@wandelbots/nova-js 3.8.0 → 3.9.0-pr.280.2a86180

package/src/lib/v2/Nova.ts

@@ -0,0 +1,201 @@
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
+import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v2"
+import type { AxiosRequestConfig } from "axios"
+import axios, { isAxiosError } from "axios"
+import urlJoin from "url-join"
+import { loginWithAuth0 } from "../../LoginWithAuth0"
+import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
+import { availableStorage } from "../availableStorage"
+import { parseNovaInstanceUrl } from "../converters"
+import { NovaAPIClient } from "./NovaAPIClient"
+import { MockNovaInstance } from "./mock/MockNovaInstance"
+
+export type NovaClientConfig = {
+  /**
+   * Url of the deployed NOVA instance to connect to
+   * e.g. https://saeattii.instance.wandelbots.io
+   */
+  instanceUrl: string
+
+  /**
+   * Id of the cell to connect to
+   */
+  cellId: string
+
+  /**
+   * Access token for Bearer authentication.
+   * If running on a NOVA instance, this can be automatically retrieved from
+   * the current session when omitted.
+   */
+  accessToken?: string
+} & Omit<BaseConfiguration, "isJsonMime" | "basePath">
+
+/**
+ *
+ * Client for connecting to a NOVA instance and controlling robots.
+ */
+export class Nova {
+  readonly api: NovaAPIClient
+  readonly config: NovaClientConfig
+  readonly mock?: MockNovaInstance
+  readonly instanceUrl: URL
+  authPromise: Promise<string | null> | null = null
+  accessToken: string | null = null
+
+  constructor(config: NovaClientConfig) {
+    this.config = config
+    this.accessToken =
+      config.accessToken ||
+      availableStorage.getString("wbjs.access_token") ||
+      null
+
+    if (this.config.instanceUrl === "https://mock.example.com") {
+      this.mock = new MockNovaInstance()
+    }
+    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)
+
+    // Set up Axios instance with interceptor for token fetching
+    const axiosInstance = axios.create({
+      baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+      // TODO - backend needs to set proper CORS headers for this
+      headers:
+        typeof window !== "undefined" &&
+        window.location.origin.includes("localhost")
+          ? {}
+          : {
+              // Identify the client to the backend for logging purposes
+              "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK",
+            },
+    })
+
+    axiosInstance.interceptors.request.use(async (request) => {
+      if (!request.headers.Authorization) {
+        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}`)}`
+        }
+      }
+      return request
+    })
+
+    if (typeof window !== "undefined") {
+      axiosInstance.interceptors.response.use(
+        (r) => r,
+        async (error) => {
+          if (isAxiosError(error)) {
+            if (error.response?.status === 401) {
+              // If we hit a 401, attempt to login the user and retry with
+              // a new access token
+              try {
+                await this.renewAuthentication()
+
+                if (error.config) {
+                  if (this.accessToken) {
+                    error.config.headers.Authorization = `Bearer ${this.accessToken}`
+                  } else {
+                    delete error.config.headers.Authorization
+                  }
+                  return axiosInstance.request(error.config)
+                }
+              } catch (err) {
+                return Promise.reject(err)
+              }
+            } else if (error.response?.status === 503) {
+              // Check if the server as a whole is down
+              const res = await fetch(window.location.href)
+              if (res.status === 503) {
+                // Go to 503 page
+                window.location.reload()
+              }
+            }
+          }
+
+          return Promise.reject(error)
+        },
+      )
+    }
+
+    this.api = new NovaAPIClient(this.config.cellId, {
+      ...config,
+      basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+      isJsonMime: (mime: string) => {
+        return mime === "application/json"
+      },
+      baseOptions: {
+        ...(this.mock
+          ? ({
+              adapter: (config) => {
+                return this.mock!.handleAPIRequest(config)
+              },
+            } satisfies AxiosRequestConfig)
+          : {}),
+        ...config.baseOptions,
+      },
+      axiosInstance,
+    })
+  }
+
+  async renewAuthentication(): Promise<void> {
+    if (this.authPromise) {
+      // Don't double up
+      return
+    }
+
+    const storedToken = availableStorage.getString("wbjs.access_token")
+    if (storedToken && this.accessToken !== storedToken) {
+      // Might be newer than the one we have
+      this.accessToken = storedToken
+      return
+    }
+
+    // Otherwise, perform login flow
+    this.authPromise = loginWithAuth0(this.instanceUrl)
+    try {
+      this.accessToken = await this.authPromise
+      if (this.accessToken) {
+        // Cache access token so we don't need to log in every refresh
+        availableStorage.setString("wbjs.access_token", this.accessToken)
+      } else {
+        availableStorage.delete("wbjs.access_token")
+      }
+    } finally {
+      this.authPromise = null
+    }
+  }
+
+  makeWebsocketURL(path: string): string {
+    const url = new URL(
+      urlJoin(
+        this.instanceUrl.href,
+        `/api/v2/cells/${this.config.cellId}`,
+        path,
+      ),
+    )
+    url.protocol = url.protocol.replace("http", "ws")
+    url.protocol = url.protocol.replace("https", "wss")
+
+    // If provided, add basic auth credentials to the URL
+    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari
+    // use tokens instead
+    if (this.accessToken) {
+      url.searchParams.append("token", this.accessToken)
+    } else if (this.config.username && this.config.password) {
+      url.username = this.config.username
+      url.password = this.config.password
+    }
+
+    return url.toString()
+  }
+
+  /**
+   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+   * If you explicitly want to reconnect an existing websocket, call `reconnect`
+   * on the returned object.
+   */
+  openReconnectingWebsocket(path: string) {
+    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {
+      mock: this.mock,
+    })
+  }
+}

package/src/lib/v2/NovaAPIClient.ts

@@ -0,0 +1,154 @@
+/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
+import type {
+  BaseAPI,
+  Configuration as BaseConfiguration,
+} from "@wandelbots/nova-api/v2"
+import {
+  ApplicationApi,
+  BUSInputsOutputsApi,
+  CellApi,
+  ControllerApi,
+  ControllerInputsOutputsApi,
+  JoggingApi,
+  KinematicsApi,
+  LicenseApi,
+  MotionGroupApi,
+  MotionGroupModelsApi,
+  NOVACloudApi,
+  ProgramApi,
+  RobotConfigurationsApi,
+  StoreCollisionComponentsApi,
+  StoreCollisionSetupsApi,
+  StoreObjectApi,
+  SystemApi,
+  TrajectoryCachingApi,
+  TrajectoryExecutionApi,
+  TrajectoryPlanningApi,
+  VersionApi,
+  VirtualControllerApi,
+  VirtualControllerBehaviorApi,
+  VirtualControllerInputsOutputsApi,
+} from "@wandelbots/nova-api/v2"
+import type { AxiosInstance } from "axios"
+import axios from "axios"
+
+type OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R
+  ? (...args: P) => R
+  : never
+
+type UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any
+  ? (
+      ...a: Parameters<T>
+    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>
+  : never
+
+type WithUnwrappedAxiosResponse<T> = {
+  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>
+}
+
+/**
+ * API client providing type-safe access to all the endpoints of a NOVA
+ * instance.
+ */
+export class NovaAPIClient {
+  constructor(
+    readonly cellId: string,
+    readonly opts: BaseConfiguration & {
+      axiosInstance?: AxiosInstance
+      mock?: boolean
+    },
+  ) {}
+
+  private withUnwrappedResponsesOnly<T extends BaseAPI>(
+    ApiConstructor: new (
+      config: BaseConfiguration,
+      basePath: string,
+      axios: AxiosInstance,
+    ) => T,
+  ) {
+    const apiClient = new ApiConstructor(
+      {
+        ...this.opts,
+        isJsonMime: (mime: string) => {
+          return mime === "application/json"
+        },
+      },
+      this.opts.basePath ?? "",
+      this.opts.axiosInstance ?? axios.create(),
+    ) as {
+      [key: string | symbol]: any
+    }
+
+    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {
+      if (key !== "constructor" && typeof apiClient[key] === "function") {
+        const originalFunction = apiClient[key]
+        apiClient[key] = (...args: any[]) => {
+          return originalFunction
+            .apply(apiClient, args)
+            .then((res: any) => res.data)
+        }
+      }
+    }
+
+    return apiClient as WithUnwrappedAxiosResponse<T>
+  }
+
+  readonly system = this.withUnwrappedResponsesOnly(SystemApi)
+  readonly cell = this.withUnwrappedResponsesOnly(CellApi)
+
+  readonly motionGroup = this.withUnwrappedResponsesOnly(MotionGroupApi)
+  readonly motionGroupModels =
+    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)
+
+  readonly controller = this.withUnwrappedResponsesOnly(ControllerApi)
+
+  readonly controllerIOs = this.withUnwrappedResponsesOnly(
+    ControllerInputsOutputsApi,
+  )
+
+  readonly trajectoryPlanning = this.withUnwrappedResponsesOnly(
+    TrajectoryPlanningApi,
+  )
+  readonly trajectoryExecution = this.withUnwrappedResponsesOnly(
+    TrajectoryExecutionApi,
+  )
+  readonly trajectoryCaching =
+    this.withUnwrappedResponsesOnly(TrajectoryCachingApi)
+
+  readonly application = this.withUnwrappedResponsesOnly(ApplicationApi)
+  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
+
+  readonly jogging = this.withUnwrappedResponsesOnly(JoggingApi)
+
+  readonly kinematics = this.withUnwrappedResponsesOnly(KinematicsApi)
+
+  readonly busInputsOutputs =
+    this.withUnwrappedResponsesOnly(BUSInputsOutputsApi)
+
+  readonly virtualController =
+    this.withUnwrappedResponsesOnly(VirtualControllerApi)
+  readonly virtualControllerBehavior = this.withUnwrappedResponsesOnly(
+    VirtualControllerBehaviorApi,
+  )
+  readonly virtualControllerIOs = this.withUnwrappedResponsesOnly(
+    VirtualControllerInputsOutputsApi,
+  )
+
+  readonly storeObject = this.withUnwrappedResponsesOnly(StoreObjectApi)
+  readonly storeCollisionComponents = this.withUnwrappedResponsesOnly(
+    StoreCollisionComponentsApi,
+  )
+  readonly storeCollisionSetups = this.withUnwrappedResponsesOnly(
+    StoreCollisionSetupsApi,
+  )
+
+  readonly program = this.withUnwrappedResponsesOnly(ProgramApi)
+
+  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)
+  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)
+  readonly robotConfigurations = this.withUnwrappedResponsesOnly(
+    RobotConfigurationsApi,
+  )
+  readonly version = this.withUnwrappedResponsesOnly(VersionApi)
+}

package/src/lib/v2/index.ts

@@ -1,4 +1,7 @@
 export * from "@wandelbots/nova-api/v2"
-export * from "./NovaCellAPIClient"
-export * from "./NovaClient"
-export * from "./wandelscriptUtils"
+export * from "../deprecated/v2/NovaCellAPIClient"
+export * from "../deprecated/v2/NovaClient"
+export * from "../deprecated/v2/wandelscriptUtils"
+export { Nova } from "./Nova"
+export type { NovaClientConfig } from "./Nova"
+export { NovaAPIClient } from "./NovaAPIClient"

package/dist/AutoReconnectingWebsocket-9Of5_BJe.d.cts.map

@@ -1 +0,0 @@
-{"version":3,"file":"AutoReconnectingWebsocket-9Of5_BJe.d.cts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"mappings":";;;;;;AAeA;cAAa,kBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAg8BX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EAkOlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;;;AAvqC5D;cCAa,gBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAyCX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EA+BlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;cCxF/C,yBAAA,SAAkC,qBAAA;EAAA,SAOlC,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EARJ,oBAAA,GAAuB,YAAA;EACvB,SAAA;EACA,QAAA;cAGE,SAAA,UACS,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EA4CJ,SAAA,CAAU,SAAA;EAMV,QAAA,CAAS,IAAA;EF7CH;;;;EEyDN,OAAA,CAAA;EFy4BA;;;EE93BM,MAAA,CAAA,GAAM,OAAA;EFgmCmB;;;EEllCzB,MAAA,CAAA,GAAM,OAAA;EFklC6D;;;;ACvqC3E;ECqGQ,YAAA,CAAA,GAAY,OAAA,CAAA,YAAA;;;;;EA4BZ,WAAA,CAAA,GAAW,OAAA,CAAA,YAAA;AAAA"}

package/dist/AutoReconnectingWebsocket-9Of5_BJe.d.mts.map

@@ -1 +0,0 @@
-{"version":3,"file":"AutoReconnectingWebsocket-9Of5_BJe.d.mts","names":[],"sources":["../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v2/mock/MockNovaInstance.ts","../src/lib/AutoReconnectingWebsocket.ts"],"mappings":";;;;;;AAeA;cAAa,kBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAg8BX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EAkOlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;;;AAvqC5D;cCAa,gBAAA;EAAA,SACF,WAAA,EAAa,yBAAA;EAEhB,gBAAA,CACJ,MAAA,EAAQ,0BAAA,GACP,OAAA,CAAQ,aAAA;EAyCX,yBAAA,CAA0B,MAAA,EAAQ,yBAAA;EA+BlC,sBAAA,CAAuB,MAAA,EAAQ,yBAAA,EAA2B,OAAA;AAAA;;;cCxF/C,yBAAA,SAAkC,qBAAA;EAAA,SAOlC,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EARJ,oBAAA,GAAuB,YAAA;EACvB,SAAA;EACA,QAAA;cAGE,SAAA,UACS,IAAA;IACP,IAAA,GAAO,kBAAA,GAAsB,gBAAA;IAC7B,SAAA;EAAA;EA4CJ,SAAA,CAAU,SAAA;EAMV,QAAA,CAAS,IAAA;EF7CH;;;;EEyDN,OAAA,CAAA;EFy4BA;;;EE93BM,MAAA,CAAA,GAAM,OAAA;EFgmCmB;;;EEllCzB,MAAA,CAAA,GAAM,OAAA;EFklC6D;;;;ACvqC3E;ECqGQ,YAAA,CAAA,GAAY,OAAA,CAAA,YAAA;;;;;EA4BZ,WAAA,CAAA,GAAW,OAAA,CAAA,YAAA;AAAA"}

package/dist/NovaClient-4PG1cMau.d.cts.map

@@ -1 +0,0 @@
-{"version":3,"file":"NovaClient-4PG1cMau.d.cts","names":[],"sources":["../src/lib/v1/wandelscriptUtils.ts","../src/lib/v1/ConnectedMotionGroup.ts","../src/lib/v1/MotionStreamConnection.ts","../src/lib/v1/JoggerConnection.ts","../src/lib/v1/NovaCellAPIClient.ts","../src/lib/v1/NovaClient.ts"],"mappings":";;;;;;;;;;iBAMgB,wBAAA,CACd,IAAA,EAAM,IAAI,CAAC,IAAA;;;KCcD,iBAAA;EACV,WAAA;AAAA,IACE,mBAAmB;;;;cAKV,oBAAA;EAAA,SAoIA,IAAA,EAAM,UAAA;EAAA,SACN,UAAA,EAAY,kBAAA;EAAA,SACZ,WAAA,EAAa,mBAAA;EAAA,SACb,kBAAA,EAAoB,wBAAA;EAAA,SACpB,iBAAA,EAAmB,yBAAA;EAAA,SACnB,SAAA;EAAA,SACA,IAAA,EAAM,QAAA;EAAA,SACN,wBAAA,EAA0B,wBAAA;EAAA,SAC1B,WAAA,EAAa,WAAA;EAAA,SACb,QAAA,EAAU,QAAA;EAAA,SACV,sBAAA,EAAwB,oBAAA;EAAA,SACxB,qBAAA,EAAuB,yBAAA;EAAA,OA9IrB,OAAA,CACX,IAAA,EAAM,UAAA,EACN,aAAA,UACA,WAAA,EAAa,kBAAA,KAAoB,OAAA,CAAA,oBAAA;EA0GnC,+BAAA,EAAiC,SAAA;EACjC,4BAAA,EAA8B,SAAA;EAE9B,QAAA;EACA,eAAA;EAIA,0BAAA,EAA4B,wBAAA;EAI5B,eAAA,EAAiB,oBAAA;EAca;;;;EAR9B,eAAA;cAIW,IAAA,EAAM,UAAA,EACN,UAAA,EAAY,kBAAA,EACZ,WAAA,EAAa,mBAAA,EACb,kBAAA,EAAoB,wBAAA,EACpB,iBAAA,EAAmB,yBAAA,EACnB,SAAA,WACA,IAAA,EAAM,QAAA,IACN,wBAAA,EAA0B,wBAAA,EAC1B,WAAA,EAAa,WAAA,EACb,QAAA,EAAU,QAAA,SACV,sBAAA,EAAwB,oBAAA,EACxB,qBAAA,EAAuB,yBAAA;EAAA,IA2D9B,aAAA,CAAA;EAAA,IAIA,YAAA,CAAA;EAAA,IAIA,mBAAA,CAAA;EAAA,IAIA,sBAAA,CAAA;EAlN+B;EAAA,IAwN/B,mBAAA,CAAA;EAAA,IAIA,MAAA,CAAA;;;MAQA,YAAA,CAAA,qCAAY,WAAA;EAAA,IAIZ,WAAA,CAAA,qCAAW,qBAAA;EAtGS;EAAA,IA2GpB,gBAAA,CAAA;EAzG0B;EAAA,IAsH1B,kBAAA,CAAA,GAAkB,KAAA,CAAA,UAAA;EAnHe;;;;EAAA,IAoIjC,aAAA,CAAA;EAjBkB;;;;EAAA,IA8BlB,qBAAA,CAAA;EAxJO;;;EAAA,IAoKP,uBAAA,CAAA;EAlKO;;;;EAAA,IAiLP,UAAA,CAAA;EAQE,UAAA,CAAA,GAAU,OAAA;EA2BV,QAAA,CAAA,GAAQ,OAAA;EA2Bd,gBAAA,CAAA;EAQA,OAAA,CAAA;EAQA,kBAAA,CAAmB,QAAA;AAAA;;;;;AD3ZrB;cEoDa,sBAAA;EAAA,SAqDA,IAAA,EAAM,UAAA;EAAA,SACN,UAAA,EAAY,kBAAA;EAAA,SACZ,WAAA,EAAa,mBAAA;EAAA,SACb,kBAAA,EAAoB,wBAAA;EAAA,SACpB,iBAAA,EAAmB,yBAAA;EAAA,OAxDjB,IAAA,CAAK,IAAA,EAAM,UAAA,EAAY,aAAA,WAAqB,OAAA,CAAA,sBAAA;EAiDzD,0BAAA,EAA4B,wBAAA;cAGjB,IAAA,EAAM,UAAA,EACN,UAAA,EAAY,kBAAA,EACZ,WAAA,EAAa,mBAAA,EACb,kBAAA,EAAoB,wBAAA,EACpB,iBAAA,EAAmB,yBAAA;EAAA,IA0D1B,aAAA,CAAA;EAAA,IAIA,YAAA,CAAA;EAAA,IAIA,mBAAA,CAAA;EAAA,IAIA,sBAAA,CAAA;EAAA,IAKA,MAAA,CAAA;;;EAQJ,OAAA,CAAA;AAAA;;;KC/LU,oBAAA;;AHDZ;;;;EGOE,OAAA,IAAW,GAAY;AAAA;AAAA,cAGZ,gBAAA;EAAA,SAqBA,YAAA,EAAc,sBAAA;EAAA,SACd,IAAA,EAAM,oBAAA;EAnBjB,kBAAA,EAAoB,yBAAA;EACpB,cAAA,EAAgB,yBAAA;EAChB,oBAAA;IACE,KAAA;IACA,aAAA;EAAA;EAAA,OAGW,IAAA,CACX,IAAA,EAAM,UAAA,EACN,aAAA,UACA,IAAA,GAAM,oBAAA,GAAyB,OAAA,CAAA,gBAAA;cAQtB,YAAA,EAAc,sBAAA,EACd,IAAA,GAAM,oBAAA;EAAA,IAGb,aAAA,CAAA;EAAA,IAIA,IAAA,CAAA,GAAI,UAAA;EAAA,IAIJ,SAAA,CAAA;EAAA,IAIA,iBAAA,CAAA;EAAA,IAMA,eAAA,CAAA,GAAe,yBAAA;EAIb,IAAA,CAAA,GAAI,OAAA;EAyBV,OAAA,CAAA;EAUA,cAAA,CACE,IAAA,uCACA,oBAAA;IACE,KAAA;IACA,aAAA;EAAA;EFmEiB;;;EEGf,kBAAA,CAAA;IACJ,KAAA;IACA,SAAA;IACA;EAAA;IF/Ia,mCEkJb,KAAA,UFlJiC;IEoJjC,SAAA,aFzC4B;IE2C5B,kBAAA;EAAA,IACD,OAAA;EFvBgB;;;EE4CX,mBAAA,CAAA;IACJ,IAAA;IACA,SAAA;IACA;EAAA;IAEA,IAAA;IACA,SAAA;IACA,gBAAA;EAAA,IACD,OAAA;EF3CoB;;;EEoEf,gBAAA,CAAA;IACJ,IAAA;IACA,SAAA;IACA;EAAA;IAEA,IAAA;IACA,SAAA;IACA,kBAAA;EAAA,IACD,OAAA;EFrFU;;;;;EEgHL,6BAAA,CAAA;IACJ,cAAA;IACA,aAAA;IACA,aAAA;IACA,uBAAA;IACA,IAAA;IACA,SAAA;IACA;EAAA;IAEA,cAAA,EAAgB,OAAA;IAChB,aAAA,EAAe,MAAA;IACf,aAAA;IACA,uBAAA;IACA,IAAA;IACA,SAAA;IACA,MAAA;MAEM,IAAA;MACA,YAAA;IAAA;MAGA,IAAA;MACA,UAAA;IAAA;EAAA,IAEP,OAAA;EF9HkC;;;;EE8P7B,2BAAA,CAAA;IACJ,KAAA;IACA,aAAA;IACA,kBAAA;IACA,SAAA;IACA;EAAA;IAEA,KAAA;IACA,aAAA,EAAe,MAAA;IACf,kBAAA;IACA,SAAA;IACA,YAAA;EAAA,IACD,OAAA;AAAA;;;KChZE,YAAA,MAAkB,CAAA,WAAW,CAAA,UAAW,IAAA,6BACrC,IAAA,EAAM,CAAA,KAAM,CAAA;AAAA,KAGf,yBAAA,MAA+B,CAAA,cAAc,CAAA,qBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;AAAA,KAGxD,UAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,YAAA,CAAa,CAAA,CAAE,CAAA;AAAA,KAG/C,0BAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;;;;AH9B9C;cGqCa,iBAAA;EAAA,SAEA,MAAA;EAAA,SACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;cAHO,MAAA,UACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;EHoG2B;;;;;EAAA,QG3FvB,UAAA;EHkG2B;;;EAAA,QG7D3B,0BAAA;EAAA,SAkCC,MAAA,EAAM,0BAAA,CAAA,SAAA;EAAA,SACN,IAAA,EAAI,0BAAA,CAAA,OAAA;EAAA,SAEJ,YAAA,EAAY,UAAA,CAAA,sBAAA;EAAA,SAEZ,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAEhB,UAAA,EAAU,UAAA,CAAA,aAAA;EAAA,SAEV,OAAA,EAAO,UAAA,CAAA,UAAA;EAAA,SACP,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SACpB,MAAA,EAAM,UAAA,CAAA,SAAA;EAAA,SAEN,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SAEjB,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,iBAAA,EAAiB,0BAAA,CAAA,cAAA;EAAA,SAEjB,kBAAA,EAAkB,UAAA,CAAA,qBAAA;EAAA,SAElB,YAAA,EAAY,UAAA,CAAA,eAAA;EAAA,SACZ,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SACjB,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAChB,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SAEpB,sBAAA,EAAsB,UAAA,CAAA,yBAAA;EAAA,SACtB,cAAA,EAAc,UAAA,CAAA,iBAAA;EAAA,SACd,qBAAA,EAAqB,UAAA,CAAA,wBAAA;EAAA,SACrB,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,wBAAA,EAAwB,UAAA,CAAA,2BAAA;EAAA,SAGxB,oBAAA,EAAoB,UAAA,CAAA,uBAAA;AAAA;;;KCnKnB,gBAAA;ELZV;;AAA4C;;EKiB5C,WAAA;;AJHF;;;EISE,MAAA;EJPqB;AAKvB;;;EIQE,QAAA;EJ6HuB;;;;EIvHvB,QAAA;EJ6HqC;;;EIxHrC,WAAA;AAAA,IACE,IAAI,CAAC,aAAA;AAAA,KAEJ,4BAAA,GAA+B,gBAAgB;EAAK,MAAM;AAAA;;;;;cAMlD,UAAA;EAAA,SACF,GAAA,EAAK,iBAAA;EAAA,SACL,MAAA,EAAQ,4BAAA;EAAA,SACR,IAAA,GAAO,gBAAA;EAAA,SACP,WAAA,EAAa,GAAA;EACtB,WAAA,EAAa,OAAA;EACb,WAAA;cAEY,MAAA,EAAQ,gBAAA;EAmGd,mBAAA,CAAA,GAAuB,OAAA;EA4B7B,gBAAA,CAAiB,IAAA;EJrBkB;;;;;EIkDnC,yBAAA,CAA0B,IAAA,WAAY,yBAAA;EJ0JxB;;;EIjJR,mBAAA,CAAoB,aAAA,WAAqB,OAAA,CAAA,sBAAA;EJpExB;;;EI2EjB,aAAA,CAAc,aAAA,WAAqB,OAAA,CAAA,gBAAA;EAInC,mBAAA,CACJ,cAAA,aACC,OAAA,CAAQ,oBAAA;EAUL,kBAAA,CACJ,aAAA,WACC,OAAA,CAAQ,oBAAA;AAAA"}