@wandelbots/wandelbots-js-react-components 3.3.2-pr.docs-robot.419.890441d → 3.3.2-pr.fix-update-dependencies.436.72f7910

package/dist/theming-neVGQ-FN.cjs

@@ -1,79 +0,0 @@
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Id=jd(),Ad=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(se.SystemApi),this.cell=this.withUnwrappedResponsesOnly(se.CellApi),this.motionGroup=this.withCellId(se.MotionGroupApi),this.motionGroupModels=this.withCellId(se.MotionGroupModelsApi),this.controller=this.withCellId(se.ControllerApi),this.controllerIOs=this.withCellId(se.ControllerInputsOutputsApi),this.trajectoryPlanning=this.withCellId(se.TrajectoryPlanningApi),this.trajectoryExecution=this.withCellId(se.TrajectoryExecutionApi),this.trajectoryCaching=this.withCellId(se.TrajectoryCachingApi),this.application=this.withCellId(se.ApplicationApi),this.applicationGlobal=this.withUnwrappedResponsesOnly(se.ApplicationApi),this.jogging=this.withCellId(se.JoggingApi),this.kinematics=this.withCellId(se.KinematicsApi),this.busInputsOutputs=this.withCellId(se.BUSInputsOutputsApi),this.virtualController=this.withCellId(se.VirtualControllerApi),this.virtualControllerBehavior=this.withCellId(se.VirtualControllerBehaviorApi),this.virtualControllerIOs=this.withCellId(se.VirtualControllerInputsOutputsApi),this.storeObject=this.withCellId(se.StoreObjectApi),this.storeCollisionComponents=this.withCellId(se.StoreCollisionComponentsApi),this.storeCollisionSetups=this.withCellId(se.StoreCollisionSetupsApi)}withCellId(e){const t=new e({...this.opts,isJsonMime:n=>n==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??p.axios.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(n!=="constructor"&&typeof t[n]=="function"){const r=t[n];t[n]=(...i)=>r.apply(t,[this.cellId,...i]).then(o=>o.data)}return t}withUnwrappedResponsesOnly(e){const t=new e({...this.opts,isJsonMime:n=>n==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??p.axios.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(n!=="constructor"&&typeof t[n]=="function"){const r=t[n];t[n]=(...i)=>r.apply(t,i).then(o=>o.data)}return t}},kd=class{constructor(){this.connections=[]}async handleAPIRequest(e){var i,o,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=((i=e.method)==null?void 0:i.toUpperCase())||"GET",r=`/cells${(s=(o=e.url)==null?void 0:o.split("/cells")[1])==null?void 0:s.split("?")[0]}`;for(const a of t){const c=Id.match(a.path)(r||"");if(n===a.method&&c){const l=a.handle();return{status:200,statusText:"Success",data:JSON.stringify(l),headers:{},config:e,request:{responseURL:e.url}}}}throw new p.AxiosError(`No mock handler matched this request: ${n} ${r}`,"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(Od)})),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 ${e.url}`,t)}};const Od={result:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",timestamp:new Date().toISOString(),sequence_number:1,joint_position:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705],joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},standstill:!1,flange_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]},tcp_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]}}};function Pd(e){return e.startsWith("http")||(e=`http://${e}`),new URL(e).toString()}var Dd=class{constructor(e){this.authPromise=null,this.accessToken=null;const t=e.cellId??"cell";this.config={cellId:t,...e},this.accessToken=e.accessToken||bi.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"?this.mock=new 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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,n){const r=this.getEffectiveConfig(n,this.getBaseConfig());if(!this.keyboardManager.areKeysPressed(r.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const i=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(o=>i[o])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange);const n=`${this.name}ChangeState`;this.element.removeEventListener(n,this.handleStateChange)}}class Qh{constructor(){V(this,"activeGestures",new Map)}registerActiveGesture(t,n){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const 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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(n=>n(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 nf{constructor(t){V(this,"gestureTemplates",new Map);V(this,"elementGestureMap",new Map);V(this,"activeGesturesRegistry",new Qh);V(this,"keyboardManager",new ef);this.pointerManager=new tf({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(n=>{this.addGestureTemplate(n)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,n,r){const i=this.elementGestureMap.get(n);if(!i||!i.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:r,bubbles:!1,cancelable:!1,composed:!1});n.dispatchEvent(o)}setGestureState(t,n,r){const i=this.elementGestureMap.get(n);if(!i||!i.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:r,bubbles:!1,cancelable:!1,composed:!1});n.dispatchEvent(o)}registerElement(t,n,r){return Array.isArray(t)||(t=[t]),t.forEach(i=>{const o=r==null?void 0:r[i];this.registerSingleGesture(i,n,o)}),n}registerSingleGesture(t,n,r){const i=this.gestureTemplates.get(t);if(!i)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(n)||this.elementGestureMap.set(n,new Map);const o=this.elementGestureMap.get(n);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,n));const s=i.clone(r);return s.init(n,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,n){const r=this.elementGestureMap.get(n);return!r||!r.has(t)?!1:(r.get(t).destroy(),r.delete(t),this.activeGesturesRegistry.unregisterElement(n),r.size===0&&this.elementGestureMap.delete(n),!0)}unregisterAllGestures(t){const n=this.elementGestureMap.get(t);if(n){for(const[,r]of n)r.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(),this.pointerManager.destroy()}}class Ft extends Bl{constructor(n){super(n);V(this,"unregisterHandler",null);V(this,"originalTarget",null);this.minPointers=n.minPointers??1,this.maxPointers=n.maxPointers??1/0}init(n,r,i,o){super.init(n,r,i,o),this.unregisterHandler=this.pointerManager.registerGestureHandler(this.handlePointerEvent)}updateOptions(n){super.updateOptions(n),this.minPointers=n.minPointers??this.minPointers,this.maxPointers=n.maxPointers??this.maxPointers}getBaseConfig(){return{requiredKeys:this.requiredKeys,minPointers:this.minPointers,maxPointers:this.maxPointers}}isWithinPointerCount(n,r){const i=this.getEffectiveConfig(r,this.getBaseConfig());return n.length>=i.minPointers&&n.length<=i.maxPointers}getRelevantPointers(n,r){return n.filter(i=>this.isPointerTypeAllowed(i.pointerType)&&(r===i.target||i.target===this.originalTarget||r===this.originalTarget||"contains"in r&&r.contains(i.target))||"getRootNode"in r&&r.getRootNode()instanceof ShadowRoot&&i.srcEvent.composedPath().includes(r))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function rf(e,t){const n=t.x-e.x,r=t.y-e.y;return Math.sqrt(n*n+r*r)}function _i(e){if(e.length<2)return 0;let t=0,n=0;for(let r=0;r<e.length;r+=1)for(let i=r+1;i<e.length;i+=1)t+=rf({x:e[r].clientX,y:e[r].clientY},{x:e[i].clientX,y:e[i].clientY}),n+=1;return n>0?t/n:0}function at(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((n,r)=>(n.x+=r.clientX,n.y+=r.clientY,n),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function ze(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const tr=1e-5,xt=1e-5,Ns=.15;function of(e,t){const n=t.x-e.x,r=t.y-e.y,i={vertical:null,horizontal:null,mainAxis:null},o=sf(t,e),s=Math.abs(n)>Math.abs(r)?"horizontal":"vertical",a=o||s==="horizontal"?tr:Ns,c=o?tr:s==="horizontal"?Ns:tr;return Math.abs(n)>a&&(i.horizontal=n>0?"right":"left"),Math.abs(r)>c&&(i.vertical=r>0?"down":"up"),i.mainAxis=o?"diagonal":s,i}function sf(e,t){const n=t.x-e.x,r=t.y-e.y,i=Math.atan2(r,n)*180/Math.PI;return i>=-45+xt&&i<=-22.5+xt||i>=22.5+xt&&i<=45+xt||i>=135+xt&&i<=157.5+xt||i>=-157.5+xt&&i<=-135+xt}function af(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const n=e.vertical===null||t.includes(e.vertical),r=e.horizontal===null||t.includes(e.horizontal);return n&&r}const Fs=0,lf=e=>e>Fs?1:e<-Fs?-1:0,bt=e=>{e.cancelable&&e.preventDefault()};class So extends Ft{constructor(n){super(n);V(this,"state",{lastPosition:null});V(this,"handleElementEnter",n=>{if(n.pointerType!=="mouse"&&n.pointerType!=="pen")return;const r=this.pointerManager.getPointers()||new Map,i=Array.from(r.values());if(this.isWithinPointerCount(i,n.pointerType)){this.isActive=!0;const o={x:n.clientX,y:n.clientY};this.state.lastPosition=o,this.emitMoveEvent(this.element,"start",i,n),this.emitMoveEvent(this.element,"ongoing",i,n)}});V(this,"handleElementLeave",n=>{if(n.pointerType!=="mouse"&&n.pointerType!=="pen"||!this.isActive)return;const r=this.pointerManager.getPointers()||new Map,i=Array.from(r.values());this.emitMoveEvent(this.element,"end",i,n),this.resetState()});V(this,"handlePointerEvent",(n,r)=>{if(r.type!=="pointermove"||r.pointerType!=="mouse"&&r.pointerType!=="pen")return;this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const i=Array.from(n.values()),o=this.getTargetElement(r);if(!o||!this.isWithinPointerCount(i,r.pointerType))return;if(this.shouldPreventGesture(o,r.pointerType)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(o,"end",i,r);return}const s={x:r.clientX,y:r.clientY};this.state.lastPosition=s,this.isActive||(this.isActive=!0,this.emitMoveEvent(o,"start",i,r)),this.emitMoveEvent(o,"ongoing",i,r)});this.threshold=n.threshold||0}clone(n){return new So(z({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],pointerOptions:structuredClone(this.pointerOptions)},n))}init(n,r,i,o){super.init(n,r,i,o),this.element.addEventListener("pointerenter",this.handleElementEnter),this.element.addEventListener("pointerleave",this.handleElementLeave)}destroy(){this.element.removeEventListener("pointerenter",this.handleElementEnter),this.element.removeEventListener("pointerleave",this.handleElementLeave),this.resetState(),super.destroy()}updateOptions(n){super.updateOptions(n)}resetState(){this.isActive=!1,this.state={lastPosition:null}}emitMoveEvent(n,r,i,o){const s=this.state.lastPosition||at(i),a=this.gesturesRegistry.getActiveGestures(n),c={gestureName:this.name,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,activeGestures:a,customData:this.customData},l=ze(this.name,r),u=new CustomEvent(l,{bubbles:!0,cancelable:!0,composed:!0,detail:c});n.dispatchEvent(u)}}class Pt extends Ft{constructor(n){super(n);V(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});V(this,"handlePointerEvent",(n,r)=>{const i=Array.from(n.values());if(r.type==="forceCancel"){this.cancel(r.target,i,r);return}const o=this.getTargetElement(r);if(!o)return;if(this.shouldPreventGesture(o,r.pointerType)){this.cancel(o,i,r);return}const s=this.getRelevantPointers(i,o);if(!this.isWithinPointerCount(s,r.pointerType)){this.cancel(o,s,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(s.forEach(a=>{this.state.startPointers.set(a.pointerId,a)}),this.originalTarget=o,this.state.startCentroid=at(s),this.state.lastCentroid=z({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&this.isWithinPointerCount(i,r.pointerType)){const a=at(s),c=a.x-this.state.startCentroid.x,l=a.y-this.state.startCentroid.y,u=Math.sqrt(c*c+l*l),d=of(this.state.lastCentroid??this.state.startCentroid,a),h=this.state.lastCentroid?a.x-this.state.lastCentroid.x:0,f=this.state.lastCentroid?a.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&u>=this.threshold&&af(d,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:h,y:f},this.state.totalDeltaX+=h,this.state.totalDeltaY+=f,this.state.activeDeltaX+=h,this.state.activeDeltaY+=f,this.emitPanEvent(o,"start",s,r,a),this.emitPanEvent(o,"ongoing",s,r,a)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:h,y:f},this.state.totalDeltaX+=h,this.state.totalDeltaY+=f,this.state.activeDeltaX+=h,this.state.activeDeltaY+=f,this.emitPanEvent(o,"ongoing",s,r,a)),this.state.lastCentroid=a,this.state.lastDirection=d}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){const a=s.filter(c=>c.type!=="pointerup"&&c.type!=="pointercancel");if(!this.isWithinPointerCount(a,r.pointerType)){const c=this.state.lastCentroid||this.state.startCentroid;r.type==="pointercancel"&&this.emitPanEvent(o,"cancel",s,r,c),this.emitPanEvent(o,"end",s,r,c),this.resetState()}}else this.resetState();break}});this.direction=n.direction||["up","down","left","right"],this.threshold=n.threshold||0}clone(n){return new Pt(z({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],pointerOptions:structuredClone(this.pointerOptions)},n))}destroy(){this.resetState(),super.destroy()}updateOptions(n){super.updateOptions(n),this.direction=n.direction||this.direction,this.threshold=n.threshold??this.threshold}resetState(){this.isActive=!1,this.state=z({},this.state,{startPointers:new Map,startCentroid:null,lastCentroid:null,lastDeltas:null,activeDeltaX:0,activeDeltaY:0,movementThresholdReached:!1,lastDirection:{vertical:null,horizontal:null,mainAxis:null}})}emitPanEvent(n,r,i,o,s){var S,v;if(!this.state.startCentroid)return;const a=((S=this.state.lastDeltas)==null?void 0:S.x)??0,c=((v=this.state.lastDeltas)==null?void 0:v.y)??0,l=this.state.startPointers.values().next().value,u=l?(o.timeStamp-l.timeStamp)/1e3:0,d=u>0?a/u:0,h=u>0?c/u:0,f=Math.sqrt(d*d+h*h),m=this.gesturesRegistry.getActiveGestures(n),y={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,deltaX:a,deltaY:c,direction:this.state.lastDirection,velocityX:d,velocityY:h,velocity:f,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,activeDeltaX:this.state.activeDeltaX,activeDeltaY:this.state.activeDeltaY,activeGestures:m,customData:this.customData},x=ze(this.name,r),b=new CustomEvent(x,{bubbles:!0,cancelable:!0,composed:!0,detail:y});n.dispatchEvent(b),this.preventDefault&&o.preventDefault(),this.stopPropagation&&o.stopPropagation()}cancel(n,r,i){if(this.isActive){const o=n??this.element;this.emitPanEvent(o,"cancel",r,i,this.state.lastCentroid),this.emitPanEvent(o,"end",r,i,this.state.lastCentroid)}this.resetState()}}class To extends Ft{constructor(n){super(z({},n,{minPointers:n.minPointers??2}));V(this,"state",{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0});V(this,"handlePointerEvent",(n,r)=>{const i=Array.from(n.values()),o=this.getTargetElement(r);if(!o)return;if(this.shouldPreventGesture(o,r.pointerType)){this.isActive&&(this.emitPinchEvent(o,"cancel",i,r),this.resetState());return}const s=this.getRelevantPointers(i,o);switch(r.type){case"pointerdown":if(s.length>=2&&!this.isActive){const a=_i(s);this.state.startDistance=a,this.state.lastDistance=a,this.state.lastTime=r.timeStamp,this.originalTarget=o}break;case"pointermove":if(this.state.startDistance&&this.isWithinPointerCount(s,r.pointerType)){const a=_i(s),c=Math.abs(a-this.state.lastDistance);if(c!==0&&c>=this.threshold){const l=this.state.startDistance?a/this.state.startDistance:1,u=l/this.state.lastScale;this.state.totalScale*=u;const d=(r.timeStamp-this.state.lastTime)/1e3;if(this.state.lastDistance){const f=(a-this.state.lastDistance)/d;this.state.velocity=Number.isNaN(f)?0:f}this.state.lastDistance=a,this.state.deltaScale=l-this.state.lastScale,this.state.lastScale=l,this.state.lastTime=r.timeStamp,this.isActive?this.emitPinchEvent(o,"ongoing",s,r):(this.isActive=!0,this.emitPinchEvent(o,"start",s,r),this.emitPinchEvent(o,"ongoing",s,r))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const a=s.filter(c=>c.type!=="pointerup"&&c.type!=="pointercancel");if(!this.isWithinPointerCount(a,r.pointerType))r.type==="pointercancel"&&this.emitPinchEvent(o,"cancel",s,r),this.emitPinchEvent(o,"end",s,r),this.resetState();else if(a.length>=2){const c=_i(a);this.state.startDistance=c/this.state.lastScale}}break}});this.threshold=n.threshold??0}clone(n){return new To(z({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],pointerOptions:structuredClone(this.pointerOptions)},n))}destroy(){this.resetState(),super.destroy()}updateOptions(n){super.updateOptions(n)}resetState(){this.isActive=!1,this.state=z({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}emitPinchEvent(n,r,i,o){const s=at(i),a=this.state.lastDistance,c=this.state.lastScale,l=this.gesturesRegistry.getActiveGestures(n),u={gestureName:this.name,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,scale:c,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:a,velocity:this.state.velocity,activeGestures:l,direction:lf(this.state.velocity),customData:this.customData};this.preventDefault&&o.preventDefault(),this.stopPropagation&&o.stopPropagation();const d=ze(this.name,r),h=new CustomEvent(d,{bubbles:!0,cancelable:!0,composed:!0,detail:u});n.dispatchEvent(h)}}class Wr extends Ft{constructor(n){super(n);V(this,"state",{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1});V(this,"handlePointerEvent",(n,r)=>{const i=Array.from(n.values());if(r.type==="forceCancel"){this.cancelPress(r.target,i,r);return}const o=this.getTargetElement(r);if(!o)return;if(this.shouldPreventGesture(o,r.pointerType)){this.isActive&&this.cancelPress(o,i,r);return}const s=this.getRelevantPointers(i,o);if(!this.isWithinPointerCount(s,r.pointerType)){this.isActive&&this.cancelPress(o,s,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=at(s),this.state.lastPosition=z({},this.state.startCentroid),this.state.startTime=r.timeStamp,this.isActive=!0,this.originalTarget=o,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const a=this.state.lastPosition;this.emitPressEvent(o,"start",s,r,a),this.emitPressEvent(o,"ongoing",s,r,a)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const a=at(s);this.state.lastPosition=a;const c=a.x-this.state.startCentroid.x,l=a.y-this.state.startCentroid.y;Math.sqrt(c*c+l*l)>this.maxDistance&&this.cancelPress(o,s,r)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const a=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(o,"end",s,r,a)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(o,s,r);break}});this.duration=n.duration??500,this.maxDistance=n.maxDistance??10}clone(n){return new Wr(z({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],pointerOptions:structuredClone(this.pointerOptions)},n))}destroy(){this.clearPressTimer(),this.resetState(),super.destroy()}updateOptions(n){super.updateOptions(n),this.duration=n.duration??this.duration,this.maxDistance=n.maxDistance??this.maxDistance}resetState(){this.clearPressTimer(),this.isActive=!1,this.state=z({},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)}emitPressEvent(n,r,i,o,s){const a=this.gesturesRegistry.getActiveGestures(n),c=o.timeStamp-this.state.startTime,l={gestureName:this.name,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,x:s.x,y:s.y,duration:c,activeGestures:a,customData:this.customData},u=ze(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,composed:!0,detail:l});n.dispatchEvent(d),this.preventDefault&&o.preventDefault(),this.stopPropagation&&o.stopPropagation()}cancelPress(n,r,i){if(this.isActive&&this.state.pressThresholdReached){const o=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(n??this.element,"cancel",r,i,o),this.emitPressEvent(n??this.element,"end",r,i,o)}this.resetState()}}class Co extends Ft{constructor(n){super(n);V(this,"state",{phase:"waitingForPress",dragTimeoutId:null});V(this,"pressHandler",()=>{this.state.phase==="waitingForPress"&&(this.state.phase="pressDetected",this.setTouchAction(),this.state.dragTimeoutId=setTimeout(()=>{this.resetState()},this.dragTimeout))});V(this,"dragStartHandler",n=>{this.state.phase==="pressDetected"&&(this.state.dragTimeoutId!==null&&(clearTimeout(this.state.dragTimeoutId),this.state.dragTimeoutId=null),this.restoreTouchAction(),this.state.phase="dragging",this.isActive=!0,this.element.dispatchEvent(new CustomEvent(ze(this.name,n.detail.phase),n)))});V(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(ze(this.name,n.detail.phase),n))});V(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(ze(this.name,n.detail.phase),n)))});this.pressDuration=n.pressDuration??500,this.pressMaxDistance=n.pressMaxDistance??10,this.dragTimeout=n.dragTimeout??1e3,this.dragThreshold=n.dragThreshold??0,this.dragDirection=n.dragDirection||["up","down","left","right"],this.pressGesture=new Wr({name:`${this.name}-press`,duration:this.pressDuration,maxDistance:this.pressMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new Pt({name:`${this.name}-pan`,minPointers:this.minPointers,maxPointers:this.maxPointers,threshold:this.dragThreshold,direction:this.dragDirection,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)})}clone(n){return new Co(z({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,pressDuration:this.pressDuration,pressMaxDistance:this.pressMaxDistance,dragTimeout:this.dragTimeout,dragThreshold:this.dragThreshold,dragDirection:[...this.dragDirection],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf],pointerOptions:structuredClone(this.pointerOptions)},n))}init(n,r,i,o){super.init(n,r,i,o),this.pressGesture.init(n,r,i,o),this.panGesture.init(n,r,i,o),this.element.addEventListener(this.pressGesture.name,this.pressHandler),this.element.addEventListener(`${this.panGesture.name}Start`,this.dragStartHandler),this.element.addEventListener(this.panGesture.name,this.dragMoveHandler),this.element.addEventListener(`${this.panGesture.name}End`,this.dragEndHandler),this.element.addEventListener(`${this.panGesture.name}Cancel`,this.dragEndHandler)}destroy(){this.resetState(),this.pressGesture.destroy(),this.panGesture.destroy(),this.element.removeEventListener(this.pressGesture.name,this.pressHandler),this.element.removeEventListener(`${this.panGesture.name}Start`,this.dragStartHandler),this.element.removeEventListener(this.panGesture.name,this.dragMoveHandler),this.element.removeEventListener(`${this.panGesture.name}End`,this.dragEndHandler),this.element.removeEventListener(`${this.panGesture.name}Cancel`,this.dragEndHandler),super.destroy()}updateOptions(n){super.updateOptions(n),this.pressDuration=n.pressDuration??this.pressDuration,this.pressMaxDistance=n.pressMaxDistance??this.pressMaxDistance,this.dragTimeout=n.dragTimeout??this.dragTimeout,this.dragThreshold=n.dragThreshold??this.dragThreshold,this.dragDirection=n.dragDirection||this.dragDirection,this.element.dispatchEvent(new CustomEvent(`${this.panGesture.name}ChangeOptions`,{detail:{minPointers:this.minPointers,maxPointers:this.maxPointers,threshold:this.dragThreshold,direction:this.dragDirection,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}})),this.element.dispatchEvent(new CustomEvent(`${this.pressGesture.name}ChangeOptions`,{detail:{duration:this.pressDuration,maxDistance:this.pressMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}}))}resetState(){this.state.dragTimeoutId!==null&&clearTimeout(this.state.dragTimeoutId),this.restoreTouchAction(),this.isActive=!1,this.state={phase:"waitingForPress",dragTimeoutId:null}}handlePointerEvent(){}setTouchAction(){this.element.addEventListener("touchstart",bt,{passive:!1}),this.element.addEventListener("touchmove",bt,{passive:!1}),this.element.addEventListener("touchend",bt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",bt),this.element.removeEventListener("touchmove",bt),this.element.removeEventListener("touchend",bt)}}class jn extends Ft{constructor(n){super(n);V(this,"state",{startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null});V(this,"handlePointerEvent",(n,r)=>{const i=Array.from(n.values()),o=this.getTargetElement(r);if(!o)return;const s=this.getRelevantPointers(i,o);if(this.shouldPreventGesture(o,r.pointerType)||!this.isWithinPointerCount(s,r.pointerType)){this.isActive&&this.cancelTap(o,s,r);return}switch(r.type){case"pointerdown":this.isActive||(this.state.startCentroid=at(s),this.state.lastPosition=z({},this.state.startCentroid),this.isActive=!0,this.originalTarget=o);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const a=at(s);this.state.lastPosition=a;const c=a.x-this.state.startCentroid.x,l=a.y-this.state.startCentroid.y;Math.sqrt(c*c+l*l)>this.maxDistance&&this.cancelTap(o,s,r)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const a=this.state.lastPosition||this.state.startCentroid;if(!a){this.cancelTap(o,s,r);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(o,s,r,a),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(o,s,r);break}});this.maxDistance=n.maxDistance??10,this.taps=n.taps??1}clone(n){return new jn(z({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],pointerOptions:structuredClone(this.pointerOptions)},n))}destroy(){this.resetState(),super.destroy()}updateOptions(n){super.updateOptions(n),this.maxDistance=n.maxDistance??this.maxDistance,this.taps=n.taps??this.taps}resetState(){this.isActive=!1,this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null}}fireTapEvent(n,r,i,o){const s=this.gesturesRegistry.getActiveGestures(n),a={gestureName:this.name,centroid:o,target:i.target,srcEvent:i,phase:"end",pointers:r,timeStamp:i.timeStamp,x:o.x,y:o.y,tapCount:this.state.currentTapCount,activeGestures:s,customData:this.customData},c=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,composed:!0,detail:a});n.dispatchEvent(c),this.preventDefault&&i.preventDefault(),this.stopPropagation&&i.stopPropagation()}cancelTap(n,r,i){if(this.state.startCentroid||this.state.lastPosition){const o=this.state.lastPosition||this.state.startCentroid,s=this.gesturesRegistry.getActiveGestures(n),a={gestureName:this.name,centroid:o,target:i.target,srcEvent:i,phase:"cancel",pointers:r,timeStamp:i.timeStamp,x:o.x,y:o.y,tapCount:this.state.currentTapCount,activeGestures:s,customData:this.customData},c=ze(this.name,"cancel"),l=new CustomEvent(c,{bubbles:!0,cancelable:!0,composed:!0,detail:a});n.dispatchEvent(l)}this.resetState()}}class _o extends Ft{constructor(n){super(n);V(this,"state",{phase:"waitingForTap",dragTimeoutId:null});V(this,"tapHandler",()=>{this.state.phase==="waitingForTap"&&(this.state.phase="tapDetected",this.setTouchAction(),this.state.dragTimeoutId=setTimeout(()=>{this.resetState()},this.dragTimeout))});V(this,"dragStartHandler",n=>{this.state.phase==="tapDetected"&&(this.state.dragTimeoutId!==null&&(clearTimeout(this.state.dragTimeoutId),this.state.dragTimeoutId=null),this.restoreTouchAction(),this.state.phase="dragging",this.isActive=!0,this.element.dispatchEvent(new CustomEvent(ze(this.name,n.detail.phase),n)))});V(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(ze(this.name,n.detail.phase),n))});V(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(ze(this.name,n.detail.phase),n)))});this.tapMaxDistance=n.tapMaxDistance??10,this.dragTimeout=n.dragTimeout??1e3,this.dragThreshold=n.dragThreshold??0,this.dragDirection=n.dragDirection||["up","down","left","right"],this.tapGesture=new jn({name:`${this.name}-tap`,maxDistance:this.tapMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new Pt({name:`${this.name}-pan`,minPointers:this.minPointers,maxPointers:this.maxPointers,threshold:this.dragThreshold,direction:this.dragDirection,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)})}clone(n){return new _o(z({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,tapMaxDistance:this.tapMaxDistance,dragTimeout:this.dragTimeout,dragThreshold:this.dragThreshold,dragDirection:[...this.dragDirection],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf],pointerOptions:structuredClone(this.pointerOptions)},n))}init(n,r,i,o){super.init(n,r,i,o),this.tapGesture.init(n,r,i,o),this.panGesture.init(n,r,i,o),this.element.addEventListener(this.tapGesture.name,this.tapHandler),this.element.addEventListener(`${this.panGesture.name}Start`,this.dragStartHandler),this.element.addEventListener(this.panGesture.name,this.dragMoveHandler),this.element.addEventListener(`${this.panGesture.name}End`,this.dragEndHandler),this.element.addEventListener(`${this.panGesture.name}Cancel`,this.dragEndHandler)}destroy(){this.resetState(),this.tapGesture.destroy(),this.panGesture.destroy(),this.element.removeEventListener(this.tapGesture.name,this.tapHandler),this.element.removeEventListener(`${this.panGesture.name}Start`,this.dragStartHandler),this.element.removeEventListener(this.panGesture.name,this.dragMoveHandler),this.element.removeEventListener(`${this.panGesture.name}End`,this.dragEndHandler),this.element.removeEventListener(`${this.panGesture.name}Cancel`,this.dragEndHandler),super.destroy()}updateOptions(n){super.updateOptions(n),this.tapMaxDistance=n.tapMaxDistance??this.tapMaxDistance,this.dragTimeout=n.dragTimeout??this.dragTimeout,this.dragThreshold=n.dragThreshold??this.dragThreshold,this.dragDirection=n.dragDirection||this.dragDirection,this.element.dispatchEvent(new CustomEvent(`${this.panGesture.name}ChangeOptions`,{detail:{minPointers:this.minPointers,maxPointers:this.maxPointers,threshold:this.dragThreshold,direction:this.dragDirection,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}})),this.element.dispatchEvent(new CustomEvent(`${this.tapGesture.name}ChangeOptions`,{detail:{maxDistance:this.tapMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}}))}resetState(){this.state.dragTimeoutId!==null&&clearTimeout(this.state.dragTimeoutId),this.restoreTouchAction(),this.isActive=!1,this.state={phase:"waitingForTap",dragTimeoutId:null}}handlePointerEvent(){}setTouchAction(){this.element.addEventListener("touchstart",bt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",bt)}}class vr extends Bl{constructor(n){super(n);V(this,"state",{totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0});V(this,"handleWheelEvent",n=>{if(this.shouldPreventGesture(this.element,"mouse"))return;const r=this.pointerManager.getPointers()||new Map,i=Array.from(r.values());this.state.totalDeltaX+=n.deltaX*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaY+=n.deltaY*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaZ+=n.deltaZ*this.sensitivity*(this.invert?-1:1),["totalDeltaX","totalDeltaY","totalDeltaZ"].forEach(o=>{this.state[o]<this.min&&(this.state[o]=this.min),this.state[o]>this.max&&(this.state[o]=this.max)}),this.emitWheelEvent(i,n)});this.sensitivity=n.sensitivity??1,this.max=n.max??Number.MAX_SAFE_INTEGER,this.min=n.min??Number.MIN_SAFE_INTEGER,this.initialDelta=n.initialDelta??0,this.invert=n.invert??!1,this.state.totalDeltaX=this.initialDelta,this.state.totalDeltaY=this.initialDelta,this.state.totalDeltaZ=this.initialDelta}clone(n){return new vr(z({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],preventIf:[...this.preventIf]},n))}init(n,r,i,o){super.init(n,r,i,o),this.element.addEventListener("wheel",this.handleWheelEvent)}destroy(){this.element.removeEventListener("wheel",this.handleWheelEvent),this.resetState(),super.destroy()}resetState(){this.isActive=!1,this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0}}updateOptions(n){super.updateOptions(n),this.sensitivity=n.sensitivity??this.sensitivity,this.max=n.max??this.max,this.min=n.min??this.min,this.initialDelta=n.initialDelta??this.initialDelta,this.invert=n.invert??this.invert}emitWheelEvent(n,r){const i=n.length>0?at(n):{x:r.clientX,y:r.clientY},o=this.gesturesRegistry.getActiveGestures(this.element),s={gestureName:this.name,centroid:i,target:r.target,srcEvent:r,phase:"ongoing",pointers:n,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:o,customData:this.customData};this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const a=ze(this.name,"ongoing"),c=new CustomEvent(a,{bubbles:!0,cancelable:!0,composed:!0,detail:s});this.element.dispatchEvent(c)}}const Xt=e=>e.preventDefault(),Mo=({svgRef:e})=>{const t=R.useRef(null);R.useEffect(()=>{const i=e.current;t.current||(t.current=new nf({gestures:[new Pt({name:"pan",threshold:0,maxPointers:1}),new So({name:"move",preventIf:["pan","zoomPinch","zoomPan"]}),new jn({name:"tap",preventIf:["pan","zoomPinch","zoomPan"]}),new Wr({name:"quickPress",duration:50}),new Pt({name:"brush",threshold:0,maxPointers:1}),new Pt({name:"zoomPan",threshold:0,preventIf:["zoomTapAndDrag","zoomPressAndDrag"]}),new To({name:"zoomPinch",threshold:5}),new vr({name:"zoomTurnWheel",sensitivity:.01,initialDelta:1}),new vr({name:"panTurnWheel",sensitivity:.5}),new _o({name:"zoomTapAndDrag",dragThreshold:10}),new Co({name:"zoomPressAndDrag",dragThreshold:10,preventIf:["zoomPinch"]}),new jn({name:"zoomDoubleTapReset",taps:2})]}));const o=t.current;if(!(!i||!o))return o.registerElement(["pan","move","zoomPinch","zoomPan","zoomTurnWheel","panTurnWheel","tap","quickPress","zoomTapAndDrag","zoomPressAndDrag","zoomDoubleTapReset","brush"],i),()=>{o.unregisterAllGestures(i)}},[e,t]);const n=R.useCallback((i,o,s)=>{const a=e.current;return a==null||a.addEventListener(i,o,s),{cleanup:()=>a==null?void 0:a.removeEventListener(i,o)}},[e]),r=R.useCallback((i,o)=>{const s=e.current,a=t.current;!a||!s||a.setGestureOptions(i,s,o??{})},[e,t]);return R.useEffect(()=>{const i=e.current;return i==null||i.addEventListener("gesturestart",Xt),i==null||i.addEventListener("gesturechange",Xt),i==null||i.addEventListener("gestureend",Xt),()=>{i==null||i.removeEventListener("gesturestart",Xt),i==null||i.removeEventListener("gesturechange",Xt),i==null||i.removeEventListener("gestureend",Xt)}},[e]),{instance:{addInteractionListener:n,updateZoomInteractionListeners:r}}};Mo.params={};Mo.getInitialState=()=>({});const cf=[wo,vo,Ur,Hr,Mo,Br],uf=["apiRef"],df=e=>{let{plugins:t}=e,n=Je(e.props,uf);const r={};t.forEach(s=>{Object.assign(r,s.params)});const i={};return Object.keys(n).forEach(s=>{const a=n[s];r[s]&&(i[s]=a)}),t.reduce((s,a)=>a.getDefaultizedParams?a.getDefaultizedParams({params:s}):s,i)};let Gs=0;function hf(e,t,n){const r=p.useId(),i=R.useMemo(()=>[...cf,...e],[e]),o=df({plugins:i,props:t});o.id=o.id??r;const a=R.useRef({}).current,c=pf(t.apiRef),l=R.useRef(null),u=R.useRef(null),d=R.useRef(null);if(d.current==null){Gs+=1;const m={cacheKey:{id:Gs}};i.forEach(y=>{y.getInitialState&&Object.assign(m,y.getInitialState(o,m,n))}),d.current=new bo(m)}const h=m=>{const y=m({instance:a,params:o,plugins:i,store:d.current,svgRef:u,chartRootRef:l,seriesConfig:n});y.publicAPI&&Object.assign(c.current,y.publicAPI),y.instance&&Object.assign(a,y.instance)};return i.forEach(h),{contextValue:R.useMemo(()=>({store:d.current,publicAPI:c.current,instance:a,svgRef:u,chartRootRef:l}),[a,c])}}function ff(e){return e.current==null&&(e.current={}),e}function pf(e){const t=R.useRef({});return e?ff(e):t}const Ro=R.createContext(null);process.env.NODE_ENV!=="production"&&(Ro.displayName="ChartContext");const Bs=new Set;function an(e,t="warning"){if(process.env.NODE_ENV==="production")return;const n=Array.isArray(e)?e.join(`
-`):e;Bs.has(n)||(Bs.add(n),t==="error"?console.error(n):console.warn(n))}function mf(e){const{componentName:t,propName:n,controlled:r,defaultValue:i,warningPrefix:o="MUI X"}=e,[{initialDefaultValue:s,isControlled:a}]=R.useState({initialDefaultValue:i,isControlled:r!==void 0});a!==(r!==void 0)&&an([`${o}: A component is changing the ${a?"":"un"}controlled ${n} state of ${t} to be ${a?"un":""}controlled.`,"Elements should not switch from uncontrolled to controlled (or vice versa).",`Decide between using a controlled or uncontrolled ${n} element for the lifetime of the component.`,"The nature of the state is determined during the first render. It's considered controlled if the value is not `undefined`.","More info: https://fb.me/react-controlled-components"],"error"),JSON.stringify(s)!==JSON.stringify(i)&&an([`${o}: A component is changing the default ${n} state of an uncontrolled ${t} after being initialized. To suppress this warning opt to use a controlled ${t}.`],"error")}const Ul=process.env.NODE_ENV==="production"?()=>{}:mf,Vl=4,Hl=20+2*Vl,gf=40+2*Vl,xf="hover",nr={minStart:0,maxEnd:100,step:5,minSpan:10,maxSpan:100,panning:!0,filterMode:"keep",reverse:!1,slider:{enabled:!1,preview:!1,size:Hl,showTooltip:xf}},jo=(e,t,n,r)=>{var i;if(e)return e===!0?z({axisId:t,axisDirection:n},nr,{reverse:r??!1}):z({axisId:t,axisDirection:n},nr,{reverse:r??!1},e,{slider:z({},nr.slider,{size:((i=e.slider)==null?void 0:i.preview)??nr.slider.preview?gf:Hl},e.slider)})};function Wl(e,t){const n={top:0,bottom:0,none:0};return(e&&e.length>0?e:[{id:Ch,scaleType:"linear"}]).map((o,s)=>{var f;const a=o.dataKey,c=s===0?"bottom":"none",l=o.position??c,u=jh+(o.label?zl:0),d=o.id??`defaultized-x-axis-${s}`,h=z({offset:n[l]},o,{id:d,position:l,height:o.height??u,zoom:jo(o.zoom,d,"x",o.reverse)});if(l!=="none"&&(n[l]+=h.height,(f=h.zoom)!=null&&f.slider.enabled&&(n[l]+=h.zoom.slider.size)),a===void 0||o.data!==void 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r=t.x,i=t.y,o=t.z,s=n.x,a=n.y,c=n.z;return this.x=i*c-o*a,this.y=o*s-r*c,this.z=r*a-i*s,this}projectOnVector(t){const n=t.lengthSq();if(n===0)return this.set(0,0,0);const r=t.dot(this)/n;return this.copy(t).multiplyScalar(r)}projectOnPlane(t){return Bi.copy(this).projectOnVector(t),this.sub(Bi)}reflect(t){return this.sub(Bi.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 r=this.dot(t)/n;return Math.acos(rt(r,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const n=this.x-t.x,r=this.y-t.y,i=this.z-t.z;return n*n+r*r+i*i}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,r){const i=Math.sin(n)*t;return this.x=i*Math.sin(r),this.y=Math.cos(n)*t,this.z=i*Math.cos(r),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,n,r){return this.x=t*Math.sin(n),this.y=r,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(),r=this.setFromMatrixColumn(t,1).length(),i=this.setFromMatrixColumn(t,2).length();return this.x=n,this.y=r,this.z=i,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,r=Math.sqrt(1-n*n);return this.x=r*Math.cos(t),this.y=n,this.z=r*Math.sin(t),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z}}const Bi=new sn,Va=new Ky;function ms(e,t,n){if(t.length!==e.length)return!0;for(let r=0;r<t.length;r++)if(Math.abs(t[r]-e[r])>n)return!1;return!0}function du(e,t,n){if(e===void 0&&t||e&&t===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.position)===void 0||(t==null?void 0:t.position)===void 0)return!1;if(e===void 0||t===void 0)return!0;let r=0;return r+=Math.abs(e.orientation[0]-t.orientation[0]),r+=Math.abs(e.orientation[1]-t.orientation[1]),r+=Math.abs(e.orientation[2]-t.orientation[2]),r+=Math.abs(e.position[0]-t.position[0]),r+=Math.abs(e.position[1]-t.position[1]),r+=Math.abs(e.position[2]-t.position[2]),r<=n}function gs(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&du(e.tcp_pose,t.tcp_pose,n)}function hu(e,t){const n=new Wi.Vector3(t[0],t[1],t[2]),r=new Wi.Vector3(e[0],e[1],e[2]),i=n.length(),o=n.normalize();let s=r.length(),a=r.normalize();a.dot(o)<0&&(s=-s,a=a.multiplyScalar(-1));let c=s-i;return c-=2*Math.PI*Math.floor((c+Math.PI)/(2*Math.PI)),s=i+c,[...a.multiplyScalar(s)]}const Ha=1e-4;class ai{constructor(t,n,r,i,o,s){this.nova=t,this.controller=n,this.motionGroup=r,this.description=i,this.initialMotionState=o,this.motionStateSocket=s,this.rapidlyChangingMotionState=o,s.addEventListener("message",a=>{var l;const c=(l=me.tryParseJson(a.data))==null?void 0:l.result;if(!c)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${a.data}`);ms(this.rapidlyChangingMotionState.joint_position,c.joint_position,Ha)||ae.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=c.joint_position}),gs(this.rapidlyChangingMotionState,c,Ha)||ae.runInAction(()=>{var u,d,h;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=c.tcp_pose:(u=c.tcp_pose)!=null&&u.orientation&&((d=c.tcp_pose)!=null&&d.position)&&((h=this.rapidlyChangingMotionState.tcp_pose)!=null&&h.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:c.tcp_pose.position,orientation:hu(c.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",c.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==c.standstill&&ae.runInAction(()=>{this.rapidlyChangingMotionState.standstill=c.standstill})}),ae.makeAutoObservable(this)}static async open(t,n){var d;const[r,i]=n.split("@"),o=await t.api.controller.getCurrentRobotControllerState(i),s=o==null?void 0:o.motion_groups.find(h=>h.motion_group===n);if(!o||!s)throw new Error(`Controller ${i} or motion group ${n} not found`);const a=t.openReconnectingWebsocket(`/controllers/${i}/motion-groups/${n}/state-stream`),c=await a.firstMessage(),l=(d=me.tryParseJson(c.data))==null?void 0:d.result;if(!l)throw new Error(`Unable to parse initial motion state message ${c.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
-  `,l);const u=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group);return new ai(t,o,s,u,l,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Wa="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class li{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,r={}){const i=await ai.open(t,n),o=new li(i,r);return await o.setJoggingMode(o.mode),o}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 r=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",i=>{var s,a,c,l;const o=me.tryParseJson(i.data);if(((s=o==null?void 0:o.result)==null?void 0:s.kind)==="INITIALIZE_RECEIVED"){clearTimeout(r),t();return}if(((a=o==null?void 0:o.result)==null?void 0:a.kind)==="MOTION_ERROR")if(clearTimeout(r),this.onBlocked&&((c=o==null?void 0:o.result)!=null&&c.message.includes(Wa))){(l=this.joggingSocket)==null||l.dispose(),this.onBlocked();return}else this.onError?this.onError(i.data):n(new Error(i.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,tcp:this.tcp})})}async rotateJoints({joint:t,direction:n,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[t]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:t,direction:n,velocityMmPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=[0,0,0],o=[0,0,0];o[me.XYZ_TO_VECTOR[t]]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:o,rotation:i,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:n,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=[0,0,0],o=[0,0,0];i[me.XYZ_TO_VECTOR[t]]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:o,rotation:i})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:n,velocityInRelevantUnits:r,axis:i,direction:o,motion:s}){const a=[];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 x=[...t.position];x[me.XYZ_TO_VECTOR[i]]+=s.distanceMm*(o==="-"?-1:1),a.push({limits_override:{tcp_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:x,orientation:t.orientation}}})}else if(s.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const x=new sn(t.orientation[0],t.orientation[1],t.orientation[2]),b=x.length(),S=x.clone().normalize(),v=s.distanceRads*(o==="-"?-1:1),_=new sn(0,0,0);_[i]=1;const C=Math.cos(.5*v)*Math.cos(.5*b),w=Math.sin(.5*v)*Math.sin(.5*b),E=Math.sin(.5*v)*Math.cos(.5*b),M=Math.cos(.5*v)*Math.sin(.5*b),j=_.dot(S),D=_.clone().cross(S),A=2*Math.acos(C-w*j),P=A/Math.sin(.5*A),I=new sn().addScaledVector(D,w).addScaledVector(_,E).addScaledVector(S,M).multiplyScalar(P);a.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...I]}}})}const c=this.motionStream.description;if(c.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const l={motion_group_model:c.motion_group_model,cycle_time:c.cycle_time,mounting:c.mounting,global:c.operation_limits.auto_limits},u=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:l,start_joint_position:n,motion_commands:a}),d=u.response;if(!d)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(u)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const h=x=>{var b;if(!x||x.add_trajectory_error||x.message)if(this.onError)this.onError(x);else throw new Error(((b=x==null?void 0:x.add_trajectory_error)==null?void 0:b.message)||(x==null?void 0:x.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"})},f=async()=>{var x;await ae.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await ae.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(x=this.trajectorySocket)==null||x.dispose(),this.trajectorySocket=null},m=async()=>{var x;await ae.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(x=this.trajectorySocket)==null||x.dispose(),this.trajectorySocket=null},y=async x=>{if(x!=null&&x.message)if(this.onError){this.onError(x);return}else throw new Error(x.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await f():await m()};this.trajectorySocket.addEventListener("message",x=>{var S,v;const b=me.tryParseJson(x.data);if(!((S=b==null?void 0:b.result)!=null&&S.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${x.data}`);if(this.onBlocked&&((v=b.result.message)!=null&&v.includes(Wa))){this.onBlocked();return}if(b.result.kind==="INITIALIZE_RECEIVED")h(b.result);else if(b.result.kind==="START_RECEIVED")y(b);else if(b.result.kind!=="PAUSE_RECEIVED")if(b.result.kind==="MOTION_ERROR"&&b.result.message)if(this.onError){this.onError(b);return}else throw new Error(b.result.message);else throw new Error(`Failed to execute 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b=requestAnimationFrame(S),()=>{b&&cancelAnimationFrame(b)}},[d]),{timerState:o,controls:{start:h,pause:f,resume:m,reset:y,isPaused:x}}},YE=p.externalizeComponent(re.observer(({onTimerReady:e,autoStart:t=!0,variant:n="default",compact:r=!1,className:i,hasError:o=!1})=>{const{animationState:s,triggerPauseAnimation:a,triggerErrorAnimation:c,clearErrorAnimation:l,setInitialAnimationState:u,cleanup:d}=WE(),{timerState:h,controls:f}=qE({autoStart:t,hasError:o,onPauseAnimation:a,onErrorAnimation:c,onClearErrorAnimation:l});return O.useEffect(()=>{u()},[u]),O.useEffect(()=>{let m=!0;const y=setTimeout(()=>{m&&e(f)},0);return()=>{m=!1,clearTimeout(y)}},[e,f]),O.useEffect(()=>d,[d]),n==="small"?p.jsxRuntimeExports.jsx(HE,{timerState:h,animationState:s,hasError:o,compact:r,className:i}):p.jsxRuntimeExports.jsx(VE,{timerState:h,animationState:s,hasError:o,className:i})})),El=1e-4,JE={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class Nr{constructor(t,n,r,i,o,s,a,c,l,u){this.nova=t,this.controller=n,this.motionGroup=r,this.initialMotionState=i,this.motionStateSocket=o,this.isVirtual=s,this.tcps=a,this.description=c,this.initialControllerState=l,this.controllerStateSocket=u,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=i,this.controllerState=l,u.addEventListener("message",d=>{var f;const h=(f=me.tryParseJson(d.data))==null?void 0:f.result;h&&ae.runInAction(()=>{this.controllerState=h})}),o.addEventListener("message",d=>{var f;const h=(f=me.tryParseJson(d.data))==null?void 0:f.result;if(!h)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);ms(this.rapidlyChangingMotionState.joint_position,h.joint_position,El)||ae.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=h.joint_position}),gs(this.rapidlyChangingMotionState,h,El)||ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose}),this.rapidlyChangingMotionState.standstill!==h.standstill&&ae.runInAction(()=>{this.rapidlyChangingMotionState.standstill=h.standstill})}),ae.makeAutoObservable(this)}static async connectMultiple(t,n){return Promise.all(n.map(r=>Nr.connect(t,r)))}static async connect(t,n){var b,S;const[r,i]=n.split("@"),o=await t.api.controller.getCurrentRobotControllerState(i),s=o==null?void 0:o.motion_groups.find(v=>v.motion_group===n);if(!o||!s)throw new Error(`Controller ${i} or motion group ${n} not found`);const a=t.openReconnectingWebsocket(`/controllers/${i}/motion-groups/${n}/state-stream`),c=await a.firstMessage(),l=(b=me.tryParseJson(c.data))==null?void 0:b.result;if(!l)throw new Error(`Unable to parse initial motion state message ${c.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
-  `,l);const d=(await t.api.controller.getRobotController(o.controller)).configuration.kind==="VirtualController",h=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group),f=Object.entries(h.tcps||{}).map(([v,_])=>({id:v,readable_name:_.name,position:_.pose.position,orientation:_.pose.orientation})),m=t.openReconnectingWebsocket(`/controllers/${o.controller}/state-stream?response_rate=1000`),y=await m.firstMessage(),x=(S=me.tryParseJson(y.data))==null?void 0:S.result;if(!x)throw new Error(`Unable to parse initial controller state message ${y.data}`);return console.log(`Connected controller state websocket to controller ${o.controller}. Initial state:
-  `,x),new Nr(t,o,s,l,a,d,f,h,x,m)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(t=>({...JE,...t}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var t,n,r;return this.description.mounting?[(((t=this.description.mounting.position)==null?void 0:t[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((r=this.description.mounting.position)==null?void 0:r[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var i,o,s,a,c,l;const t=new Ts.Vector3(((o=(i=this.description.mounting)==null?void 0:i.orientation)==null?void 0:o[0])||0,((a=(s=this.description.mounting)==null?void 0:s.orientation)==null?void 0:a[1])||0,((l=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:l[2])||0),n=t.length(),r=t.normalize();return new Ts.Quaternion().setFromAxisAngle(r,n)}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"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}ae.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),ae.runInAction(()=>{this.activationState="inactive"})}catch(t){throw ae.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}ae.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),ae.runInAction(()=>{this.activationState="active"})}catch(t){throw ae.runInAction(()=>{this.activationState="inactive"}),t}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}}function Fu(){var t,n,r,i,o,s,a;const e=T.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, 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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":T.rgbToHex(((a=e.palette.backgroundPaperElevation)==null?void 0:a[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function XE(){const e=Fu();return e.palette.mode="light",e}function KE(e){var r,i,o,s;let t=!0;((r=e.palette)==null?void 0:r.mode)==="light"?t=!1:((i=e.palette)==null?void 0:i.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 n=t?Fu():XE();return p.createTheme$1(n,e)}exports.AppHeader=zd;exports.ConnectedMotionGroup=Nr;exports.CycleTimer=hy;exports.JoggerConnection=li;exports.JoggingCartesianAxisControl=lo;exports.JoggingJointRotationControl=uu;exports.JoggingPanel=Qw;exports.JoggingStore=fi;exports.LogPanel=aE;exports.LogStore=$u;exports.LogViewer=zu;exports.MotionStreamConnection=ai;exports.NoMotionGroupModal=cE;exports.PoseCartesianValues=tE;exports.PoseJointValues=nE;exports.RobotListItem=fE;exports.RobotSetupReadinessIndicator=Nu;exports.RobotSetupReadinessState=Ss;exports.SafetyBar=$E;exports.SelectableFab=NE;exports.TabBar=BE;exports.Timer=YE;exports.VelocitySlider=Pu;exports.VelocitySliderLabel=Es;exports.WandelbotsDataGrid=au;exports.createDebugMessage=rE;exports.createErrorMessage=sE;exports.createInfoMessage=iE;exports.createLogMessage=Vn;exports.createNovaMuiTheme=KE;exports.createWarningMessage=oE;exports.jointValuesEqual=ms;exports.poseEqual=du;exports.tcpMotionEqual=gs;exports.unwrapRotationVector=hu;
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