@wandelbots/nova-js 3.13.0 → 4.0.0-pr.309.02b99fd

package/dist/v1/index.mjs

@@ -1,184 +0,0 @@
-import { c as tryParseJson } from "../converters-DnG1fX23.mjs";
-import { a as JoggerConnection, i as MotionStreamConnection, n as NovaClient, o as ConnectedMotionGroup, r as NovaCellAPIClient, t as poseToWandelscriptString } from "../wandelscriptUtils-CpUXdLVc.mjs";
-import { AxiosError } from "axios";
-import { makeAutoObservable, runInAction } from "mobx";
-export * from "@wandelbots/nova-api/v1";
-//#region src/lib/deprecated/v1/getLatestTrajectories.ts
-let lastMotionIds = /* @__PURE__ */ new Set();
-/** @deprecated */
-async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
-	const newTrajectories = [];
-	try {
-		const motions = await apiClient.motion.listMotions();
-		const currentMotionIds = new Set(motions.motions);
-		const newMotionIds = Array.from(currentMotionIds).filter((id) => !lastMotionIds.has(id));
-		for (const motionId of newMotionIds) {
-			const trajectory = await apiClient.motion.getMotionTrajectory(motionId, sampleTime, responsesCoordinateSystem);
-			newTrajectories.push(trajectory);
-		}
-		lastMotionIds = currentMotionIds;
-	} catch (error) {
-		console.error("Failed to get latest trajectories:", error);
-	}
-	return newTrajectories;
-}
-//#endregion
-//#region src/lib/deprecated/v1/ProgramStateConnection.ts
-/** @deprecated */
-let ProgramState = /* @__PURE__ */ function(ProgramState) {
-	ProgramState["NotStarted"] = "not started";
-	ProgramState["Running"] = "running";
-	ProgramState["Stopped"] = "stopped";
-	ProgramState["Failed"] = "failed";
-	ProgramState["Completed"] = "completed";
-	return ProgramState;
-}({});
-/**
-* Interface for running Wandelscript programs on the Nova instance and
-* tracking their progress and output
-* @deprecated
-*/
-var ProgramStateConnection = class {
-	currentProgram = {};
-	logs = [];
-	executionState = "idle";
-	currentlyExecutingProgramRunnerId = null;
-	programStateSocket;
-	nova;
-	constructor(nova) {
-		this.nova = nova;
-		makeAutoObservable(this, {}, { autoBind: true });
-		this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
-		this.programStateSocket.addEventListener("message", (ev) => {
-			const msg = tryParseJson(ev.data);
-			if (!msg) {
-				console.error("Failed to parse program state message", ev.data);
-				return;
-			}
-			if (msg.type === "update") this.handleProgramStateMessage(msg);
-		});
-	}
-	/** Handle a program state update from the backend */
-	async handleProgramStateMessage(msg) {
-		const { runner } = msg;
-		if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
-		if (runner.state === "failed") {
-			try {
-				const runnerState = await this.nova.api.program.getProgramRunner(runner.id);
-				const stdout = runnerState.stdout;
-				if (stdout) this.log(stdout);
-				this.logError(`Program runner ${runner.id} failed with error: ${runnerState.error}\n${runnerState.traceback}`);
-			} catch (err) {
-				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
-			}
-			this.currentProgram.state = "failed";
-			this.gotoIdleState();
-		} else if (runner.state === "stopped") {
-			try {
-				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
-				if (stdout) this.log(stdout);
-				this.currentProgram.state = "stopped";
-				this.log(`Program runner ${runner.id} stopped`);
-			} catch (err) {
-				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
-			}
-			this.gotoIdleState();
-		} else if (runner.state === "completed") {
-			try {
-				const stdout = (await this.nova.api.program.getProgramRunner(runner.id)).stdout;
-				if (stdout) this.log(stdout);
-				this.log(`Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`);
-				this.currentProgram.state = "completed";
-			} catch (err) {
-				this.logError(`Failed to retrieve results for program ${runner.id}: ${err}`);
-			}
-			this.gotoIdleState();
-		} else if (runner.state === "running") {
-			this.currentProgram.state = "running";
-			this.log(`Program runner ${runner.id} now running`);
-		} else if (runner.state !== "not started") {
-			console.error(runner);
-			this.logError(`Program runner ${runner.id} entered unexpected state: ${runner.state}`);
-			this.currentProgram.state = "not started";
-			this.gotoIdleState();
-		}
-	}
-	/** Call when a program is no longer executing */
-	gotoIdleState() {
-		runInAction(() => {
-			this.executionState = "idle";
-		});
-		this.currentlyExecutingProgramRunnerId = null;
-	}
-	async executeProgram(wandelscript, initial_state, activeRobot) {
-		this.currentProgram = {
-			wandelscript,
-			state: "not started"
-		};
-		const { currentProgram: openProgram } = this;
-		if (!openProgram) return;
-		runInAction(() => {
-			this.executionState = "starting";
-		});
-		if (activeRobot) try {
-			await this.nova.api.motionGroupJogging.stopJogging(activeRobot.motionGroupId);
-		} catch (err) {
-			console.error(err);
-		}
-		const trimmedCode = openProgram.wandelscript.replaceAll(/^\s*$/gm, "");
-		try {
-			const programRunnerRef = await this.nova.api.program.createProgramRunner({
-				code: trimmedCode,
-				initial_state,
-				default_robot: activeRobot?.wandelscriptIdentifier
-			}, { headers: { "Content-Type": "application/json" } });
-			this.log(`Created program runner ${programRunnerRef.id}"`);
-			runInAction(() => {
-				this.executionState = "executing";
-			});
-			this.currentlyExecutingProgramRunnerId = programRunnerRef.id;
-		} catch (error) {
-			if (error instanceof AxiosError && error.response && error.request) this.logError(`${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`);
-			else this.logError(JSON.stringify(error));
-			runInAction(() => {
-				this.executionState = "idle";
-			});
-		}
-	}
-	async stopProgram() {
-		if (!this.currentlyExecutingProgramRunnerId) return;
-		runInAction(() => {
-			this.executionState = "stopping";
-		});
-		try {
-			await this.nova.api.program.stopProgramRunner(this.currentlyExecutingProgramRunnerId);
-		} catch (err) {
-			runInAction(() => {
-				this.executionState = "executing";
-			});
-			throw err;
-		}
-	}
-	reset() {
-		this.currentProgram = {};
-	}
-	log(message) {
-		console.log(message);
-		this.logs.push({
-			timestamp: Date.now(),
-			message
-		});
-	}
-	logError(message) {
-		console.log(message);
-		this.logs.push({
-			timestamp: Date.now(),
-			message,
-			level: "error"
-		});
-	}
-};
-//#endregion
-export { ConnectedMotionGroup, JoggerConnection, MotionStreamConnection, NovaCellAPIClient, NovaClient, ProgramState, ProgramStateConnection, getLatestTrajectories, poseToWandelscriptString };
-
-//# sourceMappingURL=index.mjs.map

package/dist/v1/index.mjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"index.mjs","names":[],"sources":["../../src/lib/deprecated/v1/getLatestTrajectories.ts","../../src/lib/deprecated/v1/ProgramStateConnection.ts"],"sourcesContent":["import type { GetTrajectoryResponse } from \"@wandelbots/nova-api/v1\"\nimport type { NovaCellAPIClient } from \"./NovaCellAPIClient.ts\"\n\nlet lastMotionIds: Set<string> = new Set()\n\n/** @deprecated */\nexport async function getLatestTrajectories(\n  apiClient: NovaCellAPIClient,\n  sampleTime: number = 50,\n  responsesCoordinateSystem?: string,\n): Promise<GetTrajectoryResponse[]> {\n  const newTrajectories: GetTrajectoryResponse[] = []\n\n  try {\n    const motions = await apiClient.motion.listMotions()\n    const currentMotionIds = new Set(motions.motions)\n\n    const newMotionIds = Array.from(currentMotionIds).filter(\n      (id) => !lastMotionIds.has(id),\n    )\n\n    for (const motionId of newMotionIds) {\n      const trajectory = await apiClient.motion.getMotionTrajectory(\n        motionId,\n        sampleTime,\n        responsesCoordinateSystem,\n      )\n      newTrajectories.push(trajectory)\n    }\n\n    lastMotionIds = currentMotionIds\n  } catch (error) {\n    console.error(\"Failed to get latest trajectories:\", error)\n  }\n\n  return newTrajectories\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { CollectionValue } from \"@wandelbots/nova-api/v1\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket.ts\"\nimport { tryParseJson } from \"../../converters.ts\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection.ts\"\nimport type { NovaClient } from \"./NovaClient.ts\"\n\n/** @deprecated */\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\n/** @deprecated */\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\n/** @deprecated */\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n * @deprecated\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  readonly nova: NovaClient\n\n  constructor(nova: NovaClient) {\n    this.nova = nova\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRunner(\n          runner.id,\n        )\n\n        const stdout = runnerState.stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: { [key: string]: CollectionValue },\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // Jogging can cause program execution to fail for some time after\n    // So we need to explicitly stop jogging before running a program\n    if (activeRobot) {\n      try {\n        await this.nova.api.motionGroupJogging.stopJogging(\n          activeRobot.motionGroupId,\n        )\n      } catch (err) {\n        console.error(err)\n      }\n    }\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRunner(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          // @ts-expect-error legacy code - check if param still used\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        },\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRunner(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  }\n}\n"],"mappings":";;;;;;AAGA,IAAI,gCAA6B,IAAI,IAAI;;AAGzC,eAAsB,sBACpB,WACA,aAAqB,IACrB,2BACkC;CAClC,MAAM,kBAA2C,CAAC;CAElD,IAAI;EACF,MAAM,UAAU,MAAM,UAAU,OAAO,YAAY;EACnD,MAAM,mBAAmB,IAAI,IAAI,QAAQ,OAAO;EAEhD,MAAM,eAAe,MAAM,KAAK,gBAAgB,EAAE,QAC/C,OAAO,CAAC,cAAc,IAAI,EAAE,CAC/B;EAEA,KAAK,MAAM,YAAY,cAAc;GACnC,MAAM,aAAa,MAAM,UAAU,OAAO,oBACxC,UACA,YACA,yBACF;GACA,gBAAgB,KAAK,UAAU;EACjC;EAEA,gBAAgB;CAClB,SAAS,OAAO;EACd,QAAQ,MAAM,sCAAsC,KAAK;CAC3D;CAEA,OAAO;AACT;;;;ACnBA,IAAY,eAAL,yBAAA,cAAA;CACL,aAAA,gBAAA;CACA,aAAA,aAAA;CACA,aAAA,aAAA;CACA,aAAA,YAAA;CACA,aAAA,eAAA;;AACF,EAAA,CAAA,CAAA;;;;;;AAwBA,IAAa,yBAAb,MAAoC;CAClC,iBAAiC,CAAC;CAClC,OAAgC,CAAC;CAEjC,iBAAiB;CACjB,oCAAoC;CAEpC;CAEA;CAEA,YAAY,MAAkB;EAC5B,KAAK,OAAO;EACZ,mBAAmB,MAAM,CAAC,GAAG,EAAE,UAAU,KAAK,CAAC;EAE/C,KAAK,qBAAqB,KAAK,0BAA0B,iBAAiB;EAE1E,KAAK,mBAAmB,iBAAiB,YAAY,OAAO;GAC1D,MAAM,MAAM,aAAa,GAAG,IAAI;GAEhC,IAAI,CAAC,KAAK;IACR,QAAQ,MAAM,yCAAyC,GAAG,IAAI;IAC9D;GACF;GACA,IAAI,IAAI,SAAS,UACf,KAAK,0BAA0B,GAAG;EAEtC,CAAC;CACH;;CAGA,MAAM,0BAA0B,KAA0B;EACxD,MAAM,EAAE,WAAW;EAInB,IAAI,OAAO,OAAO,KAAK,mCAAmC;EAE1D,IAAI,OAAO,UAAA,UAA+B;GACxC,IAAI;IACF,MAAM,cAAc,MAAM,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT;IAIA,MAAM,SAAS,YAAY;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,SACH,kBAAkB,OAAO,GAAG,sBAAsB,YAAY,MAAM,IAAI,YAAY,WACtF;GACF,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,eAAe,QAAA;GAEpB,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAGjB,KAAK,eAAe,QAAA;IACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,SAAS;GAChD,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,aAAkC;GAClD,IAAI;IAKF,MAAM,UAAS,MAJW,KAAK,KAAK,IAAI,QAAQ,iBAC9C,OAAO,EACT,GAE2B;IAC3B,IAAI,QACF,KAAK,IAAI,MAAM;IAEjB,KAAK,IACH,kBAAkB,OAAO,GAAG,4BAA4B,OAAO,gBAAgB,QAAQ,CAAC,EAAE,SAC5F;IAEA,KAAK,eAAe,QAAA;GACtB,SAAS,KAAK;IACZ,KAAK,SACH,0CAA0C,OAAO,GAAG,IAAI,KAC1D;GACF;GAEA,KAAK,cAAc;EACrB,OAAO,IAAI,OAAO,UAAA,WAAgC;GAChD,KAAK,eAAe,QAAA;GACpB,KAAK,IAAI,kBAAkB,OAAO,GAAG,aAAa;EACpD,OAAO,IAAI,OAAO,UAAA,eAAmC;GACnD,QAAQ,MAAM,MAAM;GACpB,KAAK,SACH,kBAAkB,OAAO,GAAG,6BAA6B,OAAO,OAClE;GACA,KAAK,eAAe,QAAA;GACpB,KAAK,cAAc;EACrB;CACF;;CAGA,gBAAgB;EACd,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EACD,KAAK,oCAAoC;CAC3C;CAEA,MAAM,eACJ,cACA,eACA,aACA;EACA,KAAK,iBAAiB;GACN;GACd,OAAA;EACF;EAEA,MAAM,EAAE,gBAAgB,gBAAgB;EACxC,IAAI,CAAC,aAAa;EAClB,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAID,IAAI,aACF,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,mBAAmB,YACrC,YAAY,aACd;EACF,SAAS,KAAK;GACZ,QAAQ,MAAM,GAAG;EACnB;EAIF,MAAM,cAAc,YAAY,aAAc,WAAW,WAAW,EAAE;EAEtE,IAAI;GACF,MAAM,mBAAmB,MAAM,KAAK,KAAK,IAAI,QAAQ,oBACnD;IACE,MAAM;IACS;IAEf,eAAe,aAAa;GAC9B,GACA,EACE,SAAS,EACP,gBAAgB,mBAClB,EACF,CACF;GAEA,KAAK,IAAI,0BAA0B,iBAAiB,GAAG,EAAE;GACzD,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,KAAK,oCAAoC,iBAAiB;EAC5D,SAAS,OAAO;GACd,IAAI,iBAAiB,cAAc,MAAM,YAAY,MAAM,SACzD,KAAK,SACH,GAAG,MAAM,SAAS,OAAO,GAAG,MAAM,SAAS,WAAW,QAAQ,MAAM,SAAS,OAAO,IAAI,GAAG,KAAK,UAAU,MAAM,SAAS,IAAI,GAC/H;QAEA,KAAK,SAAS,KAAK,UAAU,KAAK,CAAC;GAErC,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;EACH;CACF;CAEA,MAAM,cAAc;EAClB,IAAI,CAAC,KAAK,mCAAmC;EAC7C,kBAAkB;GAChB,KAAK,iBAAiB;EACxB,CAAC;EAED,IAAI;GACF,MAAM,KAAK,KAAK,IAAI,QAAQ,kBAC1B,KAAK,iCACP;EACF,SAAS,KAAK;GAEZ,kBAAkB;IAChB,KAAK,iBAAiB;GACxB,CAAC;GACD,MAAM;EACR;CACF;CAEA,QAAQ;EACN,KAAK,iBAAiB,CAAC;CACzB;CAEA,IAAI,SAAiB;EACnB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;EACF,CAAC;CACH;CAEA,SAAS,SAAiB;EACxB,QAAQ,IAAI,OAAO;EACnB,KAAK,KAAK,KAAK;GACb,WAAW,KAAK,IAAI;GACpB;GACA,OAAO;EACT,CAAC;CACH;AACF"}