@wandelbots/wandelbots-js-react-components 1.20.2 → 1.20.3

package/dist/index.cjs

@@ -80,5 +80,5 @@ const theme2 = createTheme({ palette: {
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B_="(^joint_[0-9]+$)|(_J[0-9]+$)";function Pu(e){return e.children.length===0?[e]:[e,...e.children.flatMap(t=>Pu(t))]}function U_(e,t){return new RegExp(t??B_).test(e)}function Tu(e,t){return Pu(e).filter(n=>U_(n.name,t))}function Mu({rapidlyChangingMotionState:e,jointCollector:t,onRotationChanged:n,robotConfig:r,children:a}){b.Globals.assign({frameLoop:"always"});const s=Z.useRef([]),i=Z.useRef([]),{invalidate:l}=Ju.useThree();function u(y){y&&(i.current=t?t(y):Tu(y),m(),l())}function c(y){s.current=y,_.start(Object.assign({},s.current))}const d=(r==null?void 0:r.rotationSign)||[1,1,1,1,1,1],h=(r==null?void 0:r.rotationOffsets)||[0,0,0,0,0,0];function m(){const y=i.current.map((p,S)=>v[S].get());if(n)n(i.current,y);else for(const[p,S]of i.current.entries())S.rotation.y=d[p]*y[p]+h[p]}dl(()=>{const y=e.state.joint_position.joints.filter(p=>p!==void 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o.jsx(Z.Suspense,{fallback:o.jsx(ha,{}),children:o.jsx(H_,{value:e.code,onMount:(l,u)=>{i(u)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:r,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function Ou(){var t,n,r,a,s,i;const e=O.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 255, 255, 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0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(r=(n=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:n.tonal)==null?void 0:r.toString()}}]},MuiDivider:{styleOverrides:{root:{border:"1px solid"}}},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiFab:{styleOverrides:{root:{background:(i=(s=e.paletteExt)==null?void 0:s.secondary)==null?void 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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 Jo(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();try{await this.jogger.nova.api.motionGroupJogging.stopJogging(this.jogger.motionGroupId)}catch(r){console.error(r)}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=Lt.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 A_}get discreteIncrementOptions(){return ho}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:ho.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=C_();this.locks.add(n);try{return await t()}finally{this.locks.delete(n)}}}const P_=on(Oe.observer(e=>{const t=po.isString(e.nova)?new Lt.NovaClient({instanceUrl:e.nova}):e.nova,n=Oe.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 Jo.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,e.motionGroupId]),Z.useEffect(()=>{const a=n.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),o.jsx(O.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:n.joggingStore?o.jsx(T_,{store:n.joggingStore,children:e.children}):o.jsx(ha,{message:"Loading jogging",error:n.loadingError})})})),T_=Oe.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)}}),Io(()=>[e.currentTab,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState==="active"&&e.activate()});function 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o.jsx(Z.Suspense,{fallback:o.jsx(ha,{}),children:o.jsx(H_,{value:e.code,onMount:(l,u)=>{i(u)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:r,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function Ou(){var t,n,r,a,s,i;const e=O.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 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0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(r=(n=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:n.tonal)==null?void 0:r.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiDivider:{styleOverrides:{root:{border:"1px solid"}}},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiFab:{styleOverrides:{root:{background:(i=(s=e.paletteExt)==null?void 0:s.secondary)==null?void 0:i.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:"rgba(241, 77, 66, 1)",color:"rgba(255, 255, 255, 1)"},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:"rgba(28, 188, 135, 1)",color:"rgba(255, 255, 255, 1)"},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:"rgba(2, 136, 209, 1)",color:"rgba(255, 255, 255, 1)"}}}}}}function X_(){const e=Ou();return e.palette.mode="light",e}function Y_(e){var n,r,a,s;let t=!0;return((n=e.palette)==null?void 0:n.mode)==="light"?t=!1:((r=e.palette)==null?void 0:r.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(a=window.matchMedia)==null?void 0:a.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches))),t?Ou():X_()}exports.JoggingCartesianAxisControl=Qa;exports.JoggingJointRotationControl=yl;exports.JoggingPanel=P_;exports.LoadingCover=ha;exports.LoadingErrorMessage=Vl;exports.NoMotionGroupModal=I_;exports.PresetEnvironment=Hu;exports.Robot=G_;exports.SafetyZonesRenderer=Yu;exports.SelectableFab=W_;exports.SupportedRobot=Iu;exports.VelocitySlider=su;exports.WandelscriptEditor=q_;exports.createNovaMuiTheme=Y_;exports.defaultAxisConfig=O_;exports.defaultGetModel=Vo;exports.useAnimationFrame=Sr;exports.useAutorun=dl;exports.useMounted=sa;exports.useReaction=Io;
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