@wandelbots/nova-js 2.1.4-pr.feature-remove-v2-functionallity.113.bfa317e → 2.1.4-pr.feature-add-program-client.114.9d31b54

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (16) hide show
  1. package/README.md +37 -0
  2. package/dist/lib/v2/NovaCellAPIClient.d.ts +5 -1
  3. package/dist/lib/v2/NovaCellAPIClient.d.ts.map +1 -1
  4. package/dist/lib/v2/ProgramsClient.d.ts +79 -0
  5. package/dist/lib/v2/ProgramsClient.d.ts.map +1 -0
  6. package/dist/lib/v2/index.cjs +139 -11
  7. package/dist/lib/v2/index.cjs.map +1 -1
  8. package/dist/lib/v2/index.d.ts +1 -0
  9. package/dist/lib/v2/index.d.ts.map +1 -1
  10. package/dist/lib/v2/index.js +138 -11
  11. package/dist/lib/v2/index.js.map +1 -1
  12. package/package.json +2 -2
  13. package/src/lib/v2/NovaCellAPIClient.ts +13 -0
  14. package/src/lib/v2/ProgramsClient.ts +150 -0
  15. package/src/lib/v2/index.ts +1 -0
  16. package/src/lib/v2/mock/MockNovaInstance.ts +4 -6
package/dist/lib/v2/index.cjs.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"sources":["../../../src/lib/v2/index.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/LoginWithAuth0.ts","../../../src/lib/AutoReconnectingWebsocket.ts","../../../src/lib/availableStorage.ts","../../../src/lib/v2/mock/MockNovaInstance.ts"],"sourcesContent":["export * from \"@wandelbots/nova-api/v2\"\nexport * from \"./NovaCellAPIClient\"\nexport * from \"./NovaClient\"\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { BaseAPI } from \"@wandelbots/nova-api/v2/base\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n ? (...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n constructor(\n readonly cellId: string,\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {}\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n\n readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n readonly motionGroup = this.withCellId(MotionGroupApi)\n readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n readonly controller = this.withCellId(ControllerApi)\n\n readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n readonly application = this.withCellId(ApplicationApi)\n readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n readonly jogging = this.withCellId(JoggingApi)\n\n readonly kinematics = this.withCellId(KinematicsApi)\n\n readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n readonly virtualController = this.withCellId(VirtualControllerApi)\n readonly virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n readonly virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n\n readonly storeObject = this.withCellId(StoreObjectApi)\n readonly storeCollisionComponents = this.withCellId(\n StoreCollisionComponentsApi,\n )\n readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * EXPERIMENTAL\n *\n * This client provides a starting point to migrate NOVA api v2.\n * As v2 is still in development, this client has to be considered unstable\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n console.warn(\"Using experimental NOVA v2 client\")\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n // TODO - backend needs to set proper CORS headers for this\n headers:\n typeof window !== \"undefined\" &&\n window.location.origin.includes(\"localhost\")\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(config.username + \":\" + config.password)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: urlJoin(this.config.instanceUrl, \"/api/v1\"),\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n this.authPromise = loginWithAuth0(this.config.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n urlJoin(\n this.config.instanceUrl,\n `/api/v1/cells/${this.config.cellId}`,\n path,\n ),\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n }\n}\n","const DOMAIN_SUFFIX = \"wandelbots.io\"\n\n/** Mapping of stages to Auth0 configurations */\nconst auth0ConfigMap = {\n dev: {\n domain: `https://auth.portal.dev.${DOMAIN_SUFFIX}`,\n clientId: process.env.NOVA_AUTH0_DEV_CLIENT_ID,\n },\n stg: {\n domain: `https://auth.portal.stg.${DOMAIN_SUFFIX}`,\n clientId: process.env.NOVA_AUTH0_STG_CLIENT_ID,\n },\n prod: {\n domain: `https://auth.portal.${DOMAIN_SUFFIX}`,\n clientId: process.env.NOVA_AUTH0_PROD_CLIENT_ID,\n },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL */\nconst getAuth0Config = (instanceUrl: string) => {\n if (instanceUrl.includes(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev\n if (instanceUrl.includes(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg\n if (instanceUrl.includes(DOMAIN_SUFFIX)) return auth0ConfigMap.prod\n throw new Error(\n \"Unsupported instance URL. Cannot determine Auth0 configuration.\",\n )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n instanceUrl: string,\n): Promise<string | null> => {\n if (typeof window === \"undefined\") {\n throw new Error(\n `Access token must be set to use NovaClient when not in a browser environment.`,\n )\n }\n\n const auth0Config = getAuth0Config(instanceUrl)\n\n if (new URL(instanceUrl).origin === window.location.origin) {\n // When deployed on the instance itself, our auth is handled by cookies\n // and no access token is needed-- just need to reload the page and it'll\n // login again / set cookie as needed\n window.location.reload()\n throw new Error(\n \"Failed to reload page to get auth details, please refresh manually\",\n )\n }\n\n // If we're on localhost or another domain, we need to do the full oauth flow\n // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n // in the auth0 config, currently\n const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n const auth0Client = new Auth0Client({\n domain: auth0Config.domain,\n clientId: auth0Config.clientId ?? \"\",\n useRefreshTokens: false,\n authorizationParams: {\n audience: \"nova-api\",\n redirect_uri: window.location.origin,\n },\n })\n\n // If the URL includes a redirect result, handle it\n if (\n window.location.search.includes(\"code=\") &&\n window.location.search.includes(\"state=\")\n ) {\n const { appState } = await auth0Client.handleRedirectCallback()\n // Return to the URL the user was originally on before the redirect\n window.history.replaceState(\n {},\n document.title,\n appState?.returnTo || window.location.pathname,\n )\n } else {\n // Initiate login with redirect\n await auth0Client.loginWithRedirect()\n }\n\n // Once logged in, retrieve the access token silently\n const accessToken = await auth0Client.getTokenSilently()\n return accessToken\n}\n","import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport * as v2 from \"./v2/mock/MockNovaInstance\"\nimport * as v1 from \"./v1/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n receivedFirstMessage?: MessageEvent\n targetUrl: string\n disposed = false\n\n constructor(\n targetUrl: string,\n readonly opts: {\n mock?: v1.MockNovaInstance | v2.MockNovaInstance\n onDispose?: () => void\n } = {},\n ) {\n console.log(\"Opening websocket to\", targetUrl)\n\n super(() => this.targetUrl || targetUrl, undefined, {\n startClosed: true,\n })\n\n // Reconnecting websocket doesn't set this properly with startClosed\n Object.defineProperty(this, \"url\", {\n get() {\n return this.targetUrl\n },\n })\n\n this.targetUrl = targetUrl\n\n this.addEventListener(\"open\", () => {\n console.log(`Websocket to ${this.url} opened`)\n })\n\n this.addEventListener(\"message\", (ev) => {\n if (!this.receivedFirstMessage) {\n this.receivedFirstMessage = ev\n }\n })\n\n this.addEventListener(\"close\", () => {\n console.log(`Websocket to ${this.url} closed`)\n })\n\n const origReconnect = this.reconnect\n this.reconnect = () => {\n if (this.opts.mock) {\n this.opts.mock.handleWebsocketConnection(this)\n } else {\n origReconnect.apply(this)\n }\n }\n\n this.reconnect()\n }\n\n changeUrl(targetUrl: string) {\n this.receivedFirstMessage = undefined\n this.targetUrl = targetUrl\n this.reconnect()\n }\n\n sendJson(data: unknown) {\n if (this.opts.mock) {\n this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n } else {\n this.send(JSON.stringify(data))\n }\n }\n\n /**\n * Permanently close this websocket and indicate that\n * this object should not be used again.\n **/\n dispose() {\n this.close()\n this.disposed = true\n if (this.opts.onDispose) {\n this.opts.onDispose()\n }\n }\n\n /**\n * Returns a promise that resolves once the websocket\n * is in the OPEN state. */\n async opened() {\n return new Promise<void>((resolve, reject) => {\n if (this.readyState === WebSocket.OPEN) {\n resolve()\n } else {\n this.addEventListener(\"open\", () => resolve())\n this.addEventListener(\"error\", reject)\n }\n })\n }\n\n /**\n * Returns a promise that resolves once the websocket\n * is in the CLOSED state. */\n async closed() {\n return new Promise<void>((resolve, reject) => {\n if (this.readyState === WebSocket.CLOSED) {\n resolve()\n } else {\n this.addEventListener(\"close\", () => resolve())\n this.addEventListener(\"error\", reject)\n }\n })\n }\n\n /**\n * Returns a promise that resolves when the first message\n * is received from the websocket. Resolves immediately if\n * the first message has already been received.\n */\n async firstMessage() {\n if (this.receivedFirstMessage) {\n return this.receivedFirstMessage\n }\n\n return new Promise<MessageEvent>((resolve, reject) => {\n const onMessage = (ev: MessageEvent) => {\n this.receivedFirstMessage = ev\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n resolve(ev)\n }\n\n const onError = (ev: ErrorEvent) => {\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n reject(ev)\n }\n\n this.addEventListener(\"message\", onMessage)\n this.addEventListener(\"error\", onError)\n })\n }\n\n /**\n * Returns a promise that resolves when the next message\n * is received from the websocket.\n */\n async nextMessage() {\n return new Promise<MessageEvent>((resolve, reject) => {\n const onMessage = (ev: MessageEvent) => {\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n resolve(ev)\n }\n\n const onError = (ev: ErrorEvent) => {\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n reject(ev)\n }\n\n this.addEventListener(\"message\", onMessage)\n this.addEventListener(\"error\", onError)\n })\n }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n available = typeof window !== \"undefined\" && !!window.localStorage\n\n getJSON<T>(key: string): Partial<T> | null {\n if (!this.available) return null\n\n const result = window.localStorage.getItem(key)\n if (result === null) return null\n\n try {\n return JSON.parse(result)\n } catch (err) {\n return null\n }\n }\n\n setJSON(key: string, obj: any) {\n if (!this.available) return null\n\n window.localStorage.setItem(key, JSON.stringify(obj))\n }\n\n delete(key: string) {\n if (!this.available) return null\n\n window.localStorage.removeItem(key)\n }\n\n setString(key: string, value: string) {\n if (!this.available) return null\n\n window.localStorage.setItem(key, value)\n }\n\n getString(key: string): string | null {\n if (!this.available) return null\n\n return window.localStorage.getItem(key)\n }\n}\n\nexport const availableStorage = new AvailableStorage()\n","import type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * EXPERIMENTAL\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return {\n controllers: [\n {\n controller: \"mock-ur5e\",\n model_name: \"UniversalRobots::Controller\",\n host: \"mock-ur5e\",\n allow_software_install_on_controller: true,\n motion_groups: [\n {\n motion_group: \"0@mock-ur5e\",\n name_from_controller: \"UR5e\",\n active: false,\n model_from_controller: \"UniversalRobots_UR5e\",\n },\n ],\n has_error: false,\n error_details: \"\",\n },\n ],\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -425,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -392.2,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0,\n a: 0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: 0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n mechanical_joint_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n ],\n } // Mock motion group specification\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n handle() {\n return {\n safety_settings: [\n {\n safety_state: \"SAFETY_NORMAL\",\n settings: {\n joint_position_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -2.96705961227417,\n upper_limit: 2.96705961227417,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -1.7453292608261108,\n upper_limit: 2.7925267219543457,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -3.3161256313323975,\n upper_limit: 0.40142571926116943,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -3.4906585216522217,\n upper_limit: 3.4906585216522217,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -2.4434609413146973,\n upper_limit: 2.4434609413146973,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -4.71238899230957,\n upper_limit: 4.71238899230957,\n unlimited: false,\n },\n ],\n joint_velocity_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n limit: 3.4906585216522217,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n limit: 6.981317043304443,\n },\n ],\n joint_acceleration_limits: [],\n joint_torque_limits: [],\n tcp_velocity_limit: 1800,\n },\n },\n ],\n safety_zones: [\n {\n id: 1,\n priority: 0,\n geometry: {\n compound: {\n child_geometries: [\n {\n convex_hull: {\n vertices: [\n { vertex: [-800, -1330, -1820] },\n { vertex: [1650, -1330, -1820] },\n { vertex: [1650, 1330, -1820] },\n { vertex: [-800, 1330, -1820] },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Cell workzone\",\n },\n motion_group_uid: 1,\n },\n {\n id: 2,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -1850],\n },\n {\n vertex: [865, 1330, -1850],\n },\n {\n vertex: [865, -720, -1850],\n },\n {\n vertex: [1650, -720, -1850],\n },\n {\n vertex: [1650, 1330, -920],\n },\n {\n vertex: [865, 1330, -920],\n },\n {\n vertex: [865, -720, -920],\n },\n {\n vertex: [1650, -720, -920],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Transport\",\n },\n motion_group_uid: 1,\n },\n {\n id: 3,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -600],\n },\n {\n vertex: [865, 1330, -600],\n },\n {\n vertex: [865, 430, -600],\n },\n {\n vertex: [1650, 430, -600],\n },\n {\n vertex: [1650, 1330, -1250],\n },\n {\n vertex: [865, 1330, -1250],\n },\n {\n vertex: [865, 430, -1250],\n },\n {\n vertex: [1650, 430, -1250],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Tunel\",\n },\n motion_group_uid: 1,\n },\n {\n id: 4,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, -760, -440],\n },\n {\n vertex: [900, -760, -440],\n },\n {\n vertex: [900, -1330, -440],\n },\n {\n vertex: [1650, -1330, -440],\n },\n {\n vertex: [1650, -760, -1800],\n },\n {\n vertex: [900, -760, -1800],\n },\n {\n vertex: [900, -1330, -1800],\n },\n {\n vertex: [1650, -1330, -1800],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Fanuc controller\",\n },\n motion_group_uid: 1,\n },\n {\n id: 6,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [-200, -200, -1900],\n },\n {\n vertex: [200, -200, -1900],\n },\n {\n vertex: [200, 200, -1900],\n },\n {\n vertex: [-200, 200, -1900],\n },\n {\n vertex: [-200, -200, -350],\n },\n {\n vertex: [200, -200, -350],\n },\n {\n vertex: [200, 200, -350],\n },\n {\n vertex: [-200, 200, -350],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Robot base\",\n },\n motion_group_uid: 1,\n },\n ],\n robot_model_geometries: [\n {\n link_index: 1,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-70, -70, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link1_sphere\",\n },\n },\n {\n link_index: 2,\n geometry: {\n capsule: {\n radius: 160,\n cylinder_height: 800,\n },\n init_pose: {\n position: [-450, 40, 170],\n orientation: [\n 0, -0.7071067811865475, 0, 0.7071067811865476,\n ],\n },\n id: \"link2_capsule\",\n },\n },\n {\n link_index: 3,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-110, 10, -100],\n orientation: [0, 0, 0, 1],\n },\n id: \"link3_sphere\",\n },\n },\n {\n link_index: 4,\n geometry: {\n capsule: {\n radius: 110,\n cylinder_height: 600,\n },\n init_pose: {\n position: [0, 300, 40],\n orientation: [\n -0.7071067811865475, 0, 0, 0.7071067811865476,\n ],\n },\n id: \"link4_capsule\",\n },\n },\n {\n link_index: 5,\n geometry: {\n sphere: {\n radius: 75,\n },\n init_pose: {\n position: [0, 0, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link5_sphere\",\n },\n },\n ],\n tool_geometries: [],\n } // Mock safety setup\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/coordinate-systems\",\n handle() {\n return {\n coordinatesystems: [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_uid: \"\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n } //satisfies CoordinateSystems\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n handle() {\n return {\n tcps: [\n {\n id: \"Flange\",\n readable_name: \"Default-Flange\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n {\n id: \"complex-tcp-position\",\n readable_name: \"Complex TCP Position\",\n position: [-200, 300, 150],\n rotation: {\n angles: [\n -0.12139440409113832, -0.06356210998212003,\n -0.2023240068185639, 0,\n ],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n }\n },\n },\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n const path = \"/cells\" + config.url?.split(\"/cells\")[1]?.split(\"?\")[0]\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path || \"\")\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n\n // return {\n // status: 404,\n // statusText: \"Not Found\",\n // data: \"\",\n // headers: {},\n // config,\n // request: {\n // responseURL: config.url,\n // },\n // }\n }\n\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-joint\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:48:26.096266444Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: {\n joints: [\n 1.3492152690887451, -1.5659207105636597,\n 1.6653711795806885, -1.0991662740707397,\n -1.829018235206604, 1.264623761177063,\n ],\n },\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"671259\",\n },\n ],\n sequence_number: \"671259\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-tcp\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:43:12.188335774Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: {\n joints: [\n 1.3352527618408203, -1.5659207105636597,\n 1.6653711795806885, -1.110615611076355,\n -1.829018235206604, 1.264623761177063,\n ],\n },\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"627897\",\n },\n ],\n sequence_number: \"627897\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: {\n joints: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n },\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n } satisfies MotionGroupState,\n}\n"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,uBAAc,oCAAd;;;ACCA,gBAoBO;AAGP,mBAAkB;AAwBX,IAAM,oBAAN,MAAwB;AAAA,EAC7B,YACW,QACA,MAIT;AALS;AACA;AAkFX,SAAS,SAAS,KAAK,2BAA2B,mBAAS;AAC3D,SAAS,OAAO,KAAK,2BAA2B,iBAAO;AAEvD,SAAS,cAAc,KAAK,WAAW,wBAAc;AACrD,SAAS,oBAAoB,KAAK,WAAW,8BAAoB;AAEjE,SAAS,aAAa,KAAK,WAAW,uBAAa;AAEnD,SAAS,gBAAgB,KAAK,WAAW,oCAA0B;AAEnE,SAAS,qBAAqB,KAAK,WAAW,+BAAqB;AACnE,SAAS,sBAAsB,KAAK,WAAW,gCAAsB;AACrE,SAAS,oBAAoB,KAAK,WAAW,8BAAoB;AAEjE,SAAS,cAAc,KAAK,WAAW,wBAAc;AACrD,SAAS,oBAAoB,KAAK,2BAA2B,wBAAc;AAE3E,SAAS,UAAU,KAAK,WAAW,oBAAU;AAE7C,SAAS,aAAa,KAAK,WAAW,uBAAa;AAEnD,SAAS,mBAAmB,KAAK,WAAW,6BAAmB;AAE/D,SAAS,oBAAoB,KAAK,WAAW,8BAAoB;AACjE,SAAS,4BAA4B,KAAK;AAAA,MACxC;AAAA,IACF;AACA,SAAS,uBAAuB,KAAK;AAAA,MACnC;AAAA,IACF;AAEA,SAAS,cAAc,KAAK,WAAW,wBAAc;AACrD,SAAS,2BAA2B,KAAK;AAAA,MACvC;AAAA,IACF;AACA,SAAS,uBAAuB,KAAK,WAAW,iCAAuB;AAAA,EAjHpE;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOK,WACN,gBAKA;AApEJ;AAqEI,UAAM,YAAY,IAAI;AAAA,MACpB,iCACK,KAAK,OADV;AAAA,QAEE,YAAY,CAAC,SAAiB;AAC5B,iBAAO,SAAS;AAAA,QAClB;AAAA,MACF;AAAA,OACA,UAAK,KAAK,aAAV,YAAsB;AAAA,OACtB,UAAK,KAAK,kBAAV,YAA2B,aAAAA,QAAM,OAAO;AAAA,IAC1C;AAIA,eAAW,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAAG;AACrE,UAAI,QAAQ,iBAAiB,OAAO,UAAU,GAAG,MAAM,YAAY;AACjE,cAAM,mBAAmB,UAAU,GAAG;AACtC,kBAAU,GAAG,IAAI,IAAI,SAAgB;AACnC,iBAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,KAAK,CAAC,QAAa,IAAI,IAAI;AAAA,QAChC;AAAA,MACF;AAAA,IACF;AAEA,WAAO;AAAA,EACT;AAAA;AAAA;AAAA;AAAA,EAKQ,2BACN,gBAKA;AAzGJ;AA0GI,UAAM,YAAY,IAAI;AAAA,MACpB,iCACK,KAAK,OADV;AAAA,QAEE,YAAY,CAAC,SAAiB;AAC5B,iBAAO,SAAS;AAAA,QAClB;AAAA,MACF;AAAA,OACA,UAAK,KAAK,aAAV,YAAsB;AAAA,OACtB,UAAK,KAAK,kBAAV,YAA2B,aAAAA,QAAM,OAAO;AAAA,IAC1C;AAIA,eAAW,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAAG;AACrE,UAAI,QAAQ,iBAAiB,OAAO,UAAU,GAAG,MAAM,YAAY;AACjE,cAAM,mBAAmB,UAAU,GAAG;AACtC,kBAAU,GAAG,IAAI,IAAI,SAAgB;AACnC,iBAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,KAAK,CAAC,QAAa,IAAI,IAAI;AAAA,QAChC;AAAA,MACF;AAAA,IACF;AAEA,WAAO;AAAA,EACT;AAsCF;;;ACvKA,IAAAC,gBAAoC;AACpC,sBAAoB;;;ACHpB,IAAM,gBAAgB;AAGtB,IAAM,iBAAiB;AAAA,EACrB,KAAK;AAAA,IACH,QAAQ,2BAA2B,aAAa;AAAA,IAChD,UAAU;AAAA,EACZ;AAAA,EACA,KAAK;AAAA,IACH,QAAQ,2BAA2B,aAAa;AAAA,IAChD,UAAU;AAAA,EACZ;AAAA,EACA,MAAM;AAAA,IACJ,QAAQ,uBAAuB,aAAa;AAAA,IAC5C,UAAU;AAAA,EACZ;AACF;AAGA,IAAM,iBAAiB,CAAC,gBAAwB;AAC9C,MAAI,YAAY,SAAS,OAAO,aAAa,EAAE,EAAG,QAAO,eAAe;AACxE,MAAI,YAAY,SAAS,OAAO,aAAa,EAAE,EAAG,QAAO,eAAe;AACxE,MAAI,YAAY,SAAS,aAAa,EAAG,QAAO,eAAe;AAC/D,QAAM,IAAI;AAAA,IACR;AAAA,EACF;AACF;AAOO,IAAM,iBAAiB,CAC5B,gBAC2B;AAnC7B;AAoCE,MAAI,OAAO,WAAW,aAAa;AACjC,UAAM,IAAI;AAAA,MACR;AAAA,IACF;AAAA,EACF;AAEA,QAAM,cAAc,eAAe,WAAW;AAE9C,MAAI,IAAI,IAAI,WAAW,EAAE,WAAW,OAAO,SAAS,QAAQ;AAI1D,WAAO,SAAS,OAAO;AACvB,UAAM,IAAI;AAAA,MACR;AAAA,IACF;AAAA,EACF;AAKA,QAAM,EAAE,YAAY,IAAI,MAAM,OAAO,qBAAqB;AAE1D,QAAM,cAAc,IAAI,YAAY;AAAA,IAClC,QAAQ,YAAY;AAAA,IACpB,WAAU,iBAAY,aAAZ,YAAwB;AAAA,IAClC,kBAAkB;AAAA,IAClB,qBAAqB;AAAA,MACnB,UAAU;AAAA,MACV,cAAc,OAAO,SAAS;AAAA,IAChC;AAAA,EACF,CAAC;AAGD,MACE,OAAO,SAAS,OAAO,SAAS,OAAO,KACvC,OAAO,SAAS,OAAO,SAAS,QAAQ,GACxC;AACA,UAAM,EAAE,SAAS,IAAI,MAAM,YAAY,uBAAuB;AAE9D,WAAO,QAAQ;AAAA,MACb,CAAC;AAAA,MACD,SAAS;AAAA,OACT,qCAAU,aAAY,OAAO,SAAS;AAAA,IACxC;AAAA,EACF,OAAO;AAEL,UAAM,YAAY,kBAAkB;AAAA,EACtC;AAGA,QAAM,cAAc,MAAM,YAAY,iBAAiB;AACvD,SAAO;AACT;;;ACzFA,oCAAuD;AAIhD,IAAM,4BAAN,cAAwC,8BAAAC,QAAsB;AAAA,EAKnE,YACE,WACS,OAGL,CAAC,GACL;AACA,YAAQ,IAAI,wBAAwB,SAAS;AAE7C,UAAM,MAAM,KAAK,aAAa,WAAW,QAAW;AAAA,MAClD,aAAa;AAAA,IACf,CAAC;AATQ;AAJX,oBAAW;AAgBT,WAAO,eAAe,MAAM,OAAO;AAAA,MACjC,MAAM;AACJ,eAAO,KAAK;AAAA,MACd;AAAA,IACF,CAAC;AAED,SAAK,YAAY;AAEjB,SAAK,iBAAiB,QAAQ,MAAM;AAClC,cAAQ,IAAI,gBAAgB,KAAK,GAAG,SAAS;AAAA,IAC/C,CAAC;AAED,SAAK,iBAAiB,WAAW,CAAC,OAAO;AACvC,UAAI,CAAC,KAAK,sBAAsB;AAC9B,aAAK,uBAAuB;AAAA,MAC9B;AAAA,IACF,CAAC;AAED,SAAK,iBAAiB,SAAS,MAAM;AACnC,cAAQ,IAAI,gBAAgB,KAAK,GAAG,SAAS;AAAA,IAC/C,CAAC;AAED,UAAM,gBAAgB,KAAK;AAC3B,SAAK,YAAY,MAAM;AACrB,UAAI,KAAK,KAAK,MAAM;AAClB,aAAK,KAAK,KAAK,0BAA0B,IAAI;AAAA,MAC/C,OAAO;AACL,sBAAc,MAAM,IAAI;AAAA,MAC1B;AAAA,IACF;AAEA,SAAK,UAAU;AAAA,EACjB;AAAA,EAEA,UAAU,WAAmB;AAC3B,SAAK,uBAAuB;AAC5B,SAAK,YAAY;AACjB,SAAK,UAAU;AAAA,EACjB;AAAA,EAEA,SAAS,MAAe;AACtB,QAAI,KAAK,KAAK,MAAM;AAClB,WAAK,KAAK,KAAK,uBAAuB,MAAM,KAAK,UAAU,IAAI,CAAC;AAAA,IAClE,OAAO;AACL,WAAK,KAAK,KAAK,UAAU,IAAI,CAAC;AAAA,IAChC;AAAA,EACF;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,UAAU;AACR,SAAK,MAAM;AACX,SAAK,WAAW;AAChB,QAAI,KAAK,KAAK,WAAW;AACvB,WAAK,KAAK,UAAU;AAAA,IACtB;AAAA,EACF;AAAA;AAAA;AAAA;AAAA,EAKM,SAAS;AAAA;AACb,aAAO,IAAI,QAAc,CAAC,SAAS,WAAW;AAC5C,YAAI,KAAK,eAAe,UAAU,MAAM;AACtC,kBAAQ;AAAA,QACV,OAAO;AACL,eAAK,iBAAiB,QAAQ,MAAM,QAAQ,CAAC;AAC7C,eAAK,iBAAiB,SAAS,MAAM;AAAA,QACvC;AAAA,MACF,CAAC;AAAA,IACH;AAAA;AAAA;AAAA;AAAA;AAAA,EAKM,SAAS;AAAA;AACb,aAAO,IAAI,QAAc,CAAC,SAAS,WAAW;AAC5C,YAAI,KAAK,eAAe,UAAU,QAAQ;AACxC,kBAAQ;AAAA,QACV,OAAO;AACL,eAAK,iBAAiB,SAAS,MAAM,QAAQ,CAAC;AAC9C,eAAK,iBAAiB,SAAS,MAAM;AAAA,QACvC;AAAA,MACF,CAAC;AAAA,IACH;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOM,eAAe;AAAA;AACnB,UAAI,KAAK,sBAAsB;AAC7B,eAAO,KAAK;AAAA,MACd;AAEA,aAAO,IAAI,QAAsB,CAAC,SAAS,WAAW;AACpD,cAAM,YAAY,CAAC,OAAqB;AACtC,eAAK,uBAAuB;AAC5B,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,kBAAQ,EAAE;AAAA,QACZ;AAEA,cAAM,UAAU,CAAC,OAAmB;AAClC,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,iBAAO,EAAE;AAAA,QACX;AAEA,aAAK,iBAAiB,WAAW,SAAS;AAC1C,aAAK,iBAAiB,SAAS,OAAO;AAAA,MACxC,CAAC;AAAA,IACH;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAMM,cAAc;AAAA;AAClB,aAAO,IAAI,QAAsB,CAAC,SAAS,WAAW;AACpD,cAAM,YAAY,CAAC,OAAqB;AACtC,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,kBAAQ,EAAE;AAAA,QACZ;AAEA,cAAM,UAAU,CAAC,OAAmB;AAClC,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,iBAAO,EAAE;AAAA,QACX;AAEA,aAAK,iBAAiB,WAAW,SAAS;AAC1C,aAAK,iBAAiB,SAAS,OAAO;AAAA,MACxC,CAAC;AAAA,IACH;AAAA;AACF;;;AC9JA,IAAM,mBAAN,MAAuB;AAAA,EAAvB;AACE,qBAAY,OAAO,WAAW,eAAe,CAAC,CAAC,OAAO;AAAA;AAAA,EAEtD,QAAW,KAAgC;AACzC,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,UAAM,SAAS,OAAO,aAAa,QAAQ,GAAG;AAC9C,QAAI,WAAW,KAAM,QAAO;AAE5B,QAAI;AACF,aAAO,KAAK,MAAM,MAAM;AAAA,IAC1B,SAAS,KAAK;AACZ,aAAO;AAAA,IACT;AAAA,EACF;AAAA,EAEA,QAAQ,KAAa,KAAU;AAC7B,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,aAAa,QAAQ,KAAK,KAAK,UAAU,GAAG,CAAC;AAAA,EACtD;AAAA,EAEA,OAAO,KAAa;AAClB,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,aAAa,WAAW,GAAG;AAAA,EACpC;AAAA,EAEA,UAAU,KAAa,OAAe;AACpC,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,aAAa,QAAQ,KAAK,KAAK;AAAA,EACxC;AAAA,EAEA,UAAU,KAA4B;AACpC,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,OAAO,aAAa,QAAQ,GAAG;AAAA,EACxC;AACF;AAEO,IAAM,mBAAmB,IAAI,iBAAiB;;;AC3CrD,IAAAC,gBAA2B;AAC3B,mBAA8B;AAOvB,IAAM,mBAAN,MAAuB;AAAA,EAAvB;AACL,SAAS,cAA2C,CAAC;AAAA;AAAA,EAE/C,iBACJ,QACwB;AAAA;AAf5B;AAgBI,YAAM,cAAc;AAAA,QAClB;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,aAAa;AAAA,gBACX;AAAA,kBACE,YAAY;AAAA,kBACZ,YAAY;AAAA,kBACZ,MAAM;AAAA,kBACN,sCAAsC;AAAA,kBACtC,eAAe;AAAA,oBACb;AAAA,sBACE,cAAc;AAAA,sBACd,sBAAsB;AAAA,sBACtB,QAAQ;AAAA,sBACR,uBAAuB;AAAA,oBACzB;AAAA,kBACF;AAAA,kBACA,WAAW;AAAA,kBACX,eAAe;AAAA,gBACjB;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,eAAe;AAAA,gBACb,MAAM;AAAA,gBACN,cAAc;AAAA,gBACd,MAAM;AAAA,cACR;AAAA,cACA,MAAM;AAAA,YACR;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,eAAe;AAAA,gBACb;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,cACF;AAAA,cACA,yBAAyB;AAAA,gBACvB;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,iBAAiB;AAAA,gBACf;AAAA,kBACE,cAAc;AAAA,kBACd,UAAU;AAAA,oBACR,uBAAuB;AAAA,sBACrB;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,oBACF;AAAA,oBACA,uBAAuB;AAAA,sBACrB;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,oBACF;AAAA,oBACA,2BAA2B,CAAC;AAAA,oBAC5B,qBAAqB,CAAC;AAAA,oBACtB,oBAAoB;AAAA,kBACtB;AAAA,gBACF;AAAA,cACF;AAAA,cACA,cAAc;AAAA,gBACZ;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,UAAU;AAAA,sBACR,kBAAkB;AAAA,wBAChB;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR,EAAE,QAAQ,CAAC,MAAM,OAAO,KAAK,EAAE;AAAA,8BAC/B,EAAE,QAAQ,CAAC,MAAM,OAAO,KAAK,EAAE;AAAA,8BAC/B,EAAE,QAAQ,CAAC,MAAM,MAAM,KAAK,EAAE;AAAA,8BAC9B,EAAE,QAAQ,CAAC,MAAM,MAAM,KAAK,EAAE;AAAA,4BAChC;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,IAAI;AAAA,wBACzB;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,KAAK;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,KAAK;AAAA,wBAC3B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,OAAO,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,OAAO,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,wBAC7B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,KAAK;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,IAAI;AAAA,wBACzB;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,IAAI;AAAA,wBAC1B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,cACF;AAAA,cACA,wBAAwB;AAAA,gBACtB;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN,QAAQ;AAAA,oBACV;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,KAAK,KAAK,GAAG;AAAA,sBACxB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,SAAS;AAAA,sBACP,QAAQ;AAAA,sBACR,iBAAiB;AAAA,oBACnB;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,MAAM,IAAI,GAAG;AAAA,sBACxB,aAAa;AAAA,wBACX;AAAA,wBAAG;AAAA,wBAAqB;AAAA,wBAAG;AAAA,sBAC7B;AAAA,oBACF;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN,QAAQ;AAAA,oBACV;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,MAAM,IAAI,IAAI;AAAA,sBACzB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,SAAS;AAAA,sBACP,QAAQ;AAAA,sBACR,iBAAiB;AAAA,oBACnB;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,KAAK,EAAE;AAAA,sBACrB,aAAa;AAAA,wBACX;AAAA,wBAAqB;AAAA,wBAAG;AAAA,wBAAG;AAAA,sBAC7B;AAAA,oBACF;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN,QAAQ;AAAA,oBACV;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,GAAG;AAAA,sBACpB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,cACF;AAAA,cACA,iBAAiB,CAAC;AAAA,YACpB;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,mBAAmB;AAAA,gBACjB;AAAA,kBACE,mBAAmB;AAAA,kBACnB,MAAM;AAAA,kBACN,eAAe;AAAA,kBACf,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,kBAClB,UAAU;AAAA,oBACR,QAAQ,CAAC,GAAG,GAAG,CAAC;AAAA,oBAChB,MAAM;AAAA,kBACR;AAAA,gBACF;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,MAAM;AAAA,gBACJ;AAAA,kBACE,IAAI;AAAA,kBACJ,eAAe;AAAA,kBACf,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,kBAClB,UAAU;AAAA,oBACR,QAAQ,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBACnB,MAAM;AAAA,kBACR;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,eAAe;AAAA,kBACf,UAAU,CAAC,MAAM,KAAK,GAAG;AAAA,kBACzB,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN;AAAA,sBAAsB;AAAA,sBACtB;AAAA,sBAAqB;AAAA,oBACvB;AAAA,oBACA,MAAM;AAAA,kBACR;AAAA,gBACF;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,MACF;AAEA,YAAM,WAAS,YAAO,WAAP,mBAAe,kBAAiB;AAC/C,YAAM,OAAO,aAAW,kBAAO,QAAP,mBAAY,MAAM,UAAU,OAA5B,mBAAgC,MAAM,KAAK;AAEnE,iBAAW,WAAW,aAAa;AACjC,cAAMC,SAAqB,mBAAM,QAAQ,IAAI,EAAE,QAAQ,EAAE;AACzD,YAAI,WAAW,QAAQ,UAAUA,QAAO;AACtC,gBAAM,OAAO,QAAQ,OAAO;AAC5B,iBAAO;AAAA,YACL,QAAQ;AAAA,YACR,YAAY;AAAA,YACZ,MAAM,KAAK,UAAU,IAAI;AAAA,YACzB,SAAS,CAAC;AAAA,YACV;AAAA,YACA,SAAS;AAAA,cACP,aAAa,OAAO;AAAA,YACtB;AAAA,UACF;AAAA,QACF;AAAA,MACF;AAEA,YAAM,IAAI;AAAA,QACR,yCAAyC,MAAM,IAAI,IAAI;AAAA,QACvD;AAAA,QACA;AAAA,MACF;AAAA,IAYF;AAAA;AAAA,EAEA,0BAA0B,QAAmC;AAC3D,SAAK,YAAY,KAAK,MAAM;AAE5B,eAAW,MAAM;AACf,aAAO,cAAc,IAAI,MAAM,MAAM,CAAC;AAEtC,cAAQ,IAAI,oCAAoC,OAAO,GAAG;AAE1D,UAAI,OAAO,IAAI,SAAS,eAAe,GAAG;AACxC,eAAO;AAAA,UACL,IAAI,aAAa,WAAW;AAAA,YAC1B,MAAM,KAAK,UAAU,kBAAkB;AAAA,UACzC,CAAC;AAAA,QACH;AAAA,MACF;AAEA,UAAI,OAAO,IAAI,SAAS,aAAa,GAAG;AACtC,eAAO;AAAA,UACL,IAAI,aAAa,WAAW;AAAA,YAC1B,MAAM,KAAK,UAAU;AAAA,cACnB,QAAQ;AAAA,gBACN,cAAc;AAAA,gBACd,OAAO;AAAA,kBACL,YAAY;AAAA,kBACZ,gBAAgB;AAAA,kBAChB,cAAc;AAAA,kBACd,WAAW;AAAA,kBACX,mBAAmB;AAAA,kBACnB,eAAe;AAAA,oBACb;AAAA,sBACE,cAAc;AAAA,sBACd,YAAY;AAAA,sBACZ,gBAAgB;AAAA,wBACd,QAAQ;AAAA,0BACN;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,wBACtB;AAAA,sBACF;AAAA,sBACA,gBAAgB;AAAA,wBACd,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,aAAa;AAAA,wBACX,UAAU;AAAA,0BACR;AAAA,0BAAmB;AAAA,0BACnB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,UAAU;AAAA,wBACR,UAAU;AAAA,0BACR;AAAA,0BAAmB;AAAA,0BACnB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,wBACnB,KAAK;AAAA,sBACP;AAAA,sBACA,UAAU;AAAA,wBACR,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,SAAS;AAAA,0BACP,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,OAAO;AAAA,wBACL,OAAO;AAAA,0BACL,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,qBAAqB;AAAA,wBACnB,eAAe;AAAA,0BACb;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,wBACF;AAAA,sBACF;AAAA,sBACA,eAAe;AAAA,wBACb,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,iBAAiB;AAAA,oBACnB;AAAA,kBACF;AAAA,kBACA,iBAAiB;AAAA,gBACnB;AAAA,gBACA,gBAAgB;AAAA,cAClB;AAAA,YACF,CAAC;AAAA,UACH,CAAC;AAAA,QACH;AAAA,MACF;AAEA,UAAI,OAAO,IAAI,SAAS,WAAW,GAAG;AACpC,eAAO;AAAA,UACL,IAAI,aAAa,WAAW;AAAA,YAC1B,MAAM,KAAK,UAAU;AAAA,cACnB,QAAQ;AAAA,gBACN,cAAc;AAAA,gBACd,OAAO;AAAA,kBACL,YAAY;AAAA,kBACZ,gBAAgB;AAAA,kBAChB,cAAc;AAAA,kBACd,WAAW;AAAA,kBACX,mBAAmB;AAAA,kBACnB,eAAe;AAAA,oBACb;AAAA,sBACE,cAAc;AAAA,sBACd,YAAY;AAAA,sBACZ,gBAAgB;AAAA,wBACd,QAAQ;AAAA,0BACN;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,wBACtB;AAAA,sBACF;AAAA,sBACA,gBAAgB;AAAA,wBACd,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,aAAa;AAAA,wBACX,UAAU;AAAA,0BACR;AAAA,0BAAoB;AAAA,0BACpB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,UAAU;AAAA,wBACR,UAAU;AAAA,0BACR;AAAA,0BAAoB;AAAA,0BACpB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,wBACnB,KAAK;AAAA,sBACP;AAAA,sBACA,UAAU;AAAA,wBACR,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,SAAS;AAAA,0BACP,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,OAAO;AAAA,wBACL,OAAO;AAAA,0BACL,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,qBAAqB;AAAA,wBACnB,eAAe;AAAA,0BACb;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,wBACF;AAAA,sBACF;AAAA,sBACA,eAAe;AAAA,wBACb,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,iBAAiB;AAAA,oBACnB;AAAA,kBACF;AAAA,kBACA,iBAAiB;AAAA,gBACnB;AAAA,gBACA,gBAAgB;AAAA,cAClB;AAAA,YACF,CAAC;AAAA,UACH,CAAC;AAAA,QACH;AAAA,MACF;AAAA,IACF,GAAG,EAAE;AAAA,EACP;AAAA,EAEA,uBAAuB,QAAmC,SAAiB;AACzE,YAAQ,IAAI,uBAAuB,OAAO,GAAG,IAAI,OAAO;AAAA,EAC1D;AACF;AAEA,IAAM,qBAAqB;AAAA,EACzB,QAAQ;AAAA,IACN,cAAc;AAAA,IACd,YAAY;AAAA,IACZ,YAAW,oBAAI,KAAK,GAAE,YAAY;AAAA,IAClC,iBAAiB;AAAA,IACjB,gBAAgB;AAAA,MACd,QAAQ;AAAA,QACN;AAAA,QAAoB;AAAA,QAAqB;AAAA,QACzC;AAAA,QAAoB;AAAA,QAAoB;AAAA,MAC1C;AAAA,IACF;AAAA,IACA,qBAAqB;AAAA,MACnB,eAAe,CAAC,OAAO,OAAO,OAAO,OAAO,OAAO,KAAK;AAAA,IAC1D;AAAA,IACA,YAAY;AAAA,IACZ,aAAa;AAAA,MACX,UAAU,CAAC,oBAAoB,oBAAoB,iBAAiB;AAAA,MACpE,aAAa;AAAA,QACX;AAAA,QAAoB;AAAA,QAAqB;AAAA,MAC3C;AAAA,IACF;AAAA,IACA,UAAU;AAAA,MACR,UAAU,CAAC,oBAAoB,oBAAoB,iBAAiB;AAAA,MACpE,aAAa;AAAA,QACX;AAAA,QAAoB;AAAA,QAAqB;AAAA,MAC3C;AAAA,IACF;AAAA,EACF;AACF;;;AJ34BO,IAAM,aAAN,MAAiB;AAAA,EAOtB,YAAY,QAA0B;AAHtC,uBAA6C;AAC7C,uBAA6B;AAxD/B;AA2DI,YAAQ,KAAK,mCAAmC;AAChD,UAAM,UAAS,YAAO,WAAP,YAAiB;AAChC,SAAK,SAAS;AAAA,MACZ;AAAA,OACG;AAEL,SAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;AAEF,QAAI,KAAK,OAAO,gBAAgB,4BAA4B;AAC1D,WAAK,OAAO,IAAI,iBAAiB;AAAA,IACnC;AAGA,UAAM,gBAAgB,cAAAC,QAAM,OAAO;AAAA,MACjC,aAAS,gBAAAC,SAAQ,KAAK,OAAO,aAAa,SAAS;AAAA;AAAA,MAEnD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD;AAAA;AAAA,QAEE,uBAAuB;AAAA,MACzB;AAAA,IACR,CAAC;AAED,kBAAc,aAAa,QAAQ,IAAI,CAAO,YAAY;AACxD,UAAI,CAAC,QAAQ,QAAQ,eAAe;AAClC,YAAI,KAAK,aAAa;AACpB,kBAAQ,QAAQ,gBAAgB,UAAU,KAAK,WAAW;AAAA,QAC5D,WAAW,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;AACvD,kBAAQ,QAAQ,gBAAgB,SAAS,KAAK,OAAO,WAAW,MAAM,OAAO,QAAQ,CAAC;AAAA,QACxF;AAAA,MACF;AACA,aAAO;AAAA,IACT,EAAC;AAED,QAAI,OAAO,WAAW,aAAa;AACjC,oBAAc,aAAa,SAAS;AAAA,QAClC,CAAC,MAAM;AAAA,QACP,CAAO,UAAU;AAtGzB,cAAAC,KAAA;AAuGU,kBAAI,4BAAa,KAAK,GAAG;AACvB,kBAAIA,MAAA,MAAM,aAAN,gBAAAA,IAAgB,YAAW,KAAK;AAGlC,kBAAI;AACF,sBAAM,KAAK,oBAAoB;AAE/B,oBAAI,MAAM,QAAQ;AAChB,sBAAI,KAAK,aAAa;AACpB,0BAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK,WAAW;AAAA,kBACjE,OAAO;AACL,2BAAO,MAAM,OAAO,QAAQ;AAAA,kBAC9B;AACA,yBAAO,cAAc,QAAQ,MAAM,MAAM;AAAA,gBAC3C;AAAA,cACF,SAAS,KAAK;AACZ,uBAAO,QAAQ,OAAO,GAAG;AAAA,cAC3B;AAAA,YACF,aAAW,WAAM,aAAN,mBAAgB,YAAW,KAAK;AAEzC,oBAAM,MAAM,MAAM,MAAM,OAAO,SAAS,IAAI;AAC5C,kBAAI,IAAI,WAAW,KAAK;AAEtB,uBAAO,SAAS,OAAO;AAAA,cACzB;AAAA,YACF;AAAA,UACF;AAEA,iBAAO,QAAQ,OAAO,KAAK;AAAA,QAC7B;AAAA,MACF;AAAA,IACF;AAEA,SAAK,MAAM,IAAI,kBAAkB,QAAQ,iCACpC,SADoC;AAAA,MAEvC,cAAU,gBAAAD,SAAQ,KAAK,OAAO,aAAa,SAAS;AAAA,MACpD,YAAY,CAAC,SAAiB;AAC5B,eAAO,SAAS;AAAA,MAClB;AAAA,MACA,aAAa,kCACP,KAAK,OACJ;AAAA,QACC,SAAS,CAACE,YAAW;AACnB,iBAAO,KAAK,KAAM,iBAAiBA,OAAM;AAAA,QAC3C;AAAA,MACF,IACA,CAAC,IACF,OAAO;AAAA,MAEZ;AAAA,IACF,EAAC;AAAA,EACH;AAAA,EAEM,sBAAqC;AAAA;AACzC,UAAI,KAAK,aAAa;AAEpB;AAAA,MACF;AAEA,WAAK,cAAc,eAAe,KAAK,OAAO,WAAW;AACzD,UAAI;AACF,aAAK,cAAc,MAAM,KAAK;AAC9B,YAAI,KAAK,aAAa;AAEpB,2BAAiB,UAAU,qBAAqB,KAAK,WAAW;AAAA,QAClE,OAAO;AACL,2BAAiB,OAAO,mBAAmB;AAAA,QAC7C;AAAA,MACF,UAAE;AACA,aAAK,cAAc;AAAA,MACrB;AAAA,IACF;AAAA;AAAA,EAEA,iBAAiB,MAAsB;AACrC,UAAM,MAAM,IAAI;AAAA,UACd,gBAAAF;AAAA,QACE,KAAK,OAAO;AAAA,QACZ,iBAAiB,KAAK,OAAO,MAAM;AAAA,QACnC;AAAA,MACF;AAAA,IACF;AACA,QAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;AAChD,QAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;AAKlD,QAAI,KAAK,aAAa;AACpB,UAAI,aAAa,OAAO,SAAS,KAAK,WAAW;AAAA,IACnD,WAAW,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;AACvD,UAAI,WAAW,KAAK,OAAO;AAC3B,UAAI,WAAW,KAAK,OAAO;AAAA,IAC7B;AAEA,WAAO,IAAI,SAAS;AAAA,EACtB;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOA,0BAA0B,MAAc;AACtC,WAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG;AAAA,MAChE,MAAM,KAAK;AAAA,IACb,CAAC;AAAA,EACH;AACF;","names":["axios","import_axios","ReconnectingWebSocket","import_axios","match","axios","urlJoin","_a","config"]}
1
+ {"version":3,"sources":["../../../src/lib/v2/index.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/ProgramsClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/LoginWithAuth0.ts","../../../src/lib/AutoReconnectingWebsocket.ts","../../../src/lib/availableStorage.ts","../../../src/lib/v2/mock/MockNovaInstance.ts"],"sourcesContent":["export * from \"@wandelbots/nova-api/v2\"\nexport * from \"./NovaCellAPIClient\"\nexport * from \"./NovaClient\"\nexport * from \"./ProgramsClient\"\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n ProgramApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { BaseAPI } from \"@wandelbots/nova-api/v2/base\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\nimport { ProgramsClient } from \"./ProgramsClient.js\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n ? (...args: P) => R\n : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n ? (\n ...a: Parameters<T>\n ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n : never\n\nexport type WithCellId<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n constructor(\n readonly cellId: string,\n readonly opts: BaseConfiguration & {\n axiosInstance?: AxiosInstance\n mock?: boolean\n },\n ) {}\n\n /**\n * Some TypeScript sorcery which alters the API class methods so you don't\n * have to pass the cell id to every single one, and de-encapsulates the\n * response data\n */\n private withCellId<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, [this.cellId, ...args])\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithCellId<T>\n }\n\n /**\n * As withCellId, but only does the response unwrapping\n */\n private withUnwrappedResponsesOnly<T extends BaseAPI>(\n ApiConstructor: new (\n config: BaseConfiguration,\n basePath: string,\n axios: AxiosInstance,\n ) => T,\n ) {\n const apiClient = new ApiConstructor(\n {\n ...this.opts,\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n },\n this.opts.basePath ?? \"\",\n this.opts.axiosInstance ?? axios.create(),\n ) as {\n [key: string | symbol]: any\n }\n\n for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n const originalFunction = apiClient[key]\n apiClient[key] = (...args: any[]) => {\n return originalFunction\n .apply(apiClient, args)\n .then((res: any) => res.data)\n }\n }\n }\n\n return apiClient as WithUnwrappedAxiosResponse<T>\n }\n\n readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n readonly motionGroup = this.withCellId(MotionGroupApi)\n readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n readonly controller = this.withCellId(ControllerApi)\n\n readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n readonly programs = this.withCellId(ProgramApi)\n\n readonly application = this.withCellId(ApplicationApi)\n readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n readonly jogging = this.withCellId(JoggingApi)\n\n readonly kinematics = this.withCellId(KinematicsApi)\n\n readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n readonly virtualController = this.withCellId(VirtualControllerApi)\n readonly virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n readonly virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n\n readonly storeObject = this.withCellId(StoreObjectApi)\n readonly storeCollisionComponents = this.withCellId(\n StoreCollisionComponentsApi,\n )\n readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n // Enhanced programs client with convenient methods\n private _programsClient?: ProgramsClient\n get programsClient(): ProgramsClient {\n if (!this._programsClient) {\n this._programsClient = new ProgramsClient(this)\n }\n return this._programsClient\n }\n}\n","import type {\n Program,\n ProgramRun,\n ProgramRunState,\n ProgramStartRequest,\n ProgramApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { NovaCellAPIClient, WithCellId } from \"./NovaCellAPIClient.js\"\n\n/**\n * Enhanced client for the Programs API providing intuitive program management\n */\nexport class ProgramsClient {\n constructor(private client: NovaCellAPIClient) {}\n\n /**\n * Get the underlying programs API for direct access\n */\n get api(): WithCellId<ProgramApi> {\n return this.client.programs\n }\n\n /**\n * List all programs available in the cell\n */\n async list(): Promise<Program[]> {\n return await this.api.listPrograms()\n }\n\n /**\n * Get details of a specific program\n */\n async get(programId: string): Promise<Program> {\n return await this.api.getProgram(programId)\n }\n\n /**\n * Start a program with the given arguments\n */\n async start(\n programId: string,\n args: object = {},\n ): Promise<ProgramRun> {\n const startRequest: ProgramStartRequest = {\n arguments: args,\n }\n return await this.api.startProgram(programId, startRequest)\n }\n\n /**\n * Stop a running program\n */\n async stop(programId: string): Promise<void> {\n return await this.api.stopProgram(programId)\n }\n\n /**\n * Execute a program and wait for it to complete\n * \n * Note: This method has limitations due to current API constraints.\n * Real-time program state tracking will be available via NATS messaging\n * in future versions. For now, this provides basic start functionality.\n * \n * @param programId - The program identifier\n * @param args - Arguments to pass to the program\n * @param options - Basic execution options\n */\n async execute(\n programId: string,\n args: object = {},\n options: {\n onStart?: (run: ProgramRun) => void\n } = {},\n ): Promise<ProgramRun> {\n const { onStart } = options\n\n // Start the program\n const run = await this.start(programId, args)\n \n if (onStart) {\n onStart(run)\n }\n\n // Note: Cannot wait for completion due to API limitations\n // Real-time state tracking will be available via NATS messaging\n return run\n }\n\n /**\n * Create a program runner helper for a specific program\n */\n forProgram(programId: string): ProgramRunner {\n return new ProgramRunner(this, programId)\n }\n}\n\n/**\n * Helper class for managing a specific program\n */\nexport class ProgramRunner {\n constructor(\n private programs: ProgramsClient,\n private programId: string,\n ) {}\n\n /**\n * Get program details\n */\n async getDetails(): Promise<Program> {\n return await this.programs.get(this.programId)\n }\n\n /**\n * Start this program\n */\n async start(args: object = {}): Promise<ProgramRun> {\n return await this.programs.start(this.programId, args)\n }\n\n /**\n * Stop this program\n */\n async stop(): Promise<void> {\n return await this.programs.stop(this.programId)\n }\n\n /**\n * Execute this program (start and get initial run information)\n * \n * Note: This method has limitations due to current API constraints.\n * Real-time program state tracking will be available via NATS messaging\n * in future versions.\n */\n async execute(\n args: object = {},\n options: {\n onStart?: (run: ProgramRun) => void\n } = {},\n ): Promise<ProgramRun> {\n return await this.programs.execute(this.programId, args, options)\n }\n}\n\n// Re-export types for convenience\nexport type {\n Program,\n ProgramRun,\n ProgramRunState,\n ProgramStartRequest,\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n /**\n * Url of the deployed Nova instance to connect to\n * e.g. https://saeattii.instance.wandelbots.io\n */\n instanceUrl: string | \"https://mock.example.com\"\n\n /**\n * Identifier of the cell on the Nova instance to connect this client to.\n * If omitted, the default identifier \"cell\" is used.\n **/\n cellId?: string\n\n /**\n * Username for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n username?: string\n\n /**\n * Password for basic auth to the Nova instance.\n * @deprecated use accessToken instead\n */\n password?: string\n\n /**\n * Access token for Bearer authentication.\n */\n accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * EXPERIMENTAL\n *\n * This client provides a starting point to migrate NOVA api v2.\n * As v2 is still in development, this client has to be considered unstable\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n readonly api: NovaCellAPIClient\n readonly config: NovaClientConfigWithDefaults\n readonly mock?: MockNovaInstance\n authPromise: Promise<string | null> | null = null\n accessToken: string | null = null\n\n constructor(config: NovaClientConfig) {\n console.warn(\"Using experimental NOVA v2 client\")\n const cellId = config.cellId ?? \"cell\"\n this.config = {\n cellId,\n ...config,\n }\n this.accessToken =\n config.accessToken ||\n availableStorage.getString(\"wbjs.access_token\") ||\n null\n\n if (this.config.instanceUrl === \"https://mock.example.com\") {\n this.mock = new MockNovaInstance()\n }\n\n // Set up Axios instance with interceptor for token fetching\n const axiosInstance = axios.create({\n baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n // TODO - backend needs to set proper CORS headers for this\n headers:\n typeof window !== \"undefined\" &&\n window.location.origin.includes(\"localhost\")\n ? {}\n : {\n // Identify the client to the backend for logging purposes\n \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n },\n })\n\n axiosInstance.interceptors.request.use(async (request) => {\n if (!request.headers.Authorization) {\n if (this.accessToken) {\n request.headers.Authorization = `Bearer ${this.accessToken}`\n } else if (this.config.username && this.config.password) {\n request.headers.Authorization = `Basic ${btoa(config.username + \":\" + config.password)}`\n }\n }\n return request\n })\n\n if (typeof window !== \"undefined\") {\n axiosInstance.interceptors.response.use(\n (r) => r,\n async (error) => {\n if (isAxiosError(error)) {\n if (error.response?.status === 401) {\n // If we hit a 401, attempt to login the user and retry with\n // a new access token\n try {\n await this.renewAuthentication()\n\n if (error.config) {\n if (this.accessToken) {\n error.config.headers.Authorization = `Bearer ${this.accessToken}`\n } else {\n delete error.config.headers.Authorization\n }\n return axiosInstance.request(error.config)\n }\n } catch (err) {\n return Promise.reject(err)\n }\n } else if (error.response?.status === 503) {\n // Check if the server as a whole is down\n const res = await fetch(window.location.href)\n if (res.status === 503) {\n // Go to 503 page\n window.location.reload()\n }\n }\n }\n\n return Promise.reject(error)\n },\n )\n }\n\n this.api = new NovaCellAPIClient(cellId, {\n ...config,\n basePath: urlJoin(this.config.instanceUrl, \"/api/v1\"),\n isJsonMime: (mime: string) => {\n return mime === \"application/json\"\n },\n baseOptions: {\n ...(this.mock\n ? ({\n adapter: (config) => {\n return this.mock!.handleAPIRequest(config)\n },\n } satisfies AxiosRequestConfig)\n : {}),\n ...config.baseOptions,\n },\n axiosInstance,\n })\n }\n\n async renewAuthentication(): Promise<void> {\n if (this.authPromise) {\n // Don't double up\n return\n }\n\n this.authPromise = loginWithAuth0(this.config.instanceUrl)\n try {\n this.accessToken = await this.authPromise\n if (this.accessToken) {\n // Cache access token so we don't need to log in every refresh\n availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n } else {\n availableStorage.delete(\"wbjs.access_token\")\n }\n } finally {\n this.authPromise = null\n }\n }\n\n makeWebsocketURL(path: string): string {\n const url = new URL(\n urlJoin(\n this.config.instanceUrl,\n `/api/v1/cells/${this.config.cellId}`,\n path,\n ),\n )\n url.protocol = url.protocol.replace(\"http\", \"ws\")\n url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n // If provided, add basic auth credentials to the URL\n // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n // use tokens instead\n if (this.accessToken) {\n url.searchParams.append(\"token\", this.accessToken)\n } else if (this.config.username && this.config.password) {\n url.username = this.config.username\n url.password = this.config.password\n }\n\n return url.toString()\n }\n\n /**\n * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n * If you explicitly want to reconnect an existing websocket, call `reconnect`\n * on the returned object.\n */\n openReconnectingWebsocket(path: string) {\n return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n mock: this.mock,\n })\n }\n}\n","const DOMAIN_SUFFIX = \"wandelbots.io\"\n\n/** Mapping of stages to Auth0 configurations */\nconst auth0ConfigMap = {\n dev: {\n domain: `https://auth.portal.dev.${DOMAIN_SUFFIX}`,\n clientId: process.env.NOVA_AUTH0_DEV_CLIENT_ID,\n },\n stg: {\n domain: `https://auth.portal.stg.${DOMAIN_SUFFIX}`,\n clientId: process.env.NOVA_AUTH0_STG_CLIENT_ID,\n },\n prod: {\n domain: `https://auth.portal.${DOMAIN_SUFFIX}`,\n clientId: process.env.NOVA_AUTH0_PROD_CLIENT_ID,\n },\n}\n\n/** Determine which Auth0 configuration to use based on instance URL */\nconst getAuth0Config = (instanceUrl: string) => {\n if (instanceUrl.includes(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev\n if (instanceUrl.includes(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg\n if (instanceUrl.includes(DOMAIN_SUFFIX)) return auth0ConfigMap.prod\n throw new Error(\n \"Unsupported instance URL. Cannot determine Auth0 configuration.\",\n )\n}\n\n/**\n * Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n * Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n * when deployed on the instance domain)\n */\nexport const loginWithAuth0 = async (\n instanceUrl: string,\n): Promise<string | null> => {\n if (typeof window === \"undefined\") {\n throw new Error(\n `Access token must be set to use NovaClient when not in a browser environment.`,\n )\n }\n\n const auth0Config = getAuth0Config(instanceUrl)\n\n if (new URL(instanceUrl).origin === window.location.origin) {\n // When deployed on the instance itself, our auth is handled by cookies\n // and no access token is needed-- just need to reload the page and it'll\n // login again / set cookie as needed\n window.location.reload()\n throw new Error(\n \"Failed to reload page to get auth details, please refresh manually\",\n )\n }\n\n // If we're on localhost or another domain, we need to do the full oauth flow\n // Note this will ONLY work for origins which are whitelisted as a redirect_uri\n // in the auth0 config, currently\n const { Auth0Client } = await import(\"@auth0/auth0-spa-js\")\n\n const auth0Client = new Auth0Client({\n domain: auth0Config.domain,\n clientId: auth0Config.clientId ?? \"\",\n useRefreshTokens: false,\n authorizationParams: {\n audience: \"nova-api\",\n redirect_uri: window.location.origin,\n },\n })\n\n // If the URL includes a redirect result, handle it\n if (\n window.location.search.includes(\"code=\") &&\n window.location.search.includes(\"state=\")\n ) {\n const { appState } = await auth0Client.handleRedirectCallback()\n // Return to the URL the user was originally on before the redirect\n window.history.replaceState(\n {},\n document.title,\n appState?.returnTo || window.location.pathname,\n )\n } else {\n // Initiate login with redirect\n await auth0Client.loginWithRedirect()\n }\n\n // Once logged in, retrieve the access token silently\n const accessToken = await auth0Client.getTokenSilently()\n return accessToken\n}\n","import ReconnectingWebSocket, { type ErrorEvent } from \"reconnecting-websocket\"\nimport * as v2 from \"./v2/mock/MockNovaInstance\"\nimport * as v1 from \"./v1/mock/MockNovaInstance\"\n\nexport class AutoReconnectingWebsocket extends ReconnectingWebSocket {\n receivedFirstMessage?: MessageEvent\n targetUrl: string\n disposed = false\n\n constructor(\n targetUrl: string,\n readonly opts: {\n mock?: v1.MockNovaInstance | v2.MockNovaInstance\n onDispose?: () => void\n } = {},\n ) {\n console.log(\"Opening websocket to\", targetUrl)\n\n super(() => this.targetUrl || targetUrl, undefined, {\n startClosed: true,\n })\n\n // Reconnecting websocket doesn't set this properly with startClosed\n Object.defineProperty(this, \"url\", {\n get() {\n return this.targetUrl\n },\n })\n\n this.targetUrl = targetUrl\n\n this.addEventListener(\"open\", () => {\n console.log(`Websocket to ${this.url} opened`)\n })\n\n this.addEventListener(\"message\", (ev) => {\n if (!this.receivedFirstMessage) {\n this.receivedFirstMessage = ev\n }\n })\n\n this.addEventListener(\"close\", () => {\n console.log(`Websocket to ${this.url} closed`)\n })\n\n const origReconnect = this.reconnect\n this.reconnect = () => {\n if (this.opts.mock) {\n this.opts.mock.handleWebsocketConnection(this)\n } else {\n origReconnect.apply(this)\n }\n }\n\n this.reconnect()\n }\n\n changeUrl(targetUrl: string) {\n this.receivedFirstMessage = undefined\n this.targetUrl = targetUrl\n this.reconnect()\n }\n\n sendJson(data: unknown) {\n if (this.opts.mock) {\n this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data))\n } else {\n this.send(JSON.stringify(data))\n }\n }\n\n /**\n * Permanently close this websocket and indicate that\n * this object should not be used again.\n **/\n dispose() {\n this.close()\n this.disposed = true\n if (this.opts.onDispose) {\n this.opts.onDispose()\n }\n }\n\n /**\n * Returns a promise that resolves once the websocket\n * is in the OPEN state. */\n async opened() {\n return new Promise<void>((resolve, reject) => {\n if (this.readyState === WebSocket.OPEN) {\n resolve()\n } else {\n this.addEventListener(\"open\", () => resolve())\n this.addEventListener(\"error\", reject)\n }\n })\n }\n\n /**\n * Returns a promise that resolves once the websocket\n * is in the CLOSED state. */\n async closed() {\n return new Promise<void>((resolve, reject) => {\n if (this.readyState === WebSocket.CLOSED) {\n resolve()\n } else {\n this.addEventListener(\"close\", () => resolve())\n this.addEventListener(\"error\", reject)\n }\n })\n }\n\n /**\n * Returns a promise that resolves when the first message\n * is received from the websocket. Resolves immediately if\n * the first message has already been received.\n */\n async firstMessage() {\n if (this.receivedFirstMessage) {\n return this.receivedFirstMessage\n }\n\n return new Promise<MessageEvent>((resolve, reject) => {\n const onMessage = (ev: MessageEvent) => {\n this.receivedFirstMessage = ev\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n resolve(ev)\n }\n\n const onError = (ev: ErrorEvent) => {\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n reject(ev)\n }\n\n this.addEventListener(\"message\", onMessage)\n this.addEventListener(\"error\", onError)\n })\n }\n\n /**\n * Returns a promise that resolves when the next message\n * is received from the websocket.\n */\n async nextMessage() {\n return new Promise<MessageEvent>((resolve, reject) => {\n const onMessage = (ev: MessageEvent) => {\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n resolve(ev)\n }\n\n const onError = (ev: ErrorEvent) => {\n this.removeEventListener(\"message\", onMessage)\n this.removeEventListener(\"error\", onError)\n reject(ev)\n }\n\n this.addEventListener(\"message\", onMessage)\n this.addEventListener(\"error\", onError)\n })\n }\n}\n","/**\n * Safety wrapper around browser localStorage providing context availability\n * checks and JSON parsing\n */\nclass AvailableStorage {\n available = typeof window !== \"undefined\" && !!window.localStorage\n\n getJSON<T>(key: string): Partial<T> | null {\n if (!this.available) return null\n\n const result = window.localStorage.getItem(key)\n if (result === null) return null\n\n try {\n return JSON.parse(result)\n } catch (err) {\n return null\n }\n }\n\n setJSON(key: string, obj: any) {\n if (!this.available) return null\n\n window.localStorage.setItem(key, JSON.stringify(obj))\n }\n\n delete(key: string) {\n if (!this.available) return null\n\n window.localStorage.removeItem(key)\n }\n\n setString(key: string, value: string) {\n if (!this.available) return null\n\n window.localStorage.setItem(key, value)\n }\n\n getString(key: string): string | null {\n if (!this.available) return null\n\n return window.localStorage.getItem(key)\n }\n}\n\nexport const availableStorage = new AvailableStorage()\n","import type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * EXPERIMENTAL\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n readonly connections: AutoReconnectingWebsocket[] = []\n\n async handleAPIRequest(\n config: InternalAxiosRequestConfig,\n ): Promise<AxiosResponse> {\n const apiHandlers = [\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers\",\n handle() {\n return {\n controllers: [\n {\n controller: \"mock-ur5e\",\n model_name: \"UniversalRobots::Controller\",\n host: \"mock-ur5e\",\n allow_software_install_on_controller: true,\n motion_groups: [\n {\n motion_group: \"0@mock-ur5e\",\n name_from_controller: \"UR5e\",\n active: false,\n model_from_controller: \"UniversalRobots_UR5e\",\n },\n ],\n has_error: false,\n error_details: \"\",\n },\n ],\n }\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/controllers/:controllerId\",\n handle() {\n return {\n configuration: {\n kind: \"VirtualController\",\n manufacturer: \"universalrobots\",\n type: \"universalrobots-ur5e\",\n },\n name: \"mock-ur5\",\n } satisfies RobotController\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n handle() {\n return {\n dh_parameters: [\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 162.25,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -425,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: -392.2,\n d: 0,\n reverse_rotation_direction: false,\n },\n {\n alpha: 1.5707963267948966,\n theta: 0,\n a: 0,\n d: 133.3,\n reverse_rotation_direction: false,\n },\n {\n alpha: -1.5707963267948966,\n theta: 0,\n a: 0,\n d: 99.7,\n reverse_rotation_direction: false,\n },\n {\n alpha: 0,\n theta: 0,\n a: 0,\n d: 99.6,\n reverse_rotation_direction: false,\n },\n ],\n mechanical_joint_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -6.335545063018799,\n upper_limit: 6.335545063018799,\n unlimited: false,\n },\n ],\n } // Mock motion group specification\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n handle() {\n return {\n safety_settings: [\n {\n safety_state: \"SAFETY_NORMAL\",\n settings: {\n joint_position_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n lower_limit: -2.96705961227417,\n upper_limit: 2.96705961227417,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n lower_limit: -1.7453292608261108,\n upper_limit: 2.7925267219543457,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n lower_limit: -3.3161256313323975,\n upper_limit: 0.40142571926116943,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n lower_limit: -3.4906585216522217,\n upper_limit: 3.4906585216522217,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n lower_limit: -2.4434609413146973,\n upper_limit: 2.4434609413146973,\n unlimited: false,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n lower_limit: -4.71238899230957,\n upper_limit: 4.71238899230957,\n unlimited: false,\n },\n ],\n joint_velocity_limits: [\n {\n joint: \"JOINTNAME_AXIS_1\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_2\",\n limit: 3.1415927410125732,\n },\n {\n joint: \"JOINTNAME_AXIS_3\",\n limit: 3.4906585216522217,\n },\n {\n joint: \"JOINTNAME_AXIS_4\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_5\",\n limit: 6.108652591705322,\n },\n {\n joint: \"JOINTNAME_AXIS_6\",\n limit: 6.981317043304443,\n },\n ],\n joint_acceleration_limits: [],\n joint_torque_limits: [],\n tcp_velocity_limit: 1800,\n },\n },\n ],\n safety_zones: [\n {\n id: 1,\n priority: 0,\n geometry: {\n compound: {\n child_geometries: [\n {\n convex_hull: {\n vertices: [\n { vertex: [-800, -1330, -1820] },\n { vertex: [1650, -1330, -1820] },\n { vertex: [1650, 1330, -1820] },\n { vertex: [-800, 1330, -1820] },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [-800, -1330, -1820],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, -1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [-800, 1330, 1500],\n },\n {\n vertex: [-800, 1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, 1500],\n },\n {\n vertex: [1650, -1330, 1500],\n },\n {\n vertex: [1650, -1330, -1820],\n },\n {\n vertex: [1650, 1330, -1820],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"box\",\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Cell workzone\",\n },\n motion_group_uid: 1,\n },\n {\n id: 2,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -1850],\n },\n {\n vertex: [865, 1330, -1850],\n },\n {\n vertex: [865, -720, -1850],\n },\n {\n vertex: [1650, -720, -1850],\n },\n {\n vertex: [1650, 1330, -920],\n },\n {\n vertex: [865, 1330, -920],\n },\n {\n vertex: [865, -720, -920],\n },\n {\n vertex: [1650, -720, -920],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Transport\",\n },\n motion_group_uid: 1,\n },\n {\n id: 3,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, 1330, -600],\n },\n {\n vertex: [865, 1330, -600],\n },\n {\n vertex: [865, 430, -600],\n },\n {\n vertex: [1650, 430, -600],\n },\n {\n vertex: [1650, 1330, -1250],\n },\n {\n vertex: [865, 1330, -1250],\n },\n {\n vertex: [865, 430, -1250],\n },\n {\n vertex: [1650, 430, -1250],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Tunel\",\n },\n motion_group_uid: 1,\n },\n {\n id: 4,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [1650, -760, -440],\n },\n {\n vertex: [900, -760, -440],\n },\n {\n vertex: [900, -1330, -440],\n },\n {\n vertex: [1650, -1330, -440],\n },\n {\n vertex: [1650, -760, -1800],\n },\n {\n vertex: [900, -760, -1800],\n },\n {\n vertex: [900, -1330, -1800],\n },\n {\n vertex: [1650, -1330, -1800],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Fanuc controller\",\n },\n motion_group_uid: 1,\n },\n {\n id: 6,\n priority: 0,\n geometry: {\n convex_hull: {\n vertices: [\n {\n vertex: [-200, -200, -1900],\n },\n {\n vertex: [200, -200, -1900],\n },\n {\n vertex: [200, 200, -1900],\n },\n {\n vertex: [-200, 200, -1900],\n },\n {\n vertex: [-200, -200, -350],\n },\n {\n vertex: [200, -200, -350],\n },\n {\n vertex: [200, 200, -350],\n },\n {\n vertex: [-200, 200, -350],\n },\n ],\n },\n init_pose: {\n position: [0, 0, 0],\n orientation: [0, 0, 0, 1],\n },\n id: \"Robot base\",\n },\n motion_group_uid: 1,\n },\n ],\n robot_model_geometries: [\n {\n link_index: 1,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-70, -70, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link1_sphere\",\n },\n },\n {\n link_index: 2,\n geometry: {\n capsule: {\n radius: 160,\n cylinder_height: 800,\n },\n init_pose: {\n position: [-450, 40, 170],\n orientation: [\n 0, -0.7071067811865475, 0, 0.7071067811865476,\n ],\n },\n id: \"link2_capsule\",\n },\n },\n {\n link_index: 3,\n geometry: {\n sphere: {\n radius: 270,\n },\n init_pose: {\n position: [-110, 10, -100],\n orientation: [0, 0, 0, 1],\n },\n id: \"link3_sphere\",\n },\n },\n {\n link_index: 4,\n geometry: {\n capsule: {\n radius: 110,\n cylinder_height: 600,\n },\n init_pose: {\n position: [0, 300, 40],\n orientation: [\n -0.7071067811865475, 0, 0, 0.7071067811865476,\n ],\n },\n id: \"link4_capsule\",\n },\n },\n {\n link_index: 5,\n geometry: {\n sphere: {\n radius: 75,\n },\n init_pose: {\n position: [0, 0, -50],\n orientation: [0, 0, 0, 1],\n },\n id: \"link5_sphere\",\n },\n },\n ],\n tool_geometries: [],\n } // Mock safety setup\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/coordinate-systems\",\n handle() {\n return {\n coordinatesystems: [\n {\n coordinate_system: \"\",\n name: \"world\",\n reference_uid: \"\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n } //satisfies CoordinateSystems\n },\n },\n {\n method: \"GET\",\n path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n handle() {\n return {\n tcps: [\n {\n id: \"Flange\",\n readable_name: \"Default-Flange\",\n position: [0, 0, 0],\n rotation: {\n angles: [0, 0, 0, 0],\n type: \"ROTATION_VECTOR\",\n },\n },\n {\n id: \"complex-tcp-position\",\n readable_name: \"Complex TCP Position\",\n position: [-200, 300, 150],\n rotation: {\n angles: [\n -0.12139440409113832, -0.06356210998212003,\n -0.2023240068185639, 0,\n ],\n type: \"ROTATION_VECTOR\",\n },\n },\n ],\n }\n },\n },\n ]\n\n const method = config.method?.toUpperCase() || \"GET\"\n const path = \"/cells\" + config.url?.split(\"/cells\")[1]?.split(\"?\")[0]\n\n for (const handler of apiHandlers) {\n const match = pathToRegexp.match(handler.path)(path || \"\")\n if (method === handler.method && match) {\n const json = handler.handle()\n return {\n status: 200,\n statusText: \"Success\",\n data: JSON.stringify(json),\n headers: {},\n config,\n request: {\n responseURL: config.url,\n },\n }\n }\n }\n\n throw new AxiosError(\n `No mock handler matched this request: ${method} ${path}`,\n \"404\",\n config,\n )\n\n // return {\n // status: 404,\n // statusText: \"Not Found\",\n // data: \"\",\n // headers: {},\n // config,\n // request: {\n // responseURL: config.url,\n // },\n // }\n }\n\n handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n this.connections.push(socket)\n\n setTimeout(() => {\n socket.dispatchEvent(new Event(\"open\"))\n\n console.log(\"Websocket connection opened from\", socket.url)\n\n if (socket.url.includes(\"/state-stream\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify(defaultMotionState),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-joint\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:48:26.096266444Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: {\n joints: [\n 1.3492152690887451, -1.5659207105636597,\n 1.6653711795806885, -1.0991662740707397,\n -1.829018235206604, 1.264623761177063,\n ],\n },\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n 6.437331889439328, -628.4123774830913,\n 577.0569957147832,\n ],\n orientation: {\n x: -1.683333649797158,\n y: -1.9783363827298732,\n z: -0.4928031860165713,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"671259\",\n },\n ],\n sequence_number: \"671259\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n\n if (socket.url.includes(\"/move-tcp\")) {\n socket.dispatchEvent(\n new MessageEvent(\"message\", {\n data: JSON.stringify({\n result: {\n motion_group: \"0@ur\",\n state: {\n controller: \"ur\",\n operation_mode: \"OPERATION_MODE_AUTO\",\n safety_state: \"SAFETY_STATE_NORMAL\",\n timestamp: \"2024-09-18T12:43:12.188335774Z\",\n velocity_override: 100,\n motion_groups: [\n {\n motion_group: \"0@ur\",\n controller: \"ur\",\n joint_position: {\n joints: [\n 1.3352527618408203, -1.5659207105636597,\n 1.6653711795806885, -1.110615611076355,\n -1.829018235206604, 1.264623761177063,\n ],\n },\n joint_velocity: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n flange_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n },\n tcp_pose: {\n position: [\n -2.763015284002938, -630.2151479701106,\n 577.524509114342,\n ],\n orientation: {\n x: -1.704794877102097,\n y: -1.9722372952861567,\n z: -0.4852079204210754,\n },\n coordinate_system: \"\",\n tcp: \"Flange\",\n },\n velocity: {\n linear: {\n x: 0,\n y: 0,\n z: 0,\n },\n angular: {\n x: -0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n force: {\n force: {\n x: 0,\n y: 0,\n z: 0,\n },\n moment: {\n x: 0,\n y: 0,\n z: 0,\n },\n coordinate_system: \"\",\n },\n joint_limit_reached: {\n limit_reached: [\n false,\n false,\n false,\n false,\n false,\n false,\n ],\n },\n joint_current: {\n joints: [0, 0, 0, 0, 0, 0],\n },\n sequence_number: \"627897\",\n },\n ],\n sequence_number: \"627897\",\n },\n movement_state: \"MOVEMENT_STATE_MOVING\",\n },\n }),\n }),\n )\n }\n }, 10)\n }\n\n handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n console.log(`Received message on ${socket.url}`, message)\n }\n}\n\nconst defaultMotionState = {\n result: {\n motion_group: \"0@universalrobots-ur5e\",\n controller: \"universalrobots-ur5e\",\n timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n } satisfies MotionGroupState,\n}\n"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,uBAAc,oCAAd;;;ACCA,gBAqBO;AAGP,mBAAkB;;;ACbX,IAAM,iBAAN,MAAqB;AAAA,EAC1B,YAAoB,QAA2B;AAA3B;AAAA,EAA4B;AAAA;AAAA;AAAA;AAAA,EAKhD,IAAI,MAA8B;AAChC,WAAO,KAAK,OAAO;AAAA,EACrB;AAAA;AAAA;AAAA;AAAA,EAKM,OAA2B;AAAA;AAC/B,aAAO,MAAM,KAAK,IAAI,aAAa;AAAA,IACrC;AAAA;AAAA;AAAA;AAAA;AAAA,EAKM,IAAI,WAAqC;AAAA;AAC7C,aAAO,MAAM,KAAK,IAAI,WAAW,SAAS;AAAA,IAC5C;AAAA;AAAA;AAAA;AAAA;AAAA,EAKM,MACJ,IAEqB;AAAA,+CAFrB,WACA,OAAe,CAAC,GACK;AACrB,YAAM,eAAoC;AAAA,QACxC,WAAW;AAAA,MACb;AACA,aAAO,MAAM,KAAK,IAAI,aAAa,WAAW,YAAY;AAAA,IAC5D;AAAA;AAAA;AAAA;AAAA;AAAA,EAKM,KAAK,WAAkC;AAAA;AAC3C,aAAO,MAAM,KAAK,IAAI,YAAY,SAAS;AAAA,IAC7C;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAaM,QACJ,IAKqB;AAAA,+CALrB,WACA,OAAe,CAAC,GAChB,UAEI,CAAC,GACgB;AACrB,YAAM,EAAE,QAAQ,IAAI;AAGpB,YAAM,MAAM,MAAM,KAAK,MAAM,WAAW,IAAI;AAE5C,UAAI,SAAS;AACX,gBAAQ,GAAG;AAAA,MACb;AAIA,aAAO;AAAA,IACT;AAAA;AAAA;AAAA;AAAA;AAAA,EAKA,WAAW,WAAkC;AAC3C,WAAO,IAAI,cAAc,MAAM,SAAS;AAAA,EAC1C;AACF;AAKO,IAAM,gBAAN,MAAoB;AAAA,EACzB,YACU,UACA,WACR;AAFQ;AACA;AAAA,EACP;AAAA;AAAA;AAAA;AAAA,EAKG,aAA+B;AAAA;AACnC,aAAO,MAAM,KAAK,SAAS,IAAI,KAAK,SAAS;AAAA,IAC/C;AAAA;AAAA;AAAA;AAAA;AAAA,EAKM,QAA8C;AAAA,+CAAxC,OAAe,CAAC,GAAwB;AAClD,aAAO,MAAM,KAAK,SAAS,MAAM,KAAK,WAAW,IAAI;AAAA,IACvD;AAAA;AAAA;AAAA;AAAA;AAAA,EAKM,OAAsB;AAAA;AAC1B,aAAO,MAAM,KAAK,SAAS,KAAK,KAAK,SAAS;AAAA,IAChD;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EASM,UAKiB;AAAA,+CAJrB,OAAe,CAAC,GAChB,UAEI,CAAC,GACgB;AACrB,aAAO,MAAM,KAAK,SAAS,QAAQ,KAAK,WAAW,MAAM,OAAO;AAAA,IAClE;AAAA;AACF;;;AD3FO,IAAM,oBAAN,MAAwB;AAAA,EAC7B,YACW,QACA,MAIT;AALS;AACA;AAkFX,SAAS,SAAS,KAAK,2BAA2B,mBAAS;AAC3D,SAAS,OAAO,KAAK,2BAA2B,iBAAO;AAEvD,SAAS,cAAc,KAAK,WAAW,wBAAc;AACrD,SAAS,oBAAoB,KAAK,WAAW,8BAAoB;AAEjE,SAAS,aAAa,KAAK,WAAW,uBAAa;AAEnD,SAAS,gBAAgB,KAAK,WAAW,oCAA0B;AAEnE,SAAS,qBAAqB,KAAK,WAAW,+BAAqB;AACnE,SAAS,sBAAsB,KAAK,WAAW,gCAAsB;AACrE,SAAS,oBAAoB,KAAK,WAAW,8BAAoB;AAEjE,SAAS,WAAW,KAAK,WAAW,oBAAU;AAE9C,SAAS,cAAc,KAAK,WAAW,wBAAc;AACrD,SAAS,oBAAoB,KAAK,2BAA2B,wBAAc;AAE3E,SAAS,UAAU,KAAK,WAAW,oBAAU;AAE7C,SAAS,aAAa,KAAK,WAAW,uBAAa;AAEnD,SAAS,mBAAmB,KAAK,WAAW,6BAAmB;AAE/D,SAAS,oBAAoB,KAAK,WAAW,8BAAoB;AACjE,SAAS,4BAA4B,KAAK;AAAA,MACxC;AAAA,IACF;AACA,SAAS,uBAAuB,KAAK;AAAA,MACnC;AAAA,IACF;AAEA,SAAS,cAAc,KAAK,WAAW,wBAAc;AACrD,SAAS,2BAA2B,KAAK;AAAA,MACvC;AAAA,IACF;AACA,SAAS,uBAAuB,KAAK,WAAW,iCAAuB;AAAA,EAnHpE;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOK,WACN,gBAKA;AAtEJ;AAuEI,UAAM,YAAY,IAAI;AAAA,MACpB,iCACK,KAAK,OADV;AAAA,QAEE,YAAY,CAAC,SAAiB;AAC5B,iBAAO,SAAS;AAAA,QAClB;AAAA,MACF;AAAA,OACA,UAAK,KAAK,aAAV,YAAsB;AAAA,OACtB,UAAK,KAAK,kBAAV,YAA2B,aAAAA,QAAM,OAAO;AAAA,IAC1C;AAIA,eAAW,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAAG;AACrE,UAAI,QAAQ,iBAAiB,OAAO,UAAU,GAAG,MAAM,YAAY;AACjE,cAAM,mBAAmB,UAAU,GAAG;AACtC,kBAAU,GAAG,IAAI,IAAI,SAAgB;AACnC,iBAAO,iBACJ,MAAM,WAAW,CAAC,KAAK,QAAQ,GAAG,IAAI,CAAC,EACvC,KAAK,CAAC,QAAa,IAAI,IAAI;AAAA,QAChC;AAAA,MACF;AAAA,IACF;AAEA,WAAO;AAAA,EACT;AAAA;AAAA;AAAA;AAAA,EAKQ,2BACN,gBAKA;AA3GJ;AA4GI,UAAM,YAAY,IAAI;AAAA,MACpB,iCACK,KAAK,OADV;AAAA,QAEE,YAAY,CAAC,SAAiB;AAC5B,iBAAO,SAAS;AAAA,QAClB;AAAA,MACF;AAAA,OACA,UAAK,KAAK,aAAV,YAAsB;AAAA,OACtB,UAAK,KAAK,kBAAV,YAA2B,aAAAA,QAAM,OAAO;AAAA,IAC1C;AAIA,eAAW,OAAO,QAAQ,QAAQ,QAAQ,eAAe,SAAS,CAAE,GAAG;AACrE,UAAI,QAAQ,iBAAiB,OAAO,UAAU,GAAG,MAAM,YAAY;AACjE,cAAM,mBAAmB,UAAU,GAAG;AACtC,kBAAU,GAAG,IAAI,IAAI,SAAgB;AACnC,iBAAO,iBACJ,MAAM,WAAW,IAAI,EACrB,KAAK,CAAC,QAAa,IAAI,IAAI;AAAA,QAChC;AAAA,MACF;AAAA,IACF;AAEA,WAAO;AAAA,EACT;AAAA,EA2CA,IAAI,iBAAiC;AACnC,QAAI,CAAC,KAAK,iBAAiB;AACzB,WAAK,kBAAkB,IAAI,eAAe,IAAI;AAAA,IAChD;AACA,WAAO,KAAK;AAAA,EACd;AACF;;;AEpLA,IAAAC,gBAAoC;AACpC,sBAAoB;;;ACHpB,IAAM,gBAAgB;AAGtB,IAAM,iBAAiB;AAAA,EACrB,KAAK;AAAA,IACH,QAAQ,2BAA2B,aAAa;AAAA,IAChD,UAAU;AAAA,EACZ;AAAA,EACA,KAAK;AAAA,IACH,QAAQ,2BAA2B,aAAa;AAAA,IAChD,UAAU;AAAA,EACZ;AAAA,EACA,MAAM;AAAA,IACJ,QAAQ,uBAAuB,aAAa;AAAA,IAC5C,UAAU;AAAA,EACZ;AACF;AAGA,IAAM,iBAAiB,CAAC,gBAAwB;AAC9C,MAAI,YAAY,SAAS,OAAO,aAAa,EAAE,EAAG,QAAO,eAAe;AACxE,MAAI,YAAY,SAAS,OAAO,aAAa,EAAE,EAAG,QAAO,eAAe;AACxE,MAAI,YAAY,SAAS,aAAa,EAAG,QAAO,eAAe;AAC/D,QAAM,IAAI;AAAA,IACR;AAAA,EACF;AACF;AAOO,IAAM,iBAAiB,CAC5B,gBAC2B;AAnC7B;AAoCE,MAAI,OAAO,WAAW,aAAa;AACjC,UAAM,IAAI;AAAA,MACR;AAAA,IACF;AAAA,EACF;AAEA,QAAM,cAAc,eAAe,WAAW;AAE9C,MAAI,IAAI,IAAI,WAAW,EAAE,WAAW,OAAO,SAAS,QAAQ;AAI1D,WAAO,SAAS,OAAO;AACvB,UAAM,IAAI;AAAA,MACR;AAAA,IACF;AAAA,EACF;AAKA,QAAM,EAAE,YAAY,IAAI,MAAM,OAAO,qBAAqB;AAE1D,QAAM,cAAc,IAAI,YAAY;AAAA,IAClC,QAAQ,YAAY;AAAA,IACpB,WAAU,iBAAY,aAAZ,YAAwB;AAAA,IAClC,kBAAkB;AAAA,IAClB,qBAAqB;AAAA,MACnB,UAAU;AAAA,MACV,cAAc,OAAO,SAAS;AAAA,IAChC;AAAA,EACF,CAAC;AAGD,MACE,OAAO,SAAS,OAAO,SAAS,OAAO,KACvC,OAAO,SAAS,OAAO,SAAS,QAAQ,GACxC;AACA,UAAM,EAAE,SAAS,IAAI,MAAM,YAAY,uBAAuB;AAE9D,WAAO,QAAQ;AAAA,MACb,CAAC;AAAA,MACD,SAAS;AAAA,OACT,qCAAU,aAAY,OAAO,SAAS;AAAA,IACxC;AAAA,EACF,OAAO;AAEL,UAAM,YAAY,kBAAkB;AAAA,EACtC;AAGA,QAAM,cAAc,MAAM,YAAY,iBAAiB;AACvD,SAAO;AACT;;;ACzFA,oCAAuD;AAIhD,IAAM,4BAAN,cAAwC,8BAAAC,QAAsB;AAAA,EAKnE,YACE,WACS,OAGL,CAAC,GACL;AACA,YAAQ,IAAI,wBAAwB,SAAS;AAE7C,UAAM,MAAM,KAAK,aAAa,WAAW,QAAW;AAAA,MAClD,aAAa;AAAA,IACf,CAAC;AATQ;AAJX,oBAAW;AAgBT,WAAO,eAAe,MAAM,OAAO;AAAA,MACjC,MAAM;AACJ,eAAO,KAAK;AAAA,MACd;AAAA,IACF,CAAC;AAED,SAAK,YAAY;AAEjB,SAAK,iBAAiB,QAAQ,MAAM;AAClC,cAAQ,IAAI,gBAAgB,KAAK,GAAG,SAAS;AAAA,IAC/C,CAAC;AAED,SAAK,iBAAiB,WAAW,CAAC,OAAO;AACvC,UAAI,CAAC,KAAK,sBAAsB;AAC9B,aAAK,uBAAuB;AAAA,MAC9B;AAAA,IACF,CAAC;AAED,SAAK,iBAAiB,SAAS,MAAM;AACnC,cAAQ,IAAI,gBAAgB,KAAK,GAAG,SAAS;AAAA,IAC/C,CAAC;AAED,UAAM,gBAAgB,KAAK;AAC3B,SAAK,YAAY,MAAM;AACrB,UAAI,KAAK,KAAK,MAAM;AAClB,aAAK,KAAK,KAAK,0BAA0B,IAAI;AAAA,MAC/C,OAAO;AACL,sBAAc,MAAM,IAAI;AAAA,MAC1B;AAAA,IACF;AAEA,SAAK,UAAU;AAAA,EACjB;AAAA,EAEA,UAAU,WAAmB;AAC3B,SAAK,uBAAuB;AAC5B,SAAK,YAAY;AACjB,SAAK,UAAU;AAAA,EACjB;AAAA,EAEA,SAAS,MAAe;AACtB,QAAI,KAAK,KAAK,MAAM;AAClB,WAAK,KAAK,KAAK,uBAAuB,MAAM,KAAK,UAAU,IAAI,CAAC;AAAA,IAClE,OAAO;AACL,WAAK,KAAK,KAAK,UAAU,IAAI,CAAC;AAAA,IAChC;AAAA,EACF;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,UAAU;AACR,SAAK,MAAM;AACX,SAAK,WAAW;AAChB,QAAI,KAAK,KAAK,WAAW;AACvB,WAAK,KAAK,UAAU;AAAA,IACtB;AAAA,EACF;AAAA;AAAA;AAAA;AAAA,EAKM,SAAS;AAAA;AACb,aAAO,IAAI,QAAc,CAAC,SAAS,WAAW;AAC5C,YAAI,KAAK,eAAe,UAAU,MAAM;AACtC,kBAAQ;AAAA,QACV,OAAO;AACL,eAAK,iBAAiB,QAAQ,MAAM,QAAQ,CAAC;AAC7C,eAAK,iBAAiB,SAAS,MAAM;AAAA,QACvC;AAAA,MACF,CAAC;AAAA,IACH;AAAA;AAAA;AAAA;AAAA;AAAA,EAKM,SAAS;AAAA;AACb,aAAO,IAAI,QAAc,CAAC,SAAS,WAAW;AAC5C,YAAI,KAAK,eAAe,UAAU,QAAQ;AACxC,kBAAQ;AAAA,QACV,OAAO;AACL,eAAK,iBAAiB,SAAS,MAAM,QAAQ,CAAC;AAC9C,eAAK,iBAAiB,SAAS,MAAM;AAAA,QACvC;AAAA,MACF,CAAC;AAAA,IACH;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOM,eAAe;AAAA;AACnB,UAAI,KAAK,sBAAsB;AAC7B,eAAO,KAAK;AAAA,MACd;AAEA,aAAO,IAAI,QAAsB,CAAC,SAAS,WAAW;AACpD,cAAM,YAAY,CAAC,OAAqB;AACtC,eAAK,uBAAuB;AAC5B,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,kBAAQ,EAAE;AAAA,QACZ;AAEA,cAAM,UAAU,CAAC,OAAmB;AAClC,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,iBAAO,EAAE;AAAA,QACX;AAEA,aAAK,iBAAiB,WAAW,SAAS;AAC1C,aAAK,iBAAiB,SAAS,OAAO;AAAA,MACxC,CAAC;AAAA,IACH;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAMM,cAAc;AAAA;AAClB,aAAO,IAAI,QAAsB,CAAC,SAAS,WAAW;AACpD,cAAM,YAAY,CAAC,OAAqB;AACtC,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,kBAAQ,EAAE;AAAA,QACZ;AAEA,cAAM,UAAU,CAAC,OAAmB;AAClC,eAAK,oBAAoB,WAAW,SAAS;AAC7C,eAAK,oBAAoB,SAAS,OAAO;AACzC,iBAAO,EAAE;AAAA,QACX;AAEA,aAAK,iBAAiB,WAAW,SAAS;AAC1C,aAAK,iBAAiB,SAAS,OAAO;AAAA,MACxC,CAAC;AAAA,IACH;AAAA;AACF;;;AC9JA,IAAM,mBAAN,MAAuB;AAAA,EAAvB;AACE,qBAAY,OAAO,WAAW,eAAe,CAAC,CAAC,OAAO;AAAA;AAAA,EAEtD,QAAW,KAAgC;AACzC,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,UAAM,SAAS,OAAO,aAAa,QAAQ,GAAG;AAC9C,QAAI,WAAW,KAAM,QAAO;AAE5B,QAAI;AACF,aAAO,KAAK,MAAM,MAAM;AAAA,IAC1B,SAAS,KAAK;AACZ,aAAO;AAAA,IACT;AAAA,EACF;AAAA,EAEA,QAAQ,KAAa,KAAU;AAC7B,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,aAAa,QAAQ,KAAK,KAAK,UAAU,GAAG,CAAC;AAAA,EACtD;AAAA,EAEA,OAAO,KAAa;AAClB,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,aAAa,WAAW,GAAG;AAAA,EACpC;AAAA,EAEA,UAAU,KAAa,OAAe;AACpC,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,aAAa,QAAQ,KAAK,KAAK;AAAA,EACxC;AAAA,EAEA,UAAU,KAA4B;AACpC,QAAI,CAAC,KAAK,UAAW,QAAO;AAE5B,WAAO,OAAO,aAAa,QAAQ,GAAG;AAAA,EACxC;AACF;AAEO,IAAM,mBAAmB,IAAI,iBAAiB;;;AC3CrD,IAAAC,gBAA2B;AAC3B,mBAA8B;AAOvB,IAAM,mBAAN,MAAuB;AAAA,EAAvB;AACL,SAAS,cAA2C,CAAC;AAAA;AAAA,EAE/C,iBACJ,QACwB;AAAA;AAf5B;AAgBI,YAAM,cAAc;AAAA,QAClB;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,aAAa;AAAA,gBACX;AAAA,kBACE,YAAY;AAAA,kBACZ,YAAY;AAAA,kBACZ,MAAM;AAAA,kBACN,sCAAsC;AAAA,kBACtC,eAAe;AAAA,oBACb;AAAA,sBACE,cAAc;AAAA,sBACd,sBAAsB;AAAA,sBACtB,QAAQ;AAAA,sBACR,uBAAuB;AAAA,oBACzB;AAAA,kBACF;AAAA,kBACA,WAAW;AAAA,kBACX,eAAe;AAAA,gBACjB;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,eAAe;AAAA,gBACb,MAAM;AAAA,gBACN,cAAc;AAAA,gBACd,MAAM;AAAA,cACR;AAAA,cACA,MAAM;AAAA,YACR;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,eAAe;AAAA,gBACb;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,OAAO;AAAA,kBACP,GAAG;AAAA,kBACH,GAAG;AAAA,kBACH,4BAA4B;AAAA,gBAC9B;AAAA,cACF;AAAA,cACA,yBAAyB;AAAA,gBACvB;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,gBACA;AAAA,kBACE,OAAO;AAAA,kBACP,aAAa;AAAA,kBACb,aAAa;AAAA,kBACb,WAAW;AAAA,gBACb;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,iBAAiB;AAAA,gBACf;AAAA,kBACE,cAAc;AAAA,kBACd,UAAU;AAAA,oBACR,uBAAuB;AAAA,sBACrB;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,aAAa;AAAA,wBACb,aAAa;AAAA,wBACb,WAAW;AAAA,sBACb;AAAA,oBACF;AAAA,oBACA,uBAAuB;AAAA,sBACrB;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,sBACA;AAAA,wBACE,OAAO;AAAA,wBACP,OAAO;AAAA,sBACT;AAAA,oBACF;AAAA,oBACA,2BAA2B,CAAC;AAAA,oBAC5B,qBAAqB,CAAC;AAAA,oBACtB,oBAAoB;AAAA,kBACtB;AAAA,gBACF;AAAA,cACF;AAAA,cACA,cAAc;AAAA,gBACZ;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,UAAU;AAAA,sBACR,kBAAkB;AAAA,wBAChB;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR,EAAE,QAAQ,CAAC,MAAM,OAAO,KAAK,EAAE;AAAA,8BAC/B,EAAE,QAAQ,CAAC,MAAM,OAAO,KAAK,EAAE;AAAA,8BAC/B,EAAE,QAAQ,CAAC,MAAM,MAAM,KAAK,EAAE;AAAA,8BAC9B,EAAE,QAAQ,CAAC,MAAM,MAAM,KAAK,EAAE;AAAA,4BAChC;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,wBACA;AAAA,0BACE,aAAa;AAAA,4BACX,UAAU;AAAA,8BACR;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,8BAC3B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,8BAC5B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,8BAC7B;AAAA,8BACA;AAAA,gCACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,8BAC5B;AAAA,4BACF;AAAA,0BACF;AAAA,0BACA,WAAW;AAAA,4BACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,4BAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,0BAC1B;AAAA,0BACA,IAAI;AAAA,wBACN;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,IAAI;AAAA,wBACzB;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,KAAK;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,KAAK;AAAA,wBAC3B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,OAAO,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,OAAO,IAAI;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,OAAO,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,OAAO,KAAK;AAAA,wBAC7B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,UAAU;AAAA,kBACV,UAAU;AAAA,oBACR,aAAa;AAAA,sBACX,UAAU;AAAA,wBACR;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,KAAK;AAAA,wBAC5B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,KAAK;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,KAAK;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,MAAM,IAAI;AAAA,wBAC3B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,MAAM,IAAI;AAAA,wBAC1B;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,KAAK,KAAK,IAAI;AAAA,wBACzB;AAAA,wBACA;AAAA,0BACE,QAAQ,CAAC,MAAM,KAAK,IAAI;AAAA,wBAC1B;AAAA,sBACF;AAAA,oBACF;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,sBAClB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,kBACA,kBAAkB;AAAA,gBACpB;AAAA,cACF;AAAA,cACA,wBAAwB;AAAA,gBACtB;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN,QAAQ;AAAA,oBACV;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,KAAK,KAAK,GAAG;AAAA,sBACxB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,SAAS;AAAA,sBACP,QAAQ;AAAA,sBACR,iBAAiB;AAAA,oBACnB;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,MAAM,IAAI,GAAG;AAAA,sBACxB,aAAa;AAAA,wBACX;AAAA,wBAAG;AAAA,wBAAqB;AAAA,wBAAG;AAAA,sBAC7B;AAAA,oBACF;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN,QAAQ;AAAA,oBACV;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,MAAM,IAAI,IAAI;AAAA,sBACzB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,SAAS;AAAA,sBACP,QAAQ;AAAA,sBACR,iBAAiB;AAAA,oBACnB;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,KAAK,EAAE;AAAA,sBACrB,aAAa;AAAA,wBACX;AAAA,wBAAqB;AAAA,wBAAG;AAAA,wBAAG;AAAA,sBAC7B;AAAA,oBACF;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,YAAY;AAAA,kBACZ,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN,QAAQ;AAAA,oBACV;AAAA,oBACA,WAAW;AAAA,sBACT,UAAU,CAAC,GAAG,GAAG,GAAG;AAAA,sBACpB,aAAa,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBAC1B;AAAA,oBACA,IAAI;AAAA,kBACN;AAAA,gBACF;AAAA,cACF;AAAA,cACA,iBAAiB,CAAC;AAAA,YACpB;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,mBAAmB;AAAA,gBACjB;AAAA,kBACE,mBAAmB;AAAA,kBACnB,MAAM;AAAA,kBACN,eAAe;AAAA,kBACf,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,kBAClB,UAAU;AAAA,oBACR,QAAQ,CAAC,GAAG,GAAG,CAAC;AAAA,oBAChB,MAAM;AAAA,kBACR;AAAA,gBACF;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,QACA;AAAA,UACE,QAAQ;AAAA,UACR,MAAM;AAAA,UACN,SAAS;AACP,mBAAO;AAAA,cACL,MAAM;AAAA,gBACJ;AAAA,kBACE,IAAI;AAAA,kBACJ,eAAe;AAAA,kBACf,UAAU,CAAC,GAAG,GAAG,CAAC;AAAA,kBAClB,UAAU;AAAA,oBACR,QAAQ,CAAC,GAAG,GAAG,GAAG,CAAC;AAAA,oBACnB,MAAM;AAAA,kBACR;AAAA,gBACF;AAAA,gBACA;AAAA,kBACE,IAAI;AAAA,kBACJ,eAAe;AAAA,kBACf,UAAU,CAAC,MAAM,KAAK,GAAG;AAAA,kBACzB,UAAU;AAAA,oBACR,QAAQ;AAAA,sBACN;AAAA,sBAAsB;AAAA,sBACtB;AAAA,sBAAqB;AAAA,oBACvB;AAAA,oBACA,MAAM;AAAA,kBACR;AAAA,gBACF;AAAA,cACF;AAAA,YACF;AAAA,UACF;AAAA,QACF;AAAA,MACF;AAEA,YAAM,WAAS,YAAO,WAAP,mBAAe,kBAAiB;AAC/C,YAAM,OAAO,aAAW,kBAAO,QAAP,mBAAY,MAAM,UAAU,OAA5B,mBAAgC,MAAM,KAAK;AAEnE,iBAAW,WAAW,aAAa;AACjC,cAAMC,SAAqB,mBAAM,QAAQ,IAAI,EAAE,QAAQ,EAAE;AACzD,YAAI,WAAW,QAAQ,UAAUA,QAAO;AACtC,gBAAM,OAAO,QAAQ,OAAO;AAC5B,iBAAO;AAAA,YACL,QAAQ;AAAA,YACR,YAAY;AAAA,YACZ,MAAM,KAAK,UAAU,IAAI;AAAA,YACzB,SAAS,CAAC;AAAA,YACV;AAAA,YACA,SAAS;AAAA,cACP,aAAa,OAAO;AAAA,YACtB;AAAA,UACF;AAAA,QACF;AAAA,MACF;AAEA,YAAM,IAAI;AAAA,QACR,yCAAyC,MAAM,IAAI,IAAI;AAAA,QACvD;AAAA,QACA;AAAA,MACF;AAAA,IAYF;AAAA;AAAA,EAEA,0BAA0B,QAAmC;AAC3D,SAAK,YAAY,KAAK,MAAM;AAE5B,eAAW,MAAM;AACf,aAAO,cAAc,IAAI,MAAM,MAAM,CAAC;AAEtC,cAAQ,IAAI,oCAAoC,OAAO,GAAG;AAE1D,UAAI,OAAO,IAAI,SAAS,eAAe,GAAG;AACxC,eAAO;AAAA,UACL,IAAI,aAAa,WAAW;AAAA,YAC1B,MAAM,KAAK,UAAU,kBAAkB;AAAA,UACzC,CAAC;AAAA,QACH;AAAA,MACF;AAEA,UAAI,OAAO,IAAI,SAAS,aAAa,GAAG;AACtC,eAAO;AAAA,UACL,IAAI,aAAa,WAAW;AAAA,YAC1B,MAAM,KAAK,UAAU;AAAA,cACnB,QAAQ;AAAA,gBACN,cAAc;AAAA,gBACd,OAAO;AAAA,kBACL,YAAY;AAAA,kBACZ,gBAAgB;AAAA,kBAChB,cAAc;AAAA,kBACd,WAAW;AAAA,kBACX,mBAAmB;AAAA,kBACnB,eAAe;AAAA,oBACb;AAAA,sBACE,cAAc;AAAA,sBACd,YAAY;AAAA,sBACZ,gBAAgB;AAAA,wBACd,QAAQ;AAAA,0BACN;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,wBACtB;AAAA,sBACF;AAAA,sBACA,gBAAgB;AAAA,wBACd,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,aAAa;AAAA,wBACX,UAAU;AAAA,0BACR;AAAA,0BAAmB;AAAA,0BACnB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,UAAU;AAAA,wBACR,UAAU;AAAA,0BACR;AAAA,0BAAmB;AAAA,0BACnB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,wBACnB,KAAK;AAAA,sBACP;AAAA,sBACA,UAAU;AAAA,wBACR,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,SAAS;AAAA,0BACP,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,OAAO;AAAA,wBACL,OAAO;AAAA,0BACL,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,qBAAqB;AAAA,wBACnB,eAAe;AAAA,0BACb;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,wBACF;AAAA,sBACF;AAAA,sBACA,eAAe;AAAA,wBACb,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,iBAAiB;AAAA,oBACnB;AAAA,kBACF;AAAA,kBACA,iBAAiB;AAAA,gBACnB;AAAA,gBACA,gBAAgB;AAAA,cAClB;AAAA,YACF,CAAC;AAAA,UACH,CAAC;AAAA,QACH;AAAA,MACF;AAEA,UAAI,OAAO,IAAI,SAAS,WAAW,GAAG;AACpC,eAAO;AAAA,UACL,IAAI,aAAa,WAAW;AAAA,YAC1B,MAAM,KAAK,UAAU;AAAA,cACnB,QAAQ;AAAA,gBACN,cAAc;AAAA,gBACd,OAAO;AAAA,kBACL,YAAY;AAAA,kBACZ,gBAAgB;AAAA,kBAChB,cAAc;AAAA,kBACd,WAAW;AAAA,kBACX,mBAAmB;AAAA,kBACnB,eAAe;AAAA,oBACb;AAAA,sBACE,cAAc;AAAA,sBACd,YAAY;AAAA,sBACZ,gBAAgB;AAAA,wBACd,QAAQ;AAAA,0BACN;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,0BACpB;AAAA,0BAAoB;AAAA,wBACtB;AAAA,sBACF;AAAA,sBACA,gBAAgB;AAAA,wBACd,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,aAAa;AAAA,wBACX,UAAU;AAAA,0BACR;AAAA,0BAAoB;AAAA,0BACpB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,UAAU;AAAA,wBACR,UAAU;AAAA,0BACR;AAAA,0BAAoB;AAAA,0BACpB;AAAA,wBACF;AAAA,wBACA,aAAa;AAAA,0BACX,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,wBACnB,KAAK;AAAA,sBACP;AAAA,sBACA,UAAU;AAAA,wBACR,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,SAAS;AAAA,0BACP,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,OAAO;AAAA,wBACL,OAAO;AAAA,0BACL,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,QAAQ;AAAA,0BACN,GAAG;AAAA,0BACH,GAAG;AAAA,0BACH,GAAG;AAAA,wBACL;AAAA,wBACA,mBAAmB;AAAA,sBACrB;AAAA,sBACA,qBAAqB;AAAA,wBACnB,eAAe;AAAA,0BACb;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,0BACA;AAAA,wBACF;AAAA,sBACF;AAAA,sBACA,eAAe;AAAA,wBACb,QAAQ,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;AAAA,sBAC3B;AAAA,sBACA,iBAAiB;AAAA,oBACnB;AAAA,kBACF;AAAA,kBACA,iBAAiB;AAAA,gBACnB;AAAA,gBACA,gBAAgB;AAAA,cAClB;AAAA,YACF,CAAC;AAAA,UACH,CAAC;AAAA,QACH;AAAA,MACF;AAAA,IACF,GAAG,EAAE;AAAA,EACP;AAAA,EAEA,uBAAuB,QAAmC,SAAiB;AACzE,YAAQ,IAAI,uBAAuB,OAAO,GAAG,IAAI,OAAO;AAAA,EAC1D;AACF;AAEA,IAAM,qBAAqB;AAAA,EACzB,QAAQ;AAAA,IACN,cAAc;AAAA,IACd,YAAY;AAAA,IACZ,YAAW,oBAAI,KAAK,GAAE,YAAY;AAAA,IAClC,iBAAiB;AAAA,IACjB,gBAAgB;AAAA,MACd;AAAA,MAAoB;AAAA,MAAqB;AAAA,MACzC;AAAA,MAAoB;AAAA,MAAoB;AAAA,IAC1C;AAAA,IACA,qBAAqB;AAAA,MACnB,eAAe,CAAC,OAAO,OAAO,OAAO,OAAO,OAAO,KAAK;AAAA,IAC1D;AAAA,IACA,YAAY;AAAA,IACZ,aAAa;AAAA,MACX,UAAU,CAAC,oBAAoB,oBAAoB,iBAAiB;AAAA,MACpE,aAAa;AAAA,QACX;AAAA,QAAoB;AAAA,QAAqB;AAAA,MAC3C;AAAA,IACF;AAAA,IACA,UAAU;AAAA,MACR,UAAU,CAAC,oBAAoB,oBAAoB,iBAAiB;AAAA,MACpE,aAAa;AAAA,QACX;AAAA,QAAoB;AAAA,QAAqB;AAAA,MAC3C;AAAA,IACF;AAAA,EACF;AACF;;;AJz4BO,IAAM,aAAN,MAAiB;AAAA,EAOtB,YAAY,QAA0B;AAHtC,uBAA6C;AAC7C,uBAA6B;AAxD/B;AA2DI,YAAQ,KAAK,mCAAmC;AAChD,UAAM,UAAS,YAAO,WAAP,YAAiB;AAChC,SAAK,SAAS;AAAA,MACZ;AAAA,OACG;AAEL,SAAK,cACH,OAAO,eACP,iBAAiB,UAAU,mBAAmB,KAC9C;AAEF,QAAI,KAAK,OAAO,gBAAgB,4BAA4B;AAC1D,WAAK,OAAO,IAAI,iBAAiB;AAAA,IACnC;AAGA,UAAM,gBAAgB,cAAAC,QAAM,OAAO;AAAA,MACjC,aAAS,gBAAAC,SAAQ,KAAK,OAAO,aAAa,SAAS;AAAA;AAAA,MAEnD,SACE,OAAO,WAAW,eAClB,OAAO,SAAS,OAAO,SAAS,WAAW,IACvC,CAAC,IACD;AAAA;AAAA,QAEE,uBAAuB;AAAA,MACzB;AAAA,IACR,CAAC;AAED,kBAAc,aAAa,QAAQ,IAAI,CAAO,YAAY;AACxD,UAAI,CAAC,QAAQ,QAAQ,eAAe;AAClC,YAAI,KAAK,aAAa;AACpB,kBAAQ,QAAQ,gBAAgB,UAAU,KAAK,WAAW;AAAA,QAC5D,WAAW,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;AACvD,kBAAQ,QAAQ,gBAAgB,SAAS,KAAK,OAAO,WAAW,MAAM,OAAO,QAAQ,CAAC;AAAA,QACxF;AAAA,MACF;AACA,aAAO;AAAA,IACT,EAAC;AAED,QAAI,OAAO,WAAW,aAAa;AACjC,oBAAc,aAAa,SAAS;AAAA,QAClC,CAAC,MAAM;AAAA,QACP,CAAO,UAAU;AAtGzB,cAAAC,KAAA;AAuGU,kBAAI,4BAAa,KAAK,GAAG;AACvB,kBAAIA,MAAA,MAAM,aAAN,gBAAAA,IAAgB,YAAW,KAAK;AAGlC,kBAAI;AACF,sBAAM,KAAK,oBAAoB;AAE/B,oBAAI,MAAM,QAAQ;AAChB,sBAAI,KAAK,aAAa;AACpB,0BAAM,OAAO,QAAQ,gBAAgB,UAAU,KAAK,WAAW;AAAA,kBACjE,OAAO;AACL,2BAAO,MAAM,OAAO,QAAQ;AAAA,kBAC9B;AACA,yBAAO,cAAc,QAAQ,MAAM,MAAM;AAAA,gBAC3C;AAAA,cACF,SAAS,KAAK;AACZ,uBAAO,QAAQ,OAAO,GAAG;AAAA,cAC3B;AAAA,YACF,aAAW,WAAM,aAAN,mBAAgB,YAAW,KAAK;AAEzC,oBAAM,MAAM,MAAM,MAAM,OAAO,SAAS,IAAI;AAC5C,kBAAI,IAAI,WAAW,KAAK;AAEtB,uBAAO,SAAS,OAAO;AAAA,cACzB;AAAA,YACF;AAAA,UACF;AAEA,iBAAO,QAAQ,OAAO,KAAK;AAAA,QAC7B;AAAA,MACF;AAAA,IACF;AAEA,SAAK,MAAM,IAAI,kBAAkB,QAAQ,iCACpC,SADoC;AAAA,MAEvC,cAAU,gBAAAD,SAAQ,KAAK,OAAO,aAAa,SAAS;AAAA,MACpD,YAAY,CAAC,SAAiB;AAC5B,eAAO,SAAS;AAAA,MAClB;AAAA,MACA,aAAa,kCACP,KAAK,OACJ;AAAA,QACC,SAAS,CAACE,YAAW;AACnB,iBAAO,KAAK,KAAM,iBAAiBA,OAAM;AAAA,QAC3C;AAAA,MACF,IACA,CAAC,IACF,OAAO;AAAA,MAEZ;AAAA,IACF,EAAC;AAAA,EACH;AAAA,EAEM,sBAAqC;AAAA;AACzC,UAAI,KAAK,aAAa;AAEpB;AAAA,MACF;AAEA,WAAK,cAAc,eAAe,KAAK,OAAO,WAAW;AACzD,UAAI;AACF,aAAK,cAAc,MAAM,KAAK;AAC9B,YAAI,KAAK,aAAa;AAEpB,2BAAiB,UAAU,qBAAqB,KAAK,WAAW;AAAA,QAClE,OAAO;AACL,2BAAiB,OAAO,mBAAmB;AAAA,QAC7C;AAAA,MACF,UAAE;AACA,aAAK,cAAc;AAAA,MACrB;AAAA,IACF;AAAA;AAAA,EAEA,iBAAiB,MAAsB;AACrC,UAAM,MAAM,IAAI;AAAA,UACd,gBAAAF;AAAA,QACE,KAAK,OAAO;AAAA,QACZ,iBAAiB,KAAK,OAAO,MAAM;AAAA,QACnC;AAAA,MACF;AAAA,IACF;AACA,QAAI,WAAW,IAAI,SAAS,QAAQ,QAAQ,IAAI;AAChD,QAAI,WAAW,IAAI,SAAS,QAAQ,SAAS,KAAK;AAKlD,QAAI,KAAK,aAAa;AACpB,UAAI,aAAa,OAAO,SAAS,KAAK,WAAW;AAAA,IACnD,WAAW,KAAK,OAAO,YAAY,KAAK,OAAO,UAAU;AACvD,UAAI,WAAW,KAAK,OAAO;AAC3B,UAAI,WAAW,KAAK,OAAO;AAAA,IAC7B;AAEA,WAAO,IAAI,SAAS;AAAA,EACtB;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOA,0BAA0B,MAAc;AACtC,WAAO,IAAI,0BAA0B,KAAK,iBAAiB,IAAI,GAAG;AAAA,MAChE,MAAM,KAAK;AAAA,IACb,CAAC;AAAA,EACH;AACF;","names":["axios","import_axios","ReconnectingWebSocket","import_axios","match","axios","urlJoin","_a","config"]}
package/dist/lib/v2/index.d.ts CHANGED
@@ -1,4 +1,5 @@
1
1
  export * from "@wandelbots/nova-api/v2";
2
2
  export * from "./NovaCellAPIClient";
3
3
  export * from "./NovaClient";
4
+ export * from "./ProgramsClient";
4
5
  //# sourceMappingURL=index.d.ts.map
package/dist/lib/v2/index.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/index.ts"],"names":[],"mappings":"AAAA,cAAc,yBAAyB,CAAA;AACvC,cAAc,qBAAqB,CAAA;AACnC,cAAc,cAAc,CAAA"}
1
+ {"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/index.ts"],"names":[],"mappings":"AAAA,cAAc,yBAAyB,CAAA;AACvC,cAAc,qBAAqB,CAAA;AACnC,cAAc,cAAc,CAAA;AAC5B,cAAc,kBAAkB,CAAA"}
package/dist/lib/v2/index.js CHANGED
@@ -21,6 +21,7 @@ import {
21
21
  KinematicsApi,
22
22
  MotionGroupApi,
23
23
  MotionGroupModelsApi,
24
+ ProgramApi,
24
25
  StoreCollisionComponentsApi,
25
26
  StoreCollisionSetupsApi,
26
27
  StoreObjectApi,
@@ -33,6 +34,125 @@ import {
33
34
  VirtualControllerInputsOutputsApi
34
35
  } from "@wandelbots/nova-api/v2";
35
36
  import axios from "axios";
37
+
38
+ // src/lib/v2/ProgramsClient.ts
39
+ var ProgramsClient = class {
40
+ constructor(client) {
41
+ this.client = client;
42
+ }
43
+ /**
44
+ * Get the underlying programs API for direct access
45
+ */
46
+ get api() {
47
+ return this.client.programs;
48
+ }
49
+ /**
50
+ * List all programs available in the cell
51
+ */
52
+ list() {
53
+ return __async(this, null, function* () {
54
+ return yield this.api.listPrograms();
55
+ });
56
+ }
57
+ /**
58
+ * Get details of a specific program
59
+ */
60
+ get(programId) {
61
+ return __async(this, null, function* () {
62
+ return yield this.api.getProgram(programId);
63
+ });
64
+ }
65
+ /**
66
+ * Start a program with the given arguments
67
+ */
68
+ start(_0) {
69
+ return __async(this, arguments, function* (programId, args = {}) {
70
+ const startRequest = {
71
+ arguments: args
72
+ };
73
+ return yield this.api.startProgram(programId, startRequest);
74
+ });
75
+ }
76
+ /**
77
+ * Stop a running program
78
+ */
79
+ stop(programId) {
80
+ return __async(this, null, function* () {
81
+ return yield this.api.stopProgram(programId);
82
+ });
83
+ }
84
+ /**
85
+ * Execute a program and wait for it to complete
86
+ *
87
+ * Note: This method has limitations due to current API constraints.
88
+ * Real-time program state tracking will be available via NATS messaging
89
+ * in future versions. For now, this provides basic start functionality.
90
+ *
91
+ * @param programId - The program identifier
92
+ * @param args - Arguments to pass to the program
93
+ * @param options - Basic execution options
94
+ */
95
+ execute(_0) {
96
+ return __async(this, arguments, function* (programId, args = {}, options = {}) {
97
+ const { onStart } = options;
98
+ const run = yield this.start(programId, args);
99
+ if (onStart) {
100
+ onStart(run);
101
+ }
102
+ return run;
103
+ });
104
+ }
105
+ /**
106
+ * Create a program runner helper for a specific program
107
+ */
108
+ forProgram(programId) {
109
+ return new ProgramRunner(this, programId);
110
+ }
111
+ };
112
+ var ProgramRunner = class {
113
+ constructor(programs, programId) {
114
+ this.programs = programs;
115
+ this.programId = programId;
116
+ }
117
+ /**
118
+ * Get program details
119
+ */
120
+ getDetails() {
121
+ return __async(this, null, function* () {
122
+ return yield this.programs.get(this.programId);
123
+ });
124
+ }
125
+ /**
126
+ * Start this program
127
+ */
128
+ start() {
129
+ return __async(this, arguments, function* (args = {}) {
130
+ return yield this.programs.start(this.programId, args);
131
+ });
132
+ }
133
+ /**
134
+ * Stop this program
135
+ */
136
+ stop() {
137
+ return __async(this, null, function* () {
138
+ return yield this.programs.stop(this.programId);
139
+ });
140
+ }
141
+ /**
142
+ * Execute this program (start and get initial run information)
143
+ *
144
+ * Note: This method has limitations due to current API constraints.
145
+ * Real-time program state tracking will be available via NATS messaging
146
+ * in future versions.
147
+ */
148
+ execute() {
149
+ return __async(this, arguments, function* (args = {}, options = {}) {
150
+ return yield this.programs.execute(this.programId, args, options);
151
+ });
152
+ }
153
+ };
154
+
155
+ // src/lib/v2/NovaCellAPIClient.ts
36
156
  var NovaCellAPIClient = class {
37
157
  constructor(cellId, opts) {
38
158
  this.cellId = cellId;
@@ -46,6 +166,7 @@ var NovaCellAPIClient = class {
46
166
  this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi);
47
167
  this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi);
48
168
  this.trajectoryCaching = this.withCellId(TrajectoryCachingApi);
169
+ this.programs = this.withCellId(ProgramApi);
49
170
  this.application = this.withCellId(ApplicationApi);
50
171
  this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi);
51
172
  this.jogging = this.withCellId(JoggingApi);
@@ -114,6 +235,12 @@ var NovaCellAPIClient = class {
114
235
  }
115
236
  return apiClient;
116
237
  }
238
+ get programsClient() {
239
+ if (!this._programsClient) {
240
+ this._programsClient = new ProgramsClient(this);
241
+ }
242
+ return this._programsClient;
243
+ }
117
244
  };
118
245
 
119
246
  // src/lib/v2/NovaClient.ts
@@ -1046,16 +1173,14 @@ var defaultMotionState = {
1046
1173
  controller: "universalrobots-ur5e",
1047
1174
  timestamp: (/* @__PURE__ */ new Date()).toISOString(),
1048
1175
  sequence_number: 1,
1049
- joint_position: {
1050
- joints: [
1051
- 1.1699999570846558,
1052
- -1.5700000524520874,
1053
- 1.3600000143051147,
1054
- 1.0299999713897705,
1055
- 1.2899999618530273,
1056
- 1.2799999713897705
1057
- ]
1058
- },
1176
+ joint_position: [
1177
+ 1.1699999570846558,
1178
+ -1.5700000524520874,
1179
+ 1.3600000143051147,
1180
+ 1.0299999713897705,
1181
+ 1.2899999618530273,
1182
+ 1.2799999713897705
1183
+ ],
1059
1184
  joint_limit_reached: {
1060
1185
  limit_reached: [false, false, false, false, false, false]
1061
1186
  },
@@ -1205,6 +1330,8 @@ var NovaClient = class {
1205
1330
  };
1206
1331
  export {
1207
1332
  NovaCellAPIClient,
1208
- NovaClient
1333
+ NovaClient,
1334
+ ProgramRunner,
1335
+ ProgramsClient
1209
1336
  };
1210
1337
  //# sourceMappingURL=index.js.map