@wandelbots/wandelbots-js-react-components 2.33.0-pr.feature-robot-precondition-list.372.cb3db34 → 2.33.0-pr.feature-robot-precondition-list.372.56785bf
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/components/DataGrid.d.ts +6 -1
- package/dist/components/DataGrid.d.ts.map +1 -1
- package/dist/index.cjs +35 -35
- package/dist/index.cjs.map +1 -1
- package/dist/index.js +2261 -2248
- package/dist/index.js.map +1 -1
- package/package.json +1 -1
- package/src/components/DataGrid.tsx +54 -27
package/dist/index.cjs
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"use strict";var ag=Object.create;var Ys=Object.defineProperty;var og=Object.getOwnPropertyDescriptor;var sg=Object.getOwnPropertyNames;var ig=Object.getPrototypeOf,lg=Object.prototype.hasOwnProperty;var cg=(e,t,r)=>t in e?Ys(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r;var ug=(e,t,r,n)=>{if(t&&typeof t=="object"||typeof t=="function")for(let a of sg(t))!lg.call(e,a)&&a!==r&&Ys(e,a,{get:()=>t[a],enumerable:!(n=og(t,a))||n.enumerable});return e};var Ks=(e,t,r)=>(r=e!=null?ag(ig(e)):{},ug(t||!e||!e.__esModule?Ys(r,"default",{value:e,enumerable:!0}):r,e));var $n=(e,t,r)=>cg(e,typeof t!="symbol"?t+"":t,r);Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const J=require("react"),ot=require("@react-three/drei"),Po=require("@react-three/fiber"),Ot=require("three"),dg=require("three-stdlib"),R=require("@mui/material"),ye=require("mobx-react-lite"),Re=require("react-i18next"),hg=require("i18next"),pg=require("i18next-browser-languagedetector"),x=require("prop-types"),mg=require("@emotion/react"),fg=require("@emotion/styled"),vt=require("@mui/x-data-grid"),je=require("mobx"),Pl=require("lodash-es"),Or=require("@wandelbots/nova-js"),Nt=require("@mui/icons-material"),gg=require("react-error-boundary");function Mh(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const n=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,n.get?n:{enumerable:!0,get:()=>e[r]})}}return t.default=e,Object.freeze(t)}const N=Mh(J),De=Mh(Ot);function yg(e){return e&&e.__esModule&&Object.prototype.hasOwnProperty.call(e,"default")?e.default:e}var Na={exports:{}},kn={};/**
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*/var Ec;function bg(){if(Ec)return kn;Ec=1;var e=Symbol.for("react.transitional.element"),t=Symbol.for("react.fragment");function r(n,a,o){var s=null;if(o!==void 0&&(s=""+o),a.key!==void 0&&(s=""+a.key),"key"in a){o={};for(var i in a)i!=="key"&&(o[i]=a[i])}else o=a;return a=o.ref,{$$typeof:e,type:n,key:s,ref:a!==void 0?a:null,props:o}}return kn.Fragment=t,kn.jsx=r,kn.jsxs=r,kn}var Un={};/**
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*/var Vc;function xg(){return Vc||(Vc=1,process.env.NODE_ENV!=="production"&&function(){function e(W){if(W==null)return null;if(typeof W=="function")return W.$$typeof===b?null:W.displayName||W.name||null;if(typeof W=="string")return W;switch(W){case m:return"Fragment";case S:return"Profiler";case y:return"StrictMode";case T:return"Suspense";case P:return"SuspenseList";case z:return"Activity"}if(typeof W=="object")switch(typeof W.tag=="number"&&console.error("Received an unexpected object in getComponentNameFromType(). This is likely a bug in React. Please file an issue."),W.$$typeof){case f:return"Portal";case O:return(W.displayName||"Context")+".Provider";case E:return(W._context.displayName||"Context")+".Consumer";case
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*/var Vc;function xg(){return Vc||(Vc=1,process.env.NODE_ENV!=="production"&&function(){function e(W){if(W==null)return null;if(typeof W=="function")return W.$$typeof===b?null:W.displayName||W.name||null;if(typeof W=="string")return W;switch(W){case m:return"Fragment";case S:return"Profiler";case y:return"StrictMode";case T:return"Suspense";case P:return"SuspenseList";case z:return"Activity"}if(typeof W=="object")switch(typeof W.tag=="number"&&console.error("Received an unexpected object in getComponentNameFromType(). This is likely a bug in React. Please file an issue."),W.$$typeof){case f:return"Portal";case O:return(W.displayName||"Context")+".Provider";case E:return(W._context.displayName||"Context")+".Consumer";case C:var X=W.render;return W=W.displayName,W||(W=X.displayName||X.name||"",W=W!==""?"ForwardRef("+W+")":"ForwardRef"),W;case w:return X=W.displayName||null,X!==null?X:e(W.type)||"Memo";case I:X=W._payload,W=W._init;try{return e(W(X))}catch{}}return null}function t(W){return""+W}function r(W){try{t(W);var X=!1}catch{X=!0}if(X){X=console;var ue=X.error,ve=typeof Symbol=="function"&&Symbol.toStringTag&&W[Symbol.toStringTag]||W.constructor.name||"Object";return ue.call(X,"The provided key is an unsupported type %s. This value must be coerced to a string before using it here.",ve),t(W)}}function n(W){if(W===m)return"<>";if(typeof W=="object"&&W!==null&&W.$$typeof===I)return"<...>";try{var X=e(W);return X?"<"+X+">":"<...>"}catch{return"<...>"}}function a(){var W=A.A;return W===null?null:W.getOwner()}function o(){return Error("react-stack-top-frame")}function s(W){if(G.call(W,"key")){var X=Object.getOwnPropertyDescriptor(W,"key").get;if(X&&X.isReactWarning)return!1}return W.key!==void 0}function i(W,X){function ue(){re||(re=!0,console.error("%s: `key` is not a prop. Trying to access it will result in `undefined` being returned. If you need to access the same value within the child component, you should pass it as a different prop. (https://react.dev/link/special-props)",X))}ue.isReactWarning=!0,Object.defineProperty(W,"key",{get:ue,configurable:!0})}function l(){var W=e(this.type);return ee[W]||(ee[W]=!0,console.error("Accessing element.ref was removed in React 19. ref is now a regular prop. It will be removed from the JSX Element type in a future release.")),W=this.props.ref,W!==void 0?W:null}function c(W,X,ue,ve,Ue,we,ct,rt){return ue=we.ref,W={$$typeof:p,type:W,key:X,props:we,_owner:Ue},(ue!==void 0?ue:null)!==null?Object.defineProperty(W,"ref",{enumerable:!1,get:l}):Object.defineProperty(W,"ref",{enumerable:!1,value:null}),W._store={},Object.defineProperty(W._store,"validated",{configurable:!1,enumerable:!1,writable:!0,value:0}),Object.defineProperty(W,"_debugInfo",{configurable:!1,enumerable:!1,writable:!0,value:null}),Object.defineProperty(W,"_debugStack",{configurable:!1,enumerable:!1,writable:!0,value:ct}),Object.defineProperty(W,"_debugTask",{configurable:!1,enumerable:!1,writable:!0,value:rt}),Object.freeze&&(Object.freeze(W.props),Object.freeze(W)),W}function u(W,X,ue,ve,Ue,we,ct,rt){var be=X.children;if(be!==void 0)if(ve)if(_(be)){for(ve=0;ve<be.length;ve++)d(be[ve]);Object.freeze&&Object.freeze(be)}else console.error("React.jsx: Static children should always be an array. You are likely explicitly calling React.jsxs or React.jsxDEV. Use the Babel transform instead.");else d(be);if(G.call(X,"key")){be=e(W);var Z=Object.keys(X).filter(function(ce){return ce!=="key"});ve=0<Z.length?"{key: someKey, "+Z.join(": ..., ")+": ...}":"{key: someKey}",se[be+ve]||(Z=0<Z.length?"{"+Z.join(": ..., ")+": ...}":"{}",console.error(`A props object containing a "key" prop is being spread into JSX:
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<%s key={someKey} {...props} />`,ve,be,Z,be),se[be+ve]=!0)}if(be=null,ue!==void 0&&(r(ue),be=""+ue),s(X)&&(r(X.key),be=""+X.key),"key"in X){ue={};for(var oe in X)oe!=="key"&&(ue[oe]=X[oe])}else ue=X;return be&&i(ue,typeof W=="function"?W.displayName||W.name||"Unknown":W),c(W,be,we,Ue,a(),ue,ct,rt)}function d(W){typeof W=="object"&&W!==null&&W.$$typeof===p&&W._store&&(W._store.validated=1)}var h=J,p=Symbol.for("react.transitional.element"),f=Symbol.for("react.portal"),m=Symbol.for("react.fragment"),y=Symbol.for("react.strict_mode"),S=Symbol.for("react.profiler"),E=Symbol.for("react.consumer"),O=Symbol.for("react.context"),
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Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit","CycleTimer.RemainingTime.lb":"Verbleibende Zeit","CycleTimer.OfTime.lb":"von {{time}} min.","CycleTimer.Time.lb":"{{time}} min.","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Weiter","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stopp","ProgramStateIndicator.Running.lb":"In Betrieb","ProgramStateIndicator.Error.lb":"Fehler","ProgramStateIndicator.EStop.lb":"Not-Aus","ProgramStateIndicator.Idle.lb":"Leerlauf","ProgramStateIndicator.Paused.lb":"Pausiert","ProgramStateIndicator.Ready.lb":"Bereit","ProgramStateIndicator.Stopped.lb":"Gestoppt","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manuell","ProgramStateIndicator.ManualT1.lb":"Manuell T1","ProgramStateIndicator.ManualT2.lb":"Manuell T2","RobotSetupReadinessIndicator.Ready.lb":"Bereit","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Roboter getrennt","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Voraussetzung nicht erfüllt","RobotCard.Runtime.lb":"Laufzeit","RobotCard.DriveToHome.bt":"Zur Home-Position fahren"},Tg={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical","SafetyBar.ControllerType.Virtual.lb":"Virtual","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved.","SafetyBar.SafetyState.Stop.lb":"Stop","SafetyBar.SafetyState.ti":"Safety state","SafetyBar.StopState.Estop.Explanation.lb":"An emergency stop of the robot controller has been triggered. 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<%s key={someKey} {...props} />`,ve,be,Z,be),se[be+ve]=!0)}if(be=null,ue!==void 0&&(r(ue),be=""+ue),s(X)&&(r(X.key),be=""+X.key),"key"in X){ue={};for(var oe in X)oe!=="key"&&(ue[oe]=X[oe])}else ue=X;return be&&i(ue,typeof W=="function"?W.displayName||W.name||"Unknown":W),c(W,be,we,Ue,a(),ue,ct,rt)}function d(W){typeof W=="object"&&W!==null&&W.$$typeof===p&&W._store&&(W._store.validated=1)}var 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g.jsxs(g.Fragment,{children:[g.jsx(ot.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),g.jsx("group",{rotation:[0,.5,0],children:g.jsx("group",{children:e.map((t,r)=>g.jsx(ot.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[t,4,r*4],scale:[3,1,1]},r))})}),g.jsx(ot.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),g.jsx(ot.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),g.jsx(ot.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),g.jsx(ot.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),g.jsx(ot.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}function Og(e){if(e.length<3)return console.log("Not enough vertices to define a plane"),{isCoplanar:!1};const t=new De.Vector3(e[0].x,e[0].y,e[0].z),r=new De.Vector3(e[1].x,e[1].y,e[1].z),n=new De.Vector3(e[2].x,e[2].y,e[2].z),a=new De.Vector3().subVectors(r,t),o=new De.Vector3().subVectors(n,t),s=new De.Vector3().crossVectors(a,o).normalize();for(let i=3;i<e.length;i++){const l=new De.Vector3(e[i].x,e[i].y,e[i].z),c=new De.Vector3().subVectors(l,t),u=s.dot(c);if(Math.abs(u)>1e-6)return console.log("Vertices are not on the same plane"),{isCoplanar:!1}}return{isCoplanar:!0,normal:s}}function wg({safetyZones:e,...t}){return g.jsx("group",{...t,children:e.map((r,n)=>{let a=[];return r.geometry&&(r.geometry.compound?a=r.geometry.compound.child_geometries:r.geometry.convex_hull&&(a=[r.geometry])),a.map((o,s)=>{if(!o.convex_hull)return null;const i=o.convex_hull.vertices.map(u=>new De.Vector3(u.x/1e3,u.y/1e3,u.z/1e3)),l=Og(i);if(l.isCoplanar&&l.normal){const d=new De.Vector3().addVectors(i[0],l.normal.multiplyScalar(1e-4));i.push(d)}let c;try{c=new dg.ConvexGeometry(i)}catch(u){return console.log("Error creating ConvexGeometry:",u),null}return g.jsx("mesh",{geometry:c,children:g.jsx("meshStandardMaterial",{attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-s},n)},`${n}-${s}`)})})})}function Cg({trajectory:e,...t}){var n;const r=((n=e.trajectory)==null?void 0:n.map(a=>a.tcp_pose?new De.Vector3(a.tcp_pose.position.x/1e3,a.tcp_pose.position.z/1e3,-a.tcp_pose.position.y/1e3):null).filter(a=>a!==null))||[];return g.jsx("group",{...t,children:r.length>0&&g.jsx(ot.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const Pg={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Geschwindigkeit","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physisch","SafetyBar.ControllerType.Virtual.lb":"Virtuell","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. Für die Bewegung dieses Roboters sind <strong>Sicherheitsmaßnahmen</strong> aktiv.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> ist eine virtuelle Robotersteuerung ohne physisches Gegenstück. Der Roboter kann ohne Sicherheitsmaßnahmen bewegt werden.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatischer Betriebsmodus der Robotersteuerung aktiv. Automatisierte Bewegung ohne manuelle Bestätigung freigegeben.","SafetyBar.OperationMode.Automatic.ti":"Automatisch","SafetyBar.OperationMode.Error.Explanation.lb":"Fehler beim Abrufen des Betriebsmodus. Originalhandbediengerät des Roboters verwenden, um Fehler zu lösen.","SafetyBar.OperationMode.Error.lb":"Fehler","SafetyBar.OperationMode.Manual.Explanation.lb":`Die Robotersteuerung befindet sich im manuellen Betriebsmodus.
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Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit","CycleTimer.RemainingTime.lb":"Verbleibende Zeit","CycleTimer.OfTime.lb":"von {{time}} min.","CycleTimer.Time.lb":"{{time}} min.","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Weiter","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stopp","ProgramStateIndicator.Running.lb":"In Betrieb","ProgramStateIndicator.Error.lb":"Fehler","ProgramStateIndicator.EStop.lb":"Not-Aus","ProgramStateIndicator.Idle.lb":"Leerlauf","ProgramStateIndicator.Paused.lb":"Pausiert","ProgramStateIndicator.Ready.lb":"Bereit","ProgramStateIndicator.Stopped.lb":"Gestoppt","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manuell","ProgramStateIndicator.ManualT1.lb":"Manuell T1","ProgramStateIndicator.ManualT2.lb":"Manuell T2","RobotSetupReadinessIndicator.Ready.lb":"Bereit","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Roboter getrennt","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Voraussetzung nicht erfüllt","RobotCard.Runtime.lb":"Laufzeit","RobotCard.DriveToHome.bt":"Zur Home-Position fahren"},Tg={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical","SafetyBar.ControllerType.Virtual.lb":"Virtual","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved.","SafetyBar.SafetyState.Stop.lb":"Stop","SafetyBar.SafetyState.ti":"Safety state","SafetyBar.StopState.Estop.Explanation.lb":"An emergency stop of the robot controller has been triggered. 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*/var Dc;function Lg(){if(Dc)return Se;Dc=1;var e=Symbol.for("react.transitional.element"),t=Symbol.for("react.portal"),r=Symbol.for("react.fragment"),n=Symbol.for("react.strict_mode"),a=Symbol.for("react.profiler"),o=Symbol.for("react.consumer"),s=Symbol.for("react.context"),i=Symbol.for("react.forward_ref"),l=Symbol.for("react.suspense"),c=Symbol.for("react.suspense_list"),u=Symbol.for("react.memo"),d=Symbol.for("react.lazy"),h=Symbol.for("react.view_transition"),p=Symbol.for("react.client.reference");function f(m){if(typeof m=="object"&&m!==null){var y=m.$$typeof;switch(y){case e:switch(m=m.type,m){case r:case a:case n:case l:case c:case h:return m;default:switch(m=m&&m.$$typeof,m){case s:case i:case d:case u:return m;case o:return m;default:return y}}case t:return y}}}return Se.ContextConsumer=o,Se.ContextProvider=s,Se.Element=e,Se.ForwardRef=i,Se.Fragment=r,Se.Lazy=d,Se.Memo=u,Se.Portal=t,Se.Profiler=a,Se.StrictMode=n,Se.Suspense=l,Se.SuspenseList=c,Se.isContextConsumer=function(m){return f(m)===o},Se.isContextProvider=function(m){return f(m)===s},Se.isElement=function(m){return typeof m=="object"&&m!==null&&m.$$typeof===e},Se.isForwardRef=function(m){return f(m)===i},Se.isFragment=function(m){return f(m)===r},Se.isLazy=function(m){return f(m)===d},Se.isMemo=function(m){return f(m)===u},Se.isPortal=function(m){return f(m)===t},Se.isProfiler=function(m){return f(m)===a},Se.isStrictMode=function(m){return f(m)===n},Se.isSuspense=function(m){return f(m)===l},Se.isSuspenseList=function(m){return f(m)===c},Se.isValidElementType=function(m){return typeof m=="string"||typeof m=="function"||m===r||m===a||m===n||m===l||m===c||typeof m=="object"&&m!==null&&(m.$$typeof===d||m.$$typeof===u||m.$$typeof===s||m.$$typeof===o||m.$$typeof===i||m.$$typeof===p||m.getModuleId!==void 0)},Se.typeOf=f,Se}var Oe={};/**
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For example, \`@sm\` or \`@600\` or \`@40rem/sidebar\`.`:cr(18,`(${t})`));return null}const[,n,a]=r,o=Number.isNaN(+n)?n||0:+n;return e.containerQueries(a).up(o)}function Wg(e){const t=(o,s)=>o.replace("@media",s?`@container ${s}`:"@container");function r(o,s){o.up=(...i)=>t(e.breakpoints.up(...i),s),o.down=(...i)=>t(e.breakpoints.down(...i),s),o.between=(...i)=>t(e.breakpoints.between(...i),s),o.only=(...i)=>t(e.breakpoints.only(...i),s),o.not=(...i)=>{const l=t(e.breakpoints.not(...i),s);return l.includes("not all and")?l.replace("not all and ","").replace("min-width:","width<").replace("max-width:","width>").replace("and","or"):l}}const n={},a=o=>(r(n,o),n);return r(a),{...e,containerQueries:a}}const Jg={borderRadius:4},hr=process.env.NODE_ENV!=="production"?x.oneOfType([x.number,x.string,x.object,x.array]):{};function na(e,t){return t?tt(e,t,{clone:!1}):e}const Zo={xs:0,sm:600,md:900,lg:1200,xl:1536},Nc={keys:["xs","sm","md","lg","xl"],up:e=>`@media (min-width:${Zo[e]}px)`},Yg={containerQueries:e=>({up:t=>{let r=typeof t=="number"?t:Zo[t]||t;return typeof r=="number"&&(r=`${r}px`),e?`@container ${e} (min-width:${r})`:`@container (min-width:${r})`}})};function
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*/var Lc;function Bg(){return Lc||(Lc=1,process.env.NODE_ENV!=="production"&&function(){function e(m){if(typeof m=="object"&&m!==null){var y=m.$$typeof;switch(y){case t:switch(m=m.type,m){case n:case o:case a:case c:case u:case p:return m;default:switch(m=m&&m.$$typeof,m){case i:case l:case h:case d:return m;case s:return m;default:return y}}case r:return y}}}var t=Symbol.for("react.transitional.element"),r=Symbol.for("react.portal"),n=Symbol.for("react.fragment"),a=Symbol.for("react.strict_mode"),o=Symbol.for("react.profiler"),s=Symbol.for("react.consumer"),i=Symbol.for("react.context"),l=Symbol.for("react.forward_ref"),c=Symbol.for("react.suspense"),u=Symbol.for("react.suspense_list"),d=Symbol.for("react.memo"),h=Symbol.for("react.lazy"),p=Symbol.for("react.view_transition"),f=Symbol.for("react.client.reference");Oe.ContextConsumer=s,Oe.ContextProvider=i,Oe.Element=t,Oe.ForwardRef=l,Oe.Fragment=n,Oe.Lazy=h,Oe.Memo=d,Oe.Portal=r,Oe.Profiler=o,Oe.StrictMode=a,Oe.Suspense=c,Oe.SuspenseList=u,Oe.isContextConsumer=function(m){return e(m)===s},Oe.isContextProvider=function(m){return e(m)===i},Oe.isElement=function(m){return typeof m=="object"&&m!==null&&m.$$typeof===t},Oe.isForwardRef=function(m){return e(m)===l},Oe.isFragment=function(m){return e(m)===n},Oe.isLazy=function(m){return e(m)===h},Oe.isMemo=function(m){return e(m)===d},Oe.isPortal=function(m){return e(m)===r},Oe.isProfiler=function(m){return e(m)===o},Oe.isStrictMode=function(m){return e(m)===a},Oe.isSuspense=function(m){return e(m)===c},Oe.isSuspenseList=function(m){return e(m)===u},Oe.isValidElementType=function(m){return typeof m=="string"||typeof m=="function"||m===n||m===o||m===a||m===c||m===u||typeof m=="object"&&m!==null&&(m.$$typeof===h||m.$$typeof===d||m.$$typeof===i||m.$$typeof===s||m.$$typeof===l||m.$$typeof===f||m.getModuleId!==void 0)},Oe.typeOf=e}()),Oe}var Bc;function Ng(){return Bc||(Bc=1,process.env.NODE_ENV==="production"?Fa.exports=Lg():Fa.exports=Bg()),Fa.exports}var Ro=Ng();function It(e){if(typeof e!="object"||e===null)return!1;const t=Object.getPrototypeOf(e);return(t===null||t===Object.prototype||Object.getPrototypeOf(t)===null)&&!(Symbol.toStringTag in e)&&!(Symbol.iterator in e)}function Uh(e){if(N.isValidElement(e)||Ro.isValidElementType(e)||!It(e))return e;const t={};return Object.keys(e).forEach(r=>{t[r]=Uh(e[r])}),t}function tt(e,t,r={clone:!0}){const n=r.clone?{...e}:e;return It(e)&&It(t)&&Object.keys(t).forEach(a=>{N.isValidElement(t[a])||Ro.isValidElementType(t[a])?n[a]=t[a]:It(t[a])&&Object.prototype.hasOwnProperty.call(e,a)&&It(e[a])?n[a]=tt(e[a],t[a],r):r.clone?n[a]=It(t[a])?Uh(t[a]):t[a]:n[a]=t[a]}),n}const Fg=e=>{const t=Object.keys(e).map(r=>({key:r,val:e[r]}))||[];return t.sort((r,n)=>r.val-n.val),t.reduce((r,n)=>({...r,[n.key]:n.val}),{})};function zg(e){const{values:t={xs:0,sm:600,md:900,lg:1200,xl:1536},unit:r="px",step:n=5,...a}=e,o=Fg(t),s=Object.keys(o);function i(h){return`@media (min-width:${typeof t[h]=="number"?t[h]:h}${r})`}function l(h){return`@media (max-width:${(typeof t[h]=="number"?t[h]:h)-n/100}${r})`}function c(h,p){const f=s.indexOf(p);return`@media (min-width:${typeof t[h]=="number"?t[h]:h}${r}) and (max-width:${(f!==-1&&typeof t[s[f]]=="number"?t[s[f]]:p)-n/100}${r})`}function u(h){return s.indexOf(h)+1<s.length?c(h,s[s.indexOf(h)+1]):i(h)}function d(h){const p=s.indexOf(h);return p===0?i(s[1]):p===s.length-1?l(s[p]):c(h,s[s.indexOf(h)+1]).replace("@media","@media not all and")}return{keys:s,values:o,up:i,down:l,between:c,only:u,not:d,unit:r,...a}}function Gg(e,t){if(!e.containerQueries)return t;const r=Object.keys(t).filter(n=>n.startsWith("@container")).sort((n,a)=>{var s,i;const o=/min-width:\s*([0-9.]+)/;return+(((s=n.match(o))==null?void 0:s[1])||0)-+(((i=a.match(o))==null?void 0:i[1])||0)});return r.length?r.reduce((n,a)=>{const o=t[a];return delete n[a],n[a]=o,n},{...t}):t}function Hg(e,t){return t==="@"||t.startsWith("@")&&(e.some(r=>t.startsWith(`@${r}`))||!!t.match(/^@\d/))}function qg(e,t){const r=t.match(/^@([^/]+)?\/?(.+)?$/);if(!r){if(process.env.NODE_ENV!=="production")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The provided shorthand ${`(${t})`} is invalid. The format should be \`@<breakpoint | number>\` or \`@<breakpoint | number>/<container>\`.
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${r})`):e?e.startsWith("data-")&&!e.includes("%s")?`[${e}="${r}"] &`:e==="class"?`.${r} &`:e==="data"?`[data-${r}] &`:`${e.replace("%s",r)} &`:"&"}}const b0=cs(),x0=r0("div",{name:"MuiStack",slot:"Root"});function v0(e){return Wh({props:e,name:"MuiStack",defaultTheme:b0})}function S0(e,t){const r=N.Children.toArray(e).filter(Boolean);return r.reduce((n,a,o)=>(n.push(a),o<r.length-1&&n.push(N.cloneElement(t,{key:`separator-${o}`})),n),[])}const O0=e=>({row:"Left","row-reverse":"Right",column:"Top","column-reverse":"Bottom"})[e],w0=({ownerState:e,theme:t})=>{let r={display:"flex",flexDirection:"column",...Tt({theme:t},Xs({values:e.direction,breakpoints:t.breakpoints.values}),n=>({flexDirection:n}))};if(e.spacing){const n=ns(t),a=Object.keys(t.breakpoints.values).reduce((l,c)=>((typeof e.spacing=="object"&&e.spacing[c]!=null||typeof e.direction=="object"&&e.direction[c]!=null)&&(l[c]=!0),l),{}),o=Xs({values:e.direction,base:a}),s=Xs({values:e.spacing,base:a});typeof o=="object"&&Object.keys(o).forEach((l,c,u)=>{if(!o[l]){const h=c>0?o[u[c-1]]:"column";o[l]=h}}),r=tt(r,Tt({theme:t},s,(l,c)=>e.useFlexGap?{gap:Pr(n,l)}:{"& > :not(style):not(style)":{margin:0},"& > :not(style) ~ :not(style)":{[`margin${O0(c?o[c]:e.direction)}`]:Pr(n,l)}}))}return r=Kg(t.breakpoints,r),r};function C0(e={}){const{createStyledComponent:t=x0,useThemeProps:r=v0,componentName:n="MuiStack"}=e,a=()=>Xo({root:["root"]},l=>On(n,l),{}),o=t(w0),s=N.forwardRef(function(l,c){const u=r(l),d=Gy(u),{component:h="div",direction:p="column",spacing:f=0,divider:m,children:y,className:S,useFlexGap:E=!1,...O}=d,C={direction:p,spacing:f,useFlexGap:E},T=a();return g.jsx(o,{as:h,ownerState:C,ref:c,className:Pt(T.root,S),...O,children:m?S0(y,m):y})});return process.env.NODE_ENV!=="production"&&(s.propTypes={children:x.node,direction:x.oneOfType([x.oneOf(["column-reverse","column","row-reverse","row"]),x.arrayOf(x.oneOf(["column-reverse","column","row-reverse","row"])),x.object]),divider:x.node,spacing:x.oneOfType([x.arrayOf(x.oneOfType([x.number,x.string])),x.number,x.object,x.string]),sx:x.oneOfType([x.arrayOf(x.oneOfType([x.func,x.object,x.bool])),x.func,x.object])}),s}const ua={black:"#000",white:"#fff"},P0={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},Fr={50:"#f3e5f5",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",700:"#7b1fa2"},zr={300:"#e57373",400:"#ef5350",500:"#f44336",700:"#d32f2f",800:"#c62828"},Dn={300:"#ffb74d",400:"#ffa726",500:"#ff9800",700:"#f57c00",900:"#e65100"},Gr={50:"#e3f2fd",200:"#90caf9",400:"#42a5f5",700:"#1976d2",800:"#1565c0"},Hr={300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",700:"#0288d1",900:"#01579b"},qr={300:"#81c784",400:"#66bb6a",500:"#4caf50",700:"#388e3c",800:"#2e7d32",900:"#1b5e20"};function Yh(){return{text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:ua.white,default:ua.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 0.04)",hoverOpacity:.04,selected:"rgba(0, 0, 0, 0.08)",selectedOpacity:.08,disabled:"rgba(0, 0, 0, 0.26)",disabledBackground:"rgba(0, 0, 0, 0.12)",disabledOpacity:.38,focus:"rgba(0, 0, 0, 0.12)",focusOpacity:.12,activatedOpacity:.12}}}const T0=Yh();function Kh(){return{text:{primary:ua.white,secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.5)",icon:"rgba(255, 255, 255, 0.5)"},divider:"rgba(255, 255, 255, 0.12)",background:{paper:"#121212",default:"#121212"},action:{active:ua.white,hover:"rgba(255, 255, 255, 0.08)",hoverOpacity:.08,selected:"rgba(255, 255, 255, 0.16)",selectedOpacity:.16,disabled:"rgba(255, 255, 255, 0.3)",disabledBackground:"rgba(255, 255, 255, 0.12)",disabledOpacity:.38,focus:"rgba(255, 255, 255, 0.12)",focusOpacity:.12,activatedOpacity:.24}}}const Jc=Kh();function Yc(e,t,r,n){const a=n.light||n,o=n.dark||n*1.5;e[t]||(e.hasOwnProperty(r)?e[t]=e[r]:t==="light"?e.light=ca(e.main,a):t==="dark"&&(e.dark=la(e.main,o)))}function R0(e="light"){return e==="dark"?{main:Gr[200],light:Gr[50],dark:Gr[400]}:{main:Gr[700],light:Gr[400],dark:Gr[800]}}function A0(e="light"){return e==="dark"?{main:Fr[200],light:Fr[50],dark:Fr[400]}:{main:Fr[500],light:Fr[300],dark:Fr[700]}}function _0(e="light"){return e==="dark"?{main:zr[500],light:zr[300],dark:zr[700]}:{main:zr[700],light:zr[400],dark:zr[800]}}function E0(e="light"){return e==="dark"?{main:Hr[400],light:Hr[300],dark:Hr[700]}:{main:Hr[700],light:Hr[500],dark:Hr[900]}}function V0(e="light"){return e==="dark"?{main:qr[400],light:qr[300],dark:qr[700]}:{main:qr[800],light:qr[500],dark:qr[900]}}function I0(e="light"){return e==="dark"?{main:Dn[400],light:Dn[300],dark:Dn[700]}:{main:"#ed6c02",light:Dn[500],dark:Dn[900]}}function El(e){const{mode:t="light",contrastThreshold:r=3,tonalOffset:n=.2,...a}=e,o=e.primary||R0(t),s=e.secondary||A0(t),i=e.error||_0(t),l=e.info||E0(t),c=e.success||V0(t),u=e.warning||I0(t);function d(m){const y=Hc(m,Jc.text.primary)>=r?Jc.text.primary:T0.text.primary;if(process.env.NODE_ENV!=="production"){const S=Hc(m,y);S<3&&console.error([`MUI: The contrast ratio of ${S}:1 for ${y} on ${m}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
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`))}return y}const h=({color:m,name:y,mainShade:S=500,lightShade:E=300,darkShade:O=700})=>{if(m={...m},!m.main&&m[S]&&(m.main=m[S]),!m.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${y?` (${y})`:""} provided to augmentColor(color) is invalid.
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The color object needs to have a \`main\` property or a \`${S}\` property.`:cr(11,y?` (${y})`:"",S));if(typeof m.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${y?` (${y})`:""} provided to augmentColor(color) is invalid.
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} });`:cr(12,y?` (${y})`:"",JSON.stringify(m.main)));return Yc(m,"light",E,n),Yc(m,"dark",O,n),m.contrastText||(m.contrastText=d(m.main)),m};let p;return t==="light"?p=Yh():t==="dark"&&(p=Kh()),process.env.NODE_ENV!=="production"&&(p||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),tt({common:{...ua},mode:t,primary:h({color:o,name:"primary"}),secondary:h({color:s,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:h({color:i,name:"error"}),warning:h({color:u,name:"warning"}),info:h({color:l,name:"info"}),success:h({color:c,name:"success"}),grey:P0,contrastThreshold:r,getContrastText:d,augmentColor:h,tonalOffset:n,...p},a)}function M0(e){const t={};return Object.entries(e).forEach(n=>{const[a,o]=n;typeof o=="object"&&(t[a]=`${o.fontStyle?`${o.fontStyle} `:""}${o.fontVariant?`${o.fontVariant} `:""}${o.fontWeight?`${o.fontWeight} `:""}${o.fontStretch?`${o.fontStretch} `:""}${o.fontSize||""}${o.lineHeight?`/${o.lineHeight} `:""}${o.fontFamily||""}`)}),t}function j0(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function
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} });`:cr(12,y?` (${y})`:"",JSON.stringify(m.main)));return Yc(m,"light",E,n),Yc(m,"dark",O,n),m.contrastText||(m.contrastText=d(m.main)),m};let p;return t==="light"?p=Yh():t==="dark"&&(p=Kh()),process.env.NODE_ENV!=="production"&&(p||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),tt({common:{...ua},mode:t,primary:h({color:o,name:"primary"}),secondary:h({color:s,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:h({color:i,name:"error"}),warning:h({color:u,name:"warning"}),info:h({color:l,name:"info"}),success:h({color:c,name:"success"}),grey:P0,contrastThreshold:r,getContrastText:d,augmentColor:h,tonalOffset:n,...p},a)}function M0(e){const t={};return Object.entries(e).forEach(n=>{const[a,o]=n;typeof o=="object"&&(t[a]=`${o.fontStyle?`${o.fontStyle} `:""}${o.fontVariant?`${o.fontVariant} `:""}${o.fontWeight?`${o.fontWeight} `:""}${o.fontStretch?`${o.fontStretch} `:""}${o.fontSize||""}${o.lineHeight?`/${o.lineHeight} `:""}${o.fontFamily||""}`)}),t}function j0(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function $0(e){return Math.round(e*1e5)/1e5}const Kc={textTransform:"uppercase"},Qc='"Roboto", "Helvetica", "Arial", sans-serif';function k0(e,t){const{fontFamily:r=Qc,fontSize:n=14,fontWeightLight:a=300,fontWeightRegular:o=400,fontWeightMedium:s=500,fontWeightBold:i=700,htmlFontSize:l=16,allVariants:c,pxToRem:u,...d}=typeof t=="function"?t(e):t;process.env.NODE_ENV!=="production"&&(typeof n!="number"&&console.error("MUI: `fontSize` is required to be a number."),typeof l!="number"&&console.error("MUI: `htmlFontSize` is required to be a number."));const h=n/14,p=u||(y=>`${y/l*h}rem`),f=(y,S,E,O,C)=>({fontFamily:r,fontWeight:y,fontSize:p(S),lineHeight:E,...r===Qc?{letterSpacing:`${$0(O/S)}em`}:{},...C,...c}),m={h1:f(a,96,1.167,-1.5),h2:f(a,60,1.2,-.5),h3:f(o,48,1.167,0),h4:f(o,34,1.235,.25),h5:f(o,24,1.334,0),h6:f(s,20,1.6,.15),subtitle1:f(o,16,1.75,.15),subtitle2:f(s,14,1.57,.1),body1:f(o,16,1.5,.15),body2:f(o,14,1.43,.15),button:f(s,14,1.75,.4,Kc),caption:f(o,12,1.66,.4),overline:f(o,12,2.66,1,Kc),inherit:{fontFamily:"inherit",fontWeight:"inherit",fontSize:"inherit",lineHeight:"inherit",letterSpacing:"inherit"}};return tt({htmlFontSize:l,pxToRem:p,fontFamily:r,fontSize:n,fontWeightLight:a,fontWeightRegular:o,fontWeightMedium:s,fontWeightBold:i,...m},d,{clone:!1})}const U0=.2,D0=.14,L0=.12;function Ie(...e){return[`${e[0]}px ${e[1]}px ${e[2]}px ${e[3]}px rgba(0,0,0,${U0})`,`${e[4]}px ${e[5]}px ${e[6]}px ${e[7]}px rgba(0,0,0,${D0})`,`${e[8]}px ${e[9]}px ${e[10]}px ${e[11]}px rgba(0,0,0,${L0})`].join(",")}const B0=["none",Ie(0,2,1,-1,0,1,1,0,0,1,3,0),Ie(0,3,1,-2,0,2,2,0,0,1,5,0),Ie(0,3,3,-2,0,3,4,0,0,1,8,0),Ie(0,2,4,-1,0,4,5,0,0,1,10,0),Ie(0,3,5,-1,0,5,8,0,0,1,14,0),Ie(0,3,5,-1,0,6,10,0,0,1,18,0),Ie(0,4,5,-2,0,7,10,1,0,2,16,1),Ie(0,5,5,-3,0,8,10,1,0,3,14,2),Ie(0,5,6,-3,0,9,12,1,0,3,16,2),Ie(0,6,6,-3,0,10,14,1,0,4,18,3),Ie(0,6,7,-4,0,11,15,1,0,4,20,3),Ie(0,7,8,-4,0,12,17,2,0,5,22,4),Ie(0,7,8,-4,0,13,19,2,0,5,24,4),Ie(0,7,9,-4,0,14,21,2,0,5,26,4),Ie(0,8,9,-5,0,15,22,2,0,6,28,5),Ie(0,8,10,-5,0,16,24,2,0,6,30,5),Ie(0,8,11,-5,0,17,26,2,0,6,32,5),Ie(0,9,11,-5,0,18,28,2,0,7,34,6),Ie(0,9,12,-6,0,19,29,2,0,7,36,6),Ie(0,10,13,-6,0,20,31,3,0,8,38,7),Ie(0,10,13,-6,0,21,33,3,0,8,40,7),Ie(0,10,14,-6,0,22,35,3,0,8,42,7),Ie(0,11,14,-7,0,23,36,3,0,9,44,8),Ie(0,11,15,-7,0,24,38,3,0,9,46,8)],N0={easeInOut:"cubic-bezier(0.4, 0, 0.2, 1)",easeOut:"cubic-bezier(0.0, 0, 0.2, 1)",easeIn:"cubic-bezier(0.4, 0, 1, 1)",sharp:"cubic-bezier(0.4, 0, 0.6, 1)"},F0={shortest:150,shorter:200,short:250,standard:300,complex:375,enteringScreen:225,leavingScreen:195};function Xc(e){return`${Math.round(e)}ms`}function z0(e){if(!e)return 0;const t=e/36;return Math.min(Math.round((4+15*t**.25+t/5)*10),3e3)}function G0(e){const t={...N0,...e.easing},r={...F0,...e.duration};return{getAutoHeightDuration:z0,create:(a=["all"],o={})=>{const{duration:s=r.standard,easing:i=t.easeInOut,delay:l=0,...c}=o;if(process.env.NODE_ENV!=="production"){const u=h=>typeof h=="string",d=h=>!Number.isNaN(parseFloat(h));!u(a)&&!Array.isArray(a)&&console.error('MUI: Argument "props" must be a string or Array.'),!d(s)&&!u(s)&&console.error(`MUI: Argument "duration" must be a number or a string but found ${s}.`),u(i)||console.error('MUI: Argument "easing" must be a string.'),!d(l)&&!u(l)&&console.error('MUI: Argument "delay" must be a number or a string.'),typeof o!="object"&&console.error(["MUI: Secong argument of transition.create must be an object.","Arguments should be either `create('prop1', options)` or `create(['prop1', 'prop2'], options)`"].join(`
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`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(a)?a:[a]).map(u=>`${u} ${typeof s=="string"?s:Xc(s)} ${i} ${typeof l=="string"?l:Xc(l)}`).join(",")},...e,easing:t,duration:r}}const H0={mobileStepper:1e3,fab:1050,speedDial:1050,appBar:1100,drawer:1200,modal:1300,snackbar:1400,tooltip:1500};function q0(e){return It(e)||typeof e>"u"||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||Array.isArray(e)}function Qh(e={}){const t={...e};function r(n){const a=Object.entries(n);for(let o=0;o<a.length;o++){const[s,i]=a[o];!q0(i)||s.startsWith("unstable_")?delete n[s]:It(i)&&(n[s]={...i},r(n[s]))}}return r(t),`import { unstable_createBreakpoints as createBreakpoints, createTransitions } from '@mui/material/styles';
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const theme = ${JSON.stringify(t,null,2)};
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@@ -72,15 +72,15 @@ const theme = ${JSON.stringify(t,null,2)};
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export default theme;`}function Fi(e={},...t){const{breakpoints:r,mixins:n={},spacing:a,palette:o={},transitions:s={},typography:i={},shape:l,...c}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":cr(20));const u=El(o),d=cs(e);let h=tt(d,{mixins:j0(d.breakpoints,n),palette:u,shadows:B0.slice(),typography
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`))}m[S]={}}}};Object.keys(h.components).forEach(m=>{const y=h.components[m].styleOverrides;y&&m.startsWith("Mui")&&f(y,m)})}return h.unstable_sxConfig={...Pa,...c==null?void 0:c.unstable_sxConfig},h.unstable_sx=function(f){return pn({sx:f,theme:this})},h.toRuntimeSource=Qh,h}function W0(e){let t;return e<1?t=5.11916*e**2:t=4.5*Math.log(e+1)+2,Math.round(t*10)/1e3}const J0=[...Array(25)].map((e,t)=>{if(t===0)return"none";const r=W0(t);return`linear-gradient(rgba(255 255 255 / ${r}), rgba(255 255 255 / ${r}))`});function Xh(e){return{inputPlaceholder:e==="dark"?.5:.42,inputUnderline:e==="dark"?.7:.42,switchTrackDisabled:e==="dark"?.2:.12,switchTrack:e==="dark"?.3:.38}}function Zh(e){return e==="dark"?J0:[]}function Y0(e){const{palette:t={mode:"light"},opacity:r,overlays:n,...a}=e,o=El(t);return{palette:o,opacity:{...Xh(o.mode),...r},overlays:n||Zh(o.mode),...a}}function K0(e){var t;return!!e[0].match(/(cssVarPrefix|colorSchemeSelector|rootSelector|typography|mixins|breakpoints|direction|transitions)/)||!!e[0].match(/sxConfig$/)||e[0]==="palette"&&!!((t=e[1])!=null&&t.match(/(mode|contrastThreshold|tonalOffset)/))}const Q0=e=>[...[...Array(25)].map((t,r)=>`--${e?`${e}-`:""}overlays-${r}`),`--${e?`${e}-`:""}palette-AppBar-darkBg`,`--${e?`${e}-`:""}palette-AppBar-darkColor`],X0=e=>(t,r)=>{const n=e.rootSelector||":root",a=e.colorSchemeSelector;let o=a;if(a==="class"&&(o=".%s"),a==="data"&&(o="[data-%s]"),a!=null&&a.startsWith("data-")&&!a.includes("%s")&&(o=`[${a}="%s"]`),e.defaultColorScheme===t){if(t==="dark"){const s={};return Q0(e.cssVarPrefix).forEach(i=>{s[i]=r[i],delete r[i]}),o==="media"?{[n]:r,"@media (prefers-color-scheme: dark)":{[n]:s}}:o?{[o.replace("%s",t)]:s,[`${n}, ${o.replace("%s",t)}`]:r}:{[n]:{...r,...s}}}if(o&&o!=="media")return`${n}, ${o.replace("%s",String(t))}`}else if(t){if(o==="media")return{[`@media (prefers-color-scheme: ${String(t)})`]:{[n]:r}};if(o)return o.replace("%s",String(t))}return n};function Z0(e,t){t.forEach(r=>{e[r]||(e[r]={})})}function q(e,t,r){!e[t]&&r&&(e[t]=r)}function ea(e){return typeof e!="string"||!e.startsWith("hsl")?e:Jh(e)}function
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To suppress this warning, you need to explicitly provide the \`palette.${t}Channel\` as a string (in rgb format, for example "12 12 12") or undefined if you want to remove the channel token.`))}function eb(e){return typeof e=="number"?`${e}px`:typeof e=="string"||typeof e=="function"||Array.isArray(e)?e:"8px"}const At=e=>{try{return e()}catch{}},tb=(e="mui")=>p0(e);function ti(e,t,r,n){if(!t)return;t=t===!0?{}:t;const a=n==="dark"?"dark":"light";if(!r){e[n]=Y0({...t,palette:{mode:a,...t==null?void 0:t.palette}});return}const{palette:o,...s}=Fi({...r,palette:{mode:a,...t==null?void 0:t.palette}});return e[n]={...t,palette:o,opacity:{...Xh(a),...t==null?void 0:t.opacity},overlays:(t==null?void 0:t.overlays)||Zh(a)},s}function rb(e={},...t){const{colorSchemes:r={light:!0},defaultColorScheme:n,disableCssColorScheme:a=!1,cssVarPrefix:o="mui",shouldSkipGeneratingVar:s=K0,colorSchemeSelector:i=r.light&&r.dark?"media":void 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255, 255, 0.09)"),q(b.FilledInput,"hoverBg","rgba(255, 255, 255, 0.13)"),q(b.FilledInput,"disabledBg","rgba(255, 255, 255, 0.12)"),q(b.LinearProgress,"primaryBg",Pe(b.primary.main,.5)),q(b.LinearProgress,"secondaryBg",Pe(b.secondary.main,.5)),q(b.LinearProgress,"errorBg",Pe(b.error.main,.5)),q(b.LinearProgress,"infoBg",Pe(b.info.main,.5)),q(b.LinearProgress,"successBg",Pe(b.success.main,.5)),q(b.LinearProgress,"warningBg",Pe(b.warning.main,.5)),q(b.Skeleton,"bg",`rgba(${A("palette-text-primaryChannel")} / 0.13)`),q(b.Slider,"primaryTrack",Pe(b.primary.main,.5)),q(b.Slider,"secondaryTrack",Pe(b.secondary.main,.5)),q(b.Slider,"errorTrack",Pe(b.error.main,.5)),q(b.Slider,"infoTrack",Pe(b.info.main,.5)),q(b.Slider,"successTrack",Pe(b.success.main,.5)),q(b.Slider,"warningTrack",Pe(b.warning.main,.5));const G=Ga(b.background.default,.98);q(b.SnackbarContent,"bg",G),q(b.SnackbarContent,"color",At(()=>b.getContrastText(G))),q(b.SpeedDialAction,"fabHoverBg",Ga(b.background.paper,.15)),q(b.StepConnector,"border",A("palette-grey-600")),q(b.StepContent,"border",A("palette-grey-600")),q(b.Switch,"defaultColor",A("palette-grey-300")),q(b.Switch,"defaultDisabledColor",A("palette-grey-600")),q(b.Switch,"primaryDisabledColor",Pe(b.primary.main,.55)),q(b.Switch,"secondaryDisabledColor",Pe(b.secondary.main,.55)),q(b.Switch,"errorDisabledColor",Pe(b.error.main,.55)),q(b.Switch,"infoDisabledColor",Pe(b.info.main,.55)),q(b.Switch,"successDisabledColor",Pe(b.success.main,.55)),q(b.Switch,"warningDisabledColor",Pe(b.warning.main,.55)),q(b.TableCell,"border",Pe(za(b.divider,1),.68)),q(b.Tooltip,"bg",za(b.grey[700],.92))}Dt(b.background,"default"),Dt(b.background,"paper"),Dt(b.common,"background"),Dt(b.common,"onBackground"),Dt(b,"divider"),Object.keys(b).forEach(G=>{const _=b[G];G!=="tonalOffset"&&_&&typeof 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Zc(e,t,r){e.colorSchemes&&r&&(e.colorSchemes[t]={...r!==!0&&r,palette:El({...r===!0?{}:r.palette,mode:t})})}function ep(e={},...t){const{palette:r,cssVariables:n=!1,colorSchemes:a=r?void 0:{light:!0},defaultColorScheme:o=r==null?void 0:r.mode,...s}=e,i=o||"light",l=a==null?void 0:a[i],c={...a,...r?{[i]:{...typeof l!="boolean"&&l,palette:r}}:void 0};if(n===!1){if(!("colorSchemes"in e))return Fi(e,...t);let u=r;"palette"in e||c[i]&&(c[i]!==!0?u=c[i].palette:i==="dark"&&(u={mode:"dark"}));const d=Fi({...e,palette:u},...t);return d.defaultColorScheme=i,d.colorSchemes=c,d.palette.mode==="light"&&(d.colorSchemes.light={...c.light!==!0&&c.light,palette:d.palette},Zc(d,"dark",c.dark)),d.palette.mode==="dark"&&(d.colorSchemes.dark={...c.dark!==!0&&c.dark,palette:d.palette},Zc(d,"light",c.light)),d}return!r&&!("light"in c)&&i==="light"&&(c.light=!0),rb({...s,colorSchemes:c,defaultColorScheme:i,...typeof n!="boolean"&&n},...t)}const tp=ep();function nb({props:e,name:t}){return Wh({props:e,name:t,defaultTheme:tp,themeId:kh})}function Vl(e){return e!=="ownerState"&&e!=="theme"&&e!=="sx"&&e!=="as"}const ab=e=>Vl(e)&&e!=="classes",pt=Hh({themeId:kh,defaultTheme:tp,rootShouldForwardProp:ab});function ds(...e){const t=N.useRef(void 0),r=N.useCallback(n=>{const a=e.map(o=>{if(o==null)return null;if(typeof o=="function"){const s=o,i=s(n);return typeof i=="function"?i:()=>{s(null)}}return o.current=n,()=>{o.current=null}});return()=>{a.forEach(o=>o==null?void 0:o())}},e);return N.useMemo(()=>e.every(n=>n==null)?null:n=>{t.current&&(t.current(),t.current=void 0),n!=null&&(t.current=r(n))},e)}let eu=0;function ob(e){const[t,r]=N.useState(e),n=t;return N.useEffect(()=>{t==null&&(eu+=1,r(`mui-${eu}`))},[t]),n}const sb={...N},tu=sb.useId;function ib(e){return tu!==void 0?tu():ob(e)}class lb{constructor(t){this.value=void 0,this.listeners=void 0,this.subscribe=r=>(this.listeners.add(r),()=>{this.listeners.delete(r)}),this.getSnapshot=()=>this.value,this.update=r=>{const n=r(this.value);n!==this.value&&(this.value=n,this.listeners.forEach(a=>a(n)))},this.value=t,this.listeners=new Set}}const hs=({params:e,store:t})=>{N.useEffect(()=>{t.update(n=>K({},n,{animation:K({},n.animation,{skip:e.skipAnimation})}))},[t,e.skipAnimation]);const r=N.useCallback(()=>{let n=!1;return t.update(a=>K({},a,{animation:K({},a.animation,{skipAnimationRequests:a.animation.skipAnimationRequests+1})})),()=>{n||(n=!0,t.update(a=>K({},a,{animation:K({},a.animation,{skipAnimationRequests:a.animation.skipAnimationRequests-1})})))}},[t]);return kt(()=>{if(typeof window>"u"||!(window!=null&&window.matchMedia))return;let a;const o=i=>{i.matches?a=r():a==null||a()},s=window.matchMedia("(prefers-reduced-motion)");return o(s),s.addEventListener("change",o),()=>{s.removeEventListener("change",o)}},[r,t]),{instance:{disableAnimation:r}}};hs.params={skipAnimation:!0};hs.getDefaultizedParams=({params:e})=>K({},e,{skipAnimation:e.skipAnimation??!1});hs.getInitialState=({skipAnimation:e})=>{const t=typeof window>"u"||!(window!=null&&window.matchMedia),r=process.env.NODE_ENV==="test"?t:!1;return{animation:{skip:e,skipAnimationRequests:r?1:0}}};var cb=(e,t,r)=>{if(t.length===1&&t[0]===r){let n=!1;try{const a={};e(a)===a&&(n=!0)}catch{}if(n){let a;try{throw new Error}catch(o){({stack:a}=o)}console.warn(`The result function returned its own inputs without modification. e.g
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export default theme;`}function Fi(e={},...t){const{breakpoints:r,mixins:n={},spacing:a,palette:o={},transitions:s={},typography:i={},shape:l,...c}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":cr(20));const u=El(o),d=cs(e);let h=tt(d,{mixins:j0(d.breakpoints,n),palette:u,shadows:B0.slice(),typography:k0(u,i),transitions:G0(s),zIndex:{...H0}});if(h=tt(h,c),h=t.reduce((p,f)=>tt(p,f),h),process.env.NODE_ENV!=="production"){const p=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],f=(m,y)=>{let S;for(S in m){const E=m[S];if(p.includes(S)&&Object.keys(E).length>0){if(process.env.NODE_ENV!=="production"){const O=On("",S);console.error([`MUI: The \`${y}\` component increases the CSS specificity of the \`${S}\` internal state.`,"You can not override it like this: ",JSON.stringify(m,null,2),"",`Instead, you need to use the '&.${O}' syntax:`,JSON.stringify({root:{[`&.${O}`]:E}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
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`))}m[S]={}}}};Object.keys(h.components).forEach(m=>{const y=h.components[m].styleOverrides;y&&m.startsWith("Mui")&&f(y,m)})}return h.unstable_sxConfig={...Pa,...c==null?void 0:c.unstable_sxConfig},h.unstable_sx=function(f){return pn({sx:f,theme:this})},h.toRuntimeSource=Qh,h}function W0(e){let t;return e<1?t=5.11916*e**2:t=4.5*Math.log(e+1)+2,Math.round(t*10)/1e3}const J0=[...Array(25)].map((e,t)=>{if(t===0)return"none";const r=W0(t);return`linear-gradient(rgba(255 255 255 / ${r}), rgba(255 255 255 / ${r}))`});function Xh(e){return{inputPlaceholder:e==="dark"?.5:.42,inputUnderline:e==="dark"?.7:.42,switchTrackDisabled:e==="dark"?.2:.12,switchTrack:e==="dark"?.3:.38}}function Zh(e){return e==="dark"?J0:[]}function Y0(e){const{palette:t={mode:"light"},opacity:r,overlays:n,...a}=e,o=El(t);return{palette:o,opacity:{...Xh(o.mode),...r},overlays:n||Zh(o.mode),...a}}function K0(e){var t;return!!e[0].match(/(cssVarPrefix|colorSchemeSelector|rootSelector|typography|mixins|breakpoints|direction|transitions)/)||!!e[0].match(/sxConfig$/)||e[0]==="palette"&&!!((t=e[1])!=null&&t.match(/(mode|contrastThreshold|tonalOffset)/))}const Q0=e=>[...[...Array(25)].map((t,r)=>`--${e?`${e}-`:""}overlays-${r}`),`--${e?`${e}-`:""}palette-AppBar-darkBg`,`--${e?`${e}-`:""}palette-AppBar-darkColor`],X0=e=>(t,r)=>{const n=e.rootSelector||":root",a=e.colorSchemeSelector;let o=a;if(a==="class"&&(o=".%s"),a==="data"&&(o="[data-%s]"),a!=null&&a.startsWith("data-")&&!a.includes("%s")&&(o=`[${a}="%s"]`),e.defaultColorScheme===t){if(t==="dark"){const s={};return Q0(e.cssVarPrefix).forEach(i=>{s[i]=r[i],delete r[i]}),o==="media"?{[n]:r,"@media (prefers-color-scheme: dark)":{[n]:s}}:o?{[o.replace("%s",t)]:s,[`${n}, ${o.replace("%s",t)}`]:r}:{[n]:{...r,...s}}}if(o&&o!=="media")return`${n}, ${o.replace("%s",String(t))}`}else if(t){if(o==="media")return{[`@media (prefers-color-scheme: ${String(t)})`]:{[n]:r}};if(o)return o.replace("%s",String(t))}return n};function Z0(e,t){t.forEach(r=>{e[r]||(e[r]={})})}function q(e,t,r){!e[t]&&r&&(e[t]=r)}function ea(e){return typeof e!="string"||!e.startsWith("hsl")?e:Jh(e)}function Lt(e,t){`${t}Channel`in e||(e[`${t}Channel`]=Zn(ea(e[t]),`MUI: Can't create \`palette.${t}Channel\` because \`palette.${t}\` is not one of these formats: #nnn, #nnnnnn, rgb(), rgba(), hsl(), hsla(), color().
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+
To suppress this warning, you need to explicitly provide the \`palette.${t}Channel\` as a string (in rgb format, for example "12 12 12") or undefined if you want to remove the channel token.`))}function eb(e){return typeof e=="number"?`${e}px`:typeof e=="string"||typeof e=="function"||Array.isArray(e)?e:"8px"}const At=e=>{try{return e()}catch{}},tb=(e="mui")=>p0(e);function ti(e,t,r,n){if(!t)return;t=t===!0?{}:t;const a=n==="dark"?"dark":"light";if(!r){e[n]=Y0({...t,palette:{mode:a,...t==null?void 0:t.palette}});return}const{palette:o,...s}=Fi({...r,palette:{mode:a,...t==null?void 0:t.palette}});return e[n]={...t,palette:o,opacity:{...Xh(a),...t==null?void 0:t.opacity},overlays:(t==null?void 0:t.overlays)||Zh(a)},s}function rb(e={},...t){const{colorSchemes:r={light:!0},defaultColorScheme:n,disableCssColorScheme:a=!1,cssVarPrefix:o="mui",shouldSkipGeneratingVar:s=K0,colorSchemeSelector:i=r.light&&r.dark?"media":void 0,rootSelector:l=":root",...c}=e,u=Object.keys(r)[0],d=n||(r.light&&u!=="light"?"light":u),h=tb(o),{[d]:p,light:f,dark:m,...y}=r,S={...y};let E=p;if((d==="dark"&&!("dark"in r)||d==="light"&&!("light"in r))&&(E=!0),!E)throw new Error(process.env.NODE_ENV!=="production"?`MUI: The \`colorSchemes.${d}\` option is either missing or invalid.`:cr(21,d));const O=ti(S,E,c,d);f&&!S.light&&ti(S,f,void 0,"light"),m&&!S.dark&&ti(S,m,void 0,"dark");let C={defaultColorScheme:d,...O,cssVarPrefix:o,colorSchemeSelector:i,rootSelector:l,getCssVar:h,colorSchemes:S,font:{...M0(O.typography),...O.font},spacing:eb(c.spacing)};Object.keys(C.colorSchemes).forEach(z=>{const b=C.colorSchemes[z].palette,A=G=>{const _=G.split("-"),F=_[1],re=_[2];return 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0, 0, 0.06)"),q(b.FilledInput,"hoverBg","rgba(0, 0, 0, 0.09)"),q(b.FilledInput,"disabledBg","rgba(0, 0, 0, 0.12)"),q(b.LinearProgress,"primaryBg",Te(b.primary.main,.62)),q(b.LinearProgress,"secondaryBg",Te(b.secondary.main,.62)),q(b.LinearProgress,"errorBg",Te(b.error.main,.62)),q(b.LinearProgress,"infoBg",Te(b.info.main,.62)),q(b.LinearProgress,"successBg",Te(b.success.main,.62)),q(b.LinearProgress,"warningBg",Te(b.warning.main,.62)),q(b.Skeleton,"bg",`rgba(${A("palette-text-primaryChannel")} / 0.11)`),q(b.Slider,"primaryTrack",Te(b.primary.main,.62)),q(b.Slider,"secondaryTrack",Te(b.secondary.main,.62)),q(b.Slider,"errorTrack",Te(b.error.main,.62)),q(b.Slider,"infoTrack",Te(b.info.main,.62)),q(b.Slider,"successTrack",Te(b.success.main,.62)),q(b.Slider,"warningTrack",Te(b.warning.main,.62));const G=Ga(b.background.default,.8);q(b.SnackbarContent,"bg",G),q(b.SnackbarContent,"color",At(()=>b.getContrastText(G))),q(b.SpeedDialAction,"fabHoverBg",Ga(b.background.paper,.15)),q(b.StepConnector,"border",A("palette-grey-400")),q(b.StepContent,"border",A("palette-grey-400")),q(b.Switch,"defaultColor",A("palette-common-white")),q(b.Switch,"defaultDisabledColor",A("palette-grey-100")),q(b.Switch,"primaryDisabledColor",Te(b.primary.main,.62)),q(b.Switch,"secondaryDisabledColor",Te(b.secondary.main,.62)),q(b.Switch,"errorDisabledColor",Te(b.error.main,.62)),q(b.Switch,"infoDisabledColor",Te(b.info.main,.62)),q(b.Switch,"successDisabledColor",Te(b.success.main,.62)),q(b.Switch,"warningDisabledColor",Te(b.warning.main,.62)),q(b.TableCell,"border",Te(za(b.divider,1),.88)),q(b.Tooltip,"bg",za(b.grey[700],.92))}if(b.mode==="dark"){q(b.Alert,"errorColor",Te(b.error.light,.6)),q(b.Alert,"infoColor",Te(b.info.light,.6)),q(b.Alert,"successColor",Te(b.success.light,.6)),q(b.Alert,"warningColor",Te(b.warning.light,.6)),q(b.Alert,"errorFilledBg",A("palette-error-dark")),q(b.Alert,"infoFilledBg",A("palette-info-dark")),q(b.Alert,"successFilledBg",A("palette-success-dark")),q(b.Alert,"warningFilledBg",A("palette-warning-dark")),q(b.Alert,"errorFilledColor",At(()=>b.getContrastText(b.error.dark))),q(b.Alert,"infoFilledColor",At(()=>b.getContrastText(b.info.dark))),q(b.Alert,"successFilledColor",At(()=>b.getContrastText(b.success.dark))),q(b.Alert,"warningFilledColor",At(()=>b.getContrastText(b.warning.dark))),q(b.Alert,"errorStandardBg",Pe(b.error.light,.9)),q(b.Alert,"infoStandardBg",Pe(b.info.light,.9)),q(b.Alert,"successStandardBg",Pe(b.success.light,.9)),q(b.Alert,"warningStandardBg",Pe(b.warning.light,.9)),q(b.Alert,"errorIconColor",A("palette-error-main")),q(b.Alert,"infoIconColor",A("palette-info-main")),q(b.Alert,"successIconColor",A("palette-success-main")),q(b.Alert,"warningIconColor",A("palette-warning-main")),q(b.AppBar,"defaultBg",A("palette-grey-900")),q(b.AppBar,"darkBg",A("palette-background-paper")),q(b.AppBar,"darkColor",A("palette-text-primary")),q(b.Avatar,"defaultBg",A("palette-grey-600")),q(b.Button,"inheritContainedBg",A("palette-grey-800")),q(b.Button,"inheritContainedHoverBg",A("palette-grey-700")),q(b.Chip,"defaultBorder",A("palette-grey-700")),q(b.Chip,"defaultAvatarColor",A("palette-grey-300")),q(b.Chip,"defaultIconColor",A("palette-grey-300")),q(b.FilledInput,"bg","rgba(255, 255, 255, 0.09)"),q(b.FilledInput,"hoverBg","rgba(255, 255, 255, 0.13)"),q(b.FilledInput,"disabledBg","rgba(255, 255, 255, 0.12)"),q(b.LinearProgress,"primaryBg",Pe(b.primary.main,.5)),q(b.LinearProgress,"secondaryBg",Pe(b.secondary.main,.5)),q(b.LinearProgress,"errorBg",Pe(b.error.main,.5)),q(b.LinearProgress,"infoBg",Pe(b.info.main,.5)),q(b.LinearProgress,"successBg",Pe(b.success.main,.5)),q(b.LinearProgress,"warningBg",Pe(b.warning.main,.5)),q(b.Skeleton,"bg",`rgba(${A("palette-text-primaryChannel")} / 0.13)`),q(b.Slider,"primaryTrack",Pe(b.primary.main,.5)),q(b.Slider,"secondaryTrack",Pe(b.secondary.main,.5)),q(b.Slider,"errorTrack",Pe(b.error.main,.5)),q(b.Slider,"infoTrack",Pe(b.info.main,.5)),q(b.Slider,"successTrack",Pe(b.success.main,.5)),q(b.Slider,"warningTrack",Pe(b.warning.main,.5));const G=Ga(b.background.default,.98);q(b.SnackbarContent,"bg",G),q(b.SnackbarContent,"color",At(()=>b.getContrastText(G))),q(b.SpeedDialAction,"fabHoverBg",Ga(b.background.paper,.15)),q(b.StepConnector,"border",A("palette-grey-600")),q(b.StepContent,"border",A("palette-grey-600")),q(b.Switch,"defaultColor",A("palette-grey-300")),q(b.Switch,"defaultDisabledColor",A("palette-grey-600")),q(b.Switch,"primaryDisabledColor",Pe(b.primary.main,.55)),q(b.Switch,"secondaryDisabledColor",Pe(b.secondary.main,.55)),q(b.Switch,"errorDisabledColor",Pe(b.error.main,.55)),q(b.Switch,"infoDisabledColor",Pe(b.info.main,.55)),q(b.Switch,"successDisabledColor",Pe(b.success.main,.55)),q(b.Switch,"warningDisabledColor",Pe(b.warning.main,.55)),q(b.TableCell,"border",Pe(za(b.divider,1),.68)),q(b.Tooltip,"bg",za(b.grey[700],.92))}Lt(b.background,"default"),Lt(b.background,"paper"),Lt(b.common,"background"),Lt(b.common,"onBackground"),Lt(b,"divider"),Object.keys(b).forEach(G=>{const _=b[G];G!=="tonalOffset"&&_&&typeof _=="object"&&(_.main&&q(b[G],"mainChannel",Zn(ea(_.main))),_.light&&q(b[G],"lightChannel",Zn(ea(_.light))),_.dark&&q(b[G],"darkChannel",Zn(ea(_.dark))),_.contrastText&&q(b[G],"contrastTextChannel",Zn(ea(_.contrastText))),G==="text"&&(Lt(b[G],"primary"),Lt(b[G],"secondary")),G==="action"&&(_.active&&Lt(b[G],"active"),_.selected&&Lt(b[G],"selected")))})}),C=t.reduce((z,b)=>tt(z,b),C);const T={prefix:o,disableCssColorScheme:a,shouldSkipGeneratingVar:s,getSelector:X0(C)},{vars:P,generateThemeVars:w,generateStyleSheets:I}=g0(C,T);return C.vars=P,Object.entries(C.colorSchemes[C.defaultColorScheme]).forEach(([z,b])=>{C[z]=b}),C.generateThemeVars=w,C.generateStyleSheets=I,C.generateSpacing=function(){return Nh(c.spacing,ns(this))},C.getColorSchemeSelector=y0(i),C.spacing=C.generateSpacing(),C.shouldSkipGeneratingVar=s,C.unstable_sxConfig={...Pa,...c==null?void 0:c.unstable_sxConfig},C.unstable_sx=function(b){return pn({sx:b,theme:this})},C.toRuntimeSource=Qh,C}function Zc(e,t,r){e.colorSchemes&&r&&(e.colorSchemes[t]={...r!==!0&&r,palette:El({...r===!0?{}:r.palette,mode:t})})}function ep(e={},...t){const{palette:r,cssVariables:n=!1,colorSchemes:a=r?void 0:{light:!0},defaultColorScheme:o=r==null?void 0:r.mode,...s}=e,i=o||"light",l=a==null?void 0:a[i],c={...a,...r?{[i]:{...typeof l!="boolean"&&l,palette:r}}:void 0};if(n===!1){if(!("colorSchemes"in e))return Fi(e,...t);let u=r;"palette"in e||c[i]&&(c[i]!==!0?u=c[i].palette:i==="dark"&&(u={mode:"dark"}));const d=Fi({...e,palette:u},...t);return d.defaultColorScheme=i,d.colorSchemes=c,d.palette.mode==="light"&&(d.colorSchemes.light={...c.light!==!0&&c.light,palette:d.palette},Zc(d,"dark",c.dark)),d.palette.mode==="dark"&&(d.colorSchemes.dark={...c.dark!==!0&&c.dark,palette:d.palette},Zc(d,"light",c.light)),d}return!r&&!("light"in c)&&i==="light"&&(c.light=!0),rb({...s,colorSchemes:c,defaultColorScheme:i,...typeof n!="boolean"&&n},...t)}const tp=ep();function nb({props:e,name:t}){return Wh({props:e,name:t,defaultTheme:tp,themeId:$h})}function Vl(e){return e!=="ownerState"&&e!=="theme"&&e!=="sx"&&e!=="as"}const ab=e=>Vl(e)&&e!=="classes",pt=Hh({themeId:$h,defaultTheme:tp,rootShouldForwardProp:ab});function ds(...e){const t=N.useRef(void 0),r=N.useCallback(n=>{const a=e.map(o=>{if(o==null)return null;if(typeof o=="function"){const s=o,i=s(n);return typeof i=="function"?i:()=>{s(null)}}return o.current=n,()=>{o.current=null}});return()=>{a.forEach(o=>o==null?void 0:o())}},e);return N.useMemo(()=>e.every(n=>n==null)?null:n=>{t.current&&(t.current(),t.current=void 0),n!=null&&(t.current=r(n))},e)}let eu=0;function ob(e){const[t,r]=N.useState(e),n=t;return N.useEffect(()=>{t==null&&(eu+=1,r(`mui-${eu}`))},[t]),n}const sb={...N},tu=sb.useId;function ib(e){return tu!==void 0?tu():ob(e)}class lb{constructor(t){this.value=void 0,this.listeners=void 0,this.subscribe=r=>(this.listeners.add(r),()=>{this.listeners.delete(r)}),this.getSnapshot=()=>this.value,this.update=r=>{const n=r(this.value);n!==this.value&&(this.value=n,this.listeners.forEach(a=>a(n)))},this.value=t,this.listeners=new Set}}const hs=({params:e,store:t})=>{N.useEffect(()=>{t.update(n=>K({},n,{animation:K({},n.animation,{skip:e.skipAnimation})}))},[t,e.skipAnimation]);const r=N.useCallback(()=>{let n=!1;return t.update(a=>K({},a,{animation:K({},a.animation,{skipAnimationRequests:a.animation.skipAnimationRequests+1})})),()=>{n||(n=!0,t.update(a=>K({},a,{animation:K({},a.animation,{skipAnimationRequests:a.animation.skipAnimationRequests-1})})))}},[t]);return $t(()=>{if(typeof window>"u"||!(window!=null&&window.matchMedia))return;let a;const o=i=>{i.matches?a=r():a==null||a()},s=window.matchMedia("(prefers-reduced-motion)");return o(s),s.addEventListener("change",o),()=>{s.removeEventListener("change",o)}},[r,t]),{instance:{disableAnimation:r}}};hs.params={skipAnimation:!0};hs.getDefaultizedParams=({params:e})=>K({},e,{skipAnimation:e.skipAnimation??!1});hs.getInitialState=({skipAnimation:e})=>{const t=typeof window>"u"||!(window!=null&&window.matchMedia),r=process.env.NODE_ENV==="test"?t:!1;return{animation:{skip:e,skipAnimationRequests:r?1:0}}};var cb=(e,t,r)=>{if(t.length===1&&t[0]===r){let n=!1;try{const a={};e(a)===a&&(n=!0)}catch{}if(n){let a;try{throw new Error}catch(o){({stack:a}=o)}console.warn(`The result function returned its own inputs without modification. e.g
|
|
78
78
|
\`createSelector([state => state.todos], todos => todos)\`
|
|
79
79
|
This could lead to inefficient memoization and unnecessary re-renders.
|
|
80
80
|
Ensure transformation logic is in the result function, and extraction logic is in the input selectors.`,{stack:a})}}},ub=(e,t,r)=>{const{memoize:n,memoizeOptions:a}=t,{inputSelectorResults:o,inputSelectorResultsCopy:s}=e,i=n(()=>({}),...a);if(!(i.apply(null,o)===i.apply(null,s))){let c;try{throw new Error}catch(u){({stack:c}=u)}console.warn(`An input selector returned a different result when passed same arguments.
|
|
81
81
|
This means your output selector will likely run more frequently than intended.
|
|
82
82
|
Avoid returning a new reference inside your input selector, e.g.
|
|
83
|
-
\`createSelector([state => state.todos.map(todo => todo.id)], todoIds => todoIds.length)\``,{arguments:r,firstInputs:o,secondInputs:s,stack:c})}},db={inputStabilityCheck:"once",identityFunctionCheck:"once"},Eo=Symbol("NOT_FOUND");function hb(e,t=`expected a function, instead received ${typeof e}`){if(typeof e!="function")throw new TypeError(t)}function pb(e,t=`expected an object, instead received ${typeof e}`){if(typeof e!="object")throw new TypeError(t)}function mb(e,t="expected all items to be functions, instead received the following types: "){if(!e.every(r=>typeof r=="function")){const r=e.map(n=>typeof n=="function"?`function ${n.name||"unnamed"}()`:typeof n).join(", ");throw new TypeError(`${t}[${r}]`)}}var ru=e=>Array.isArray(e)?e:[e];function fb(e){const t=Array.isArray(e[0])?e[0]:e;return mb(t,"createSelector expects all input-selectors to be functions, but received the following types: "),t}function nu(e,t){const r=[],{length:n}=e;for(let a=0;a<n;a++)r.push(e[a].apply(null,t));return r}var gb=(e,t)=>{const{identityFunctionCheck:r,inputStabilityCheck:n}={...db,...t};return{identityFunctionCheck:{shouldRun:r==="always"||r==="once"&&e,run:cb},inputStabilityCheck:{shouldRun:n==="always"||n==="once"&&e,run:ub}}};function yb(e){let t;return{get(r){return t&&e(t.key,r)?t.value:Eo},put(r,n){t={key:r,value:n}},getEntries(){return t?[t]:[]},clear(){t=void 0}}}function bb(e,t){let r=[];function n(i){const l=r.findIndex(c=>t(i,c.key));if(l>-1){const c=r[l];return l>0&&(r.splice(l,1),r.unshift(c)),c.value}return Eo}function a(i,l){n(i)===Eo&&(r.unshift({key:i,value:l}),r.length>e&&r.pop())}function o(){return r}function s(){r=[]}return{get:n,put:a,getEntries:o,clear:s}}var xb=(e,t)=>e===t;function vb(e){return function(r,n){if(r===null||n===null||r.length!==n.length)return!1;const{length:a}=r;for(let o=0;o<a;o++)if(!e(r[o],n[o]))return!1;return!0}}function Sb(e,t){const r=typeof t=="object"?t:{equalityCheck:t},{equalityCheck:n=xb,maxSize:a=1,resultEqualityCheck:o}=r,s=vb(n);let i=0;const l=a<=1?yb(s):bb(a,s);function c(){let u=l.get(arguments);if(u===Eo){if(u=e.apply(null,arguments),i++,o){const h=l.getEntries().find(p=>o(p.value,u));h&&(u=h.value,i!==0&&i--)}l.put(arguments,u)}return u}return c.clearCache=()=>{l.clear(),c.resetResultsCount()},c.resultsCount=()=>i,c.resetResultsCount=()=>{i=0},c}var Ob=class{constructor(e){this.value=e}deref(){return this.value}},wb=typeof WeakRef<"u"?WeakRef:Ob,Cb=0,au=1;function Ha(){return{s:Cb,v:void 0,o:null,p:null}}function rp(e,t={}){let r=Ha();const{resultEqualityCheck:n}=t;let a,o=0;function s(){var d;let i=r;const{length:l}=arguments;for(let h=0,p=l;h<p;h++){const f=arguments[h];if(typeof f=="function"||typeof f=="object"&&f!==null){let m=i.o;m===null&&(i.o=m=new WeakMap);const y=m.get(f);y===void 0?(i=Ha(),m.set(f,i)):i=y}else{let m=i.p;m===null&&(i.p=m=new Map);const y=m.get(f);y===void 0?(i=Ha(),m.set(f,i)):i=y}}const c=i;let u;if(i.s===au)u=i.v;else if(u=e.apply(null,arguments),o++,n){const h=((d=a==null?void 0:a.deref)==null?void 0:d.call(a))??a;h!=null&&n(h,u)&&(u=h,o!==0&&o--),a=typeof u=="object"&&u!==null||typeof u=="function"?new wb(u):u}return c.s=au,c.v=u,u}return s.clearCache=()=>{r=Ha(),s.resetResultsCount()},s.resultsCount=()=>o,s.resetResultsCount=()=>{o=0},s}function np(e,...t){const r=typeof e=="function"?{memoize:e,memoizeOptions:t}:e,n=(...a)=>{let o=0,s=0,i,l={},c=a.pop();typeof c=="object"&&(l=c,c=a.pop()),hb(c,`createSelector expects an output function after the inputs, but received: [${typeof c}]`);const u={...r,...l},{memoize:d,memoizeOptions:h=[],argsMemoize:p=rp,argsMemoizeOptions:f=[],devModeChecks:m={}}=u,y=ru(h),S=ru(f),E=fb(a),O=d(function(){return o++,c.apply(null,arguments)},...y);let
|
|
83
|
+
\`createSelector([state => state.todos.map(todo => todo.id)], todoIds => todoIds.length)\``,{arguments:r,firstInputs:o,secondInputs:s,stack:c})}},db={inputStabilityCheck:"once",identityFunctionCheck:"once"},Eo=Symbol("NOT_FOUND");function hb(e,t=`expected a function, instead received ${typeof e}`){if(typeof e!="function")throw new TypeError(t)}function pb(e,t=`expected an object, instead received ${typeof e}`){if(typeof e!="object")throw new TypeError(t)}function mb(e,t="expected all items to be functions, instead received the following types: "){if(!e.every(r=>typeof r=="function")){const r=e.map(n=>typeof n=="function"?`function ${n.name||"unnamed"}()`:typeof n).join(", ");throw new TypeError(`${t}[${r}]`)}}var ru=e=>Array.isArray(e)?e:[e];function fb(e){const t=Array.isArray(e[0])?e[0]:e;return mb(t,"createSelector expects all input-selectors to be functions, but received the following types: "),t}function nu(e,t){const r=[],{length:n}=e;for(let a=0;a<n;a++)r.push(e[a].apply(null,t));return r}var gb=(e,t)=>{const{identityFunctionCheck:r,inputStabilityCheck:n}={...db,...t};return{identityFunctionCheck:{shouldRun:r==="always"||r==="once"&&e,run:cb},inputStabilityCheck:{shouldRun:n==="always"||n==="once"&&e,run:ub}}};function yb(e){let t;return{get(r){return t&&e(t.key,r)?t.value:Eo},put(r,n){t={key:r,value:n}},getEntries(){return t?[t]:[]},clear(){t=void 0}}}function bb(e,t){let r=[];function n(i){const l=r.findIndex(c=>t(i,c.key));if(l>-1){const c=r[l];return l>0&&(r.splice(l,1),r.unshift(c)),c.value}return Eo}function a(i,l){n(i)===Eo&&(r.unshift({key:i,value:l}),r.length>e&&r.pop())}function o(){return r}function s(){r=[]}return{get:n,put:a,getEntries:o,clear:s}}var xb=(e,t)=>e===t;function vb(e){return function(r,n){if(r===null||n===null||r.length!==n.length)return!1;const{length:a}=r;for(let o=0;o<a;o++)if(!e(r[o],n[o]))return!1;return!0}}function Sb(e,t){const r=typeof 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0?(i=Ha(),m.set(f,i)):i=y}}const c=i;let u;if(i.s===au)u=i.v;else if(u=e.apply(null,arguments),o++,n){const h=((d=a==null?void 0:a.deref)==null?void 0:d.call(a))??a;h!=null&&n(h,u)&&(u=h,o!==0&&o--),a=typeof u=="object"&&u!==null||typeof u=="function"?new wb(u):u}return c.s=au,c.v=u,u}return s.clearCache=()=>{r=Ha(),s.resetResultsCount()},s.resultsCount=()=>o,s.resetResultsCount=()=>{o=0},s}function np(e,...t){const r=typeof e=="function"?{memoize:e,memoizeOptions:t}:e,n=(...a)=>{let o=0,s=0,i,l={},c=a.pop();typeof c=="object"&&(l=c,c=a.pop()),hb(c,`createSelector expects an output function after the inputs, but received: [${typeof c}]`);const u={...r,...l},{memoize:d,memoizeOptions:h=[],argsMemoize:p=rp,argsMemoizeOptions:f=[],devModeChecks:m={}}=u,y=ru(h),S=ru(f),E=fb(a),O=d(function(){return o++,c.apply(null,arguments)},...y);let C=!0;const T=p(function(){s++;const 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WeakMap,pe=(...e)=>(r,...n)=>{const a=r.cacheKey;let o=ou.get(a);o||(o=new Map,ou.set(a,o));const s=o.get(e);if(s)return s(r,...n);const i=Rb(...e);return o.set(e,i),i(r,...n)},Ab=e=>e.animation,_b=pe([Ab],e=>e.skip||e.skipAnimationRequests>0);function aa(e){return e&&e.ownerDocument||document}function Eb(e){return aa(e).defaultView||window}var qa={exports:{}},ri={},Wa={exports:{}},ni={};/**
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*/var cu;function Mb(){if(cu)return ri;cu=1;var e=J,t=ap();function r(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}var n=typeof Object.is=="function"?Object.is:r,a=t.useSyncExternalStore,o=e.useRef,s=e.useEffect,i=e.useMemo,l=e.useDebugValue;return ri.useSyncExternalStoreWithSelector=function(c,u,d,h,p){var f=o(null);if(f.current===null){var m={hasValue:!1,value:null};f.current=m}else m=f.current;f=i(function(){function S(P){if(!E){if(E=!0,O=P,P=h(P),p!==void 0&&m.hasValue){var
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*/var uu;function jb(){return uu||(uu=1,process.env.NODE_ENV!=="production"&&function(){function e(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var t=J,r=ap(),n=typeof Object.is=="function"?Object.is:e,a=r.useSyncExternalStore,o=t.useRef,s=t.useEffect,i=t.useMemo,l=t.useDebugValue;oi.useSyncExternalStoreWithSelector=function(c,u,d,h,p){var f=o(null);if(f.current===null){var m={hasValue:!1,value:null};f.current=m}else m=f.current;f=i(function(){function S(P){if(!E){if(E=!0,O=P,P=h(P),p!==void 0&&m.hasValue){var C=m.value;if(p(C,P))return w=C}return w=P}if(C=w,n(O,P))return C;var I=h(P);return p!==void 0&&p(C,I)?(O=P,C):(O=P,w=I)}var E=!1,O,w,T=d===void 0?null:d;return[function(){return S(u())},T===null?void 0:function(){return S(T())}]},[u,d,h,p]);var y=a(c,f[0],f[1]);return 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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 cx{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 ux{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 dx{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=K({},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 hx{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new cx,this.pointerManager=void 0,this.keyboardManager=new ux,this.pointerManager=new dx({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 px(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+=px({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 qt(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 Pn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ja=1e-5,tr=1e-5,pu=.15;function mx(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=fx(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?Ja:pu,l=o?Ja:s==="horizontal"?pu:Ja;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 fx(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+tr&&a<=-22.5+tr||a>=22.5+tr&&a<=45+tr||a>=135+tr&&a<=157.5+tr||a>=-157.5+tr&&a<=-135+tr}function gx(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 yx=0,bx=e=>e>yx?1:e<-0?-1:0;class jl 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 jl(K({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||qt(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=Pn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class kl 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 kl(K({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=K({},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=qt(o),this.state.lastCentroid=K({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=qt(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=mx(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&&gx(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=Pn(this.name,r),y=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(y),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(K({},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(K({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=K({},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=qt(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:bx(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Pn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class Ul 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 Ul(K({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=K({},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=qt(o),this.state.lastPosition=K({},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=qt(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=Pn(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 Ll 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 Ll(K({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=qt(o),this.state.lastPosition=K({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=qt(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=Pn(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(K({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?qt(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=Pn(this.name,"ongoing"),i=new CustomEvent(s,{bubbles:!0,cancelable:!0,detail:o});this.element.dispatchEvent(i)}}const Wr=e=>e.preventDefault(),Bl=({svgRef:e})=>{N.useEffect(()=>{const r=e.current;if(!r)return;const n=new hx({gestures:[new kl({name:"pan",threshold:0,maxPointers:1}),new jl({name:"move",preventIf:["pan","pinch"]}),new $l({name:"pinch",threshold:5,preventIf:["pan"]}),new Dl({name:"turnWheel",sensitivity:.01,initialDelta:1}),new Ll({name:"tap",maxDistance:10,preventIf:["pan","pinch"]}),new Ul({name:"quickPress",duration:50,maxDistance:10})]});return n.registerElement(["pan","move","pinch","turnWheel","tap","quickPress"],r),()=>{n.destroy()}},[e]);const t=N.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 N.useEffect(()=>{const r=e.current;return r==null||r.addEventListener("gesturestart",Wr),r==null||r.addEventListener("gesturechange",Wr),r==null||r.addEventListener("gestureend",Wr),()=>{r==null||r.removeEventListener("gesturestart",Wr),r==null||r.removeEventListener("gesturechange",Wr),r==null||r.removeEventListener("gestureend",Wr)}},[e]),{instance:{addInteractionListener:t}}};Bl.params={};Bl.getInitialState=()=>({});const xx=[Ml,Il,ps,ms,Bl,hs],vx=["apiRef"],Sx=e=>{let{plugins:t}=e,r=lr(e.props,vx);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 Ox(e,t,r){const n=ib(),a=N.useMemo(()=>[...xx,...e],[e]),o=Sx({plugins:a,props:t});o.id=o.id??n;const i=N.useRef({}).current,l=Cx(t.apiRef),c=N.useRef(null),u=N.useRef(null),d=N.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 lb(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:N.useMemo(()=>({store:d.current,publicAPI:l.current,instance:i,svgRef:u,chartRootRef:c}),[i,l])}}function wx(e){return e.current==null&&(e.current={}),e}function Cx(e){const t=N.useRef({});return e?wx(e):t}const Nl=N.createContext(null);process.env.NODE_ENV!=="production"&&(Nl.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(`
|
|
116
|
-
`):e;fu.has(r)||(fu.add(r),t==="error"?console.error(r):console.warn(r))}function Px(e){const{componentName:t,propName:r,controlled:n,defaultValue:a,warningPrefix:o="MUI X"}=e,[{initialDefaultValue:s,isControlled:i}]=N.useState({initialDefaultValue:a,isControlled:n!==void 0});i!==(n!==void 0)&&da([`${o}: A component is changing the ${i?"":"un"}controlled ${r} state of ${t} to be ${i?"un":""}controlled.`,"Elements should not switch from uncontrolled to controlled (or vice versa).",`Decide between using a controlled or uncontrolled ${r} element for the lifetime of the component.`,"The nature of the state is determined during the first render. It's considered controlled if the value is not `undefined`.","More info: https://fb.me/react-controlled-components"],"error"),JSON.stringify(s)!==JSON.stringify(a)&&da([`${o}: A component is changing the default ${r} state of an uncontrolled ${t} after being initialized. To suppress this warning opt to use a controlled ${t}.`],"error")}const mp=process.env.NODE_ENV==="production"?()=>{}:Px,fp=4,gp=20+2*fp,Tx=40+2*fp,Rx="hover",Ya={minStart:0,maxEnd:100,step:5,minSpan:10,maxSpan:100,panning:!0,filterMode:"keep",slider:{enabled:!1,preview:!1,size:gp,showTooltip:Rx}},Fl=(e,t,r)=>{var n;if(e)return e===!0?K({axisId:t,axisDirection:r},Ya):K({axisId:t,axisDirection:r},Ya,e,{slider:K({},Ya.slider,{size:((n=e.slider)==null?void 0:n.preview)??Ya.slider.preview?Tx:gp},e.slider)})};function yp(e,t){const r={top:0,bottom:0,none:0};return(e&&e.length>0?e:[{id:Lb,scaleType:"linear"}]).map((o,s)=>{var p;const i=o.dataKey,l=s===0?"bottom":"none",c=o.position??l,u=Fb+(o.label?op:0),d=o.id??`defaultized-x-axis-${s}`,h=K({offset:r[c]},o,{id:d,position:c,height:o.height??u,zoom:Fl(o.zoom,d,"x")});if(c!=="none"&&(r[c]+=h.height,(p=h.zoom)!=null&&p.slider.enabled&&(r[c]+=h.zoom.slider.size)),i===void 0||o.data!==void 0)return h;if(t===void 0)throw new Error("MUI X Charts: x-axis uses `dataKey` but no `dataset` is provided.");return K({},h,{data:t.map(f=>f[i])})})}function bp(e,t){const r={right:0,left:0,none:0};return(e&&e.length>0?e:[{id:Db,scaleType:"linear"}]).map((o,s)=>{var p;const i=o.dataKey,l=s===0?"left":"none",c=o.position??l,u=Nb+(o.label?op:0),d=o.id??`defaultized-y-axis-${s}`,h=K({offset:r[c]},o,{id:d,position:c,width:o.width??u,zoom:Fl(o.zoom,d,"y")});if(c!=="none"&&(r[c]+=h.width,(p=h.zoom)!=null&&p.slider.enabled&&(r[c]+=h.zoom.slider.size)),i===void 0||o.data!==void 0)return h;if(t===void 0)throw new Error("MUI X Charts: y-axis uses `dataKey` but no `dataset` is provided.");return K({},h,{data:t.map(f=>f[i])})})}function yo(e,t){return e==null||t==null?NaN:e<t?-1:e>t?1:e>=t?0:NaN}function Ax(e,t){return e==null||t==null?NaN:t<e?-1:t>e?1:t>=e?0:NaN}function zl(e){let t,r,n;e.length!==2?(t=yo,r=(i,l)=>yo(e(i),l),n=(i,l)=>e(i)-l):(t=e===yo||e===Ax?e:_x,r=e,n=e);function a(i,l,c=0,u=i.length){if(c<u){if(t(l,l)!==0)return u;do{const 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117
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K({},f,{dimensions:{margin:{top:e.margin.top,right:e.margin.right,bottom:e.margin.bottom,left:e.margin.left},width:m,height:y,propsHeight:e.height,propsWidth:e.width}})})},[t,e.height,e.width,e.margin.left,e.margin.right,e.margin.top,e.margin.bottom]),N.useEffect(()=>{a.current.displayError=!0},[]),$t(()=>{if(n||!a.current.initialCompute||a.current.computeRun>ex)return;const f=c();f.width!==o||f.height!==i?(a.current.computeRun+=1,f.width!==void 0&&s(f.width),f.height!==void 0&&l(f.height)):a.current.initialCompute&&(a.current.initialCompute=!1)},[i,o,c,n]),$t(()=>{if(n)return()=>{};c();const f=r.current;if(typeof ResizeObserver>"u")return()=>{};let m;const y=new ResizeObserver(()=>{m=requestAnimationFrame(()=>{c()})});return f&&y.observe(f),()=>{m&&cancelAnimationFrame(m),f&&y.unobserve(f)}},[c,n,r]),process.env.NODE_ENV!=="production"&&(a.current.displayError&&e.width===void 0&&o===0&&(console.error("MUI X Charts: ChartContainer does not have `width` prop, and its container has no `width` defined."),a.current.displayError=!1),a.current.displayError&&e.height===void 0&&i===0&&(console.error("MUI X Charts: ChartContainer does not have `height` prop, and its container has no `height` defined."),a.current.displayError=!1));const u=st(t,Ta),d=N.useCallback(f=>f>=u.left-1&&f<=u.left+u.width,[u.left,u.width]),h=N.useCallback(f=>f>=u.top-1&&f<=u.top+u.height,[u.height,u.top]);return{instance:{isPointInside:N.useCallback((f,m,y)=>y&&"closest"in y&&y.closest("[data-drawing-container]")?!0:d(f)&&h(m),[d,h]),isXInside:d,isYInside:h}}};ps.params={width:!0,height:!0,margin:!0};ps.getDefaultizedParams=({params:e})=>K({},e,{margin:lp(e.margin,Bb)});ps.getInitialState=({width:e,height:t,margin:r})=>({dimensions:{margin:r,width:e??0,height:t??0,propsWidth:e,propsHeight:t}});const Il=({params:e,store:t})=>($t(()=>{t.update(r=>K({},r,{experimentalFeatures:e.experimentalFeatures}))},[t,e.experimentalFeatures]),{});Il.params={experimentalFeatures:!0};Il.getInitialState=({experimentalFeatures:e})=>({experimentalFeatures:e});const tx=e=>e.experimentalFeatures,cp=pe([tx],e=>!!(e!=null&&e.preferStrictDomainInLineCharts));let hu=0;const rx=()=>(hu+=1,`mui-chart-${hu}`),Ml=({params:e,store:t})=>(N.useEffect(()=>{t.update(r=>e.id===void 0||e.id===r.id.providedChartId&&r.id.chartId!==void 0?r:K({},r,{id:K({},r.id,{chartId:e.id??rx()})}))},[t,e.id]),{});Ml.params={id:!0};Ml.getInitialState=({id:e})=>({id:{chartId:e,providedChartId:e}});const nx=e=>e.id,ax=pe([nx],e=>e.chartId),ox=["#4254FB","#FFB422","#FA4F58","#0DBEFF","#22BF75","#FA83B4","#FF7511"],sx=["#495AFB","#FFC758","#F35865","#30C8FF","#44CE8D","#F286B3","#FF8C39"],up=e=>e==="dark"?sx:ox,dp=({series:e,colors:t,seriesConfig:r,dataset:n})=>{const a={};e.forEach((s,i)=>{var u;const l=r[s.type].getSeriesWithDefaultValues(s,i,t),c=l.id;if(a[s.type]===void 0&&(a[s.type]={series:{},seriesOrder:[]}),((u=a[s.type])==null?void 0:u.series[c])!==void 0)throw new Error(`MUI X Charts: series' id "${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=N.useRef(!0);return N.useEffect(()=>{if(i.current){i.current=!1;return}t.update(l=>K({},l,{series:K({},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 ix=[];ms.getDefaultizedParams=({params:e})=>{var t;return K({},e,{series:(t=e.series)!=null&&t.length?e.series:ix,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),lx={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 lx)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 cx{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 ux{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 dx{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=K({},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 hx{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new cx,this.pointerManager=void 0,this.keyboardManager=new ux,this.pointerManager=new dx({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 px(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+=px({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 qt(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 Pn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ja=1e-5,tr=1e-5,pu=.15;function mx(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=fx(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?Ja:pu,l=o?Ja:s==="horizontal"?pu:Ja;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 fx(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+tr&&a<=-22.5+tr||a>=22.5+tr&&a<=45+tr||a>=135+tr&&a<=157.5+tr||a>=-157.5+tr&&a<=-135+tr}function gx(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 yx=0,bx=e=>e>yx?1:e<-0?-1:0;class jl 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 jl(K({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||qt(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=Pn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class $l 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 $l(K({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=K({},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=qt(o),this.state.lastCentroid=K({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=qt(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=mx(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&&gx(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=Pn(this.name,r),y=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(y),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 kl extends Aa{constructor(t){super(K({},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 kl(K({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=K({},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=qt(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:bx(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Pn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class Ul 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 Ul(K({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=K({},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=qt(o),this.state.lastPosition=K({},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=qt(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=Pn(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 Dl 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 Dl(K({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=qt(o),this.state.lastPosition=K({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=qt(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=Pn(this.name,"cancel"),l=new CustomEvent(i,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(l)}this.resetState()}}class Ll 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 Ll(K({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?qt(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=Pn(this.name,"ongoing"),i=new CustomEvent(s,{bubbles:!0,cancelable:!0,detail:o});this.element.dispatchEvent(i)}}const Wr=e=>e.preventDefault(),Bl=({svgRef:e})=>{N.useEffect(()=>{const r=e.current;if(!r)return;const n=new hx({gestures:[new $l({name:"pan",threshold:0,maxPointers:1}),new jl({name:"move",preventIf:["pan","pinch"]}),new kl({name:"pinch",threshold:5,preventIf:["pan"]}),new Ll({name:"turnWheel",sensitivity:.01,initialDelta:1}),new Dl({name:"tap",maxDistance:10,preventIf:["pan","pinch"]}),new Ul({name:"quickPress",duration:50,maxDistance:10})]});return n.registerElement(["pan","move","pinch","turnWheel","tap","quickPress"],r),()=>{n.destroy()}},[e]);const t=N.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 N.useEffect(()=>{const r=e.current;return r==null||r.addEventListener("gesturestart",Wr),r==null||r.addEventListener("gesturechange",Wr),r==null||r.addEventListener("gestureend",Wr),()=>{r==null||r.removeEventListener("gesturestart",Wr),r==null||r.removeEventListener("gesturechange",Wr),r==null||r.removeEventListener("gestureend",Wr)}},[e]),{instance:{addInteractionListener:t}}};Bl.params={};Bl.getInitialState=()=>({});const xx=[Ml,Il,ps,ms,Bl,hs],vx=["apiRef"],Sx=e=>{let{plugins:t}=e,r=lr(e.props,vx);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 Ox(e,t,r){const n=ib(),a=N.useMemo(()=>[...xx,...e],[e]),o=Sx({plugins:a,props:t});o.id=o.id??n;const i=N.useRef({}).current,l=Cx(t.apiRef),c=N.useRef(null),u=N.useRef(null),d=N.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 lb(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:N.useMemo(()=>({store:d.current,publicAPI:l.current,instance:i,svgRef:u,chartRootRef:c}),[i,l])}}function wx(e){return e.current==null&&(e.current={}),e}function Cx(e){const t=N.useRef({});return e?wx(e):t}const Nl=N.createContext(null);process.env.NODE_ENV!=="production"&&(Nl.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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|
+
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*/var KA=function(){if(typeof WebSocket<"u")return WebSocket},QA=function(e){return typeof e<"u"&&!!e&&e.CLOSING===2},gr={maxReconnectionDelay:1e4,minReconnectionDelay:1e3+Math.random()*4e3,minUptime:5e3,reconnectionDelayGrowFactor:1.3,connectionTimeout:4e3,maxRetries:1/0,maxEnqueuedMessages:1/0},XA=function(){function e(t,r,n){var a=this;n===void 0&&(n={}),this._listeners={error:[],message:[],open:[],close:[]},this._retryCount=-1,this._shouldReconnect=!0,this._connectLock=!1,this._binaryType="blob",this._closeCalled=!1,this._messageQueue=[],this.onclose=null,this.onerror=null,this.onmessage=null,this.onopen=null,this._handleOpen=function(o){a._debug("open event");var s=a._options.minUptime,i=s===void 0?gr.minUptime:s;clearTimeout(a._connectTimeout),a._uptimeTimeout=setTimeout(function(){return a._acceptOpen()},i),a._ws.binaryType=a._binaryType,a._messageQueue.forEach(function(l){return 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0},enumerable:!0,configurable:!0}),Object.defineProperty(e,"OPEN",{get:function(){return 1},enumerable:!0,configurable:!0}),Object.defineProperty(e,"CLOSING",{get:function(){return 2},enumerable:!0,configurable:!0}),Object.defineProperty(e,"CLOSED",{get:function(){return 3},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"CONNECTING",{get:function(){return e.CONNECTING},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"OPEN",{get:function(){return e.OPEN},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"CLOSING",{get:function(){return e.CLOSING},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"CLOSED",{get:function(){return e.CLOSED},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"binaryType",{get:function(){return 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this._ws?this._ws.readyState:this._options.startClosed?e.CLOSED:e.CONNECTING},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"url",{get:function(){return this._ws?this._ws.url:""},enumerable:!0,configurable:!0}),e.prototype.close=function(t,r){if(t===void 0&&(t=1e3),this._closeCalled=!0,this._shouldReconnect=!1,this._clearTimeouts(),!this._ws){this._debug("close enqueued: no ws instance");return}if(this._ws.readyState===this.CLOSED){this._debug("close: already closed");return}this._ws.close(t,r)},e.prototype.reconnect=function(t,r){this._shouldReconnect=!0,this._closeCalled=!1,this._retryCount=-1,!this._ws||this._ws.readyState===this.CLOSED?this._connect():(this._disconnect(t,r),this._connect())},e.prototype.send=function(t){if(this._ws&&this._ws.readyState===this.OPEN)this._debug("send",t),this._ws.send(t);else{var r=this._options.maxEnqueuedMessages,n=r===void 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150
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ff(e){const t=new Cr(e),r=Hm(Cr.prototype.request,t);return H.extend(r,Cr.prototype,t,{allOwnKeys:!0}),H.extend(r,t,null,{allOwnKeys:!0}),r.create=function(a){return ff(_r(e,a))},r}const V=ff(ja);V.Axios=Cr;V.CanceledError=Mn;V.CancelToken=kE;V.isCancel=of;V.VERSION=pf;V.toFormData=Us;V.AxiosError=he;V.Cancel=V.CanceledError;V.all=function(t){return Promise.all(t)};V.spread=$E;V.isAxiosError=UE;V.mergeConfig=_r;V.AxiosHeaders=lt;V.formToJSON=e=>af(H.isHTMLForm(e)?new FormData(e):e);V.getAdapter=hf.getAdapter;V.HttpStatusCode=fl;V.default=V;const{Axios:oj,AxiosError:gl,CanceledError:sj,isCancel:ij,CancelToken:lj,VERSION:cj,all:uj,Cancel:dj,isAxiosError:LE,spread:hj,toFormData:pj,AxiosHeaders:mj,HttpStatusCode:fj,formToJSON:gj,getAdapter:yj,mergeConfig:bj}=V,M="/api/v1".replace(/\/+$/,"");class Ve{constructor(t,r=M,n=V){kn(this,"basePath");kn(this,"axios");kn(this,"configuration");this.basePath=r,this.axios=n,t&&(this.configuration=t,this.basePath=t.basePath??r)}}class DE extends 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e.pathname+e.search+e.hash},B=function(e,t,r,n){return(a=t,o=r)=>{const s={...e.options,url:(a.defaults.baseURL?"":(n==null?void 0:n.basePath)??o)+e.url};return a.request(s)}},BE=function(e){return{addApp:async(t,r,n,a={})=>{v("addApp","cell",t),v("addApp","app",r);const o="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(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=de(r,l,e),{url:D(s),options:l}},clearApps:async(t,r,n={})=>{v("clearApps","cell",t);const a="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteApp:async(t,r,n,a={})=>{v("deleteApp","cell",t),v("deleteApp","app",r);const o="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};$(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}},getApp:async(t,r,n={})=>{v("getApp","cell",t),v("getApp","app",r);const a="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listApps:async(t,r={})=>{v("listApps","cell",t);const n="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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}},updateApp:async(t,r,n,a,o={})=>{v("updateApp","cell",t),v("updateApp","app",r),v("updateApp","app2",n);const s="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(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=de(n,c,e),{url:D(i),options:c}}}},Kr=function(e){const t=BE(e);return{async addApp(r,n,a,o){var c,u;const s=await t.addApp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ApplicationApi.addApp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)},async clearApps(r,n,a){var l,c;const o=await t.clearApps(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ApplicationApi.clearApps"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)},async deleteApp(r,n,a,o){var c,u;const s=await t.deleteApp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ApplicationApi.deleteApp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)},async getApp(r,n,a){var l,c;const o=await t.getApp(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ApplicationApi.getApp"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)},async listApps(r,n){var i,l;const a=await t.listApps(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["ApplicationApi.listApps"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)},async updateApp(r,n,a,o,s){var u,d;const i=await t.updateApp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["ApplicationApi.updateApp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class Xd extends Ve{addApp(t,r,n,a){return Kr(this.configuration).addApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearApps(t,r,n){return Kr(this.configuration).clearApps(t,r,n).then(a=>a(this.axios,this.basePath))}deleteApp(t,r,n,a){return Kr(this.configuration).deleteApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getApp(t,r,n){return Kr(this.configuration).getApp(t,r,n).then(a=>a(this.axios,this.basePath))}listApps(t,r){return Kr(this.configuration).listApps(t,r).then(n=>n(this.axios,this.basePath))}updateApp(t,r,n,a,o){return Kr(this.configuration).updateApp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const NE=function(e){return{deleteCell:async(t,r,n={})=>{v("deleteCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("deployCell","cell",t);const a="/cells",o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(t,i,e),{url:D(o),options:i}},getCell:async(t,r={})=>{v("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(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={})=>{v("updateCell","cell",t),v("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(r,l,e),{url:D(s),options:l}}}},Qr=function(e){const t=NE(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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(a,V,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)=>B(n,V,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)=>B(s,V,M,e)(d,l||h)}}};class FE extends Ve{deleteCell(t,r,n){return Qr(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return Qr(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return Qr(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return Qr(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return Qr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return Qr(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const zE=function(e){return{addRobotController:async(t,r,n,a={})=>{v("addRobotController","cell",t),v("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(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=de(r,l,e),{url:D(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{v("deleteRobotController","cell",t),v("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};$(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={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMode:async(t,r,n={})=>{v("getMode","cell",t),v("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getSupportedModes:async(t,r,n={})=>{v("getSupportedModes","cell",t),v("getSupportedModes","controller",r);const a="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getVirtualRobotConfiguration","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listControllers:async(t,r={})=>{v("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.mode=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{v("streamFreeDrive","cell",t),v("streamFreeDrive","controller",r);const o="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("streamModeChange","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{v("streamRobotControllerState","cell",t),v("streamRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(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=de(n,c,e),{url:D(i),options:c}}}},nt=function(e){const t=zE(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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(i,V,M,e)(h,c||p)}}};class GE extends Ve{addRobotController(t,r,n,a){return nt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return nt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return nt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return nt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return nt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return nt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return nt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return nt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return nt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return nt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return nt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return nt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return nt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return nt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const HE=function(e){return{listIODescriptions:async(t,r,n,a={})=>{v("listIODescriptions","cell",t),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("listIOValues","cell",t),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setOutputValues:async(t,r,n,a={})=>{v("setOutputValues","cell",t),v("setOutputValues","controller",r),v("setOutputValues","iOValue",n);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{v("waitForIOEvent","cell",t),v("waitForIOEvent","controller",r),v("waitForIOEvent","io",n),v("waitForIOEvent","comparisonType",a);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),u=new URL(c,k);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};$(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}}}},Wn=function(e){const t=HE(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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,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,y)=>B(u,V,M,e)(m,h||y)}}};class qE extends Ve{listIODescriptions(t,r,n,a){return Wn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return Wn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return Wn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return Wn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return Wn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const WE=function(e){return{addCoordinateSystem:async(t,r,n={})=>{v("addCoordinateSystem","cell",t),v("addCoordinateSystem","addRequest",r);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{v("deleteCoordinateSystem","cell",t),v("deleteCoordinateSystem","coordinateSystem",r);const a="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("getCoordinateSystem","cell",t),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{v("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}}}},Jn=function(e){const t=WE(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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class JE extends Ve{addCoordinateSystem(t,r,n){return Jn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Jn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Jn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Jn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Jn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const YE=function(e){return{clearDevices:async(t,r={})=>{v("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(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={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},deleteDevice:async(t,r,n={})=>{v("deleteDevice","cell",t),v("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listDevices:async(t,r={})=>{v("listDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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}}}},Yn=function(e){const t=YE(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,M,e)(c,s||u)}}};class KE 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 QE=function(e){return{createProgram:async(t,r,n,a={})=>{v("createProgram","cell",t),v("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:D(s),options:l}},deleteProgram:async(t,r,n={})=>{v("deleteProgram","cell",t),v("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r&&(c.program_ids=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgram:async(t,r,n={})=>{v("getProgram","cell",t),v("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}}}},Kn=function(e){const t=QE(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)=>B(s,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class XE 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 ZE=function(e){return{getProgramMetadata:async(t,r,n={})=>{v("getProgramMetadata","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.show_hidden=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{v("updateProgramMetadata","cell",t),v("updateProgramMetadata","program",r),v("updateProgramMetadata","updateProgramMetadataRequest",n);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(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}}}},ro=function(e){const t=ZE(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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(s,V,M,e)(d,l||h)}}};class eV 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 tV=function(e){return{createRecipe:async(t,r,n,a,o={})=>{v("createRecipe","cell",t),v("createRecipe","programId",r),v("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};$(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=de(n,c,e),{url:D(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRecipeList:async(t,r,n={})=>{v("deleteRecipeList","cell",t),v("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateRecipe:async(t,r,n,a={})=>{v("updateRecipe","cell",t),v("updateRecipe","recipe",r),v("updateRecipe","body",n);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}}}},Qn=function(e){const t=tV(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)=>B(i,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class rV 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 nV=function(e){return{getRecipeMetadata:async(t,r,n={})=>{v("getRecipeMetadata","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listRecipeMetadata:async(t,r={})=>{v("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{v("uploadRecipeMetadataImage","cell",t),v("uploadRecipeMetadataImage","recipe",r),v("uploadRecipeMetadataImage","file",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(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}}}},no=function(e){const t=nV(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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,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)=>B(s,V,M,e)(d,l||h)}}};class aV 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 oV=function(e){return{deleteAllMotions:async(t,r={})=>{v("deleteAllMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},deleteMotion:async(t,r,n={})=>{v("deleteMotion","cell",t),v("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{v("getMotionTrajectory","cell",t),v("getMotionTrajectory","motion",r),v("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(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={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await U(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{v("getPlannedMotion","cell",t),v("getPlannedMotion","motion",r);const o="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listMotions:async(t,r={})=>{v("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{v("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(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=de(r,i,e),{url:D(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},planTrajectory:async(t,r,n={})=>{v("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(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=de(r,i,e),{url:D(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamMove:async(t,r,n={})=>{v("streamMove","cell",t),v("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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=de(r,i,e),{url:D(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,k);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{v("streamMoveForward","cell",t),v("streamMoveForward","motion",r),v("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,k);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(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={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,k);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},y={},S={};$(m,e),await U(y,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={...y,...E,...d.headers},{url:D(p),options:m}}}},Ye=function(e){const t=oV(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(i,V,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)=>B(i,V,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)=>B(s,V,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)=>B(a,V,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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(c,V,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)=>B(c,V,M,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var y,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=(y=j["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:y[f])==null?void 0:S.url;return(E,O)=>B(p,V,M,e)(E,m||O)}}};class sV 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 iV=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{v("activateAllMotionGroups","cell",t),v("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(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={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.motion_group=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{v("deactivateMotionGroup","cell",t),v("deactivateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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}}}},ao=function(e){const t=iV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,M,e)(c,s||u)}}};class lV 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 cV=function(e){return{getActivePayload:async(t,r,n={})=>{v("getActivePayload","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getActiveTcp","cell",t),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{v("getCurrentMotionGroupState","cell",t),v("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(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={})=>{v("getInfoCapabilities","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{v("getMotionGroupSpecification","cell",t),v("getMotionGroupSpecification","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getMounting","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{v("getOptimizerConfiguration","cell",t),v("getOptimizerConfiguration","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("getSafetySetup","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listPayloads:async(t,r,n={})=>{v("listPayloads","cell",t),v("listPayloads","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("listTcps","cell",t),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{v("streamMotionGroupState","cell",t),v("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,k);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};$(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}}}},vt=function(e){const t=cV(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)=>B(o,V,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)=>B(s,V,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)=>B(i,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(l,V,M,e)(p,u||f)}}};class uV extends Ve{getActivePayload(t,r,n){return vt(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return vt(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return vt(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return vt(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return vt(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return vt(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return vt(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return vt(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return vt(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return vt(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return vt(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const dV=function(e){return{directionJogging:async(t,r,n={})=>{v("directionJogging","cell",t),v("directionJogging","directionJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{v("getJoggingCapabilities","cell",t),v("getJoggingCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},stopJogging:async(t,r,n={})=>{v("stopJogging","cell",t),v("stopJogging","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(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}}}},oo=function(e){const t=dV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,M,e)(u,i||d)}}};class hV 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 pV=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{v("calculateAllInverseKinematic","cell",t),v("calculateAllInverseKinematic","motionGroup",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{v("calculateForwardKinematic","cell",t),v("calculateForwardKinematic","motionGroup",r),v("calculateForwardKinematic","tcpPoseRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{v("getKinematicCapabilities","cell",t),v("getKinematicCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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}}}},so=function(e){const t=pV(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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,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)=>B(o,V,M,e)(u,i||d)}}};class mV 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 fV=function(e){return{createProgramRunner:async(t,r,n={})=>{v("createProgramRunner","cell",t),v("createProgramRunner","request",r);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},executeProgram:async(t,r,n={})=>{v("executeProgram","cell",t),v("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(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=de(r,i,e),{url:D(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramRunners:async(t,r={})=>{v("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:D(o),options:i}},planProgram:async(t,r,n,a={})=>{v("planProgram","cell",t),v("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(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=de(r,l,e),{url:D(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};$(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},stopProgramRunner:async(t,r,n={})=>{v("stopProgramRunner","cell",t),v("stopProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(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}}}},rr=function(e){const t=fV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(o,V,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)=>B(s,V,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)=>B(a,V,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)=>B(o,V,M,e)(u,i||d)}}};class gV extends Ve{createProgramRunner(t,r,n){return rr(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return rr(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return rr(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return rr(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return rr(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return rr(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return rr(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return rr(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const yV=function(e){return{clearProgramsValues:async(t,r={})=>{v("clearProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},createProgramsValue:async(t,r,n={})=>{v("createProgramsValue","cell",t),v("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(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=de(r,i,e),{url:D(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgramValue:async(t,r,n={})=>{v("getProgramValue","cell",t),v("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{v("updateProgramValue","cell",t),v("updateProgramValue","key",r),v("updateProgramValue","value",n);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}}}},Xr=function(e){const t=yV(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,M,e)(d,l||h)}}};class bV extends Ve{clearProgramsValues(t,r){return Xr(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return Xr(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return Xr(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return Xr(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return Xr(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return Xr(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const xV=function(e){return{deleteStoredCollider:async(t,r,n={})=>{v("deleteStoredCollider","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{v("deleteStoredCollisionLinkChain","cell",t),v("deleteStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("deleteStoredCollisionTool","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{v("getDefaultLinkChain","cell",t),v("getDefaultLinkChain","motionGroupModel",r);const a="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getStoredCollider","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{v("getStoredCollisionLinkChain","cell",t),v("getStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getStoredCollisionTool","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listCollisionLinkChains:async(t,r={})=>{v("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listStoredCollisionTools:async(t,r={})=>{v("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{v("storeCollisionLinkChain","cell",t),v("storeCollisionLinkChain","linkChain",r),v("storeCollisionLinkChain","collider",n);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}}}},ut=function(e){const t=xV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(a,V,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)=>B(a,V,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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,M,e)(d,l||h)}}};class vV extends Ve{deleteStoredCollider(t,r,n){return ut(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return ut(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return ut(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return ut(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return ut(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return ut(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return ut(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ut(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return ut(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ut(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return ut(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return ut(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return ut(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const SV=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{v("deleteStoredCollisionScene","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(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={})=>{v("getStoredCollisionScene","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{v("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}}}},io=function(e){const t=SV(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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,M,e)(d,l||h)}}};class OV 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 wV=function(e){return{clearAllObjects:async(t,r={})=>{v("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(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={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getObject:async(t,r,n={})=>{v("getObject","cell",t),v("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listAllObjectKeys:async(t,r={})=>{v("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);$(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}}}},Zr=function(e){const t=wV(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(i,V,M,e)(h,c||p)}}};class CV extends Ve{clearAllObjects(t,r){return Zr(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return Zr(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return Zr(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return Zr(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return Zr(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return Zr(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const PV=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(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,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(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,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},updateNovaVersion:async(t,r={})=>{v("updateNovaVersion","updateNovaVersionRequest",t);const n="/system/update",a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};$(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=de(t,s,e),{url:D(a),options:s}}}},Xn=function(e){const t=PV(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)=>B(a,V,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)=>B(n,V,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)=>B(n,V,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)=>B(n,V,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)=>B(a,V,M,e)(c,s||u)}}};class TV 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 RV=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{v("getMotionGroupState","cell",t),v("getMotionGroupState","controller",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getMotionGroups:async(t,r,n={})=>{v("getMotionGroups","cell",t),v("getMotionGroups","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listIOs:async(t,r,n={})=>{v("listIOs","cell",t),v("listIOs","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:D(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{v("setVirtualRobotIOValue","cell",t),v("setVirtualRobotIOValue","controller",r),v("setVirtualRobotIOValue","io",n);const l="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),c=new URL(l,k);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};$(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}}}},en=function(e){const t=RV(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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(i,V,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)=>B(c,V,M,e)(f,d||m)}}};class AV extends Ve{getMotionGroupState(t,r,n,a){return en(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return en(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return en(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return en(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return en(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return en(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const _V=function(e){return{externalJointsStream:async(t,r,n,a={})=>{v("externalJointsStream","cell",t),v("externalJointsStream","controller",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:D(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{v("getMotionGroupBehavior","cell",t),v("getMotionGroupBehavior","controller",r),v("getMotionGroupBehavior","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),a!==void 0&&(d.behavior=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}}}},Ii=function(e){const t=_V(e);return{async externalJointsStream(r,n,a,o){var c,u;const s=await t.externalJointsStream(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)},async getMotionGroupBehavior(r,n,a,o){var c,u;const s=await t.getMotionGroupBehavior(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)},async setMotionGroupBehavior(r,n,a,o,s){var u,d;const i=await t.setMotionGroupBehavior(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class EV extends Ve{externalJointsStream(t,r,n,a){return Ii(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return Ii(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return Ii(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const VV=function(e){return{getCycleTime:async(t,r,n={})=>{v("getCycleTime","cell",t),v("getCycleTime","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("getEStop","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOperationMode:async(t,r,n={})=>{v("getOperationMode","cell",t),v("getOperationMode","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(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={})=>{v("pushEStop","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},releaseEStop:async(t,r,n={})=>{v("releaseEStop","cell",t),v("releaseEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(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={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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}}}},tn=function(e){const t=VV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class IV extends Ve{getCycleTime(t,r,n){return tn(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return tn(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return tn(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return tn(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return tn(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return tn(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const MV=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(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=de(n,l,e),{url:D(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{v("addVirtualRobotTcp","cell",t),v("addVirtualRobotTcp","controller",r),v("addVirtualRobotTcp","id",n),v("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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:D(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(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={})=>{v("deleteVirtualRobotTcp","cell",t),v("deleteVirtualRobotTcp","controller",r),v("deleteVirtualRobotTcp","id",n),v("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,k);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(c,e),await U(u,e),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("listVirtualRobotCoordinateSystems","cell",t),v("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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(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={})=>{v("setVirtualRobotMounting","cell",t),v("setVirtualRobotMounting","controller",r),v("setVirtualRobotMounting","id",n),v("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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(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=de(a,c,e),{url:D(i),options:c}}}},nr=function(e){const t=MV(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)=>B(s,V,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)=>B(i,V,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)=>B(i,V,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)=>B(i,V,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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(i,V,M,e)(h,c||p)}}};class jV extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return nr(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return nr(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return nr(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return nr(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return nr(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return nr(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return nr(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return nr(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 kV{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 y=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),P=Math.atan2(T,S*E);y=Math.sin(y*P)/T,i=Math.sin(i*P)/T}const w=i*E;if(l=l*y+h*w,c=c*y+p*w,u=u*y+f*w,d=d*y+m*w,y===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(Bt(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 hn{constructor(t=0,r=0,n=0){hn.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(Zd.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(Zd.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 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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 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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 th=1e-4,DV=class bf{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=ir(p.data))==null?void 0:f.result;m&&je.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=ir(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);gf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,th)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),yf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,th)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),je.makeAutoObservable(this)}static connect(t,r,n){return Ee(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(P=>P.controller===i),c=l==null?void 0:l.physical_motion_groups.find(P=>P.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=ir(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 ${c.motion_group}. Initial state:
|
|
149
|
+
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|
|
150
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+
`+o):n.stack=o}catch{}}throw n}}_request(t,r){typeof t=="string"?(r=r||{},r.url=t):r=t||{},r=_r(this.defaults,r);const{transitional:n,paramsSerializer:a,headers:o}=r;n!==void 0&&Oo.assertOptions(n,{silentJSONParsing:Et.transitional(Et.boolean),forcedJSONParsing:Et.transitional(Et.boolean),clarifyTimeoutError:Et.transitional(Et.boolean)},!1),a!=null&&(H.isFunction(a)?r.paramsSerializer={serialize:a}:Oo.assertOptions(a,{encode:Et.function,serialize:Et.function},!0)),r.allowAbsoluteUrls!==void 0||(this.defaults.allowAbsoluteUrls!==void 0?r.allowAbsoluteUrls=this.defaults.allowAbsoluteUrls:r.allowAbsoluteUrls=!0),Oo.assertOptions(r,{baseUrl:Et.spelling("baseURL"),withXsrfToken:Et.spelling("withXSRFToken")},!0),r.method=(r.method||this.defaults.method||"get").toLowerCase();let s=o&&H.merge(o.common,o[r.method]);o&&H.forEach(["delete","get","head","post","put","patch","common"],f=>{delete o[f]}),r.headers=lt.concat(s,o);const i=[];let l=!0;this.interceptors.request.forEach(function(m){typeof 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ff(e){const t=new Cr(e),r=Hm(Cr.prototype.request,t);return H.extend(r,Cr.prototype,t,{allOwnKeys:!0}),H.extend(r,t,null,{allOwnKeys:!0}),r.create=function(a){return ff(_r(e,a))},r}const V=ff(ja);V.Axios=Cr;V.CanceledError=Mn;V.CancelToken=$E;V.isCancel=of;V.VERSION=pf;V.toFormData=Us;V.AxiosError=he;V.Cancel=V.CanceledError;V.all=function(t){return Promise.all(t)};V.spread=kE;V.isAxiosError=UE;V.mergeConfig=_r;V.AxiosHeaders=lt;V.formToJSON=e=>af(H.isHTMLForm(e)?new FormData(e):e);V.getAdapter=hf.getAdapter;V.HttpStatusCode=fl;V.default=V;const{Axios:oj,AxiosError:gl,CanceledError:sj,isCancel:ij,CancelToken:lj,VERSION:cj,all:uj,Cancel:dj,isAxiosError:DE,spread:hj,toFormData:pj,AxiosHeaders:mj,HttpStatusCode:fj,formToJSON:gj,getAdapter:yj,mergeConfig:bj}=V,M="/api/v1".replace(/\/+$/,"");class Ve{constructor(t,r=M,n=V){$n(this,"basePath");$n(this,"axios");$n(this,"configuration");this.basePath=r,this.axios=n,t&&(this.configuration=t,this.basePath=t.basePath??r)}}class LE extends Error{constructor(r,n){super(n);$n(this,"field");this.field=r,this.name="RequiredError"}}const j={},$="https://example.com",v=function(e,t,r){if(r==null)throw new LE(t,`Required parameter ${t} was null or undefined when calling ${e}.`)},k=function(e,t){t&&(t.username||t.password)&&(e.auth={username:t.username,password:t.password})},U=async function(e,t){if(t&&t.accessToken){const r=typeof t.accessToken=="function"?await t.accessToken():await t.accessToken;e.Authorization="Bearer "+r}};function yl(e,t,r=""){t!=null&&(typeof t=="object"?Array.isArray(t)?t.forEach(n=>yl(e,n,r)):Object.keys(t).forEach(n=>yl(e,t[n],`${r}${r!==""?".":""}${n}`)):e.has(r)?e.append(r,t):e.set(r,t))}const D=function(e,...t){const r=new URLSearchParams(e.search);yl(r,t),e.search=r.toString()},de=function(e,t,r){const n=typeof e!="string";return(n&&r&&r.isJsonMime?r.isJsonMime(t.headers["Content-Type"]):n)?JSON.stringify(e!==void 0?e:{}):e||""},L=function(e){return 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i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteApp:async(t,r,n,a={})=>{v("deleteApp","cell",t),v("deleteApp","app",r);const o="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getApp:async(t,r,n={})=>{v("getApp","cell",t),v("getApp","app",r);const a="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listApps:async(t,r={})=>{v("listApps","cell",t);const n="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateApp:async(t,r,n,a,o={})=>{v("updateApp","cell",t),v("updateApp","app",r),v("updateApp","app2",n);const s="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),i=new URL(s,$);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",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:L(i),options:c}}}},Kr=function(e){const t=BE(e);return{async addApp(r,n,a,o){var c,u;const s=await t.addApp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ApplicationApi.addApp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)},async clearApps(r,n,a){var l,c;const o=await t.clearApps(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ApplicationApi.clearApps"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)},async deleteApp(r,n,a,o){var c,u;const s=await t.deleteApp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=j["ApplicationApi.deleteApp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)},async getApp(r,n,a){var l,c;const o=await t.getApp(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=j["ApplicationApi.getApp"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)},async listApps(r,n){var i,l;const a=await t.listApps(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=j["ApplicationApi.listApps"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)},async updateApp(r,n,a,o,s){var u,d;const i=await t.updateApp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=j["ApplicationApi.updateApp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class Xd extends Ve{addApp(t,r,n,a){return Kr(this.configuration).addApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearApps(t,r,n){return Kr(this.configuration).clearApps(t,r,n).then(a=>a(this.axios,this.basePath))}deleteApp(t,r,n,a){return Kr(this.configuration).deleteApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getApp(t,r,n){return Kr(this.configuration).getApp(t,r,n).then(a=>a(this.axios,this.basePath))}listApps(t,r){return Kr(this.configuration).listApps(t,r).then(n=>n(this.axios,this.basePath))}updateApp(t,r,n,a,o){return Kr(this.configuration).updateApp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const NE=function(e){return{deleteCell:async(t,r,n={})=>{v("deleteCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deployCell:async(t,r,n={})=>{v("deployCell","cell",t);const a="/cells",o=new URL(a,$);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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(t,i,e),{url:L(o),options:i}},getCell:async(t,r={})=>{v("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getCellStatus:async(t,r={})=>{v("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),D(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},updateCell:async(t,r,n,a={})=>{v("updateCell","cell",t),v("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}}}},Qr=function(e){const t=NE(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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(a,V,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)=>B(n,V,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)=>B(s,V,M,e)(d,l||h)}}};class FE extends Ve{deleteCell(t,r,n){return Qr(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return Qr(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return Qr(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return Qr(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return Qr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return Qr(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const zE=function(e){return{addRobotController:async(t,r,n,a={})=>{v("addRobotController","cell",t),v("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{v("deleteRobotController","cell",t),v("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMode:async(t,r,n={})=>{v("getMode","cell",t),v("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRobotController:async(t,r,n={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getSupportedModes:async(t,r,n={})=>{v("getSupportedModes","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{v("getVirtualRobotConfiguration","cell",t),v("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listControllers:async(t,r={})=>{v("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{v("streamFreeDrive","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamModeChange:async(t,r,n={})=>{v("streamModeChange","cell",t),v("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{v("streamRobotControllerState","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,$);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",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:L(i),options:c}}}},nt=function(e){const t=zE(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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(i,V,M,e)(h,c||p)}}};class GE extends Ve{addRobotController(t,r,n,a){return nt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return nt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return nt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return nt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return nt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return nt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return nt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return nt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return nt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return nt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return nt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return nt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return nt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return nt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const HE=function(e){return{listIODescriptions:async(t,r,n,a={})=>{v("listIODescriptions","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n&&(u.ios=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOValues:async(t,r,n,a={})=>{v("listIOValues","cell",t),v("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setOutputValues:async(t,r,n,a={})=>{v("setOutputValues","cell",t),v("setOutputValues","controller",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{v("waitForIOEvent","cell",t),v("waitForIOEvent","controller",r),v("waitForIOEvent","io",n),v("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),D(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:L(u),options:h}}}},Wn=function(e){const t=HE(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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,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,y)=>B(u,V,M,e)(m,h||y)}}};class qE extends Ve{listIODescriptions(t,r,n,a){return Wn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return Wn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return Wn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return Wn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return Wn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const WE=function(e){return{addCoordinateSystem:async(t,r,n={})=>{v("addCoordinateSystem","cell",t),v("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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{v("deleteCoordinateSystem","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{v("getCoordinateSystem","cell",t),v("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{v("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.rotation_type=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Jn=function(e){const t=WE(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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class JE extends Ve{addCoordinateSystem(t,r,n){return Jn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Jn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Jn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Jn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Jn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const YE=function(e){return{clearDevices:async(t,r={})=>{v("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createDevice:async(t,r,n={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},deleteDevice:async(t,r,n={})=>{v("deleteDevice","cell",t),v("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDevice:async(t,r,n={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listDevices:async(t,r={})=>{v("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),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},Yn=function(e){const t=YE(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,M,e)(c,s||u)}}};class KE 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 QE=function(e){return{createProgram:async(t,r,n,a={})=>{v("createProgram","cell",t),v("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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}},deleteProgram:async(t,r,n={})=>{v("deleteProgram","cell",t),v("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteProgramList:async(t,r,n={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getProgram:async(t,r,n={})=>{v("getProgram","cell",t),v("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgram:async(t,r,n,a={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Kn=function(e){const t=QE(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)=>B(s,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class XE 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 ZE=function(e){return{getProgramMetadata:async(t,r,n={})=>{v("getProgramMetadata","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramMetadata:async(t,r,n={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{v("updateProgramMetadata","cell",t),v("updateProgramMetadata","program",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},ro=function(e){const t=ZE(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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(s,V,M,e)(d,l||h)}}};class eV 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 tV=function(e){return{createRecipe:async(t,r,n,a,o={})=>{v("createRecipe","cell",t),v("createRecipe","programId",r),v("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};k(c,e),await U(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:L(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteRecipeList:async(t,r,n={})=>{v("deleteRecipeList","cell",t),v("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r&&(c.recipe_ids=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRecipe:async(t,r,n={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateRecipe:async(t,r,n,a={})=>{v("updateRecipe","cell",t),v("updateRecipe","recipe",r),v("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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Qn=function(e){const t=tV(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)=>B(i,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class rV 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 nV=function(e){return{getRecipeMetadata:async(t,r,n={})=>{v("getRecipeMetadata","cell",t),v("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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listRecipeMetadata:async(t,r={})=>{v("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{v("uploadRecipeMetadataImage","cell",t),v("uploadRecipeMetadataImage","recipe",r),v("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",D(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},no=function(e){const t=nV(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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,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)=>B(s,V,M,e)(d,l||h)}}};class aV 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 oV=function(e){return{deleteAllMotions:async(t,r={})=>{v("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),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteMotion:async(t,r,n={})=>{v("deleteMotion","cell",t),v("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},executeTrajectory:async(t,r,n={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{v("getMotionTrajectory","cell",t),v("getMotionTrajectory","motion",r),v("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);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),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{v("getPlannedMotion","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.sample_time=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listMotions:async(t,r={})=>{v("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{v("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},planTrajectory:async(t,r,n={})=>{v("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},streamMove:async(t,r,n={})=>{v("streamMove","cell",t),v("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);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),D(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{v("streamMoveForward","cell",t),v("streamMoveForward","motion",r),v("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};k(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),D(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,$);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},y={},S={};k(m,e),await U(y,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),D(p,S);let E=f&&f.headers?f.headers:{};return m.headers={...y,...E,...d.headers},{url:L(p),options:m}}}},Ye=function(e){const t=oV(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(i,V,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)=>B(i,V,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)=>B(s,V,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)=>B(a,V,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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(c,V,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)=>B(c,V,M,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var y,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=(y=j["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:y[f])==null?void 0:S.url;return(E,O)=>B(p,V,M,e)(E,m||O)}}};class sV 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 iV=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{v("activateAllMotionGroups","cell",t),v("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.controller=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},activateMotionGroup:async(t,r,n={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{v("deactivateMotionGroup","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listMotionGroups:async(t,r={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},ao=function(e){const t=iV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,M,e)(c,s||u)}}};class lV 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 cV=function(e){return{getActivePayload:async(t,r,n={})=>{v("getActivePayload","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{v("getActiveTcp","cell",t),v("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{v("getCurrentMotionGroupState","cell",t),v("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,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{v("getInfoCapabilities","cell",t),v("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{v("getMotionGroupSpecification","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMounting:async(t,r,n={})=>{v("getMounting","cell",t),v("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{v("getOptimizerConfiguration","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.tcp=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getSafetySetup:async(t,r,n={})=>{v("getSafetySetup","cell",t),v("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listPayloads:async(t,r,n={})=>{v("listPayloads","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listTcps:async(t,r,n,a={})=>{v("listTcps","cell",t),v("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{v("streamMotionGroupState","cell",t),v("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),D(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:L(l),options:u}}}},St=function(e){const t=cV(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)=>B(o,V,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)=>B(s,V,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)=>B(i,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,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)=>B(l,V,M,e)(p,u||f)}}};class uV extends Ve{getActivePayload(t,r,n){return St(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return St(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return St(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return St(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return St(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return St(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return St(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return St(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return St(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return St(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return St(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const dV=function(e){return{directionJogging:async(t,r,n={})=>{v("directionJogging","cell",t),v("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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{v("getJoggingCapabilities","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},jointJogging:async(t,r,n={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},stopJogging:async(t,r,n={})=>{v("stopJogging","cell",t),v("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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},oo=function(e){const t=dV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,M,e)(u,i||d)}}};class hV 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 pV=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{v("calculateAllInverseKinematic","cell",t),v("calculateAllInverseKinematic","motionGroup",r),v("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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{v("calculateForwardKinematic","cell",t),v("calculateForwardKinematic","motionGroup",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{v("getKinematicCapabilities","cell",t),v("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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},so=function(e){const t=pV(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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,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)=>B(o,V,M,e)(u,i||d)}}};class mV 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 fV=function(e){return{createProgramRunner:async(t,r,n={})=>{v("createProgramRunner","cell",t),v("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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},executeProgram:async(t,r,n={})=>{v("executeProgram","cell",t),v("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramRunners:async(t,r={})=>{v("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},migrateProgram:async(t,r,n={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);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",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},planProgram:async(t,r,n,a={})=>{v("planProgram","cell",t),v("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},stopProgramRunner:async(t,r,n={})=>{v("stopProgramRunner","cell",t),v("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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},rr=function(e){const t=fV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(o,V,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)=>B(s,V,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)=>B(a,V,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)=>B(o,V,M,e)(u,i||d)}}};class gV extends Ve{createProgramRunner(t,r,n){return rr(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return rr(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return rr(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return rr(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return rr(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return rr(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return rr(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return rr(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const yV=function(e){return{clearProgramsValues:async(t,r={})=>{v("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),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createProgramsValue:async(t,r,n={})=>{v("createProgramsValue","cell",t),v("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getProgramValue:async(t,r,n={})=>{v("getProgramValue","cell",t),v("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramsValues:async(t,r={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{v("updateProgramValue","cell",t),v("updateProgramValue","key",r),v("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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Xr=function(e){const t=yV(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,M,e)(d,l||h)}}};class bV extends Ve{clearProgramsValues(t,r){return Xr(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return Xr(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return Xr(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return Xr(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return Xr(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return Xr(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const xV=function(e){return{deleteStoredCollider:async(t,r,n={})=>{v("deleteStoredCollider","cell",t),v("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),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{v("deleteStoredCollisionLinkChain","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{v("deleteStoredCollisionTool","cell",t),v("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{v("getDefaultLinkChain","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollider:async(t,r,n={})=>{v("getStoredCollider","cell",t),v("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{v("getStoredCollisionLinkChain","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{v("getStoredCollisionTool","cell",t),v("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listCollisionLinkChains:async(t,r={})=>{v("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredColliders:async(t,r={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredCollisionTools:async(t,r={})=>{v("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollider:async(t,r,n,a={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{v("storeCollisionLinkChain","cell",t),v("storeCollisionLinkChain","linkChain",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},ut=function(e){const t=xV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(a,V,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)=>B(a,V,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)=>B(s,V,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)=>B(s,V,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)=>B(s,V,M,e)(d,l||h)}}};class vV extends Ve{deleteStoredCollider(t,r,n){return ut(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return ut(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return ut(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return ut(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return ut(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return ut(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return ut(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ut(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return ut(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ut(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return ut(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return ut(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return ut(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const SV=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{v("deleteStoredCollisionScene","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{v("getStoredCollisionScene","cell",t),v("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{v("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,$);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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},io=function(e){const t=SV(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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(s,V,M,e)(d,l||h)}}};class OV 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 wV=function(e){return{clearAllObjects:async(t,r={})=>{v("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteObject:async(t,r,n={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObject:async(t,r,n={})=>{v("getObject","cell",t),v("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObjectMetadata:async(t,r,n={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listAllObjectKeys:async(t,r={})=>{v("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeObject:async(t,r,n,a,o={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,$);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)),D(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:L(i),options:c}}}},Zr=function(e){const t=wV(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)=>B(a,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(a,V,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)=>B(i,V,M,e)(h,c||p)}}};class CV extends Ve{clearAllObjects(t,r){return Zr(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return Zr(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return Zr(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return Zr(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return Zr(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return Zr(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const PV=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),t!==void 0&&(l.channel=t),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),D(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),D(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),D(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},updateNovaVersion:async(t,r={})=>{v("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",D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=de(t,s,e),{url:L(a),options:s}}}},Xn=function(e){const t=PV(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)=>B(a,V,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)=>B(n,V,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)=>B(n,V,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)=>B(n,V,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)=>B(a,V,M,e)(c,s||u)}}};class TV 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 RV=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{v("getMotionGroupState","cell",t),v("getMotionGroupState","controller",r),v("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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getMotionGroups:async(t,r,n={})=>{v("getMotionGroups","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOs:async(t,r,n={})=>{v("listIOs","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);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",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:L(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{v("setVirtualRobotIOValue","cell",t),v("setVirtualRobotIOValue","controller",r),v("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),D(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}}}},en=function(e){const t=RV(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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(o,V,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)=>B(i,V,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)=>B(c,V,M,e)(f,d||m)}}};class AV extends Ve{getMotionGroupState(t,r,n,a){return en(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return en(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return en(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return en(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return en(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return en(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const _V=function(e){return{externalJointsStream:async(t,r,n,a={})=>{v("externalJointsStream","cell",t),v("externalJointsStream","controller",r),v("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",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{v("getMotionGroupBehavior","cell",t),v("getMotionGroupBehavior","controller",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);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),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}}}},Ii=function(e){const t=_V(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)=>B(s,V,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)=>B(s,V,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)=>B(i,V,M,e)(h,c||p)}}};class EV 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 VV=function(e){return{getCycleTime:async(t,r,n={})=>{v("getCycleTime","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getEStop:async(t,r,n={})=>{v("getEStop","cell",t),v("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getOperationMode:async(t,r,n={})=>{v("getOperationMode","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},pushEStop:async(t,r,n={})=>{v("pushEStop","cell",t),v("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},releaseEStop:async(t,r,n={})=>{v("releaseEStop","cell",t),v("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,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setOperationMode:async(t,r,n,a={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);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),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}}}},tn=function(e){const t=VV(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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(o,V,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)=>B(s,V,M,e)(d,l||h)}}};class IV extends Ve{getCycleTime(t,r,n){return tn(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return tn(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return tn(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return tn(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return tn(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return tn(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const MV=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{v("addVirtualRobotTcp","cell",t),v("addVirtualRobotTcp","controller",r),v("addVirtualRobotTcp","id",n),v("addVirtualRobotTcp","robotTcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);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",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:L(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("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,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};k(c,e),await U(u,e),a!==void 0&&(d.delete_dependent=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},deleteVirtualRobotTcp:async(t,r,n,a,o={})=>{v("deleteVirtualRobotTcp","cell",t),v("deleteVirtualRobotTcp","controller",r),v("deleteVirtualRobotTcp","id",n),v("deleteVirtualRobotTcp","tcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(a))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};k(c,e),await U(u,e),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,n={})=>{v("listVirtualRobotCoordinateSystems","cell",t),v("listVirtualRobotCoordinateSystems","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setVirtualRobotMounting:async(t,r,n,a,o={})=>{v("setVirtualRobotMounting","cell",t),v("setVirtualRobotMounting","controller",r),v("setVirtualRobotMounting","id",n),v("setVirtualRobotMounting","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);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",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:L(i),options:c}}}},nr=function(e){const t=MV(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)=>B(s,V,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)=>B(i,V,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)=>B(i,V,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)=>B(i,V,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)=>B(s,V,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)=>B(o,V,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)=>B(s,V,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)=>B(i,V,M,e)(h,c||p)}}};class jV extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return nr(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return nr(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return nr(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return nr(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return nr(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return nr(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return nr(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return nr(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 $V{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 y=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),P=Math.atan2(T,S*E);y=Math.sin(y*P)/T,i=Math.sin(i*P)/T}const C=i*E;if(l=l*y+h*C,c=c*y+p*C,u=u*y+f*C,d=d*y+m*C,y===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(Bt(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 hn{constructor(t=0,r=0,n=0){hn.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(Zd.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(Zd.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 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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 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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 th=1e-4,LV=class bf{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=ir(p.data))==null?void 0:f.result;m&&je.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=ir(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);gf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,th)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),yf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,th)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),je.makeAutoObservable(this)}static connect(t,r,n){return Ee(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(P=>P.controller===i),c=l==null?void 0:l.physical_motion_groups.find(P=>P.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=ir(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:
|
|
151
151
|
`,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(P){return console.error(`Error fetching mounting for ${c.motion_group}`,P),null}}),y=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),S=yield y.firstMessage(),E=(o=ir(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 ${l.controller}. Initial state:
|
|
152
|
-
`,E);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),w=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),T=yield t.api.motionGroupInfos.getSafetySetup(r);return new bf(t,l,c,h,u,f,O,w,T,m,E,y)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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 Le.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 Le.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}je.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),je.runInAction(()=>{this.activationState="inactive"})}catch(t){throw je.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ee(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}je.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),je.runInAction(()=>{this.activationState="active"})}catch(t){throw je.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}},BV=class xf{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 xf(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&&(GA(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=ir(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=ir(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(!s_(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 hn(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),y=l.distanceRads*(i==="-"?-1:1),S=new hn(0,0,0);S[s]=1;const E=Math.cos(.5*y)*Math.cos(.5*f),O=Math.sin(.5*y)*Math.sin(.5*f),w=Math.sin(.5*y)*Math.cos(.5*f),T=Math.cos(.5*y)*Math.sin(.5*f),P=S.dot(m),C=S.clone().cross(m),I=2*Math.acos(E-O*P),z=I/Math.sin(.5*I),b=new hn().addScaledVector(C,O).addScaledVector(S,w).addScaledVector(m,T).multiplyScalar(z);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:b,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 NV(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 FV=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=ir(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);gf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,rh)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),yf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,rh)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:NV(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),je.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=ir(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 ${l.motion_group}. Initial state:
|
|
153
|
-
`,d),new vf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},zV=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(TV),this.cell=this.withUnwrappedResponsesOnly(FE),this.deviceConfig=this.withCellId(KE),this.motionGroup=this.withCellId(lV),this.motionGroupInfos=this.withCellId(uV),this.controller=this.withCellId(GE),this.program=this.withCellId(gV),this.programValues=this.withCellId(bV),this.controllerIOs=this.withCellId(qE),this.motionGroupKinematic=this.withCellId(mV),this.motion=this.withCellId(sV),this.coordinateSystems=this.withCellId(JE),this.application=this.withCellId(Xd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Xd),this.motionGroupJogging=this.withCellId(hV),this.virtualRobot=this.withCellId(AV),this.virtualRobotSetup=this.withCellId(jV),this.virtualRobotMode=this.withCellId(IV),this.virtualRobotBehavior=this.withCellId(EV),this.libraryProgramMetadata=this.withCellId(eV),this.libraryProgram=this.withCellId(XE),this.libraryRecipeMetadata=this.withCellId(aV),this.libraryRecipe=this.withCellId(rV),this.storeObject=this.withCellId(CV),this.storeCollisionComponents=this.withCellId(vV),this.storeCollisionScenes=this.withCellId(OV)}withCellId(e){var t,r;const n=new e(cl(on({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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(on({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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}},GV=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=LV.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(HV)})),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 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`,E);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),C=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),T=yield t.api.motionGroupInfos.getSafetySetup(r);return new bf(t,l,c,h,u,f,O,C,T,m,E,y)})}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 De.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 De.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}je.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),je.runInAction(()=>{this.activationState="inactive"})}catch(t){throw je.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ee(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}je.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),je.runInAction(()=>{this.activationState="active"})}catch(t){throw je.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}},BV=class xf{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 xf(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&&(GA(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=ir(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=ir(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(!s_(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 hn(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),y=l.distanceRads*(i==="-"?-1:1),S=new hn(0,0,0);S[s]=1;const E=Math.cos(.5*y)*Math.cos(.5*f),O=Math.sin(.5*y)*Math.sin(.5*f),C=Math.sin(.5*y)*Math.cos(.5*f),T=Math.cos(.5*y)*Math.sin(.5*f),P=S.dot(m),w=S.clone().cross(m),I=2*Math.acos(E-O*P),z=I/Math.sin(.5*I),b=new hn().addScaledVector(w,O).addScaledVector(S,C).addScaledVector(m,T).multiplyScalar(z);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:b,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 NV(e,t){const r=new Ot.Vector3(t.x,t.y,t.z),n=new Ot.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 FV=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=ir(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);gf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,rh)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),yf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,rh)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:NV(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),je.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=ir(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 ${l.motion_group}. Initial state:
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153
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`,d),new vf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},zV=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(TV),this.cell=this.withUnwrappedResponsesOnly(FE),this.deviceConfig=this.withCellId(KE),this.motionGroup=this.withCellId(lV),this.motionGroupInfos=this.withCellId(uV),this.controller=this.withCellId(GE),this.program=this.withCellId(gV),this.programValues=this.withCellId(bV),this.controllerIOs=this.withCellId(qE),this.motionGroupKinematic=this.withCellId(mV),this.motion=this.withCellId(sV),this.coordinateSystems=this.withCellId(JE),this.application=this.withCellId(Xd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Xd),this.motionGroupJogging=this.withCellId(hV),this.virtualRobot=this.withCellId(AV),this.virtualRobotSetup=this.withCellId(jV),this.virtualRobotMode=this.withCellId(IV),this.virtualRobotBehavior=this.withCellId(EV),this.libraryProgramMetadata=this.withCellId(eV),this.libraryProgram=this.withCellId(XE),this.libraryRecipeMetadata=this.withCellId(aV),this.libraryRecipe=this.withCellId(rV),this.storeObject=this.withCellId(CV),this.storeCollisionComponents=this.withCellId(vV),this.storeCollisionScenes=this.withCellId(OV)}withCellId(e){var t,r;const n=new e(cl(on({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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(on({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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}},GV=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 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0:s.id)||"",je.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(je.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:o}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Gs(t,n,a||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return Pl.countBy(this.coordSystems,t=>t.name)}async deactivate(){const t=this.jogger.activeWebsocket;this.jogger.setJoggingMode("increment"),t&&await t.closed()}async activate(){if(this.currentTab.id==="cartesian"){const t={tcpId:this.selectedTcpId,coordSystemId:this.activeCoordSystemId};this.activeDiscreteIncrement?this.jogger.setJoggingMode("increment",t):this.jogger.setJoggingMode("cartesian",t)}else this.jogger.setJoggingMode("joint");return this.jogger}loadFromLocalStorage(){const t=Or.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get 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g.jsx(J.Suspense,{fallback:g.jsx(Sc,{}),children:g.jsx(Q3,{value:e.code,onMount:(s,i)=>{o(i)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:r,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function eg(){var t,r,n,a,o,s,i;const e=R.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${e.palette.divider} 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::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(s=(o=e.paletteExt)==null?void 0:o.secondary)==null?void 0:s.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:e.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:e.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:e.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:e.palette.text.primary}},VelocitySlider:{sliderLegendColor:e.palette.text.primary}},WandelscriptEditor:{monacoTheme:{base:"vs-dark",inherit:!0,rules:[{token:"keyword",foreground:"#b349a9ff"}],colors:{"editor.background":R.rgbToHex(((i=e.palette.backgroundPaperElevation)==null?void 0:i[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function ej(){const e=eg();return e.palette.mode="light",e}function tj(e){var n,a,o,s;let t=!0;((n=e.palette)==null?void 0:n.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(o=window.matchMedia)==null?void 0:o.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches)));const r=t?eg():ej();return ep(r,e)}exports.AppTopBar=_g;exports.CycleTimer=wm;exports.JoggingCartesianAxisControl=rl;exports.JoggingJointRotationControl=_m;exports.JoggingPanel=Q5;exports.JoggingStore=Gs;exports.LoadingCover=Sc;exports.LoadingErrorMessage=Sf;exports.LogPanel=t3;exports.LogStore=qf;exports.LogViewer=Wf;exports.NoMotionGroupModal=n3;exports.PoseCartesianValues=Z5;exports.PoseJointValues=e3;exports.PresetEnvironment=Li;exports.ProgramControl=a3;exports.ProgramState=sn;exports.ProgramStateIndicator=Cl;exports.Robot=Xf;exports.RobotCard=g3;exports.RobotListItem=v3;exports.RobotSetupReadinessIndicator=Zf;exports.RobotSetupReadinessState=_c;exports.SafetyBar=H3;exports.SafetyZonesRenderer=wg;exports.SelectableFab=W3;exports.SupportedRobot=Qf;exports.TabBar=Y3;exports.TrajectoryRenderer=Cg;exports.ValueInterpolator=gc;exports.VelocitySlider=zf;exports.VelocitySliderLabel=Rc;exports.WandelbotsDataGrid=Cm;exports.WandelscriptEditor=Z3;exports.createNovaMuiTheme=tj;exports.defaultAxisConfig=S3;exports.defaultGetModel=Ac;exports.i18n=Tl;exports.useAnimationFrame=Tn;exports.useAutorun=Pm;exports.useInterpolation=Om;exports.useMounted=_s;exports.useReaction=Tm;
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