@wandelbots/nova-js 3.0.0 → 3.0.1

package/dist/lib/v1/motionStateUpdate.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"motionStateUpdate.d.ts","sourceRoot":"","sources":["../../../src/lib/v1/motionStateUpdate.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,yBAAyB,CAAA;AAEtD,wBAAgB,gBAAgB,CAC9B,cAAc,EAAE,MAAM,EAAE,EACxB,cAAc,EAAE,MAAM,EAAE,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAeT;AAED,wBAAgB,YAAY,CAC1B,MAAM,EAAE,OAAO,GAAG,SAAS,EAC3B,MAAM,EAAE,OAAO,GAAG,SAAS,EAC3B,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CA2BT"}
+{"version":3,"file":"motionStateUpdate.d.ts","sourceRoot":"","sources":["../../../src/lib/v1/motionStateUpdate.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,yBAAyB,CAAA;AAEtD,wBAAgB,gBAAgB,CAC9B,cAAc,EAAE,MAAM,EAAE,EACxB,cAAc,EAAE,MAAM,EAAE,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAgBT;AAED,wBAAgB,YAAY,CAC1B,MAAM,EAAE,OAAO,GAAG,SAAS,EAC3B,MAAM,EAAE,OAAO,GAAG,SAAS,EAC3B,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CA2BT"}

package/dist/lib/v2/NovaCellAPIClient.d.ts

@@ -1,3 +1,5 @@
+/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 import type { AxiosInstance } from "axios";

package/dist/lib/v2/NovaCellAPIClient.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"NovaCellAPIClient.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/NovaCellAPIClient.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,IAAI,iBAAiB,EAAE,MAAM,yBAAyB,CAAA;AACjF,OAAO,EACL,cAAc,EACd,mBAAmB,EACnB,OAAO,EACP,aAAa,EACb,0BAA0B,EAC1B,UAAU,EACV,aAAa,EACb,cAAc,EACd,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,cAAc,EACd,SAAS,EACT,oBAAoB,EACpB,sBAAsB,EACtB,qBAAqB,EACrB,oBAAoB,EACpB,4BAA4B,EAC5B,iCAAiC,EAClC,MAAM,yBAAyB,CAAA;AAEhC,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,OAAO,CAAA;AAG1C,KAAK,YAAY,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,IAAI,EAAE,MAAM,CAAC,KAAK,MAAM,CAAC,GAClE,CAAC,GAAG,IAAI,EAAE,CAAC,KAAK,CAAC,GACjB,KAAK,CAAA;AAET,KAAK,yBAAyB,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,GAAG,KAAK,GAAG,GAC5D,CACE,GAAG,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,KAChB,OAAO,CAAC,OAAO,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,SAAS;IAAE,IAAI,EAAE,MAAM,CAAC,CAAA;CAAE,GAAG,CAAC,GAAG,KAAK,CAAC,GAC1E,KAAK,CAAA;AAET,MAAM,MAAM,UAAU,CAAC,CAAC,IAAI;KACzB,CAAC,IAAI,MAAM,CAAC,GAAG,yBAAyB,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;CAC9D,CAAA;AAED,MAAM,MAAM,0BAA0B,CAAC,CAAC,IAAI;KACzC,CAAC,IAAI,MAAM,CAAC,GAAG,yBAAyB,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;CAChD,CAAA;AAED;;;GAGG;AACH,qBAAa,iBAAiB;IAE1B,QAAQ,CAAC,MAAM,EAAE,MAAM;IACvB,QAAQ,CAAC,IAAI,EAAE,iBAAiB,GAAG;QACjC,aAAa,CAAC,EAAE,aAAa,CAAA;QAC7B,IAAI,CAAC,EAAE,OAAO,CAAA;KACf;gBAJQ,MAAM,EAAE,MAAM,EACd,IAAI,EAAE,iBAAiB,GAAG;QACjC,aAAa,CAAC,EAAE,aAAa,CAAA;QAC7B,IAAI,CAAC,EAAE,OAAO,CAAA;KACf;IAGH;;;;OAIG;IACH,OAAO,CAAC,UAAU;IAkClB;;OAEG;IACH,OAAO,CAAC,0BAA0B;IAkClC,QAAQ,CAAC,MAAM,wCAA6C;IAC5D,QAAQ,CAAC,IAAI,sCAA2C;IAExD,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,iBAAiB,mCAAwC;IAElE,QAAQ,CAAC,UAAU,4BAAiC;IAEpD,QAAQ,CAAC,aAAa,yCAA8C;IAEpE,QAAQ,CAAC,kBAAkB,oCAAyC;IACpE,QAAQ,CAAC,mBAAmB,qCAA0C;IACtE,QAAQ,CAAC,iBAAiB,mCAAwC;IAElE,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,iBAAiB,6CAAkD;IAE5E,QAAQ,CAAC,OAAO,yBAA8B;IAE9C,QAAQ,CAAC,UAAU,4BAAiC;IAEpD,QAAQ,CAAC,gBAAgB,kCAAuC;IAEhE,QAAQ,CAAC,iBAAiB,mCAAwC;IAClE,QAAQ,CAAC,yBAAyB,2CAEjC;IACD,QAAQ,CAAC,oBAAoB,gDAE5B;IAED,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,wBAAwB,0CAEhC;IACD,QAAQ,CAAC,oBAAoB,sCAA2C;CACzE"}
+{"version":3,"file":"NovaCellAPIClient.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/NovaCellAPIClient.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAClE,kEAAkE;AAClE,OAAO,KAAK,EAAE,aAAa,IAAI,iBAAiB,EAAE,MAAM,yBAAyB,CAAA;AACjF,OAAO,EACL,cAAc,EACd,mBAAmB,EACnB,OAAO,EACP,aAAa,EACb,0BAA0B,EAC1B,UAAU,EACV,aAAa,EACb,cAAc,EACd,oBAAoB,EACpB,2BAA2B,EAC3B,uBAAuB,EACvB,cAAc,EACd,SAAS,EACT,oBAAoB,EACpB,sBAAsB,EACtB,qBAAqB,EACrB,oBAAoB,EACpB,4BAA4B,EAC5B,iCAAiC,EAClC,MAAM,yBAAyB,CAAA;AAEhC,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,OAAO,CAAA;AAG1C,KAAK,YAAY,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,IAAI,EAAE,MAAM,CAAC,KAAK,MAAM,CAAC,GAClE,CAAC,GAAG,IAAI,EAAE,CAAC,KAAK,CAAC,GACjB,KAAK,CAAA;AAET,KAAK,yBAAyB,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,GAAG,KAAK,GAAG,GAC5D,CACE,GAAG,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,KAChB,OAAO,CAAC,OAAO,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,SAAS;IAAE,IAAI,EAAE,MAAM,CAAC,CAAA;CAAE,GAAG,CAAC,GAAG,KAAK,CAAC,GAC1E,KAAK,CAAA;AAET,MAAM,MAAM,UAAU,CAAC,CAAC,IAAI;KACzB,CAAC,IAAI,MAAM,CAAC,GAAG,yBAAyB,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;CAC9D,CAAA;AAED,MAAM,MAAM,0BAA0B,CAAC,CAAC,IAAI;KACzC,CAAC,IAAI,MAAM,CAAC,GAAG,yBAAyB,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;CAChD,CAAA;AAED;;;GAGG;AACH,qBAAa,iBAAiB;IAE1B,QAAQ,CAAC,MAAM,EAAE,MAAM;IACvB,QAAQ,CAAC,IAAI,EAAE,iBAAiB,GAAG;QACjC,aAAa,CAAC,EAAE,aAAa,CAAA;QAC7B,IAAI,CAAC,EAAE,OAAO,CAAA;KACf;gBAJQ,MAAM,EAAE,MAAM,EACd,IAAI,EAAE,iBAAiB,GAAG;QACjC,aAAa,CAAC,EAAE,aAAa,CAAA;QAC7B,IAAI,CAAC,EAAE,OAAO,CAAA;KACf;IAGH;;;;OAIG;IACH,OAAO,CAAC,UAAU;IAkClB;;OAEG;IACH,OAAO,CAAC,0BAA0B;IAkClC,QAAQ,CAAC,MAAM,wCAA6C;IAC5D,QAAQ,CAAC,IAAI,sCAA2C;IAExD,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,iBAAiB,mCAAwC;IAElE,QAAQ,CAAC,UAAU,4BAAiC;IAEpD,QAAQ,CAAC,aAAa,yCAA8C;IAEpE,QAAQ,CAAC,kBAAkB,oCAAyC;IACpE,QAAQ,CAAC,mBAAmB,qCAA0C;IACtE,QAAQ,CAAC,iBAAiB,mCAAwC;IAElE,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,iBAAiB,6CAAkD;IAE5E,QAAQ,CAAC,OAAO,yBAA8B;IAE9C,QAAQ,CAAC,UAAU,4BAAiC;IAEpD,QAAQ,CAAC,gBAAgB,kCAAuC;IAEhE,QAAQ,CAAC,iBAAiB,mCAAwC;IAClE,QAAQ,CAAC,yBAAyB,2CAEjC;IACD,QAAQ,CAAC,oBAAoB,gDAE5B;IAED,QAAQ,CAAC,WAAW,6BAAkC;IACtD,QAAQ,CAAC,wBAAwB,0CAEhC;IACD,QAAQ,CAAC,oBAAoB,sCAA2C;CACzE"}

package/dist/lib/v2/NovaClient.d.ts

@@ -1,3 +1,4 @@
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2";
 import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket";
 import { MockNovaInstance } from "./mock/MockNovaInstance";

package/dist/lib/v2/NovaClient.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"NovaClient.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/NovaClient.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,IAAI,iBAAiB,EAAE,MAAM,yBAAyB,CAAA;AAKjF,OAAO,EAAE,yBAAyB,EAAE,MAAM,8BAA8B,CAAA;AAExE,OAAO,EAAE,gBAAgB,EAAE,MAAM,yBAAyB,CAAA;AAC1D,OAAO,EAAE,iBAAiB,EAAE,MAAM,qBAAqB,CAAA;AAEvD,MAAM,MAAM,gBAAgB,GAAG;IAC7B;;;OAGG;IACH,WAAW,EAAE,MAAM,GAAG,0BAA0B,CAAA;IAEhD;;;QAGI;IACJ,MAAM,CAAC,EAAE,MAAM,CAAA;IAEf;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAA;IAEjB;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAA;IAEjB;;OAEG;IACH,WAAW,CAAC,EAAE,MAAM,CAAA;CACrB,GAAG,IAAI,CAAC,iBAAiB,EAAE,YAAY,GAAG,UAAU,CAAC,CAAA;AAEtD,KAAK,4BAA4B,GAAG,gBAAgB,GAAG;IAAE,MAAM,EAAE,MAAM,CAAA;CAAE,CAAA;AAEzE;;;;;;;GAOG;AACH,qBAAa,UAAU;IACrB,QAAQ,CAAC,GAAG,EAAE,iBAAiB,CAAA;IAC/B,QAAQ,CAAC,MAAM,EAAE,4BAA4B,CAAA;IAC7C,QAAQ,CAAC,IAAI,CAAC,EAAE,gBAAgB,CAAA;IAChC,WAAW,EAAE,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC,GAAG,IAAI,CAAO;IACjD,WAAW,EAAE,MAAM,GAAG,IAAI,CAAO;gBAErB,MAAM,EAAE,gBAAgB;IAkG9B,mBAAmB,IAAI,OAAO,CAAC,IAAI,CAAC;IAoB1C,gBAAgB,CAAC,IAAI,EAAE,MAAM,GAAG,MAAM;IAwBtC;;;;OAIG;IACH,yBAAyB,CAAC,IAAI,EAAE,MAAM;CAKvC"}
+{"version":3,"file":"NovaClient.d.ts","sourceRoot":"","sources":["../../../src/lib/v2/NovaClient.ts"],"names":[],"mappings":"AAAA,kEAAkE;AAClE,OAAO,KAAK,EAAE,aAAa,IAAI,iBAAiB,EAAE,MAAM,yBAAyB,CAAA;AAKjF,OAAO,EAAE,yBAAyB,EAAE,MAAM,8BAA8B,CAAA;AAExE,OAAO,EAAE,gBAAgB,EAAE,MAAM,yBAAyB,CAAA;AAC1D,OAAO,EAAE,iBAAiB,EAAE,MAAM,qBAAqB,CAAA;AAEvD,MAAM,MAAM,gBAAgB,GAAG;IAC7B;;;OAGG;IACH,WAAW,EAAE,MAAM,GAAG,0BAA0B,CAAA;IAEhD;;;QAGI;IACJ,MAAM,CAAC,EAAE,MAAM,CAAA;IAEf;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAA;IAEjB;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAA;IAEjB;;OAEG;IACH,WAAW,CAAC,EAAE,MAAM,CAAA;CACrB,GAAG,IAAI,CAAC,iBAAiB,EAAE,YAAY,GAAG,UAAU,CAAC,CAAA;AAEtD,KAAK,4BAA4B,GAAG,gBAAgB,GAAG;IAAE,MAAM,EAAE,MAAM,CAAA;CAAE,CAAA;AAEzE;;;;;;;GAOG;AACH,qBAAa,UAAU;IACrB,QAAQ,CAAC,GAAG,EAAE,iBAAiB,CAAA;IAC/B,QAAQ,CAAC,MAAM,EAAE,4BAA4B,CAAA;IAC7C,QAAQ,CAAC,IAAI,CAAC,EAAE,gBAAgB,CAAA;IAChC,WAAW,EAAE,OAAO,CAAC,MAAM,GAAG,IAAI,CAAC,GAAG,IAAI,CAAO;IACjD,WAAW,EAAE,MAAM,GAAG,IAAI,CAAO;gBAErB,MAAM,EAAE,gBAAgB;IAkG9B,mBAAmB,IAAI,OAAO,CAAC,IAAI,CAAC;IAoB1C,gBAAgB,CAAC,IAAI,EAAE,MAAM,GAAG,MAAM;IAwBtC;;;;OAIG;IACH,yBAAyB,CAAC,IAAI,EAAE,MAAM;CAKvC"}

package/dist/lib/v2/index.cjs

@@ -188,7 +188,7 @@ var getAuth0Config = (instanceUrl) => {
     "Unsupported instance URL. Cannot determine Auth0 configuration."
   );
 };
-var loginWithAuth0 = (instanceUrl) => __async(void 0, null, function* () {
+var loginWithAuth0 = (instanceUrl) => __async(null, null, function* () {
   var _a;
   if (typeof window === "undefined") {
     throw new Error(
@@ -952,12 +952,7 @@ var MockNovaInstance = class {
                     },
                     init_pose: {
                       position: [-450, 40, 170],
-                      orientation: [
-                        0,
-                        -0.7071067811865475,
-                        0,
-                        0.7071067811865476
-                      ]
+                      orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2]
                     },
                     id: "link2_capsule"
                   }
@@ -984,12 +979,7 @@ var MockNovaInstance = class {
                     },
                     init_pose: {
                       position: [0, 300, 40],
-                      orientation: [
-                        -0.7071067811865475,
-                        0,
-                        0,
-                        0.7071067811865476
-                      ]
+                      orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2]
                     },
                     id: "link4_capsule"
                   }
@@ -1067,7 +1057,7 @@ var MockNovaInstance = class {
         }
       ];
       const method = ((_a = config.method) == null ? void 0 : _a.toUpperCase()) || "GET";
-      const path = "/cells" + ((_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]);
+      const path = `/cells${(_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]}`;
       for (const handler of apiHandlers) {
         const match2 = pathToRegexp.match(handler.path)(path || "");
         if (method === handler.method && match2) {
@@ -1388,7 +1378,7 @@ var NovaClient = class {
         if (this.accessToken) {
           request.headers.Authorization = `Bearer ${this.accessToken}`;
         } else if (this.config.username && this.config.password) {
-          request.headers.Authorization = `Basic ${btoa(config.username + ":" + config.password)}`;
+          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
         }
       }
       return request;

package/dist/lib/v2/index.cjs.map

@@ -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"]}
+{"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","/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport 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","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport 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/** process.env is injected by tsup --env, so these are inlined at build time */\ndeclare const process: {\n  env: Record<string, string | undefined>\n}\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 type * as v1 from \"./v1/mock/MockNovaInstance\"\nimport type * as v2 from \"./v2/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: unknown) {\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: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\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: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\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;;;ACGA,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;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;AAsCF;;;ACxKA,IAAAC,gBAAoC;AACpC,sBAAoB;;;ACJpB,IAAM,gBAAgB;AAQtB,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;AAxC7B;AAyCE,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;;;AC9FA,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,KAAc;AACjC,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,CAAC,GAAG,CAAC,KAAK,SAAS,GAAG,KAAK,OAAO;AAAA,oBACjD;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,CAAC,CAAC,KAAK,SAAS,GAAG,GAAG,KAAK,OAAO;AAAA,oBACjD;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,UAAS,kBAAO,QAAP,mBAAY,MAAM,UAAU,OAA5B,mBAAgC,MAAM,KAAK,EAAE;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;;;AJt4BO,IAAM,aAAN,MAAiB;AAAA,EAOtB,YAAY,QAA0B;AAHtC,uBAA6C;AAC7C,uBAA6B;AAzD/B;AA4DI,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,GAAG,OAAO,QAAQ,IAAI,OAAO,QAAQ,EAAE,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;AAvGzB,cAAAC,KAAA;AAwGU,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.js

@@ -5,7 +5,7 @@ import {
   __spreadValues,
   availableStorage,
   loginWithAuth0
-} from "../../chunk-DOFCSS2H.js";
+} from "../../chunk-I3PUV6ZD.js";
 
 // src/lib/v2/index.ts
 export * from "@wandelbots/nova-api/v2";
@@ -671,12 +671,7 @@ var MockNovaInstance = class {
                     },
                     init_pose: {
                       position: [-450, 40, 170],
-                      orientation: [
-                        0,
-                        -0.7071067811865475,
-                        0,
-                        0.7071067811865476
-                      ]
+                      orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2]
                     },
                     id: "link2_capsule"
                   }
@@ -703,12 +698,7 @@ var MockNovaInstance = class {
                     },
                     init_pose: {
                       position: [0, 300, 40],
-                      orientation: [
-                        -0.7071067811865475,
-                        0,
-                        0,
-                        0.7071067811865476
-                      ]
+                      orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2]
                     },
                     id: "link4_capsule"
                   }
@@ -786,7 +776,7 @@ var MockNovaInstance = class {
         }
       ];
       const method = ((_a = config.method) == null ? void 0 : _a.toUpperCase()) || "GET";
-      const path = "/cells" + ((_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]);
+      const path = `/cells${(_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]}`;
       for (const handler of apiHandlers) {
         const match2 = pathToRegexp.match(handler.path)(path || "");
         if (method === handler.method && match2) {
@@ -1107,7 +1097,7 @@ var NovaClient = class {
         if (this.accessToken) {
           request.headers.Authorization = `Bearer ${this.accessToken}`;
         } else if (this.config.username && this.config.password) {
-          request.headers.Authorization = `Basic ${btoa(config.username + ":" + config.password)}`;
+          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
         }
       }
       return request;