@wandelbots/wandelbots-js-react-components 1.17.0 → 1.17.2

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Files changed (7) hide show
  1. package/dist/components/jogging/JoggingStore.d.ts.map +1 -1
  2. package/dist/index.cjs +1 -1
  3. package/dist/index.cjs.map +1 -1
  4. package/dist/index.js +11 -2
  5. package/dist/index.js.map +1 -1
  6. package/package.json +1 -1
  7. package/src/components/jogging/JoggingStore.tsx +12 -0
package/dist/components/jogging/JoggingStore.d.ts.map CHANGED
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package/dist/index.cjs CHANGED
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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=((o=n[0])==null?void 0:o.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",mt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(mt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:o}]=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 Vo(t,n,a||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}async deactivate(t={}){if(this.activationState==="inactive")return;const r=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),r&&await r.closed(),t.requireManualReactivation&&mt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){const{currentTab:r,selectedTcpId:n,activeCoordSystemId:a,activeDiscreteIncrement:o,jogger:i}=this;if(this.activationState!=="loading"&&!(this.manualActivationRequired&&!t.manual)){if(mt.runInAction(()=>{this.activationState="loading",this.activationError=null}),r.id==="cartesian"){const l={tcpId:n,coordSystemId:a};o?i.setJoggingMode("increment",l):i.setJoggingMode("cartesian",l)}else i.setJoggingMode("joint");if(i.activeWebsocket)try{i.stop(),await i.activeWebsocket.nextMessage()}catch(l){mt.runInAction(()=>{this.activationState="inactive",this.activationError=l});return}mt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}loadFromLocalStorage(){const t=Ft.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 D_}get discreteIncrementOptions(){return go}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 activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:go.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 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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=((o=n[0])==null?void 0:o.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",mt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(mt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:o}]=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 Vo(t,n,a||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}async deactivate(t={}){if(this.activationState==="inactive")return;const r=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),r&&await r.closed(),t.requireManualReactivation&&mt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){const{currentTab:r,selectedTcpId:n,activeCoordSystemId:a,activeDiscreteIncrement:o,jogger:i}=this;if(this.activationState!=="loading"&&!(this.manualActivationRequired&&!t.manual)){mt.runInAction(()=>{this.activationState="loading",this.activationError=null});try{await this.jogger.nova.api.controller.setDefaultMode(this.jogger.motionStream.controllerId,"MODE_CONTROL")}catch(l){console.error(l)}if(r.id==="cartesian"){const l={tcpId:n,coordSystemId:a};o?i.setJoggingMode("increment",l):i.setJoggingMode("cartesian",l)}else i.setJoggingMode("joint");if(i.activeWebsocket)try{i.stop(),await i.activeWebsocket.nextMessage()}catch(l){mt.runInAction(()=>{this.activationState="inactive",this.activationError=l});return}mt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}loadFromLocalStorage(){const t=Ft.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 D_}get discreteIncrementOptions(){return go}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 activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:go.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=F_();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const Ri=e=>s.jsx(E.Stack,{position:"absolute",left:0,top:0,width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{backgroundColor:"rgba(0, 0, 0, 0.5)",backdropFilter:"blur(10px)",zIndex:100},...e}),B_=en(De.observer(e=>{vt.useTranslation();const t=Ci.isString(e.nova)?new Ft.NovaClient({instanceUrl:e.nova}):e.nova,r=De.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){mt.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const a=await t.connectJogger(e.motionGroupId),o=await Vo.loadFor(a);mt.runInAction(()=>{r.joggingStore=o}),e.onSetup&&e.onSetup(o)}catch(a){r.loadingError=a}}return Z.useEffect(()=>(n(),()=>{var a;(a=r.joggingStore)==null||a.dispose()}),[e.nova]),Z.useEffect(()=>{const a=r.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),s.jsx(E.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:s.jsx(E.Paper,{sx:{height:"100%"},children:r.joggingStore?s.jsx(U_,{store:r.joggingStore,children:e.children}):s.jsx(ea,{message:"Loading jogging",error:r.loadingError})})})})),U_=De.observer(({store:e,children:t})=>{const{t:r}=vt.useTranslation();Z.useEffect(()=>{function o(){e.deactivate()}function i(){e.activate()}return window.addEventListener("blur",o),window.addEventListener("focus",i),()=>{window.removeEventListener("blur",o),window.removeEventListener("focus",i)}}),So(()=>[e.currentTab,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState==="active"&&e.activate()});function n(){if(e.activationState==="inactive"&&!e.activationError)return s.jsx(Ri,{children:s.jsx(E.Button,{color:"primary",variant:"contained",onClick:()=>e.activate({manual:!0}),disabled:e.isLocked,children:r("Jogging.Activate.bt")})});if(e.activationState==="loading"||e.activationError)return s.jsx(Ri,{children:s.jsx(ea,{message:r("Jogging.Activating.lb"),error:e.activationError})})}function a(){if(e.currentTab.id==="cartesian")return s.jsxs(s.Fragment,{children:[s.jsx(Y1,{store:e}),t]});if(e.currentTab.id==="joint")return s.jsxs(s.Fragment,{children:[s.jsx(Q1,{store:e}),t]})}return s.jsxs(E.Stack,{flexGrow:1,height:"100%",children:[s.jsx(E.Tabs,{value:e.tabIndex,onChange:e.onTabChange,children:e.tabs.map(o=>s.jsx(E.Tab,{label:o.label,id:`jogging-tab-${o.id}`,"aria-controls":`jogging-tab-${o.id}`},o.id))}),s.jsxs(E.Stack,{flexGrow:1,position:"relative",children:[n(),a()]})]})});function J_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function V_({baseUrl:e=J_(),...t}){return s.jsxs(E.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(E.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),s.jsxs(E.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[s.jsx(E.Typography,{color:"#fff",children:"Found no devices to connect to."}),s.jsx(E.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),s.jsx(E.DialogActions,{children:s.jsxs(E.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[s.jsx(E.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),s.jsx(E.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const G_=Array(6).fill(2*Math.PI),ft={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"},z_={mode:"dark",colors:{primary:ft.skyblue500,textDefault:ft.white,textSubtle:ft.midnightgray,background:{default:ft.darkishblue,panel:ft.darkestblue}}},W_={mode:"light",colors:{primary:ft.skyblue500,textDefault:ft.darkishblue,textSubtle:ft.midnightgray,background:{default:ft.skyblue500,panel:ft.white}}};function K_(e){var a,o,i,l;let t=!0;((a=e.palette)==null?void 0:a.mode)==="light"?t=!1:((o=e.palette)==null?void 0:o.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?z_:W_,n=lo({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?lo(n,e):n}exports.JoggingCartesianAxisControl=uo;exports.JoggingJointRotationControl=Hl;exports.JoggingPanel=B_;exports.LoadingCover=ea;exports.LoadingErrorMessage=rl;exports.NoMotionGroupModal=V_;exports.PresetEnvironment=lm;exports.Robot=im;exports.SafetyZonesRenderer=dm;exports.SupportedRobot=sl;exports.VelocitySlider=Zl;exports.WandelscriptEditor=$d;exports.createNovaMuiTheme=K_;exports.defaultAxisConfig=G_;exports.defaultGetModel=xo;exports.useAnimationFrame=wr;exports.useAutorun=ol;exports.useMounted=ta;exports.useReaction=So;
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