@wandelbots/wandelbots-js-react-components 3.2.0-pr.feat-improve-exports.414.40b4b4e → 3.2.0

package/dist/PoseJointValues-wLOjcYDe.cjs

@@ -1,21 +0,0 @@
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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,n){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,n)},e.prototype.reconnect=function(t,n){this._shouldReconnect=!0,this._closeCalled=!1,this._retryCount=-1,!this._ws||this._ws.readyState===this.CLOSED?this._connect():(this._disconnect(t,n),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 n=this._options.maxEnqueuedMessages,i=n===void 0?it.maxEnqueuedMessages:n;this._messageQueue.length<i&&(this._debug("enqueue",t),this._messageQueue.push(t))}},e.prototype.addEventListener=function(t,n){this._listeners[t]&&this._listeners[t].push(n)},e.prototype.dispatchEvent=function(t){var n,i,o=this._listeners[t.type];if(o)try{for(var r=Cn(o),s=r.next();!s.done;s=r.next()){var c=s.value;this._callEventListener(t,c)}}catch(a){n={error:a}}finally{try{s&&!s.done&&(i=r.return)&&i.call(r)}finally{if(n)throw n.error}}return!0},e.prototype.removeEventListener=function(t,n){this._listeners[t]&&(this._listeners[t]=this._listeners[t].filter(function(i){return i!==n}))},e.prototype._debug=function(){for(var t=[],n=0;n<arguments.length;n++)t[n]=arguments[n];this._options.debug&&console.log.apply(console,In(["RWS>"],t))},e.prototype._getNextDelay=function(){var t=this._options,n=t.reconnectionDelayGrowFactor,i=n===void 0?it.reconnectionDelayGrowFactor:n,o=t.minReconnectionDelay,r=o===void 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WebSocket class provided");this._wait().then(function(){return t._getNextUrl(t._url)}).then(function(l){t._closeCalled||(t._debug("connect",{url:l,protocols:t._protocols}),t._ws=t._protocols?new a(l,t._protocols):new a(l),t._ws.binaryType=t._binaryType,t._connectLock=!1,t._addListeners(),t._connectTimeout=setTimeout(function(){return t._handleTimeout()},s))})}},e.prototype._handleTimeout=function(){this._debug("timeout event"),this._handleError(new Rn(Error("TIMEOUT"),this))},e.prototype._disconnect=function(t,n){if(t===void 0&&(t=1e3),this._clearTimeouts(),!!this._ws){this._removeListeners();try{this._ws.close(t,n),this._handleClose(new Mn(t,n,this))}catch{}}},e.prototype._acceptOpen=function(){this._debug("accept open"),this._retryCount=0},e.prototype._callEventListener=function(t,n){"handleEvent"in n?n.handleEvent(t):n(t)},e.prototype._removeListeners=function(){this._ws&&(this._debug("removeListeners"),this._ws.removeEventListener("open",this._handleOpen),this._ws.removeEventListener("close",this._handleClose),this._ws.removeEventListener("message",this._handleMessage),this._ws.removeEventListener("error",this._handleError))},e.prototype._addListeners=function(){this._ws&&(this._debug("addListeners"),this._ws.addEventListener("open",this._handleOpen),this._ws.addEventListener("close",this._handleClose),this._ws.addEventListener("message",this._handleMessage),this._ws.addEventListener("error",this._handleError))},e.prototype._clearTimeouts=function(){clearTimeout(this._connectTimeout),clearTimeout(this._uptimeTimeout)},e}(),zn=class extends Pn{constructor(e,t={}){console.log("Opening websocket to",e),super(()=>this.targetUrl||e,void 0,{startClosed:!0}),this.opts=t,this.disposed=!1,Object.defineProperty(this,"url",{get(){return 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Nn=Jn(),Fn=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(N.SystemApi),this.cell=this.withUnwrappedResponsesOnly(N.CellApi),this.motionGroup=this.withCellId(N.MotionGroupApi),this.motionGroupModels=this.withCellId(N.MotionGroupModelsApi),this.controller=this.withCellId(N.ControllerApi),this.controllerIOs=this.withCellId(N.ControllerInputsOutputsApi),this.trajectoryPlanning=this.withCellId(N.TrajectoryPlanningApi),this.trajectoryExecution=this.withCellId(N.TrajectoryExecutionApi),this.trajectoryCaching=this.withCellId(N.TrajectoryCachingApi),this.application=this.withCellId(N.ApplicationApi),this.applicationGlobal=this.withUnwrappedResponsesOnly(N.ApplicationApi),this.jogging=this.withCellId(N.JoggingApi),this.kinematics=this.withCellId(N.KinematicsApi),this.busInputsOutputs=this.withCellId(N.BUSInputsOutputsApi),this.virtualController=this.withCellId(N.VirtualControllerApi),this.virtualControllerBehavior=this.withCellId(N.VirtualControllerBehaviorApi),this.virtualControllerIOs=this.withCellId(N.VirtualControllerInputsOutputsApi),this.storeObject=this.withCellId(N.StoreObjectApi),this.storeCollisionComponents=this.withCellId(N.StoreCollisionComponentsApi),this.storeCollisionSetups=this.withCellId(N.StoreCollisionSetupsApi)}withCellId(e){const t=new e({...this.opts,isJsonMime:n=>n==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??K.axios.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(n!=="constructor"&&typeof t[n]=="function"){const i=t[n];t[n]=(...o)=>i.apply(t,[this.cellId,...o]).then(r=>r.data)}return t}withUnwrappedResponsesOnly(e){const t=new e({...this.opts,isJsonMime:n=>n==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??K.axios.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(n!=="constructor"&&typeof t[n]=="function"){const i=t[n];t[n]=(...o)=>i.apply(t,o).then(r=>r.data)}return t}},Vn=class{constructor(){this.connections=[]}async handleAPIRequest(e){var o,r,s;const t=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return["mock-ur5e"]}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{initial_joint_position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",kind:"VirtualController",manufacturer:"universalrobots",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/state",handle(){return{mode:"MODE_CONTROL",last_error:[],timestamp:"2025-10-16T09:19:26.634534092Z",sequence_number:1054764,controller:"mock-ur5e",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",velocity_override:100,motion_groups:[{timestamp:"2025-10-16T09:19:26.634534092Z",sequence_number:1054764,motion_group:"0@mock-ur5e",controller:"mock-ur5e",joint_position:[1.487959623336792,-1.8501918315887451,1.8003005981445312,6.034560203552246,1.4921919107437134,1.593459963798523],joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_torque:[],joint_current:[0,0,0,0,0,0],flange_pose:{position:[107.6452433732927,-409.0402987746852,524.2402132330305],orientation:[.9874434028353319,-.986571714997442,1.3336589451098142]},tcp:"Flange",tcp_pose:{position:[107.6452433732927,-409.0402987746852,524.2402132330305],orientation:[.9874434028353319,-.986571714997442,1.3336589451098142]},payload:"",coordinate_system:"",standstill:!0}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",handle(){return{motion_group_model:"UniversalRobots_UR5e",mounting:{position:[0,0,0],orientation:[0,0,0]},tcps:{Flange:{name:"Default-Flange",pose:{position:[0,0,0],orientation:[0,0,0]}}},payloads:{"FPay-0":{name:"FPay-0",payload:0,center_of_mass:[0,0,0],moment_of_inertia:[0,0,0]}},cycle_time:8,dh_parameters:[{alpha:1.5707963267948966,d:162.25},{a:-425},{a:-392.2},{alpha:1.5707963267948966,d:133.3},{alpha:-1.5707963267948966,d:99.7},{d:99.6}],operation_limits:{auto_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3},elbow:{velocity:5e3},flange:{velocity:5e3}},manual_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}},manual_t1_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}},manual_t2_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}}},serial_number:"WBVirtualRobot"}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/coordinate-systems",handle(){return[{coordinate_system:"",name:"world",reference_coordinate_system:"",position:[0,0,0],orientation:[0,0,0],orientation_type:"ROTATION_VECTOR"},{coordinate_system:"CS-0",name:"Default-CS",reference_coordinate_system:"",position:[0,0,0],orientation:[0,0,0],orientation_type:"ROTATION_VECTOR"}]}}],n=((o=e.method)==null?void 0:o.toUpperCase())||"GET",i=`/cells${(s=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:s.split("?")[0]}`;for(const c of t){const a=Nn.match(c.path)(i||"");if(n===c.method&&a){const l=c.handle();return{status:200,statusText:"Success",data:JSON.stringify(l),headers:{},config:e,request:{responseURL:e.url}}}}throw new K.AxiosError(`No mock handler matched this request: ${n} ${i}`,"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(Bn)})),e.url.includes("/execution/jogging")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{message:"string",kind:"INITIALIZE_RECEIVED"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}};const Bn={result:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",timestamp:new Date().toISOString(),sequence_number:1,joint_position:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705],joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},standstill:!1,flange_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]},tcp_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]}}};function Gn(e){return e.startsWith("http")||(e=`http://${e}`),new URL(e).toString()}var Un=class{constructor(e){this.authPromise=null,this.accessToken=null;const t=e.cellId??"cell";this.config={cellId:t,...e},this.accessToken=e.accessToken||It.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"?this.mock=new Vn:this.config.instanceUrl=Gn(this.config.instanceUrl);const n=K.axios.create({baseURL:Mt(this.config.instanceUrl,"/api/v2"),headers:typeof window<"u"&&window.location.origin.includes("localhost")?{}:{"X-Wandelbots-Client":"Wandelbots-Nova-JS-SDK"}});n.interceptors.request.use(async i=>(i.headers.Authorization||(this.accessToken?i.headers.Authorization=`Bearer ${this.accessToken}`:this.config.username&&this.config.password&&(i.headers.Authorization=`Basic ${btoa(`${e.username}:${e.password}`)}`)),i)),typeof window<"u"&&n.interceptors.response.use(i=>i,async i=>{var o,r;if(K.isAxiosError(i))if(((o=i.response)==null?void 0:o.status)===401)try{if(await this.renewAuthentication(),i.config)return this.accessToken?i.config.headers.Authorization=`Bearer ${this.accessToken}`:delete i.config.headers.Authorization,n.request(i.config)}catch(s){return Promise.reject(s)}else((r=i.response)==null?void 0:r.status)===503&&(await fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(i)}),this.api=new Fn(t,{...e,basePath:Mt(this.config.instanceUrl,"/api/v2"),isJsonMime:i=>i==="application/json",baseOptions:{...this.mock?{adapter:i=>this.mock.handleAPIRequest(i)}:{},...e.baseOptions},axiosInstance:n})}async renewAuthentication(){if(!this.authPromise){this.authPromise=$n(this.config.instanceUrl);try{this.accessToken=await this.authPromise,this.accessToken?It.setString("wbjs.access_token",this.accessToken):It.delete("wbjs.access_token")}finally{this.authPromise=null}}}makeWebsocketURL(e){const t=new URL(Mt(this.config.instanceUrl,`/api/v2/cells/${this.config.cellId}`,e));return t.protocol=t.protocol.replace("http","ws"),t.protocol=t.protocol.replace("https","wss"),this.accessToken?t.searchParams.append("token",this.accessToken):this.config.username&&this.config.password&&(t.username=this.config.username,t.password=this.config.password),t.toString()}openReconnectingWebsocket(e){return new zn(this.makeWebsocketURL(e),{mock:this.mock})}};function qn(e){var r,s,c,a,l,h;const t=[((r=e.position)==null?void 0:r[0])??0,((s=e.position)==null?void 0:s[1])??0,((c=e.position)==null?void 0:c[2])??0],n=[((a=e.orientation)==null?void 0:a[0])??0,((l=e.orientation)==null?void 0:l[1])??0,((h=e.orientation)==null?void 0:h[2])??0],i=t.map(d=>d.toFixed(1)),o=n.map(d=>d.toFixed(4));return`(${i.concat(o).join(", ")})`}function Y(e,t,n){return Math.max(t,Math.min(n,e))}class Wn{constructor(t=0,n=0,i=0,o=1){this.isQuaternion=!0,this._x=t,this._y=n,this._z=i,this._w=o}static slerpFlat(t,n,i,o,r,s,c){let a=i[o+0],l=i[o+1],h=i[o+2],d=i[o+3];const u=r[s+0],g=r[s+1],y=r[s+2],E=r[s+3];if(c===0){t[n+0]=a,t[n+1]=l,t[n+2]=h,t[n+3]=d;return}if(c===1){t[n+0]=u,t[n+1]=g,t[n+2]=y,t[n+3]=E;return}if(d!==E||a!==u||l!==g||h!==y){let m=1-c;const v=a*u+l*g+h*y+d*E,T=v>=0?1:-1,A=1-v*v;if(A>Number.EPSILON){const k=Math.sqrt(A),I=Math.atan2(k,v*T);m=Math.sin(m*I)/k,c=Math.sin(c*I)/k}const L=c*T;if(a=a*m+u*L,l=l*m+g*L,h=h*m+y*L,d=d*m+E*L,m===1-c){const k=1/Math.sqrt(a*a+l*l+h*h+d*d);a*=k,l*=k,h*=k,d*=k}}t[n]=a,t[n+1]=l,t[n+2]=h,t[n+3]=d}static multiplyQuaternionsFlat(t,n,i,o,r,s){const c=i[o],a=i[o+1],l=i[o+2],h=i[o+3],d=r[s],u=r[s+1],g=r[s+2],y=r[s+3];return t[n]=c*y+h*d+a*g-l*u,t[n+1]=a*y+h*u+l*d-c*g,t[n+2]=l*y+h*g+c*u-a*d,t[n+3]=h*y-c*d-a*u-l*g,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,n,i,o){return this._x=t,this._y=n,this._z=i,this._w=o,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,n=!0){const i=t._x,o=t._y,r=t._z,s=t._order,c=Math.cos,a=Math.sin,l=c(i/2),h=c(o/2),d=c(r/2),u=a(i/2),g=a(o/2),y=a(r/2);switch(s){case"XYZ":this._x=u*h*d+l*g*y,this._y=l*g*d-u*h*y,this._z=l*h*y+u*g*d,this._w=l*h*d-u*g*y;break;case"YXZ":this._x=u*h*d+l*g*y,this._y=l*g*d-u*h*y,this._z=l*h*y-u*g*d,this._w=l*h*d+u*g*y;break;case"ZXY":this._x=u*h*d-l*g*y,this._y=l*g*d+u*h*y,this._z=l*h*y+u*g*d,this._w=l*h*d-u*g*y;break;case"ZYX":this._x=u*h*d-l*g*y,this._y=l*g*d+u*h*y,this._z=l*h*y-u*g*d,this._w=l*h*d+u*g*y;break;case"YZX":this._x=u*h*d+l*g*y,this._y=l*g*d+u*h*y,this._z=l*h*y-u*g*d,this._w=l*h*d-u*g*y;break;case"XZY":this._x=u*h*d-l*g*y,this._y=l*g*d-u*h*y,this._z=l*h*y+u*g*d,this._w=l*h*d+u*g*y;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return n===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,n){const i=n/2,o=Math.sin(i);return this._x=t.x*o,this._y=t.y*o,this._z=t.z*o,this._w=Math.cos(i),this._onChangeCallback(),this}setFromRotationMatrix(t){const n=t.elements,i=n[0],o=n[4],r=n[8],s=n[1],c=n[5],a=n[9],l=n[2],h=n[6],d=n[10],u=i+c+d;if(u>0){const g=.5/Math.sqrt(u+1);this._w=.25/g,this._x=(h-a)*g,this._y=(r-l)*g,this._z=(s-o)*g}else if(i>c&&i>d){const g=2*Math.sqrt(1+i-c-d);this._w=(h-a)/g,this._x=.25*g,this._y=(o+s)/g,this._z=(r+l)/g}else if(c>d){const g=2*Math.sqrt(1+c-i-d);this._w=(r-l)/g,this._x=(o+s)/g,this._y=.25*g,this._z=(a+h)/g}else{const g=2*Math.sqrt(1+d-i-c);this._w=(s-o)/g,this._x=(r+l)/g,this._y=(a+h)/g,this._z=.25*g}return this._onChangeCallback(),this}setFromUnitVectors(t,n){let i=t.dot(n)+1;return i<Number.EPSILON?(i=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=i):(this._x=0,this._y=-t.z,this._z=t.y,this._w=i)):(this._x=t.y*n.z-t.z*n.y,this._y=t.z*n.x-t.x*n.z,this._z=t.x*n.y-t.y*n.x,this._w=i),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(Y(this.dot(t),-1,1)))}rotateTowards(t,n){const i=this.angleTo(t);if(i===0)return this;const o=Math.min(1,n/i);return this.slerp(t,o),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,n){const i=t._x,o=t._y,r=t._z,s=t._w,c=n._x,a=n._y,l=n._z,h=n._w;return this._x=i*h+s*c+o*l-r*a,this._y=o*h+s*a+r*c-i*l,this._z=r*h+s*l+i*a-o*c,this._w=s*h-i*c-o*a-r*l,this._onChangeCallback(),this}slerp(t,n){if(n===0)return this;if(n===1)return this.copy(t);const i=this._x,o=this._y,r=this._z,s=this._w;let c=s*t._w+i*t._x+o*t._y+r*t._z;if(c<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,c=-c):this.copy(t),c>=1)return this._w=s,this._x=i,this._y=o,this._z=r,this;const a=1-c*c;if(a<=Number.EPSILON){const g=1-n;return this._w=g*s+n*this._w,this._x=g*i+n*this._x,this._y=g*o+n*this._y,this._z=g*r+n*this._z,this.normalize(),this}const l=Math.sqrt(a),h=Math.atan2(l,c),d=Math.sin((1-n)*h)/l,u=Math.sin(n*h)/l;return this._w=s*d+this._w*u,this._x=i*d+this._x*u,this._y=o*d+this._y*u,this._z=r*d+this._z*u,this._onChangeCallback(),this}slerpQuaternions(t,n,i){return this.copy(t).slerp(n,i)}random(){const t=2*Math.PI*Math.random(),n=2*Math.PI*Math.random(),i=Math.random(),o=Math.sqrt(1-i),r=Math.sqrt(i);return this.set(o*Math.sin(t),o*Math.cos(t),r*Math.sin(n),r*Math.cos(n))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,n=0){return this._x=t[n],this._y=t[n+1],this._z=t[n+2],this._w=t[n+3],this._onChangeCallback(),this}toArray(t=[],n=0){return t[n]=this._x,t[n+1]=this._y,t[n+2]=this._z,t[n+3]=this._w,t}fromBufferAttribute(t,n){return this._x=t.getX(n),this._y=t.getY(n),this._z=t.getZ(n),this._w=t.getW(n),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 ht{constructor(t=0,n=0,i=0){ht.prototype.isVector3=!0,this.x=t,this.y=n,this.z=i}set(t,n,i){return i===void 0&&(i=this.z),this.x=t,this.y=n,this.z=i,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,n){switch(t){case 0:this.x=n;break;case 1:this.y=n;break;case 2:this.z=n;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,n){return this.x=t.x+n.x,this.y=t.y+n.y,this.z=t.z+n.z,this}addScaledVector(t,n){return this.x+=t.x*n,this.y+=t.y*n,this.z+=t.z*n,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,n){return this.x=t.x-n.x,this.y=t.y-n.y,this.z=t.z-n.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,n){return this.x=t.x*n.x,this.y=t.y*n.y,this.z=t.z*n.z,this}applyEuler(t){return this.applyQuaternion(Xt.setFromEuler(t))}applyAxisAngle(t,n){return this.applyQuaternion(Xt.setFromAxisAngle(t,n))}applyMatrix3(t){const n=this.x,i=this.y,o=this.z,r=t.elements;return this.x=r[0]*n+r[3]*i+r[6]*o,this.y=r[1]*n+r[4]*i+r[7]*o,this.z=r[2]*n+r[5]*i+r[8]*o,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const n=this.x,i=this.y,o=this.z,r=t.elements,s=1/(r[3]*n+r[7]*i+r[11]*o+r[15]);return this.x=(r[0]*n+r[4]*i+r[8]*o+r[12])*s,this.y=(r[1]*n+r[5]*i+r[9]*o+r[13])*s,this.z=(r[2]*n+r[6]*i+r[10]*o+r[14])*s,this}applyQuaternion(t){const n=this.x,i=this.y,o=this.z,r=t.x,s=t.y,c=t.z,a=t.w,l=2*(s*o-c*i),h=2*(c*n-r*o),d=2*(r*i-s*n);return this.x=n+a*l+s*d-c*h,this.y=i+a*h+c*l-r*d,this.z=o+a*d+r*h-s*l,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const n=this.x,i=this.y,o=this.z,r=t.elements;return this.x=r[0]*n+r[4]*i+r[8]*o,this.y=r[1]*n+r[5]*i+r[9]*o,this.z=r[2]*n+r[6]*i+r[10]*o,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,n){return this.x=Y(this.x,t.x,n.x),this.y=Y(this.y,t.y,n.y),this.z=Y(this.z,t.z,n.z),this}clampScalar(t,n){return this.x=Y(this.x,t,n),this.y=Y(this.y,t,n),this.z=Y(this.z,t,n),this}clampLength(t,n){const i=this.length();return this.divideScalar(i||1).multiplyScalar(Y(i,t,n))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,n){return this.x+=(t.x-this.x)*n,this.y+=(t.y-this.y)*n,this.z+=(t.z-this.z)*n,this}lerpVectors(t,n,i){return this.x=t.x+(n.x-t.x)*i,this.y=t.y+(n.y-t.y)*i,this.z=t.z+(n.z-t.z)*i,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,n){const i=t.x,o=t.y,r=t.z,s=n.x,c=n.y,a=n.z;return this.x=o*a-r*c,this.y=r*s-i*a,this.z=i*c-o*s,this}projectOnVector(t){const n=t.lengthSq();if(n===0)return this.set(0,0,0);const i=t.dot(this)/n;return this.copy(t).multiplyScalar(i)}projectOnPlane(t){return Ot.copy(this).projectOnVector(t),this.sub(Ot)}reflect(t){return this.sub(Ot.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const n=Math.sqrt(this.lengthSq()*t.lengthSq());if(n===0)return Math.PI/2;const i=this.dot(t)/n;return Math.acos(Y(i,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const n=this.x-t.x,i=this.y-t.y,o=this.z-t.z;return n*n+i*i+o*o}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,n,i){const o=Math.sin(n)*t;return this.x=o*Math.sin(i),this.y=Math.cos(n)*t,this.z=o*Math.cos(i),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,n,i){return this.x=t*Math.sin(n),this.y=i,this.z=t*Math.cos(n),this}setFromMatrixPosition(t){const n=t.elements;return this.x=n[12],this.y=n[13],this.z=n[14],this}setFromMatrixScale(t){const n=this.setFromMatrixColumn(t,0).length(),i=this.setFromMatrixColumn(t,1).length(),o=this.setFromMatrixColumn(t,2).length();return this.x=n,this.y=i,this.z=o,this}setFromMatrixColumn(t,n){return this.fromArray(t.elements,n*4)}setFromMatrix3Column(t,n){return this.fromArray(t.elements,n*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,n=0){return this.x=t[n],this.y=t[n+1],this.z=t[n+2],this}toArray(t=[],n=0){return t[n]=this.x,t[n+1]=this.y,t[n+2]=this.z,t}fromBufferAttribute(t,n){return this.x=t.getX(n),this.y=t.getY(n),this.z=t.getZ(n),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this}randomDirection(){const t=Math.random()*Math.PI*2,n=Math.random()*2-1,i=Math.sqrt(1-n*n);return this.x=i*Math.cos(t),this.y=n,this.z=i*Math.sin(t),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z}}const Ot=new ht,Xt=new Wn,Yt=1e-4;class wt{constructor(t,n,i,o,r,s){this.nova=t,this.controller=n,this.motionGroup=i,this.description=o,this.initialMotionState=r,this.motionStateSocket=s,this.rapidlyChangingMotionState=r,s.addEventListener("message",c=>{var l;const a=(l=U.tryParseJson(c.data))==null?void 0:l.result;if(!a)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${c.data}`);M.jointValuesEqual(this.rapidlyChangingMotionState.joint_position,a.joint_position,Yt)||Z.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=a.joint_position}),M.tcpMotionEqual(this.rapidlyChangingMotionState,a,Yt)||Z.runInAction(()=>{var h,d,u;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=a.tcp_pose:(h=a.tcp_pose)!=null&&h.orientation&&((d=a.tcp_pose)!=null&&d.position)&&((u=this.rapidlyChangingMotionState.tcp_pose)!=null&&u.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:a.tcp_pose.position,orientation:M.unwrapRotationVector(a.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",a.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==a.standstill&&Z.runInAction(()=>{this.rapidlyChangingMotionState.standstill=a.standstill})}),Z.makeAutoObservable(this)}static async open(t,n){var d;const[i,o]=n.split("@"),r=await t.api.controller.getCurrentRobotControllerState(o),s=r==null?void 0:r.motion_groups.find(u=>u.motion_group===n);if(!r||!s)throw new Error(`Controller ${o} or motion group ${n} not found`);const c=t.openReconnectingWebsocket(`/controllers/${o}/motion-groups/${n}/state-stream`),a=await c.firstMessage(),l=(d=U.tryParseJson(a.data))==null?void 0:d.result;if(!l)throw new Error(`Unable to parse initial motion state message ${a.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
-  `,l);const h=await t.api.motionGroup.getMotionGroupDescription(o,s.motion_group);return new wt(t,r,s,h,l,c)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Qt="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class bt{constructor(t,n={}){this.motionStream=t,this.options=n,this.ENDPOINT_JOGGING="/execution/jogging",this.ENDPOINT_TRAJECTORY="/execution/trajectory",this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.DEFAULT_INIT_TIMEOUT=5e3,this.DEFAULT_ORIENTATION="coordsys",this.mode="off",this.joggingSocket=null,this.trajectorySocket=null,this.timeout=this.DEFAULT_INIT_TIMEOUT,this.tcp=(n==null?void 0:n.tcp)||t.motionGroup.tcp||this.DEFAULT_TCP,this.orientation=(n==null?void 0:n.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(n==null?void 0:n.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(n==null?void 0:n.mode)||this.DEFAULT_MODE,this.onError=n==null?void 0:n.onError}static async open(t,n,i={}){const o=await wt.open(t,n),r=new bt(o,i);return await r.setJoggingMode(r.mode),r}async setOptions(t){t.tcp&&(this.tcp=t.tcp),t.orientation&&(this.orientation=t.orientation),t.timeout&&(this.timeout=t.timeout),t.mode&&(this.mode=t.mode),t.onError&&(this.onError=t.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const t=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:t})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const t=[this.joggingSocket,this.trajectorySocket].filter(n=>n!==null);return t.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(n=>n.closed()))}async setJoggingMode(t,n=!0){if(!(this.mode===t&&n)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,n)=>{const i=setTimeout(()=>{n(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",o=>{var s,c,a,l;const r=U.tryParseJson(o.data);if(((s=r==null?void 0:r.result)==null?void 0:s.kind)==="INITIALIZE_RECEIVED"){clearTimeout(i),t();return}if(((c=r==null?void 0:r.result)==null?void 0:c.kind)==="MOTION_ERROR")if(clearTimeout(i),this.onBlocked&&((a=r==null?void 0:r.result)!=null&&a.message.includes(Qt))){(l=this.joggingSocket)==null||l.dispose(),this.onBlocked();return}else this.onError?this.onError(o.data):n(new Error(o.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,tcp:this.tcp})})}async rotateJoints({joint:t,direction:n,velocityRadsPerSec:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const o=new Array(this.numJoints).fill(0);o[t]=n==="-"?-i:i,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:o})}async translateTCP({axis:t,direction:n,velocityMmPerSec:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const o=[0,0,0],r=[0,0,0];r[U.XYZ_TO_VECTOR[t]]=n==="-"?-i:i,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:r,rotation:o,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:n,velocityRadsPerSec:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const o=[0,0,0],r=[0,0,0];o[U.XYZ_TO_VECTOR[t]]=n==="-"?-i:i,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:r,rotation:o})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:n,velocityInRelevantUnits:i,axis:o,direction:r,motion:s}){const c=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(s.type==="translate"){if(!t.position)throw new Error("Current pose has no position, cannot perform translation");const m=[...t.position];m[U.XYZ_TO_VECTOR[o]]+=s.distanceMm*(r==="-"?-1:1),c.push({limits_override:{tcp_velocity_limit:i},path:{path_definition_name:"PathLine",target_pose:{position:m,orientation:t.orientation}}})}else if(s.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const m=new ht(t.orientation[0],t.orientation[1],t.orientation[2]),v=m.length(),T=m.clone().normalize(),A=s.distanceRads*(r==="-"?-1:1),L=new ht(0,0,0);L[o]=1;const k=Math.cos(.5*A)*Math.cos(.5*v),I=Math.sin(.5*A)*Math.sin(.5*v),f=Math.sin(.5*A)*Math.cos(.5*v),_=Math.cos(.5*A)*Math.sin(.5*v),S=L.dot(T),j=L.clone().cross(T),w=2*Math.acos(k-I*S),b=w/Math.sin(.5*w),z=new ht().addScaledVector(j,I).addScaledVector(L,f).addScaledVector(T,_).multiplyScalar(b);c.push({limits_override:{tcp_orientation_velocity_limit:i},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...z]}}})}const a=this.motionStream.description;if(a.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const l={motion_group_model:a.motion_group_model,cycle_time:a.cycle_time,mounting:a.mounting,global:a.operation_limits.auto_limits},h=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:l,start_joint_position:n,motion_commands:c}),d=h.response;if(!d)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(h)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const u=m=>{var v;if(!m||m.add_trajectory_error||m.message)if(this.onError)this.onError(m);else throw new Error(((v=m==null?void 0:m.add_trajectory_error)==null?void 0:v.message)||(m==null?void 0:m.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},g=async()=>{var m;await Z.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await Z.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(m=this.trajectorySocket)==null||m.dispose(),this.trajectorySocket=null},y=async()=>{var m;await 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0:s.id)||"",Z.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(Z.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:n}=t,[i,o]=await Promise.all([n.api.controller.listCoordinateSystems(t.motionStream.controllerId,"ROTATION_VECTOR"),n.api.motionGroup.getMotionGroupDescription(t.motionStream.controllerId,t.motionGroupId)]),r=Object.entries(o.tcps||{}).map(([s,c])=>({id:s,readable_name:c.name,position:c.pose.position,orientation:c.pose.orientation}));return new Ct(t,i||[],o,r)}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return we.countBy(this.coordSystems,t=>t.name)}async deactivate(){if(this.jogger.mode==="jogging")return this.jogger.stop()}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const t=U.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"cartesian"},{id:"joint",label:"joint"}]}get incrementOptions(){return ss}get discreteIncrementOptions(){return Vt}get incrementOptionsById(){return mt(this.incrementOptions,t=>t.id)}get tabsById(){return mt(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return mt(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return mt(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:Vt.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInDisplayUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInDisplayUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInDisplayUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,n){const 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e.activate(),E=y.motionStream.rapidlyChangingMotionState.tcp_pose,m=y.motionStream.rapidlyChangingMotionState.joint_position;E&&await e.withMotionLock(async()=>{try{e.setCurrentIncrementJog({axis:u.axis,direction:u.direction}),await e.jogger.runIncrementalCartesianMotion({currentTcpPose:E,currentJoints:m,coordSystemId:e.activeCoordSystemId,velocityInRelevantUnits:e.selectedCartesianMotionType==="translate"?e.translationVelocityMmPerSec:e.rotationVelocityRadsPerSec,axis:u.axis,direction:u.direction,motion:e.selectedCartesianMotionType==="translate"?{type:"translate",distanceMm:g.mm}:{type:"rotate",distanceRads:U.degreesToRadians(g.degrees)}})}finally{e.setCurrentIncrementJog(null),await e.deactivate()}})}async function s(u){if(!e.isLocked){if(await e.activate(),e.activeDiscreteIncrement)return r(u,e.activeDiscreteIncrement);u.motionType==="translate"?await e.jogger.translateTCP({axis:u.axis,direction:u.direction,velocityMmPerSec:e.translationVelocityMmPerSec}):await 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24px"},children:[p.jsxRuntimeExports.jsx(Fe,{store:e}),p.jsxRuntimeExports.jsx(x.Divider,{}),p.jsxRuntimeExports.jsx(x.Stack,{justifyContent:"center",alignItems:"stretch",sx:{flexGrow:"1"},id:"JointControls",children:p.jsxRuntimeExports.jsx(x.Stack,{alignItems:"center",gap:"24px",children:e.jogger.motionStream.joints.map(r=>{var l,h,d;const s=(d=(h=(l=e.motionGroupDescription.operation_limits.auto_limits)==null?void 0:l.joints)==null?void 0:h[r.index])==null?void 0:d.position,c=(s==null?void 0:s.lower_limit)!==void 0?U.radiansToDegrees(s.lower_limit):void 0,a=(s==null?void 0:s.upper_limit)!==void 0?U.radiansToDegrees(s.upper_limit):void 0;return p.jsxRuntimeExports.jsxs(x.Stack,{direction:"row",alignItems:"center",justifyContent:"center",spacing:1.5,width:"100%",children:[e.showJointsLegend&&p.jsxRuntimeExports.jsx(x.Typography,{color:e.isLocked?n.palette.text.disabled:n.palette.text.secondary,children:`G${r.index+1}`}),p.jsxRuntimeExports.jsx(be,{disabled:e.isLocked,lowerLimitDegs:c,upperLimitDegs:a,getValueDegs:()=>{const u=e.jogger.motionStream.rapidlyChangingMotionState.joint_position[r.index];return u!==void 0?U.radiansToDegrees(u):void 0},startJogging:u=>i({joint:r.index,direction:u}),stopJogging:o})]},`joint-${r.index}`)})})}),p.jsxRuntimeExports.jsx(Ne,{store:e}),t&&p.jsxRuntimeExports.jsx(x.Divider,{}),t]})}),js=p.externalizeComponent(q.observer(e=>{const t=we.isString(e.nova)?new Un({instanceUrl:e.nova}):e.nova,n=q.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function i(){Z.runInAction(()=>{n.loadingError=null,n.joggingStore=null});try{let o=e.store;if(!o){const r=await bt.open(t,e.motionGroupId);o=await Ct.loadFor(r)}Z.runInAction(()=>{n.joggingStore=o}),e.onSetup&&e.onSetup(o)}catch(o){n.loadingError=o}}return F.useEffect(()=>(i(),e.store?()=>null:()=>{var o;(o=n.joggingStore)==null||o.dispose()}),[e.store,e.nova,e.motionGroupId]),F.useEffect(()=>{const o=n.joggingStore;o&&(e.locked?o.lock("external"):o.unlock("external"))},[n.joggingStore,e.locked]),p.jsxRuntimeExports.jsx(x.Stack,{sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:n.joggingStore?p.jsxRuntimeExports.jsx(Es,{store:n.joggingStore,children:e.children}):p.jsxRuntimeExports.jsx(M.LoadingCover,{message:"Loading jogging",error:n.loadingError})})})),Es=q.observer(({store:e,children:t})=>{const{t:n}=st.useTranslation();function i(){if(e.currentTab.id==="cartesian")return p.jsxRuntimeExports.jsx(p.jsxRuntimeExports.Fragment,{children:p.jsxRuntimeExports.jsx(bs,{store:e,children:t})});if(e.currentTab.id==="joint")return p.jsxRuntimeExports.jsx(p.jsxRuntimeExports.Fragment,{children:p.jsxRuntimeExports.jsx(vs,{store:e,children:t})})}return p.jsxRuntimeExports.jsxs(x.Stack,{flexGrow:1,sx:{overflow:"hidden"},children:[p.jsxRuntimeExports.jsx(x.Tabs,{value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(o=>{const r=o.label==="cartesian"?n("Jogging.Cartesian.bt"):n("Jogging.Joints.bt"),s=o.label==="cartesian"?p.jsxRuntimeExports.jsx(En,{fontSize:"small",sx:{mr:1}}):p.jsxRuntimeExports.jsx(Sn,{fontSize:"small",sx:{mr:1}});return p.jsxRuntimeExports.jsx(x.Tab,{label:e.showTabIcons?p.jsxRuntimeExports.jsxs(x.Stack,{direction:"row",alignItems:"center",children:[s,r]}):r,id:`jogging-tab-${o.id}`,"aria-controls":`jogging-tab-${o.id}`},o.id)})}),p.jsxRuntimeExports.jsx(x.Stack,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:i()}),e.blocked&&p.jsxRuntimeExports.jsx(cs,{store:e})]})}),Ve=e=>{var c;const{value:t,ref:n}=e,i=x.useTheme(),[o,r]=F.useState(!1);async function s(){if(!n||!("current"in n))return console.warn("No copy target found"),!1;try{return await navigator.clipboard.writeText(t),console.log("Copied!"),r(!0),!0}catch(a){console.error(a);const l=window.getSelection();if(l&&n&&"current"in n&&n.current){const h=document.createRange();h.selectNodeContents(n.current),l.removeAllRanges(),l.addRange(h)}}return!1}return F.useEffect(()=>{if(!o)return;const a=setTimeout(()=>r(!1),3e3);return()=>{a&&clearTimeout(a)}},[o]),p.jsxRuntimeExports.jsx(x.Tooltip,{open:o,title:"Copied!",children:p.jsxRuntimeExports.jsx(x.Stack,{justifyContent:"center",sx:{height:"100%",boxSizing:"border-box",padding:"6px 12px",background:(c=i.palette.backgroundPaperElevation)==null?void 0:c[8],borderRadius:"10px",minWidth:"0",cursor:"pointer"},onClick:()=>s(),children:p.jsxRuntimeExports.jsx(x.Typography,{ref:n,align:"center",sx:{pointerEvents:"none",fontSize:"12px",color:i.palette.text.primary,whiteSpace:"nowrap",minWidth:0,textOverflow:"ellipsis",width:"100%",overflow:"hidden"},children:t})})})},Ss=p.externalizeComponent(q.observer(({tcpPose:e,showCopyButton:t=!1})=>{const[n,i]=F.useState(null),o=qn(e),r=async()=>{try{await navigator.clipboard.writeText(o),i("Copied!"),setTimeout(()=>i(null),2e3)}catch{i("Copy failed"),setTimeout(()=>i(null),2e3)}};return p.jsxRuntimeExports.jsxs(x.Stack,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-cartesian-values",children:[p.jsxRuntimeExports.jsx(Ve,{value:o}),t&&p.jsxRuntimeExports.jsx(x.Button,{variant:"contained",color:"secondary",size:"small",onClick:r,sx:{flexShrink:0},children:n||"Copy"})]})})),Cs=p.externalizeComponent(q.observer(({joints:e,showCopyButton:t=!1})=>{const[n,i]=F.useState(null),o=`[${e.map(s=>parseFloat(s.toFixed(4))).join(", ")}]`,r=async()=>{try{await navigator.clipboard.writeText(o),i("Copied!"),setTimeout(()=>i(null),2e3)}catch{i("Copy failed"),setTimeout(()=>i(null),2e3)}};return p.jsxRuntimeExports.jsxs(x.Stack,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-joint-values",children:[p.jsxRuntimeExports.jsx(Ve,{value:o}),t&&p.jsxRuntimeExports.jsx(x.Button,{variant:"contained",color:"secondary",size:"small",onClick:r,sx:{flexShrink:0},children:n||"Copy"})]})}));exports.JoggerConnection=bt;exports.JoggingCartesianAxisControl=At;exports.JoggingJointRotationControl=be;exports.JoggingPanel=js;exports.JoggingStore=Ct;exports.MotionStreamConnection=wt;exports.PoseCartesianValues=Ss;exports.PoseJointValues=Cs;
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