo(0,ln)],ute);class gin{publicLog2(){}}class jz{static{this.SCHEME="inmemory"}constructor(){const e=Lt.from({scheme:jz.SCHEME,authority:"model",path:"/"});this.workspace={id:TFe,folders:[new L6t({uri:e,name:"",index:0})]}}getWorkspace(){return this.workspace}getWorkspaceFolder(e){return e&&e.scheme===jz.SCHEME?this.workspace.folders[0]:null}}function Gz(i,e,t){if(!e||!(i instanceof Uz))return;const n=[];Object.keys(e).forEach(s=>{G6t(s)&&n.push([`editor.${s}`,e[s]]),t&&q6t(s)&&n.push([`diffEditor.${s}`,e[s]])}),n.length>0&&i.updateValues(n)}let hte=class{constructor(e){this._modelService=e}hasPreviewHandler(){return!1}async apply(e,t){const n=Array.isArray(e)?e:_re.convert(e),s=new Map;for(const a of n){if(!(a instanceof cy))throw new Error("bad edit - only text edits are supported");const l=this._modelService.getModel(a.resource);if(!l)throw new Error("bad edit - model not found");if(typeof a.versionId=="number"&&l.getVersionId()!==a.versionId)throw new Error("bad state - model changed in the meantime");let c=s.get(l);c||(c=[],s.set(l,c)),c.push(eo.replaceMove($.lift(a.textEdit.range),a.textEdit.text))}let o=0,r=0;for(const[a,l]of s)a.pushStackElement(),a.pushEditOperations([],l,()=>[]),a.pushStackElement(),r+=1,o+=l.length;return{ariaSummary:W1(wZ.bulkEditServiceSummary,o,r),isApplied:o>0}}};hte=xp([Wo(0,Es)],hte);class min{getUriLabel(e,t){return e.scheme==="file"?e.fsPath:e.path}getUriBasenameLabel(e){return _h(e)}}let gte=class extends Ttn{constructor(e,t){super(e),this._codeEditorService=t}showContextView(e,t,n){if(!t){const s=this._codeEditorService.getFocusedCodeEditor()||this._codeEditorService.getActiveCodeEditor();s&&(t=s.getContainerDomNode())}return super.showContextView(e,t,n)}};gte=xp([Wo(0,wp),Wo(1,Kn)],gte);class fin{constructor(){this._neverEmitter=new ae,this.onDidChangeTrust=this._neverEmitter.event}isWorkspaceTrusted(){return!0}}class pin extends Az{constructor(){super()}}class _in extends rin{constructor(){super(new yTt)}}let mte=class extends Bee{constructor(e,t,n,s,o,r){super(e,t,n,s,o,r),this.configure({blockMouse:!1})}};mte=xp([Wo(0,xl),Wo(1,ao),Wo(2,Cb),Wo(3,Zn),Wo(4,xh),Wo(5,Ut)],mte);const bin={esmModuleLocation:void 0,label:"editorWorkerService"};let fte=class extends kee{constructor(e,t,n,s,o){super(bin,e,t,n,s,o)}};fte=xp([Wo(0,Es),Wo(1,r7),Wo(2,es),Wo(3,Ps),Wo(4,mt)],fte);class vin{async playSignal(e,t){}}Tn(es,_in,0);Tn(ln,Uz,0);Tn(r7,dte,0);Tn(T4e,ute,0);Tn(db,jz,0);Tn(u0,min,0);Tn(xl,gin,0);Tn(JA,uin,0);Tn(Lre,din,0);Tn(ao,$z,0);Tn(Cp,EC,0);Tn(ro,pin,0);Tn(Tu,wen,0);Tn(Es,Uee,0);Tn($se,$ee,0);Tn(Ut,ate,0);Tn(iOe,cin,0);Tn(lb,Ile,0);Tn(Ul,u9t,0);Tn(Yc,fte,0);Tn(MA,hte,0);Tn(H4e,fin,0);Tn($l,lte,0);Tn(Ia,ste,0);Tn(Lh,v$t,0);Tn(ts,cte,0);Tn(Zn,kN,0);Tn(wl,ite,0);Tn(Cb,gte,0);Tn(Sb,Hee,0);Tn(Pd,rte,0);Tn(Du,mte,0);Tn(xh,TY,0);Tn(yb,vin,0);Tn(Poe,ain,0);Tn(EMe,xTt,0);Tn(Sae,AGt,0);var Qt;(function(i){const e=new gL;for(const[l,c]of qpe())e.set(l,c);const t=new Hz(e,!0);e.set(bt,t);function n(l){s||r({});const c=e.get(l);if(!c)throw new Error("Missing service "+l);return c instanceof Tf?t.invokeFunction(d=>d.get(l)):c}i.get=n;let s=!1;const o=new ae;function r(l){if(s)return t;s=!0;for(const[d,u]of qpe())e.get(d)||e.set(d,u);for(const d in l)if(l.hasOwnProperty(d)){const u=pn(d);e.get(u)instanceof Tf&&e.set(u,l[d])}const c=L7t();for(const d of c)try{t.createInstance(d)}catch(u){Yt(u)}return o.fire(),t}i.initialize=r;function a(l){if(s)return l();const c=new Re,d=c.add(o.event(()=>{d.dispose(),c.add(l())}));return c}i.withServices=a})(Qt||(Qt={}));var yin=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},D1e=function(i,e){return function(t,n){e(t,n,i)}},l4;let pte=class{static{l4=this}static{this._ttpTokenizer=vp("tokenizeToString",{createHTML(e){return e}})}constructor(e,t){this._configurationService=e,this._languageService=t}async renderCodeBlock(e,t,n){const s=zm(n.context)?n.context:void 0;let o;e?o=this._languageService.getLanguageIdByLanguageName(e):s&&(o=s.getModel()?.getLanguageId()),o||(o=vu);const r=await N4t(this._languageService,t,o),a=l4._ttpTokenizer?l4._ttpTokenizer.createHTML(r)??r:r,l=document.createElement("span");l.innerHTML=a;const c=l.querySelector(".monaco-tokenized-source");return oo(c)?(sa(c,this.getFontInfo(s)),l):document.createElement("span")}getFontInfo(e){return e?e.getOption(59):iRt({fontFamily:this._configurationService.getValue("editor").fontFamily},1)}};pte=l4=yin([D1e(0,ln),D1e(1,ro)],pte);var kle=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},qi=function(i,e){return function(t,n){e(t,n,i)}};let win=0,T1e=!1;function Cin(i){if(!i){if(T1e)return;T1e=!0}VDt(i||Li.document.body)}let qz=class extends Y1{constructor(e,t,n,s,o,r,a,l,c,d,u,g,m,f){const p={...t};p.ariaLabel=p.ariaLabel||vZ.editorViewAccessibleLabel,super(e,p,{},n,s,o,r,c,d,u,g,m),l instanceof kN?this._standaloneKeybindingService=l:this._standaloneKeybindingService=null,Cin(p.ariaContainerElement),gBt((_,b)=>n.createInstance(aN,_,{instantHover:b},{})),Szt(a),f.setDefaultCodeBlockRenderer(n.createInstance(pte))}addCommand(e,t,n){if(!this._standaloneKeybindingService)return console.warn("Cannot add command because the editor is configured with an unrecognized KeybindingService"),null;const s="DYNAMIC_"+ ++win,o=Fe.deserialize(n);return this._standaloneKeybindingService.addDynamicKeybinding(s,e,t,o),s}createContextKey(e,t){return this._contextKeyService.createKey(e,t)}addAction(e){if(typeof e.id!="string"||typeof e.label!="string"||typeof e.run!="function")throw new Error("Invalid action descriptor, `id`, `label` and `run` are required properties!");if(!this._standaloneKeybindingService)return console.warn("Cannot add keybinding because the editor is configured with an unrecognized KeybindingService"),le.None;const t=e.id,n=e.label,s=Fe.and(Fe.equals("editorId",this.getId()),Fe.deserialize(e.precondition)),o=e.keybindings,r=Fe.and(s,Fe.deserialize(e.keybindingContext)),a=e.contextMenuGroupId||null,l=e.contextMenuOrder||0,c=(m,...f)=>Promise.resolve(e.run(this,...f)),d=new Re,u=this.getId()+":"+t;if(d.add(zn.registerCommand(u,c)),a){const m={command:{id:u,title:n},when:s,group:a,order:l};d.add(na.appendMenuItem(re.EditorContext,m))}if(Array.isArray(o))for(const m of o)d.add(this._standaloneKeybindingService.addDynamicKeybinding(u,m,c,r));const g=new N2e(u,n,n,void 0,s,(...m)=>Promise.resolve(e.run(this,...m)),this._contextKeyService);return this._actions.set(t,g),d.add(pt(()=>{this._actions.delete(t)})),d}_triggerCommand(e,t){if(this._codeEditorService instanceof Dz)try{this._codeEditorService.setActiveCodeEditor(this),super._triggerCommand(e,t)}finally{this._codeEditorService.setActiveCodeEditor(null)}else super._triggerCommand(e,t)}};qz=kle([qi(2,bt),qi(3,Kn),qi(4,ts),qi(5,Ut),qi(6,pc),qi(7,Zn),qi(8,Gs),qi(9,ao),qi(10,Ia),qi(11,Ps),qi(12,mt),qi(13,Pg)],qz);let _te=class extends qz{constructor(e,t,n,s,o,r,a,l,c,d,u,g,m,f,p,_,b){const v={...t};Gz(u,v,!1);const w=c.registerEditorContainer(e);typeof v.theme=="string"&&c.setTheme(v.theme),typeof v.autoDetectHighContrast<"u"&&c.setAutoDetectHighContrast(!!v.autoDetectHighContrast);const y=v.model;delete v.model,super(e,v,n,s,o,r,a,l,c,d,g,p,_,b),this._configurationService=u,this._standaloneThemeService=c,this._register(w);let S;if(typeof y>"u"){const C=f.getLanguageIdByMimeType(v.language)||v.language||vu;S=ABe(m,f,v.value||"",C,void 0),this._ownsModel=!0}else S=y,this._ownsModel=!1;if(this._attachModel(S),S){const C={oldModelUrl:null,newModelUrl:S.uri};this._onDidChangeModel.fire(C)}}dispose(){super.dispose()}updateOptions(e){Gz(this._configurationService,e,!1),typeof e.theme=="string"&&this._standaloneThemeService.setTheme(e.theme),typeof e.autoDetectHighContrast<"u"&&this._standaloneThemeService.setAutoDetectHighContrast(!!e.autoDetectHighContrast),super.updateOptions(e)}_postDetachModelCleanup(e){super._postDetachModelCleanup(e),e&&this._ownsModel&&(e.dispose(),this._ownsModel=!1)}};_te=kle([qi(2,bt),qi(3,Kn),qi(4,ts),qi(5,Ut),qi(6,pc),qi(7,Zn),qi(8,Tu),qi(9,ao),qi(10,ln),qi(11,Ia),qi(12,Es),qi(13,ro),qi(14,Ps),qi(15,mt),qi(16,Pg)],_te);let bte=class extends ap{constructor(e,t,n,s,o,r,a,l,c,d,u,g){const m={...t};Gz(l,m,!0);const f=r.registerEditorContainer(e);typeof m.theme=="string"&&r.setTheme(m.theme),typeof m.autoDetectHighContrast<"u"&&r.setAutoDetectHighContrast(!!m.autoDetectHighContrast),super(e,m,{},s,n,o,g,d),this._configurationService=l,this._standaloneThemeService=r,this._register(f)}dispose(){super.dispose()}updateOptions(e){Gz(this._configurationService,e,!0),typeof e.theme=="string"&&this._standaloneThemeService.setTheme(e.theme),typeof e.autoDetectHighContrast<"u"&&this._standaloneThemeService.setAutoDetectHighContrast(!!e.autoDetectHighContrast),super.updateOptions(e)}_createInnerEditor(e,t,n){return e.createInstance(qz,t,n)}getOriginalEditor(){return super.getOriginalEditor()}getModifiedEditor(){return super.getModifiedEditor()}addCommand(e,t,n){return this.getModifiedEditor().addCommand(e,t,n)}createContextKey(e,t){return this.getModifiedEditor().createContextKey(e,t)}addAction(e){return this.getModifiedEditor().addAction(e)}};bte=kle([qi(2,bt),qi(3,Ut),qi(4,Kn),qi(5,Tu),qi(6,ao),qi(7,ln),qi(8,Du),qi(9,lb),qi(10,Pd),qi(11,yb)],bte);function ABe(i,e,t,n,s){if(t=t||"",!n){const o=t.indexOf(`
 `);let r=t;return o!==-1&&(r=t.substring(0,o)),E1e(i,t,e.createByFilepathOrFirstLine(s||null,r),s)}return E1e(i,t,e.createById(n),s)}function E1e(i,e,t,n){return i.createModel(e,t,n)}Z("multiDiffEditor.headerBackground",{dark:"#262626",light:"tab.inactiveBackground",hcDark:"tab.inactiveBackground",hcLight:"tab.inactiveBackground"},I(142,"The background color of the diff editor's header"));Z("multiDiffEditor.background",No,I(143,"The background color of the multi file diff editor"));Z("multiDiffEditor.border",{dark:"sideBarSectionHeader.border",light:"#cccccc",hcDark:"sideBarSectionHeader.border",hcLight:"#cccccc"},I(144,"The border color of the multi file diff editor"));var Sin=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},P1e=function(i,e){return function(t,n){e(t,n,i)}};class xin{constructor(e,t){this.viewModel=e,this.deltaScrollVertical=t}getId(){return this.viewModel}}let vte=class extends le{constructor(e,t,n,s,o){super(),this._container=e,this._overflowWidgetsDomNode=t,this._workbenchUIElementFactory=n,this._instantiationService=s,this._viewModel=$t(this,void 0),this._collapsed=Me(this,l=>this._viewModel.read(l)?.collapsed.read(l)),this._editorContentHeight=$t(this,500),this.contentHeight=Me(this,l=>(this._collapsed.read(l)?0:this._editorContentHeight.read(l))+this._outerEditorHeight),this._modifiedContentWidth=$t(this,0),this._modifiedWidth=$t(this,0),this._originalContentWidth=$t(this,0),this._originalWidth=$t(this,0),this.maxScroll=Me(this,l=>{const c=this._modifiedContentWidth.read(l)-this._modifiedWidth.read(l),d=this._originalContentWidth.read(l)-this._originalWidth.read(l);return c>d?{maxScroll:c,width:this._modifiedWidth.read(l)}:{maxScroll:d,width:this._originalWidth.read(l)}}),this._elements=Gn("div.multiDiffEntry",[Gn("div.header@header",[Gn("div.header-content",[Gn("div.collapse-button@collapseButton"),Gn("div.file-path",[Gn("div.title.modified.show-file-icons@primaryPath",[]),Gn("div.status.deleted@status",["R"]),Gn("div.title.original.show-file-icons@secondaryPath",[])]),Gn("div.actions@actions")])]),Gn("div.editorParent",[Gn("div.editorContainer@editor")])]),this.editor=this._register(this._instantiationService.createInstance(ap,this._elements.editor,{overflowWidgetsDomNode:this._overflowWidgetsDomNode,fixedOverflowWidgets:!0},{})),this.isModifedFocused=Ts(this.editor.getModifiedEditor()).isFocused,this.isOriginalFocused=Ts(this.editor.getOriginalEditor()).isFocused,this.isFocused=Me(this,l=>this.isModifedFocused.read(l)||this.isOriginalFocused.read(l)),this._resourceLabel=this._workbenchUIElementFactory.createResourceLabel?this._register(this._workbenchUIElementFactory.createResourceLabel(this._elements.primaryPath)):void 0,this._resourceLabel2=this._workbenchUIElementFactory.createResourceLabel?this._register(this._workbenchUIElementFactory.createResourceLabel(this._elements.secondaryPath)):void 0,this._dataStore=this._register(new Re),this._headerHeight=40,this._lastScrollTop=-1,this._isSettingScrollTop=!1;const r=new DV(this._elements.collapseButton,{});this._register(zt(l=>{r.element.className="",r.icon=this._collapsed.read(l)?He.chevronRight:He.chevronDown})),this._register(r.onDidClick(()=>{this._viewModel.get()?.collapsed.set(!this._collapsed.get(),void 0)})),this._register(zt(l=>{this._elements.editor.style.display=this._collapsed.read(l)?"none":"block"})),this._register(this.editor.getModifiedEditor().onDidLayoutChange(l=>{const c=this.editor.getModifiedEditor().getLayoutInfo().contentWidth;this._modifiedWidth.set(c,void 0)})),this._register(this.editor.getOriginalEditor().onDidLayoutChange(l=>{const c=this.editor.getOriginalEditor().getLayoutInfo().contentWidth;this._originalWidth.set(c,void 0)})),this._register(this.editor.onDidContentSizeChange(l=>{AT(c=>{this._editorContentHeight.set(l.contentHeight,c),this._modifiedContentWidth.set(this.editor.getModifiedEditor().getContentWidth(),c),this._originalContentWidth.set(this.editor.getOriginalEditor().getContentWidth(),c)})})),this._register(this.editor.getOriginalEditor().onDidScrollChange(l=>{if(this._isSettingScrollTop||!l.scrollTopChanged||!this._data)return;const c=l.scrollTop-this._lastScrollTop;this._data.deltaScrollVertical(c)})),this._register(zt(l=>{const c=this._viewModel.read(l)?.isActive.read(l);this._elements.root.classList.toggle("active",c)})),this._container.appendChild(this._elements.root),this._outerEditorHeight=this._headerHeight,this._contextKeyService=this._register(o.createScoped(this._elements.actions));const a=this._register(this._instantiationService.createChild(new gL([Ut,this._contextKeyService])));this._register(a.createInstance(BR,this._elements.actions,re.MultiDiffEditorFileToolbar,{actionRunner:this._register(new pFe(()=>this._viewModel.get()?.modifiedUri??this._viewModel.get()?.originalUri)),menuOptions:{shouldForwardArgs:!0},toolbarOptions:{primaryGroup:l=>l.startsWith("navigation")},actionViewItemProvider:(l,c)=>fre(a,l,c)}))}setScrollLeft(e){this._modifiedContentWidth.get()-this._modifiedWidth.get()>this._originalContentWidth.get()-this._originalWidth.get()?this.editor.getModifiedEditor().setScrollLeft(e):this.editor.getOriginalEditor().setScrollLeft(e)}setData(e){this._data=e;function t(s){return{...s,scrollBeyondLastLine:!1,hideUnchangedRegions:{enabled:!0},scrollbar:{vertical:"hidden",horizontal:"hidden",handleMouseWheel:!1,useShadows:!1},renderOverviewRuler:!1,fixedOverflowWidgets:!0,overviewRulerBorder:!1}}if(!e){AT(s=>{this._viewModel.set(void 0,s),this.editor.setDiffModel(null,s),this._dataStore.clear()});return}const n=e.viewModel.documentDiffItem;if(AT(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 0,{strikethrough:!0}),this._dataStore.clear(),this._viewModel.set(e.viewModel,s),this.editor.setDiffModel(e.viewModel.diffEditorViewModelRef,s),this.editor.updateOptions(t(n.options??{}))}),n.onOptionsDidChange&&this._dataStore.add(n.onOptionsDidChange(()=>{this.editor.updateOptions(t(n.options??{}))})),e.viewModel.isAlive.recomputeInitiallyAndOnChange(this._dataStore,s=>{s||this.setData(void 0)}),e.viewModel.documentDiffItem.contextKeys)for(const[s,o]of Object.entries(e.viewModel.documentDiffItem.contextKeys))this._contextKeyService.createKey(s,o)}render(e,t,n,s){this._elements.root.style.visibility="visible",this._elements.root.style.top=`${e.start}px`,this._elements.root.style.height=`${e.length}px`,this._elements.root.style.width=`${t}px`,this._elements.root.style.position="absolute";const o=e.length-this._headerHeight,r=Math.max(0,Math.min(s.start-e.start,o));this._elements.header.style.transform=`translateY(${r}px)`,AT(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"}};vte=Sin([P1e(3,bt),P1e(4,Ut)],vte);class Iin{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 kin=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},R1e=function(i,e){return function(t,n){e(t,n,i)}};let yte=class extends le{constructor(e,t,n,s,o,r){super(),this._element=e,this._dimension=t,this._viewModel=n,this._workbenchUIElementFactory=s,this._parentContextKeyService=o,this._parentInstantiationService=r,this._scrollableElements=Gn("div.scrollContent",[Gn("div@content",{style:{overflow:"hidden"}}),Gn("div.monaco-editor@overflowWidgetsDomNode",{})]),this._scrollable=this._register(new uL({forceIntegerValues:!1,scheduleAtNextAnimationFrame:c=>Hc(wt(this._element),c),smoothScrollDuration:100})),this._scrollableElement=this._register(new n6(this._scrollableElements.root,{vertical:1,horizontal:1,useShadows:!1},this._scrollable)),this._elements=Gn("div.monaco-component.multiDiffEditor",{},[Gn("div",{},[this._scrollableElement.getDomNode()]),Gn("div.placeholder@placeholder",{},[Gn("div")])]),this._sizeObserver=this._register(new YOe(this._element,void 0)),this._objectPool=this._register(new Iin(c=>{const d=this._instantiationService.createInstance(vte,this._scrollableElements.content,this._scrollableElements.overflowWidgetsDomNode,this._workbenchUIElementFactory);return d.setData(c),d})),this.scrollTop=li(this,this._scrollableElement.onScroll,()=>this._scrollableElement.getScrollPosition().scrollTop),this.scrollLeft=li(this,this._scrollableElement.onScroll,()=>this._scrollableElement.getScrollPosition().scrollLeft),this._viewItemsInfo=Me(this,c=>{const d=this._viewModel.read(c);if(!d)return{items:[],getItem:f=>{throw new Et}};const u=d.items.read(c),g=new Map;return{items:u.map(f=>{const p=c.store.add(new Lin(f,this._objectPool,this.scrollLeft,b=>{this._scrollableElement.setScrollPosition({scrollTop:this._scrollableElement.getScrollPosition().scrollTop+b})})),_=this._lastDocStates?.[p.getKey()];return _&&Ji(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((u,g)=>u+g.contentHeight.read(d)+this._spaceBetweenPx,0)),this.activeControl=Me(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 gL([Ut,this._contextKeyService]))),this._contextKeyService.createKey(ee.inMultiDiffEditor.key,!0),this._lastDocStates={},this._register(vl((c,d)=>{const u=this._viewModel.read(c);if(u&&u.contextKeys)for(const[g,m]of Object.entries(u.contextKeys)){const f=this._contextKeyService.createKey(g,void 0);f.set(m),d.add(pt(()=>f.reset()))}}));const a=this._parentContextKeyService.createKey(ee.multiDiffEditorAllCollapsed.key,!1);this._register(zt(c=>{const d=this._viewModel.read(c);if(d){const u=d.items.read(c).every(g=>g.collapsed.read(c));a.set(u)}})),this._register(zt(c=>{const d=this._dimension.read(c);this._sizeObserver.observe(d)}));const l=Me(c=>{if(this._viewItems.read(c).length>0)return;const u=this._viewModel.read(c);return!u||u.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 u=this._totalHeight.read(c);this._scrollableElements.content.style.height=`${u}px`;const g=this._sizeObserver.width.read(c);let m=g;const f=this._viewItems.read(c),p=coe(f,Ka(_=>_.maxScroll.read(c).maxScroll,Cd));if(p){const _=p.maxScroll.read(c);m=g+_.maxScroll}this._scrollableElement.setScrollDimensions({width:g,height:d,scrollHeight:u,scrollWidth:m})})),e.replaceChildren(this._elements.root),this._register(pt(()=>{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=>{AT(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 Et("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),Nin(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(u=>u.modified.startLineNumber>l):c.some(u=>u.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=_t.ofStartAndLength(t,r),l=this._sizeObserver.width.read(e);for(const c of this._viewItems.read(e)){const d=c.contentHeight.read(e),u=Math.min(d,r),g=_t.ofStartAndLength(s,u),m=_t.ofStartAndLength(o,d);if(m.isBefore(a))n-=d-u,c.hide();else if(m.isAfter(a))c.hide();else{const f=Math.max(0,Math.min(a.start-m.start,d-u));n-=f;const p=_t.ofStartAndLength(t+n,r);c.render(g,f,l,p)}s+=u+this._spaceBetweenPx,o+=d+this._spaceBetweenPx}this._scrollableElements.content.style.transform=`translateY(${-(t+n)}px)`}};yte=kin([R1e(4,Ut),R1e(5,bt)],yte);function Nin(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 Lin extends le{constructor(e,t,n,s){super(),this.viewModel=e,this._objectPool=t,this._scrollLeft=n,this._deltaScrollVertical=s,this._templateRef=this._register(Sse(this,void 0)),this.contentHeight=Me(this,o=>this._templateRef.read(o)?.object.contentHeight?.read(o)??this.viewModel.lastTemplateData.read(o).contentHeight),this.maxScroll=Me(this,o=>this._templateRef.read(o)?.object.maxScroll.read(o)??{maxScroll:0,scrollWidth:0}),this.template=Me(this,o=>this._templateRef.read(o)?.object),this._isHidden=$t(this,!1),this._isFocused=Me(this,o=>this.template.read(o)?.isFocused.read(o)??!1),this.viewModel.setIsFocused(this._isFocused,void 0),this._register(zt(o=>{const r=this._scrollLeft.read(o);this._templateRef.read(o)?.object.setScrollLeft(r)})),this._register(zt(o=>{const r=this._templateRef.read(o);!r||!this._isHidden.read(o)||r.object.isFocused.read(o)||this._clear()}))}dispose(){this._clear(),super.dispose()}toString(){return`VirtualViewItem(${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(ut.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&&Ji(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 xin(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 Din=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},Tin=function(i,e){return function(t,n){e(t,n,i)}};let wte=class extends le{constructor(e,t,n){super(),this._element=e,this._workbenchUIElementFactory=t,this._instantiationService=n,this._dimension=$t(this,void 0),this._viewModel=$t(this,void 0),this._widgetImpl=Me(this,s=>s.store.add(this._instantiationService.createInstance(Yp(yte),this._element,this._dimension,this._viewModel,this._workbenchUIElementFactory))),this._register(Uk(this._widgetImpl))}};wte=Din([Tin(2,bt)],wte);function Ein(i,e,t){return Qt.initialize(t||{}).createInstance(_te,i,e)}function Pin(i){return Qt.get(Kn).onCodeEditorAdd(t=>{i(t)})}function Rin(i){return Qt.get(Kn).onDiffEditorAdd(t=>{i(t)})}function Min(){return Qt.get(Kn).listCodeEditors()}function Ain(){return Qt.get(Kn).listDiffEditors()}function Oin(i,e,t){return Qt.initialize(t||{}).createInstance(bte,i,e)}function Fin(i,e){const t=Qt.initialize(e||{});return new wte(i,{},t)}function Bin(i){if(typeof i.id!="string"||typeof i.run!="function")throw new Error("Invalid command descriptor, `id` and `run` are required properties!");return zn.registerCommand(i.id,i.run)}function Vin(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=Fe.deserialize(i.precondition),t=(s,...o)=>Lr.runEditorCommand(s,o,e,(r,a,l)=>Promise.resolve(i.run(a,...l))),n=new Re;if(n.add(zn.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(na.appendMenuItem(re.EditorContext,s))}if(Array.isArray(i.keybindings)){const s=Qt.get(Zn);if(!(s instanceof kN))console.warn("Cannot add keybinding because the editor is configured with an unrecognized KeybindingService");else{const o=Fe.and(e,Fe.deserialize(i.keybindingContext));n.add(s.addDynamicKeybindings(i.keybindings.map(r=>({keybinding:r,command:i.id,when:o}))))}}return n}function zin(i){return OBe([i])}function OBe(i){const e=Qt.get(Zn);return e instanceof kN?e.addDynamicKeybindings(i.map(t=>({keybinding:t.keybinding,command:t.command,commandArgs:t.commandArgs,when:Fe.deserialize(t.when)}))):(console.warn("Cannot add keybinding because the editor is configured with an unrecognized KeybindingService"),le.None)}function Win(i,e,t){const n=Qt.get(ro),s=n.getLanguageIdByMimeType(e)||e;return ABe(Qt.get(Es),n,i,s,t)}function Hin(i,e){const t=Qt.get(ro),n=t.getLanguageIdByMimeType(e)||e||vu;i.setLanguage(t.createById(n))}function $in(i,e,t){i&&Qt.get(Cp).changeOne(e,i.uri,t)}function Uin(i){Qt.get(Cp).changeAll(i,[])}function jin(i){return Qt.get(Cp).read(i)}function Gin(i){return Qt.get(Cp).onMarkerChanged(i)}function qin(i){return Qt.get(Es).getModel(i)}function Kin(){return Qt.get(Es).getModels()}function Jin(i){return Qt.get(Es).onModelAdded(i)}function Yin(i){return Qt.get(Es).onModelRemoved(i)}function Qin(i){return Qt.get(Es).onModelLanguageChanged(t=>{i({model:t.model,oldLanguage:t.oldLanguageId})})}function Xin(i){return itn(Qt.get(Es),i)}function Zin(i,e){const t=Qt.get(ro),n=Qt.get(Tu);return _le.colorizeElement(n,t,i,e).then(()=>{n.registerEditorContainer(i)})}function esn(i,e,t){const n=Qt.get(ro);return Qt.get(Tu).registerEditorContainer(Li.document.body),_le.colorize(n,i,e,t)}function tsn(i,e,t=4){return Qt.get(Tu).registerEditorContainer(Li.document.body),_le.colorizeModelLine(i,e,t)}function nsn(i){const e=Xs.get(i);return e||{getInitialState:()=>sN,tokenize:(t,n,s)=>Eoe(i,s)}}function isn(i,e){Xs.getOrCreate(e);const t=nsn(e),n=Dd(i),s=[];let o=t.getInitialState();for(let r=0,a=n.length;r<a;r++){const l=n[r],c=t.tokenize(l,!0,o);s[r]=c.tokens,o=c.endState}return s}function ssn(i,e){Qt.get(Tu).defineTheme(i,e)}function osn(i){Qt.get(Tu).setTheme(i)}function rsn(){dJ.clearAllFontInfos()}function asn(i,e){return zn.registerCommand({id:i,handler:e})}function lsn(i){return Qt.get(Sb).registerOpener({async open(t){return typeof t=="string"&&(t=Lt.parse(t)),i.open(t)}})}function csn(i){return Qt.get(Kn).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 dsn(){return{create:Ein,getEditors:Min,getDiffEditors:Ain,onDidCreateEditor:Pin,onDidCreateDiffEditor:Rin,createDiffEditor:Oin,addCommand:Bin,addEditorAction:Vin,addKeybindingRule:zin,addKeybindingRules:OBe,createModel:Win,setModelLanguage:Hin,setModelMarkers:$in,getModelMarkers:jin,removeAllMarkers:Uin,onDidChangeMarkers:Gin,getModels:Kin,getModel:qin,onDidCreateModel:Jin,onWillDisposeModel:Yin,onDidChangeModelLanguage:Qin,createWebWorker:Xin,colorizeElement:Zin,colorize:esn,colorizeModelLine:tsn,tokenize:isn,defineTheme:ssn,setTheme:osn,remeasureFonts:rsn,registerCommand:asn,registerLinkOpener:lsn,registerEditorOpener:csn,AccessibilitySupport:EZ,ContentWidgetPositionPreference:FZ,CursorChangeReason:BZ,DefaultEndOfLine:VZ,EditorAutoIndentStrategy:WZ,EditorOption:HZ,EndOfLinePreference:$Z,EndOfLineSequence:UZ,MinimapPosition:nee,MinimapSectionHeaderStyle:iee,MouseTargetType:see,OverlayWidgetPositionPreference:aee,OverviewRulerLane:lee,GlyphMarginLane:jZ,RenderLineNumbersType:uee,RenderMinimap:hee,ScrollbarVisibility:mee,ScrollType:gee,TextEditorCursorBlinkingStyle:wee,TextEditorCursorStyle:Cee,TrackedRangeStickiness:See,WrappingIndent:xee,InjectedTextCursorStops:KZ,PositionAffinity:dee,ShowLightbulbIconMode:pee,TextDirection:yee,ConfigurationChangedEvent:lAe,BareFontInfo:U1,FontInfo:MB,TextModelResolvedOptions:E3,FindMatch:nR,ApplyUpdateResult:NE,EditorZoom:th,createMultiFileDiffEditor:Fin,EditorType:CA,EditorOptions:Rl}}function usn(i,e){if(!e||!Array.isArray(e))return!1;for(const t of e)if(!i(t))return!1;return!0}function v5(i,e){return typeof i=="boolean"?i:e}function M1e(i,e){return typeof i=="string"?i:e}function hsn(i){const e={};for(const t of i)e[t]=!0;return e}function A1e(i,e=!1){e&&(i=i.map(function(n){return n.toLowerCase()}));const t=hsn(i);return e?function(n){return t[n.toLowerCase()]!==void 0&&t.hasOwnProperty(n.toLowerCase())}:function(n){return t[n]!==void 0&&t.hasOwnProperty(n)}}function Cte(i,e,t){e=e.replace(/@@/g,"
");let n=0,s;do s=!1,e=e.replace(/@(\w+)/g,function(r,a){s=!0;let l="";if(typeof i[a]=="string")l=i[a];else if(i[a]&&i[a]instanceof RegExp)l=i[a].source;else throw i[a]===void 0?hs(i,"language definition does not contain attribute '"+a+"', used at: "+e):hs(i,"attribute reference '"+a+"' must be a string, used at: "+e);return DC(l)?"":"(?:"+l+")"}),n++;while(s&&n<5);e=e.replace(/\x01/g,"@");const o=(i.ignoreCase?"i":"")+(i.unicode?"u":"");if(t&&e.match(/\$[sS](\d\d?)/g)){let a=null,l=null;return c=>(l&&a===c||(a=c,l=new RegExp(ltn(i,e,c),o)),l)}return new RegExp(e,o)}function gsn(i,e,t,n){if(n<0)return i;if(n<e.length)return e[n];if(n>=100){n=n-100;const s=t.split(".");if(s.unshift(t),n<s.length)return s[n]}return null}function msn(i,e,t,n){let s=-1,o=t,r=t.match(/^\$(([sS]?)(\d\d?)|#)(.*)$/);r&&(r[3]&&(s=parseInt(r[3]),r[2]&&(s=s+100)),o=r[4]);let a="~",l=o;!o||o.length===0?(a="!=",l=""):/^\w*$/.test(l)?a="==":(r=o.match(/^(@|!@|~|!~|==|!=)(.*)$/),r&&(a=r[1],l=r[2]));let c;if((a==="~"||a==="!~")&&/^(\w|\|)*$/.test(l)){const d=A1e(l.split("|"),i.ignoreCase);c=function(u){return a==="~"?d(u):!d(u)}}else if(a==="@"||a==="!@"){const d=i[l];if(!d)throw hs(i,"the @ match target '"+l+"' is not defined, in rule: "+e);if(!usn(function(g){return typeof g=="string"},d))throw hs(i,"the @ match target '"+l+"' must be an array of strings, in rule: "+e);const u=A1e(d,i.ignoreCase);c=function(g){return a==="@"?u(g):!u(g)}}else if(a==="~"||a==="!~")if(l.indexOf("$")<0){const d=Cte(i,"^"+l+"$",!1);c=function(u){return a==="~"?d.test(u):!d.test(u)}}else c=function(d,u,g,m){return Cte(i,"^"+Dv(i,l,u,g,m)+"$",!1).test(d)};else if(l.indexOf("$")<0){const d=G_(i,l);c=function(u){return a==="=="?u===d:u!==d}}else{const d=G_(i,l);c=function(u,g,m,f,p){const _=Dv(i,d,g,m,f);return a==="=="?u===_:u!==_}}return s===-1?{name:t,value:n,test:function(d,u,g,m){return c(d,d,u,g,m)}}:{name:t,value:n,test:function(d,u,g,m){const f=gsn(d,u,g,s);return c(f||"",d,u,g,m)}}}function Ste(i,e,t){if(t){if(typeof t=="string")return t;if(t.token||t.token===""){if(typeof t.token!="string")throw hs(i,"a 'token' attribute must be of type string, in rule: "+e);{const n={token:t.token};if(t.token.indexOf("$")>=0&&(n.tokenSubst=!0),typeof t.bracket=="string")if(t.bracket==="@open")n.bracket=1;else if(t.bracket==="@close")n.bracket=-1;else throw hs(i,"a 'bracket' attribute must be either '@open' or '@close', in rule: "+e);if(t.next){if(typeof t.next!="string")throw hs(i,"the next state must be a string value in rule: "+e);{let s=t.next;if(!/^(@pop|@push|@popall)$/.test(s)&&(s[0]==="@"&&(s=s.substr(1)),s.indexOf("$")<0&&!ctn(i,Dv(i,s,"",[],""))))throw hs(i,"the next state '"+t.next+"' is not defined in rule: "+e);n.next=s}}return typeof t.goBack=="number"&&(n.goBack=t.goBack),typeof t.switchTo=="string"&&(n.switchTo=t.switchTo),typeof t.log=="string"&&(n.log=t.log),typeof t.nextEmbedded=="string"&&(n.nextEmbedded=t.nextEmbedded,i.usesEmbedded=!0),n}}else if(Array.isArray(t)){const n=[];for(let s=0,o=t.length;s<o;s++)n[s]=Ste(i,e,t[s]);return{group:n}}else if(t.cases){const n=[];let s=!1;for(const r in t.cases)if(t.cases.hasOwnProperty(r)){const a=Ste(i,e,t.cases[r]);r==="@default"||r==="@"||r===""?n.push({test:void 0,value:a,name:r}):r==="@eos"?n.push({test:function(l,c,d,u){return u},value:a,name:r}):n.push(msn(i,e,r,a)),s||(s=!Wr(a)&&(a.hasEmbeddedEndInCases||["@pop","@popall"].includes(a.nextEmbedded||"")))}const o=i.defaultToken;return{hasEmbeddedEndInCases:s,test:function(r,a,l,c){for(const d of n)if(!d.test||d.test(r,a,l,c))return d.value;return o}}}else throw hs(i,"an action must be a string, an object with a 'token' or 'cases' attribute, or an array of actions; in rule: "+e)}else return{token:""}}class fsn{constructor(e){this.regex=new RegExp(""),this.action={token:""},this.matchOnlyAtLineStart=!1,this.name="",this.name=e}setRegex(e,t){let n;if(typeof t=="string")n=t;else if(t instanceof RegExp)n=t.source;else throw hs(e,"rules must start with a match string or regular expression: "+this.name);this.matchOnlyAtLineStart=n.length>0&&n[0]==="^",this.name=this.name+": "+n,this.regex=Cte(e,"^(?:"+(this.matchOnlyAtLineStart?n.substr(1):n)+")",!0)}setAction(e,t){this.action=Ste(e,this.name,t)}resolveRegex(e){return this.regex instanceof RegExp?this.regex:this.regex(e)}}function FBe(i,e){if(!e||typeof e!="object")throw new Error("Monarch: expecting a language definition object");const t={languageId:i,includeLF:v5(e.includeLF,!1),noThrow:!1,maxStack:100,start:typeof e.start=="string"?e.start:null,ignoreCase:v5(e.ignoreCase,!1),unicode:v5(e.unicode,!1),tokenPostfix:M1e(e.tokenPostfix,"."+i),defaultToken:M1e(e.defaultToken,"source"),usesEmbedded:!1,stateNames:{},tokenizer:{},brackets:[]},n=e;n.languageId=i,n.includeLF=t.includeLF,n.ignoreCase=t.ignoreCase,n.unicode=t.unicode,n.noThrow=t.noThrow,n.usesEmbedded=t.usesEmbedded,n.stateNames=e.tokenizer,n.defaultToken=t.defaultToken;function s(r,a,l){for(const c of l){let d=c.include;if(d){if(typeof d!="string")throw hs(t,"an 'include' attribute must be a string at: "+r);if(d[0]==="@"&&(d=d.substr(1)),!e.tokenizer[d])throw hs(t,"include target '"+d+"' is not defined at: "+r);s(r+"."+d,a,e.tokenizer[d])}else{const u=new fsn(r);if(Array.isArray(c)&&c.length>=1&&c.length<=3)if(u.setRegex(n,c[0]),c.length>=3)if(typeof c[1]=="string")u.setAction(n,{token:c[1],next:c[2]});else if(typeof c[1]=="object"){const g=c[1];g.next=c[2],u.setAction(n,g)}else throw hs(t,"a next state as the last element of a rule can only be given if the action is either an object or a string, at: "+r);else u.setAction(n,c[1]);else{if(!c.regex)throw hs(t,"a rule must either be an array, or an object with a 'regex' or 'include' field at: "+r);c.name&&typeof c.name=="string"&&(u.name=c.name),c.matchOnlyAtStart&&(u.matchOnlyAtLineStart=v5(c.matchOnlyAtLineStart,!1)),u.setRegex(n,c.regex),u.setAction(n,c.action)}a.push(u)}}}if(!e.tokenizer||typeof e.tokenizer!="object")throw hs(t,"a language definition must define the 'tokenizer' attribute as an object");t.tokenizer=[];for(const r in e.tokenizer)if(e.tokenizer.hasOwnProperty(r)){t.start||(t.start=r);const a=e.tokenizer[r];t.tokenizer[r]=new Array,s("tokenizer."+r,t.tokenizer[r],a)}if(t.usesEmbedded=n.usesEmbedded,e.brackets){if(!Array.isArray(e.brackets))throw hs(t,"the 'brackets' attribute must be defined as an array")}else e.brackets=[{open:"{",close:"}",token:"delimiter.curly"},{open:"[",close:"]",token:"delimiter.square"},{open:"(",close:")",token:"delimiter.parenthesis"},{open:"<",close:">",token:"delimiter.angle"}];const o=[];for(const r of e.brackets){let a=r;if(a&&Array.isArray(a)&&a.length===3&&(a={token:a[2],open:a[0],close:a[1]}),a.open===a.close)throw hs(t,"open and close brackets in a 'brackets' attribute must be different: "+a.open+`
- 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:G_(t,a.open),close:G_(t,a.close)});else throw hs(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 psn(i){Gk.registerLanguage(i)}function _sn(){let i=[];return i=i.concat(Gk.getLanguages()),i}function bsn(i){return Qt.get(ro).languageIdCodec.encodeLanguageId(i)}function vsn(i,e){return Qt.withServices(()=>{const n=Qt.get(ro).onDidRequestRichLanguageFeatures(s=>{s===i&&(n.dispose(),e())});return n})}function ysn(i,e){return Qt.withServices(()=>{const n=Qt.get(ro).onDidRequestBasicLanguageFeatures(s=>{s===i&&(n.dispose(),e())});return n})}function wsn(i,e){if(!Qt.get(ro).isRegisteredLanguageId(i))throw new Error(`Cannot set configuration for unknown language ${i}`);return Qt.get(Ps).register(i,e,100)}class Csn{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 IM.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 l6(s.tokens,s.endState)}}class IM{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 pR(l,a.scopes,t),s=l}return n}static adaptTokenize(e,t,n,s){const o=t.tokenize(n,s),r=IM._toClassicTokens(o.tokens,e);let a;return o.endState.equals(s)?a=s:a=o.endState,new uoe(r,a)}tokenize(e,t,n){return IM.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 u=t[c],g=s.match(n,u.scopes)|1024;if(r>0&&o[r-1]===g)continue;let m=u.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 l6(o,r)}}function Ssn(i){return typeof i.getInitialState=="function"}function xsn(i){return"tokenizeEncoded"in i}function BBe(i){return i&&typeof i.then=="function"}function Isn(i){const e=Qt.get(Tu);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 VBe(i,e){return xsn(e)?new Csn(i,e):new IM(i,e,Qt.get(ro),Qt.get(Tu))}function Nle(i,e){const t=new vOt(async()=>{const n=await Promise.resolve(e.create());return n?Ssn(n)?VBe(i,n):new bM(Qt.get(ro),Qt.get(Tu),i,FBe(i,n),Qt.get(ln)):null});return Xs.registerFactory(i,t)}function ksn(i,e){if(!Qt.get(ro).isRegisteredLanguageId(i))throw new Error(`Cannot set tokens provider for unknown language ${i}`);return BBe(e)?Nle(i,{create:()=>e}):Xs.register(i,VBe(i,e))}function Nsn(i,e){const t=n=>new bM(Qt.get(ro),Qt.get(Tu),i,FBe(i,n),Qt.get(ln));return BBe(e)?Nle(i,{create:()=>e}):Xs.register(i,t(e))}function Lsn(i,e){return Qt.get(mt).referenceProvider.register(i,e)}function Dsn(i,e){return Qt.get(mt).renameProvider.register(i,e)}function Tsn(i,e){return Qt.get(mt).newSymbolNamesProvider.register(i,e)}function Esn(i,e){return Qt.get(mt).signatureHelpProvider.register(i,e)}function Psn(i,e){return Qt.get(mt).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 $(s.lineNumber,a.startColumn,s.lineNumber,a.endColumn)),l.range||(l.range=new $(s.lineNumber,s.column,s.lineNumber,s.column)),l})}})}function Rsn(i,e){return Qt.get(mt).documentSymbolProvider.register(i,e)}function Msn(i,e){return Qt.get(mt).documentHighlightProvider.register(i,e)}function Asn(i,e){return Qt.get(mt).linkedEditingRangeProvider.register(i,e)}function Osn(i,e){return Qt.get(mt).definitionProvider.register(i,e)}function Fsn(i,e){return Qt.get(mt).implementationProvider.register(i,e)}function Bsn(i,e){return Qt.get(mt).typeDefinitionProvider.register(i,e)}function Vsn(i,e){return Qt.get(mt).codeLensProvider.register(i,e)}function zsn(i,e,t){return Qt.get(mt).codeActionProvider.register(i,{providedCodeActionKinds:t?.providedCodeActionKinds,documentation:t?.documentation,provideCodeActions:(s,o,r,a)=>{const c=Qt.get(Cp).read({resource:s.uri}).filter(d=>$.areIntersectingOrTouching(d,o));return e.provideCodeActions(s,o,{markers:c,only:r.only,trigger:r.trigger},a)},resolveCodeAction:e.resolveCodeAction})}function Wsn(i,e){return Qt.get(mt).documentFormattingEditProvider.register(i,e)}function Hsn(i,e){return Qt.get(mt).documentRangeFormattingEditProvider.register(i,e)}function $sn(i,e){return Qt.get(mt).onTypeFormattingEditProvider.register(i,e)}function Usn(i,e){return Qt.get(mt).linkProvider.register(i,e)}function jsn(i,e){return Qt.get(mt).completionProvider.register(i,e)}function Gsn(i,e){return Qt.get(mt).colorProvider.register(i,e)}function qsn(i,e){return Qt.get(mt).foldingRangeProvider.register(i,e)}function Ksn(i,e){return Qt.get(mt).declarationProvider.register(i,e)}function Jsn(i,e){return Qt.get(mt).selectionRangeProvider.register(i,e)}function Ysn(i,e){return Qt.get(mt).documentSemanticTokensProvider.register(i,e)}function Qsn(i,e){return Qt.get(mt).documentRangeSemanticTokensProvider.register(i,e)}function Xsn(i,e){return Qt.get(mt).inlineCompletionsProvider.register(i,e)}function Zsn(i,e){return Qt.get(mt).inlayHintsProvider.register(i,e)}function eon(){return{register:psn,getLanguages:_sn,onLanguage:vsn,onLanguageEncountered:ysn,getEncodedLanguageId:bsn,setLanguageConfiguration:wsn,setColorMap:Isn,registerTokensProviderFactory:Nle,setTokensProvider:ksn,setMonarchTokensProvider:Nsn,registerReferenceProvider:Lsn,registerRenameProvider:Dsn,registerNewSymbolNameProvider:Tsn,registerCompletionItemProvider:jsn,registerSignatureHelpProvider:Esn,registerHoverProvider:Psn,registerDocumentSymbolProvider:Rsn,registerDocumentHighlightProvider:Msn,registerLinkedEditingRangeProvider:Asn,registerDefinitionProvider:Osn,registerImplementationProvider:Fsn,registerTypeDefinitionProvider:Bsn,registerCodeLensProvider:Vsn,registerCodeActionProvider:zsn,registerDocumentFormattingEditProvider:Wsn,registerDocumentRangeFormattingEditProvider:Hsn,registerOnTypeFormattingEditProvider:$sn,registerLinkProvider:Usn,registerColorProvider:Gsn,registerFoldingRangeProvider:qsn,registerDeclarationProvider:Ksn,registerSelectionRangeProvider:Jsn,registerDocumentSemanticTokensProvider:Ysn,registerDocumentRangeSemanticTokensProvider:Qsn,registerInlineCompletionsProvider:Xsn,registerInlayHintsProvider:Zsn,DocumentHighlightKind:zZ,CompletionItemKind:MZ,CompletionItemTag:AZ,CompletionItemInsertTextRule:RZ,SymbolKind:bee,SymbolTag:vee,IndentAction:qZ,CompletionTriggerKind:OZ,SignatureHelpTriggerKind:_ee,InlayHintKind:JZ,InlineCompletionTriggerKind:XZ,CodeActionTriggerType:PZ,NewSymbolNameTag:oee,NewSymbolNameTriggerKind:ree,PartialAcceptTriggerKind:cee,HoverVerbosityAction:GZ,InlineCompletionEndOfLifeReasonKind:YZ,InlineCompletionHintStyle:QZ,FoldingRangeKind:O0,SelectedSuggestionInfo:h2e,EditDeltaInfo:LR}}Rl.wrappingIndent.defaultValue=0;Rl.glyphMargin.defaultValue=!1;Rl.autoIndent.defaultValue=3;Rl.overviewRulerLanes.defaultValue=2;_N.setFormatterSelector((i,e,t)=>Promise.resolve(i[0]));const bc=hBe();bc.editor=dsn();bc.languages=eon();const zBe=bc.CancellationTokenSource,Fy=bc.Emitter,WBe=bc.KeyCode,HBe=bc.KeyMod,Nb=bc.Position,SL=bc.Range,$Be=bc.Selection,UBe=bc.SelectionDirection,mg=bc.MarkerSeverity,Kz=bc.MarkerTag,y7=bc.Uri,jBe=bc.Token,Qf=bc.editor,gt=bc.languages,ton=qie(),mk=globalThis;(ton?.globalAPI||typeof mk.define=="function"&&mk.define.amd)&&(mk.monaco=bc);typeof mk.require<"u"&&typeof mk.require.config=="function"&&mk.require.config({ignoreDuplicateModules:["vscode-languageserver-types","vscode-languageserver-types/main","vscode-languageserver-textdocument","vscode-languageserver-textdocument/main","vscode-nls","vscode-nls/vscode-nls","jsonc-parser","jsonc-parser/main","vscode-uri","vscode-uri/index","vs/basic-languages/typescript/typescript"]});const non=Object.freeze(Object.defineProperty({__proto__:null,CancellationTokenSource:zBe,Emitter:Fy,KeyCode:WBe,KeyMod:HBe,MarkerSeverity:mg,MarkerTag:Kz,Position:Nb,Range:SL,Selection:$Be,SelectionDirection:UBe,Token:jBe,Uri:y7,editor:Qf,languages:gt},Symbol.toStringTag,{value:"Module"}));let Lle=class{constructor(e,t,n){this._onDidChange=new Fy,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 Dle={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}},Tle={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},GBe=new Lle("css",Dle,Tle),qBe=new Lle("scss",Dle,Tle),KBe=new Lle("less",Dle,Tle);function Ele(){return Ct(()=>import("./cssMode.ChPse9lg.js"),__vite__mapDeps([9,10]))}gt.onLanguage("less",()=>{Ele().then(i=>i.setupMode(KBe))});gt.onLanguage("scss",()=>{Ele().then(i=>i.setupMode(qBe))});gt.onLanguage("css",()=>{Ele().then(i=>i.setupMode(GBe))});const JBe=Object.freeze(Object.defineProperty({__proto__:null,cssDefaults:GBe,lessDefaults:KBe,scssDefaults:qBe},Symbol.toStringTag,{value:"Module"}));let ion=class{constructor(e,t,n){this._onDidChange=new Fy,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 son={tabSize:4,insertSpaces:!1,wrapLineLength:120,unformatted:'default": "a, abbr, acronym, b, bdo, big, br, button, cite, code, dfn, em, i, img, input, kbd, label, map, object, q, samp, select, small, span, strong, sub, sup, textarea, tt, var',contentUnformatted:"pre",indentInnerHtml:!1,preserveNewLines:!0,maxPreserveNewLines:void 0,indentHandlebars:!1,endWithNewline:!1,extraLiners:"head, body, /html",wrapAttributes:"auto"},w7={format:son,suggest:{},data:{useDefaultDataProvider:!0}};function C7(i){return{completionItems:!0,hovers:!0,documentSymbols:!0,links:!0,documentHighlights:!0,rename:!0,colors:!0,foldingRanges:!0,selectionRanges:!0,diagnostics:i===bP,documentFormattingEdits:i===bP,documentRangeFormattingEdits:i===bP}}const bP="html",O1e="handlebars",F1e="razor",YBe=S7(bP,w7,C7(bP)),oon=YBe.defaults,QBe=S7(O1e,w7,C7(O1e)),ron=QBe.defaults,XBe=S7(F1e,w7,C7(F1e)),aon=XBe.defaults;function lon(){return Ct(()=>import("./htmlMode.DvOzDC6f.js"),__vite__mapDeps([11,10]))}function S7(i,e=w7,t=C7(i)){const n=new ion(i,e,t);let s;const o=gt.onLanguage(i,async()=>{s=(await lon()).setupMode(n)});return{defaults:n,dispose(){o.dispose(),s?.dispose(),s=void 0}}}const ZBe=Object.freeze(Object.defineProperty({__proto__:null,handlebarDefaults:ron,handlebarLanguageService:QBe,htmlDefaults:oon,htmlLanguageService:YBe,razorDefaults:aon,razorLanguageService:XBe,registerHTMLLanguageService:S7},Symbol.toStringTag,{value:"Module"}));let con=class{constructor(e,t,n){this._onDidChange=new Fy,this._languageId=e,this.setDiagnosticsOptions(t),this.setModeConfiguration(n)}get onDidChange(){return this._onDidChange.event}get languageId(){return this._languageId}get modeConfiguration(){return this._modeConfiguration}get diagnosticsOptions(){return this._diagnosticsOptions}setDiagnosticsOptions(e){this._diagnosticsOptions=e||Object.create(null),this._onDidChange.fire(this)}setModeConfiguration(e){this._modeConfiguration=e||Object.create(null),this._onDidChange.fire(this)}};const don={validate:!0,allowComments:!0,schemas:[],enableSchemaRequest:!1,schemaRequest:"warning",schemaValidation:"warning",comments:"error",trailingCommas:"error"},uon={documentFormattingEdits:!0,documentRangeFormattingEdits:!0,completionItems:!0,hovers:!0,documentSymbols:!0,tokens:!0,colors:!0,foldingRanges:!0,diagnostics:!0,selectionRanges:!0},eVe=new con("json",don,uon),hon=()=>tVe().then(i=>i.getWorker());function tVe(){return Ct(()=>import("./jsonMode.DwAYYJ29.js"),__vite__mapDeps([12,10]))}gt.register({id:"json",extensions:[".json",".bowerrc",".jshintrc",".jscsrc",".eslintrc",".babelrc",".har"],aliases:["JSON","json"],mimetypes:["application/json"]});gt.onLanguage("json",()=>{tVe().then(i=>i.setupMode(eVe))});const nVe=Object.freeze(Object.defineProperty({__proto__:null,getWorker:hon,jsonDefaults:eVe},Symbol.toStringTag,{value:"Module"})),gon="5.9.3";var iVe=(i=>(i[i.None=0]="None",i[i.CommonJS=1]="CommonJS",i[i.AMD=2]="AMD",i[i.UMD=3]="UMD",i[i.System=4]="System",i[i.ES2015=5]="ES2015",i[i.ESNext=99]="ESNext",i))(iVe||{}),sVe=(i=>(i[i.None=0]="None",i[i.Preserve=1]="Preserve",i[i.React=2]="React",i[i.ReactNative=3]="ReactNative",i[i.ReactJSX=4]="ReactJSX",i[i.ReactJSXDev=5]="ReactJSXDev",i))(sVe||{}),oVe=(i=>(i[i.CarriageReturnLineFeed=0]="CarriageReturnLineFeed",i[i.LineFeed=1]="LineFeed",i))(oVe||{}),rVe=(i=>(i[i.ES3=0]="ES3",i[i.ES5=1]="ES5",i[i.ES2015=2]="ES2015",i[i.ES2016=3]="ES2016",i[i.ES2017=4]="ES2017",i[i.ES2018=5]="ES2018",i[i.ES2019=6]="ES2019",i[i.ES2020=7]="ES2020",i[i.ESNext=99]="ESNext",i[i.JSON=100]="JSON",i[i.Latest=99]="Latest",i))(rVe||{}),aVe=(i=>(i[i.Classic=1]="Classic",i[i.NodeJs=2]="NodeJs",i))(aVe||{});class lVe{constructor(e,t,n,s,o){this._onDidChange=new Fy,this._onDidExtraLibsChange=new Fy,this._extraLibs=Object.create(null),this._removedExtraLibs=Object.create(null),this._eagerModelSync=!1,this.setCompilerOptions(e),this.setDiagnosticsOptions(t),this.setWorkerOptions(n),this.setInlayHintsOptions(s),this.setModeConfiguration(o),this._onDidExtraLibsChangeTimeout=-1}get onDidChange(){return this._onDidChange.event}get onDidExtraLibsChange(){return this._onDidExtraLibsChange.event}get modeConfiguration(){return this._modeConfiguration}get workerOptions(){return this._workerOptions}get inlayHintsOptions(){return this._inlayHintsOptions}getExtraLibs(){return this._extraLibs}addExtraLib(e,t){let n;if(typeof t>"u"?n=`ts:extralib-${Math.random().toString(36).substring(2,15)}`:n=t,this._extraLibs[n]&&this._extraLibs[n].content===e)return{dispose:()=>{}};let s=1;return this._removedExtraLibs[n]&&(s=this._removedExtraLibs[n]+1),this._extraLibs[n]&&(s=this._extraLibs[n].version+1),this._extraLibs[n]={content:e,version:s},this._fireOnDidExtraLibsChangeSoon(),{dispose:()=>{let o=this._extraLibs[n];o&&o.version===s&&(delete this._extraLibs[n],this._removedExtraLibs[n]=s,this._fireOnDidExtraLibsChangeSoon())}}}setExtraLibs(e){for(const t in this._extraLibs)this._removedExtraLibs[t]=this._extraLibs[t].version;if(this._extraLibs=Object.create(null),e&&e.length>0)for(const t of e){const n=t.filePath||`ts:extralib-${Math.random().toString(36).substring(2,15)}`,s=t.content;let o=1;this._removedExtraLibs[n]&&(o=this._removedExtraLibs[n]+1),this._extraLibs[n]={content:s,version:o}}this._fireOnDidExtraLibsChangeSoon()}_fireOnDidExtraLibsChangeSoon(){this._onDidExtraLibsChangeTimeout===-1&&(this._onDidExtraLibsChangeTimeout=window.setTimeout(()=>{this._onDidExtraLibsChangeTimeout=-1,this._onDidExtraLibsChange.fire(void 0)},0))}getCompilerOptions(){return this._compilerOptions}setCompilerOptions(e){this._compilerOptions=e||Object.create(null),this._onDidChange.fire(void 0)}getDiagnosticsOptions(){return 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 mon=gon,cVe={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},dVe=new lVe({allowNonTsExtensions:!0,target:99},{noSemanticValidation:!1,noSyntaxValidation:!1,onlyVisible:!1},{},{},cVe),uVe=new lVe({allowNonTsExtensions:!0,allowJs:!0,target:99},{noSemanticValidation:!0,noSyntaxValidation:!1,onlyVisible:!1},{},{},cVe),fon=()=>x7().then(i=>i.getTypeScriptWorker()),pon=()=>x7().then(i=>i.getJavaScriptWorker());function x7(){return Ct(()=>import("./tsMode.DGZkn-6o.js"),[])}gt.onLanguage("typescript",()=>x7().then(i=>i.setupTypeScript(dVe)));gt.onLanguage("javascript",()=>x7().then(i=>i.setupJavaScript(uVe)));const hVe=Object.freeze(Object.defineProperty({__proto__:null,JsxEmit:sVe,ModuleKind:iVe,ModuleResolutionKind:aVe,NewLineKind:oVe,ScriptTarget:rVe,getJavaScriptWorker:pon,getTypeScriptWorker:fon,javascriptDefaults:uVe,typescriptDefaults:dVe,typescriptVersion:mon},Symbol.toStringTag,{value:"Module"})),gVe={},lG={};class Ple{static getOrCreate(e){return lG[e]||(lG[e]=new Ple(e)),lG[e]}constructor(e){this._languageId=e,this._loadingTriggered=!1,this._lazyLoadPromise=new Promise((t,n)=>{this._lazyLoadPromiseResolve=t,this._lazyLoadPromiseReject=n})}load(){return this._loadingTriggered||(this._loadingTriggered=!0,gVe[this._languageId].loader().then(e=>this._lazyLoadPromiseResolve(e),e=>this._lazyLoadPromiseReject(e))),this._lazyLoadPromise}}function Vt(i){const e=i.id;gVe[e]=i,gt.register(i);const t=Ple.getOrCreate(e);gt.registerTokensProviderFactory(e,{create:async()=>(await t.load()).language}),gt.onLanguageEncountered(e,async()=>{const n=await t.load();gt.setLanguageConfiguration(e,n.conf)})}Vt({id:"abap",extensions:[".abap"],aliases:["abap","ABAP"],loader:()=>Ct(()=>import("./abap.DLDM7-KI.js"),[])});Vt({id:"apex",extensions:[".cls"],aliases:["Apex","apex"],mimetypes:["text/x-apex-source","text/x-apex"],loader:()=>Ct(()=>import("./apex.DNDY2TF8.js"),[])});Vt({id:"azcli",extensions:[".azcli"],aliases:["Azure CLI","azcli"],loader:()=>Ct(()=>import("./azcli.Y6nb8tq_.js"),[])});Vt({id:"bat",extensions:[".bat",".cmd"],aliases:["Batch","bat"],loader:()=>Ct(()=>import("./bat.BwHxbl9M.js"),[])});Vt({id:"bicep",extensions:[".bicep"],aliases:["Bicep"],loader:()=>Ct(()=>import("./bicep.CFznDFnq.js"),[])});Vt({id:"cameligo",extensions:[".mligo"],aliases:["Cameligo"],loader:()=>Ct(()=>import("./cameligo.Bf6VGUru.js"),[])});Vt({id:"clojure",extensions:[".clj",".cljs",".cljc",".edn"],aliases:["clojure","Clojure"],loader:()=>Ct(()=>import("./clojure.Dnu-v4kV.js"),[])});Vt({id:"coffeescript",extensions:[".coffee"],aliases:["CoffeeScript","coffeescript","coffee"],mimetypes:["text/x-coffeescript","text/coffeescript"],loader:()=>Ct(()=>import("./coffee.Bd8akH9Z.js"),[])});Vt({id:"c",extensions:[".c",".h"],aliases:["C","c"],loader:()=>Ct(()=>import("./cpp.BbWJElDN.js"),[])});Vt({id:"cpp",extensions:[".cpp",".cc",".cxx",".hpp",".hh",".hxx"],aliases:["C++","Cpp","cpp"],loader:()=>Ct(()=>import("./cpp.BbWJElDN.js"),[])});Vt({id:"csharp",extensions:[".cs",".csx",".cake"],aliases:["C#","csharp"],loader:()=>Ct(()=>import("./csharp.Co3qMtFm.js"),[])});Vt({id:"csp",extensions:[".csp"],aliases:["CSP","csp"],loader:()=>Ct(()=>import("./csp.D-4FJmMZ.js"),[])});Vt({id:"css",extensions:[".css"],aliases:["CSS","css"],mimetypes:["text/css"],loader:()=>Ct(()=>import("./css.DdJfP1eB.js"),[])});Vt({id:"cypher",extensions:[".cypher",".cyp"],aliases:["Cypher","OpenCypher"],loader:()=>Ct(()=>import("./cypher.cTPe9QuQ.js"),[])});Vt({id:"dart",extensions:[".dart"],aliases:["Dart","dart"],mimetypes:["text/x-dart-source","text/x-dart"],loader:()=>Ct(()=>import("./dart.BOtBlQCF.js"),[])});Vt({id:"dockerfile",extensions:[".dockerfile"],filenames:["Dockerfile"],aliases:["Dockerfile"],loader:()=>Ct(()=>import("./dockerfile.BG73LgW2.js"),[])});Vt({id:"ecl",extensions:[".ecl"],aliases:["ECL","Ecl","ecl"],loader:()=>Ct(()=>import("./ecl.BEgZUVRK.js"),[])});Vt({id:"elixir",extensions:[".ex",".exs"],aliases:["Elixir","elixir","ex"],loader:()=>Ct(()=>import("./elixir.BkW5O-1t.js"),[])});Vt({id:"flow9",extensions:[".flow"],aliases:["Flow9","Flow","flow9","flow"],loader:()=>Ct(()=>import("./flow9.BeJ5waoc.js"),[])});Vt({id:"fsharp",extensions:[".fs",".fsi",".ml",".mli",".fsx",".fsscript"],aliases:["F#","FSharp","fsharp"],loader:()=>Ct(()=>import("./fsharp.PahG7c26.js"),[])});Vt({id:"freemarker2",extensions:[".ftl",".ftlh",".ftlx"],aliases:["FreeMarker2","Apache FreeMarker2"],loader:()=>Ct(()=>import("./freemarker2.SNJ4nOzn.js"),[]).then(i=>i.TagAutoInterpolationDollar)});Vt({id:"freemarker2.tag-angle.interpolation-dollar",aliases:["FreeMarker2 (Angle/Dollar)","Apache FreeMarker2 (Angle/Dollar)"],loader:()=>Ct(()=>import("./freemarker2.SNJ4nOzn.js"),[]).then(i=>i.TagAngleInterpolationDollar)});Vt({id:"freemarker2.tag-bracket.interpolation-dollar",aliases:["FreeMarker2 (Bracket/Dollar)","Apache FreeMarker2 (Bracket/Dollar)"],loader:()=>Ct(()=>import("./freemarker2.SNJ4nOzn.js"),[]).then(i=>i.TagBracketInterpolationDollar)});Vt({id:"freemarker2.tag-angle.interpolation-bracket",aliases:["FreeMarker2 (Angle/Bracket)","Apache FreeMarker2 (Angle/Bracket)"],loader:()=>Ct(()=>import("./freemarker2.SNJ4nOzn.js"),[]).then(i=>i.TagAngleInterpolationBracket)});Vt({id:"freemarker2.tag-bracket.interpolation-bracket",aliases:["FreeMarker2 (Bracket/Bracket)","Apache FreeMarker2 (Bracket/Bracket)"],loader:()=>Ct(()=>import("./freemarker2.SNJ4nOzn.js"),[]).then(i=>i.TagBracketInterpolationBracket)});Vt({id:"freemarker2.tag-auto.interpolation-dollar",aliases:["FreeMarker2 (Auto/Dollar)","Apache FreeMarker2 (Auto/Dollar)"],loader:()=>Ct(()=>import("./freemarker2.SNJ4nOzn.js"),[]).then(i=>i.TagAutoInterpolationDollar)});Vt({id:"freemarker2.tag-auto.interpolation-bracket",aliases:["FreeMarker2 (Auto/Bracket)","Apache FreeMarker2 (Auto/Bracket)"],loader:()=>Ct(()=>import("./freemarker2.SNJ4nOzn.js"),[]).then(i=>i.TagAutoInterpolationBracket)});Vt({id:"go",extensions:[".go"],aliases:["Go"],loader:()=>Ct(()=>import("./go.acbASCJo.js"),[])});Vt({id:"graphql",extensions:[".graphql",".gql"],aliases:["GraphQL","graphql","gql"],mimetypes:["application/graphql"],loader:()=>Ct(()=>import("./graphql.BxJiqAUM.js"),[])});Vt({id:"handlebars",extensions:[".handlebars",".hbs"],aliases:["Handlebars","handlebars","hbs"],mimetypes:["text/x-handlebars-template"],loader:()=>Ct(()=>import("./handlebars.C9m1DLse.js"),[])});Vt({id:"hcl",extensions:[".tf",".tfvars",".hcl"],aliases:["Terraform","tf","HCL","hcl"],loader:()=>Ct(()=>import("./hcl.DtV1sZF8.js"),[])});Vt({id:"html",extensions:[".html",".htm",".shtml",".xhtml",".mdoc",".jsp",".asp",".aspx",".jshtm"],aliases:["HTML","htm","html","xhtml"],mimetypes:["text/html","text/x-jshtm","text/template","text/ng-template"],loader:()=>Ct(()=>import("./html.CndMloee.js"),[])});Vt({id:"ini",extensions:[".ini",".properties",".gitconfig"],filenames:["config",".gitattributes",".gitconfig",".editorconfig"],aliases:["Ini","ini"],loader:()=>Ct(()=>import("./ini.Kd9XrMLS.js"),[])});Vt({id:"java",extensions:[".java",".jav"],aliases:["Java","java"],mimetypes:["text/x-java-source","text/x-java"],loader:()=>Ct(()=>import("./java.CXBNlu9o.js"),[])});Vt({id:"javascript",extensions:[".js",".es6",".jsx",".mjs",".cjs"],firstLine:"^#!.*\\bnode",filenames:["jakefile"],aliases:["JavaScript","javascript","js"],mimetypes:["text/javascript"],loader:()=>Ct(()=>import("./javascript.BmadRzPy.js"),__vite__mapDeps([13,14]))});Vt({id:"julia",extensions:[".jl"],aliases:["julia","Julia"],loader:()=>Ct(()=>import("./julia.cl7-CwDS.js"),[])});Vt({id:"kotlin",extensions:[".kt",".kts"],aliases:["Kotlin","kotlin"],mimetypes:["text/x-kotlin-source","text/x-kotlin"],loader:()=>Ct(()=>import("./kotlin.s7OhZKlX.js"),[])});Vt({id:"less",extensions:[".less"],aliases:["Less","less"],mimetypes:["text/x-less","text/less"],loader:()=>Ct(()=>import("./less.9HpZscsL.js"),[])});Vt({id:"lexon",extensions:[".lex"],aliases:["Lexon"],loader:()=>Ct(()=>import("./lexon.OrD6JF1K.js"),[])});Vt({id:"lua",extensions:[".lua"],aliases:["Lua","lua"],loader:()=>Ct(()=>import("./lua.Cyyb5UIc.js"),[])});Vt({id:"liquid",extensions:[".liquid",".html.liquid"],aliases:["Liquid","liquid"],mimetypes:["application/liquid"],loader:()=>Ct(()=>import("./liquid.mycM6g4j.js"),[])});Vt({id:"m3",extensions:[".m3",".i3",".mg",".ig"],aliases:["Modula-3","Modula3","modula3","m3"],loader:()=>Ct(()=>import("./m3.B8OfTtLu.js"),[])});Vt({id:"markdown",extensions:[".md",".markdown",".mdown",".mkdn",".mkd",".mdwn",".mdtxt",".mdtext"],aliases:["Markdown","markdown"],loader:()=>Ct(()=>import("./markdown.BFxVWTOG.js"),[])});Vt({id:"mdx",extensions:[".mdx"],aliases:["MDX","mdx"],loader:()=>Ct(()=>import("./mdx.CrQKsCoZ.js"),[])});Vt({id:"mips",extensions:[".s"],aliases:["MIPS","MIPS-V"],mimetypes:["text/x-mips","text/mips","text/plaintext"],loader:()=>Ct(()=>import("./mips.CiqrrVzr.js"),[])});Vt({id:"msdax",extensions:[".dax",".msdax"],aliases:["DAX","MSDAX"],loader:()=>Ct(()=>import("./msdax.DmeGPVcC.js"),[])});Vt({id:"mysql",extensions:[],aliases:["MySQL","mysql"],loader:()=>Ct(()=>import("./mysql.C_tMU-Nz.js"),[])});Vt({id:"objective-c",extensions:[".m"],aliases:["Objective-C"],loader:()=>Ct(()=>import("./objective-c.BDtDVThU.js"),[])});Vt({id:"pascal",extensions:[".pas",".p",".pp"],aliases:["Pascal","pas"],mimetypes:["text/x-pascal-source","text/x-pascal"],loader:()=>Ct(()=>import("./pascal.vHIfCaH5.js"),[])});Vt({id:"pascaligo",extensions:[".ligo"],aliases:["Pascaligo","ligo"],loader:()=>Ct(()=>import("./pascaligo.DtZ0uQbO.js"),[])});Vt({id:"perl",extensions:[".pl",".pm"],aliases:["Perl","pl"],loader:()=>Ct(()=>import("./perl.Ub6l9XKa.js"),[])});Vt({id:"pgsql",extensions:[],aliases:["PostgreSQL","postgres","pg","postgre"],loader:()=>Ct(()=>import("./pgsql.BlNEE0v7.js"),[])});Vt({id:"php",extensions:[".php",".php4",".php5",".phtml",".ctp"],aliases:["PHP","php"],mimetypes:["application/x-php"],loader:()=>Ct(()=>import("./php.BBUBE1dy.js"),[])});Vt({id:"pla",extensions:[".pla"],loader:()=>Ct(()=>import("./pla.DSh2-awV.js"),[])});Vt({id:"postiats",extensions:[".dats",".sats",".hats"],aliases:["ATS","ATS/Postiats"],loader:()=>Ct(()=>import("./postiats.CocnycG-.js"),[])});Vt({id:"powerquery",extensions:[".pq",".pqm"],aliases:["PQ","M","Power Query","Power Query M"],loader:()=>Ct(()=>import("./powerquery.tScXyioY.js"),[])});Vt({id:"powershell",extensions:[".ps1",".psm1",".psd1"],aliases:["PowerShell","powershell","ps","ps1"],loader:()=>Ct(()=>import("./powershell.COWaemsV.js"),[])});Vt({id:"proto",extensions:[".proto"],aliases:["protobuf","Protocol Buffers"],loader:()=>Ct(()=>import("./protobuf.Brw8urJB.js"),[])});Vt({id:"pug",extensions:[".jade",".pug"],aliases:["Pug","Jade","jade"],loader:()=>Ct(()=>import("./pug.8SOpv6rk.js"),[])});Vt({id:"python",extensions:[".py",".rpy",".pyw",".cpy",".gyp",".gypi"],aliases:["Python","py"],firstLine:"^#!/.*\\bpython[0-9.-]*\\b",loader:()=>Ct(()=>import("./python.C0q6GqHr.js"),[])});Vt({id:"qsharp",extensions:[".qs"],aliases:["Q#","qsharp"],loader:()=>Ct(()=>import("./qsharp.Bw9ernYp.js"),[])});Vt({id:"r",extensions:[".r",".rhistory",".rmd",".rprofile",".rt"],aliases:["R","r"],loader:()=>Ct(()=>import("./r.j7ic8hl3.js"),[])});Vt({id:"razor",extensions:[".cshtml"],aliases:["Razor","razor"],mimetypes:["text/x-cshtml"],loader:()=>Ct(()=>import("./razor.Cu2nShJ2.js"),[])});Vt({id:"redis",extensions:[".redis"],aliases:["redis"],loader:()=>Ct(()=>import("./redis.Bu5POkcn.js"),[])});Vt({id:"redshift",extensions:[],aliases:["Redshift","redshift"],loader:()=>Ct(()=>import("./redshift.Bs9aos_-.js"),[])});Vt({id:"restructuredtext",extensions:[".rst"],aliases:["reStructuredText","restructuredtext"],loader:()=>Ct(()=>import("./restructuredtext.CqXO7rUv.js"),[])});Vt({id:"ruby",extensions:[".rb",".rbx",".rjs",".gemspec",".pp"],filenames:["rakefile","Gemfile"],aliases:["Ruby","rb"],loader:()=>Ct(()=>import("./ruby.zBfavPgS.js"),[])});Vt({id:"rust",extensions:[".rs",".rlib"],aliases:["Rust","rust"],loader:()=>Ct(()=>import("./rust.BzKRNQWT.js"),[])});Vt({id:"sb",extensions:[".sb"],aliases:["Small Basic","sb"],loader:()=>Ct(()=>import("./sb.BBc9UKZt.js"),[])});Vt({id:"scala",extensions:[".scala",".sc",".sbt"],aliases:["Scala","scala","SBT","Sbt","sbt","Dotty","dotty"],mimetypes:["text/x-scala-source","text/x-scala","text/x-sbt","text/x-dotty"],loader:()=>Ct(()=>import("./scala.D9hQfWCl.js"),[])});Vt({id:"scheme",extensions:[".scm",".ss",".sch",".rkt"],aliases:["scheme","Scheme"],loader:()=>Ct(()=>import("./scheme.BPhDTwHR.js"),[])});Vt({id:"scss",extensions:[".scss"],aliases:["Sass","sass","scss"],mimetypes:["text/x-scss","text/scss"],loader:()=>Ct(()=>import("./scss.CBJaRo0y.js"),[])});Vt({id:"shell",extensions:[".sh",".bash"],aliases:["Shell","sh"],loader:()=>Ct(()=>import("./shell.DiJ1NA_G.js"),[])});Vt({id:"sol",extensions:[".sol"],aliases:["sol","solidity","Solidity"],loader:()=>Ct(()=>import("./solidity.Db0IVjzk.js"),[])});Vt({id:"aes",extensions:[".aes"],aliases:["aes","sophia","Sophia"],loader:()=>Ct(()=>import("./sophia.CnS9iZB_.js"),[])});Vt({id:"sparql",extensions:[".rq"],aliases:["sparql","SPARQL"],loader:()=>Ct(()=>import("./sparql.CJmd_6j2.js"),[])});Vt({id:"sql",extensions:[".sql"],aliases:["SQL"],loader:()=>Ct(()=>import("./sql.ClhHkBeG.js"),[])});Vt({id:"st",extensions:[".st",".iecst",".iecplc",".lc3lib",".TcPOU",".TcDUT",".TcGVL",".TcIO"],aliases:["StructuredText","scl","stl"],loader:()=>Ct(()=>import("./st.CHwy0fLd.js"),[])});Vt({id:"swift",aliases:["Swift","swift"],extensions:[".swift"],mimetypes:["text/swift"],loader:()=>Ct(()=>import("./swift.Bqt4WxQ4.js"),[])});Vt({id:"systemverilog",extensions:[".sv",".svh"],aliases:["SV","sv","SystemVerilog","systemverilog"],loader:()=>Ct(()=>import("./systemverilog.Bs9z6M-B.js"),[])});Vt({id:"verilog",extensions:[".v",".vh"],aliases:["V","v","Verilog","verilog"],loader:()=>Ct(()=>import("./systemverilog.Bs9z6M-B.js"),[])});Vt({id:"tcl",extensions:[".tcl"],aliases:["tcl","Tcl","tcltk","TclTk","tcl/tk","Tcl/Tk"],loader:()=>Ct(()=>import("./tcl.Dm6ycUr_.js"),[])});Vt({id:"twig",extensions:[".twig"],aliases:["Twig","twig"],mimetypes:["text/x-twig"],loader:()=>Ct(()=>import("./twig.Csy3S7wG.js"),[])});Vt({id:"typescript",extensions:[".ts",".tsx",".cts",".mts"],aliases:["TypeScript","ts","typescript"],mimetypes:["text/typescript"],loader:()=>Ct(()=>import("./typescript._OOg3cKN.js"),[])});Vt({id:"typespec",extensions:[".tsp"],aliases:["TypeSpec"],loader:()=>Ct(()=>import("./typespec.Btyra-wh.js"),[])});Vt({id:"vb",extensions:[".vb"],aliases:["Visual Basic","vb"],loader:()=>Ct(()=>import("./vb.Db0cS2oM.js"),[])});Vt({id:"wgsl",extensions:[".wgsl"],aliases:["WebGPU Shading Language","WGSL","wgsl"],loader:()=>Ct(()=>import("./wgsl.DumH7NcR.js"),[])});Vt({id:"xml",extensions:[".xml",".xsd",".dtd",".ascx",".csproj",".config",".props",".targets",".wxi",".wxl",".wxs",".xaml",".svg",".svgz",".opf",".xslt",".xsl"],firstLine:"(\\<\\?xml.*)|(\\<svg)|(\\<\\!doctype\\s+svg)",aliases:["XML","xml"],mimetypes:["text/xml","application/xml","application/xaml+xml","application/xml-dtd"],loader:()=>Ct(()=>import("./xml.0fPbwssk.js"),[])});Vt({id:"yaml",extensions:[".yaml",".yml"],aliases:["YAML","yaml","YML","yml"],mimetypes:["application/x-yaml","text/x-yaml"],loader:()=>Ct(()=>import("./yaml.C0HOw37G.js"),[])});var _on=Object.defineProperty,bon=(i,e,t)=>e in i?_on(i,e,{enumerable:!0,configurable:!0,writable:!0,value:t}):i[e]=t,Pt=(i,e,t)=>bon(i,typeof e!="symbol"?e+"":e,t),y5,B1e,w5,cG,C5;function von(i){return i.method!==void 0}var V1e;(function(i){function e(t){return t}i.create=e})(V1e||(V1e={}));var cg;(function(i){i.parseError=-32700,i.invalidRequest=-32600,i.methodNotFound=-32601,i.invalidParams=-32602,i.internalError=-32603;function e(o){return-32099<=o&&o<=-32e3}i.isServerError=e;function t(o){if(!e(o))throw new Error("Invalid range for a server error.");return o}i.serverError=t,i.unexpectedServerError=-32e3;function n(o){return!0}i.isApplicationError=n;function s(o){return o}i.applicationError=s,i.genericApplicationError=-320100})(cg||(cg={}));var Rle=class{constructor(){Pt(this,"listeners",new Set),Pt(this,"event",i=>(this.listeners.add(i),{dispose:()=>{this.listeners.delete(i)}}))}fire(i){this.listeners.forEach(e=>e(i))}},yon=class{constructor(i){Pt(this,"_value"),Pt(this,"eventEmitter"),this._value=i,this.eventEmitter=new Rle}get value(){return this._value}set value(i){this._value!==i&&(this._value=i,this.eventEmitter.fire(i))}get onChange(){return this.eventEmitter.event}};function won(i,e){const t=setTimeout(e,i);return{dispose:()=>clearTimeout(t)}}function dG(i,e,t){return i instanceof Set?(i.add(e),{dispose:()=>i.delete(e)}):(i.set(e,t),{dispose:()=>i.delete(e)})}var Con=class{constructor(){Pt(this,"_state","none"),Pt(this,"promise"),Pt(this,"resolve",()=>{}),Pt(this,"reject",()=>{}),this.promise=new Promise((i,e)=>{this.resolve=i,this.reject=e})}get state(){return this._state}},mVe=(y5=class{constructor(){Pt(this,"_unprocessedMessages",[]),Pt(this,"_messageListener"),Pt(this,"id",y5.id++),Pt(this,"_state",new yon({state:"open"})),Pt(this,"state",this._state)}setListener(i){if(this._messageListener=i,!!i)for(;this._unprocessedMessages.length>0&&this._messageListener!==void 0;){const e=this._unprocessedMessages.shift();this._messageListener(e)}}send(i){return this._sendImpl(i)}_dispatchReceivedMessage(i){this._unprocessedMessages.length===0&&this._messageListener?this._messageListener(i):this._unprocessedMessages.push(i)}_onConnectionClosed(){this._state.value={state:"closed",error:void 0}}log(i){return new Son(this,i??new xon)}},Pt(y5,"id",0),y5),Son=class{constructor(i,e){Pt(this,"baseStream"),Pt(this,"logger"),this.baseStream=i,this.logger=e}get state(){return this.baseStream.state}setListener(i){if(i===void 0){this.baseStream.setListener(void 0);return}this.baseStream.setListener(e=>{this.logger.log(this.baseStream,"incoming",e),i(e)})}send(i){return this.logger.log(this.baseStream,"outgoing",i),this.baseStream.send(i)}toString(){return`StreamLogger/${this.baseStream.toString()}`}},xon=class{log(i,e,t){console.log(`${e==="incoming"?"<-":"->"} [${i.toString()}] ${JSON.stringify(t)}`)}},Ion=class fVe{constructor(e){Pt(this,"connect"),this.connect=e}mapContext(e){return new fVe(t=>this.connect(t?kon(t,e):void 0))}};function kon(i,e){return{handleNotification:(t,n)=>i.handleNotification(t,e(n)),handleRequest:(t,n,s)=>i.handleRequest(t,n,e(s))}}var Non=class pVe{constructor(e,t,n){Pt(this,"_stream"),Pt(this,"_listener"),Pt(this,"_logger"),Pt(this,"_unprocessedResponses",new Map),Pt(this,"_lastUsedRequestId",0),this._stream=e,this._listener=t,this._logger=n,this._stream.setListener(s=>{von(s)?s.id===void 0?this._processNotification(s):this._processRequest(s):this._processResponse(s)})}static createChannel(e,t){let n=!1;return new Ion(s=>{if(n)throw new Error(`A channel to the stream ${e} was already constructed!`);return n=!0,new pVe(e,s,t)})}get state(){return this._stream.state}async _processNotification(e){if(e.id!==void 0)throw new Error;if(!this._listener){this._logger&&this._logger.debug({text:"Notification ignored",message:e});return}try{await this._listener.handleNotification({method:e.method,params:e.params||null})}catch(t){this._logger&&this._logger.warn({text:`Exception was thrown while handling notification: ${t}`,exception:t,message:e})}}async _processRequest(e){if(e.id===void 0)throw new Error;let t;if(this._listener)try{t=await this._listener.handleRequest({method:e.method,params:e.params||null},e.id)}catch(s){this._logger&&this._logger.warn({text:`Exception was thrown while handling request: ${s}`,message:e,exception:s}),t={error:{code:cg.internalError,message:"An unexpected exception was thrown.",data:void 0}}}else this._logger&&this._logger.debug({text:"Received request even though not listening for requests",message:e}),t={error:{code:cg.methodNotFound,message:"This endpoint does not listen for requests or notifications.",data:void 0}};let n;"result"in t?n={jsonrpc:"2.0",id:e.id,result:t.result}:n={jsonrpc:"2.0",id:e.id,error:t.error},await this._stream.send(n)}_processResponse(e){const t=""+e.id,n=this._unprocessedResponses.get(t);if(!n){this._logger&&this._logger.debug({text:"Got an unexpected response message",message:e});return}this._unprocessedResponses.delete(t),n(e)}_newRequestId(){return this._lastUsedRequestId++}sendRequest(e,t,n){const s={jsonrpc:"2.0",id:this._newRequestId(),method:e.method,params:e.params||void 0};return n&&n(s.id),new Promise((o,r)=>{const a=""+s.id;this._unprocessedResponses.set(a,l=>{"result"in l?o({result:l.result}):(l.error||r(new Error("Response had neither 'result' nor 'error' field set.")),o({error:l.error}))}),this._stream.send(s).then(void 0,l=>{this._unprocessedResponses.delete(a),r(l)})})}sendNotification(e,t){const n={jsonrpc:"2.0",id:void 0,method:e.method,params:e.params||void 0};return this._stream.send(n)}toString(){return"StreamChannel/"+this._stream.toString()}},fk;(function(i){function e(){return{deserializeFromJson:s=>({hasErrors:!1,value:s}),serializeToJson:s=>s}}i.sAny=e;function t(){return{deserializeFromJson:s=>({hasErrors:!1,value:{}}),serializeToJson:s=>({})}}i.sEmptyObject=t;function n(){return{deserializeFromJson:s=>({hasErrors:!1,value:void 0}),serializeToJson:s=>null}}i.sVoidFromNull=n})(fk||(fk={}));const _Ve=Symbol("OptionalMethodNotFound");var bVe=class{contextualize(i){return new Lon(this,i)}},Lon=class extends bVe{constructor(i,e){super(),Pt(this,"underylingTypedChannel"),Pt(this,"converters"),this.underylingTypedChannel=i,this.converters=e}async request(i,e,t){const n=await this.converters.getSendContext(t);return this.underylingTypedChannel.request(i,e,n)}async notify(i,e,t){const n=await this.converters.getSendContext(t);return this.underylingTypedChannel.notify(i,e,n)}registerNotificationHandler(i,e){return this.underylingTypedChannel.registerNotificationHandler(i,async(t,n)=>await e(t,await this.converters.getNewContext(n)))}registerRequestHandler(i,e){return this.underylingTypedChannel.registerRequestHandler(i,async(t,n,s)=>await e(t,n,await this.converters.getNewContext(s)))}},xte=class vVe extends bVe{constructor(e,t={}){super(),Pt(this,"channelCtor"),Pt(this,"_requestSender"),Pt(this,"_handler",new Map),Pt(this,"_unknownNotificationHandler",new Set),Pt(this,"_timeout"),Pt(this,"sendExceptionDetails",!1),Pt(this,"_logger"),Pt(this,"listeningDeferred",new Con),Pt(this,"onListening",this.listeningDeferred.promise),Pt(this,"_requestDidErrorEventEmitter",new Rle),Pt(this,"onRequestDidError",this._requestDidErrorEventEmitter.event),this.channelCtor=e,this._logger=t.logger,this.sendExceptionDetails=!!t.sendExceptionDetails,this._timeout=won(1e3,()=>{this._requestSender||console.warn(`"${this.startListen.name}" has not been called within 1 second after construction of this channel. Did you forget to call it?`,this)})}static fromTransport(e,t={}){return new vVe(Non.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 "${e.method}".`,data:{requestObject:e}}),{error:{code:cg.methodNotFound,message:`No request handler for "${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:cg.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:cg.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||cg.genericApplicationError,message:l.errorMessage||"An error was returned",data:c}}}else a={result:s.requestType.resultSerializer.serializeToJson(l.ok)}}catch(l){l instanceof W1e?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:cg.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: ${a}.`,exception:a,data:{requestObject:e}})}}registerUnknownNotificationHandler(e){return dG(this._unknownNotificationHandler,e)}registerRequestHandler(e,t){if(this._handler.get(e.method))throw new Error(`Handler with method "${e.method}" already registered.`);return dG(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 dG(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);z1e(s);const o=await this._requestSender.sendRequest({method:e.method,params:s},n);if("error"in o){if(e.isOptional&&o.error.code===cg.methodNotFound)return _Ve;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 W1e(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+`
+ 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:G_(t,a.open),close:G_(t,a.close)});else throw hs(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 psn(i){Gk.registerLanguage(i)}function _sn(){let i=[];return i=i.concat(Gk.getLanguages()),i}function bsn(i){return Qt.get(ro).languageIdCodec.encodeLanguageId(i)}function vsn(i,e){return Qt.withServices(()=>{const n=Qt.get(ro).onDidRequestRichLanguageFeatures(s=>{s===i&&(n.dispose(),e())});return n})}function ysn(i,e){return Qt.withServices(()=>{const n=Qt.get(ro).onDidRequestBasicLanguageFeatures(s=>{s===i&&(n.dispose(),e())});return n})}function wsn(i,e){if(!Qt.get(ro).isRegisteredLanguageId(i))throw new Error(`Cannot set configuration for unknown language ${i}`);return Qt.get(Ps).register(i,e,100)}class Csn{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 IM.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 l6(s.tokens,s.endState)}}class IM{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 pR(l,a.scopes,t),s=l}return n}static adaptTokenize(e,t,n,s){const o=t.tokenize(n,s),r=IM._toClassicTokens(o.tokens,e);let a;return o.endState.equals(s)?a=s:a=o.endState,new uoe(r,a)}tokenize(e,t,n){return IM.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 u=t[c],g=s.match(n,u.scopes)|1024;if(r>0&&o[r-1]===g)continue;let m=u.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 l6(o,r)}}function Ssn(i){return typeof i.getInitialState=="function"}function xsn(i){return"tokenizeEncoded"in i}function BBe(i){return i&&typeof i.then=="function"}function Isn(i){const e=Qt.get(Tu);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 VBe(i,e){return xsn(e)?new Csn(i,e):new IM(i,e,Qt.get(ro),Qt.get(Tu))}function Nle(i,e){const t=new vOt(async()=>{const n=await Promise.resolve(e.create());return n?Ssn(n)?VBe(i,n):new bM(Qt.get(ro),Qt.get(Tu),i,FBe(i,n),Qt.get(ln)):null});return Xs.registerFactory(i,t)}function ksn(i,e){if(!Qt.get(ro).isRegisteredLanguageId(i))throw new Error(`Cannot set tokens provider for unknown language ${i}`);return BBe(e)?Nle(i,{create:()=>e}):Xs.register(i,VBe(i,e))}function Nsn(i,e){const t=n=>new bM(Qt.get(ro),Qt.get(Tu),i,FBe(i,n),Qt.get(ln));return BBe(e)?Nle(i,{create:()=>e}):Xs.register(i,t(e))}function Lsn(i,e){return Qt.get(mt).referenceProvider.register(i,e)}function Dsn(i,e){return Qt.get(mt).renameProvider.register(i,e)}function Tsn(i,e){return Qt.get(mt).newSymbolNamesProvider.register(i,e)}function Esn(i,e){return Qt.get(mt).signatureHelpProvider.register(i,e)}function Psn(i,e){return Qt.get(mt).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 $(s.lineNumber,a.startColumn,s.lineNumber,a.endColumn)),l.range||(l.range=new $(s.lineNumber,s.column,s.lineNumber,s.column)),l})}})}function Rsn(i,e){return Qt.get(mt).documentSymbolProvider.register(i,e)}function Msn(i,e){return Qt.get(mt).documentHighlightProvider.register(i,e)}function Asn(i,e){return Qt.get(mt).linkedEditingRangeProvider.register(i,e)}function Osn(i,e){return Qt.get(mt).definitionProvider.register(i,e)}function Fsn(i,e){return Qt.get(mt).implementationProvider.register(i,e)}function Bsn(i,e){return Qt.get(mt).typeDefinitionProvider.register(i,e)}function Vsn(i,e){return Qt.get(mt).codeLensProvider.register(i,e)}function zsn(i,e,t){return Qt.get(mt).codeActionProvider.register(i,{providedCodeActionKinds:t?.providedCodeActionKinds,documentation:t?.documentation,provideCodeActions:(s,o,r,a)=>{const c=Qt.get(Cp).read({resource:s.uri}).filter(d=>$.areIntersectingOrTouching(d,o));return e.provideCodeActions(s,o,{markers:c,only:r.only,trigger:r.trigger},a)},resolveCodeAction:e.resolveCodeAction})}function Wsn(i,e){return Qt.get(mt).documentFormattingEditProvider.register(i,e)}function Hsn(i,e){return Qt.get(mt).documentRangeFormattingEditProvider.register(i,e)}function $sn(i,e){return Qt.get(mt).onTypeFormattingEditProvider.register(i,e)}function Usn(i,e){return Qt.get(mt).linkProvider.register(i,e)}function jsn(i,e){return Qt.get(mt).completionProvider.register(i,e)}function Gsn(i,e){return Qt.get(mt).colorProvider.register(i,e)}function qsn(i,e){return Qt.get(mt).foldingRangeProvider.register(i,e)}function Ksn(i,e){return Qt.get(mt).declarationProvider.register(i,e)}function Jsn(i,e){return Qt.get(mt).selectionRangeProvider.register(i,e)}function Ysn(i,e){return Qt.get(mt).documentSemanticTokensProvider.register(i,e)}function Qsn(i,e){return Qt.get(mt).documentRangeSemanticTokensProvider.register(i,e)}function Xsn(i,e){return Qt.get(mt).inlineCompletionsProvider.register(i,e)}function Zsn(i,e){return Qt.get(mt).inlayHintsProvider.register(i,e)}function eon(){return{register:psn,getLanguages:_sn,onLanguage:vsn,onLanguageEncountered:ysn,getEncodedLanguageId:bsn,setLanguageConfiguration:wsn,setColorMap:Isn,registerTokensProviderFactory:Nle,setTokensProvider:ksn,setMonarchTokensProvider:Nsn,registerReferenceProvider:Lsn,registerRenameProvider:Dsn,registerNewSymbolNameProvider:Tsn,registerCompletionItemProvider:jsn,registerSignatureHelpProvider:Esn,registerHoverProvider:Psn,registerDocumentSymbolProvider:Rsn,registerDocumentHighlightProvider:Msn,registerLinkedEditingRangeProvider:Asn,registerDefinitionProvider:Osn,registerImplementationProvider:Fsn,registerTypeDefinitionProvider:Bsn,registerCodeLensProvider:Vsn,registerCodeActionProvider:zsn,registerDocumentFormattingEditProvider:Wsn,registerDocumentRangeFormattingEditProvider:Hsn,registerOnTypeFormattingEditProvider:$sn,registerLinkProvider:Usn,registerColorProvider:Gsn,registerFoldingRangeProvider:qsn,registerDeclarationProvider:Ksn,registerSelectionRangeProvider:Jsn,registerDocumentSemanticTokensProvider:Ysn,registerDocumentRangeSemanticTokensProvider:Qsn,registerInlineCompletionsProvider:Xsn,registerInlayHintsProvider:Zsn,DocumentHighlightKind:zZ,CompletionItemKind:MZ,CompletionItemTag:AZ,CompletionItemInsertTextRule:RZ,SymbolKind:bee,SymbolTag:vee,IndentAction:qZ,CompletionTriggerKind:OZ,SignatureHelpTriggerKind:_ee,InlayHintKind:JZ,InlineCompletionTriggerKind:XZ,CodeActionTriggerType:PZ,NewSymbolNameTag:oee,NewSymbolNameTriggerKind:ree,PartialAcceptTriggerKind:cee,HoverVerbosityAction:GZ,InlineCompletionEndOfLifeReasonKind:YZ,InlineCompletionHintStyle:QZ,FoldingRangeKind:O0,SelectedSuggestionInfo:h2e,EditDeltaInfo:LR}}Rl.wrappingIndent.defaultValue=0;Rl.glyphMargin.defaultValue=!1;Rl.autoIndent.defaultValue=3;Rl.overviewRulerLanes.defaultValue=2;_N.setFormatterSelector((i,e,t)=>Promise.resolve(i[0]));const bc=hBe();bc.editor=dsn();bc.languages=eon();const zBe=bc.CancellationTokenSource,Fy=bc.Emitter,WBe=bc.KeyCode,HBe=bc.KeyMod,Nb=bc.Position,SL=bc.Range,$Be=bc.Selection,UBe=bc.SelectionDirection,mg=bc.MarkerSeverity,Kz=bc.MarkerTag,y7=bc.Uri,jBe=bc.Token,Qf=bc.editor,gt=bc.languages,ton=qie(),mk=globalThis;(ton?.globalAPI||typeof mk.define=="function"&&mk.define.amd)&&(mk.monaco=bc);typeof mk.require<"u"&&typeof mk.require.config=="function"&&mk.require.config({ignoreDuplicateModules:["vscode-languageserver-types","vscode-languageserver-types/main","vscode-languageserver-textdocument","vscode-languageserver-textdocument/main","vscode-nls","vscode-nls/vscode-nls","jsonc-parser","jsonc-parser/main","vscode-uri","vscode-uri/index","vs/basic-languages/typescript/typescript"]});const non=Object.freeze(Object.defineProperty({__proto__:null,CancellationTokenSource:zBe,Emitter:Fy,KeyCode:WBe,KeyMod:HBe,MarkerSeverity:mg,MarkerTag:Kz,Position:Nb,Range:SL,Selection:$Be,SelectionDirection:UBe,Token:jBe,Uri:y7,editor:Qf,languages:gt},Symbol.toStringTag,{value:"Module"}));let Lle=class{constructor(e,t,n){this._onDidChange=new Fy,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 Dle={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}},Tle={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},GBe=new Lle("css",Dle,Tle),qBe=new Lle("scss",Dle,Tle),KBe=new Lle("less",Dle,Tle);function Ele(){return Ct(()=>import("./cssMode.42O3FGyR.js"),__vite__mapDeps([9,10]))}gt.onLanguage("less",()=>{Ele().then(i=>i.setupMode(KBe))});gt.onLanguage("scss",()=>{Ele().then(i=>i.setupMode(qBe))});gt.onLanguage("css",()=>{Ele().then(i=>i.setupMode(GBe))});const JBe=Object.freeze(Object.defineProperty({__proto__:null,cssDefaults:GBe,lessDefaults:KBe,scssDefaults:qBe},Symbol.toStringTag,{value:"Module"}));let ion=class{constructor(e,t,n){this._onDidChange=new Fy,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 son={tabSize:4,insertSpaces:!1,wrapLineLength:120,unformatted:'default": "a, abbr, acronym, b, bdo, big, br, button, cite, code, dfn, em, i, img, input, kbd, label, map, object, q, samp, select, small, span, strong, sub, sup, textarea, tt, var',contentUnformatted:"pre",indentInnerHtml:!1,preserveNewLines:!0,maxPreserveNewLines:void 0,indentHandlebars:!1,endWithNewline:!1,extraLiners:"head, body, /html",wrapAttributes:"auto"},w7={format:son,suggest:{},data:{useDefaultDataProvider:!0}};function C7(i){return{completionItems:!0,hovers:!0,documentSymbols:!0,links:!0,documentHighlights:!0,rename:!0,colors:!0,foldingRanges:!0,selectionRanges:!0,diagnostics:i===bP,documentFormattingEdits:i===bP,documentRangeFormattingEdits:i===bP}}const bP="html",O1e="handlebars",F1e="razor",YBe=S7(bP,w7,C7(bP)),oon=YBe.defaults,QBe=S7(O1e,w7,C7(O1e)),ron=QBe.defaults,XBe=S7(F1e,w7,C7(F1e)),aon=XBe.defaults;function lon(){return Ct(()=>import("./htmlMode.Cfmb4mzU.js"),__vite__mapDeps([11,10]))}function S7(i,e=w7,t=C7(i)){const n=new ion(i,e,t);let s;const o=gt.onLanguage(i,async()=>{s=(await lon()).setupMode(n)});return{defaults:n,dispose(){o.dispose(),s?.dispose(),s=void 0}}}const ZBe=Object.freeze(Object.defineProperty({__proto__:null,handlebarDefaults:ron,handlebarLanguageService:QBe,htmlDefaults:oon,htmlLanguageService:YBe,razorDefaults:aon,razorLanguageService:XBe,registerHTMLLanguageService:S7},Symbol.toStringTag,{value:"Module"}));let con=class{constructor(e,t,n){this._onDidChange=new Fy,this._languageId=e,this.setDiagnosticsOptions(t),this.setModeConfiguration(n)}get onDidChange(){return this._onDidChange.event}get languageId(){return this._languageId}get modeConfiguration(){return this._modeConfiguration}get diagnosticsOptions(){return this._diagnosticsOptions}setDiagnosticsOptions(e){this._diagnosticsOptions=e||Object.create(null),this._onDidChange.fire(this)}setModeConfiguration(e){this._modeConfiguration=e||Object.create(null),this._onDidChange.fire(this)}};const don={validate:!0,allowComments:!0,schemas:[],enableSchemaRequest:!1,schemaRequest:"warning",schemaValidation:"warning",comments:"error",trailingCommas:"error"},uon={documentFormattingEdits:!0,documentRangeFormattingEdits:!0,completionItems:!0,hovers:!0,documentSymbols:!0,tokens:!0,colors:!0,foldingRanges:!0,diagnostics:!0,selectionRanges:!0},eVe=new con("json",don,uon),hon=()=>tVe().then(i=>i.getWorker());function tVe(){return Ct(()=>import("./jsonMode.CmZR708h.js"),__vite__mapDeps([12,10]))}gt.register({id:"json",extensions:[".json",".bowerrc",".jshintrc",".jscsrc",".eslintrc",".babelrc",".har"],aliases:["JSON","json"],mimetypes:["application/json"]});gt.onLanguage("json",()=>{tVe().then(i=>i.setupMode(eVe))});const nVe=Object.freeze(Object.defineProperty({__proto__:null,getWorker:hon,jsonDefaults:eVe},Symbol.toStringTag,{value:"Module"})),gon="5.9.3";var iVe=(i=>(i[i.None=0]="None",i[i.CommonJS=1]="CommonJS",i[i.AMD=2]="AMD",i[i.UMD=3]="UMD",i[i.System=4]="System",i[i.ES2015=5]="ES2015",i[i.ESNext=99]="ESNext",i))(iVe||{}),sVe=(i=>(i[i.None=0]="None",i[i.Preserve=1]="Preserve",i[i.React=2]="React",i[i.ReactNative=3]="ReactNative",i[i.ReactJSX=4]="ReactJSX",i[i.ReactJSXDev=5]="ReactJSXDev",i))(sVe||{}),oVe=(i=>(i[i.CarriageReturnLineFeed=0]="CarriageReturnLineFeed",i[i.LineFeed=1]="LineFeed",i))(oVe||{}),rVe=(i=>(i[i.ES3=0]="ES3",i[i.ES5=1]="ES5",i[i.ES2015=2]="ES2015",i[i.ES2016=3]="ES2016",i[i.ES2017=4]="ES2017",i[i.ES2018=5]="ES2018",i[i.ES2019=6]="ES2019",i[i.ES2020=7]="ES2020",i[i.ESNext=99]="ESNext",i[i.JSON=100]="JSON",i[i.Latest=99]="Latest",i))(rVe||{}),aVe=(i=>(i[i.Classic=1]="Classic",i[i.NodeJs=2]="NodeJs",i))(aVe||{});class lVe{constructor(e,t,n,s,o){this._onDidChange=new Fy,this._onDidExtraLibsChange=new Fy,this._extraLibs=Object.create(null),this._removedExtraLibs=Object.create(null),this._eagerModelSync=!1,this.setCompilerOptions(e),this.setDiagnosticsOptions(t),this.setWorkerOptions(n),this.setInlayHintsOptions(s),this.setModeConfiguration(o),this._onDidExtraLibsChangeTimeout=-1}get onDidChange(){return this._onDidChange.event}get onDidExtraLibsChange(){return this._onDidExtraLibsChange.event}get modeConfiguration(){return this._modeConfiguration}get workerOptions(){return this._workerOptions}get inlayHintsOptions(){return this._inlayHintsOptions}getExtraLibs(){return this._extraLibs}addExtraLib(e,t){let n;if(typeof t>"u"?n=`ts:extralib-${Math.random().toString(36).substring(2,15)}`:n=t,this._extraLibs[n]&&this._extraLibs[n].content===e)return{dispose:()=>{}};let s=1;return this._removedExtraLibs[n]&&(s=this._removedExtraLibs[n]+1),this._extraLibs[n]&&(s=this._extraLibs[n].version+1),this._extraLibs[n]={content:e,version:s},this._fireOnDidExtraLibsChangeSoon(),{dispose:()=>{let o=this._extraLibs[n];o&&o.version===s&&(delete this._extraLibs[n],this._removedExtraLibs[n]=s,this._fireOnDidExtraLibsChangeSoon())}}}setExtraLibs(e){for(const t in this._extraLibs)this._removedExtraLibs[t]=this._extraLibs[t].version;if(this._extraLibs=Object.create(null),e&&e.length>0)for(const t of e){const n=t.filePath||`ts:extralib-${Math.random().toString(36).substring(2,15)}`,s=t.content;let o=1;this._removedExtraLibs[n]&&(o=this._removedExtraLibs[n]+1),this._extraLibs[n]={content:s,version:o}}this._fireOnDidExtraLibsChangeSoon()}_fireOnDidExtraLibsChangeSoon(){this._onDidExtraLibsChangeTimeout===-1&&(this._onDidExtraLibsChangeTimeout=window.setTimeout(()=>{this._onDidExtraLibsChangeTimeout=-1,this._onDidExtraLibsChange.fire(void 0)},0))}getCompilerOptions(){return this._compilerOptions}setCompilerOptions(e){this._compilerOptions=e||Object.create(null),this._onDidChange.fire(void 0)}getDiagnosticsOptions(){return 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 mon=gon,cVe={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},dVe=new lVe({allowNonTsExtensions:!0,target:99},{noSemanticValidation:!1,noSyntaxValidation:!1,onlyVisible:!1},{},{},cVe),uVe=new lVe({allowNonTsExtensions:!0,allowJs:!0,target:99},{noSemanticValidation:!0,noSyntaxValidation:!1,onlyVisible:!1},{},{},cVe),fon=()=>x7().then(i=>i.getTypeScriptWorker()),pon=()=>x7().then(i=>i.getJavaScriptWorker());function x7(){return Ct(()=>import("./tsMode.CG8GqAez.js"),[])}gt.onLanguage("typescript",()=>x7().then(i=>i.setupTypeScript(dVe)));gt.onLanguage("javascript",()=>x7().then(i=>i.setupJavaScript(uVe)));const hVe=Object.freeze(Object.defineProperty({__proto__:null,JsxEmit:sVe,ModuleKind:iVe,ModuleResolutionKind:aVe,NewLineKind:oVe,ScriptTarget:rVe,getJavaScriptWorker:pon,getTypeScriptWorker:fon,javascriptDefaults:uVe,typescriptDefaults:dVe,typescriptVersion:mon},Symbol.toStringTag,{value:"Module"})),gVe={},lG={};class Ple{static getOrCreate(e){return lG[e]||(lG[e]=new Ple(e)),lG[e]}constructor(e){this._languageId=e,this._loadingTriggered=!1,this._lazyLoadPromise=new Promise((t,n)=>{this._lazyLoadPromiseResolve=t,this._lazyLoadPromiseReject=n})}load(){return this._loadingTriggered||(this._loadingTriggered=!0,gVe[this._languageId].loader().then(e=>this._lazyLoadPromiseResolve(e),e=>this._lazyLoadPromiseReject(e))),this._lazyLoadPromise}}function Vt(i){const e=i.id;gVe[e]=i,gt.register(i);const t=Ple.getOrCreate(e);gt.registerTokensProviderFactory(e,{create:async()=>(await t.load()).language}),gt.onLanguageEncountered(e,async()=>{const n=await t.load();gt.setLanguageConfiguration(e,n.conf)})}Vt({id:"abap",extensions:[".abap"],aliases:["abap","ABAP"],loader:()=>Ct(()=>import("./abap.DLDM7-KI.js"),[])});Vt({id:"apex",extensions:[".cls"],aliases:["Apex","apex"],mimetypes:["text/x-apex-source","text/x-apex"],loader:()=>Ct(()=>import("./apex.DNDY2TF8.js"),[])});Vt({id:"azcli",extensions:[".azcli"],aliases:["Azure CLI","azcli"],loader:()=>Ct(()=>import("./azcli.Y6nb8tq_.js"),[])});Vt({id:"bat",extensions:[".bat",".cmd"],aliases:["Batch","bat"],loader:()=>Ct(()=>import("./bat.BwHxbl9M.js"),[])});Vt({id:"bicep",extensions:[".bicep"],aliases:["Bicep"],loader:()=>Ct(()=>import("./bicep.CFznDFnq.js"),[])});Vt({id:"cameligo",extensions:[".mligo"],aliases:["Cameligo"],loader:()=>Ct(()=>import("./cameligo.Bf6VGUru.js"),[])});Vt({id:"clojure",extensions:[".clj",".cljs",".cljc",".edn"],aliases:["clojure","Clojure"],loader:()=>Ct(()=>import("./clojure.Dnu-v4kV.js"),[])});Vt({id:"coffeescript",extensions:[".coffee"],aliases:["CoffeeScript","coffeescript","coffee"],mimetypes:["text/x-coffeescript","text/coffeescript"],loader:()=>Ct(()=>import("./coffee.Bd8akH9Z.js"),[])});Vt({id:"c",extensions:[".c",".h"],aliases:["C","c"],loader:()=>Ct(()=>import("./cpp.BbWJElDN.js"),[])});Vt({id:"cpp",extensions:[".cpp",".cc",".cxx",".hpp",".hh",".hxx"],aliases:["C++","Cpp","cpp"],loader:()=>Ct(()=>import("./cpp.BbWJElDN.js"),[])});Vt({id:"csharp",extensions:[".cs",".csx",".cake"],aliases:["C#","csharp"],loader:()=>Ct(()=>import("./csharp.Co3qMtFm.js"),[])});Vt({id:"csp",extensions:[".csp"],aliases:["CSP","csp"],loader:()=>Ct(()=>import("./csp.D-4FJmMZ.js"),[])});Vt({id:"css",extensions:[".css"],aliases:["CSS","css"],mimetypes:["text/css"],loader:()=>Ct(()=>import("./css.DdJfP1eB.js"),[])});Vt({id:"cypher",extensions:[".cypher",".cyp"],aliases:["Cypher","OpenCypher"],loader:()=>Ct(()=>import("./cypher.cTPe9QuQ.js"),[])});Vt({id:"dart",extensions:[".dart"],aliases:["Dart","dart"],mimetypes:["text/x-dart-source","text/x-dart"],loader:()=>Ct(()=>import("./dart.BOtBlQCF.js"),[])});Vt({id:"dockerfile",extensions:[".dockerfile"],filenames:["Dockerfile"],aliases:["Dockerfile"],loader:()=>Ct(()=>import("./dockerfile.BG73LgW2.js"),[])});Vt({id:"ecl",extensions:[".ecl"],aliases:["ECL","Ecl","ecl"],loader:()=>Ct(()=>import("./ecl.BEgZUVRK.js"),[])});Vt({id:"elixir",extensions:[".ex",".exs"],aliases:["Elixir","elixir","ex"],loader:()=>Ct(()=>import("./elixir.BkW5O-1t.js"),[])});Vt({id:"flow9",extensions:[".flow"],aliases:["Flow9","Flow","flow9","flow"],loader:()=>Ct(()=>import("./flow9.BeJ5waoc.js"),[])});Vt({id:"fsharp",extensions:[".fs",".fsi",".ml",".mli",".fsx",".fsscript"],aliases:["F#","FSharp","fsharp"],loader:()=>Ct(()=>import("./fsharp.PahG7c26.js"),[])});Vt({id:"freemarker2",extensions:[".ftl",".ftlh",".ftlx"],aliases:["FreeMarker2","Apache FreeMarker2"],loader:()=>Ct(()=>import("./freemarker2.DxKR3D9Q.js"),[]).then(i=>i.TagAutoInterpolationDollar)});Vt({id:"freemarker2.tag-angle.interpolation-dollar",aliases:["FreeMarker2 (Angle/Dollar)","Apache FreeMarker2 (Angle/Dollar)"],loader:()=>Ct(()=>import("./freemarker2.DxKR3D9Q.js"),[]).then(i=>i.TagAngleInterpolationDollar)});Vt({id:"freemarker2.tag-bracket.interpolation-dollar",aliases:["FreeMarker2 (Bracket/Dollar)","Apache FreeMarker2 (Bracket/Dollar)"],loader:()=>Ct(()=>import("./freemarker2.DxKR3D9Q.js"),[]).then(i=>i.TagBracketInterpolationDollar)});Vt({id:"freemarker2.tag-angle.interpolation-bracket",aliases:["FreeMarker2 (Angle/Bracket)","Apache FreeMarker2 (Angle/Bracket)"],loader:()=>Ct(()=>import("./freemarker2.DxKR3D9Q.js"),[]).then(i=>i.TagAngleInterpolationBracket)});Vt({id:"freemarker2.tag-bracket.interpolation-bracket",aliases:["FreeMarker2 (Bracket/Bracket)","Apache FreeMarker2 (Bracket/Bracket)"],loader:()=>Ct(()=>import("./freemarker2.DxKR3D9Q.js"),[]).then(i=>i.TagBracketInterpolationBracket)});Vt({id:"freemarker2.tag-auto.interpolation-dollar",aliases:["FreeMarker2 (Auto/Dollar)","Apache FreeMarker2 (Auto/Dollar)"],loader:()=>Ct(()=>import("./freemarker2.DxKR3D9Q.js"),[]).then(i=>i.TagAutoInterpolationDollar)});Vt({id:"freemarker2.tag-auto.interpolation-bracket",aliases:["FreeMarker2 (Auto/Bracket)","Apache FreeMarker2 (Auto/Bracket)"],loader:()=>Ct(()=>import("./freemarker2.DxKR3D9Q.js"),[]).then(i=>i.TagAutoInterpolationBracket)});Vt({id:"go",extensions:[".go"],aliases:["Go"],loader:()=>Ct(()=>import("./go.acbASCJo.js"),[])});Vt({id:"graphql",extensions:[".graphql",".gql"],aliases:["GraphQL","graphql","gql"],mimetypes:["application/graphql"],loader:()=>Ct(()=>import("./graphql.BxJiqAUM.js"),[])});Vt({id:"handlebars",extensions:[".handlebars",".hbs"],aliases:["Handlebars","handlebars","hbs"],mimetypes:["text/x-handlebars-template"],loader:()=>Ct(()=>import("./handlebars.B1fxqmsF.js"),[])});Vt({id:"hcl",extensions:[".tf",".tfvars",".hcl"],aliases:["Terraform","tf","HCL","hcl"],loader:()=>Ct(()=>import("./hcl.DtV1sZF8.js"),[])});Vt({id:"html",extensions:[".html",".htm",".shtml",".xhtml",".mdoc",".jsp",".asp",".aspx",".jshtm"],aliases:["HTML","htm","html","xhtml"],mimetypes:["text/html","text/x-jshtm","text/template","text/ng-template"],loader:()=>Ct(()=>import("./html.BTT55uHM.js"),[])});Vt({id:"ini",extensions:[".ini",".properties",".gitconfig"],filenames:["config",".gitattributes",".gitconfig",".editorconfig"],aliases:["Ini","ini"],loader:()=>Ct(()=>import("./ini.Kd9XrMLS.js"),[])});Vt({id:"java",extensions:[".java",".jav"],aliases:["Java","java"],mimetypes:["text/x-java-source","text/x-java"],loader:()=>Ct(()=>import("./java.CXBNlu9o.js"),[])});Vt({id:"javascript",extensions:[".js",".es6",".jsx",".mjs",".cjs"],firstLine:"^#!.*\\bnode",filenames:["jakefile"],aliases:["JavaScript","javascript","js"],mimetypes:["text/javascript"],loader:()=>Ct(()=>import("./javascript.DJWc8DHq.js"),__vite__mapDeps([13,14]))});Vt({id:"julia",extensions:[".jl"],aliases:["julia","Julia"],loader:()=>Ct(()=>import("./julia.cl7-CwDS.js"),[])});Vt({id:"kotlin",extensions:[".kt",".kts"],aliases:["Kotlin","kotlin"],mimetypes:["text/x-kotlin-source","text/x-kotlin"],loader:()=>Ct(()=>import("./kotlin.s7OhZKlX.js"),[])});Vt({id:"less",extensions:[".less"],aliases:["Less","less"],mimetypes:["text/x-less","text/less"],loader:()=>Ct(()=>import("./less.9HpZscsL.js"),[])});Vt({id:"lexon",extensions:[".lex"],aliases:["Lexon"],loader:()=>Ct(()=>import("./lexon.OrD6JF1K.js"),[])});Vt({id:"lua",extensions:[".lua"],aliases:["Lua","lua"],loader:()=>Ct(()=>import("./lua.Cyyb5UIc.js"),[])});Vt({id:"liquid",extensions:[".liquid",".html.liquid"],aliases:["Liquid","liquid"],mimetypes:["application/liquid"],loader:()=>Ct(()=>import("./liquid.BYE2xPOa.js"),[])});Vt({id:"m3",extensions:[".m3",".i3",".mg",".ig"],aliases:["Modula-3","Modula3","modula3","m3"],loader:()=>Ct(()=>import("./m3.B8OfTtLu.js"),[])});Vt({id:"markdown",extensions:[".md",".markdown",".mdown",".mkdn",".mkd",".mdwn",".mdtxt",".mdtext"],aliases:["Markdown","markdown"],loader:()=>Ct(()=>import("./markdown.BFxVWTOG.js"),[])});Vt({id:"mdx",extensions:[".mdx"],aliases:["MDX","mdx"],loader:()=>Ct(()=>import("./mdx.DZOiW4VY.js"),[])});Vt({id:"mips",extensions:[".s"],aliases:["MIPS","MIPS-V"],mimetypes:["text/x-mips","text/mips","text/plaintext"],loader:()=>Ct(()=>import("./mips.CiqrrVzr.js"),[])});Vt({id:"msdax",extensions:[".dax",".msdax"],aliases:["DAX","MSDAX"],loader:()=>Ct(()=>import("./msdax.DmeGPVcC.js"),[])});Vt({id:"mysql",extensions:[],aliases:["MySQL","mysql"],loader:()=>Ct(()=>import("./mysql.C_tMU-Nz.js"),[])});Vt({id:"objective-c",extensions:[".m"],aliases:["Objective-C"],loader:()=>Ct(()=>import("./objective-c.BDtDVThU.js"),[])});Vt({id:"pascal",extensions:[".pas",".p",".pp"],aliases:["Pascal","pas"],mimetypes:["text/x-pascal-source","text/x-pascal"],loader:()=>Ct(()=>import("./pascal.vHIfCaH5.js"),[])});Vt({id:"pascaligo",extensions:[".ligo"],aliases:["Pascaligo","ligo"],loader:()=>Ct(()=>import("./pascaligo.DtZ0uQbO.js"),[])});Vt({id:"perl",extensions:[".pl",".pm"],aliases:["Perl","pl"],loader:()=>Ct(()=>import("./perl.Ub6l9XKa.js"),[])});Vt({id:"pgsql",extensions:[],aliases:["PostgreSQL","postgres","pg","postgre"],loader:()=>Ct(()=>import("./pgsql.BlNEE0v7.js"),[])});Vt({id:"php",extensions:[".php",".php4",".php5",".phtml",".ctp"],aliases:["PHP","php"],mimetypes:["application/x-php"],loader:()=>Ct(()=>import("./php.BBUBE1dy.js"),[])});Vt({id:"pla",extensions:[".pla"],loader:()=>Ct(()=>import("./pla.DSh2-awV.js"),[])});Vt({id:"postiats",extensions:[".dats",".sats",".hats"],aliases:["ATS","ATS/Postiats"],loader:()=>Ct(()=>import("./postiats.CocnycG-.js"),[])});Vt({id:"powerquery",extensions:[".pq",".pqm"],aliases:["PQ","M","Power Query","Power Query M"],loader:()=>Ct(()=>import("./powerquery.tScXyioY.js"),[])});Vt({id:"powershell",extensions:[".ps1",".psm1",".psd1"],aliases:["PowerShell","powershell","ps","ps1"],loader:()=>Ct(()=>import("./powershell.COWaemsV.js"),[])});Vt({id:"proto",extensions:[".proto"],aliases:["protobuf","Protocol Buffers"],loader:()=>Ct(()=>import("./protobuf.Brw8urJB.js"),[])});Vt({id:"pug",extensions:[".jade",".pug"],aliases:["Pug","Jade","jade"],loader:()=>Ct(()=>import("./pug.8SOpv6rk.js"),[])});Vt({id:"python",extensions:[".py",".rpy",".pyw",".cpy",".gyp",".gypi"],aliases:["Python","py"],firstLine:"^#!/.*\\bpython[0-9.-]*\\b",loader:()=>Ct(()=>import("./python.Bb1JJH3a.js"),[])});Vt({id:"qsharp",extensions:[".qs"],aliases:["Q#","qsharp"],loader:()=>Ct(()=>import("./qsharp.Bw9ernYp.js"),[])});Vt({id:"r",extensions:[".r",".rhistory",".rmd",".rprofile",".rt"],aliases:["R","r"],loader:()=>Ct(()=>import("./r.j7ic8hl3.js"),[])});Vt({id:"razor",extensions:[".cshtml"],aliases:["Razor","razor"],mimetypes:["text/x-cshtml"],loader:()=>Ct(()=>import("./razor.DrnpEUTU.js"),[])});Vt({id:"redis",extensions:[".redis"],aliases:["redis"],loader:()=>Ct(()=>import("./redis.Bu5POkcn.js"),[])});Vt({id:"redshift",extensions:[],aliases:["Redshift","redshift"],loader:()=>Ct(()=>import("./redshift.Bs9aos_-.js"),[])});Vt({id:"restructuredtext",extensions:[".rst"],aliases:["reStructuredText","restructuredtext"],loader:()=>Ct(()=>import("./restructuredtext.CqXO7rUv.js"),[])});Vt({id:"ruby",extensions:[".rb",".rbx",".rjs",".gemspec",".pp"],filenames:["rakefile","Gemfile"],aliases:["Ruby","rb"],loader:()=>Ct(()=>import("./ruby.zBfavPgS.js"),[])});Vt({id:"rust",extensions:[".rs",".rlib"],aliases:["Rust","rust"],loader:()=>Ct(()=>import("./rust.BzKRNQWT.js"),[])});Vt({id:"sb",extensions:[".sb"],aliases:["Small Basic","sb"],loader:()=>Ct(()=>import("./sb.BBc9UKZt.js"),[])});Vt({id:"scala",extensions:[".scala",".sc",".sbt"],aliases:["Scala","scala","SBT","Sbt","sbt","Dotty","dotty"],mimetypes:["text/x-scala-source","text/x-scala","text/x-sbt","text/x-dotty"],loader:()=>Ct(()=>import("./scala.D9hQfWCl.js"),[])});Vt({id:"scheme",extensions:[".scm",".ss",".sch",".rkt"],aliases:["scheme","Scheme"],loader:()=>Ct(()=>import("./scheme.BPhDTwHR.js"),[])});Vt({id:"scss",extensions:[".scss"],aliases:["Sass","sass","scss"],mimetypes:["text/x-scss","text/scss"],loader:()=>Ct(()=>import("./scss.CBJaRo0y.js"),[])});Vt({id:"shell",extensions:[".sh",".bash"],aliases:["Shell","sh"],loader:()=>Ct(()=>import("./shell.DiJ1NA_G.js"),[])});Vt({id:"sol",extensions:[".sol"],aliases:["sol","solidity","Solidity"],loader:()=>Ct(()=>import("./solidity.Db0IVjzk.js"),[])});Vt({id:"aes",extensions:[".aes"],aliases:["aes","sophia","Sophia"],loader:()=>Ct(()=>import("./sophia.CnS9iZB_.js"),[])});Vt({id:"sparql",extensions:[".rq"],aliases:["sparql","SPARQL"],loader:()=>Ct(()=>import("./sparql.CJmd_6j2.js"),[])});Vt({id:"sql",extensions:[".sql"],aliases:["SQL"],loader:()=>Ct(()=>import("./sql.ClhHkBeG.js"),[])});Vt({id:"st",extensions:[".st",".iecst",".iecplc",".lc3lib",".TcPOU",".TcDUT",".TcGVL",".TcIO"],aliases:["StructuredText","scl","stl"],loader:()=>Ct(()=>import("./st.CHwy0fLd.js"),[])});Vt({id:"swift",aliases:["Swift","swift"],extensions:[".swift"],mimetypes:["text/swift"],loader:()=>Ct(()=>import("./swift.Bqt4WxQ4.js"),[])});Vt({id:"systemverilog",extensions:[".sv",".svh"],aliases:["SV","sv","SystemVerilog","systemverilog"],loader:()=>Ct(()=>import("./systemverilog.Bs9z6M-B.js"),[])});Vt({id:"verilog",extensions:[".v",".vh"],aliases:["V","v","Verilog","verilog"],loader:()=>Ct(()=>import("./systemverilog.Bs9z6M-B.js"),[])});Vt({id:"tcl",extensions:[".tcl"],aliases:["tcl","Tcl","tcltk","TclTk","tcl/tk","Tcl/Tk"],loader:()=>Ct(()=>import("./tcl.Dm6ycUr_.js"),[])});Vt({id:"twig",extensions:[".twig"],aliases:["Twig","twig"],mimetypes:["text/x-twig"],loader:()=>Ct(()=>import("./twig.Csy3S7wG.js"),[])});Vt({id:"typescript",extensions:[".ts",".tsx",".cts",".mts"],aliases:["TypeScript","ts","typescript"],mimetypes:["text/typescript"],loader:()=>Ct(()=>import("./typescript.B9BPeSOl.js"),[])});Vt({id:"typespec",extensions:[".tsp"],aliases:["TypeSpec"],loader:()=>Ct(()=>import("./typespec.Btyra-wh.js"),[])});Vt({id:"vb",extensions:[".vb"],aliases:["Visual Basic","vb"],loader:()=>Ct(()=>import("./vb.Db0cS2oM.js"),[])});Vt({id:"wgsl",extensions:[".wgsl"],aliases:["WebGPU Shading Language","WGSL","wgsl"],loader:()=>Ct(()=>import("./wgsl.DumH7NcR.js"),[])});Vt({id:"xml",extensions:[".xml",".xsd",".dtd",".ascx",".csproj",".config",".props",".targets",".wxi",".wxl",".wxs",".xaml",".svg",".svgz",".opf",".xslt",".xsl"],firstLine:"(\\<\\?xml.*)|(\\<svg)|(\\<\\!doctype\\s+svg)",aliases:["XML","xml"],mimetypes:["text/xml","application/xml","application/xaml+xml","application/xml-dtd"],loader:()=>Ct(()=>import("./xml.BsTUTjTW.js"),[])});Vt({id:"yaml",extensions:[".yaml",".yml"],aliases:["YAML","yaml","YML","yml"],mimetypes:["application/x-yaml","text/x-yaml"],loader:()=>Ct(()=>import("./yaml.C-phrMcg.js"),[])});var _on=Object.defineProperty,bon=(i,e,t)=>e in i?_on(i,e,{enumerable:!0,configurable:!0,writable:!0,value:t}):i[e]=t,Pt=(i,e,t)=>bon(i,typeof e!="symbol"?e+"":e,t),y5,B1e,w5,cG,C5;function von(i){return i.method!==void 0}var V1e;(function(i){function e(t){return t}i.create=e})(V1e||(V1e={}));var cg;(function(i){i.parseError=-32700,i.invalidRequest=-32600,i.methodNotFound=-32601,i.invalidParams=-32602,i.internalError=-32603;function e(o){return-32099<=o&&o<=-32e3}i.isServerError=e;function t(o){if(!e(o))throw new Error("Invalid range for a server error.");return o}i.serverError=t,i.unexpectedServerError=-32e3;function n(o){return!0}i.isApplicationError=n;function s(o){return o}i.applicationError=s,i.genericApplicationError=-320100})(cg||(cg={}));var Rle=class{constructor(){Pt(this,"listeners",new Set),Pt(this,"event",i=>(this.listeners.add(i),{dispose:()=>{this.listeners.delete(i)}}))}fire(i){this.listeners.forEach(e=>e(i))}},yon=class{constructor(i){Pt(this,"_value"),Pt(this,"eventEmitter"),this._value=i,this.eventEmitter=new Rle}get value(){return this._value}set value(i){this._value!==i&&(this._value=i,this.eventEmitter.fire(i))}get onChange(){return this.eventEmitter.event}};function won(i,e){const t=setTimeout(e,i);return{dispose:()=>clearTimeout(t)}}function dG(i,e,t){return i instanceof Set?(i.add(e),{dispose:()=>i.delete(e)}):(i.set(e,t),{dispose:()=>i.delete(e)})}var Con=class{constructor(){Pt(this,"_state","none"),Pt(this,"promise"),Pt(this,"resolve",()=>{}),Pt(this,"reject",()=>{}),this.promise=new Promise((i,e)=>{this.resolve=i,this.reject=e})}get state(){return this._state}},mVe=(y5=class{constructor(){Pt(this,"_unprocessedMessages",[]),Pt(this,"_messageListener"),Pt(this,"id",y5.id++),Pt(this,"_state",new yon({state:"open"})),Pt(this,"state",this._state)}setListener(i){if(this._messageListener=i,!!i)for(;this._unprocessedMessages.length>0&&this._messageListener!==void 0;){const e=this._unprocessedMessages.shift();this._messageListener(e)}}send(i){return this._sendImpl(i)}_dispatchReceivedMessage(i){this._unprocessedMessages.length===0&&this._messageListener?this._messageListener(i):this._unprocessedMessages.push(i)}_onConnectionClosed(){this._state.value={state:"closed",error:void 0}}log(i){return new Son(this,i??new xon)}},Pt(y5,"id",0),y5),Son=class{constructor(i,e){Pt(this,"baseStream"),Pt(this,"logger"),this.baseStream=i,this.logger=e}get state(){return this.baseStream.state}setListener(i){if(i===void 0){this.baseStream.setListener(void 0);return}this.baseStream.setListener(e=>{this.logger.log(this.baseStream,"incoming",e),i(e)})}send(i){return this.logger.log(this.baseStream,"outgoing",i),this.baseStream.send(i)}toString(){return`StreamLogger/${this.baseStream.toString()}`}},xon=class{log(i,e,t){console.log(`${e==="incoming"?"<-":"->"} [${i.toString()}] ${JSON.stringify(t)}`)}},Ion=class fVe{constructor(e){Pt(this,"connect"),this.connect=e}mapContext(e){return new fVe(t=>this.connect(t?kon(t,e):void 0))}};function kon(i,e){return{handleNotification:(t,n)=>i.handleNotification(t,e(n)),handleRequest:(t,n,s)=>i.handleRequest(t,n,e(s))}}var Non=class pVe{constructor(e,t,n){Pt(this,"_stream"),Pt(this,"_listener"),Pt(this,"_logger"),Pt(this,"_unprocessedResponses",new Map),Pt(this,"_lastUsedRequestId",0),this._stream=e,this._listener=t,this._logger=n,this._stream.setListener(s=>{von(s)?s.id===void 0?this._processNotification(s):this._processRequest(s):this._processResponse(s)})}static createChannel(e,t){let n=!1;return new Ion(s=>{if(n)throw new Error(`A channel to the stream ${e} was already constructed!`);return n=!0,new pVe(e,s,t)})}get state(){return this._stream.state}async _processNotification(e){if(e.id!==void 0)throw new Error;if(!this._listener){this._logger&&this._logger.debug({text:"Notification ignored",message:e});return}try{await this._listener.handleNotification({method:e.method,params:e.params||null})}catch(t){this._logger&&this._logger.warn({text:`Exception was thrown while handling notification: ${t}`,exception:t,message:e})}}async _processRequest(e){if(e.id===void 0)throw new Error;let t;if(this._listener)try{t=await this._listener.handleRequest({method:e.method,params:e.params||null},e.id)}catch(s){this._logger&&this._logger.warn({text:`Exception was thrown while handling request: ${s}`,message:e,exception:s}),t={error:{code:cg.internalError,message:"An unexpected exception was thrown.",data:void 0}}}else this._logger&&this._logger.debug({text:"Received request even though not listening for requests",message:e}),t={error:{code:cg.methodNotFound,message:"This endpoint does not listen for requests or notifications.",data:void 0}};let n;"result"in t?n={jsonrpc:"2.0",id:e.id,result:t.result}:n={jsonrpc:"2.0",id:e.id,error:t.error},await this._stream.send(n)}_processResponse(e){const t=""+e.id,n=this._unprocessedResponses.get(t);if(!n){this._logger&&this._logger.debug({text:"Got an unexpected response message",message:e});return}this._unprocessedResponses.delete(t),n(e)}_newRequestId(){return this._lastUsedRequestId++}sendRequest(e,t,n){const s={jsonrpc:"2.0",id:this._newRequestId(),method:e.method,params:e.params||void 0};return n&&n(s.id),new Promise((o,r)=>{const a=""+s.id;this._unprocessedResponses.set(a,l=>{"result"in l?o({result:l.result}):(l.error||r(new Error("Response had neither 'result' nor 'error' field set.")),o({error:l.error}))}),this._stream.send(s).then(void 0,l=>{this._unprocessedResponses.delete(a),r(l)})})}sendNotification(e,t){const n={jsonrpc:"2.0",id:void 0,method:e.method,params:e.params||void 0};return this._stream.send(n)}toString(){return"StreamChannel/"+this._stream.toString()}},fk;(function(i){function e(){return{deserializeFromJson:s=>({hasErrors:!1,value:s}),serializeToJson:s=>s}}i.sAny=e;function t(){return{deserializeFromJson:s=>({hasErrors:!1,value:{}}),serializeToJson:s=>({})}}i.sEmptyObject=t;function n(){return{deserializeFromJson:s=>({hasErrors:!1,value:void 0}),serializeToJson:s=>null}}i.sVoidFromNull=n})(fk||(fk={}));const _Ve=Symbol("OptionalMethodNotFound");var bVe=class{contextualize(i){return new Lon(this,i)}},Lon=class extends bVe{constructor(i,e){super(),Pt(this,"underylingTypedChannel"),Pt(this,"converters"),this.underylingTypedChannel=i,this.converters=e}async request(i,e,t){const n=await this.converters.getSendContext(t);return this.underylingTypedChannel.request(i,e,n)}async notify(i,e,t){const n=await this.converters.getSendContext(t);return this.underylingTypedChannel.notify(i,e,n)}registerNotificationHandler(i,e){return this.underylingTypedChannel.registerNotificationHandler(i,async(t,n)=>await e(t,await this.converters.getNewContext(n)))}registerRequestHandler(i,e){return this.underylingTypedChannel.registerRequestHandler(i,async(t,n,s)=>await e(t,n,await this.converters.getNewContext(s)))}},xte=class vVe extends bVe{constructor(e,t={}){super(),Pt(this,"channelCtor"),Pt(this,"_requestSender"),Pt(this,"_handler",new Map),Pt(this,"_unknownNotificationHandler",new Set),Pt(this,"_timeout"),Pt(this,"sendExceptionDetails",!1),Pt(this,"_logger"),Pt(this,"listeningDeferred",new Con),Pt(this,"onListening",this.listeningDeferred.promise),Pt(this,"_requestDidErrorEventEmitter",new Rle),Pt(this,"onRequestDidError",this._requestDidErrorEventEmitter.event),this.channelCtor=e,this._logger=t.logger,this.sendExceptionDetails=!!t.sendExceptionDetails,this._timeout=won(1e3,()=>{this._requestSender||console.warn(`"${this.startListen.name}" has not been called within 1 second after construction of this channel. Did you forget to call it?`,this)})}static fromTransport(e,t={}){return new vVe(Non.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 "${e.method}".`,data:{requestObject:e}}),{error:{code:cg.methodNotFound,message:`No request handler for "${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:cg.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:cg.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||cg.genericApplicationError,message:l.errorMessage||"An error was returned",data:c}}}else a={result:s.requestType.resultSerializer.serializeToJson(l.ok)}}catch(l){l instanceof W1e?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:cg.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: ${a}.`,exception:a,data:{requestObject:e}})}}registerUnknownNotificationHandler(e){return dG(this._unknownNotificationHandler,e)}registerRequestHandler(e,t){if(this._handler.get(e.method))throw new Error(`Handler with method "${e.method}" already registered.`);return dG(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 dG(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);z1e(s);const o=await this._requestSender.sendRequest({method:e.method,params:s},n);if("error"in o){if(e.isOptional&&o.error.code===cg.methodNotFound)return _Ve;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 W1e(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);z1e(s),this._requestSender.sendNotification({method:e.method,params:s},n)}};function z1e(i){if(i!==null&&Array.isArray(i)&&typeof i!="object")throw new Error("Invalid value! Only null, array and object is allowed.")}var W1e=class yVe extends Error{constructor(e,t,n=cg.genericApplicationError){super(e),Pt(this,"data"),Pt(this,"code"),this.data=t,this.code=n,Object.setPrototypeOf(this,yVe.prototype)}},Don=class Ite{constructor(e,t,n,s,o=!1){Pt(this,"method"),Pt(this,"paramsSerializer"),Pt(this,"resultSerializer"),Pt(this,"errorSerializer"),Pt(this,"isOptional"),Pt(this,"kind","request"),this.method=e,this.paramsSerializer=t,this.resultSerializer=n,this.errorSerializer=s,this.isOptional=o}withMethod(e){return new Ite(e,this.paramsSerializer,this.resultSerializer,this.errorSerializer)}optional(){return new Ite(this.method,this.paramsSerializer,this.resultSerializer,this.errorSerializer,!0)}},Ton=class wVe{constructor(e,t){Pt(this,"method"),Pt(this,"paramsSerializer"),Pt(this,"kind","notification"),this.method=e,this.paramsSerializer=t}withMethod(e){return new wVe(e,this.paramsSerializer)}};function mn(i){return new Don((i||{}).method,fk.sAny(),fk.sAny(),fk.sAny())}function So(i){return new Ton((i||{}).method,fk.sAny())}const Eon=Symbol();var H1e=(B1e=Eon,w5=class{constructor(i){Pt(this,"error"),Pt(this,B1e),this.error=i}},Pt(w5,"factory",i=>new w5(i)),w5);function Pon(i){const e=$1e(i.server),t=$1e(i.client);return new Ron(i.tags||[],e,t)}function $1e(i){const e={};for(const[t,n]of Object.entries(i)){const s=n.method?n.method:t;e[t]=n.withMethod(s)}return e}var Ron=class CVe{constructor(e=[],t,n){Pt(this,"tags"),Pt(this,"server"),Pt(this,"client"),this.tags=e,this.server=t,this.client=n}_onlyDesignTime(){return new Error("This property is not meant to be accessed at runtime")}get TContractObject(){throw this._onlyDesignTime()}get TClientInterface(){throw this._onlyDesignTime()}get TServerInterface(){throw this._onlyDesignTime()}get TClientHandler(){throw this._onlyDesignTime()}get TServerHandler(){throw this._onlyDesignTime()}get TTags(){throw this._onlyDesignTime()}getInterface(e,t,n,s){const o=this.buildCounterpart(e,n),r=this.registerHandlers(e,t,s,o);return{counterpart:o,dispose:()=>r.dispose()}}buildCounterpart(e,t){const n={};for(const[s,o]of Object.entries(t)){let r;o.kind==="request"?o.isOptional?r=async(a,l)=>{a===void 0&&(a={});try{return await e.request(o,a,l)}catch(c){if(c&&c.code===cg.methodNotFound)return _Ve;throw c}}:r=(a,l)=>(a===void 0&&(a={}),e.request(o,a,l)):r=(a,l)=>(a===void 0&&(a={}),e.notify(o,a,l)),n[s]=r}return n}registerHandlers(e,t,n,s){const o=[];for(const[r,a]of Object.entries(t))if(a.kind==="request"){let l=n[r];if(!l)continue;const c=this.createRequestHandler(s,l);o.push(e.registerRequestHandler(a,c))}else{const l=n[r];l&&o.push(e.registerNotificationHandler(a,(c,d)=>{l(c,{context:d,counterpart:s})}))}return{dispose:()=>o.forEach(r=>r.dispose())}}createRequestHandler(e,t){return async(n,s,o)=>{const r=await t(n,{context:o,counterpart:e,newErr:H1e.factory,requestId:s});return r instanceof H1e?r.error:{ok:r}}}static getServerFromStream(e,t,n,s){const o=xte.fromTransport(t,n),{server:r}=e.getServer(o,s);return o.startListen(),{channel:o,server:r}}static registerServerToStream(e,t,n,s){const o=xte.fromTransport(t,n),{client:r}=e.registerServer(o,s);return o.startListen(),{channel:o,client:r}}getServer(e,t){const{counterpart:n,dispose:s}=this.getInterface(e,this.client,this.server,t);return{server:n,dispose:s}}registerServer(e,t){const{counterpart:n,dispose:s}=this.getInterface(e,this.server,this.client,t);return{client:n,dispose:s}}withContext(){return new CVe(this.tags,this.server,this.client)}};let pk=(function(i){return i.Comment="comment",i.Imports="imports",i.Region="region",i})({}),Ko=(function(i){return i[i.File=1]="File",i[i.Module=2]="Module",i[i.Namespace=3]="Namespace",i[i.Package=4]="Package",i[i.Class=5]="Class",i[i.Method=6]="Method",i[i.Property=7]="Property",i[i.Field=8]="Field",i[i.Constructor=9]="Constructor",i[i.Enum=10]="Enum",i[i.Interface=11]="Interface",i[i.Function=12]="Function",i[i.Variable=13]="Variable",i[i.Constant=14]="Constant",i[i.String=15]="String",i[i.Number=16]="Number",i[i.Boolean=17]="Boolean",i[i.Array=18]="Array",i[i.Object=19]="Object",i[i.Key=20]="Key",i[i.Null=21]="Null",i[i.EnumMember=22]="EnumMember",i[i.Struct=23]="Struct",i[i.Event=24]="Event",i[i.Operator=25]="Operator",i[i.TypeParameter=26]="TypeParameter",i})({}),SVe=(function(i){return i[i.Deprecated=1]="Deprecated",i})({}),U1e=(function(i){return i[i.Type=1]="Type",i[i.Parameter=2]="Parameter",i})({}),Mon=(function(i){return i[i.None=0]="None",i[i.Full=1]="Full",i[i.Incremental=2]="Incremental",i})({}),ar=(function(i){return i[i.Text=1]="Text",i[i.Method=2]="Method",i[i.Function=3]="Function",i[i.Constructor=4]="Constructor",i[i.Field=5]="Field",i[i.Variable=6]="Variable",i[i.Class=7]="Class",i[i.Interface=8]="Interface",i[i.Module=9]="Module",i[i.Property=10]="Property",i[i.Unit=11]="Unit",i[i.Value=12]="Value",i[i.Enum=13]="Enum",i[i.Keyword=14]="Keyword",i[i.Snippet=15]="Snippet",i[i.Color=16]="Color",i[i.File=17]="File",i[i.Reference=18]="Reference",i[i.Folder=19]="Folder",i[i.EnumMember=20]="EnumMember",i[i.Constant=21]="Constant",i[i.Struct=22]="Struct",i[i.Event=23]="Event",i[i.Operator=24]="Operator",i[i.TypeParameter=25]="TypeParameter",i})({}),Aon=(function(i){return i[i.Deprecated=1]="Deprecated",i})({}),Oon=(function(i){return i[i.PlainText=1]="PlainText",i[i.Snippet=2]="Snippet",i})({}),uG=(function(i){return i[i.Text=1]="Text",i[i.Read=2]="Read",i[i.Write=3]="Write",i})({}),Gp=(function(i){return i.Empty="",i.QuickFix="quickfix",i.Refactor="refactor",i.RefactorExtract="refactor.extract",i.RefactorInline="refactor.inline",i.RefactorRewrite="refactor.rewrite",i.Source="source",i.SourceOrganizeImports="source.organizeImports",i.SourceFixAll="source.fixAll",i})({}),Jz=(function(i){return i.PlainText="plaintext",i.Markdown="markdown",i})({}),T_=(function(i){return i[i.Error=1]="Error",i[i.Warning=2]="Warning",i[i.Information=3]="Information",i[i.Hint=4]="Hint",i})({}),j1e=(function(i){return i[i.Unnecessary=1]="Unnecessary",i[i.Deprecated=2]="Deprecated",i})({}),c4=(function(i){return i[i.Invoked=1]="Invoked",i[i.TriggerCharacter=2]="TriggerCharacter",i[i.TriggerForIncompleteCompletions=3]="TriggerForIncompleteCompletions",i})({}),d4=(function(i){return i[i.Invoked=1]="Invoked",i[i.TriggerCharacter=2]="TriggerCharacter",i[i.ContentChange=3]="ContentChange",i})({}),kte=(function(i){return i[i.Invoked=1]="Invoked",i[i.Automatic=2]="Automatic",i})({}),Fon=(function(i){return i.Relative="relative",i})({});var ti=class{constructor(i){this.method=i}};const Mn={textDocumentImplementation:new ti("textDocument/implementation"),textDocumentTypeDefinition:new ti("textDocument/typeDefinition"),textDocumentDocumentColor:new ti("textDocument/documentColor"),textDocumentColorPresentation:new ti("textDocument/colorPresentation"),textDocumentFoldingRange:new ti("textDocument/foldingRange"),textDocumentDeclaration:new ti("textDocument/declaration"),textDocumentSelectionRange:new ti("textDocument/selectionRange"),textDocumentPrepareCallHierarchy:new ti("textDocument/prepareCallHierarchy"),textDocumentSemanticTokensFull:new ti("textDocument/semanticTokens/full"),textDocumentSemanticTokensFullDelta:new ti("textDocument/semanticTokens/full/delta"),textDocumentLinkedEditingRange:new ti("textDocument/linkedEditingRange"),workspaceWillCreateFiles:new ti("workspace/willCreateFiles"),workspaceWillRenameFiles:new ti("workspace/willRenameFiles"),workspaceWillDeleteFiles:new ti("workspace/willDeleteFiles"),textDocumentMoniker:new ti("textDocument/moniker"),textDocumentPrepareTypeHierarchy:new ti("textDocument/prepareTypeHierarchy"),textDocumentInlineValue:new ti("textDocument/inlineValue"),textDocumentInlayHint:new ti("textDocument/inlayHint"),textDocumentDiagnostic:new ti("textDocument/diagnostic"),textDocumentInlineCompletion:new ti("textDocument/inlineCompletion"),textDocumentWillSaveWaitUntil:new ti("textDocument/willSaveWaitUntil"),textDocumentCompletion:new ti("textDocument/completion"),textDocumentHover:new ti("textDocument/hover"),textDocumentSignatureHelp:new ti("textDocument/signatureHelp"),textDocumentDefinition:new ti("textDocument/definition"),textDocumentReferences:new ti("textDocument/references"),textDocumentDocumentHighlight:new ti("textDocument/documentHighlight"),textDocumentDocumentSymbol:new ti("textDocument/documentSymbol"),textDocumentCodeAction:new ti("textDocument/codeAction"),workspaceSymbol:new ti("workspace/symbol"),textDocumentCodeLens:new ti("textDocument/codeLens"),textDocumentDocumentLink:new ti("textDocument/documentLink"),textDocumentFormatting:new ti("textDocument/formatting"),textDocumentRangeFormatting:new ti("textDocument/rangeFormatting"),textDocumentRangesFormatting:new ti("textDocument/rangesFormatting"),textDocumentOnTypeFormatting:new ti("textDocument/onTypeFormatting"),textDocumentRename:new ti("textDocument/rename"),workspaceExecuteCommand:new ti("workspace/executeCommand"),workspaceDidCreateFiles:new ti("workspace/didCreateFiles"),workspaceDidRenameFiles:new ti("workspace/didRenameFiles"),workspaceDidDeleteFiles:new ti("workspace/didDeleteFiles"),workspaceDidChangeConfiguration:new ti("workspace/didChangeConfiguration"),textDocumentDidOpen:new ti("textDocument/didOpen"),textDocumentDidChange:new ti("textDocument/didChange"),textDocumentDidClose:new ti("textDocument/didClose"),textDocumentDidSave:new ti("textDocument/didSave"),textDocumentWillSave:new ti("textDocument/willSave"),workspaceDidChangeWatchedFiles:new ti("workspace/didChangeWatchedFiles")},kM=Pon({server:{textDocumentImplementation:mn({method:"textDocument/implementation"}),textDocumentTypeDefinition:mn({method:"textDocument/typeDefinition"}),textDocumentDocumentColor:mn({method:"textDocument/documentColor"}),textDocumentColorPresentation:mn({method:"textDocument/colorPresentation"}),textDocumentFoldingRange:mn({method:"textDocument/foldingRange"}),textDocumentDeclaration:mn({method:"textDocument/declaration"}),textDocumentSelectionRange:mn({method:"textDocument/selectionRange"}),textDocumentPrepareCallHierarchy:mn({method:"textDocument/prepareCallHierarchy"}),callHierarchyIncomingCalls:mn({method:"callHierarchy/incomingCalls"}),callHierarchyOutgoingCalls:mn({method:"callHierarchy/outgoingCalls"}),textDocumentSemanticTokensFull:mn({method:"textDocument/semanticTokens/full"}),textDocumentSemanticTokensFullDelta:mn({method:"textDocument/semanticTokens/full/delta"}),textDocumentSemanticTokensRange:mn({method:"textDocument/semanticTokens/range"}),textDocumentLinkedEditingRange:mn({method:"textDocument/linkedEditingRange"}),workspaceWillCreateFiles:mn({method:"workspace/willCreateFiles"}),workspaceWillRenameFiles:mn({method:"workspace/willRenameFiles"}),workspaceWillDeleteFiles:mn({method:"workspace/willDeleteFiles"}),textDocumentMoniker:mn({method:"textDocument/moniker"}),textDocumentPrepareTypeHierarchy:mn({method:"textDocument/prepareTypeHierarchy"}),typeHierarchySupertypes:mn({method:"typeHierarchy/supertypes"}),typeHierarchySubtypes:mn({method:"typeHierarchy/subtypes"}),textDocumentInlineValue:mn({method:"textDocument/inlineValue"}),textDocumentInlayHint:mn({method:"textDocument/inlayHint"}),inlayHintResolve:mn({method:"inlayHint/resolve"}),textDocumentDiagnostic:mn({method:"textDocument/diagnostic"}),workspaceDiagnostic:mn({method:"workspace/diagnostic"}),textDocumentInlineCompletion:mn({method:"textDocument/inlineCompletion"}),initialize:mn({method:"initialize"}),shutdown:mn({method:"shutdown"}),textDocumentWillSaveWaitUntil:mn({method:"textDocument/willSaveWaitUntil"}),textDocumentCompletion:mn({method:"textDocument/completion"}),completionItemResolve:mn({method:"completionItem/resolve"}),textDocumentHover:mn({method:"textDocument/hover"}),textDocumentSignatureHelp:mn({method:"textDocument/signatureHelp"}),textDocumentDefinition:mn({method:"textDocument/definition"}),textDocumentReferences:mn({method:"textDocument/references"}),textDocumentDocumentHighlight:mn({method:"textDocument/documentHighlight"}),textDocumentDocumentSymbol:mn({method:"textDocument/documentSymbol"}),textDocumentCodeAction:mn({method:"textDocument/codeAction"}),codeActionResolve:mn({method:"codeAction/resolve"}),workspaceSymbol:mn({method:"workspace/symbol"}),workspaceSymbolResolve:mn({method:"workspaceSymbol/resolve"}),textDocumentCodeLens:mn({method:"textDocument/codeLens"}),codeLensResolve:mn({method:"codeLens/resolve"}),textDocumentDocumentLink:mn({method:"textDocument/documentLink"}),documentLinkResolve:mn({method:"documentLink/resolve"}),textDocumentFormatting:mn({method:"textDocument/formatting"}),textDocumentRangeFormatting:mn({method:"textDocument/rangeFormatting"}),textDocumentRangesFormatting:mn({method:"textDocument/rangesFormatting"}),textDocumentOnTypeFormatting:mn({method:"textDocument/onTypeFormatting"}),textDocumentRename:mn({method:"textDocument/rename"}),textDocumentPrepareRename:mn({method:"textDocument/prepareRename"}),workspaceExecuteCommand:mn({method:"workspace/executeCommand"}),workspaceDidChangeWorkspaceFolders:So({method:"workspace/didChangeWorkspaceFolders"}),windowWorkDoneProgressCancel:So({method:"window/workDoneProgress/cancel"}),workspaceDidCreateFiles:So({method:"workspace/didCreateFiles"}),workspaceDidRenameFiles:So({method:"workspace/didRenameFiles"}),workspaceDidDeleteFiles:So({method:"workspace/didDeleteFiles"}),notebookDocumentDidOpen:So({method:"notebookDocument/didOpen"}),notebookDocumentDidChange:So({method:"notebookDocument/didChange"}),notebookDocumentDidSave:So({method:"notebookDocument/didSave"}),notebookDocumentDidClose:So({method:"notebookDocument/didClose"}),initialized:So({method:"initialized"}),exit:So({method:"exit"}),workspaceDidChangeConfiguration:So({method:"workspace/didChangeConfiguration"}),textDocumentDidOpen:So({method:"textDocument/didOpen"}),textDocumentDidChange:So({method:"textDocument/didChange"}),textDocumentDidClose:So({method:"textDocument/didClose"}),textDocumentDidSave:So({method:"textDocument/didSave"}),textDocumentWillSave:So({method:"textDocument/willSave"}),workspaceDidChangeWatchedFiles:So({method:"workspace/didChangeWatchedFiles"}),setTrace:So({method:"$/setTrace"}),cancelRequest:So({method:"$/cancelRequest"}),progress:So({method:"$/progress"})},client:{workspaceWorkspaceFolders:mn({method:"workspace/workspaceFolders"}).optional(),workspaceConfiguration:mn({method:"workspace/configuration"}).optional(),workspaceFoldingRangeRefresh:mn({method:"workspace/foldingRange/refresh"}).optional(),windowWorkDoneProgressCreate:mn({method:"window/workDoneProgress/create"}).optional(),workspaceSemanticTokensRefresh:mn({method:"workspace/semanticTokens/refresh"}).optional(),windowShowDocument:mn({method:"window/showDocument"}).optional(),workspaceInlineValueRefresh:mn({method:"workspace/inlineValue/refresh"}).optional(),workspaceInlayHintRefresh:mn({method:"workspace/inlayHint/refresh"}).optional(),workspaceDiagnosticRefresh:mn({method:"workspace/diagnostic/refresh"}).optional(),clientRegisterCapability:mn({method:"client/registerCapability"}).optional(),clientUnregisterCapability:mn({method:"client/unregisterCapability"}).optional(),windowShowMessageRequest:mn({method:"window/showMessageRequest"}).optional(),workspaceCodeLensRefresh:mn({method:"workspace/codeLens/refresh"}).optional(),workspaceApplyEdit:mn({method:"workspace/applyEdit"}).optional(),windowShowMessage:So({method:"window/showMessage"}),windowLogMessage:So({method:"window/logMessage"}),telemetryEvent:So({method:"telemetry/event"}),textDocumentPublishDiagnostics:So({method:"textDocument/publishDiagnostics"}),logTrace:So({method:"$/logTrace"}),cancelRequest:So({method:"$/cancelRequest"}),progress:So({method:"$/progress"})}});function N1(i,e){if(i.textModel!==e)throw new Error(`Expected text model to be ${e}, but got ${i.textModel}`);return i}var sr=(cG=class{constructor(){Pt(this,"_store",new Mle)}dispose(){this._store.dispose()}_register(i){if(i===this)throw new Error("Cannot register a disposable on itself!");return this._store.add(i)}},Pt(cG,"None",Object.freeze({dispose(){}})),cG),Mle=(C5=class{constructor(){Pt(this,"_toDispose",new Set),Pt(this,"_isDisposed",!1)}dispose(){this._isDisposed||(this._isDisposed=!0,this.clear())}clear(){if(this._toDispose.size!==0)try{for(const i of this._toDispose)i.dispose()}finally{this._toDispose.clear()}}add(i){if(!i)return i;if(i===this)throw new Error("Cannot register a disposable on itself!");return this._isDisposed?C5.DISABLE_DISPOSED_WARNING||console.warn(new Error("Trying to add a disposable to a DisposableStore that has already been disposed of. The added object will be leaked!").stack):this._toDispose.add(i),i}},Pt(C5,"DISABLE_DISPOSED_WARNING",!1),C5);const xVe=new Map([[Gp.Empty,""],[Gp.QuickFix,"quickfix"],[Gp.Refactor,"refactor"],[Gp.RefactorExtract,"refactor.extract"],[Gp.RefactorInline,"refactor.inline"],[Gp.RefactorRewrite,"refactor.rewrite"],[Gp.Source,"source"],[Gp.SourceOrganizeImports,"source.organizeImports"],[Gp.SourceFixAll,"source.fixAll"]]);function Bon(i){if(i)return xVe.get(i)??i}const Von=new Map([[gt.CodeActionTriggerType.Invoke,kte.Invoked],[gt.CodeActionTriggerType.Auto,kte.Automatic]]);function zon(i){return Von.get(i)??kte.Invoked}const IVe=new Map([[ar.Text,gt.CompletionItemKind.Text],[ar.Method,gt.CompletionItemKind.Method],[ar.Function,gt.CompletionItemKind.Function],[ar.Constructor,gt.CompletionItemKind.Constructor],[ar.Field,gt.CompletionItemKind.Field],[ar.Variable,gt.CompletionItemKind.Variable],[ar.Class,gt.CompletionItemKind.Class],[ar.Interface,gt.CompletionItemKind.Interface],[ar.Module,gt.CompletionItemKind.Module],[ar.Property,gt.CompletionItemKind.Property],[ar.Unit,gt.CompletionItemKind.Unit],[ar.Value,gt.CompletionItemKind.Value],[ar.Enum,gt.CompletionItemKind.Enum],[ar.Keyword,gt.CompletionItemKind.Keyword],[ar.Snippet,gt.CompletionItemKind.Snippet],[ar.Color,gt.CompletionItemKind.Color],[ar.File,gt.CompletionItemKind.File],[ar.Reference,gt.CompletionItemKind.Reference],[ar.Folder,gt.CompletionItemKind.Folder],[ar.EnumMember,gt.CompletionItemKind.EnumMember],[ar.Constant,gt.CompletionItemKind.Constant],[ar.Struct,gt.CompletionItemKind.Struct],[ar.Event,gt.CompletionItemKind.Event],[ar.Operator,gt.CompletionItemKind.Operator],[ar.TypeParameter,gt.CompletionItemKind.TypeParameter]]);function Won(i){return i?IVe.get(i)??gt.CompletionItemKind.Text:gt.CompletionItemKind.Text}const kVe=new Map([[Aon.Deprecated,gt.CompletionItemTag.Deprecated]]);function Hon(i){return kVe.get(i)}const $on=new Map([[gt.CompletionTriggerKind.Invoke,c4.Invoked],[gt.CompletionTriggerKind.TriggerCharacter,c4.TriggerCharacter],[gt.CompletionTriggerKind.TriggerForIncompleteCompletions,c4.TriggerForIncompleteCompletions]]);function Uon(i){return $on.get(i)??c4.Invoked}const jon=new Map([[Oon.Snippet,gt.CompletionItemInsertTextRule.InsertAsSnippet]]);function Gon(i){if(i)return jon.get(i)}const NVe=new Map([[Ko.File,gt.SymbolKind.File],[Ko.Module,gt.SymbolKind.Module],[Ko.Namespace,gt.SymbolKind.Namespace],[Ko.Package,gt.SymbolKind.Package],[Ko.Class,gt.SymbolKind.Class],[Ko.Method,gt.SymbolKind.Method],[Ko.Property,gt.SymbolKind.Property],[Ko.Field,gt.SymbolKind.Field],[Ko.Constructor,gt.SymbolKind.Constructor],[Ko.Enum,gt.SymbolKind.Enum],[Ko.Interface,gt.SymbolKind.Interface],[Ko.Function,gt.SymbolKind.Function],[Ko.Variable,gt.SymbolKind.Variable],[Ko.Constant,gt.SymbolKind.Constant],[Ko.String,gt.SymbolKind.String],[Ko.Number,gt.SymbolKind.Number],[Ko.Boolean,gt.SymbolKind.Boolean],[Ko.Array,gt.SymbolKind.Array],[Ko.Object,gt.SymbolKind.Object],[Ko.Key,gt.SymbolKind.Key],[Ko.Null,gt.SymbolKind.Null],[Ko.EnumMember,gt.SymbolKind.EnumMember],[Ko.Struct,gt.SymbolKind.Struct],[Ko.Event,gt.SymbolKind.Event],[Ko.Operator,gt.SymbolKind.Operator],[Ko.TypeParameter,gt.SymbolKind.TypeParameter]]);function LVe(i){return NVe.get(i)??gt.SymbolKind.File}const qon=new Map([[SVe.Deprecated,gt.SymbolTag.Deprecated]]);function DVe(i){return qon.get(i)}const Kon=new Map([[uG.Text,gt.DocumentHighlightKind.Text],[uG.Read,gt.DocumentHighlightKind.Read],[uG.Write,gt.DocumentHighlightKind.Write]]);function Jon(i){return i?Kon.get(i)??gt.DocumentHighlightKind.Text:gt.DocumentHighlightKind.Text}const Yon=new Map([[pk.Comment,gt.FoldingRangeKind.Comment],[pk.Imports,gt.FoldingRangeKind.Imports],[pk.Region,gt.FoldingRangeKind.Region]]);function Qon(i){if(i)return Yon.get(i)}const Xon=new Map([[mg.Error,T_.Error],[mg.Warning,T_.Warning],[mg.Info,T_.Information],[mg.Hint,T_.Hint]]);function Zon(i){return Xon.get(i)??T_.Error}const ern=new Map([[T_.Error,mg.Error],[T_.Warning,mg.Warning],[T_.Information,mg.Info],[T_.Hint,mg.Hint]]);function trn(i){return i?ern.get(i)??mg.Error:mg.Error}const TVe=new Map([[j1e.Unnecessary,Kz.Unnecessary],[j1e.Deprecated,Kz.Deprecated]]);function nrn(i){return TVe.get(i)}const irn=new Map([[gt.SignatureHelpTriggerKind.Invoke,d4.Invoked],[gt.SignatureHelpTriggerKind.TriggerCharacter,d4.TriggerCharacter],[gt.SignatureHelpTriggerKind.ContentChange,d4.ContentChange]]);function srn(i){return irn.get(i)??d4.Invoked}function _k(i){if(i)return{id:i.command,title:i.title,arguments:i.arguments}}const orn=new Map([[U1e.Type,gt.InlayHintKind.Type],[U1e.Parameter,gt.InlayHintKind.Parameter]]);function rrn(i){return i?orn.get(i)??gt.InlayHintKind.Type:gt.InlayHintKind.Type}function By(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 Na(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 arn(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 Nte(i){const e={severity:trn(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=>nrn(t)).filter(t=>t!==void 0)),i.relatedInformation&&(e.relatedInformation=i.relatedInformation.map(t=>({resource:y7.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 lrn=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(IVe.keys())},completionItem:{tagSupport:{valueSet:Array.from(kVe.keys())},commitCharactersSupport:!0,deprecatedSupport:!0,preselectSupport:!0}}}})),this._register(this._connection.capabilities.registerCapabilityHandler(Mn.textDocumentCompletion,!0,e=>gt.registerCompletionItemProvider(Na(e.documentSelector),new crn(this._connection,e))))}},crn=class{constructor(i,e){Pt(this,"resolveCompletionItem"),this._client=i,this._capabilities=e,e.resolveProvider&&(this.resolveCompletionItem=async(t,n)=>(EVe(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:Uon(t.triggerKind),triggerCharacter:t.triggerCharacter}:void 0});return o?{suggestions:(Array.isArray(o)?o:o.items).map(r=>({...drn(r,this._client.bridge,s,i,e),_lspItem:r,_translated:s,_model:i}))}:{suggestions:[]}}};function drn(i,e,t,n,s){let o=i.insertText||i.label,r;i.textEdit&&("range"in i.textEdit?(o=i.textEdit.newText,r=N1(e.translateBackRange(t.textDocument,i.textEdit.range),n).range):(o=i.textEdit.newText,r={insert:N1(e.translateBackRange(t.textDocument,i.textEdit.insert),n).range,replace:N1(e.translateBackRange(t.textDocument,i.textEdit.replace),n).range})),r||(r=SL.fromPositions(s,s));const a={label:i.label,kind:Won(i.kind),insertText:o,sortText:i.sortText,filterText:i.filterText,preselect:i.preselect,commitCharacters:i.commitCharacters,range:r};return EVe(a,i,e,t,n),a}function EVe(i,e,t,n,s){e.detail!==void 0&&(i.detail=e.detail),e.documentation!==void 0&&(i.documentation=urn(e.documentation)),e.insertTextFormat!==void 0&&(i.insertTextRules=Gon(e.insertTextFormat)),e.tags&&e.tags.length>0&&(i.tags=e.tags.map(Hon).filter(o=>o!==void 0)),e.additionalTextEdits&&e.additionalTextEdits.length>0&&(i.additionalTextEdits=e.additionalTextEdits.map(o=>({range:N1(t.translateBackRange(n.textDocument,o.range),s).range,text:o.newText}))),e.command&&(i.command=_k(e.command))}function urn(i){if(i)return typeof i=="string"?i:{value:i.value,isTrusted:!0}}var hrn=class extends sr{constructor(i){super(),this._connection=i,this._register(this._connection.capabilities.addStaticClientCapabilities({textDocument:{hover:{dynamicRegistration:!0,contentFormat:[Jz.Markdown,Jz.PlainText]}}})),this._register(this._connection.capabilities.registerCapabilityHandler(Mn.textDocumentHover,!0,e=>gt.registerHoverProvider(Na(e.documentSelector),new grn(this._connection,e))))}},grn=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:mrn(s.contents),range:s.range?this._client.bridge.translateBackRange(n.textDocument,s.range).range:void 0}}};function mrn(i){return Array.isArray(i)?i.map(e=>G1e(e)):[G1e(i)]}function G1e(i){return typeof i=="string"?{value:i,isTrusted:!0}:"kind"in i?{value:i.value,isTrusted:!0}:{value:`\`\`\`${i.language}
 ${i.value}