@wandelbots/wandelbots-js-react-components 1.13.1 → 1.13.2

package/dist/index.cjs

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loadFor(t){const{nova:r}=t,[n,{coordinatesystems:o},{tcps:a}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Ba(t,n,o||[],a||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}loadFromLocalStorage(){const t=$t.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"Cartesian"},{id:"joint",label:"Joint"}]}get incrementOptions(){return N_}get discreteIncrementOptions(){return pa}get incrementOptionsById(){return wn(this.incrementOptions,t=>t.id)}get tabsById(){return wn(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return wn(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return wn(this.tcps,t=>t.id)}get 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n=this.tabs[r]||this.tabs[0];this.selectedTabId=n.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setIncrementJoggingInProgress(t){this.incrementJoggingInProgress=t}setVelocityFromSlider(t){this.currentMotionType==="translate"?this.translationVelocityMmPerSec=t:this.rotationVelocityDegPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}async withMotionLock(t){const r=$_();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const F_=en(He.observer(e=>{var a,i,l,c;const t=Pc.isString(e.nova)?new $t.NovaClient({instanceUrl:e.nova}):e.nova,r=He.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){br.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const u=await t.connectJogger(e.motionGroupId),d=await 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100%)"},background:"#101629"}},children:[s.jsx(L.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),s.jsxs(L.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[s.jsx(L.Typography,{color:"#fff",children:"Found no devices to connect to."}),s.jsx(L.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),s.jsx(L.DialogActions,{children:s.jsxs(L.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[s.jsx(L.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),s.jsx(L.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const B_=Array(6).fill(2*Math.PI),ht={white:"#FFFFFF",midnightblue:"#001337",lightbuttonblue:"#47D3FF",midnightgray:"#DDE0E4",midnightgray500:"#828B9B",skyblue500:"#06B8F1",skyblue600:"#0094CE",darkishblue:"#262F42",darkestblue:"#101629",grayishblue:"#505968",darkgrayishblue:"#363c4b",scaryred:"#FF0E65",tealGreen:"#1AC0B2",magenta:"#EA3785"},J_={mode:"dark",colors:{primary:ht.skyblue500,textDefault:ht.white,textSubtle:ht.midnightgray,background:{default:ht.darkishblue,panel:ht.darkestblue}}},V_={mode:"light",colors:{primary:ht.skyblue500,textDefault:ht.darkishblue,textSubtle:ht.midnightgray,background:{default:ht.skyblue500,panel:ht.white}}};function G_(e){var o,a,i,l;let t=!0;((o=e.palette)==null?void 0:o.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.mode)!=="dark"&&(t=!(typeof window<"u"&&((l=(i=window.matchMedia)==null?void 0:i.call(window,"(prefers-color-scheme: light)"))==null?void 0:l.matches)));const r=t?J_:V_,n=la({palette:{mode:r.mode,primary:{main:r.colors.primary},background:{default:r.colors.background.default,paper:r.colors.background.panel}},typography:{allVariants:{color:r.colors.textDefault}},components:{MuiSelect:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor","& > div":{padding:"4px 16px"},"& fieldset":{border:t?"none":void 0}}}},MuiChip:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor"}}},MuiToggleButtonGroup:{styleOverrides:{root:{"& > button":{borderRadius:"8px",textTransform:"none",paddingTop:"4px",paddingBottom:"4px",width:"100%",borderWidth:0,backgroundColor:t?"#3d4455":void 0,color:t?"rgba(255, 255, 255, 0.8)":void 0,"&.Mui-selected":t?{color:"white",backgroundColor:"#505968"}:void 0}}}},MuiTabs:{styleOverrides:{root:{backgroundColor:t?"#101629":void 0,minHeight:"42px"}}},MuiTab:{styleOverrides:{root:{minHeight:"42px",textTransform:"none","&.Mui-selected":t?{color:"white",backgroundColor:"#404554"}:void 0}}}},nova:r});return e?la(n,e):n}exports.JoggingCartesianAxisControl=ca;exports.JoggingJointRotationControl=Wl;exports.JoggingPanel=F_;exports.NoMotionGroupModal=U_;exports.PresetEnvironment=sf;exports.Robot=af;exports.SafetyZonesRenderer=uf;exports.SupportedRobot=ol;exports.VelocitySlider=ql;exports.WandelscriptEditor=kd;exports.createNovaMuiTheme=G_;exports.defaultAxisConfig=B_;exports.defaultGetModel=Sa;exports.useAnimationFrame=wr;exports.useAutorun=rl;exports.useMounted=eo;exports.useReaction=nl;
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a||++n!=o?a:(o=e==null?0:e.length,!!o&&Na(o)&&ac(i,o)&&(yt(e)||nc(e)))}function j_(e,t){return e!=null&&R_(e,t,w_)}var C_=1,A_=2;function P_(e,t){return Da(e)&&cc(t)?uc(bo(e),t):function(r){var n=v_(r,e);return n===void 0&&n===t?j_(r,e):_o(t,n,C_|A_)}}function O_(e){return e}function T_(e){return function(t){return t==null?void 0:t[e]}}function M_(e){return function(t){return mc(t,e)}}function I_(e){return Da(e)?T_(bo(e)):M_(e)}function E_(e){return typeof e=="function"?e:e==null?O_:typeof e=="object"?yt(e)?P_(e[0],e[1]):u_(e):I_(e)}function L_(e,t){return function(r,n){var o=yt(r)?Q1:a_,a={};return o(r,e,E_(n),a)}}var wn=L_(function(e,t,r){Z1(e,r,t)}),k_=0;function $_(e){var t=++k_;return fc(e)+t}const pa=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],N_=[{id:"continuous"},...pa];class Ba{constructor(t,r,n,o){var a,i;this.jogger=t,this.motionGroupSpec=r,this.coordSystems=n,this.tcps=o,this.selectedTabId="cartesian",this.locks=new Set,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJoggingInProgress=!1,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.disposers=[];for(const l of n)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((a=n[0])==null?void 0:a.coordinate_system)||"world",this.selectedTcpId=((i=o[0])==null?void 0:i.id)||"",br.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(br.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:o},{tcps:a}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Ba(t,n,o||[],a||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}loadFromLocalStorage(){const t=$t.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"Cartesian"},{id:"joint",label:"Joint"}]}get incrementOptions(){return N_}get discreteIncrementOptions(){return pa}get incrementOptionsById(){return wn(this.incrementOptions,t=>t.id)}get tabsById(){return wn(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return wn(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return wn(this.tcps,t=>t.id)}get selectedDiscreteIncrement(){return pa.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInCurrentUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,r){const n=this.tabs[r]||this.tabs[0];this.selectedTabId=n.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setIncrementJoggingInProgress(t){this.incrementJoggingInProgress=t}setVelocityFromSlider(t){this.currentMotionType==="translate"?this.translationVelocityMmPerSec=t:this.rotationVelocityDegPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}async withMotionLock(t){const r=$_();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const F_=en(He.observer(e=>{var a,i,l,c;const t=Pc.isString(e.nova)?new $t.NovaClient({instanceUrl:e.nova}):e.nova,r=He.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){br.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const u=await t.connectJogger(e.motionGroupId),d=await Ba.loadFor(u);br.runInAction(()=>{r.joggingStore=d}),e.onSetup&&e.onSetup(d)}catch(u){r.loadingError=u}}if(q.useEffect(()=>(n(),()=>{var u;(u=r.joggingStore)==null||u.dispose()}),[e.nova]),q.useEffect(()=>{if(!r.joggingStore)return;const{currentTab:u,selectedTcpId:d,activeCoordSystemId:h,selectedDiscreteIncrement:f}=r.joggingStore;if(u.id!=="cartesian"&&u.id!=="joint")return;const b={tcpId:d,coordSystemId:h};f&&u.id==="cartesian"?r.joggingStore.jogger.setJoggingMode("increment",b):r.joggingStore.jogger.setJoggingMode(u.id,b)},[(a=r.joggingStore)==null?void 0:a.currentTab,(i=r.joggingStore)==null?void 0:i.selectedTcpId,(l=r.joggingStore)==null?void 0:l.activeCoordSystemId,(c=r.joggingStore)==null?void 0:c.selectedDiscreteIncrement]),!r.joggingStore||r.loadingError)return s.jsx(wi,{children:s.jsx(Qi,{message:"Loading jogging",error:r.loadingError})});const{joggingStore:o}=r;return s.jsx(wi,{children:s.jsxs(L.Stack,{flexGrow:1,children:[s.jsx(L.Tabs,{value:o.tabIndex,onChange:o.onTabChange,children:o.tabs.map(u=>s.jsx(L.Tab,{label:u.label,id:`jogging-tab-${u.id}`,"aria-controls":`jogging-tab-${u.id}`},u.id))}),s.jsxs(L.Stack,{flexGrow:1,children:[o.currentTab.id==="cartesian"&&s.jsx(X1,{store:o}),o.currentTab.id==="joint"&&s.jsx(Y1,{store:o}),e.children]})]})})}));function wi({children:e}){return s.jsx(L.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:s.jsx(L.Paper,{sx:{height:"100%"},children:e})})}function D_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function U_({baseUrl:e=D_(),...t}){return s.jsxs(L.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[s.jsx(L.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),s.jsxs(L.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[s.jsx(L.Typography,{color:"#fff",children:"Found no devices to connect to."}),s.jsx(L.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),s.jsx(L.DialogActions,{children:s.jsxs(L.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[s.jsx(L.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),s.jsx(L.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const B_=Array(6).fill(2*Math.PI),ht={white:"#FFFFFF",midnightblue:"#001337",lightbuttonblue:"#47D3FF",midnightgray:"#DDE0E4",midnightgray500:"#828B9B",skyblue500:"#06B8F1",skyblue600:"#0094CE",darkishblue:"#262F42",darkestblue:"#101629",grayishblue:"#505968",darkgrayishblue:"#363c4b",scaryred:"#FF0E65",tealGreen:"#1AC0B2",magenta:"#EA3785"},J_={mode:"dark",colors:{primary:ht.skyblue500,textDefault:ht.white,textSubtle:ht.midnightgray,background:{default:ht.darkishblue,panel:ht.darkestblue}}},V_={mode:"light",colors:{primary:ht.skyblue500,textDefault:ht.darkishblue,textSubtle:ht.midnightgray,background:{default:ht.skyblue500,panel:ht.white}}};function G_(e){var o,a,i,l;let t=!0;((o=e.palette)==null?void 0:o.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.mode)!=="dark"&&(t=!(typeof window<"u"&&((l=(i=window.matchMedia)==null?void 0:i.call(window,"(prefers-color-scheme: light)"))==null?void 0:l.matches)));const r=t?J_:V_,n=la({palette:{mode:r.mode,primary:{main:r.colors.primary},background:{default:r.colors.background.default,paper:r.colors.background.panel}},typography:{allVariants:{color:r.colors.textDefault}},components:{MuiSelect:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor","& > div":{padding:"4px 16px"},"& fieldset":{border:t?"none":void 0}}}},MuiChip:{styleOverrides:{root:{backgroundColor:t?"#505968":void 0,borderRadius:"10px",color:"currentColor"}}},MuiToggleButtonGroup:{styleOverrides:{root:{"& > button":{borderRadius:"8px",textTransform:"none",paddingTop:"4px",paddingBottom:"4px",width:"100%",borderWidth:0,backgroundColor:t?"#3d4455":void 0,color:t?"rgba(255, 255, 255, 0.8)":void 0,"&.Mui-selected":t?{color:"white",backgroundColor:"#505968"}:void 0}}}},MuiTabs:{styleOverrides:{root:{backgroundColor:t?"#101629":void 0,minHeight:"42px"}}},MuiTab:{styleOverrides:{root:{minHeight:"42px",textTransform:"none","&.Mui-selected":t?{color:"white",backgroundColor:"#404554"}:void 0}}}},nova:r});return e?la(n,e):n}exports.JoggingCartesianAxisControl=ca;exports.JoggingJointRotationControl=Wl;exports.JoggingPanel=F_;exports.NoMotionGroupModal=U_;exports.PresetEnvironment=sf;exports.Robot=af;exports.SafetyZonesRenderer=uf;exports.SupportedRobot=ol;exports.VelocitySlider=ql;exports.WandelscriptEditor=kd;exports.createNovaMuiTheme=G_;exports.defaultAxisConfig=B_;exports.defaultGetModel=Sa;exports.useAnimationFrame=wr;exports.useAutorun=rl;exports.useMounted=eo;exports.useReaction=nl;
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