@wandelbots/wandelbots-js-react-components 2.32.0-pr.feature-robot-precondition-list.372.5d8a86e → 2.32.0-pr.feature-robot-precondition-list.372.82f340f

package/dist/index.cjs

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  * use-sync-external-store-shim/with-selector.development.js
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_l=({params:e,store:t})=>(Nt(()=>{t.update(r=>Y({},r,{experimentalFeatures:e.experimentalFeatures}))},[t,e.experimentalFeatures]),{});_l.params={experimentalFeatures:!0};_l.getInitialState=({experimentalFeatures:e})=>({experimentalFeatures:e});const Zb=e=>e.experimentalFeatures,dp=pe([Zb],e=>!!(e!=null&&e.preferStrictDomainInLineCharts));let uu=0;const ev=()=>(uu+=1,`mui-chart-${uu}`),El=({params:e,store:t})=>(I.useEffect(()=>{t.update(r=>e.id===void 0||e.id===r.id.providedChartId&&r.id.chartId!==void 0?r:Y({},r,{id:Y({},r.id,{chartId:e.id??ev()})}))},[t,e.id]),{});El.params={id:!0};El.getInitialState=({id:e})=>({id:{chartId:e,providedChartId:e}});const tv=e=>e.id,rv=pe([tv],e=>e.chartId),nv=["#4254FB","#FFB422","#FA4F58","#0DBEFF","#22BF75","#FA83B4","#FF7511"],av=["#495AFB","#FFC758","#F35865","#30C8FF","#44CE8D","#F286B3","#FF8C39"],hp=e=>e==="dark"?av:nv,pp=({series:e,colors:t,seriesConfig:r,dataset:n})=>{const a={};e.forEach((s,i)=>{var u;const l=r[s.type].getSeriesWithDefaultValues(s,i,t),c=l.id;if(a[s.type]===void 0&&(a[s.type]={series:{},seriesOrder:[]}),((u=a[s.type])==null?void 0:u.series[c])!==void 0)throw new Error(`MUI X Charts: series' id "${c}" is not unique.`);a[s.type].series[c]=l,a[s.type].seriesOrder.push(c)});const o={};return Object.keys(r).forEach(s=>{var l,c;const i=a[s];i!==void 0&&(o[s]=((c=(l=r[s])==null?void 0:l.seriesProcessor)==null?void 0:c.call(l,i,n))??a[s])}),o},ds=({params:e,store:t,seriesConfig:r})=>{const{series:n,dataset:a,theme:o,colors:s}=e,i=I.useRef(!0);return I.useEffect(()=>{if(i.current){i.current=!1;return}t.update(l=>Y({},l,{series:Y({},l.series,{processedSeries:pp({series:n,colors:typeof s=="function"?s(o):s,seriesConfig:r,dataset:a})})}))},[s,a,n,o,r,t]),{}};ds.params={dataset:!0,series:!0,colors:!0,theme:!0};const ov=[];ds.getDefaultizedParams=({params:e})=>{var t;return Y({},e,{series:(t=e.series)!=null&&t.length?e.series:ov,colors:e.colors??hp,theme:e.theme??"light"})};ds.getInitialState=({series:e=[],colors:t,theme:r,dataset:n},a,o)=>({series:{seriesConfig:o,processedSeries:pp({series:e,colors:typeof t=="function"?t(r):t,seriesConfig:o,dataset:n})}});const mp=e=>e.series,Ca=pe([mp],e=>e.processedSeries),hs=pe([mp],e=>e.seriesConfig),sv={abort:!0,animationcancel:!0,animationend:!0,animationiteration:!0,animationstart:!0,auxclick:!0,beforeinput:!0,beforetoggle:!0,blur:!0,cancel:!0,canplay:!0,canplaythrough:!0,change:!0,click:!0,close:!0,compositionend:!0,compositionstart:!0,compositionupdate:!0,contextlost:!0,contextmenu:!0,contextrestored:!0,copy:!0,cuechange:!0,cut:!0,dblclick:!0,drag:!0,dragend:!0,dragenter:!0,dragleave:!0,dragover:!0,dragstart:!0,drop:!0,durationchange:!0,emptied:!0,ended:!0,error:!0,focus:!0,focusin:!0,focusout:!0,formdata:!0,gotpointercapture:!0,input:!0,invalid:!0,keydown:!0,keypress:!0,keyup:!0,load:!0,loadeddata:!0,loadedmetadata:!0,loadstart:!0,lostpointercapture:!0,mousedown:!0,mouseenter:!0,mouseleave:!0,mousemove:!0,mouseout:!0,mouseover:!0,mouseup:!0,paste:!0,pause:!0,play:!0,playing:!0,pointercancel:!0,pointerdown:!0,pointerenter:!0,pointerleave:!0,pointermove:!0,pointerout:!0,pointerover:!0,pointerup:!0,progress:!0,ratechange:!0,reset:!0,resize:!0,scroll:!0,scrollend:!0,securitypolicyviolation:!0,seeked:!0,seeking:!0,select:!0,selectionchange:!0,selectstart:!0,slotchange:!0,stalled:!0,submit:!0,suspend:!0,timeupdate:!0,toggle:!0,touchcancel:!0,touchend:!0,touchmove:!0,touchstart:!0,transitioncancel:!0,transitionend:!0,transitionrun:!0,transitionstart:!0,volumechange:!0,waiting:!0,webkitanimationend:!0,webkitanimationiteration:!0,webkitanimationstart:!0,webkittransitionend:!0,wheel:!0};class fp{constructor(t){if(this.name=void 0,this.preventDefault=void 0,this.stopPropagation=void 0,this.preventIf=void 0,this.requiredKeys=void 0,this.keyboardManager=void 0,this.pointerMode=void 0,this.customData={},this.pointerManager=void 0,this.gesturesRegistry=void 0,this.element=void 0,this.state=void 0,this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,!t||!t.name)throw new Error("Gesture must be initialized with a valid name.");if(t.name in sv)throw new Error(`Gesture can't be created with a native event name. Tried to use "${t.name}". Please use a custom name instead.`);this.name=t.name,this.preventDefault=t.preventDefault??!1,this.stopPropagation=t.stopPropagation??!1,this.preventIf=t.preventIf??[],this.requiredKeys=t.requiredKeys??[],this.pointerMode=t.pointerMode??[]}init(t,r,n,a){this.element=t,this.pointerManager=r,this.gesturesRegistry=n,this.keyboardManager=a;const o=`${this.name}ChangeOptions`;this.element.addEventListener(o,this.handleOptionsChange.bind(this));const s=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange.bind(this))}handleOptionsChange(t){t&&t.detail&&this.updateOptions(t.detail)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode}handleStateChange(t){t&&t.detail&&this.updateState(t.detail)}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||this.element.contains(t.target)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t){if(!this.keyboardManager.areKeysPressed(this.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const r=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(n=>r[n])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange.bind(this));const r=`${this.name}ChangeState`;this.element.removeEventListener(r,this.handleStateChange.bind(this))}}class iv{constructor(){this.activeGestures=new Map}registerActiveGesture(t,r){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const n=this.activeGestures.get(t),a={gesture:r,element:t};n.add(a)}unregisterActiveGesture(t,r){const n=this.activeGestures.get(t);n&&(n.forEach(a=>{a.gesture===r&&n.delete(a)}),n.size===0&&this.activeGestures.delete(t))}getActiveGestures(t){const r=this.activeGestures.get(t);return r?Array.from(r).reduce((n,a)=>(n[a.gesture.name]=!0,n),{}):{}}isGestureActive(t,r){const n=this.activeGestures.get(t);return n?Array.from(n).some(a=>a.gesture===r):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class lv{constructor(){this.pressedKeys=new Set,this.handleKeyDown=t=>{this.pressedKeys.add(t.key)},this.handleKeyUp=t=>{this.pressedKeys.delete(t.key)},this.clearKeys=()=>{this.pressedKeys.clear()},this.initialize()}initialize(){typeof window>"u"||(window.addEventListener("keydown",this.handleKeyDown),window.addEventListener("keyup",this.handleKeyUp),window.addEventListener("blur",this.clearKeys))}areKeysPressed(t){return!t||t.length===0?!0:t.every(r=>r==="ControlOrMeta"?this.pressedKeys.has("Control")||this.pressedKeys.has("Meta"):this.pressedKeys.has(r))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class cv{constructor(t){this.root=void 0,this.touchAction=void 0,this.passive=void 0,this.preventEventInterruption=!0,this.pointers=new Map,this.gestureHandlers=new Set,this.handleInterruptEvents=r=>{if(this.preventEventInterruption&&"pointerType"in r&&r.pointerType==="touch"){r.preventDefault();return}const n=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),a=this.pointers.values().next().value;if(this.pointers.size>0&&a){Object.defineProperties(n,{clientX:{value:a.clientX},clientY:{value:a.clientY},pointerId:{value:a.pointerId},pointerType:{value:a.pointerType}});for(const[o,s]of this.pointers.entries()){const i=Y({},s,{type:"forceCancel"});this.pointers.set(o,i)}}this.notifyHandlers(n),this.pointers.clear()},this.handlePointerEvent=r=>{const{type:n,pointerId:a}=r;if(n==="pointerdown"){if(this.pointers.set(a,this.createPointerData(r)),r.target instanceof Element)try{r.target.setPointerCapture(a)}catch{}}else if(n==="pointermove")this.pointers.set(a,this.createPointerData(r));else if(n==="pointerup"||n==="pointercancel"||n==="forceCancel"){if(r.target instanceof Element)try{r.target.releasePointerCapture(a)}catch{}this.pointers.set(a,this.createPointerData(r)),this.notifyHandlers(r),this.pointers.delete(a);return}this.notifyHandlers(r)},this.root=t.root??document.documentElement,this.touchAction=t.touchAction||"auto",this.passive=t.passive!==!1,this.preventEventInterruption=t.preventEventInterruption!==!1,this.setupEventListeners()}registerGestureHandler(t){return this.gestureHandlers.add(t),()=>{this.gestureHandlers.delete(t)}}getPointers(){return new Map(this.pointers)}setupEventListeners(){this.touchAction!=="auto"&&(this.root.style.touchAction=this.touchAction),this.root.addEventListener("pointerdown",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointermove",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointerup",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointercancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("forceCancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("blur",this.handleInterruptEvents),this.root.addEventListener("contextmenu",this.handleInterruptEvents)}notifyHandlers(t){this.gestureHandlers.forEach(r=>r(this.pointers,t))}createPointerData(t){return{pointerId:t.pointerId,clientX:t.clientX,clientY:t.clientY,pageX:t.pageX,pageY:t.pageY,target:t.target,timeStamp:t.timeStamp,type:t.type,isPrimary:t.isPrimary,pressure:t.pressure,width:t.width,height:t.height,pointerType:t.pointerType,srcEvent:t}}destroy(){this.root.removeEventListener("pointerdown",this.handlePointerEvent),this.root.removeEventListener("pointermove",this.handlePointerEvent),this.root.removeEventListener("pointerup",this.handlePointerEvent),this.root.removeEventListener("pointercancel",this.handlePointerEvent),this.root.removeEventListener("forceCancel",this.handlePointerEvent),this.root.removeEventListener("blur",this.handleInterruptEvents),this.root.removeEventListener("contextmenu",this.handleInterruptEvents),this.pointers.clear(),this.gestureHandlers.clear()}}class uv{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new iv,this.pointerManager=void 0,this.keyboardManager=new lv,this.pointerManager=new cv({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(r=>{this.addGestureTemplate(r)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}setGestureState(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}registerElement(t,r,n){if(Array.isArray(t))return t.forEach(o=>{const s=n==null?void 0:n[o];this.registerSingleGesture(o,r,s)}),r;const a=n==null?void 0:n[t];return this.registerSingleGesture(t,r,a),r}registerSingleGesture(t,r,n){const a=this.gestureTemplates.get(t);if(!a)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(r)||this.elementGestureMap.set(r,new Map);const o=this.elementGestureMap.get(r);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,r));const s=a.clone(n);return s.init(r,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,r){const n=this.elementGestureMap.get(r);return!n||!n.has(t)?!1:(n.get(t).destroy(),n.delete(t),this.activeGesturesRegistry.unregisterElement(r),n.size===0&&this.elementGestureMap.delete(r),!0)}unregisterAllGestures(t){const r=this.elementGestureMap.get(t);if(r){for(const[,n]of r)n.destroy(),this.activeGesturesRegistry.unregisterElement(t);this.elementGestureMap.delete(t)}}destroy(){for(const[t]of this.elementGestureMap)this.unregisterAllGestures(t);this.gestureTemplates.clear(),this.elementGestureMap.clear(),this.activeGesturesRegistry.destroy(),this.keyboardManager.destroy()}}class Pa extends fp{constructor(t){super(t),this.unregisterHandler=null,this.originalTarget=null,this.optionsType=void 0,this.mutableOptionsType=void 0,this.minPointers=void 0,this.maxPointers=void 0,this.minPointers=t.minPointers??1,this.maxPointers=t.maxPointers??1/0}init(t,r,n,a){super.init(t,r,n,a),this.unregisterHandler=this.pointerManager.registerGestureHandler((o,s)=>this.handlePointerEvent(o,s))}updateOptions(t){super.updateOptions(t),this.minPointers=t.minPointers??this.minPointers,this.maxPointers=t.maxPointers??this.maxPointers}getRelevantPointers(t,r){return t.filter(n=>this.isPointerTypeAllowed(n.pointerType)&&(r===n.target||n.target===this.originalTarget||r===this.originalTarget||r.contains(n.target)))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function dv(e,t){const r=t.x-e.x,n=t.y-e.y;return Math.sqrt(r*r+n*n)}function ni(e){if(e.length<2)return 0;let t=0,r=0;for(let n=0;n<e.length;n+=1)for(let a=n+1;a<e.length;a+=1)t+=dv({x:e[n].clientX,y:e[n].clientY},{x:e[a].clientX,y:e[a].clientY}),r+=1;return r>0?t/r:0}function zt(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((r,n)=>(r.x+=n.clientX,r.y+=n.clientY,r),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function Sn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const qa=1e-5,Xt=1e-5,du=.15;function hv(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=pv(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?qa:du,l=o?qa:s==="horizontal"?du:qa;return Math.abs(r)>i&&(a.horizontal=r>0?"right":"left"),Math.abs(n)>l&&(a.vertical=n>0?"down":"up"),a.mainAxis=o?"diagonal":s,a}function pv(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+Xt&&a<=-22.5+Xt||a>=22.5+Xt&&a<=45+Xt||a>=135+Xt&&a<=157.5+Xt||a>=-157.5+Xt&&a<=-135+Xt}function mv(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const r=e.vertical===null||t.includes(e.vertical),n=e.horizontal===null||t.includes(e.horizontal);return r&&n}const fv=0,gv=e=>e>fv?1:e<-0?-1:0;class Vl extends Pa{constructor(t){super(t),this.state={lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.handleElementEnterBound=void 0,this.handleElementLeaveBound=void 0,this.handleElementEnterBound=this.handleElementEnter.bind(this),this.handleElementLeaveBound=this.handleElementLeave.bind(this),this.threshold=t.threshold||0}clone(t){return new Vl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("pointerenter",this.handleElementEnterBound),this.element.addEventListener("pointerleave",this.handleElementLeaveBound)}destroy(){this.element.removeEventListener("pointerenter",this.handleElementEnterBound),this.element.removeEventListener("pointerleave",this.handleElementLeaveBound),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state={lastPosition:null}}handleElementEnter(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen")return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());if(n.length>=this.minPointers&&n.length<=this.maxPointers){this.isActive=!0;const a={x:t.clientX,y:t.clientY};this.state.lastPosition=a,this.emitMoveEvent(this.element,"start",n,t),this.emitMoveEvent(this.element,"ongoing",n,t)}}handleElementLeave(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen"||!this.isActive)return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.emitMoveEvent(this.element,"end",n,t),this.resetState()}handlePointerEvent(t,r){if(r.type!=="pointermove"||r.pointerType!=="mouse"&&r.pointerType!=="pen")return;this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a||n.length<this.minPointers||n.length>this.maxPointers)return;if(this.shouldPreventGesture(a)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(a,"end",n,r);return}const o={x:r.clientX,y:r.clientY};this.state.lastPosition=o,this.isActive||(this.isActive=!0,this.emitMoveEvent(a,"start",n,r)),this.emitMoveEvent(a,"ongoing",n,r)}emitMoveEvent(t,r,n,a){const o=this.state.lastPosition||zt(n),s=this.gesturesRegistry.getActiveGestures(t),i={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,activeGestures:s,customData:this.customData},l=Sn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class Il extends Pa{constructor(t){super(t),this.state={startPointers:new Map,startCentroid:null,lastCentroid:null,movementThresholdReached:!1,totalDeltaX:0,totalDeltaY:0,activeDeltaX:0,activeDeltaY:0,lastDirection:{vertical:null,horizontal:null,mainAxis:null},lastDeltas:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.direction=void 0,this.direction=t.direction||["up","down","left","right"],this.threshold=t.threshold||0}clone(t){return new Il(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,direction:[...this.direction],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.direction=t.direction||this.direction}resetState(){this.isActive=!1,this.state=Y({},this.state,{startPointers:new Map,startCentroid:null,lastCentroid:null,lastDeltas:null,activeDeltaX:0,activeDeltaY:0,movementThresholdReached:!1,lastDirection:{vertical:null,horizontal:null,mainAxis:null}})}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancel(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.cancel(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.cancel(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(o.forEach(s=>{this.state.startPointers.set(s.pointerId,s)}),this.originalTarget=a,this.state.startCentroid=zt(o),this.state.lastCentroid=Y({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=zt(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=hv(this.state.lastCentroid??this.state.startCentroid,s),d=this.state.lastCentroid?s.x-this.state.lastCentroid.x:0,h=this.state.lastCentroid?s.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&c>=this.threshold&&mv(u,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"start",o,r,s),this.emitPanEvent(a,"ongoing",o,r,s)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"ongoing",o,r,s)),this.state.lastCentroid=s,this.state.lastDirection=u}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){if(o.filter(s=>s.type!=="pointerup"&&s.type!=="pointercancel").length<this.minPointers){const s=this.state.lastCentroid||this.state.startCentroid;r.type==="pointercancel"&&this.emitPanEvent(a,"cancel",o,r,s),this.emitPanEvent(a,"end",o,r,s),this.resetState()}}else this.resetState();break}}emitPanEvent(t,r,n,a,o){var S,E;if(!this.state.startCentroid)return;const s=((S=this.state.lastDeltas)==null?void 0:S.x)??0,i=((E=this.state.lastDeltas)==null?void 0:E.y)??0,l=this.state.startPointers.values().next().value,c=l?(a.timeStamp-l.timeStamp)/1e3:0,u=c>0?s/c:0,d=c>0?i/c:0,h=Math.sqrt(u*u+d*d),p=this.gesturesRegistry.getActiveGestures(t),f={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,deltaX:s,deltaY:i,direction:this.state.lastDirection,velocityX:u,velocityY:d,velocity:h,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,activeDeltaX:this.state.activeDeltaX,activeDeltaY:this.state.activeDeltaY,activeGestures:p,customData:this.customData},m=Sn(this.name,r),v=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(v),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancel(t,r,n){if(this.isActive){const a=t??this.element;this.emitPanEvent(a,"cancel",r,n,this.state.lastCentroid),this.emitPanEvent(a,"end",r,n,this.state.lastCentroid)}this.resetState()}}class Ml extends Pa{constructor(t){super(Y({},t,{minPointers:t.minPointers??2})),this.state={startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.threshold=t.threshold??0}clone(t){return new Ml(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state=Y({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&(this.emitPinchEvent(a,"cancel",n,r),this.resetState());return}const o=this.getRelevantPointers(n,a);switch(r.type){case"pointerdown":if(o.length>=2&&!this.isActive){const s=ni(o);this.state.startDistance=s,this.state.lastDistance=s,this.state.lastTime=r.timeStamp,this.originalTarget=a}break;case"pointermove":if(this.state.startDistance&&o.length>=this.minPointers){const s=ni(o),i=Math.abs(s-this.state.lastDistance);if(i!==0&&i>=this.threshold){const l=this.state.startDistance?s/this.state.startDistance:1,c=l/this.state.lastScale;this.state.totalScale*=c;const u=(r.timeStamp-this.state.lastTime)/1e3;if(this.state.lastDistance){const h=(s-this.state.lastDistance)/u;this.state.velocity=Number.isNaN(h)?0:h}this.state.lastDistance=s,this.state.deltaScale=l-this.state.lastScale,this.state.lastScale=l,this.state.lastTime=r.timeStamp,this.isActive?this.emitPinchEvent(a,"ongoing",o,r):(this.isActive=!0,this.emitPinchEvent(a,"start",o,r),this.emitPinchEvent(a,"ongoing",o,r))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const s=o.filter(i=>i.type!=="pointerup"&&i.type!=="pointercancel");if(s.length<this.minPointers)r.type==="pointercancel"&&this.emitPinchEvent(a,"cancel",o,r),this.emitPinchEvent(a,"end",o,r),this.resetState();else if(s.length>=2){const i=ni(s);this.state.startDistance=i/this.state.lastScale}}break}}emitPinchEvent(t,r,n,a){const o=zt(n),s=this.state.lastDistance,i=this.state.lastScale,l=this.gesturesRegistry.getActiveGestures(t),c={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,scale:i,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:s,velocity:this.state.velocity,activeGestures:l,direction:gv(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Sn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class jl extends Pa{constructor(t){super(t),this.state={startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.duration=void 0,this.maxDistance=void 0,this.duration=t.duration??500,this.maxDistance=t.maxDistance??10}clone(t){return new jl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,duration:this.duration,maxDistance:this.maxDistance,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.clearPressTimer(),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.duration=t.duration??this.duration,this.maxDistance=t.maxDistance??this.maxDistance}resetState(){this.clearPressTimer(),this.isActive=!1,this.state=Y({},this.state,{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1})}clearPressTimer(){this.state.timerId!==null&&(clearTimeout(this.state.timerId),this.state.timerId=null)}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancelPress(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&this.cancelPress(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelPress(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=zt(o),this.state.lastPosition=Y({},this.state.startCentroid),this.state.startTime=r.timeStamp,this.isActive=!0,this.originalTarget=a,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const s=this.state.lastPosition;this.emitPressEvent(a,"start",o,r,s),this.emitPressEvent(a,"ongoing",o,r,s)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=zt(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelPress(a,o,r)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const s=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(a,"end",o,r,s)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(a,o,r);break}}emitPressEvent(t,r,n,a,o){const s=this.gesturesRegistry.getActiveGestures(t),i=a.timeStamp-this.state.startTime,l={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,x:o.x,y:o.y,duration:i,activeGestures:s,customData:this.customData},c=Sn(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,detail:l});t.dispatchEvent(u),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancelPress(t,r,n){if(this.isActive&&this.state.pressThresholdReached){const a=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(t??this.element,"cancel",r,n,a),this.emitPressEvent(t??this.element,"end",r,n,a)}this.resetState()}}class $l extends Pa{constructor(t){super(t),this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.maxDistance=void 0,this.taps=void 0,this.maxDistance=t.maxDistance??10,this.taps=t.taps??1}clone(t){return new $l(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,maxDistance:this.maxDistance,taps:this.taps,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.maxDistance=t.maxDistance??this.maxDistance,this.taps=t.taps??this.taps}resetState(){this.isActive=!1,this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null}}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;const o=this.getRelevantPointers(n,a);if(this.shouldPreventGesture(a)||o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelTap(a,o,r);return}switch(r.type){case"pointerdown":this.isActive||(this.state.startCentroid=zt(o),this.state.lastPosition=Y({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=zt(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelTap(a,o,r)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const s=this.state.lastPosition||this.state.startCentroid;if(!s){this.cancelTap(a,o,r);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(a,o,r,s),this.resetState()):(this.state.lastTapTime=r.timeStamp,this.isActive=!1,this.state.startCentroid=null,setTimeout(()=>{this.state&&this.state.currentTapCount>0&&this.state.currentTapCount<this.taps&&(this.state.currentTapCount=0)},300))}break;case"pointercancel":case"forceCancel":this.cancelTap(a,o,r);break}}fireTapEvent(t,r,n,a){const o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"end",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(i),this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation()}cancelTap(t,r,n){if(this.state.startCentroid||this.state.lastPosition){const a=this.state.lastPosition||this.state.startCentroid,o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"cancel",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=Sn(this.name,"cancel"),l=new CustomEvent(i,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(l)}this.resetState()}}class kl extends fp{constructor(t){super(t),this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.sensitivity=void 0,this.max=void 0,this.min=void 0,this.initialDelta=void 0,this.invert=void 0,this.handleWheelEventBound=void 0,this.sensitivity=t.sensitivity??1,this.max=t.max??Number.MAX_SAFE_INTEGER,this.min=t.min??Number.MIN_SAFE_INTEGER,this.initialDelta=t.initialDelta??0,this.invert=t.invert??!1,this.state.totalDeltaX=this.initialDelta,this.state.totalDeltaY=this.initialDelta,this.state.totalDeltaZ=this.initialDelta,this.handleWheelEventBound=this.handleWheelEvent.bind(this)}clone(t){return new kl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,sensitivity:this.sensitivity,max:this.max,min:this.min,initialDelta:this.initialDelta,invert:this.invert,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("wheel",this.handleWheelEventBound)}destroy(){this.element.removeEventListener("wheel",this.handleWheelEventBound),this.resetState(),super.destroy()}resetState(){this.isActive=!1,this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0}}updateOptions(t){super.updateOptions(t),this.sensitivity=t.sensitivity??this.sensitivity,this.max=t.max??this.max,this.min=t.min??this.min,this.initialDelta=t.initialDelta??this.initialDelta,this.invert=t.invert??this.invert}handleWheelEvent(t){if(this.shouldPreventGesture(this.element))return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.state.totalDeltaX+=t.deltaX*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaY+=t.deltaY*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaZ+=t.deltaZ*this.sensitivity*(this.invert?-1:1),["totalDeltaX","totalDeltaY","totalDeltaZ"].forEach(a=>{this.state[a]<this.min&&(this.state[a]=this.min),this.state[a]>this.max&&(this.state[a]=this.max)}),this.emitWheelEvent(n,t)}emitWheelEvent(t,r){const n=t.length>0?zt(t):{x:r.clientX,y:r.clientY},a=this.gesturesRegistry.getActiveGestures(this.element),o={gestureName:this.name,centroid:n,target:r.target,srcEvent:r,phase:"ongoing",pointers:t,timeStamp:r.timeStamp,deltaX:r.deltaX*this.sensitivity*(this.invert?-1:1),deltaY:r.deltaY*this.sensitivity*(this.invert?-1:1),deltaZ:r.deltaZ*this.sensitivity*(this.invert?-1:1),deltaMode:r.deltaMode,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,totalDeltaZ:this.state.totalDeltaZ,activeGestures:a,customData:this.customData};this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const s=Sn(this.name,"ongoing"),i=new CustomEvent(s,{bubbles:!0,cancelable:!0,detail:o});this.element.dispatchEvent(i)}}const zr=e=>e.preventDefault(),Ul=({svgRef:e})=>{I.useEffect(()=>{const r=e.current;if(!r)return;const n=new uv({gestures:[new Il({name:"pan",threshold:0,maxPointers:1}),new Vl({name:"move",preventIf:["pan","pinch"]}),new Ml({name:"pinch",threshold:5,preventIf:["pan"]}),new kl({name:"turnWheel",sensitivity:.01,initialDelta:1}),new $l({name:"tap",maxDistance:10,preventIf:["pan","pinch"]}),new jl({name:"quickPress",duration:50,maxDistance:10})]});return n.registerElement(["pan","move","pinch","turnWheel","tap","quickPress"],r),()=>{n.destroy()}},[e]);const t=I.useCallback((r,n,a)=>{const o=e.current;return o==null||o.addEventListener(r,n,a),{cleanup:()=>o==null?void 0:o.removeEventListener(r,n)}},[e]);return I.useEffect(()=>{const r=e.current;return r==null||r.addEventListener("gesturestart",zr),r==null||r.addEventListener("gesturechange",zr),r==null||r.addEventListener("gestureend",zr),()=>{r==null||r.removeEventListener("gesturestart",zr),r==null||r.removeEventListener("gesturechange",zr),r==null||r.removeEventListener("gestureend",zr)}},[e]),{instance:{addInteractionListener:t}}};Ul.params={};Ul.getInitialState=()=>({});const yv=[El,_l,us,ds,Ul,cs],bv=["apiRef"],vv=e=>{let{plugins:t}=e,r=or(e.props,bv);const n={};t.forEach(s=>{Object.assign(n,s.params)});const a={};return Object.keys(r).forEach(s=>{const i=r[s];n[s]&&(a[s]=i)}),t.reduce((s,i)=>i.getDefaultizedParams?i.getDefaultizedParams({params:s}):s,a)};let hu=0;function xv(e,t,r){const n=ab(),a=I.useMemo(()=>[...yv,...e],[e]),o=vv({plugins:a,props:t});o.id=o.id??n;const i=I.useRef({}).current,l=Ov(t.apiRef),c=I.useRef(null),u=I.useRef(null),d=I.useRef(null);if(d.current==null){hu+=1;const f={cacheKey:{id:hu}};a.forEach(m=>{m.getInitialState&&Object.assign(f,m.getInitialState(o,f,r))}),d.current=new ob(f)}const h=f=>{const m=f({instance:i,params:o,plugins:a,store:d.current,svgRef:u,chartRootRef:c,seriesConfig:r});m.publicAPI&&Object.assign(l.current,m.publicAPI),m.instance&&Object.assign(i,m.instance)};return a.forEach(h),{contextValue:I.useMemo(()=>({store:d.current,publicAPI:l.current,instance:i,svgRef:u,chartRootRef:c}),[i,l])}}function Sv(e){return e.current==null&&(e.current={}),e}function Ov(e){const t=I.useRef({});return e?Sv(e):t}const Ll=I.createContext(null);process.env.NODE_ENV!=="production"&&(Ll.displayName="ChartContext");const pu=new Set;function ia(e,t="warning"){if(process.env.NODE_ENV==="production")return;const r=Array.isArray(e)?e.join(`
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Vl=({params:e,store:t})=>($t(()=>{t.update(r=>Y({},r,{experimentalFeatures:e.experimentalFeatures}))},[t,e.experimentalFeatures]),{});Vl.params={experimentalFeatures:!0};Vl.getInitialState=({experimentalFeatures:e})=>({experimentalFeatures:e});const Wb=e=>e.experimentalFeatures,cp=pe([Wb],e=>!!(e!=null&&e.preferStrictDomainInLineCharts));let hu=0;const Yb=()=>(hu+=1,`mui-chart-${hu}`),Il=({params:e,store:t})=>(B.useEffect(()=>{t.update(r=>e.id===void 0||e.id===r.id.providedChartId&&r.id.chartId!==void 0?r:Y({},r,{id:Y({},r.id,{chartId:e.id??Yb()})}))},[t,e.id]),{});Il.params={id:!0};Il.getInitialState=({id:e})=>({id:{chartId:e,providedChartId:e}});const Kb=e=>e.id,Qb=pe([Kb],e=>e.chartId),Xb=["#4254FB","#FFB422","#FA4F58","#0DBEFF","#22BF75","#FA83B4","#FF7511"],Zb=["#495AFB","#FFC758","#F35865","#30C8FF","#44CE8D","#F286B3","#FF8C39"],up=e=>e==="dark"?Zb:Xb,dp=({series:e,colors:t,seriesConfig:r,dataset:n})=>{const a={};e.forEach((s,i)=>{var u;const l=r[s.type].getSeriesWithDefaultValues(s,i,t),c=l.id;if(a[s.type]===void 0&&(a[s.type]={series:{},seriesOrder:[]}),((u=a[s.type])==null?void 0:u.series[c])!==void 0)throw new Error(`MUI X Charts: series' id "${c}" is not unique.`);a[s.type].series[c]=l,a[s.type].seriesOrder.push(c)});const o={};return Object.keys(r).forEach(s=>{var l,c;const i=a[s];i!==void 0&&(o[s]=((c=(l=r[s])==null?void 0:l.seriesProcessor)==null?void 0:c.call(l,i,n))??a[s])}),o},ms=({params:e,store:t,seriesConfig:r})=>{const{series:n,dataset:a,theme:o,colors:s}=e,i=B.useRef(!0);return B.useEffect(()=>{if(i.current){i.current=!1;return}t.update(l=>Y({},l,{series:Y({},l.series,{processedSeries:dp({series:n,colors:typeof s=="function"?s(o):s,seriesConfig:r,dataset:a})})}))},[s,a,n,o,r,t]),{}};ms.params={dataset:!0,series:!0,colors:!0,theme:!0};const ev=[];ms.getDefaultizedParams=({params:e})=>{var t;return Y({},e,{series:(t=e.series)!=null&&t.length?e.series:ev,colors:e.colors??up,theme:e.theme??"light"})};ms.getInitialState=({series:e=[],colors:t,theme:r,dataset:n},a,o)=>({series:{seriesConfig:o,processedSeries:dp({series:e,colors:typeof t=="function"?t(r):t,seriesConfig:o,dataset:n})}});const hp=e=>e.series,Ra=pe([hp],e=>e.processedSeries),fs=pe([hp],e=>e.seriesConfig),tv={abort:!0,animationcancel:!0,animationend:!0,animationiteration:!0,animationstart:!0,auxclick:!0,beforeinput:!0,beforetoggle:!0,blur:!0,cancel:!0,canplay:!0,canplaythrough:!0,change:!0,click:!0,close:!0,compositionend:!0,compositionstart:!0,compositionupdate:!0,contextlost:!0,contextmenu:!0,contextrestored:!0,copy:!0,cuechange:!0,cut:!0,dblclick:!0,drag:!0,dragend:!0,dragenter:!0,dragleave:!0,dragover:!0,dragstart:!0,drop:!0,durationchange:!0,emptied:!0,ended:!0,error:!0,focus:!0,focusin:!0,focusout:!0,formdata:!0,gotpointercapture:!0,input:!0,invalid:!0,keydown:!0,keypress:!0,keyup:!0,load:!0,loadeddata:!0,loadedmetadata:!0,loadstart:!0,lostpointercapture:!0,mousedown:!0,mouseenter:!0,mouseleave:!0,mousemove:!0,mouseout:!0,mouseover:!0,mouseup:!0,paste:!0,pause:!0,play:!0,playing:!0,pointercancel:!0,pointerdown:!0,pointerenter:!0,pointerleave:!0,pointermove:!0,pointerout:!0,pointerover:!0,pointerup:!0,progress:!0,ratechange:!0,reset:!0,resize:!0,scroll:!0,scrollend:!0,securitypolicyviolation:!0,seeked:!0,seeking:!0,select:!0,selectionchange:!0,selectstart:!0,slotchange:!0,stalled:!0,submit:!0,suspend:!0,timeupdate:!0,toggle:!0,touchcancel:!0,touchend:!0,touchmove:!0,touchstart:!0,transitioncancel:!0,transitionend:!0,transitionrun:!0,transitionstart:!0,volumechange:!0,waiting:!0,webkitanimationend:!0,webkitanimationiteration:!0,webkitanimationstart:!0,webkittransitionend:!0,wheel:!0};class pp{constructor(t){if(this.name=void 0,this.preventDefault=void 0,this.stopPropagation=void 0,this.preventIf=void 0,this.requiredKeys=void 0,this.keyboardManager=void 0,this.pointerMode=void 0,this.customData={},this.pointerManager=void 0,this.gesturesRegistry=void 0,this.element=void 0,this.state=void 0,this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,!t||!t.name)throw new Error("Gesture must be initialized with a valid name.");if(t.name in tv)throw new Error(`Gesture can't be created with a native event name. Tried to use "${t.name}". Please use a custom name instead.`);this.name=t.name,this.preventDefault=t.preventDefault??!1,this.stopPropagation=t.stopPropagation??!1,this.preventIf=t.preventIf??[],this.requiredKeys=t.requiredKeys??[],this.pointerMode=t.pointerMode??[]}init(t,r,n,a){this.element=t,this.pointerManager=r,this.gesturesRegistry=n,this.keyboardManager=a;const o=`${this.name}ChangeOptions`;this.element.addEventListener(o,this.handleOptionsChange.bind(this));const s=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange.bind(this))}handleOptionsChange(t){t&&t.detail&&this.updateOptions(t.detail)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode}handleStateChange(t){t&&t.detail&&this.updateState(t.detail)}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||this.element.contains(t.target)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t){if(!this.keyboardManager.areKeysPressed(this.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const r=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(n=>r[n])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange.bind(this));const r=`${this.name}ChangeState`;this.element.removeEventListener(r,this.handleStateChange.bind(this))}}class rv{constructor(){this.activeGestures=new Map}registerActiveGesture(t,r){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const n=this.activeGestures.get(t),a={gesture:r,element:t};n.add(a)}unregisterActiveGesture(t,r){const n=this.activeGestures.get(t);n&&(n.forEach(a=>{a.gesture===r&&n.delete(a)}),n.size===0&&this.activeGestures.delete(t))}getActiveGestures(t){const r=this.activeGestures.get(t);return r?Array.from(r).reduce((n,a)=>(n[a.gesture.name]=!0,n),{}):{}}isGestureActive(t,r){const n=this.activeGestures.get(t);return n?Array.from(n).some(a=>a.gesture===r):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class nv{constructor(){this.pressedKeys=new Set,this.handleKeyDown=t=>{this.pressedKeys.add(t.key)},this.handleKeyUp=t=>{this.pressedKeys.delete(t.key)},this.clearKeys=()=>{this.pressedKeys.clear()},this.initialize()}initialize(){typeof window>"u"||(window.addEventListener("keydown",this.handleKeyDown),window.addEventListener("keyup",this.handleKeyUp),window.addEventListener("blur",this.clearKeys))}areKeysPressed(t){return!t||t.length===0?!0:t.every(r=>r==="ControlOrMeta"?this.pressedKeys.has("Control")||this.pressedKeys.has("Meta"):this.pressedKeys.has(r))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class av{constructor(t){this.root=void 0,this.touchAction=void 0,this.passive=void 0,this.preventEventInterruption=!0,this.pointers=new Map,this.gestureHandlers=new Set,this.handleInterruptEvents=r=>{if(this.preventEventInterruption&&"pointerType"in r&&r.pointerType==="touch"){r.preventDefault();return}const n=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),a=this.pointers.values().next().value;if(this.pointers.size>0&&a){Object.defineProperties(n,{clientX:{value:a.clientX},clientY:{value:a.clientY},pointerId:{value:a.pointerId},pointerType:{value:a.pointerType}});for(const[o,s]of this.pointers.entries()){const i=Y({},s,{type:"forceCancel"});this.pointers.set(o,i)}}this.notifyHandlers(n),this.pointers.clear()},this.handlePointerEvent=r=>{const{type:n,pointerId:a}=r;if(n==="pointerdown"){if(this.pointers.set(a,this.createPointerData(r)),r.target instanceof Element)try{r.target.setPointerCapture(a)}catch{}}else if(n==="pointermove")this.pointers.set(a,this.createPointerData(r));else if(n==="pointerup"||n==="pointercancel"||n==="forceCancel"){if(r.target instanceof Element)try{r.target.releasePointerCapture(a)}catch{}this.pointers.set(a,this.createPointerData(r)),this.notifyHandlers(r),this.pointers.delete(a);return}this.notifyHandlers(r)},this.root=t.root??document.documentElement,this.touchAction=t.touchAction||"auto",this.passive=t.passive!==!1,this.preventEventInterruption=t.preventEventInterruption!==!1,this.setupEventListeners()}registerGestureHandler(t){return this.gestureHandlers.add(t),()=>{this.gestureHandlers.delete(t)}}getPointers(){return new Map(this.pointers)}setupEventListeners(){this.touchAction!=="auto"&&(this.root.style.touchAction=this.touchAction),this.root.addEventListener("pointerdown",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointermove",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointerup",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointercancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("forceCancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("blur",this.handleInterruptEvents),this.root.addEventListener("contextmenu",this.handleInterruptEvents)}notifyHandlers(t){this.gestureHandlers.forEach(r=>r(this.pointers,t))}createPointerData(t){return{pointerId:t.pointerId,clientX:t.clientX,clientY:t.clientY,pageX:t.pageX,pageY:t.pageY,target:t.target,timeStamp:t.timeStamp,type:t.type,isPrimary:t.isPrimary,pressure:t.pressure,width:t.width,height:t.height,pointerType:t.pointerType,srcEvent:t}}destroy(){this.root.removeEventListener("pointerdown",this.handlePointerEvent),this.root.removeEventListener("pointermove",this.handlePointerEvent),this.root.removeEventListener("pointerup",this.handlePointerEvent),this.root.removeEventListener("pointercancel",this.handlePointerEvent),this.root.removeEventListener("forceCancel",this.handlePointerEvent),this.root.removeEventListener("blur",this.handleInterruptEvents),this.root.removeEventListener("contextmenu",this.handleInterruptEvents),this.pointers.clear(),this.gestureHandlers.clear()}}class ov{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new rv,this.pointerManager=void 0,this.keyboardManager=new nv,this.pointerManager=new av({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(r=>{this.addGestureTemplate(r)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}setGestureState(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}registerElement(t,r,n){if(Array.isArray(t))return t.forEach(o=>{const s=n==null?void 0:n[o];this.registerSingleGesture(o,r,s)}),r;const a=n==null?void 0:n[t];return this.registerSingleGesture(t,r,a),r}registerSingleGesture(t,r,n){const a=this.gestureTemplates.get(t);if(!a)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(r)||this.elementGestureMap.set(r,new Map);const o=this.elementGestureMap.get(r);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,r));const s=a.clone(n);return s.init(r,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,r){const n=this.elementGestureMap.get(r);return!n||!n.has(t)?!1:(n.get(t).destroy(),n.delete(t),this.activeGesturesRegistry.unregisterElement(r),n.size===0&&this.elementGestureMap.delete(r),!0)}unregisterAllGestures(t){const r=this.elementGestureMap.get(t);if(r){for(const[,n]of r)n.destroy(),this.activeGesturesRegistry.unregisterElement(t);this.elementGestureMap.delete(t)}}destroy(){for(const[t]of this.elementGestureMap)this.unregisterAllGestures(t);this.gestureTemplates.clear(),this.elementGestureMap.clear(),this.activeGesturesRegistry.destroy(),this.keyboardManager.destroy()}}class Aa extends pp{constructor(t){super(t),this.unregisterHandler=null,this.originalTarget=null,this.optionsType=void 0,this.mutableOptionsType=void 0,this.minPointers=void 0,this.maxPointers=void 0,this.minPointers=t.minPointers??1,this.maxPointers=t.maxPointers??1/0}init(t,r,n,a){super.init(t,r,n,a),this.unregisterHandler=this.pointerManager.registerGestureHandler((o,s)=>this.handlePointerEvent(o,s))}updateOptions(t){super.updateOptions(t),this.minPointers=t.minPointers??this.minPointers,this.maxPointers=t.maxPointers??this.maxPointers}getRelevantPointers(t,r){return t.filter(n=>this.isPointerTypeAllowed(n.pointerType)&&(r===n.target||n.target===this.originalTarget||r===this.originalTarget||r.contains(n.target)))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function sv(e,t){const r=t.x-e.x,n=t.y-e.y;return Math.sqrt(r*r+n*n)}function si(e){if(e.length<2)return 0;let t=0,r=0;for(let n=0;n<e.length;n+=1)for(let a=n+1;a<e.length;a+=1)t+=sv({x:e[n].clientX,y:e[n].clientY},{x:e[a].clientX,y:e[a].clientY}),r+=1;return r>0?t/r:0}function Ht(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((r,n)=>(r.x+=n.clientX,r.y+=n.clientY,r),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function Cn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Wa=1e-5,er=1e-5,pu=.15;function iv(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=lv(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?Wa:pu,l=o?Wa:s==="horizontal"?pu:Wa;return Math.abs(r)>i&&(a.horizontal=r>0?"right":"left"),Math.abs(n)>l&&(a.vertical=n>0?"down":"up"),a.mainAxis=o?"diagonal":s,a}function lv(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+er&&a<=-22.5+er||a>=22.5+er&&a<=45+er||a>=135+er&&a<=157.5+er||a>=-157.5+er&&a<=-135+er}function cv(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const r=e.vertical===null||t.includes(e.vertical),n=e.horizontal===null||t.includes(e.horizontal);return r&&n}const uv=0,dv=e=>e>uv?1:e<-0?-1:0;class Ml extends Aa{constructor(t){super(t),this.state={lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.handleElementEnterBound=void 0,this.handleElementLeaveBound=void 0,this.handleElementEnterBound=this.handleElementEnter.bind(this),this.handleElementLeaveBound=this.handleElementLeave.bind(this),this.threshold=t.threshold||0}clone(t){return new Ml(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("pointerenter",this.handleElementEnterBound),this.element.addEventListener("pointerleave",this.handleElementLeaveBound)}destroy(){this.element.removeEventListener("pointerenter",this.handleElementEnterBound),this.element.removeEventListener("pointerleave",this.handleElementLeaveBound),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state={lastPosition:null}}handleElementEnter(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen")return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());if(n.length>=this.minPointers&&n.length<=this.maxPointers){this.isActive=!0;const a={x:t.clientX,y:t.clientY};this.state.lastPosition=a,this.emitMoveEvent(this.element,"start",n,t),this.emitMoveEvent(this.element,"ongoing",n,t)}}handleElementLeave(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen"||!this.isActive)return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.emitMoveEvent(this.element,"end",n,t),this.resetState()}handlePointerEvent(t,r){if(r.type!=="pointermove"||r.pointerType!=="mouse"&&r.pointerType!=="pen")return;this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a||n.length<this.minPointers||n.length>this.maxPointers)return;if(this.shouldPreventGesture(a)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(a,"end",n,r);return}const o={x:r.clientX,y:r.clientY};this.state.lastPosition=o,this.isActive||(this.isActive=!0,this.emitMoveEvent(a,"start",n,r)),this.emitMoveEvent(a,"ongoing",n,r)}emitMoveEvent(t,r,n,a){const o=this.state.lastPosition||Ht(n),s=this.gesturesRegistry.getActiveGestures(t),i={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,activeGestures:s,customData:this.customData},l=Cn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class jl extends Aa{constructor(t){super(t),this.state={startPointers:new Map,startCentroid:null,lastCentroid:null,movementThresholdReached:!1,totalDeltaX:0,totalDeltaY:0,activeDeltaX:0,activeDeltaY:0,lastDirection:{vertical:null,horizontal:null,mainAxis:null},lastDeltas:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.direction=void 0,this.direction=t.direction||["up","down","left","right"],this.threshold=t.threshold||0}clone(t){return new jl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,direction:[...this.direction],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.direction=t.direction||this.direction}resetState(){this.isActive=!1,this.state=Y({},this.state,{startPointers:new Map,startCentroid:null,lastCentroid:null,lastDeltas:null,activeDeltaX:0,activeDeltaY:0,movementThresholdReached:!1,lastDirection:{vertical:null,horizontal:null,mainAxis:null}})}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancel(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.cancel(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.cancel(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(o.forEach(s=>{this.state.startPointers.set(s.pointerId,s)}),this.originalTarget=a,this.state.startCentroid=Ht(o),this.state.lastCentroid=Y({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=Ht(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=iv(this.state.lastCentroid??this.state.startCentroid,s),d=this.state.lastCentroid?s.x-this.state.lastCentroid.x:0,h=this.state.lastCentroid?s.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&c>=this.threshold&&cv(u,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"start",o,r,s),this.emitPanEvent(a,"ongoing",o,r,s)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"ongoing",o,r,s)),this.state.lastCentroid=s,this.state.lastDirection=u}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){if(o.filter(s=>s.type!=="pointerup"&&s.type!=="pointercancel").length<this.minPointers){const s=this.state.lastCentroid||this.state.startCentroid;r.type==="pointercancel"&&this.emitPanEvent(a,"cancel",o,r,s),this.emitPanEvent(a,"end",o,r,s),this.resetState()}}else this.resetState();break}}emitPanEvent(t,r,n,a,o){var S,E;if(!this.state.startCentroid)return;const s=((S=this.state.lastDeltas)==null?void 0:S.x)??0,i=((E=this.state.lastDeltas)==null?void 0:E.y)??0,l=this.state.startPointers.values().next().value,c=l?(a.timeStamp-l.timeStamp)/1e3:0,u=c>0?s/c:0,d=c>0?i/c:0,h=Math.sqrt(u*u+d*d),p=this.gesturesRegistry.getActiveGestures(t),f={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,deltaX:s,deltaY:i,direction:this.state.lastDirection,velocityX:u,velocityY:d,velocity:h,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,activeDeltaX:this.state.activeDeltaX,activeDeltaY:this.state.activeDeltaY,activeGestures:p,customData:this.customData},m=Cn(this.name,r),b=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(b),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancel(t,r,n){if(this.isActive){const a=t??this.element;this.emitPanEvent(a,"cancel",r,n,this.state.lastCentroid),this.emitPanEvent(a,"end",r,n,this.state.lastCentroid)}this.resetState()}}class $l extends Aa{constructor(t){super(Y({},t,{minPointers:t.minPointers??2})),this.state={startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.threshold=t.threshold??0}clone(t){return new $l(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state=Y({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&(this.emitPinchEvent(a,"cancel",n,r),this.resetState());return}const o=this.getRelevantPointers(n,a);switch(r.type){case"pointerdown":if(o.length>=2&&!this.isActive){const s=si(o);this.state.startDistance=s,this.state.lastDistance=s,this.state.lastTime=r.timeStamp,this.originalTarget=a}break;case"pointermove":if(this.state.startDistance&&o.length>=this.minPointers){const s=si(o),i=Math.abs(s-this.state.lastDistance);if(i!==0&&i>=this.threshold){const l=this.state.startDistance?s/this.state.startDistance:1,c=l/this.state.lastScale;this.state.totalScale*=c;const u=(r.timeStamp-this.state.lastTime)/1e3;if(this.state.lastDistance){const h=(s-this.state.lastDistance)/u;this.state.velocity=Number.isNaN(h)?0:h}this.state.lastDistance=s,this.state.deltaScale=l-this.state.lastScale,this.state.lastScale=l,this.state.lastTime=r.timeStamp,this.isActive?this.emitPinchEvent(a,"ongoing",o,r):(this.isActive=!0,this.emitPinchEvent(a,"start",o,r),this.emitPinchEvent(a,"ongoing",o,r))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const s=o.filter(i=>i.type!=="pointerup"&&i.type!=="pointercancel");if(s.length<this.minPointers)r.type==="pointercancel"&&this.emitPinchEvent(a,"cancel",o,r),this.emitPinchEvent(a,"end",o,r),this.resetState();else if(s.length>=2){const i=si(s);this.state.startDistance=i/this.state.lastScale}}break}}emitPinchEvent(t,r,n,a){const o=Ht(n),s=this.state.lastDistance,i=this.state.lastScale,l=this.gesturesRegistry.getActiveGestures(t),c={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,scale:i,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:s,velocity:this.state.velocity,activeGestures:l,direction:dv(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Cn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class kl extends Aa{constructor(t){super(t),this.state={startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.duration=void 0,this.maxDistance=void 0,this.duration=t.duration??500,this.maxDistance=t.maxDistance??10}clone(t){return new kl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,duration:this.duration,maxDistance:this.maxDistance,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.clearPressTimer(),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.duration=t.duration??this.duration,this.maxDistance=t.maxDistance??this.maxDistance}resetState(){this.clearPressTimer(),this.isActive=!1,this.state=Y({},this.state,{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1})}clearPressTimer(){this.state.timerId!==null&&(clearTimeout(this.state.timerId),this.state.timerId=null)}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancelPress(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&this.cancelPress(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelPress(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=Ht(o),this.state.lastPosition=Y({},this.state.startCentroid),this.state.startTime=r.timeStamp,this.isActive=!0,this.originalTarget=a,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const s=this.state.lastPosition;this.emitPressEvent(a,"start",o,r,s),this.emitPressEvent(a,"ongoing",o,r,s)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Ht(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelPress(a,o,r)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const s=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(a,"end",o,r,s)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(a,o,r);break}}emitPressEvent(t,r,n,a,o){const s=this.gesturesRegistry.getActiveGestures(t),i=a.timeStamp-this.state.startTime,l={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,x:o.x,y:o.y,duration:i,activeGestures:s,customData:this.customData},c=Cn(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,detail:l});t.dispatchEvent(u),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancelPress(t,r,n){if(this.isActive&&this.state.pressThresholdReached){const a=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(t??this.element,"cancel",r,n,a),this.emitPressEvent(t??this.element,"end",r,n,a)}this.resetState()}}class Ul extends Aa{constructor(t){super(t),this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.maxDistance=void 0,this.taps=void 0,this.maxDistance=t.maxDistance??10,this.taps=t.taps??1}clone(t){return new Ul(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,maxDistance:this.maxDistance,taps:this.taps,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.maxDistance=t.maxDistance??this.maxDistance,this.taps=t.taps??this.taps}resetState(){this.isActive=!1,this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null}}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;const o=this.getRelevantPointers(n,a);if(this.shouldPreventGesture(a)||o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelTap(a,o,r);return}switch(r.type){case"pointerdown":this.isActive||(this.state.startCentroid=Ht(o),this.state.lastPosition=Y({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Ht(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelTap(a,o,r)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const s=this.state.lastPosition||this.state.startCentroid;if(!s){this.cancelTap(a,o,r);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(a,o,r,s),this.resetState()):(this.state.lastTapTime=r.timeStamp,this.isActive=!1,this.state.startCentroid=null,setTimeout(()=>{this.state&&this.state.currentTapCount>0&&this.state.currentTapCount<this.taps&&(this.state.currentTapCount=0)},300))}break;case"pointercancel":case"forceCancel":this.cancelTap(a,o,r);break}}fireTapEvent(t,r,n,a){const o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"end",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(i),this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation()}cancelTap(t,r,n){if(this.state.startCentroid||this.state.lastPosition){const a=this.state.lastPosition||this.state.startCentroid,o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"cancel",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=Cn(this.name,"cancel"),l=new CustomEvent(i,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(l)}this.resetState()}}class Dl extends pp{constructor(t){super(t),this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.sensitivity=void 0,this.max=void 0,this.min=void 0,this.initialDelta=void 0,this.invert=void 0,this.handleWheelEventBound=void 0,this.sensitivity=t.sensitivity??1,this.max=t.max??Number.MAX_SAFE_INTEGER,this.min=t.min??Number.MIN_SAFE_INTEGER,this.initialDelta=t.initialDelta??0,this.invert=t.invert??!1,this.state.totalDeltaX=this.initialDelta,this.state.totalDeltaY=this.initialDelta,this.state.totalDeltaZ=this.initialDelta,this.handleWheelEventBound=this.handleWheelEvent.bind(this)}clone(t){return new Dl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,sensitivity:this.sensitivity,max:this.max,min:this.min,initialDelta:this.initialDelta,invert:this.invert,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("wheel",this.handleWheelEventBound)}destroy(){this.element.removeEventListener("wheel",this.handleWheelEventBound),this.resetState(),super.destroy()}resetState(){this.isActive=!1,this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0}}updateOptions(t){super.updateOptions(t),this.sensitivity=t.sensitivity??this.sensitivity,this.max=t.max??this.max,this.min=t.min??this.min,this.initialDelta=t.initialDelta??this.initialDelta,this.invert=t.invert??this.invert}handleWheelEvent(t){if(this.shouldPreventGesture(this.element))return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.state.totalDeltaX+=t.deltaX*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaY+=t.deltaY*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaZ+=t.deltaZ*this.sensitivity*(this.invert?-1:1),["totalDeltaX","totalDeltaY","totalDeltaZ"].forEach(a=>{this.state[a]<this.min&&(this.state[a]=this.min),this.state[a]>this.max&&(this.state[a]=this.max)}),this.emitWheelEvent(n,t)}emitWheelEvent(t,r){const n=t.length>0?Ht(t):{x:r.clientX,y:r.clientY},a=this.gesturesRegistry.getActiveGestures(this.element),o={gestureName:this.name,centroid:n,target:r.target,srcEvent:r,phase:"ongoing",pointers:t,timeStamp:r.timeStamp,deltaX:r.deltaX*this.sensitivity*(this.invert?-1:1),deltaY:r.deltaY*this.sensitivity*(this.invert?-1:1),deltaZ:r.deltaZ*this.sensitivity*(this.invert?-1:1),deltaMode:r.deltaMode,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,totalDeltaZ:this.state.totalDeltaZ,activeGestures:a,customData:this.customData};this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const s=Cn(this.name,"ongoing"),i=new CustomEvent(s,{bubbles:!0,cancelable:!0,detail:o});this.element.dispatchEvent(i)}}const qr=e=>e.preventDefault(),Ll=({svgRef:e})=>{B.useEffect(()=>{const r=e.current;if(!r)return;const n=new ov({gestures:[new jl({name:"pan",threshold:0,maxPointers:1}),new Ml({name:"move",preventIf:["pan","pinch"]}),new $l({name:"pinch",threshold:5,preventIf:["pan"]}),new Dl({name:"turnWheel",sensitivity:.01,initialDelta:1}),new Ul({name:"tap",maxDistance:10,preventIf:["pan","pinch"]}),new kl({name:"quickPress",duration:50,maxDistance:10})]});return n.registerElement(["pan","move","pinch","turnWheel","tap","quickPress"],r),()=>{n.destroy()}},[e]);const t=B.useCallback((r,n,a)=>{const o=e.current;return o==null||o.addEventListener(r,n,a),{cleanup:()=>o==null?void 0:o.removeEventListener(r,n)}},[e]);return B.useEffect(()=>{const r=e.current;return r==null||r.addEventListener("gesturestart",qr),r==null||r.addEventListener("gesturechange",qr),r==null||r.addEventListener("gestureend",qr),()=>{r==null||r.removeEventListener("gesturestart",qr),r==null||r.removeEventListener("gesturechange",qr),r==null||r.removeEventListener("gestureend",qr)}},[e]),{instance:{addInteractionListener:t}}};Ll.params={};Ll.getInitialState=()=>({});const hv=[Il,Vl,ps,ms,Ll,hs],pv=["apiRef"],mv=e=>{let{plugins:t}=e,r=ir(e.props,pv);const n={};t.forEach(s=>{Object.assign(n,s.params)});const a={};return Object.keys(r).forEach(s=>{const i=r[s];n[s]&&(a[s]=i)}),t.reduce((s,i)=>i.getDefaultizedParams?i.getDefaultizedParams({params:s}):s,a)};let mu=0;function fv(e,t,r){const n=eb(),a=B.useMemo(()=>[...hv,...e],[e]),o=mv({plugins:a,props:t});o.id=o.id??n;const i=B.useRef({}).current,l=yv(t.apiRef),c=B.useRef(null),u=B.useRef(null),d=B.useRef(null);if(d.current==null){mu+=1;const f={cacheKey:{id:mu}};a.forEach(m=>{m.getInitialState&&Object.assign(f,m.getInitialState(o,f,r))}),d.current=new tb(f)}const h=f=>{const m=f({instance:i,params:o,plugins:a,store:d.current,svgRef:u,chartRootRef:c,seriesConfig:r});m.publicAPI&&Object.assign(l.current,m.publicAPI),m.instance&&Object.assign(i,m.instance)};return a.forEach(h),{contextValue:B.useMemo(()=>({store:d.current,publicAPI:l.current,instance:i,svgRef:u,chartRootRef:c}),[i,l])}}function gv(e){return e.current==null&&(e.current={}),e}function yv(e){const t=B.useRef({});return e?gv(e):t}const Bl=B.createContext(null);process.env.NODE_ENV!=="production"&&(Bl.displayName="ChartContext");const fu=new Set;function da(e,t="warning"){if(process.env.NODE_ENV==="production")return;const r=Array.isArray(e)?e.join(`
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i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deployCell:async(t,r,n={})=>{x("deployCell","cell",t);const a="/cells",o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(t,i,e),{url:D(o),options:i}},getCell:async(t,r={})=>{x("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},getCellStatus:async(t,r={})=>{x("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},updateCell:async(t,r,n,a={})=>{x("updateCell","cell",t),x("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}}}},Jr=function(e){const t=zE(e);return{async deleteCell(r,n,a){var l,c;const o=await t.deleteCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deployCell(r,n,a){var l,c;const o=await t.deployCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getCell(r,n){var i,l;const a=await t.getCell(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async getCellStatus(r,n){var i,l;const a=await t.getCellStatus(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async listCells(r){var s,i;const n=await t.listCells(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=j["CellApi.listCells"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,M,e)(l,o||c)},async updateCell(r,n,a,o){var c,u;const s=await t.updateCell(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class GE extends Ve{deleteCell(t,r,n){return Jr(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return Jr(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return Jr(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return Jr(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return Jr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return Jr(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const HE=function(e){return{addRobotController:async(t,r,n,a={})=>{x("addRobotController","cell",t),x("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}},clearRobotControllers:async(t,r,n={})=>{x("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{x("deleteRobotController","cell",t),x("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{x("getCurrentRobotControllerState","cell",t),x("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMode:async(t,r,n={})=>{x("getMode","cell",t),x("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getRobotController:async(t,r,n={})=>{x("getRobotController","cell",t),x("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getSupportedModes:async(t,r,n={})=>{x("getSupportedModes","cell",t),x("getSupportedModes","controller",r);const a="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{x("getVirtualRobotConfiguration","cell",t),x("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listControllers:async(t,r={})=>{x("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{x("setDefaultMode","cell",t),x("setDefaultMode","controller",r),x("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.mode=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{x("streamFreeDrive","cell",t),x("streamFreeDrive","controller",r);const o="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamModeChange:async(t,r,n={})=>{x("streamModeChange","cell",t),x("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{x("streamRobotControllerState","cell",t),x("streamRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{x("updateRobotController","cell",t),x("updateRobotController","controller",r),x("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:D(i),options:c}}}},rt=function(e){const t=HE(e);return{async addRobotController(r,n,a,o){var c,u;const s=await t.addRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async clearRobotControllers(r,n,a){var l,c;const o=await t.clearRobotControllers(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteRobotController(r,n,a,o){var c,u;const s=await t.deleteRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async getCurrentRobotControllerState(r,n,a){var l,c;const o=await t.getCurrentRobotControllerState(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getMode(r,n,a){var l,c;const o=await t.getMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getRobotController(r,n,a){var l,c;const o=await t.getRobotController(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getSupportedModes(r,n,a){var l,c;const o=await t.getSupportedModes(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getVirtualRobotConfiguration(r,n,a){var l,c;const o=await t.getVirtualRobotConfiguration(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listControllers(r,n){var i,l;const a=await t.listControllers(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async setDefaultMode(r,n,a,o){var c,u;const s=await t.setDefaultMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async streamFreeDrive(r,n,a,o){var c,u;const s=await t.streamFreeDrive(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async streamModeChange(r,n,a){var l,c;const o=await t.streamModeChange(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async streamRobotControllerState(r,n,a,o){var c,u;const s=await t.streamRobotControllerState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async updateRobotController(r,n,a,o,s){var u,d;const i=await t.updateRobotController(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)}}};class qE extends Ve{addRobotController(t,r,n,a){return rt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return rt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return rt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return rt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return rt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return rt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return rt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return rt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return rt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return rt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return rt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return rt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return rt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return rt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const JE=function(e){return{listIODescriptions:async(t,r,n,a={})=>{x("listIODescriptions","cell",t),x("listIODescriptions","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listIOValues:async(t,r,n,a={})=>{x("listIOValues","cell",t),x("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setOutputValues:async(t,r,n,a={})=>{x("setOutputValues","cell",t),x("setOutputValues","controller",r),x("setOutputValues","iOValue",n);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},streamIOValues:async(t,r,n,a={})=>{x("streamIOValues","cell",t),x("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{x("waitForIOEvent","cell",t),x("waitForIOEvent","controller",r),x("waitForIOEvent","io",n),x("waitForIOEvent","comparisonType",a);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),u=new URL(c,$);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};k(h,e),await U(p,e),n!==void 0&&(f.io=n),a!==void 0&&(f.comparison_type=a),o!==void 0&&(f.boolean_value=o),s!==void 0&&(f.integer_value=s),i!==void 0&&(f.floating_value=i),L(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:D(u),options:h}}}},Gn=function(e){const t=JE(e);return{async listIODescriptions(r,n,a,o){var c,u;const s=await t.listIODescriptions(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async listIOValues(r,n,a,o){var c,u;const s=await t.listIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async setOutputValues(r,n,a,o){var c,u;const s=await t.setOutputValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async streamIOValues(r,n,a,o){var c,u;const s=await t.streamIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async waitForIOEvent(r,n,a,o,s,i,l,c){var p,f;const u=await t.waitForIOEvent(r,n,a,o,s,i,l,c),d=(e==null?void 0:e.serverIndex)??0,h=(f=(p=j["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,v)=>F(u,_,M,e)(m,h||v)}}};class WE extends Ve{listIODescriptions(t,r,n,a){return Gn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return Gn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return Gn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return Gn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return Gn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const YE=function(e){return{addCoordinateSystem:async(t,r,n={})=>{x("addCoordinateSystem","cell",t),x("addCoordinateSystem","addRequest",r);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{x("deleteCoordinateSystem","cell",t),x("deleteCoordinateSystem","coordinateSystem",r);const a="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{x("getCoordinateSystem","cell",t),x("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{x("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.rotation_type=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{x("transformInCoordinateSystem","cell",t),x("transformInCoordinateSystem","coordinateSystem",r),x("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},Hn=function(e){const t=YE(e);return{async addCoordinateSystem(r,n,a){var l,c;const o=await t.addCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteCoordinateSystem(r,n,a){var l,c;const o=await t.deleteCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getCoordinateSystem(r,n,a,o){var c,u;const s=await t.getCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async listCoordinateSystems(r,n,a){var l,c;const o=await t.listCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async transformInCoordinateSystem(r,n,a,o){var c,u;const s=await t.transformInCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class KE extends Ve{addCoordinateSystem(t,r,n){return Hn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Hn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Hn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Hn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Hn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const QE=function(e){return{clearDevices:async(t,r={})=>{x("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},createDevice:async(t,r,n={})=>{x("createDevice","cell",t),x("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},deleteDevice:async(t,r,n={})=>{x("deleteDevice","cell",t),x("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getDevice:async(t,r,n={})=>{x("getDevice","cell",t),x("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listDevices:async(t,r={})=>{x("listDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}}}},qn=function(e){const t=QE(e);return{async clearDevices(r,n){var i,l;const a=await t.clearDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async createDevice(r,n,a){var l,c;const o=await t.createDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteDevice(r,n,a){var l,c;const o=await t.deleteDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getDevice(r,n,a){var l,c;const o=await t.getDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listDevices(r,n){var i,l;const a=await t.listDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)}}};class XE extends Ve{clearDevices(t,r){return qn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return qn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return qn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return qn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return qn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const ZE=function(e){return{createProgram:async(t,r,n,a={})=>{x("createProgram","cell",t),x("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}},deleteProgram:async(t,r,n={})=>{x("deleteProgram","cell",t),x("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteProgramList:async(t,r,n={})=>{x("deleteProgramList","cell",t),x("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r&&(c.program_ids=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgram:async(t,r,n={})=>{x("getProgram","cell",t),x("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateProgram:async(t,r,n,a={})=>{x("updateProgram","cell",t),x("updateProgram","program",r),x("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},Jn=function(e){const t=ZE(e);return{async createProgram(r,n,a,o){var c,u;const s=await t.createProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async deleteProgram(r,n,a){var l,c;const o=await t.deleteProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteProgramList(r,n,a){var l,c;const o=await t.deleteProgramList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getProgram(r,n,a){var l,c;const o=await t.getProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async updateProgram(r,n,a,o){var c,u;const s=await t.updateProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class eV extends Ve{createProgram(t,r,n,a){return Jn(this.configuration).createProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,n){return Jn(this.configuration).deleteProgram(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramList(t,r,n){return Jn(this.configuration).deleteProgramList(t,r,n).then(a=>a(this.axios,this.basePath))}getProgram(t,r,n){return Jn(this.configuration).getProgram(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgram(t,r,n,a){return Jn(this.configuration).updateProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const tV=function(e){return{getProgramMetadata:async(t,r,n={})=>{x("getProgramMetadata","cell",t),x("getProgramMetadata","program",r);const a="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramMetadata:async(t,r,n={})=>{x("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.show_hidden=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{x("updateProgramMetadata","cell",t),x("updateProgramMetadata","program",r),x("updateProgramMetadata","updateProgramMetadataRequest",n);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{x("uploadProgramMetadataImage","cell",t),x("uploadProgramMetadataImage","program",r),x("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);k(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",L(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:D(s),options:l}}}},eo=function(e){const t=tV(e);return{async getProgramMetadata(r,n,a){var l,c;const o=await t.getProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listProgramMetadata(r,n,a){var l,c;const o=await t.listProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async updateProgramMetadata(r,n,a,o){var c,u;const s=await t.updateProgramMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async uploadProgramMetadataImage(r,n,a,o){var c,u;const s=await t.uploadProgramMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class rV extends Ve{getProgramMetadata(t,r,n){return eo(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return eo(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return eo(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return eo(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const nV=function(e){return{createRecipe:async(t,r,n,a,o={})=>{x("createRecipe","cell",t),x("createRecipe","programId",r),x("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};k(c,e),await U(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:D(i),options:c}},deleteRecipe:async(t,r,n={})=>{x("deleteRecipe","cell",t),x("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRecipeList:async(t,r,n={})=>{x("deleteRecipeList","cell",t),x("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r&&(c.recipe_ids=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getRecipe:async(t,r,n={})=>{x("getRecipe","cell",t),x("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateRecipe:async(t,r,n,a={})=>{x("updateRecipe","cell",t),x("updateRecipe","recipe",r),x("updateRecipe","body",n);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},Wn=function(e){const t=nV(e);return{async createRecipe(r,n,a,o,s){var u,d;const i=await t.createRecipe(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async deleteRecipe(r,n,a){var l,c;const o=await t.deleteRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteRecipeList(r,n,a){var l,c;const o=await t.deleteRecipeList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getRecipe(r,n,a){var l,c;const o=await t.getRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async updateRecipe(r,n,a,o){var c,u;const s=await t.updateRecipe(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class aV extends Ve{createRecipe(t,r,n,a,o){return Wn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Wn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Wn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Wn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Wn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const oV=function(e){return{getRecipeMetadata:async(t,r,n={})=>{x("getRecipeMetadata","cell",t),x("getRecipeMetadata","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listRecipeMetadata:async(t,r={})=>{x("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{x("updateRecipeMetadata","cell",t),x("updateRecipeMetadata","recipe",r),x("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{x("uploadRecipeMetadataImage","cell",t),x("uploadRecipeMetadataImage","recipe",r),x("uploadRecipeMetadataImage","file",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);k(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",L(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:D(s),options:l}}}},to=function(e){const t=oV(e);return{async getRecipeMetadata(r,n,a){var l,c;const o=await t.getRecipeMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listRecipeMetadata(r,n){var i,l;const a=await t.listRecipeMetadata(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async updateRecipeMetadata(r,n,a,o){var c,u;const s=await t.updateRecipeMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async uploadRecipeMetadataImage(r,n,a,o){var c,u;const s=await t.uploadRecipeMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class sV extends Ve{getRecipeMetadata(t,r,n){return to(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return to(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return to(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return to(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const iV=function(e){return{deleteAllMotions:async(t,r={})=>{x("deleteAllMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},deleteMotion:async(t,r,n={})=>{x("deleteMotion","cell",t),x("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},executeTrajectory:async(t,r,n={})=>{x("executeTrajectory","cell",t),x("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{x("getMotionTrajectory","cell",t),x("getMotionTrajectory","motion",r),x("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{x("getMotionTrajectorySample","cell",t),x("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{x("getPlannedMotion","cell",t),x("getPlannedMotion","motion",r);const o="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.sample_time=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{x("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listMotions:async(t,r={})=>{x("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{x("loadPlannedMotion","cell",t),x("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{x("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planMotion:async(t,r,n={})=>{x("planMotion","cell",t),x("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planTrajectory:async(t,r,n={})=>{x("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},stopExecution:async(t,r,n={})=>{x("stopExecution","cell",t),x("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamMove:async(t,r,n={})=>{x("streamMove","cell",t),x("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{x("streamMoveBackward","cell",t),x("streamMoveBackward","motion",r),x("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};k(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{x("streamMoveForward","cell",t),x("streamMoveForward","motion",r),x("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};k(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{x("streamMoveToTrajectoryViaJointPTP","cell",t),x("streamMoveToTrajectoryViaJointPTP","motion",r),x("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,$);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},v={},S={};k(m,e),await U(v,e),n!==void 0&&(S.location_on_trajectory=n),a&&(S["limit_override.joint_velocity_limits.joints"]=a),o&&(S["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(S["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(S["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(S["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(S["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(S.responses_coordinate_system=u),L(p,S);let E=f&&f.headers?f.headers:{};return m.headers={...v,...E,...d.headers},{url:D(p),options:m}}}},Ye=function(e){const t=iV(e);return{async deleteAllMotions(r,n){var i,l;const a=await t.deleteAllMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async deleteMotion(r,n,a){var l,c;const o=await t.deleteMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async executeTrajectory(r,n,a){var l,c;const o=await t.executeTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getMotionTrajectory(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectory(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async getMotionTrajectorySample(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectorySample(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async getPlannedMotion(r,n,a,o){var c,u;const s=await t.getPlannedMotion(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async getPlanningMotionGroupModels(r,n){var i,l;const a=await t.getPlanningMotionGroupModels(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async listMotions(r,n){var i,l;const a=await t.listMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async loadPlannedMotion(r,n,a){var l,c;const o=await t.loadPlannedMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async planCollisionFreePTP(r,n,a){var l,c;const o=await t.planCollisionFreePTP(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async planMotion(r,n,a){var l,c;const o=await t.planMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async planTrajectory(r,n,a){var l,c;const o=await t.planTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async stopExecution(r,n,a){var l,c;const o=await t.stopExecution(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async streamMove(r,n,a){var l,c;const o=await t.streamMove(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async streamMoveBackward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveBackward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=j["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>F(c,_,M,e)(f,d||m)},async streamMoveForward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveForward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=j["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>F(c,_,M,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var v,S;const p=await t.streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h),f=(e==null?void 0:e.serverIndex)??0,m=(S=(v=j["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:v[f])==null?void 0:S.url;return(E,O)=>F(p,_,M,e)(E,m||O)}}};class lV extends Ve{deleteAllMotions(t,r){return Ye(this.configuration).deleteAllMotions(t,r).then(n=>n(this.axios,this.basePath))}deleteMotion(t,r,n){return Ye(this.configuration).deleteMotion(t,r,n).then(a=>a(this.axios,this.basePath))}executeTrajectory(t,r,n){return Ye(this.configuration).executeTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionTrajectory(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectory(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectorySample(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,n,a){return Ye(this.configuration).getPlannedMotion(t,r,n,a).then(o=>o(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ye(this.configuration).getPlanningMotionGroupModels(t,r).then(n=>n(this.axios,this.basePath))}listMotions(t,r){return Ye(this.configuration).listMotions(t,r).then(n=>n(this.axios,this.basePath))}loadPlannedMotion(t,r,n){return Ye(this.configuration).loadPlannedMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planCollisionFreePTP(t,r,n){return Ye(this.configuration).planCollisionFreePTP(t,r,n).then(a=>a(this.axios,this.basePath))}planMotion(t,r,n){return Ye(this.configuration).planMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planTrajectory(t,r,n){return Ye(this.configuration).planTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}stopExecution(t,r,n){return Ye(this.configuration).stopExecution(t,r,n).then(a=>a(this.axios,this.basePath))}streamMove(t,r,n){return Ye(this.configuration).streamMove(t,r,n).then(a=>a(this.axios,this.basePath))}streamMoveBackward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveBackward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveForward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d){return Ye(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d).then(h=>h(this.axios,this.basePath))}}const cV=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{x("activateAllMotionGroups","cell",t),x("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.controller=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},activateMotionGroup:async(t,r,n={})=>{x("activateMotionGroup","cell",t),x("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.motion_group=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{x("deactivateMotionGroup","cell",t),x("deactivateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listMotionGroups:async(t,r={})=>{x("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}}}},ro=function(e){const t=cV(e);return{async activateAllMotionGroups(r,n,a){var l,c;const o=await t.activateAllMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async activateMotionGroup(r,n,a){var l,c;const o=await t.activateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deactivateMotionGroup(r,n,a){var l,c;const o=await t.deactivateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listMotionGroups(r,n){var i,l;const a=await t.listMotionGroups(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)}}};class uV extends Ve{activateAllMotionGroups(t,r,n){return ro(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return ro(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return ro(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return ro(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const dV=function(e){return{getActivePayload:async(t,r,n={})=>{x("getActivePayload","cell",t),x("getActivePayload","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{x("getActiveTcp","cell",t),x("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{x("getCurrentMotionGroupState","cell",t),x("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{x("getInfoCapabilities","cell",t),x("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{x("getMotionGroupSpecification","cell",t),x("getMotionGroupSpecification","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMounting:async(t,r,n={})=>{x("getMounting","cell",t),x("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{x("getOptimizerConfiguration","cell",t),x("getOptimizerConfiguration","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.tcp=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getSafetySetup:async(t,r,n={})=>{x("getSafetySetup","cell",t),x("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listPayloads:async(t,r,n={})=>{x("listPayloads","cell",t),x("listPayloads","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listTcps:async(t,r,n,a={})=>{x("listTcps","cell",t),x("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{x("streamMotionGroupState","cell",t),x("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,$);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};k(u,e),await U(d,e),n!==void 0&&(h.response_rate=n),a!==void 0&&(h.response_coordinate_system=a),o!==void 0&&(h.tcp=o),L(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:D(l),options:u}}}},xt=function(e){const t=dV(e);return{async getActivePayload(r,n,a){var l,c;const o=await t.getActivePayload(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getActiveTcp(r,n,a,o){var c,u;const s=await t.getActiveTcp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async getCurrentMotionGroupState(r,n,a,o,s){var u,d;const i=await t.getCurrentMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async getInfoCapabilities(r,n,a){var l,c;const o=await t.getInfoCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getMotionGroupSpecification(r,n,a){var l,c;const o=await t.getMotionGroupSpecification(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getMounting(r,n,a){var l,c;const o=await t.getMounting(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getOptimizerConfiguration(r,n,a,o){var c,u;const s=await t.getOptimizerConfiguration(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async getSafetySetup(r,n,a){var l,c;const o=await t.getSafetySetup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listPayloads(r,n,a){var l,c;const o=await t.listPayloads(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listTcps(r,n,a,o){var c,u;const s=await t.listTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async streamMotionGroupState(r,n,a,o,s,i){var d,h;const l=await t.streamMotionGroupState(r,n,a,o,s,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=j["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>F(l,_,M,e)(p,u||f)}}};class hV extends Ve{getActivePayload(t,r,n){return xt(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return xt(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return xt(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return xt(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return xt(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return xt(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return xt(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return xt(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return xt(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return xt(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return xt(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const pV=function(e){return{directionJogging:async(t,r,n={})=>{x("directionJogging","cell",t),x("directionJogging","directionJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{x("getJoggingCapabilities","cell",t),x("getJoggingCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},jointJogging:async(t,r,n={})=>{x("jointJogging","cell",t),x("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},stopJogging:async(t,r,n={})=>{x("stopJogging","cell",t),x("stopJogging","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},no=function(e){const t=pV(e);return{async directionJogging(r,n,a){var l,c;const o=await t.directionJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getJoggingCapabilities(r,n,a){var l,c;const o=await t.getJoggingCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async jointJogging(r,n,a){var l,c;const o=await t.jointJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async stopJogging(r,n,a){var l,c;const o=await t.stopJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)}}};class mV extends Ve{directionJogging(t,r,n){return no(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return no(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return no(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return no(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const fV=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{x("calculateAllInverseKinematic","cell",t),x("calculateAllInverseKinematic","motionGroup",r),x("calculateAllInverseKinematic","allJointPositionsRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{x("calculateForwardKinematic","cell",t),x("calculateForwardKinematic","motionGroup",r),x("calculateForwardKinematic","tcpPoseRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{x("calculateInverseKinematic","cell",t),x("calculateInverseKinematic","motionGroup",r),x("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{x("getKinematicCapabilities","cell",t),x("getKinematicCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},ao=function(e){const t=fV(e);return{async calculateAllInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateAllInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async calculateForwardKinematic(r,n,a,o){var c,u;const s=await t.calculateForwardKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async calculateInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async getKinematicCapabilities(r,n,a){var l,c;const o=await t.getKinematicCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)}}};class gV extends Ve{calculateAllInverseKinematic(t,r,n,a){return ao(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return ao(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return ao(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return ao(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const yV=function(e){return{createProgramRunner:async(t,r,n={})=>{x("createProgramRunner","cell",t),x("createProgramRunner","request",r);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},executeProgram:async(t,r,n={})=>{x("executeProgram","cell",t),x("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},getProgramRunner:async(t,r,n={})=>{x("getProgramRunner","cell",t),x("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramRunners:async(t,r={})=>{x("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},migrateProgram:async(t,r,n={})=>{x("migrateProgram","cell",t),x("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planProgram:async(t,r,n,a={})=>{x("planProgram","cell",t),x("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}},stopAllProgramRunner:async(t,r={})=>{x("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},stopProgramRunner:async(t,r,n={})=>{x("stopProgramRunner","cell",t),x("stopProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},Zt=function(e){const t=yV(e);return{async createProgramRunner(r,n,a){var l,c;const o=await t.createProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async executeProgram(r,n,a){var l,c;const o=await t.executeProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getProgramRunner(r,n,a){var l,c;const o=await t.getProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listProgramRunners(r,n){var i,l;const a=await t.listProgramRunners(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async migrateProgram(r,n,a){var l,c;const o=await t.migrateProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async planProgram(r,n,a,o){var c,u;const s=await t.planProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async stopAllProgramRunner(r,n){var i,l;const a=await t.stopAllProgramRunner(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async stopProgramRunner(r,n,a){var l,c;const o=await t.stopProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)}}};class bV extends Ve{createProgramRunner(t,r,n){return Zt(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return Zt(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return Zt(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return Zt(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return Zt(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return Zt(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Zt(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return Zt(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const vV=function(e){return{clearProgramsValues:async(t,r={})=>{x("clearProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},createProgramsValue:async(t,r,n={})=>{x("createProgramsValue","cell",t),x("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},deleteProgramValue:async(t,r,n={})=>{x("deleteProgramValue","cell",t),x("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgramValue:async(t,r,n={})=>{x("getProgramValue","cell",t),x("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramsValues:async(t,r={})=>{x("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{x("updateProgramValue","cell",t),x("updateProgramValue","key",r),x("updateProgramValue","value",n);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},Wr=function(e){const t=vV(e);return{async clearProgramsValues(r,n){var i,l;const a=await t.clearProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async createProgramsValue(r,n,a){var l,c;const o=await t.createProgramsValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteProgramValue(r,n,a){var l,c;const o=await t.deleteProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getProgramValue(r,n,a){var l,c;const o=await t.getProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listProgramsValues(r,n){var i,l;const a=await t.listProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async updateProgramValue(r,n,a,o){var c,u;const s=await t.updateProgramValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class xV extends Ve{clearProgramsValues(t,r){return Wr(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return Wr(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return Wr(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return Wr(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return Wr(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return Wr(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const SV=function(e){return{deleteStoredCollider:async(t,r,n={})=>{x("deleteStoredCollider","cell",t),x("deleteStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{x("deleteStoredCollisionLinkChain","cell",t),x("deleteStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{x("deleteStoredCollisionTool","cell",t),x("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{x("getDefaultLinkChain","cell",t),x("getDefaultLinkChain","motionGroupModel",r);const a="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollider:async(t,r,n={})=>{x("getStoredCollider","cell",t),x("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{x("getStoredCollisionLinkChain","cell",t),x("getStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{x("getStoredCollisionTool","cell",t),x("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listCollisionLinkChains:async(t,r={})=>{x("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listStoredColliders:async(t,r={})=>{x("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listStoredCollisionTools:async(t,r={})=>{x("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeCollider:async(t,r,n,a={})=>{x("storeCollider","cell",t),x("storeCollider","collider",r),x("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{x("storeCollisionLinkChain","cell",t),x("storeCollisionLinkChain","linkChain",r),x("storeCollisionLinkChain","collider",n);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{x("storeCollisionTool","cell",t),x("storeCollisionTool","tool",r),x("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},ct=function(e){const t=SV(e);return{async deleteStoredCollider(r,n,a){var l,c;const o=await t.deleteStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.deleteStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async deleteStoredCollisionTool(r,n,a){var l,c;const o=await t.deleteStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getDefaultLinkChain(r,n,a){var l,c;const o=await t.getDefaultLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getStoredCollider(r,n,a){var l,c;const o=await t.getStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.getStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getStoredCollisionTool(r,n,a){var l,c;const o=await t.getStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const a=await t.listCollisionLinkChains(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async listStoredColliders(r,n){var i,l;const a=await t.listStoredColliders(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async listStoredCollisionTools(r,n){var i,l;const a=await t.listStoredCollisionTools(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async storeCollider(r,n,a,o){var c,u;const s=await t.storeCollider(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async storeCollisionLinkChain(r,n,a,o){var c,u;const s=await t.storeCollisionLinkChain(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async storeCollisionTool(r,n,a,o){var c,u;const s=await t.storeCollisionTool(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class OV extends Ve{deleteStoredCollider(t,r,n){return ct(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return ct(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return ct(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return ct(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return ct(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return ct(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return ct(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ct(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return ct(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ct(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return ct(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return ct(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return ct(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const wV=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{x("deleteStoredCollisionScene","cell",t),x("deleteStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{x("getStoredCollisionScene","cell",t),x("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{x("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{x("storeCollisionScene","cell",t),x("storeCollisionScene","scene",r),x("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},oo=function(e){const t=wV(e);return{async deleteStoredCollisionScene(r,n,a){var l,c;const o=await t.deleteStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getStoredCollisionScene(r,n,a){var l,c;const o=await t.getStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listStoredCollisionScenes(r,n){var i,l;const a=await t.listStoredCollisionScenes(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async storeCollisionScene(r,n,a,o){var c,u;const s=await t.storeCollisionScene(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class CV extends Ve{deleteStoredCollisionScene(t,r,n){return oo(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return oo(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return oo(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return oo(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const PV=function(e){return{clearAllObjects:async(t,r={})=>{x("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},deleteObject:async(t,r,n={})=>{x("deleteObject","cell",t),x("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getObject:async(t,r,n={})=>{x("getObject","cell",t),x("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getObjectMetadata:async(t,r,n={})=>{x("getObjectMetadata","cell",t),x("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listAllObjectKeys:async(t,r={})=>{x("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeObject:async(t,r,n,a,o={})=>{x("storeObject","cell",t),x("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);k(c,e),await U(u,e),a!==void 0&&h.append("AnyValue",new Blob([JSON.stringify(a)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),L(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:D(i),options:c}}}},Yr=function(e){const t=PV(e);return{async clearAllObjects(r,n){var i,l;const a=await t.clearAllObjects(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async deleteObject(r,n,a){var l,c;const o=await t.deleteObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getObject(r,n,a){var l,c;const o=await t.getObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getObjectMetadata(r,n,a){var l,c;const o=await t.getObjectMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const a=await t.listAllObjectKeys(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async storeObject(r,n,a,o,s){var u,d;const i=await t.storeObject(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)}}};class TV extends Ve{clearAllObjects(t,r){return Yr(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return Yr(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return Yr(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return Yr(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return Yr(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return Yr(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const RV=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{x("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),t!==void 0&&(l.channel=t),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},updateNovaVersion:async(t,r={})=>{x("updateNovaVersion","updateNovaVersionRequest",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};k(s,e),await U(i,e),i["Content-Type"]="application/json",L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=ue(t,s,e),{url:D(a),options:s}}}},Yn=function(e){const t=RV(e);return{async checkNovaVersionUpdate(r,n){var i,l;const a=await t.checkNovaVersionUpdate(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)},async getDiagnosePackage(r){var s,i;const n=await t.getDiagnosePackage(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=j["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,M,e)(l,o||c)},async getSystemStatus(r){var s,i;const n=await t.getSystemStatus(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=j["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,M,e)(l,o||c)},async getSystemVersion(r){var s,i;const n=await t.getSystemVersion(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=j["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,M,e)(l,o||c)},async updateNovaVersion(r,n){var i,l;const a=await t.updateNovaVersion(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,M,e)(c,s||u)}}};class AV extends Ve{checkNovaVersionUpdate(t,r){return Yn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Yn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Yn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Yn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Yn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const _V=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{x("getMotionGroupState","cell",t),x("getMotionGroupState","controller",r),x("getMotionGroupState","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getMotionGroups:async(t,r,n={})=>{x("getMotionGroups","cell",t),x("getMotionGroups","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{x("getVirtualRobotIOValue","cell",t),x("getVirtualRobotIOValue","controller",r),x("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listIOs:async(t,r,n={})=>{x("listIOs","cell",t),x("listIOs","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{x("setMotionGroupState","cell",t),x("setMotionGroupState","controller",r),x("setMotionGroupState","id",n),x("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:D(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{x("setVirtualRobotIOValue","cell",t),x("setVirtualRobotIOValue","controller",r),x("setVirtualRobotIOValue","io",n);const l="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};k(d,e),await U(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}}}},Kr=function(e){const t=_V(e);return{async getMotionGroupState(r,n,a,o){var c,u;const s=await t.getMotionGroupState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async getMotionGroups(r,n,a){var l,c;const o=await t.getMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getVirtualRobotIOValue(r,n,a,o){var c,u;const s=await t.getVirtualRobotIOValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async listIOs(r,n,a){var l,c;const o=await t.listIOs(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async setMotionGroupState(r,n,a,o,s){var u,d;const i=await t.setMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async setVirtualRobotIOValue(r,n,a,o,s,i,l){var h,p;const c=await t.setVirtualRobotIOValue(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=j["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>F(c,_,M,e)(f,d||m)}}};class EV extends Ve{getMotionGroupState(t,r,n,a){return Kr(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return Kr(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return Kr(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return Kr(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return Kr(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return Kr(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const VV=function(e){return{externalJointsStream:async(t,r,n,a={})=>{x("externalJointsStream","cell",t),x("externalJointsStream","controller",r),x("externalJointsStream","externalJointStreamDatapoint",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{x("getMotionGroupBehavior","cell",t),x("getMotionGroupBehavior","controller",r),x("getMotionGroupBehavior","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{x("setMotionGroupBehavior","cell",t),x("setMotionGroupBehavior","controller",r),x("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),a!==void 0&&(d.behavior=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}}}},Ei=function(e){const t=VV(e);return{async externalJointsStream(r,n,a,o){var c,u;const s=await t.externalJointsStream(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async getMotionGroupBehavior(r,n,a,o){var c,u;const s=await t.getMotionGroupBehavior(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async setMotionGroupBehavior(r,n,a,o,s){var u,d;const i=await t.setMotionGroupBehavior(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)}}};class IV extends Ve{externalJointsStream(t,r,n,a){return Ei(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return Ei(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return Ei(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const MV=function(e){return{getCycleTime:async(t,r,n={})=>{x("getCycleTime","cell",t),x("getCycleTime","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getEStop:async(t,r,n={})=>{x("getEStop","cell",t),x("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOperationMode:async(t,r,n={})=>{x("getOperationMode","cell",t),x("getOperationMode","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},pushEStop:async(t,r,n={})=>{x("pushEStop","cell",t),x("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},releaseEStop:async(t,r,n={})=>{x("releaseEStop","cell",t),x("releaseEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},setOperationMode:async(t,r,n,a={})=>{x("setOperationMode","cell",t),x("setOperationMode","controller",r),x("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.mode=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}}}},Qr=function(e){const t=MV(e);return{async getCycleTime(r,n,a){var l,c;const o=await t.getCycleTime(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getEStop(r,n,a){var l,c;const o=await t.getEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async getOperationMode(r,n,a){var l,c;const o=await t.getOperationMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async pushEStop(r,n,a){var l,c;const o=await t.pushEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async releaseEStop(r,n,a){var l,c;const o=await t.releaseEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async setOperationMode(r,n,a,o){var c,u;const s=await t.setOperationMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)}}};class jV extends Ve{getCycleTime(t,r,n){return Qr(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return Qr(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return Qr(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return Qr(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return Qr(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return Qr(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const $V=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{x("addVirtualRobotCoordinateSystem","cell",t),x("addVirtualRobotCoordinateSystem","controller",r),x("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{x("addVirtualRobotTcp","cell",t),x("addVirtualRobotTcp","controller",r),x("addVirtualRobotTcp","id",n),x("addVirtualRobotTcp","robotTcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:D(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{x("deleteVirtualRobotCoordinateSystem","cell",t),x("deleteVirtualRobotCoordinateSystem","controller",r),x("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};k(c,e),await U(u,e),a!==void 0&&(d.delete_dependent=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},deleteVirtualRobotTcp:async(t,r,n,a,o={})=>{x("deleteVirtualRobotTcp","cell",t),x("deleteVirtualRobotTcp","controller",r),x("deleteVirtualRobotTcp","id",n),x("deleteVirtualRobotTcp","tcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(a))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};k(c,e),await U(u,e),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{x("getVirtualRobotMounting","cell",t),x("getVirtualRobotMounting","controller",r),x("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,n={})=>{x("listVirtualRobotCoordinateSystems","cell",t),x("listVirtualRobotCoordinateSystems","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{x("listVirtualRobotTcps","cell",t),x("listVirtualRobotTcps","controller",r),x("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setVirtualRobotMounting:async(t,r,n,a,o={})=>{x("setVirtualRobotMounting","cell",t),x("setVirtualRobotMounting","controller",r),x("setVirtualRobotMounting","id",n),x("setVirtualRobotMounting","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:D(i),options:c}}}},er=function(e){const t=$V(e);return{async addVirtualRobotCoordinateSystem(r,n,a,o){var c,u;const s=await t.addVirtualRobotCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async addVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.addVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async deleteVirtualRobotCoordinateSystem(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotCoordinateSystem(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async deleteVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)},async getVirtualRobotMounting(r,n,a,o){var c,u;const s=await t.getVirtualRobotMounting(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async listVirtualRobotCoordinateSystems(r,n,a){var l,c;const o=await t.listVirtualRobotCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,M,e)(u,i||d)},async listVirtualRobotTcps(r,n,a,o){var c,u;const s=await t.listVirtualRobotTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,M,e)(d,l||h)},async setVirtualRobotMounting(r,n,a,o,s){var u,d;const i=await t.setVirtualRobotMounting(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,M,e)(h,c||p)}}};class kV extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return er(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return er(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return er(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return er(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return er(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return er(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return er(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return er(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function Lt(e,t,r){return Math.max(t,Math.min(r,e))}class UV{constructor(t=0,r=0,n=0,a=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=a}static slerpFlat(t,r,n,a,o,s,i){let l=n[a+0],c=n[a+1],u=n[a+2],d=n[a+3];const h=o[s+0],p=o[s+1],f=o[s+2],m=o[s+3];if(i===0){t[r+0]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d;return}if(i===1){t[r+0]=h,t[r+1]=p,t[r+2]=f,t[r+3]=m;return}if(d!==m||l!==h||c!==p||u!==f){let v=1-i;const S=l*h+c*p+u*f+d*m,E=S>=0?1:-1,O=1-S*S;if(O>Number.EPSILON){const T=Math.sqrt(O),C=Math.atan2(T,S*E);v=Math.sin(v*C)/T,i=Math.sin(i*C)/T}const w=i*E;if(l=l*v+h*w,c=c*v+p*w,u=u*v+f*w,d=d*v+m*w,v===1-i){const T=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=T,c*=T,u*=T,d*=T}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,a,o,s){const i=n[a],l=n[a+1],c=n[a+2],u=n[a+3],d=o[s],h=o[s+1],p=o[s+2],f=o[s+3];return t[r]=i*f+u*d+l*p-c*h,t[r+1]=l*f+u*h+c*d-i*p,t[r+2]=c*f+u*p+i*h-l*d,t[r+3]=u*f-i*d-l*h-c*p,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,n,a){return this._x=t,this._y=r,this._z=n,this._w=a,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const n=t._x,a=t._y,o=t._z,s=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(a/2),d=i(o/2),h=l(n/2),p=l(a/2),f=l(o/2);switch(s){case"XYZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"YXZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"ZXY":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"ZYX":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"YZX":this._x=h*u*d+c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d-h*p*f;break;case"XZY":this._x=h*u*d-c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d+h*p*f;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,a=Math.sin(n);return this._x=t.x*a,this._y=t.y*a,this._z=t.z*a,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],a=r[4],o=r[8],s=r[1],i=r[5],l=r[9],c=r[2],u=r[6],d=r[10],h=n+i+d;if(h>0){const p=.5/Math.sqrt(h+1);this._w=.25/p,this._x=(u-l)*p,this._y=(o-c)*p,this._z=(s-a)*p}else if(n>i&&n>d){const p=2*Math.sqrt(1+n-i-d);this._w=(u-l)/p,this._x=.25*p,this._y=(a+s)/p,this._z=(o+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(o-c)/p,this._x=(a+s)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(s-a)/p,this._x=(o+c)/p,this._y=(l+u)/p,this._z=.25*p}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let n=t.dot(r)+1;return n<Number.EPSILON?(n=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=n):(this._x=0,this._y=-t.z,this._z=t.y,this._w=n)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=n),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(Lt(this.dot(t),-1,1)))}rotateTowards(t,r){const n=this.angleTo(t);if(n===0)return this;const a=Math.min(1,r/n);return this.slerp(t,a),this}identity(){return this.set(0,0,0,1)}invert(){return this.conjugate()}conjugate(){return this._x*=-1,this._y*=-1,this._z*=-1,this._onChangeCallback(),this}dot(t){return this._x*t._x+this._y*t._y+this._z*t._z+this._w*t._w}lengthSq(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w}length(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)}normalize(){let t=this.length();return t===0?(this._x=0,this._y=0,this._z=0,this._w=1):(t=1/t,this._x=this._x*t,this._y=this._y*t,this._z=this._z*t,this._w=this._w*t),this._onChangeCallback(),this}multiply(t){return this.multiplyQuaternions(this,t)}premultiply(t){return this.multiplyQuaternions(t,this)}multiplyQuaternions(t,r){const n=t._x,a=t._y,o=t._z,s=t._w,i=r._x,l=r._y,c=r._z,u=r._w;return this._x=n*u+s*i+a*c-o*l,this._y=a*u+s*l+o*i-n*c,this._z=o*u+s*c+n*l-a*i,this._w=s*u-n*i-a*l-o*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const n=this._x,a=this._y,o=this._z,s=this._w;let i=s*t._w+n*t._x+a*t._y+o*t._z;if(i<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,i=-i):this.copy(t),i>=1)return this._w=s,this._x=n,this._y=a,this._z=o,this;const l=1-i*i;if(l<=Number.EPSILON){const p=1-r;return this._w=p*s+r*this._w,this._x=p*n+r*this._x,this._y=p*a+r*this._y,this._z=p*o+r*this._z,this.normalize(),this}const c=Math.sqrt(l),u=Math.atan2(c,i),d=Math.sin((1-r)*u)/c,h=Math.sin(r*u)/c;return this._w=s*d+this._w*h,this._x=n*d+this._x*h,this._y=a*d+this._y*h,this._z=o*d+this._z*h,this._onChangeCallback(),this}slerpQuaternions(t,r,n){return this.copy(t).slerp(r,n)}random(){const t=2*Math.PI*Math.random(),r=2*Math.PI*Math.random(),n=Math.random(),a=Math.sqrt(1-n),o=Math.sqrt(n);return this.set(a*Math.sin(t),a*Math.cos(t),o*Math.sin(r),o*Math.cos(r))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,r=0){return this._x=t[r],this._y=t[r+1],this._z=t[r+2],this._w=t[r+3],this._onChangeCallback(),this}toArray(t=[],r=0){return t[r]=this._x,t[r+1]=this._y,t[r+2]=this._z,t[r+3]=this._w,t}fromBufferAttribute(t,r){return this._x=t.getX(r),this._y=t.getY(r),this._z=t.getZ(r),this._w=t.getW(r),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class cn{constructor(t=0,r=0,n=0){cn.prototype.isVector3=!0,this.x=t,this.y=r,this.z=n}set(t,r,n){return n===void 0&&(n=this.z),this.x=t,this.y=r,this.z=n,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 0:this.x=r;break;case 1:this.y=r;break;case 2:this.z=r;break;default:throw new Error("index is out of range: "+t)}return this}getComponent(t){switch(t){case 0:return this.x;case 1:return this.y;case 2:return this.z;default:throw new Error("index is out of range: "+t)}}clone(){return new this.constructor(this.x,this.y,this.z)}copy(t){return this.x=t.x,this.y=t.y,this.z=t.z,this}add(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this}addScalar(t){return this.x+=t,this.y+=t,this.z+=t,this}addVectors(t,r){return this.x=t.x+r.x,this.y=t.y+r.y,this.z=t.z+r.z,this}addScaledVector(t,r){return this.x+=t.x*r,this.y+=t.y*r,this.z+=t.z*r,this}sub(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this}subScalar(t){return this.x-=t,this.y-=t,this.z-=t,this}subVectors(t,r){return this.x=t.x-r.x,this.y=t.y-r.y,this.z=t.z-r.z,this}multiply(t){return this.x*=t.x,this.y*=t.y,this.z*=t.z,this}multiplyScalar(t){return this.x*=t,this.y*=t,this.z*=t,this}multiplyVectors(t,r){return this.x=t.x*r.x,this.y=t.y*r.y,this.z=t.z*r.z,this}applyEuler(t){return this.applyQuaternion(Xd.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(Xd.setFromAxisAngle(t,r))}applyMatrix3(t){const r=this.x,n=this.y,a=this.z,o=t.elements;return this.x=o[0]*r+o[3]*n+o[6]*a,this.y=o[1]*r+o[4]*n+o[7]*a,this.z=o[2]*r+o[5]*n+o[8]*a,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const r=this.x,n=this.y,a=this.z,o=t.elements,s=1/(o[3]*r+o[7]*n+o[11]*a+o[15]);return this.x=(o[0]*r+o[4]*n+o[8]*a+o[12])*s,this.y=(o[1]*r+o[5]*n+o[9]*a+o[13])*s,this.z=(o[2]*r+o[6]*n+o[10]*a+o[14])*s,this}applyQuaternion(t){const r=this.x,n=this.y,a=this.z,o=t.x,s=t.y,i=t.z,l=t.w,c=2*(s*a-i*n),u=2*(i*r-o*a),d=2*(o*n-s*r);return this.x=r+l*c+s*d-i*u,this.y=n+l*u+i*c-o*d,this.z=a+l*d+o*u-s*c,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,n=this.y,a=this.z,o=t.elements;return this.x=o[0]*r+o[4]*n+o[8]*a,this.y=o[1]*r+o[5]*n+o[9]*a,this.z=o[2]*r+o[6]*n+o[10]*a,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=Lt(this.x,t.x,r.x),this.y=Lt(this.y,t.y,r.y),this.z=Lt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=Lt(this.x,t,r),this.y=Lt(this.y,t,r),this.z=Lt(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(Lt(n,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,r){return this.x+=(t.x-this.x)*r,this.y+=(t.y-this.y)*r,this.z+=(t.z-this.z)*r,this}lerpVectors(t,r,n){return this.x=t.x+(r.x-t.x)*n,this.y=t.y+(r.y-t.y)*n,this.z=t.z+(r.z-t.z)*n,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const n=t.x,a=t.y,o=t.z,s=r.x,i=r.y,l=r.z;return this.x=a*l-o*i,this.y=o*s-n*l,this.z=n*i-a*s,this}projectOnVector(t){const r=t.lengthSq();if(r===0)return this.set(0,0,0);const n=t.dot(this)/r;return this.copy(t).multiplyScalar(n)}projectOnPlane(t){return Vi.copy(this).projectOnVector(t),this.sub(Vi)}reflect(t){return this.sub(Vi.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const r=Math.sqrt(this.lengthSq()*t.lengthSq());if(r===0)return Math.PI/2;const n=this.dot(t)/r;return Math.acos(Lt(n,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,n=this.y-t.y,a=this.z-t.z;return r*r+n*n+a*a}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,r,n){const a=Math.sin(r)*t;return this.x=a*Math.sin(n),this.y=Math.cos(r)*t,this.z=a*Math.cos(n),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,r,n){return this.x=t*Math.sin(r),this.y=n,this.z=t*Math.cos(r),this}setFromMatrixPosition(t){const r=t.elements;return this.x=r[12],this.y=r[13],this.z=r[14],this}setFromMatrixScale(t){const r=this.setFromMatrixColumn(t,0).length(),n=this.setFromMatrixColumn(t,1).length(),a=this.setFromMatrixColumn(t,2).length();return this.x=r,this.y=n,this.z=a,this}setFromMatrixColumn(t,r){return this.fromArray(t.elements,r*4)}setFromMatrix3Column(t,r){return this.fromArray(t.elements,r*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,r=0){return this.x=t[r],this.y=t[r+1],this.z=t[r+2],this}toArray(t=[],r=0){return t[r]=this.x,t[r+1]=this.y,t[r+2]=this.z,t}fromBufferAttribute(t,r){return this.x=t.getX(r),this.y=t.getY(r),this.z=t.getZ(r),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this}randomDirection(){const t=Math.random()*Math.PI*2,r=Math.random()*2-1,n=Math.sqrt(1-r*r);return this.x=n*Math.cos(t),this.y=r,this.z=n*Math.sin(t),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z}}const Vi=new cn,Xd=new UV;function LV(e){var t=[];if(e.length===0)return"";if(typeof e[0]!="string")throw new TypeError("Url must be a string. 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n+=Math.abs(e.orientation.x-t.orientation.x),n+=Math.abs(e.orientation.y-t.orientation.y),n+=Math.abs(e.orientation.z-t.orientation.z),n+=Math.abs(e.position.x-t.position.x),n+=Math.abs(e.position.y-t.position.y),n+=Math.abs(e.position.z-t.position.z),n>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var eh=1e-4,BV=class Sf{constructor(t,r,n,a,o,s,i,l,c,u,d,h){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.isVirtual=s,this.tcps=i,this.motionGroupSpecification=l,this.safetySetup=c,this.mounting=u,this.initialControllerState=d,this.controllerStateSocket=h,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=a,this.controllerState=d,h.addEventListener("message",p=>{var f;const m=(f=ar(p.data))==null?void 0:f.result;m&&Fe.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=ar(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);vf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,eh)||Fe.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),xf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,eh)||Fe.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Fe.makeAutoObservable(this)}static connect(t,r,n){return Ee(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(C=>C.controller===i),c=l==null?void 0:l.physical_motion_groups.find(C=>C.motion_group===r);if(!l||!c)throw new Error(`Controller ${i} or motion group ${r} not found`);const u=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield u.firstMessage(),h=(a=ar(d.data))==null?void 0:a.result;if(!h)throw new Error(`Unable to parse initial motion state message ${d.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
-  `,h);const f=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",m=yield Ee(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(C){return console.error(`Error fetching mounting for ${c.motion_group}`,C),null}}),v=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),S=yield v.firstMessage(),E=(o=ar(S.data))==null?void 0:o.result;if(!E)throw new Error(`Unable to parse initial controller state message ${S.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
-  `,E);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),w=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),T=yield t.api.motionGroupInfos.getSafetySetup(r);return new Sf(t,l,c,h,u,f,O,w,T,m,E,v)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,n,a,o,s;const i=new ke.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((a=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:a.y)||0,((s=(o=this.mounting)==null?void 0:o.pose.orientation)==null?void 0:s.z)||0),l=i.length(),c=i.normalize();return new ke.Quaternion().setFromAxisAngle(c,l)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return Ee(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Fe.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Fe.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Fe.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ee(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Fe.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Fe.runInAction(()=>{this.activationState="active"})}catch(t){throw Fe.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},NV=class Of{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Ee(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new Of(s,o)})}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}get activeJoggingMode(){return this.cartesianWebsocket?"cartesian":this.jointWebsocket?"joint":"increment"}get activeWebsocket(){return this.cartesianWebsocket||this.jointWebsocket}stop(){return Ee(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&(qA(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",n=>{const a=ar(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",n=>{const a=ar(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)}))}startJointRotation(t){return Ee(this,arguments,function*({joint:r,direction:n,velocityRadsPerSec:a}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const o=new Array(this.numJoints).fill(0);o[r]=n==="-"?-a:a,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:o})})}startTCPTranslation(t){return Ee(this,arguments,function*({axis:r,direction:n,velocityMmPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,position_velocity:a,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return Ee(this,arguments,function*({axis:r,direction:n,velocityRadsPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,position_velocity:0,rotation_velocity:a,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return Ee(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!l_(r.coordinate_system,a))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${a}`);if(l.type==="translate"){const p=Object.assign({},r.position);p[s]+=l.distanceMm*(i==="-"?-1:1),u.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:p,orientation:r.orientation,coordinate_system:a}})}else if(l.type==="rotate"){const p=new cn(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),v=l.distanceRads*(i==="-"?-1:1),S=new cn(0,0,0);S[s]=1;const E=Math.cos(.5*v)*Math.cos(.5*f),O=Math.sin(.5*v)*Math.sin(.5*f),w=Math.sin(.5*v)*Math.cos(.5*f),T=Math.cos(.5*v)*Math.sin(.5*f),C=S.dot(m),A=S.clone().cross(m),V=2*Math.acos(E-O*C),B=V/Math.sin(.5*V),y=new cn().addScaledVector(A,O).addScaledVector(S,w).addScaledVector(m,T).multiplyScalar(B);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:y,coordinate_system:a}})}const d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,tcp:this.cartesianJoggingOpts.tcpId,commands:u}),h=(c=d.plan_successful_response)==null?void 0:c.motion;if(!h)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(d)}`);yield this.nova.api.motion.streamMoveForward(h,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return Ee(this,arguments,function*({joint:r,currentJoints:n,velocityRadsPerSec:a,direction:o,distanceRads:s}){var i;const l=[...n.joints];l[r]+=s*(o==="-"?-1:1);const c=new Array(n.joints.length).fill(a),u=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:l}}]}),d=(i=u.plan_successful_response)==null?void 0:i.motion;if(!d){console.error("Failed to plan jogging increment motion",u);return}yield this.nova.api.motion.streamMoveForward(d,100,void 0,void 0,void 0,{timeout:1e3*60})})}},th=1e-4;function zV(e,t){const r=new St.Vector3(t.x,t.y,t.z),n=new St.Vector3(e.x,e.y,e.z),a=r.length(),o=r.normalize();let s=n.length(),i=n.normalize();i.dot(o)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-a;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=a+l,i.multiplyScalar(s)}var GV=class wf{constructor(t,r,n,a,o){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.rapidlyChangingMotionState=a,o.addEventListener("message",s=>{var i;const l=(i=ar(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);vf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,th)||Fe.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),xf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,th)||Fe.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:zV(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),Fe.makeAutoObservable(this)}static open(t,r){return Ee(this,null,function*(){var n;const{instances:a}=yield t.api.controller.listControllers(),[o,s]=r.split("@"),i=a.find(h=>h.controller===s),l=i==null?void 0:i.physical_motion_groups.find(h=>h.motion_group===r);if(!i||!l)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield c.firstMessage();console.log("got first message",u);const d=(n=ar(u.data))==null?void 0:n.result;if(!d)throw new Error(`Unable to parse initial motion state message ${u.data}`);return console.log(`Connected motion state websocket to motion group ${l.motion_group}. Initial state:
-  `,d),new wf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},HV=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(AV),this.cell=this.withUnwrappedResponsesOnly(GE),this.deviceConfig=this.withCellId(XE),this.motionGroup=this.withCellId(uV),this.motionGroupInfos=this.withCellId(hV),this.controller=this.withCellId(qE),this.program=this.withCellId(bV),this.programValues=this.withCellId(xV),this.controllerIOs=this.withCellId(WE),this.motionGroupKinematic=this.withCellId(gV),this.motion=this.withCellId(lV),this.coordinateSystems=this.withCellId(KE),this.application=this.withCellId(Qd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Qd),this.motionGroupJogging=this.withCellId(mV),this.virtualRobot=this.withCellId(EV),this.virtualRobotSetup=this.withCellId(kV),this.virtualRobotMode=this.withCellId(jV),this.virtualRobotBehavior=this.withCellId(IV),this.libraryProgramMetadata=this.withCellId(rV),this.libraryProgram=this.withCellId(eV),this.libraryRecipeMetadata=this.withCellId(sV),this.libraryRecipe=this.withCellId(aV),this.storeObject=this.withCellId(TV),this.storeCollisionComponents=this.withCellId(OV),this.storeCollisionScenes=this.withCellId(CV)}withCellId(e){var t,r;const n=new e(il(rn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,[this.cellId,...s]).then(i=>i.data)}return n}withUnwrappedResponsesOnly(e){var t,r;const n=new e(il(rn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,s).then(i=>i.data)}return n}},qV=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ee(this,null,function*(){var t,r,n;const a=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex TCP Position",position:{x:-200,y:300,z:150},rotation:{angles:[-.12139440409113832,-.06356210998212003,-.2023240068185639,0],type:"ROTATION_VECTOR"}}]}}}],o=((t=e.method)==null?void 0:t.toUpperCase())||"GET",s="/cells"+((n=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:n.split("?")[0]);for(const i of a){const l=FV.match(i.path)(s||"");if(o===i.method&&l){const c=i.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new ml(`No mock handler matched this request: ${o} ${s}`,"404",e)})}handleWebsocketConnection(e){this.connections.push(e),setTimeout(()=>{e.dispatchEvent(new Event("open")),console.log("Websocket connection opened from",e.url),e.url.includes("/state-stream")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify(JV)})),e.url.includes("/move-joint")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:48:26.096266444Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3492152690887451,-1.5659207105636597,1.6653711795806885,-1.0991662740707397,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:""},tcp_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"671259"}],sequence_number:"671259"},movement_state:"MOVEMENT_STATE_MOVING"}})})),e.url.includes("/move-tcp")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:43:12.188335774Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3352527618408203,-1.5659207105636597,1.6653711795806885,-1.110615611076355,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:""},tcp_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"627897"}],sequence_number:"627897"},movement_state:"MOVEMENT_STATE_MOVING"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}},JV={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},WV=class{constructor(e){this.authPromise=null,this.accessToken=null;var t;const r=(t=e.cellId)!=null?t:"cell";this.config=rn({cellId:r},e),this.accessToken=e.accessToken||Pi.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"&&(this.mock=new qV);const n=_.create({baseURL:Ii(this.config.instanceUrl,"/api/v1"),headers:{"User-Agent":"Wandelbots-Nova-JS-SDK"}});n.interceptors.request.use(a=>Ee(this,null,function*(){return a.headers.Authorization||(this.accessToken?a.headers.Authorization=`Bearer ${this.accessToken}`:this.config.username&&this.config.password&&(a.headers.Authorization=`Basic ${btoa(e.username+":"+e.password)}`)),a})),typeof window<"u"&&n.interceptors.response.use(a=>a,a=>Ee(this,null,function*(){var o,s;if(FE(a))if(((o=a.response)==null?void 0:o.status)===401)try{if(yield this.renewAuthentication(),a.config)return this.accessToken?a.config.headers.Authorization=`Bearer ${this.accessToken}`:delete a.config.headers.Authorization,n.request(a.config)}catch(i){return Promise.reject(i)}else((s=a.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(a)})),this.api=new HV(r,il(rn({},e),{basePath:Ii(this.config.instanceUrl,"/api/v1"),isJsonMime:a=>a==="application/json",baseOptions:rn(rn({},this.mock?{adapter:a=>this.mock.handleAPIRequest(a)}:{}),e.baseOptions),axiosInstance:n}))}renewAuthentication(){return Ee(this,null,function*(){if(!this.authPromise){this.authPromise=u_(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?Pi.setString("wbjs.access_token",this.accessToken):Pi.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Ii(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},updateCell:async(t,r,n,a={})=>{x("updateCell","cell",t),x("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:D(s),options:l}}}},Kr=function(e){const t=jE(e);return{async deleteCell(r,n,a){var l,c;const o=await t.deleteCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deployCell(r,n,a){var l,c;const o=await t.deployCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getCell(r,n){var i,l;const a=await t.getCell(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async getCellStatus(r,n){var i,l;const a=await t.getCellStatus(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async listCells(r){var s,i;const n=await t.listCells(r),a=(e==null?void 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kE=function(e){return{addRobotController:async(t,r,n,a={})=>{x("addRobotController","cell",t),x("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:D(s),options:l}},clearRobotControllers:async(t,r,n={})=>{x("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),r!==void 0&&(c.completionTimeout=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{x("deleteRobotController","cell",t),x("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{x("getCurrentRobotControllerState","cell",t),x("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMode:async(t,r,n={})=>{x("getMode","cell",t),x("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getRobotController:async(t,r,n={})=>{x("getRobotController","cell",t),x("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getSupportedModes:async(t,r,n={})=>{x("getSupportedModes","cell",t),x("getSupportedModes","controller",r);const a="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{x("getVirtualRobotConfiguration","cell",t),x("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listControllers:async(t,r={})=>{x("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{x("setDefaultMode","cell",t),x("setDefaultMode","controller",r),x("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.mode=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{x("streamFreeDrive","cell",t),x("streamFreeDrive","controller",r);const o="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.response_rate=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamModeChange:async(t,r,n={})=>{x("streamModeChange","cell",t),x("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{x("streamRobotControllerState","cell",t),x("streamRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.response_rate=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{x("updateRobotController","cell",t),x("updateRobotController","controller",r),x("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await k(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:D(i),options:c}}}},rt=function(e){const t=kE(e);return{async addRobotController(r,n,a,o){var c,u;const s=await t.addRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async clearRobotControllers(r,n,a){var l,c;const o=await t.clearRobotControllers(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteRobotController(r,n,a,o){var c,u;const s=await t.deleteRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async getCurrentRobotControllerState(r,n,a){var l,c;const o=await t.getCurrentRobotControllerState(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getMode(r,n,a){var l,c;const o=await t.getMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getRobotController(r,n,a){var l,c;const o=await t.getRobotController(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getSupportedModes(r,n,a){var l,c;const o=await t.getSupportedModes(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getVirtualRobotConfiguration(r,n,a){var l,c;const o=await t.getVirtualRobotConfiguration(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listControllers(r,n){var i,l;const a=await t.listControllers(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async setDefaultMode(r,n,a,o){var c,u;const s=await t.setDefaultMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async streamFreeDrive(r,n,a,o){var c,u;const s=await t.streamFreeDrive(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async streamModeChange(r,n,a){var l,c;const o=await t.streamModeChange(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async streamRobotControllerState(r,n,a,o){var c,u;const s=await t.streamRobotControllerState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async updateRobotController(r,n,a,o,s){var u,d;const i=await t.updateRobotController(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)}}};class UE extends Ve{addRobotController(t,r,n,a){return rt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return rt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return rt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return rt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return rt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return rt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return rt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return rt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return rt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return rt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return rt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return rt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return rt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return rt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const DE=function(e){return{listIODescriptions:async(t,r,n,a={})=>{x("listIODescriptions","cell",t),x("listIODescriptions","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listIOValues:async(t,r,n,a={})=>{x("listIOValues","cell",t),x("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setOutputValues:async(t,r,n,a={})=>{x("setOutputValues","cell",t),x("setOutputValues","controller",r),x("setOutputValues","iOValue",n);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},streamIOValues:async(t,r,n,a={})=>{x("streamIOValues","cell",t),x("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{x("waitForIOEvent","cell",t),x("waitForIOEvent","controller",r),x("waitForIOEvent","io",n),x("waitForIOEvent","comparisonType",a);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),u=new URL(c,j);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};$(h,e),await k(p,e),n!==void 0&&(f.io=n),a!==void 0&&(f.comparison_type=a),o!==void 0&&(f.boolean_value=o),s!==void 0&&(f.integer_value=s),i!==void 0&&(f.floating_value=i),U(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:D(u),options:h}}}},Jn=function(e){const t=DE(e);return{async listIODescriptions(r,n,a,o){var c,u;const s=await t.listIODescriptions(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async listIOValues(r,n,a,o){var c,u;const s=await t.listIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async setOutputValues(r,n,a,o){var c,u;const s=await t.setOutputValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async streamIOValues(r,n,a,o){var c,u;const s=await t.streamIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async waitForIOEvent(r,n,a,o,s,i,l,c){var p,f;const u=await t.waitForIOEvent(r,n,a,o,s,i,l,c),d=(e==null?void 0:e.serverIndex)??0,h=(f=(p=M["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,b)=>L(u,_,I,e)(m,h||b)}}};class LE extends Ve{listIODescriptions(t,r,n,a){return Jn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return Jn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return Jn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return Jn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return Jn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const BE=function(e){return{addCoordinateSystem:async(t,r,n={})=>{x("addCoordinateSystem","cell",t),x("addCoordinateSystem","addRequest",r);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{x("deleteCoordinateSystem","cell",t),x("deleteCoordinateSystem","coordinateSystem",r);const a="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{x("getCoordinateSystem","cell",t),x("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{x("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),r!==void 0&&(c.rotation_type=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{x("transformInCoordinateSystem","cell",t),x("transformInCoordinateSystem","coordinateSystem",r),x("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}}}},Wn=function(e){const t=BE(e);return{async addCoordinateSystem(r,n,a){var l,c;const o=await t.addCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteCoordinateSystem(r,n,a){var l,c;const o=await t.deleteCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getCoordinateSystem(r,n,a,o){var c,u;const s=await t.getCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async listCoordinateSystems(r,n,a){var l,c;const o=await t.listCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async transformInCoordinateSystem(r,n,a,o){var c,u;const s=await t.transformInCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class FE extends Ve{addCoordinateSystem(t,r,n){return Wn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Wn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Wn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Wn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Wn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const NE=function(e){return{clearDevices:async(t,r={})=>{x("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},createDevice:async(t,r,n={})=>{x("createDevice","cell",t),x("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},deleteDevice:async(t,r,n={})=>{x("deleteDevice","cell",t),x("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getDevice:async(t,r,n={})=>{x("getDevice","cell",t),x("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listDevices:async(t,r={})=>{x("listDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}}}},Yn=function(e){const t=NE(e);return{async clearDevices(r,n){var i,l;const a=await t.clearDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async createDevice(r,n,a){var l,c;const o=await t.createDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteDevice(r,n,a){var l,c;const o=await t.deleteDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getDevice(r,n,a){var l,c;const o=await t.getDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listDevices(r,n){var i,l;const a=await t.listDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)}}};class zE extends Ve{clearDevices(t,r){return Yn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return Yn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return Yn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return Yn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return Yn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const GE=function(e){return{createProgram:async(t,r,n,a={})=>{x("createProgram","cell",t),x("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:D(s),options:l}},deleteProgram:async(t,r,n={})=>{x("deleteProgram","cell",t),x("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteProgramList:async(t,r,n={})=>{x("deleteProgramList","cell",t),x("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),r&&(c.program_ids=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgram:async(t,r,n={})=>{x("getProgram","cell",t),x("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateProgram:async(t,r,n,a={})=>{x("updateProgram","cell",t),x("updateProgram","program",r),x("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}}}},Kn=function(e){const t=GE(e);return{async createProgram(r,n,a,o){var c,u;const s=await t.createProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async deleteProgram(r,n,a){var l,c;const o=await t.deleteProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteProgramList(r,n,a){var l,c;const o=await t.deleteProgramList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getProgram(r,n,a){var l,c;const o=await t.getProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async updateProgram(r,n,a,o){var c,u;const s=await t.updateProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class HE extends Ve{createProgram(t,r,n,a){return Kn(this.configuration).createProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,n){return Kn(this.configuration).deleteProgram(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramList(t,r,n){return Kn(this.configuration).deleteProgramList(t,r,n).then(a=>a(this.axios,this.basePath))}getProgram(t,r,n){return Kn(this.configuration).getProgram(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgram(t,r,n,a){return Kn(this.configuration).updateProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const qE=function(e){return{getProgramMetadata:async(t,r,n={})=>{x("getProgramMetadata","cell",t),x("getProgramMetadata","program",r);const a="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramMetadata:async(t,r,n={})=>{x("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),r!==void 0&&(c.show_hidden=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{x("updateProgramMetadata","cell",t),x("updateProgramMetadata","program",r),x("updateProgramMetadata","updateProgramMetadataRequest",n);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{x("uploadProgramMetadataImage","cell",t),x("uploadProgramMetadataImage","program",r),x("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(l,e),await k(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",U(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:D(s),options:l}}}},ro=function(e){const t=qE(e);return{async getProgramMetadata(r,n,a){var l,c;const o=await t.getProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listProgramMetadata(r,n,a){var l,c;const o=await t.listProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async updateProgramMetadata(r,n,a,o){var c,u;const s=await t.updateProgramMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async uploadProgramMetadataImage(r,n,a,o){var c,u;const s=await t.uploadProgramMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class JE extends Ve{getProgramMetadata(t,r,n){return ro(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return ro(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return ro(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return ro(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const WE=function(e){return{createRecipe:async(t,r,n,a,o={})=>{x("createRecipe","cell",t),x("createRecipe","programId",r),x("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};$(c,e),await k(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:D(i),options:c}},deleteRecipe:async(t,r,n={})=>{x("deleteRecipe","cell",t),x("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRecipeList:async(t,r,n={})=>{x("deleteRecipeList","cell",t),x("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),r&&(c.recipe_ids=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getRecipe:async(t,r,n={})=>{x("getRecipe","cell",t),x("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateRecipe:async(t,r,n,a={})=>{x("updateRecipe","cell",t),x("updateRecipe","recipe",r),x("updateRecipe","body",n);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}}}},Qn=function(e){const t=WE(e);return{async createRecipe(r,n,a,o,s){var u,d;const i=await t.createRecipe(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async deleteRecipe(r,n,a){var l,c;const o=await t.deleteRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteRecipeList(r,n,a){var l,c;const o=await t.deleteRecipeList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getRecipe(r,n,a){var l,c;const o=await t.getRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async updateRecipe(r,n,a,o){var c,u;const s=await t.updateRecipe(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class YE extends Ve{createRecipe(t,r,n,a,o){return Qn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Qn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Qn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Qn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Qn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const KE=function(e){return{getRecipeMetadata:async(t,r,n={})=>{x("getRecipeMetadata","cell",t),x("getRecipeMetadata","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listRecipeMetadata:async(t,r={})=>{x("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{x("updateRecipeMetadata","cell",t),x("updateRecipeMetadata","recipe",r),x("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{x("uploadRecipeMetadataImage","cell",t),x("uploadRecipeMetadataImage","recipe",r),x("uploadRecipeMetadataImage","file",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(l,e),await k(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",U(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:D(s),options:l}}}},no=function(e){const t=KE(e);return{async getRecipeMetadata(r,n,a){var l,c;const o=await t.getRecipeMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listRecipeMetadata(r,n){var i,l;const a=await t.listRecipeMetadata(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async updateRecipeMetadata(r,n,a,o){var c,u;const s=await t.updateRecipeMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async uploadRecipeMetadataImage(r,n,a,o){var c,u;const s=await t.uploadRecipeMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class QE extends Ve{getRecipeMetadata(t,r,n){return no(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return no(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return no(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return no(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const XE=function(e){return{deleteAllMotions:async(t,r={})=>{x("deleteAllMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},deleteMotion:async(t,r,n={})=>{x("deleteMotion","cell",t),x("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},executeTrajectory:async(t,r,n={})=>{x("executeTrajectory","cell",t),x("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{x("getMotionTrajectory","cell",t),x("getMotionTrajectory","motion",r),x("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await k(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{x("getMotionTrajectorySample","cell",t),x("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await k(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{x("getPlannedMotion","cell",t),x("getPlannedMotion","motion",r);const o="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.sample_time=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{x("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listMotions:async(t,r={})=>{x("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{x("loadPlannedMotion","cell",t),x("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{x("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},planMotion:async(t,r,n={})=>{x("planMotion","cell",t),x("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},planTrajectory:async(t,r,n={})=>{x("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},stopExecution:async(t,r,n={})=>{x("stopExecution","cell",t),x("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamMove:async(t,r,n={})=>{x("streamMove","cell",t),x("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{x("streamMoveBackward","cell",t),x("streamMoveBackward","motion",r),x("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,j);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(d,e),await k(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{x("streamMoveForward","cell",t),x("streamMoveForward","motion",r),x("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,j);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(d,e),await k(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{x("streamMoveToTrajectoryViaJointPTP","cell",t),x("streamMoveToTrajectoryViaJointPTP","motion",r),x("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,j);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},b={},S={};$(m,e),await k(b,e),n!==void 0&&(S.location_on_trajectory=n),a&&(S["limit_override.joint_velocity_limits.joints"]=a),o&&(S["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(S["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(S["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(S["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(S["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(S.responses_coordinate_system=u),U(p,S);let E=f&&f.headers?f.headers:{};return m.headers={...b,...E,...d.headers},{url:D(p),options:m}}}},Ye=function(e){const t=XE(e);return{async deleteAllMotions(r,n){var i,l;const a=await t.deleteAllMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async deleteMotion(r,n,a){var l,c;const o=await t.deleteMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async executeTrajectory(r,n,a){var l,c;const o=await t.executeTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getMotionTrajectory(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectory(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async getMotionTrajectorySample(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectorySample(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async getPlannedMotion(r,n,a,o){var c,u;const s=await t.getPlannedMotion(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async getPlanningMotionGroupModels(r,n){var i,l;const a=await t.getPlanningMotionGroupModels(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async listMotions(r,n){var i,l;const a=await t.listMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async loadPlannedMotion(r,n,a){var l,c;const o=await t.loadPlannedMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async planCollisionFreePTP(r,n,a){var l,c;const o=await t.planCollisionFreePTP(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async planMotion(r,n,a){var l,c;const o=await t.planMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async planTrajectory(r,n,a){var l,c;const o=await t.planTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async stopExecution(r,n,a){var l,c;const o=await t.stopExecution(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async streamMove(r,n,a){var l,c;const o=await t.streamMove(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async streamMoveBackward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveBackward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>L(c,_,I,e)(f,d||m)},async streamMoveForward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveForward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>L(c,_,I,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var b,S;const p=await t.streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h),f=(e==null?void 0:e.serverIndex)??0,m=(S=(b=M["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:b[f])==null?void 0:S.url;return(E,O)=>L(p,_,I,e)(E,m||O)}}};class ZE extends Ve{deleteAllMotions(t,r){return Ye(this.configuration).deleteAllMotions(t,r).then(n=>n(this.axios,this.basePath))}deleteMotion(t,r,n){return Ye(this.configuration).deleteMotion(t,r,n).then(a=>a(this.axios,this.basePath))}executeTrajectory(t,r,n){return Ye(this.configuration).executeTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionTrajectory(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectory(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectorySample(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,n,a){return Ye(this.configuration).getPlannedMotion(t,r,n,a).then(o=>o(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ye(this.configuration).getPlanningMotionGroupModels(t,r).then(n=>n(this.axios,this.basePath))}listMotions(t,r){return Ye(this.configuration).listMotions(t,r).then(n=>n(this.axios,this.basePath))}loadPlannedMotion(t,r,n){return Ye(this.configuration).loadPlannedMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planCollisionFreePTP(t,r,n){return Ye(this.configuration).planCollisionFreePTP(t,r,n).then(a=>a(this.axios,this.basePath))}planMotion(t,r,n){return Ye(this.configuration).planMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planTrajectory(t,r,n){return Ye(this.configuration).planTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}stopExecution(t,r,n){return Ye(this.configuration).stopExecution(t,r,n).then(a=>a(this.axios,this.basePath))}streamMove(t,r,n){return Ye(this.configuration).streamMove(t,r,n).then(a=>a(this.axios,this.basePath))}streamMoveBackward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveBackward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveForward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d){return Ye(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d).then(h=>h(this.axios,this.basePath))}}const eV=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{x("activateAllMotionGroups","cell",t),x("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),r!==void 0&&(c.controller=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},activateMotionGroup:async(t,r,n={})=>{x("activateMotionGroup","cell",t),x("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),r!==void 0&&(c.motion_group=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{x("deactivateMotionGroup","cell",t),x("deactivateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listMotionGroups:async(t,r={})=>{x("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}}}},ao=function(e){const t=eV(e);return{async activateAllMotionGroups(r,n,a){var l,c;const o=await t.activateAllMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async activateMotionGroup(r,n,a){var l,c;const o=await t.activateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deactivateMotionGroup(r,n,a){var l,c;const o=await t.deactivateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listMotionGroups(r,n){var i,l;const a=await t.listMotionGroups(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)}}};class tV extends Ve{activateAllMotionGroups(t,r,n){return ao(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return ao(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return ao(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return ao(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const rV=function(e){return{getActivePayload:async(t,r,n={})=>{x("getActivePayload","cell",t),x("getActivePayload","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{x("getActiveTcp","cell",t),x("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{x("getCurrentMotionGroupState","cell",t),x("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await k(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{x("getInfoCapabilities","cell",t),x("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{x("getMotionGroupSpecification","cell",t),x("getMotionGroupSpecification","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMounting:async(t,r,n={})=>{x("getMounting","cell",t),x("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{x("getOptimizerConfiguration","cell",t),x("getOptimizerConfiguration","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.tcp=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getSafetySetup:async(t,r,n={})=>{x("getSafetySetup","cell",t),x("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listPayloads:async(t,r,n={})=>{x("listPayloads","cell",t),x("listPayloads","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listTcps:async(t,r,n,a={})=>{x("listTcps","cell",t),x("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{x("streamMotionGroupState","cell",t),x("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,j);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};$(u,e),await k(d,e),n!==void 0&&(h.response_rate=n),a!==void 0&&(h.response_coordinate_system=a),o!==void 0&&(h.tcp=o),U(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:D(l),options:u}}}},xt=function(e){const t=rV(e);return{async getActivePayload(r,n,a){var l,c;const o=await t.getActivePayload(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getActiveTcp(r,n,a,o){var c,u;const s=await t.getActiveTcp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async getCurrentMotionGroupState(r,n,a,o,s){var u,d;const i=await t.getCurrentMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async getInfoCapabilities(r,n,a){var l,c;const o=await t.getInfoCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getMotionGroupSpecification(r,n,a){var l,c;const o=await t.getMotionGroupSpecification(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getMounting(r,n,a){var l,c;const o=await t.getMounting(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getOptimizerConfiguration(r,n,a,o){var c,u;const s=await t.getOptimizerConfiguration(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async getSafetySetup(r,n,a){var l,c;const o=await t.getSafetySetup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listPayloads(r,n,a){var l,c;const o=await t.listPayloads(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listTcps(r,n,a,o){var c,u;const s=await t.listTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async streamMotionGroupState(r,n,a,o,s,i){var d,h;const l=await t.streamMotionGroupState(r,n,a,o,s,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=M["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>L(l,_,I,e)(p,u||f)}}};class nV extends Ve{getActivePayload(t,r,n){return xt(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return xt(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return xt(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return xt(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return xt(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return xt(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return xt(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return xt(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return xt(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return xt(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return xt(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const aV=function(e){return{directionJogging:async(t,r,n={})=>{x("directionJogging","cell",t),x("directionJogging","directionJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{x("getJoggingCapabilities","cell",t),x("getJoggingCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},jointJogging:async(t,r,n={})=>{x("jointJogging","cell",t),x("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},stopJogging:async(t,r,n={})=>{x("stopJogging","cell",t),x("stopJogging","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},oo=function(e){const t=aV(e);return{async directionJogging(r,n,a){var l,c;const o=await t.directionJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getJoggingCapabilities(r,n,a){var l,c;const o=await t.getJoggingCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async jointJogging(r,n,a){var l,c;const o=await t.jointJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async stopJogging(r,n,a){var l,c;const o=await t.stopJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)}}};class oV extends Ve{directionJogging(t,r,n){return oo(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return oo(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return oo(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return oo(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const sV=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{x("calculateAllInverseKinematic","cell",t),x("calculateAllInverseKinematic","motionGroup",r),x("calculateAllInverseKinematic","allJointPositionsRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{x("calculateForwardKinematic","cell",t),x("calculateForwardKinematic","motionGroup",r),x("calculateForwardKinematic","tcpPoseRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{x("calculateInverseKinematic","cell",t),x("calculateInverseKinematic","motionGroup",r),x("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{x("getKinematicCapabilities","cell",t),x("getKinematicCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},so=function(e){const t=sV(e);return{async calculateAllInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateAllInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async calculateForwardKinematic(r,n,a,o){var c,u;const s=await t.calculateForwardKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async calculateInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async getKinematicCapabilities(r,n,a){var l,c;const o=await t.getKinematicCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)}}};class iV extends Ve{calculateAllInverseKinematic(t,r,n,a){return so(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return so(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return so(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return so(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const lV=function(e){return{createProgramRunner:async(t,r,n={})=>{x("createProgramRunner","cell",t),x("createProgramRunner","request",r);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="text/plain",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},executeProgram:async(t,r,n={})=>{x("executeProgram","cell",t),x("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},getProgramRunner:async(t,r,n={})=>{x("getProgramRunner","cell",t),x("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramRunners:async(t,r={})=>{x("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},migrateProgram:async(t,r,n={})=>{x("migrateProgram","cell",t),x("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="text/plain",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},planProgram:async(t,r,n,a={})=>{x("planProgram","cell",t),x("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:D(s),options:l}},stopAllProgramRunner:async(t,r={})=>{x("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},stopProgramRunner:async(t,r,n={})=>{x("stopProgramRunner","cell",t),x("stopProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},tr=function(e){const t=lV(e);return{async createProgramRunner(r,n,a){var l,c;const o=await t.createProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async executeProgram(r,n,a){var l,c;const o=await t.executeProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getProgramRunner(r,n,a){var l,c;const o=await t.getProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listProgramRunners(r,n){var i,l;const a=await t.listProgramRunners(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async migrateProgram(r,n,a){var l,c;const o=await t.migrateProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async planProgram(r,n,a,o){var c,u;const s=await t.planProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async stopAllProgramRunner(r,n){var i,l;const a=await t.stopAllProgramRunner(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async stopProgramRunner(r,n,a){var l,c;const o=await t.stopProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)}}};class cV extends Ve{createProgramRunner(t,r,n){return tr(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return tr(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return tr(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return tr(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return tr(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return tr(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return tr(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return tr(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const uV=function(e){return{clearProgramsValues:async(t,r={})=>{x("clearProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},createProgramsValue:async(t,r,n={})=>{x("createProgramsValue","cell",t),x("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},deleteProgramValue:async(t,r,n={})=>{x("deleteProgramValue","cell",t),x("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgramValue:async(t,r,n={})=>{x("getProgramValue","cell",t),x("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramsValues:async(t,r={})=>{x("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{x("updateProgramValue","cell",t),x("updateProgramValue","key",r),x("updateProgramValue","value",n);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}}}},Qr=function(e){const t=uV(e);return{async clearProgramsValues(r,n){var i,l;const a=await t.clearProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async createProgramsValue(r,n,a){var l,c;const o=await t.createProgramsValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteProgramValue(r,n,a){var l,c;const o=await t.deleteProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getProgramValue(r,n,a){var l,c;const o=await t.getProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listProgramsValues(r,n){var i,l;const a=await t.listProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async updateProgramValue(r,n,a,o){var c,u;const s=await t.updateProgramValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class dV extends Ve{clearProgramsValues(t,r){return Qr(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return Qr(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return Qr(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return Qr(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return Qr(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return Qr(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const hV=function(e){return{deleteStoredCollider:async(t,r,n={})=>{x("deleteStoredCollider","cell",t),x("deleteStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{x("deleteStoredCollisionLinkChain","cell",t),x("deleteStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{x("deleteStoredCollisionTool","cell",t),x("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{x("getDefaultLinkChain","cell",t),x("getDefaultLinkChain","motionGroupModel",r);const a="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollider:async(t,r,n={})=>{x("getStoredCollider","cell",t),x("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{x("getStoredCollisionLinkChain","cell",t),x("getStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{x("getStoredCollisionTool","cell",t),x("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listCollisionLinkChains:async(t,r={})=>{x("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listStoredColliders:async(t,r={})=>{x("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listStoredCollisionTools:async(t,r={})=>{x("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeCollider:async(t,r,n,a={})=>{x("storeCollider","cell",t),x("storeCollider","collider",r),x("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{x("storeCollisionLinkChain","cell",t),x("storeCollisionLinkChain","linkChain",r),x("storeCollisionLinkChain","collider",n);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{x("storeCollisionTool","cell",t),x("storeCollisionTool","tool",r),x("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}}}},ct=function(e){const t=hV(e);return{async deleteStoredCollider(r,n,a){var l,c;const o=await t.deleteStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.deleteStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async deleteStoredCollisionTool(r,n,a){var l,c;const o=await t.deleteStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getDefaultLinkChain(r,n,a){var l,c;const o=await t.getDefaultLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getStoredCollider(r,n,a){var l,c;const o=await t.getStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.getStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getStoredCollisionTool(r,n,a){var l,c;const o=await t.getStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const a=await t.listCollisionLinkChains(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async listStoredColliders(r,n){var i,l;const a=await t.listStoredColliders(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async listStoredCollisionTools(r,n){var i,l;const a=await t.listStoredCollisionTools(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async storeCollider(r,n,a,o){var c,u;const s=await t.storeCollider(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async storeCollisionLinkChain(r,n,a,o){var c,u;const s=await t.storeCollisionLinkChain(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async storeCollisionTool(r,n,a,o){var c,u;const s=await t.storeCollisionTool(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class pV extends Ve{deleteStoredCollider(t,r,n){return ct(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return ct(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return ct(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return ct(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return ct(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return ct(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return ct(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ct(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return ct(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ct(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return ct(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return ct(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return ct(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const mV=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{x("deleteStoredCollisionScene","cell",t),x("deleteStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{x("getStoredCollisionScene","cell",t),x("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{x("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{x("storeCollisionScene","cell",t),x("storeCollisionScene","scene",r),x("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}}}},io=function(e){const t=mV(e);return{async deleteStoredCollisionScene(r,n,a){var l,c;const o=await t.deleteStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getStoredCollisionScene(r,n,a){var l,c;const o=await t.getStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listStoredCollisionScenes(r,n){var i,l;const a=await t.listStoredCollisionScenes(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async storeCollisionScene(r,n,a,o){var c,u;const s=await t.storeCollisionScene(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class fV extends Ve{deleteStoredCollisionScene(t,r,n){return io(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return io(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return io(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return io(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const gV=function(e){return{clearAllObjects:async(t,r={})=>{x("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},deleteObject:async(t,r,n={})=>{x("deleteObject","cell",t),x("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getObject:async(t,r,n={})=>{x("getObject","cell",t),x("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getObjectMetadata:async(t,r,n={})=>{x("getObjectMetadata","cell",t),x("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listAllObjectKeys:async(t,r={})=>{x("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeObject:async(t,r,n,a,o={})=>{x("storeObject","cell",t),x("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);$(c,e),await k(u,e),a!==void 0&&h.append("AnyValue",new Blob([JSON.stringify(a)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),U(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:D(i),options:c}}}},Xr=function(e){const t=gV(e);return{async clearAllObjects(r,n){var i,l;const a=await t.clearAllObjects(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async deleteObject(r,n,a){var l,c;const o=await t.deleteObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getObject(r,n,a){var l,c;const o=await t.getObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getObjectMetadata(r,n,a){var l,c;const o=await t.getObjectMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const a=await t.listAllObjectKeys(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async storeObject(r,n,a,o,s){var u,d;const i=await t.storeObject(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)}}};class yV extends Ve{clearAllObjects(t,r){return Xr(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return Xr(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return Xr(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return Xr(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return Xr(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return Xr(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const bV=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{x("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await k(i,e),t!==void 0&&(l.channel=t),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},updateNovaVersion:async(t,r={})=>{x("updateNovaVersion","updateNovaVersionRequest",t);const n="/system/update",a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};$(s,e),await k(i,e),i["Content-Type"]="application/json",U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=de(t,s,e),{url:D(a),options:s}}}},Xn=function(e){const t=bV(e);return{async checkNovaVersionUpdate(r,n){var i,l;const a=await t.checkNovaVersionUpdate(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)},async getDiagnosePackage(r){var s,i;const n=await t.getDiagnosePackage(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>L(n,_,I,e)(l,o||c)},async getSystemStatus(r){var s,i;const n=await t.getSystemStatus(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>L(n,_,I,e)(l,o||c)},async getSystemVersion(r){var s,i;const n=await t.getSystemVersion(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>L(n,_,I,e)(l,o||c)},async updateNovaVersion(r,n){var i,l;const a=await t.updateNovaVersion(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>L(a,_,I,e)(c,s||u)}}};class vV extends Ve{checkNovaVersionUpdate(t,r){return Xn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Xn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Xn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Xn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Xn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const xV=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{x("getMotionGroupState","cell",t),x("getMotionGroupState","controller",r),x("getMotionGroupState","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getMotionGroups:async(t,r,n={})=>{x("getMotionGroups","cell",t),x("getMotionGroups","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{x("getVirtualRobotIOValue","cell",t),x("getVirtualRobotIOValue","controller",r),x("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listIOs:async(t,r,n={})=>{x("listIOs","cell",t),x("listIOs","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{x("setMotionGroupState","cell",t),x("setMotionGroupState","controller",r),x("setMotionGroupState","id",n),x("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:D(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{x("setVirtualRobotIOValue","cell",t),x("setVirtualRobotIOValue","controller",r),x("setVirtualRobotIOValue","io",n);const l="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),c=new URL(l,j);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};$(d,e),await k(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}}}},Zr=function(e){const t=xV(e);return{async getMotionGroupState(r,n,a,o){var c,u;const s=await t.getMotionGroupState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async getMotionGroups(r,n,a){var l,c;const o=await t.getMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getVirtualRobotIOValue(r,n,a,o){var c,u;const s=await t.getVirtualRobotIOValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async listIOs(r,n,a){var l,c;const o=await t.listIOs(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async setMotionGroupState(r,n,a,o,s){var u,d;const i=await t.setMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async setVirtualRobotIOValue(r,n,a,o,s,i,l){var h,p;const c=await t.setVirtualRobotIOValue(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>L(c,_,I,e)(f,d||m)}}};class SV extends Ve{getMotionGroupState(t,r,n,a){return Zr(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return Zr(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return Zr(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return Zr(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return Zr(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return Zr(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const OV=function(e){return{externalJointsStream:async(t,r,n,a={})=>{x("externalJointsStream","cell",t),x("externalJointsStream","controller",r),x("externalJointsStream","externalJointStreamDatapoint",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{x("getMotionGroupBehavior","cell",t),x("getMotionGroupBehavior","controller",r),x("getMotionGroupBehavior","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{x("setMotionGroupBehavior","cell",t),x("setMotionGroupBehavior","controller",r),x("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await k(u,e),a!==void 0&&(d.behavior=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}}}},Ii=function(e){const t=OV(e);return{async externalJointsStream(r,n,a,o){var c,u;const s=await t.externalJointsStream(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async getMotionGroupBehavior(r,n,a,o){var c,u;const s=await t.getMotionGroupBehavior(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async setMotionGroupBehavior(r,n,a,o,s){var u,d;const i=await t.setMotionGroupBehavior(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)}}};class wV extends Ve{externalJointsStream(t,r,n,a){return Ii(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return Ii(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return Ii(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const CV=function(e){return{getCycleTime:async(t,r,n={})=>{x("getCycleTime","cell",t),x("getCycleTime","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getEStop:async(t,r,n={})=>{x("getEStop","cell",t),x("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOperationMode:async(t,r,n={})=>{x("getOperationMode","cell",t),x("getOperationMode","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},pushEStop:async(t,r,n={})=>{x("pushEStop","cell",t),x("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},releaseEStop:async(t,r,n={})=>{x("releaseEStop","cell",t),x("releaseEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},setOperationMode:async(t,r,n,a={})=>{x("setOperationMode","cell",t),x("setOperationMode","controller",r),x("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),n!==void 0&&(u.mode=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}}}},en=function(e){const t=CV(e);return{async getCycleTime(r,n,a){var l,c;const o=await t.getCycleTime(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getEStop(r,n,a){var l,c;const o=await t.getEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async getOperationMode(r,n,a){var l,c;const o=await t.getOperationMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async pushEStop(r,n,a){var l,c;const o=await t.pushEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async releaseEStop(r,n,a){var l,c;const o=await t.releaseEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async setOperationMode(r,n,a,o){var c,u;const s=await t.setOperationMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)}}};class PV extends Ve{getCycleTime(t,r,n){return en(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return en(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return en(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return en(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return en(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return en(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const TV=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{x("addVirtualRobotCoordinateSystem","cell",t),x("addVirtualRobotCoordinateSystem","controller",r),x("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{x("addVirtualRobotTcp","cell",t),x("addVirtualRobotTcp","controller",r),x("addVirtualRobotTcp","id",n),x("addVirtualRobotTcp","robotTcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:D(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{x("deleteVirtualRobotCoordinateSystem","cell",t),x("deleteVirtualRobotCoordinateSystem","controller",r),x("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(c,e),await k(u,e),a!==void 0&&(d.delete_dependent=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},deleteVirtualRobotTcp:async(t,r,n,a,o={})=>{x("deleteVirtualRobotTcp","cell",t),x("deleteVirtualRobotTcp","controller",r),x("deleteVirtualRobotTcp","id",n),x("deleteVirtualRobotTcp","tcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(a))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(c,e),await k(u,e),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{x("getVirtualRobotMounting","cell",t),x("getVirtualRobotMounting","controller",r),x("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,n={})=>{x("listVirtualRobotCoordinateSystems","cell",t),x("listVirtualRobotCoordinateSystems","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{x("listVirtualRobotTcps","cell",t),x("listVirtualRobotTcps","controller",r),x("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setVirtualRobotMounting:async(t,r,n,a,o={})=>{x("setVirtualRobotMounting","cell",t),x("setVirtualRobotMounting","controller",r),x("setVirtualRobotMounting","id",n),x("setVirtualRobotMounting","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:D(i),options:c}}}},rr=function(e){const t=TV(e);return{async addVirtualRobotCoordinateSystem(r,n,a,o){var c,u;const s=await t.addVirtualRobotCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async addVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.addVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async deleteVirtualRobotCoordinateSystem(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotCoordinateSystem(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async deleteVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)},async getVirtualRobotMounting(r,n,a,o){var c,u;const s=await t.getVirtualRobotMounting(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async listVirtualRobotCoordinateSystems(r,n,a){var l,c;const o=await t.listVirtualRobotCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>L(o,_,I,e)(u,i||d)},async listVirtualRobotTcps(r,n,a,o){var c,u;const s=await t.listVirtualRobotTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>L(s,_,I,e)(d,l||h)},async setVirtualRobotMounting(r,n,a,o,s){var u,d;const i=await t.setVirtualRobotMounting(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>L(i,_,I,e)(h,c||p)}}};class RV extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return rr(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return rr(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return rr(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return rr(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return rr(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return rr(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return rr(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return rr(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function Bt(e,t,r){return Math.max(t,Math.min(r,e))}class AV{constructor(t=0,r=0,n=0,a=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=a}static slerpFlat(t,r,n,a,o,s,i){let l=n[a+0],c=n[a+1],u=n[a+2],d=n[a+3];const h=o[s+0],p=o[s+1],f=o[s+2],m=o[s+3];if(i===0){t[r+0]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d;return}if(i===1){t[r+0]=h,t[r+1]=p,t[r+2]=f,t[r+3]=m;return}if(d!==m||l!==h||c!==p||u!==f){let b=1-i;const S=l*h+c*p+u*f+d*m,E=S>=0?1:-1,O=1-S*S;if(O>Number.EPSILON){const C=Math.sqrt(O),w=Math.atan2(C,S*E);b=Math.sin(b*w)/C,i=Math.sin(i*w)/C}const P=i*E;if(l=l*b+h*P,c=c*b+p*P,u=u*b+f*P,d=d*b+m*P,b===1-i){const C=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=C,c*=C,u*=C,d*=C}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,a,o,s){const i=n[a],l=n[a+1],c=n[a+2],u=n[a+3],d=o[s],h=o[s+1],p=o[s+2],f=o[s+3];return t[r]=i*f+u*d+l*p-c*h,t[r+1]=l*f+u*h+c*d-i*p,t[r+2]=c*f+u*p+i*h-l*d,t[r+3]=u*f-i*d-l*h-c*p,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,n,a){return this._x=t,this._y=r,this._z=n,this._w=a,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const n=t._x,a=t._y,o=t._z,s=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(a/2),d=i(o/2),h=l(n/2),p=l(a/2),f=l(o/2);switch(s){case"XYZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"YXZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"ZXY":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"ZYX":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"YZX":this._x=h*u*d+c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d-h*p*f;break;case"XZY":this._x=h*u*d-c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d+h*p*f;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,a=Math.sin(n);return this._x=t.x*a,this._y=t.y*a,this._z=t.z*a,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],a=r[4],o=r[8],s=r[1],i=r[5],l=r[9],c=r[2],u=r[6],d=r[10],h=n+i+d;if(h>0){const p=.5/Math.sqrt(h+1);this._w=.25/p,this._x=(u-l)*p,this._y=(o-c)*p,this._z=(s-a)*p}else if(n>i&&n>d){const p=2*Math.sqrt(1+n-i-d);this._w=(u-l)/p,this._x=.25*p,this._y=(a+s)/p,this._z=(o+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(o-c)/p,this._x=(a+s)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(s-a)/p,this._x=(o+c)/p,this._y=(l+u)/p,this._z=.25*p}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let n=t.dot(r)+1;return n<Number.EPSILON?(n=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=n):(this._x=0,this._y=-t.z,this._z=t.y,this._w=n)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=n),this.normalize()}angleTo(t){return 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this.set(a*Math.sin(t),a*Math.cos(t),o*Math.sin(r),o*Math.cos(r))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,r=0){return this._x=t[r],this._y=t[r+1],this._z=t[r+2],this._w=t[r+3],this._onChangeCallback(),this}toArray(t=[],r=0){return t[r]=this._x,t[r+1]=this._y,t[r+2]=this._z,t[r+3]=this._w,t}fromBufferAttribute(t,r){return this._x=t.getX(r),this._y=t.getY(r),this._z=t.getZ(r),this._w=t.getW(r),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class dn{constructor(t=0,r=0,n=0){dn.prototype.isVector3=!0,this.x=t,this.y=r,this.z=n}set(t,r,n){return n===void 0&&(n=this.z),this.x=t,this.y=r,this.z=n,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 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this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,n=this.y,a=this.z,o=t.elements;return this.x=o[0]*r+o[4]*n+o[8]*a,this.y=o[1]*r+o[5]*n+o[9]*a,this.z=o[2]*r+o[6]*n+o[10]*a,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=Bt(this.x,t.x,r.x),this.y=Bt(this.y,t.y,r.y),this.z=Bt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=Bt(this.x,t,r),this.y=Bt(this.y,t,r),this.z=Bt(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(Bt(n,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,r){return this.x+=(t.x-this.x)*r,this.y+=(t.y-this.y)*r,this.z+=(t.z-this.z)*r,this}lerpVectors(t,r,n){return this.x=t.x+(r.x-t.x)*n,this.y=t.y+(r.y-t.y)*n,this.z=t.z+(r.z-t.z)*n,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const n=t.x,a=t.y,o=t.z,s=r.x,i=r.y,l=r.z;return this.x=a*l-o*i,this.y=o*s-n*l,this.z=n*i-a*s,this}projectOnVector(t){const r=t.lengthSq();if(r===0)return this.set(0,0,0);const n=t.dot(this)/r;return this.copy(t).multiplyScalar(n)}projectOnPlane(t){return Mi.copy(this).projectOnVector(t),this.sub(Mi)}reflect(t){return this.sub(Mi.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const r=Math.sqrt(this.lengthSq()*t.lengthSq());if(r===0)return Math.PI/2;const n=this.dot(t)/r;return Math.acos(Bt(n,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,n=this.y-t.y,a=this.z-t.z;return r*r+n*n+a*a}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,r,n){const a=Math.sin(r)*t;return this.x=a*Math.sin(n),this.y=Math.cos(r)*t,this.z=a*Math.cos(n),this}setFromCylindrical(t){return 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f(T,V,z){if(T.type==="text")return()=>[T.value];if(T.type==="group"){const R=p(T.tokens,V,z);return G=>{const[A,...N]=R(G);return N.length?[""]:[A]}}const v=z||t;return T.type==="wildcard"&&z!==!1?R=>{const G=R[T.name];if(G==null)return["",T.name];if(!Array.isArray(G)||G.length===0)throw new TypeError(`Expected "${T.name}" to be a non-empty array`);return[G.map((A,N)=>{if(typeof A!="string")throw new TypeError(`Expected "${T.name}/${N}" to be a string`);return v(A)}).join(V)]}:R=>{const G=R[T.name];if(G==null)return["",T.name];if(typeof G!="string")throw new TypeError(`Expected "${T.name}" to be a string`);return[v(G)]}}function m(T,V={}){const{decode:z=decodeURIComponent,delimiter:v=e}=V,{regexp:R,keys:G}=b(T,V),A=G.map(N=>z===!1?t:N.type==="param"?z:re=>re.split(v).map(z));return function(re){const ee=R.exec(re);if(!ee)return!1;const ae=ee[0],te=Object.create(null);for(let se=1;se<ee.length;se++){if(ee[se]===void 0)continue;const 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O(T,V){return V.length<2?T.length<2?`[^${i(T+V)}]`:`(?:(?!${i(T)})[^${i(V)}])`:T.length<2?`(?:(?!${i(V)})[^${i(T)}])`:`(?:(?!${i(V)}|${i(T)})[\\s\\S])`}function P(T){return T.tokens.map(function V(z,v,R){if(z.type==="text")return s(z.value);if(z.type==="group")return`{${z.tokens.map(V).join("")}}`;const A=C(z.name)&&w(R[v+1])?z.name:JSON.stringify(z.name);if(z.type==="param")return`:${A}`;if(z.type==="wildcard")return`*${A}`;throw new TypeError(`Unexpected token: ${z}`)}).join("")}function C(T){const[V,...z]=T;return r.test(V)?z.every(v=>n.test(v)):!1}function w(T){return(T==null?void 0:T.type)!=="text"?!0:!n.test(T.value[0])}return Vt}var VV=EV();function ff(e,t,r){if(t.length!==e.length)return!0;for(let n=0;n<t.length;n++)if(Math.abs(t[n]-e[n])>r)return!1;return!0}function gf(e,t,r){if(e===void 0&&t||e&&t===void 0)return!1;if(e===void 0||t===void 0)return!0;let n=0;return n+=Math.abs(e.orientation.x-t.orientation.x),n+=Math.abs(e.orientation.y-t.orientation.y),n+=Math.abs(e.orientation.z-t.orientation.z),n+=Math.abs(e.position.x-t.position.x),n+=Math.abs(e.position.y-t.position.y),n+=Math.abs(e.position.z-t.position.z),n>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var th=1e-4,IV=class yf{constructor(t,r,n,a,o,s,i,l,c,u,d,h){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.isVirtual=s,this.tcps=i,this.motionGroupSpecification=l,this.safetySetup=c,this.mounting=u,this.initialControllerState=d,this.controllerStateSocket=h,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=a,this.controllerState=d,h.addEventListener("message",p=>{var f;const m=(f=sr(p.data))==null?void 0:f.result;m&&Be.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=sr(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);ff(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,th)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),gf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,th)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Be.makeAutoObservable(this)}static connect(t,r,n){return Ee(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(w=>w.controller===i),c=l==null?void 0:l.physical_motion_groups.find(w=>w.motion_group===r);if(!l||!c)throw new Error(`Controller ${i} or motion group ${r} not found`);const u=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield u.firstMessage(),h=(a=sr(d.data))==null?void 0:a.result;if(!h)throw new Error(`Unable to parse initial motion state message ${d.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
+  `,h);const f=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",m=yield Ee(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(w){return console.error(`Error fetching mounting for ${c.motion_group}`,w),null}}),b=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),S=yield b.firstMessage(),E=(o=sr(S.data))==null?void 0:o.result;if(!E)throw new Error(`Unable to parse initial controller state message ${S.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
+  `,E);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),P=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),C=yield t.api.motionGroupInfos.getSafetySetup(r);return new yf(t,l,c,h,u,f,O,P,C,m,E,b)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,n,a,o,s;const i=new ke.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((a=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:a.y)||0,((s=(o=this.mounting)==null?void 0:o.pose.orientation)==null?void 0:s.z)||0),l=i.length(),c=i.normalize();return new ke.Quaternion().setFromAxisAngle(c,l)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return Ee(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Be.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Be.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Be.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ee(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Be.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Be.runInAction(()=>{this.activationState="active"})}catch(t){throw Be.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},MV=class bf{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Ee(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new bf(s,o)})}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}get activeJoggingMode(){return this.cartesianWebsocket?"cartesian":this.jointWebsocket?"joint":"increment"}get activeWebsocket(){return this.cartesianWebsocket||this.jointWebsocket}stop(){return Ee(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&(UA(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",n=>{const a=sr(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",n=>{const a=sr(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)}))}startJointRotation(t){return Ee(this,arguments,function*({joint:r,direction:n,velocityRadsPerSec:a}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const o=new Array(this.numJoints).fill(0);o[r]=n==="-"?-a:a,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:o})})}startTCPTranslation(t){return Ee(this,arguments,function*({axis:r,direction:n,velocityMmPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,position_velocity:a,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return Ee(this,arguments,function*({axis:r,direction:n,velocityRadsPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,position_velocity:0,rotation_velocity:a,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return Ee(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!ZA(r.coordinate_system,a))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${a}`);if(l.type==="translate"){const p=Object.assign({},r.position);p[s]+=l.distanceMm*(i==="-"?-1:1),u.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:p,orientation:r.orientation,coordinate_system:a}})}else if(l.type==="rotate"){const p=new dn(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),b=l.distanceRads*(i==="-"?-1:1),S=new dn(0,0,0);S[s]=1;const E=Math.cos(.5*b)*Math.cos(.5*f),O=Math.sin(.5*b)*Math.sin(.5*f),P=Math.sin(.5*b)*Math.cos(.5*f),C=Math.cos(.5*b)*Math.sin(.5*f),w=S.dot(m),T=S.clone().cross(m),V=2*Math.acos(E-O*w),z=V/Math.sin(.5*V),v=new dn().addScaledVector(T,O).addScaledVector(S,P).addScaledVector(m,C).multiplyScalar(z);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:v,coordinate_system:a}})}const d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,tcp:this.cartesianJoggingOpts.tcpId,commands:u}),h=(c=d.plan_successful_response)==null?void 0:c.motion;if(!h)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(d)}`);yield this.nova.api.motion.streamMoveForward(h,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return Ee(this,arguments,function*({joint:r,currentJoints:n,velocityRadsPerSec:a,direction:o,distanceRads:s}){var i;const l=[...n.joints];l[r]+=s*(o==="-"?-1:1);const c=new Array(n.joints.length).fill(a),u=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:l}}]}),d=(i=u.plan_successful_response)==null?void 0:i.motion;if(!d){console.error("Failed to plan jogging increment motion",u);return}yield this.nova.api.motion.streamMoveForward(d,100,void 0,void 0,void 0,{timeout:1e3*60})})}},rh=1e-4;function jV(e,t){const r=new St.Vector3(t.x,t.y,t.z),n=new St.Vector3(e.x,e.y,e.z),a=r.length(),o=r.normalize();let s=n.length(),i=n.normalize();i.dot(o)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-a;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=a+l,i.multiplyScalar(s)}var $V=class vf{constructor(t,r,n,a,o){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.rapidlyChangingMotionState=a,o.addEventListener("message",s=>{var i;const l=(i=sr(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);ff(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,rh)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),gf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,rh)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:jV(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),Be.makeAutoObservable(this)}static open(t,r){return Ee(this,null,function*(){var n;const{instances:a}=yield t.api.controller.listControllers(),[o,s]=r.split("@"),i=a.find(h=>h.controller===s),l=i==null?void 0:i.physical_motion_groups.find(h=>h.motion_group===r);if(!i||!l)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield c.firstMessage();console.log("got first message",u);const d=(n=sr(u.data))==null?void 0:n.result;if(!d)throw new Error(`Unable to parse initial motion state message ${u.data}`);return console.log(`Connected motion state websocket to motion group ${l.motion_group}. Initial state:
+  `,d),new vf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},kV=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(vV),this.cell=this.withUnwrappedResponsesOnly($E),this.deviceConfig=this.withCellId(zE),this.motionGroup=this.withCellId(tV),this.motionGroupInfos=this.withCellId(nV),this.controller=this.withCellId(UE),this.program=this.withCellId(cV),this.programValues=this.withCellId(dV),this.controllerIOs=this.withCellId(LE),this.motionGroupKinematic=this.withCellId(iV),this.motion=this.withCellId(ZE),this.coordinateSystems=this.withCellId(FE),this.application=this.withCellId(Xd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Xd),this.motionGroupJogging=this.withCellId(oV),this.virtualRobot=this.withCellId(SV),this.virtualRobotSetup=this.withCellId(RV),this.virtualRobotMode=this.withCellId(PV),this.virtualRobotBehavior=this.withCellId(wV),this.libraryProgramMetadata=this.withCellId(JE),this.libraryProgram=this.withCellId(HE),this.libraryRecipeMetadata=this.withCellId(QE),this.libraryRecipe=this.withCellId(YE),this.storeObject=this.withCellId(yV),this.storeCollisionComponents=this.withCellId(pV),this.storeCollisionScenes=this.withCellId(fV)}withCellId(e){var t,r;const n=new e(cl(an({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,[this.cellId,...s]).then(i=>i.data)}return n}withUnwrappedResponsesOnly(e){var t,r;const n=new e(cl(an({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,s).then(i=>i.data)}return n}},UV=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ee(this,null,function*(){var t,r,n;const a=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex TCP Position",position:{x:-200,y:300,z:150},rotation:{angles:[-.12139440409113832,-.06356210998212003,-.2023240068185639,0],type:"ROTATION_VECTOR"}}]}}}],o=((t=e.method)==null?void 0:t.toUpperCase())||"GET",s="/cells"+((n=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:n.split("?")[0]);for(const i of a){const l=VV.match(i.path)(s||"");if(o===i.method&&l){const c=i.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new gl(`No mock handler matched this request: ${o} ${s}`,"404",e)})}handleWebsocketConnection(e){this.connections.push(e),setTimeout(()=>{e.dispatchEvent(new Event("open")),console.log("Websocket connection opened from",e.url),e.url.includes("/state-stream")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify(DV)})),e.url.includes("/move-joint")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:48:26.096266444Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3492152690887451,-1.5659207105636597,1.6653711795806885,-1.0991662740707397,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:""},tcp_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"671259"}],sequence_number:"671259"},movement_state:"MOVEMENT_STATE_MOVING"}})})),e.url.includes("/move-tcp")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:43:12.188335774Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3352527618408203,-1.5659207105636597,1.6653711795806885,-1.110615611076355,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:""},tcp_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"627897"}],sequence_number:"627897"},movement_state:"MOVEMENT_STATE_MOVING"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}},DV={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},LV=class{constructor(e){this.authPromise=null,this.accessToken=null;var t;const r=(t=e.cellId)!=null?t:"cell";this.config=an({cellId:r},e),this.accessToken=e.accessToken||Ri.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"&&(this.mock=new UV);const n=_.create({baseURL:ji(this.config.instanceUrl,"/api/v1"),headers:{"User-Agent":"Wandelbots-Nova-JS-SDK"}});n.interceptors.request.use(a=>Ee(this,null,function*(){return a.headers.Authorization||(this.accessToken?a.headers.Authorization=`Bearer ${this.accessToken}`:this.config.username&&this.config.password&&(a.headers.Authorization=`Basic ${btoa(e.username+":"+e.password)}`)),a})),typeof window<"u"&&n.interceptors.response.use(a=>a,a=>Ee(this,null,function*(){var o,s;if(VE(a))if(((o=a.response)==null?void 0:o.status)===401)try{if(yield this.renewAuthentication(),a.config)return this.accessToken?a.config.headers.Authorization=`Bearer ${this.accessToken}`:delete a.config.headers.Authorization,n.request(a.config)}catch(i){return Promise.reject(i)}else((s=a.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(a)})),this.api=new kV(r,cl(an({},e),{basePath:ji(this.config.instanceUrl,"/api/v1"),isJsonMime:a=>a==="application/json",baseOptions:an(an({},this.mock?{adapter:a=>this.mock.handleAPIRequest(a)}:{}),e.baseOptions),axiosInstance:n}))}renewAuthentication(){return Ee(this,null,function*(){if(!this.authPromise){this.authPromise=t_(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?Ri.setString("wbjs.access_token",this.accessToken):Ri.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(ji(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return t.protocol=t.protocol.replace("http","ws"),t.protocol=t.protocol.replace("https","wss"),this.accessToken?t.searchParams.append("token",this.accessToken):this.config.username&&this.config.password&&(t.username=this.config.username,t.password=this.config.password),t.toString()}openReconnectingWebsocket(e){return new QA(this.makeWebsocketURL(e),{mock:this.mock})}connectMotionStream(e){return Ee(this,null,function*(){return yield $V.open(this,e)})}connectJogger(e){return Ee(this,null,function*(){return yield MV.open(this,e)})}connectMotionGroups(e){return Ee(this,null,function*(){const{instances:t}=yield this.api.controller.listControllers();return Promise.all(e.map(r=>IV.connect(this,r,t)))})}connectMotionGroup(e){return Ee(this,null,function*(){return(yield this.connectMotionGroups([e]))[0]})}};function BV(e){try{return JSON.stringify(e)}catch{return}}function FV(e,t){throw new Error(t+` ${JSON.stringify(e)}`)}function NV(e){var t,r,n,a;return e instanceof 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