@wandelbots/wandelbots-js-react-components 1.17.6 → 1.17.7

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Files changed (12) hide show
  1. package/dist/components/jogging/JoggingCartesianTab.d.ts +3 -1
  2. package/dist/components/jogging/JoggingCartesianTab.d.ts.map +1 -1
  3. package/dist/components/jogging/JoggingJointTab.d.ts +3 -1
  4. package/dist/components/jogging/JoggingJointTab.d.ts.map +1 -1
  5. package/dist/index.cjs +1 -1
  6. package/dist/index.cjs.map +1 -1
  7. package/dist/index.js +149 -149
  8. package/dist/index.js.map +1 -1
  9. package/package.json +1 -1
  10. package/src/components/jogging/JoggingCartesianTab.tsx +20 -11
  11. package/src/components/jogging/JoggingJointTab.tsx +3 -2
  12. package/src/components/jogging/JoggingPanel.tsx +2 -4
package/dist/components/jogging/JoggingCartesianTab.d.ts CHANGED
@@ -1,6 +1,8 @@
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+ import type { ReactNode } from "react";
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  import type { JoggingStore } from "./JoggingStore";
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- export declare const JoggingCartesianTab: (({ store }: {
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+ export declare const JoggingCartesianTab: (({ store, children }: {
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  store: JoggingStore;
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+ children?: ReactNode;
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  }) => import("react/jsx-runtime").JSX.Element) & {
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  displayName: string;
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  };
package/dist/components/jogging/JoggingCartesianTab.d.ts.map CHANGED
@@ -1 +1 @@
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+ {"version":3,"file":"JoggingCartesianTab.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/JoggingCartesianTab.tsx"],"names":[],"mappings":"AAQA,OAAO,KAAK,EAAE,SAAS,EAAE,MAAM,OAAO,CAAA;AAYtC,OAAO,KAAK,EAA2B,YAAY,EAAE,MAAM,gBAAgB,CAAA;AAS3E,eAAO,MAAM,mBAAmB,yBACR;IAAE,KAAK,EAAE,YAAY,CAAC;IAAC,QAAQ,CAAC,EAAE,SAAS,CAAA;CAAE;;CAiPpE,CAAA"}
package/dist/components/jogging/JoggingJointTab.d.ts CHANGED
@@ -1,6 +1,8 @@
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+ import type { ReactNode } from "react";
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  import type { JoggingStore } from "./JoggingStore";
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- export declare const JoggingJointTab: (({ store }: {
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+ export declare const JoggingJointTab: (({ store, children }: {
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  store: JoggingStore;
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+ children: ReactNode;
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  }) => import("react/jsx-runtime").JSX.Element) & {
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  displayName: string;
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  };
package/dist/components/jogging/JoggingJointTab.d.ts.map CHANGED
@@ -1 +1 @@
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- {"version":3,"file":"JoggingJointTab.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/JoggingJointTab.tsx"],"names":[],"mappings":"AAOA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAA;AAGlD,eAAO,MAAM,eAAe,eACd;IAAE,KAAK,EAAE,YAAY,CAAA;CAAE;;CAqFpC,CAAA"}
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+ {"version":3,"file":"JoggingJointTab.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/JoggingJointTab.tsx"],"names":[],"mappings":"AAGA,OAAO,KAAK,EAAE,SAAS,EAAE,MAAM,OAAO,CAAA;AAKtC,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAA;AAGlD,eAAO,MAAM,eAAe,yBACJ;IAAE,KAAK,EAAE,YAAY,CAAC;IAAC,QAAQ,EAAE,SAAS,CAAA;CAAE;;CAqFnE,CAAA"}
package/dist/index.cjs CHANGED
@@ -80,5 +80,5 @@ const theme2 = createTheme({ palette: {
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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 r)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((s=r[0])==null?void 0:s.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",dt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(dt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:n}=t,[r,{coordinatesystems:a},{tcps:s}]=await Promise.all([n.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),n.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),n.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new zo(t,r,a||[],s||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}async deactivate(t={}){if(this.activationState==="inactive")return;const n=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),n&&await n.closed(),t.requireManualReactivation&&dt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){const{currentTab:n,selectedTcpId:r,activeCoordSystemId:a,activeDiscreteIncrement:s,jogger:i}=this;if(this.activationState!=="loading"&&!(this.manualActivationRequired&&!t.manual)){dt.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(n.id==="cartesian"){const l={tcpId:r,coordSystemId:a};s?i.setJoggingMode("increment",l):i.setJoggingMode("cartesian",l)}else i.setJoggingMode("joint");if(i.activeWebsocket)try{i.stop(),await i.activeWebsocket.nextMessage()}catch(l){dt.runInAction(()=>{this.activationState="inactive",this.activationError=l});return}dt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}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 B_}get discreteIncrementOptions(){return yo}get incrementOptionsById(){return xn(this.incrementOptions,t=>t.id)}get tabsById(){return xn(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 xn(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 xn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:yo.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,n){const r=this.tabs[n]||this.tabs[0];this.selectedTabId=r.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 n=D_();this.locks.add(n);try{return await t()}finally{this.locks.delete(n)}}}const U_=Qr(Ie.observer(e=>{const t=_o.isString(e.nova)?new $t.NovaClient({instanceUrl:e.nova}):e.nova,n=Ie.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function r(){dt.runInAction(()=>{n.loadingError=null,n.joggingStore=null});try{const a=await t.connectJogger(e.motionGroupId),s=await zo.loadFor(a);dt.runInAction(()=>{n.joggingStore=s}),e.onSetup&&e.onSetup(s)}catch(a){n.loadingError=a}}return Z.useEffect(()=>(r(),()=>{var a;(a=n.joggingStore)==null||a.dispose()}),[e.nova]),Z.useEffect(()=>{const a=n.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),o.jsx(M.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:o.jsx(M.Paper,{sx:{height:"100%"},children:n.joggingStore?o.jsx(J_,{store:n.joggingStore,children:e.children}):o.jsx(Qn,{message:"Loading jogging",error:n.loadingError})})})})),J_=Ie.observer(({store:e,children:t})=>{Z.useEffect(()=>{function r(){e.deactivate()}function a(){e.activate()}return window.addEventListener("blur",r),window.addEventListener("focus",a),()=>{window.removeEventListener("blur",r),window.removeEventListener("focus",a)}}),wo(()=>[e.currentTab,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState==="active"&&e.activate()});function n(){if(e.currentTab.id==="cartesian")return o.jsxs(o.Fragment,{children:[o.jsx(Z1,{store:e}),t]});if(e.currentTab.id==="joint")return o.jsxs(o.Fragment,{children:[o.jsx(e_,{store:e}),t]})}return o.jsxs(M.Stack,{flexGrow:1,height:"100%",children:[o.jsx(M.Tabs,{value:e.tabIndex,onChange:e.onTabChange,children:e.tabs.map(r=>o.jsx(M.Tab,{label:r.label,id:`jogging-tab-${r.id}`,"aria-controls":`jogging-tab-${r.id}`},r.id))}),o.jsx(M.Stack,{flexGrow:1,position:"relative",children:n()})]})});function V_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function G_({baseUrl:e=V_(),...t}){return o.jsxs(M.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[o.jsx(M.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),o.jsxs(M.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[o.jsx(M.Typography,{color:"#fff",children:"Found no devices to connect to."}),o.jsx(M.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),o.jsx(M.DialogActions,{children:o.jsxs(M.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[o.jsx(M.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),o.jsx(M.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const z_=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"},W_={mode:"dark",colors:{primary:ht.skyblue500,textDefault:ht.white,textSubtle:ht.midnightgray,background:{default:ht.darkishblue,panel:ht.darkestblue}}},K_={mode:"light",colors:{primary:ht.skyblue500,textDefault:ht.darkishblue,textSubtle:ht.midnightgray,background:{default:ht.skyblue500,panel:ht.white}}};function H_(e){var a,s,i,l;let t=!0;((a=e.palette)==null?void 0:a.mode)==="light"?t=!1:((s=e.palette)==null?void 0:s.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 n=t?W_:K_,r=uo({palette:{mode:n.mode,primary:{main:n.colors.primary},background:{default:n.colors.background.default,paper:n.colors.background.panel}},typography:{allVariants:{color:n.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:n});return e?uo(r,e):r}exports.JoggingCartesianAxisControl=co;exports.JoggingJointRotationControl=lu;exports.JoggingPanel=U_;exports.LoadingCover=Qn;exports.LoadingErrorMessage=tl;exports.NoMotionGroupModal=G_;exports.PresetEnvironment=cm;exports.Robot=um;exports.SafetyZonesRenderer=hm;exports.SupportedRobot=bl;exports.VelocitySlider=Ru;exports.WandelscriptEditor=Zd;exports.createNovaMuiTheme=H_;exports.defaultAxisConfig=z_;exports.defaultGetModel=jo;exports.useAnimationFrame=xr;exports.useAutorun=_l;exports.useMounted=ea;exports.useReaction=wo;
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Vo(e)&&Au(t)?Pu(_a(e),t):function(n){var r=R_(n,e);return r===void 0&&r===t?P_(n,e):ya(t,r,O_|T_)}}function I_(e){return e}function E_(e){return function(t){return t==null?void 0:t[e]}}function k_(e){return function(t){return Iu(t,e)}}function L_(e){return Vo(e)?E_(_a(e)):k_(e)}function $_(e){return typeof e=="function"?e:e==null?I_:typeof e=="object"?yt(e)?M_(e[0],e[1]):h_(e):L_(e)}function N_(e,t){return function(n,r){var a=yt(n)?r_:l_,s={};return a(n,e,$_(r),s)}}var xn=N_(function(e,t,n){t_(e,n,t)}),F_=0;function D_(e){var t=++F_;return Tu(e)+t}const yo=[{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}],B_=[{id:"continuous"},...yo];class zo{constructor(t,n,r,a){var s,i;this.jogger=t,this.motionGroupSpec=n,this.coordSystems=r,this.tcps=a,this.selectedTabId="cartesian",this.manualActivationRequired=!0,this.activationState="inactive",this.activationError=null,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 r)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((s=r[0])==null?void 0:s.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",dt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(dt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:n}=t,[r,{coordinatesystems:a},{tcps:s}]=await Promise.all([n.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),n.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),n.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new zo(t,r,a||[],s||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}async deactivate(t={}){if(this.activationState==="inactive")return;const n=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),n&&await n.closed(),t.requireManualReactivation&&dt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){const{currentTab:n,selectedTcpId:r,activeCoordSystemId:a,activeDiscreteIncrement:s,jogger:i}=this;if(this.activationState!=="loading"&&!(this.manualActivationRequired&&!t.manual)){dt.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(n.id==="cartesian"){const l={tcpId:r,coordSystemId:a};s?i.setJoggingMode("increment",l):i.setJoggingMode("cartesian",l)}else i.setJoggingMode("joint");if(i.activeWebsocket)try{i.stop(),await i.activeWebsocket.nextMessage()}catch(l){dt.runInAction(()=>{this.activationState="inactive",this.activationError=l});return}dt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}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 B_}get discreteIncrementOptions(){return yo}get incrementOptionsById(){return xn(this.incrementOptions,t=>t.id)}get tabsById(){return xn(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 xn(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 xn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:yo.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,n){const r=this.tabs[n]||this.tabs[0];this.selectedTabId=r.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 n=D_();this.locks.add(n);try{return await t()}finally{this.locks.delete(n)}}}const U_=Qr(Ie.observer(e=>{const t=_o.isString(e.nova)?new $t.NovaClient({instanceUrl:e.nova}):e.nova,n=Ie.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function r(){dt.runInAction(()=>{n.loadingError=null,n.joggingStore=null});try{const a=await t.connectJogger(e.motionGroupId),s=await zo.loadFor(a);dt.runInAction(()=>{n.joggingStore=s}),e.onSetup&&e.onSetup(s)}catch(a){n.loadingError=a}}return Z.useEffect(()=>(r(),()=>{var a;(a=n.joggingStore)==null||a.dispose()}),[e.nova]),Z.useEffect(()=>{const a=n.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),o.jsx(M.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:o.jsx(M.Paper,{sx:{height:"100%"},children:n.joggingStore?o.jsx(J_,{store:n.joggingStore,children:e.children}):o.jsx(Qn,{message:"Loading jogging",error:n.loadingError})})})})),J_=Ie.observer(({store:e,children:t})=>{Z.useEffect(()=>{function r(){e.deactivate()}function a(){e.activate()}return window.addEventListener("blur",r),window.addEventListener("focus",a),()=>{window.removeEventListener("blur",r),window.removeEventListener("focus",a)}}),wo(()=>[e.currentTab,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState==="active"&&e.activate()});function n(){if(e.currentTab.id==="cartesian")return o.jsx(o.Fragment,{children:o.jsx(Z1,{store:e,children:t})});if(e.currentTab.id==="joint")return o.jsx(o.Fragment,{children:o.jsx(e_,{store:e,children:t})})}return o.jsxs(M.Stack,{flexGrow:1,height:"100%",children:[o.jsx(M.Tabs,{value:e.tabIndex,onChange:e.onTabChange,children:e.tabs.map(r=>o.jsx(M.Tab,{label:r.label,id:`jogging-tab-${r.id}`,"aria-controls":`jogging-tab-${r.id}`},r.id))}),o.jsx(M.Stack,{flexGrow:1,position:"relative",children:n()})]})});function V_(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function G_({baseUrl:e=V_(),...t}){return o.jsxs(M.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[o.jsx(M.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),o.jsxs(M.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[o.jsx(M.Typography,{color:"#fff",children:"Found no devices to connect to."}),o.jsx(M.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),o.jsx(M.DialogActions,{children:o.jsxs(M.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[o.jsx(M.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),o.jsx(M.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const z_=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"},W_={mode:"dark",colors:{primary:ht.skyblue500,textDefault:ht.white,textSubtle:ht.midnightgray,background:{default:ht.darkishblue,panel:ht.darkestblue}}},K_={mode:"light",colors:{primary:ht.skyblue500,textDefault:ht.darkishblue,textSubtle:ht.midnightgray,background:{default:ht.skyblue500,panel:ht.white}}};function H_(e){var a,s,i,l;let t=!0;((a=e.palette)==null?void 0:a.mode)==="light"?t=!1:((s=e.palette)==null?void 0:s.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 n=t?W_:K_,r=uo({palette:{mode:n.mode,primary:{main:n.colors.primary},background:{default:n.colors.background.default,paper:n.colors.background.panel}},typography:{allVariants:{color:n.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:n});return e?uo(r,e):r}exports.JoggingCartesianAxisControl=co;exports.JoggingJointRotationControl=lu;exports.JoggingPanel=U_;exports.LoadingCover=Qn;exports.LoadingErrorMessage=tl;exports.NoMotionGroupModal=G_;exports.PresetEnvironment=cm;exports.Robot=um;exports.SafetyZonesRenderer=hm;exports.SupportedRobot=bl;exports.VelocitySlider=Ru;exports.WandelscriptEditor=Zd;exports.createNovaMuiTheme=H_;exports.defaultAxisConfig=z_;exports.defaultGetModel=jo;exports.useAnimationFrame=xr;exports.useAutorun=_l;exports.useMounted=ea;exports.useReaction=wo;
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