@wandelbots/wandelbots-js-react-components 3.5.1-pr.feat-add-eight-abbs-v2.450.4419c66 → 3.5.1

package/dist/theming-D4ztsmTr.cjs

@@ -0,0 +1,133 @@
+"use strict";var af=Object.defineProperty;var lf=(e,t,n)=>t in e?af(e,t,{enumerable:!0,configurable:!0,writable:!0,value:n}):e[t]=n;var H=(e,t,n)=>lf(e,typeof t!="symbol"?t+"":t,n);const x=require("./index-DxwppshT.cjs"),M=require("@mui/material"),oe=require("mobx-react-lite"),$=require("react"),fe=require("react-i18next"),b=require("prop-types"),de=require("./index-CqMZL0FV.cjs"),Qe=require("@mui/x-data-grid"),bu=require("lodash-es"),he=require("mobx"),Ee=require("@wandelbots/nova-js"),vu=require("./LoadingCover-r2yhJZF9.cjs"),Nr=require("@mui/icons-material"),cf=require("@emotion/styled"),uf=require("@emotion/react"),df=require("@mui/x-charts"),ms=require("three");function Su(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const n in e)if(n!=="default"){const r=Object.getOwnPropertyDescriptor(e,n);Object.defineProperty(t,n,r.get?r:{enumerable:!0,get:()=>e[n]})}}return t.default=e,Object.freeze(t)}const j=Su($),Za=Su(ms);function hf(e){return e&&e.__esModule&&Object.prototype.hasOwnProperty.call(e,"default")?e.default:e}/*! *****************************************************************************
+Copyright (c) Microsoft Corporation. All rights reserved.
+Licensed under the Apache License, Version 2.0 (the "License"); you may not use
+this file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE-2.0
+
+THIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED
+WARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE,
+MERCHANTABLITY OR NON-INFRINGEMENT.
+
+See the Apache Version 2.0 License for specific language governing permissions
+and limitations under the License.
+***************************************************************************** */var gs=function(e,t){return gs=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(n,r){n.__proto__=r}||function(n,r){for(var i in r)r.hasOwnProperty(i)&&(n[i]=r[i])},gs(e,t)};function wu(e,t){gs(e,t);function n(){this.constructor=e}e.prototype=t===null?Object.create(t):(n.prototype=t.prototype,new n)}function ff(e){var t=typeof Symbol=="function"&&e[Symbol.iterator],n=0;return t?t.call(e):{next:function(){return e&&n>=e.length&&(e=void 0),{value:e&&e[n++],done:!e}}}}function pf(e,t){var n=typeof Symbol=="function"&&e[Symbol.iterator];if(!n)return e;var r=n.call(e),i,o=[],s;try{for(;(t===void 0||t-- >0)&&!(i=r.next()).done;)o.push(i.value)}catch(a){s={error:a}}finally{try{i&&!i.done&&(n=r.return)&&n.call(r)}finally{if(s)throw s.error}}return o}function mf(){for(var e=[],t=0;t<arguments.length;t++)e=e.concat(pf(arguments[t]));return e}var Eu=(function(){function e(t,n){this.target=n,this.type=t}return e})(),gf=(function(e){wu(t,e);function t(n,r){var i=e.call(this,"error",r)||this;return i.message=n.message,i.error=n,i}return t})(Eu),yf=(function(e){wu(t,e);function t(n,r,i){n===void 0&&(n=1e3),r===void 0&&(r="");var o=e.call(this,"close",i)||this;return o.wasClean=!0,o.code=n,o.reason=r,o}return t})(Eu);/*!
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+ * by Pedro Ladaria <pedro.ladaria@gmail.com>
+ * https://github.com/pladaria/reconnecting-websocket
+ * License MIT
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Af=Rf(),If=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(de.SystemApi),this.cell=this.withUnwrappedResponsesOnly(de.CellApi),this.motionGroup=this.withCellId(de.MotionGroupApi),this.motionGroupModels=this.withCellId(de.MotionGroupModelsApi),this.controller=this.withCellId(de.ControllerApi),this.controllerIOs=this.withCellId(de.ControllerInputsOutputsApi),this.trajectoryPlanning=this.withCellId(de.TrajectoryPlanningApi),this.trajectoryExecution=this.withCellId(de.TrajectoryExecutionApi),this.trajectoryCaching=this.withCellId(de.TrajectoryCachingApi),this.application=this.withCellId(de.ApplicationApi),this.applicationGlobal=this.withUnwrappedResponsesOnly(de.ApplicationApi),this.jogging=this.withCellId(de.JoggingApi),this.kinematics=this.withCellId(de.KinematicsApi),this.busInputsOutputs=this.withCellId(de.BUSInputsOutputsApi),this.virtualController=this.withCellId(de.VirtualControllerApi),this.virtualControllerBehavior=this.withCellId(de.VirtualControllerBehaviorApi),this.virtualControllerIOs=this.withCellId(de.VirtualControllerInputsOutputsApi),this.storeObject=this.withCellId(de.StoreObjectApi),this.storeCollisionComponents=this.withCellId(de.StoreCollisionComponentsApi),this.storeCollisionSetups=this.withCellId(de.StoreCollisionSetupsApi)}withCellId(e){const t=new e({...this.opts,isJsonMime:n=>n==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??x.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??x.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}},jf=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},veloci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o=i.light||i,s=i.dark||i*1.5;t[n]||(t.hasOwnProperty(r)?t[n]=t[r]:n==="light"?t.light=`color-mix(in ${e}, ${t.main}, #fff ${(o*100).toFixed(0)}%)`:n==="dark"&&(t.dark=`color-mix(in ${e}, ${t.main}, #000 ${(s*100).toFixed(0)}%)`))}function Pm(e="light"){return e==="dark"?{main:Cn[200],light:Cn[50],dark:Cn[400]}:{main:Cn[700],light:Cn[400],dark:Cn[800]}}function Dm(e="light"){return e==="dark"?{main:En[200],light:En[50],dark:En[400]}:{main:En[500],light:En[300],dark:En[700]}}function $m(e="light"){return e==="dark"?{main:Tn[500],light:Tn[300],dark:Tn[700]}:{main:Tn[700],light:Tn[400],dark:Tn[800]}}function Lm(e="light"){return e==="dark"?{main:_n[400],light:_n[300],dark:_n[700]}:{main:_n[700],light:_n[500],dark:_n[900]}}function Nm(e="light"){return e==="dark"?{main:Mn[400],light:Mn[300],dark:Mn[700]}:{main:Mn[800],light:Mn[500],dark:Mn[900]}}function zm(e="light"){return e==="dark"?{main:Xn[400],light:Xn[300],dark:Xn[700]}:{main:"#ed6c02",light:Xn[500],dark:Xn[900]}}function Fm(e){return`oklch(from ${e} var(--__l) 0 h / var(--__a))`}function Ws(e){const{mode:t="light",contrastThreshold:n=3,tonalOffset:r=.2,colorSpace:i,...o}=e,s=e.primary||Pm(t),a=e.secondary||Dm(t),l=e.error||$m(t),c=e.info||Lm(t),u=e.success||Nm(t),d=e.warning||zm(t);function h(y){if(i)return Fm(y);const v=hl(y,vs.text.primary)>=n?vs.text.primary:Fu.text.primary;if(process.env.NODE_ENV!=="production"){const T=hl(y,v);T<3&&console.error([`MUI: The contrast ratio of ${T}:1 for ${v} on ${y}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
+`))}return v}const f=({color:y,name:v,mainShade:T=500,lightShade:w=300,darkShade:E=700})=>{if(y={...y},!y.main&&y[T]&&(y.main=y[T]),!y.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${v?` (${v})`:""} provided to augmentColor(color) is invalid.
+The color object needs to have a \`main\` property or a \`${T}\` property.`:Bt(11,v?` (${v})`:"",T));if(typeof y.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${v?` (${v})`:""} provided to augmentColor(color) is invalid.
+\`color.main\` should be a string, but \`${JSON.stringify(y.main)}\` was provided instead.
+
+Did you intend to use one of the following approaches?
+
+import { green } from "@mui/material/colors";
+
+const theme1 = createTheme({ palette: {
+  primary: green,
+} });
+
+const theme2 = createTheme({ palette: {
+  primary: { main: green[500] },
+} });`:Bt(12,v?` (${v})`:"",JSON.stringify(y.main)));return i?(xl(i,y,"light",w,r),xl(i,y,"dark",E,r)):(yl(y,"light",w,r),yl(y,"dark",E,r)),y.contrastText||(y.contrastText=h(y.main)),y};let m;return t==="light"?m=zu():t==="dark"&&(m=Bu()),process.env.NODE_ENV!=="production"&&(m||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),$e({common:{...hr},mode:t,primary:f({color:s,name:"primary"}),secondary:f({color:a,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:f({color:l,name:"error"}),warning:f({color:d,name:"warning"}),info:f({color:c,name:"info"}),success:f({color:u,name:"success"}),grey:Om,contrastThreshold:n,getContrastText:h,augmentColor:f,tonalOffset:r,...m},o)}function Bm(e){const t={};return Object.entries(e).forEach(r=>{const[i,o]=r;typeof o=="object"&&(t[i]=`${o.fontStyle?`${o.fontStyle} `:""}${o.fontVariant?`${o.fontVariant} `:""}${o.fontWeight?`${o.fontWeight} `:""}${o.fontStretch?`${o.fontStretch} `:""}${o.fontSize||""}${o.lineHeight?`/${o.lineHeight} `:""}${o.fontFamily||""}`)}),t}function Gm(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function Vm(e){return Math.round(e*1e5)/1e5}const bl={textTransform:"uppercase"},vl='"Roboto", "Helvetica", "Arial", sans-serif';function Um(e,t){const{fontFamily:n=vl,fontSize:r=14,fontWeightLight:i=300,fontWeightRegular:o=400,fontWeightMedium:s=500,fontWeightBold:a=700,htmlFontSize:l=16,allVariants:c,pxToRem:u,...d}=typeof t=="function"?t(e):t;process.env.NODE_ENV!=="production"&&(typeof r!="number"&&console.error("MUI: `fontSize` is required to be a number."),typeof l!="number"&&console.error("MUI: `htmlFontSize` is required to be a number."));const h=r/14,f=u||(y=>`${y/l*h}rem`),m=(y,v,T,w,E)=>({fontFamily:n,fontWeight:y,fontSize:f(v),lineHeight:T,...n===vl?{letterSpacing:`${Vm(w/v)}em`}:{},...E,...c}),p={h1:m(i,96,1.167,-1.5),h2:m(i,60,1.2,-.5),h3:m(o,48,1.167,0),h4:m(o,34,1.235,.25),h5:m(o,24,1.334,0),h6:m(s,20,1.6,.15),subtitle1:m(o,16,1.75,.15),subtitle2:m(s,14,1.57,.1),body1:m(o,16,1.5,.15),body2:m(o,14,1.43,.15),button:m(s,14,1.75,.4,bl),caption:m(o,12,1.66,.4),overline:m(o,12,2.66,1,bl),inherit:{fontFamily:"inherit",fontWeight:"inherit",fontSize:"inherit",lineHeight:"inherit",letterSpacing:"inherit"}};return $e({htmlFontSize:l,pxToRem:f,fontFamily:n,fontSize:r,fontWeightLight:i,fontWeightRegular:o,fontWeightMedium:s,fontWeightBold:a,...p},d,{clone:!1})}const Wm=.2,Hm=.14,Ym=.12;function me(...e){return[`${e[0]}px ${e[1]}px ${e[2]}px ${e[3]}px rgba(0,0,0,${Wm})`,`${e[4]}px ${e[5]}px ${e[6]}px ${e[7]}px rgba(0,0,0,${Hm})`,`${e[8]}px ${e[9]}px ${e[10]}px ${e[11]}px rgba(0,0,0,${Ym})`].join(",")}const qm=["none",me(0,2,1,-1,0,1,1,0,0,1,3,0),me(0,3,1,-2,0,2,2,0,0,1,5,0),me(0,3,3,-2,0,3,4,0,0,1,8,0),me(0,2,4,-1,0,4,5,0,0,1,10,0),me(0,3,5,-1,0,5,8,0,0,1,14,0),me(0,3,5,-1,0,6,10,0,0,1,18,0),me(0,4,5,-2,0,7,10,1,0,2,16,1),me(0,5,5,-3,0,8,10,1,0,3,14,2),me(0,5,6,-3,0,9,12,1,0,3,16,2),me(0,6,6,-3,0,10,14,1,0,4,18,3),me(0,6,7,-4,0,11,15,1,0,4,20,3),me(0,7,8,-4,0,12,17,2,0,5,22,4),me(0,7,8,-4,0,13,19,2,0,5,24,4),me(0,7,9,-4,0,14,21,2,0,5,26,4),me(0,8,9,-5,0,15,22,2,0,6,28,5),me(0,8,10,-5,0,16,24,2,0,6,30,5),me(0,8,11,-5,0,17,26,2,0,6,32,5),me(0,9,11,-5,0,18,28,2,0,7,34,6),me(0,9,12,-6,0,19,29,2,0,7,36,6),me(0,10,13,-6,0,20,31,3,0,8,38,7),me(0,10,13,-6,0,21,33,3,0,8,40,7),me(0,10,14,-6,0,22,35,3,0,8,42,7),me(0,11,14,-7,0,23,36,3,0,9,44,8),me(0,11,15,-7,0,24,38,3,0,9,46,8)],Jm={easeInOut:"cubic-bezier(0.4, 0, 0.2, 1)",easeOut:"cubic-bezier(0.0, 0, 0.2, 1)",easeIn:"cubic-bezier(0.4, 0, 1, 1)",sharp:"cubic-bezier(0.4, 0, 0.6, 1)"},Km={shortest:150,shorter:200,short:250,standard:300,complex:375,enteringScreen:225,leavingScreen:195};function Sl(e){return`${Math.round(e)}ms`}function Xm(e){if(!e)return 0;const t=e/36;return Math.min(Math.round((4+15*t**.25+t/5)*10),3e3)}function Zm(e){const t={...Jm,...e.easing},n={...Km,...e.duration};return{getAutoHeightDuration:Xm,create:(i=["all"],o={})=>{const{duration:s=n.standard,easing:a=t.easeInOut,delay:l=0,...c}=o;if(process.env.NODE_ENV!=="production"){const u=h=>typeof h=="string",d=h=>!Number.isNaN(parseFloat(h));!u(i)&&!Array.isArray(i)&&console.error('MUI: Argument "props" must be a string or Array.'),!d(s)&&!u(s)&&console.error(`MUI: Argument "duration" must be a number or a string but found ${s}.`),u(a)||console.error('MUI: Argument "easing" must be a string.'),!d(l)&&!u(l)&&console.error('MUI: Argument "delay" must be a number or a string.'),typeof o!="object"&&console.error(["MUI: Secong argument of transition.create must be an object.","Arguments should be either `create('prop1', options)` or `create(['prop1', 'prop2'], options)`"].join(`
+`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(i)?i:[i]).map(u=>`${u} ${typeof s=="string"?s:Sl(s)} ${a} ${typeof l=="string"?l:Sl(l)}`).join(",")},...e,easing:t,duration:n}}const Qm={mobileStepper:1e3,fab:1050,speedDial:1050,appBar:1100,drawer:1200,modal:1300,snackbar:1400,tooltip:1500};function eg(e){return ct(e)||typeof e>"u"||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||Array.isArray(e)}function Gu(e={}){const t={...e};function n(r){const i=Object.entries(r);for(let o=0;o<i.length;o++){const[s,a]=i[o];!eg(a)||s.startsWith("unstable_")?delete r[s]:ct(a)&&(r[s]={...a},n(r[s]))}}return n(t),`import { unstable_createBreakpoints as createBreakpoints, createTransitions } from '@mui/material/styles';
+
+const theme = ${JSON.stringify(t,null,2)};
+
+theme.breakpoints = createBreakpoints(theme.breakpoints || {});
+theme.transitions = createTransitions(theme.transitions || {});
+
+export default theme;`}function wl(e){return typeof e=="number"?`${(e*100).toFixed(0)}%`:`calc((${e}) * 100%)`}const tg=e=>{if(!Number.isNaN(+e))return+e;const t=e.match(/\d*\.?\d+/g);if(!t)return 0;let n=0;for(let r=0;r<t.length;r+=1)n+=+t[r];return n};function ng(e){Object.assign(e,{alpha(t,n){const r=this||e;return r.colorSpace?`oklch(from ${t} l c h / ${typeof n=="string"?`calc(${n})`:n})`:r.vars?`rgba(${t.replace(/var\(--([^,\s)]+)(?:,[^)]+)?\)+/g,"var(--$1Channel)")} / ${typeof n=="string"?`calc(${n})`:n})`:Nu(t,tg(n))},lighten(t,n){const r=this||e;return r.colorSpace?`color-mix(in ${r.colorSpace}, ${t}, #fff ${wl(n)})`:to(t,n)},darken(t,n){const r=this||e;return r.colorSpace?`color-mix(in ${r.colorSpace}, ${t}, #000 ${wl(n)})`:eo(t,n)}})}function Ss(e={},...t){const{breakpoints:n,mixins:r={},spacing:i,palette:o={},transitions:s={},typography:a={},shape:l,colorSpace:c,...u}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":Bt(20));const d=Ws({...o,colorSpace:c}),h=Xi(e);let f=$e(h,{mixins:Gm(h.breakpoints,r),palette:d,shadows:qm.slice(),typography:Um(d,a),transitions:Zm(s),zIndex:{...Qm}});if(f=$e(f,u),f=t.reduce((m,p)=>$e(m,p),f),process.env.NODE_ENV!=="production"){const m=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],p=(y,v)=>{let T;for(T in y){const w=y[T];if(m.includes(T)&&Object.keys(w).length>0){if(process.env.NODE_ENV!=="production"){const E=fn("",T);console.error([`MUI: The \`${v}\` component increases the CSS specificity of the \`${T}\` internal state.`,"You can not override it like this: ",JSON.stringify(y,null,2),"",`Instead, you need to use the '&.${E}' syntax:`,JSON.stringify({root:{[`&.${E}`]:w}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
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Hs=Wu();function Hu(){const e=Iu(Hs);return process.env.NODE_ENV!=="production"&&j.useDebugValue(e),e[Gs]||e}function fg({props:e,name:t}){return $u({props:e,name:t,defaultTheme:Hs,themeId:Gs})}function Ys(e){return e!=="ownerState"&&e!=="theme"&&e!=="sx"&&e!=="as"}const pg=e=>Ys(e)&&e!=="classes",Ue=Pu({themeId:Gs,defaultTheme:Hs,rootShouldForwardProp:pg});function no(...e){const t=j.useRef(void 0),n=j.useCallback(r=>{const i=e.map(o=>{if(o==null)return null;if(typeof o=="function"){const s=o,a=s(r);return typeof a=="function"?a:()=>{s(null)}}return o.current=r,()=>{o.current=null}});return()=>{i.forEach(o=>o==null?void 0:o())}},e);return j.useMemo(()=>e.every(r=>r==null)?null:r=>{t.current&&(t.current(),t.current=void 0),r!=null&&(t.current=n(r))},e)}var mg=(e,t,n)=>{if(t.length===1&&t[0]===n){let r=!1;try{const i={};e(i)===i&&(r=!0)}catch{}if(r){let i;try{throw new Error}catch(o){({stack:i}=o)}console.warn(`The result function returned its own inputs without modification. e.g
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+ * @license React
+ * use-sync-external-store-shim.production.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var Ml;function Pg(){if(Ml)return Ho;Ml=1;var e=$;function t(d,h){return d===h&&(d!==0||1/d===1/h)||d!==d&&h!==h}var n=typeof Object.is=="function"?Object.is:t,r=e.useState,i=e.useEffect,o=e.useLayoutEffect,s=e.useDebugValue;function a(d,h){var f=h(),m=r({inst:{value:f,getSnapshot:h}}),p=m[0].inst,y=m[1];return o(function(){p.value=f,p.getSnapshot=h,l(p)&&y({inst:p})},[d,f,h]),i(function(){return l(p)&&y({inst:p}),d(function(){l(p)&&y({inst:p})})},[d]),s(f),f}function l(d){var h=d.getSnapshot;d=d.value;try{var f=h();return!n(d,f)}catch{return!0}}function c(d,h){return h()}var u=typeof window>"u"||typeof window.document>"u"||typeof window.document.createElement>"u"?c:a;return Ho.useSyncExternalStore=e.useSyncExternalStore!==void 0?e.useSyncExternalStore:u,Ho}var Yo={};/**
+ * @license React
+ * use-sync-external-store-shim.development.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var Rl;function Dg(){return Rl||(Rl=1,process.env.NODE_ENV!=="production"&&(function(){function e(f,m){return f===m&&(f!==0||1/f===1/m)||f!==f&&m!==m}function t(f,m){u||i.startTransition===void 0||(u=!0,console.error("You are using an outdated, pre-release alpha of React 18 that does not support useSyncExternalStore. The use-sync-external-store shim will not work correctly. Upgrade to a newer pre-release."));var p=m();if(!d){var y=m();o(p,y)||(console.error("The result of getSnapshot should be cached to avoid an infinite loop"),d=!0)}y=s({inst:{value:p,getSnapshot:m}});var v=y[0].inst,T=y[1];return l(function(){v.value=p,v.getSnapshot=m,n(v)&&T({inst:v})},[f,p,m]),a(function(){return n(v)&&T({inst:v}),f(function(){n(v)&&T({inst:v})})},[f]),c(p),p}function n(f){var m=f.getSnapshot;f=f.value;try{var p=m();return!o(f,p)}catch{return!0}}function r(f,m){return m()}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var i=$,o=typeof Object.is=="function"?Object.is:e,s=i.useState,a=i.useEffect,l=i.useLayoutEffect,c=i.useDebugValue,u=!1,d=!1,h=typeof window>"u"||typeof window.document>"u"||typeof window.document.createElement>"u"?r:t;Yo.useSyncExternalStore=i.useSyncExternalStore!==void 0?i.useSyncExternalStore:h,typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop(Error())})()),Yo}var Al;function Js(){return Al||(Al=1,process.env.NODE_ENV==="production"?Vr.exports=Pg():Vr.exports=Dg()),Vr.exports}var $g=Js(),Ur={exports:{}},qo={};/**
+ * @license React
+ * use-sync-external-store-shim/with-selector.production.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var Il;function Lg(){if(Il)return qo;Il=1;var e=$,t=Js();function n(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}var r=typeof Object.is=="function"?Object.is:n,i=t.useSyncExternalStore,o=e.useRef,s=e.useEffect,a=e.useMemo,l=e.useDebugValue;return qo.useSyncExternalStoreWithSelector=function(c,u,d,h,f){var m=o(null);if(m.current===null){var p={hasValue:!1,value:null};m.current=p}else p=m.current;m=a(function(){function v(S){if(!T){if(T=!0,w=S,S=h(S),f!==void 0&&p.hasValue){var C=p.value;if(f(C,S))return E=C}return E=S}if(C=E,r(w,S))return C;var I=h(S);return f!==void 0&&f(C,I)?(w=S,C):(w=S,E=I)}var T=!1,w,E,R=d===void 0?null:d;return[function(){return v(u())},R===null?void 0:function(){return v(R())}]},[u,d,h,f]);var y=i(c,m[0],m[1]);return s(function(){p.hasValue=!0,p.value=y},[y]),l(y),y},qo}var Jo={};/**
+ * @license React
+ * use-sync-external-store-shim/with-selector.development.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var jl;function Ng(){return jl||(jl=1,process.env.NODE_ENV!=="production"&&(function(){function e(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var t=$,n=Js(),r=typeof Object.is=="function"?Object.is:e,i=n.useSyncExternalStore,o=t.useRef,s=t.useEffect,a=t.useMemo,l=t.useDebugValue;Jo.useSyncExternalStoreWithSelector=function(c,u,d,h,f){var m=o(null);if(m.current===null){var p={hasValue:!1,value:null};m.current=p}else p=m.current;m=a(function(){function v(S){if(!T){if(T=!0,w=S,S=h(S),f!==void 0&&p.hasValue){var C=p.value;if(f(C,S))return E=C}return E=S}if(C=E,r(w,S))return C;var I=h(S);return f!==void 0&&f(C,I)?(w=S,C):(w=S,E=I)}var T=!1,w,E,R=d===void 0?null:d;return[function(){return v(u())},R===null?void 0:function(){return v(R())}]},[u,d,h,f]);var y=i(c,m[0],m[1]);return 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ChartContainer does not have `width` prop, and its container has no `width` defined."),i.current.displayError=!1),i.current.displayError&&e.height===void 0&&a===0&&(console.error("MUI X Charts: ChartContainer does not have `height` prop, and its container has no `height` defined."),i.current.displayError=!1));const u=t.use(gt),d=j.useCallback(m=>m>=u.left-1&&m<=u.left+u.width,[u.left,u.width]),h=j.useCallback(m=>m>=u.top-1&&m<=u.top+u.height,[u.height,u.top]);return{instance:{isPointInside:j.useCallback((m,p,y)=>y&&"closest"in y&&y.closest("[data-drawing-container]")?!0:d(m)&&h(p),[d,h]),isXInside:d,isYInside:h}}};io.params={width:!0,height:!0,margin:!0};io.getDefaultizedParams=({params:e})=>G({},e,{margin:Xu(e.margin,i0)});io.getInitialState=({width:e,height:t,margin:n})=>({dimensions:{margin:n,width:e??0,height:t??0,propsWidth:e,propsHeight:t}});const Xs=({params:e,store:t})=>(pt(()=>{t.set("experimentalFeatures",e.experimentalFeatures)},[t,e.experimentalFeatures]),{});Xs.params={experimentalFeatures:!0};Xs.getInitialState=({experimentalFeatures:e})=>({experimentalFeatures:e});const x0=e=>e.experimentalFeatures,oo=X(x0,e=>!!(e!=null&&e.preferStrictDomainInLineCharts));let Pl=0;const b0=()=>(Pl+=1,`mui-chart-${Pl}`),Zs=({params:e,store:t})=>(j.useEffect(()=>{e.id===void 0||e.id===t.state.id.providedChartId&&t.state.id.chartId!==void 0||t.set("id",G({},t.state.id,{chartId:e.id??b0()}))},[t,e.id]),{});Zs.params={id:!0};Zs.getInitialState=({id:e})=>({id:{chartId:e,providedChartId:e}});const v0=e=>e.id,S0=X(v0,e=>e.chartId);function rt(e){const t=j.useRef(e);return pt(()=>{t.current=e}),j.useRef((...n)=>(0,t.current)(...n)).current}const w0=["#4254FB","#FFB422","#FA4F58","#0DBEFF","#22BF75","#FA83B4","#FF7511"],E0=["#495AFB","#FFC758","#F35865","#30C8FF","#44CE8D","#F286B3","#FF8C39"],Zu=e=>e==="dark"?E0:w0,Qu=({series:e,colors:t,seriesConfig:n})=>{const r={};return e.forEach((i,o)=>{var l;const s=n[i.type].getSeriesWithDefaultValues(i,o,t),a=s.id;if(r[i.type]===void 0&&(r[i.type]={series:{},seriesOrder:[]}),((l=r[i.type])==null?void 0:l.series[a])!==void 0)throw new Error(`MUI X Charts: series' id "${a}" is not unique.`);r[i.type].series[a]=s,r[i.type].seriesOrder.push(a)}),r},T0=(e,t,n)=>{const r={};return Object.keys(t).forEach(i=>{var s,a;const o=e[i];o!==void 0&&(r[i]=((a=(s=t[i])==null?void 0:s.seriesProcessor)==null?void 0:a.call(s,o,n))??o)}),r},C0=(e,t,n)=>{let r=!1;const i={};return Object.keys(e).forEach(o=>{var l;const s=(l=t[o])==null?void 0:l.seriesLayout,a=e[o];if(s!==void 0&&a!==void 0){const c=s(a,n);c&&c!==e[o]&&(r=!0,i[o]=c)}}),r?i:{}},_0=(e,t)=>{var r;const n=(r=e[t.type])==null?void 0:r.identifierSerializer;if(!n)throw new Error(`MUI X Charts: No identifier serializer found for series type "${t.type}".`);return n(t)},so=({params:e,store:t,seriesConfig:n})=>{const{series:r,dataset:i,theme:o,colors:s}=e;return Ju(()=>{t.set("series",G({},t.state.series,{defaultizedSeries:Qu({series:r,colors:typeof s=="function"?s(o):s,seriesConfig:n}),dataset:i}))},[s,i,r,o,n,t]),{instance:{serializeIdentifier:rt(l=>_0(n,l))}}};so.params={dataset:!0,series:!0,colors:!0,theme:!0};const M0=[];so.getDefaultizedParams=({params:e})=>{var t;return G({},e,{series:(t=e.series)!=null&&t.length?e.series:M0,colors:e.colors??Zu,theme:e.theme??"light"})};so.getInitialState=({series:e=[],colors:t,theme:n,dataset:r},i,o)=>({series:{seriesConfig:o,defaultizedSeries:Qu({series:e,colors:typeof t=="function"?t(n):t,seriesConfig:o}),dataset:r}});const Qs=e=>e.series,R0=X(Qs,e=>e.defaultizedSeries),Wt=X(Qs,e=>e.seriesConfig),A0=X(Qs,e=>e.dataset),Le=Me(R0,Wt,A0,function(t,n,r){return T0(t,n,r)});Me(Le,Wt,gt,function(t,n,r){return C0(t,n,r)});const I0={abort:!0,animationcancel:!0,animationend:!0,animationiteration:!0,animationstart:!0,auxclick:!0,beforeinput:!0,beforetoggle:!0,blur:!0,cancel:!0,canplay:!0,canplaythrough:!0,change:!0,click:!0,close:!0,compositionend:!0,compositionstart:!0,compositionupdate:!0,contextlost:!0,contextmenu:!0,contextrestored:!0,copy:!0,cuechange:!0,cut:!0,dblclick:!0,drag:!0,dragend:!0,dragenter:!0,dragleave:!0,dragover:!0,dragstart:!0,drop:!0,durationchange:!0,emptied:!0,ended:!0,error:!0,focus:!0,focusin:!0,focusout:!0,formdata:!0,gotpointercapture:!0,input:!0,invalid:!0,keydown:!0,keypress:!0,keyup:!0,load:!0,loadeddata:!0,loadedmetadata:!0,loadstart:!0,lostpointercapture:!0,mousedown:!0,mouseenter:!0,mouseleave:!0,mousemove:!0,mouseout:!0,mouseover:!0,mouseup:!0,paste:!0,pause:!0,play:!0,playing:!0,pointercancel:!0,pointerdown:!0,pointerenter:!0,pointerleave:!0,pointermove:!0,pointerout:!0,pointerover:!0,pointerup:!0,progress:!0,ratechange:!0,reset:!0,resize:!0,scroll:!0,scrollend:!0,securitypolicyviolation:!0,seeked:!0,seeking:!0,select:!0,selectionchange:!0,selectstart:!0,slotchange:!0,stalled:!0,submit:!0,suspend:!0,timeupdate:!0,toggle:!0,touchcancel:!0,touchend:!0,touchmove:!0,touchstart:!0,transitioncancel:!0,transitionend:!0,transitionrun:!0,transitionstart:!0,volumechange:!0,waiting:!0,webkitanimationend:!0,webkitanimationiteration:!0,webkitanimationstart:!0,webkittransitionend:!0,wheel:!0,beforematch:!0,pointerrawupdate:!0};class ed{constructor(t){H(this,"customData",{});H(this,"handleOptionsChange",t=>{t&&t.detail&&this.updateOptions(t.detail)});H(this,"handleStateChange",t=>{t&&t.detail&&this.updateState(t.detail)});if(!t||!t.name)throw new Error("Gesture must be initialized with a valid name.");if(t.name in I0)throw new Error(`Gesture can't be created with a native event name. Tried to use "${t.name}". Please use a custom name instead.`);this.name=t.name,this.preventDefault=t.preventDefault??!1,this.stopPropagation=t.stopPropagation??!1,this.preventIf=t.preventIf??[],this.requiredKeys=t.requiredKeys??[],this.pointerMode=t.pointerMode??[],this.pointerOptions=t.pointerOptions??{}}init(t,n,r,i){this.element=t,this.pointerManager=n,this.gesturesRegistry=r,this.keyboardManager=i;const o=`${this.name}ChangeOptions`;this.element.addEventListener(o,this.handleOptionsChange);const s=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode,this.pointerOptions=t.pointerOptions??this.pointerOptions}getBaseConfig(){return{requiredKeys:this.requiredKeys}}getEffectiveConfig(t,n){if(t!=="mouse"&&t!=="touch"&&t!=="pen")return n;const r=this.pointerOptions[t];return r?G({},n,r):n}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||"contains"in this.element&&this.element.contains(t.target)||"getRootNode"in this.element&&this.element.getRootNode()instanceof ShadowRoot&&t.composedPath().includes(this.element)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t,n){const r=this.getEffectiveConfig(n,this.getBaseConfig());if(!this.keyboardManager.areKeysPressed(r.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const i=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(o=>i[o])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange);const n=`${this.name}ChangeState`;this.element.removeEventListener(n,this.handleStateChange)}}class j0{constructor(){H(this,"activeGestures",new Map)}registerActiveGesture(t,n){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const r=this.activeGestures.get(t),i={gesture:n,element:t};r.add(i)}unregisterActiveGesture(t,n){const r=this.activeGestures.get(t);r&&(r.forEach(i=>{i.gesture===n&&r.delete(i)}),r.size===0&&this.activeGestures.delete(t))}getActiveGestures(t){const n=this.activeGestures.get(t);return n?Array.from(n).reduce((r,i)=>(r[i.gesture.name]=!0,r),{}):{}}isGestureActive(t,n){const r=this.activeGestures.get(t);return r?Array.from(r).some(i=>i.gesture===n):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class k0{constructor(){H(this,"pressedKeys",new Set);H(this,"handleKeyDown",t=>{this.pressedKeys.add(t.key)});H(this,"handleKeyUp",t=>{this.pressedKeys.delete(t.key)});H(this,"clearKeys",()=>{this.pressedKeys.clear()});this.initialize()}initialize(){typeof window>"u"||(window.addEventListener("keydown",this.handleKeyDown),window.addEventListener("keyup",this.handleKeyUp),window.addEventListener("blur",this.clearKeys))}areKeysPressed(t){return!t||t.length===0?!0:t.every(n=>n==="ControlOrMeta"?navigator.platform.includes("Mac")?this.pressedKeys.has("Meta"):this.pressedKeys.has("Control"):this.pressedKeys.has(n))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class O0{constructor(t){H(this,"preventEventInterruption",!0);H(this,"pointers",new Map);H(this,"gestureHandlers",new Set);H(this,"handleInterruptEvents",t=>{if(this.preventEventInterruption&&"pointerType"in t&&t.pointerType==="touch"){t.preventDefault();return}const n=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),r=this.pointers.values().next().value;if(this.pointers.size>0&&r){Object.defineProperties(n,{clientX:{value:r.clientX},clientY:{value:r.clientY},pointerId:{value:r.pointerId},pointerType:{value:r.pointerType}});for(const[i,o]of this.pointers.entries()){const s=G({},o,{type:"forceCancel"});this.pointers.set(i,s)}}this.notifyHandlers(n),this.pointers.clear()});H(this,"handlePointerEvent",t=>{const{type:n,pointerId:r}=t;if(n==="pointerdown"||n==="pointermove")this.pointers.set(r,this.createPointerData(t));else if(n==="pointerup"||n==="pointercancel"||n==="forceCancel"){this.pointers.set(r,this.createPointerData(t)),this.notifyHandlers(t),this.pointers.delete(r);return}this.notifyHandlers(t)});this.root=t.root??document.getRootNode({composed:!0})??document.body,this.touchAction=t.touchAction||"auto",this.passive=t.passive??!1,this.preventEventInterruption=t.preventEventInterruption??!0,this.setupEventListeners()}registerGestureHandler(t){return this.gestureHandlers.add(t),()=>{this.gestureHandlers.delete(t)}}getPointers(){return new Map(this.pointers)}setupEventListeners(){this.touchAction!=="auto"&&(this.root.style.touchAction=this.touchAction),this.root.addEventListener("pointerdown",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointermove",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointerup",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointercancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("forceCancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("blur",this.handleInterruptEvents),this.root.addEventListener("contextmenu",this.handleInterruptEvents)}notifyHandlers(t){this.gestureHandlers.forEach(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 P0{constructor(t){H(this,"gestureTemplates",new Map);H(this,"elementGestureMap",new Map);H(this,"activeGesturesRegistry",new j0);H(this,"keyboardManager",new k0);this.pointerManager=new O0({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 pn extends ed{constructor(n){super(n);H(this,"unregisterHandler",null);H(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 D0(e,t){const n=t.x-e.x,r=t.y-e.y;return Math.sqrt(n*n+r*r)}function Wr(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+=D0({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 nt(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 Xe(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Hr=1e-5,$t=1e-5,Dl=.15;function $0(e,t){const n=t.x-e.x,r=t.y-e.y,i={vertical:null,horizontal:null,mainAxis:null},o=L0(t,e),s=Math.abs(n)>Math.abs(r)?"horizontal":"vertical",a=o||s==="horizontal"?Hr:Dl,l=o?Hr:s==="horizontal"?Dl:Hr;return Math.abs(n)>a&&(i.horizontal=n>0?"right":"left"),Math.abs(r)>l&&(i.vertical=r>0?"down":"up"),i.mainAxis=o?"diagonal":s,i}function L0(e,t){const n=t.x-e.x,r=t.y-e.y,i=Math.atan2(r,n)*180/Math.PI;return i>=-45+$t&&i<=-22.5+$t||i>=22.5+$t&&i<=45+$t||i>=135+$t&&i<=157.5+$t||i>=-157.5+$t&&i<=-135+$t}function N0(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 $l=0,z0=e=>e>$l?1:e<-$l?-1:0,Nt=e=>{e.cancelable&&e.preventDefault()};class ea extends pn{constructor(n){super(n);H(this,"state",{lastPosition:null});H(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)}});H(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()});H(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 ea(G({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||nt(i),a=this.gesturesRegistry.getActiveGestures(n),l={gestureName:this.name,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,activeGestures:a,customData:this.customData},c=Xe(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,composed:!0,detail:l});n.dispatchEvent(u)}}class sn extends pn{constructor(n){super(n);H(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});H(this,"handlePointerEvent",(n,r)=>{var a;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":if(!this.isActive&&!this.state.startCentroid)s.forEach(l=>{this.state.startPointers.set(l.pointerId,l)}),this.originalTarget=o,this.state.startCentroid=nt(s),this.state.lastCentroid=G({},this.state.startCentroid);else if(this.state.startCentroid&&this.state.lastCentroid){const l=this.state.lastCentroid,c=nt(s),u=c.x-l.x,d=c.y-l.y;this.state.startCentroid={x:this.state.startCentroid.x+u,y:this.state.startCentroid.y+d},this.state.lastCentroid=c,s.forEach(h=>{this.state.startPointers.has(h.pointerId)||this.state.startPointers.set(h.pointerId,h)})}break;case"pointermove":if(this.state.startCentroid&&this.isWithinPointerCount(i,r.pointerType)){const l=nt(s),c=l.x-this.state.startCentroid.x,u=l.y-this.state.startCentroid.y,d=Math.sqrt(c*c+u*u),h=$0(this.state.lastCentroid??this.state.startCentroid,l),f=this.state.lastCentroid?l.x-this.state.lastCentroid.x:0,m=this.state.lastCentroid?l.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&d>=this.threshold&&N0(h,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:f,y:m},this.state.totalDeltaX+=f,this.state.totalDeltaY+=m,this.state.activeDeltaX+=f,this.state.activeDeltaY+=m,this.emitPanEvent(o,"start",s,r,l),this.emitPanEvent(o,"ongoing",s,r,l)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:f,y:m},this.state.totalDeltaX+=f,this.state.totalDeltaY+=m,this.state.activeDeltaX+=f,this.state.activeDeltaY+=m,this.emitPanEvent(o,"ongoing",s,r,l)),this.state.lastCentroid=l,this.state.lastDirection=h}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){const l=s.filter(c=>c.type!=="pointerup"&&c.type!=="pointercancel");if(this.isWithinPointerCount(l,r.pointerType)){if(l.length>=1&&this.state.lastCentroid){const c=nt(l),u=c.x-this.state.lastCentroid.x,d=c.y-this.state.lastCentroid.y;this.state.startCentroid={x:this.state.startCentroid.x+u,y:this.state.startCentroid.y+d},this.state.lastCentroid=c;const h=(a=s.find(f=>f.type==="pointerup"||f.type==="pointercancel"))==null?void 0:a.pointerId;h!==void 0&&this.state.startPointers.delete(h)}}else{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 sn(G({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=G({},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 T,w;if(!this.state.startCentroid)return;const a=((T=this.state.lastDeltas)==null?void 0:T.x)??0,l=((w=this.state.lastDeltas)==null?void 0:w.y)??0,c=this.state.startPointers.values().next().value,u=c?(o.timeStamp-c.timeStamp)/1e3:0,d=u>0?a/u:0,h=u>0?l/u:0,f=Math.sqrt(d*d+h*h),m=this.gesturesRegistry.getActiveGestures(n),p={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,deltaX:a,deltaY:l,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},y=Xe(this.name,r),v=new CustomEvent(y,{bubbles:!0,cancelable:!0,composed:!0,detail:p});n.dispatchEvent(v),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 ta extends pn{constructor(n){super(G({},n,{minPointers:n.minPointers??2}));H(this,"state",{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0});H(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=Wr(s);this.state.startDistance=a,this.state.lastDistance=a,this.state.lastTime=r.timeStamp,this.originalTarget=o}else if(this.isActive&&s.length>=2){const a=Wr(s);this.state.startDistance=a/this.state.lastScale,this.state.lastDistance=a,this.state.lastTime=r.timeStamp}break;case"pointermove":if(this.state.startDistance&&this.isWithinPointerCount(s,r.pointerType)){const a=Wr(s),l=Math.abs(a-this.state.lastDistance);if(l!==0&&l>=this.threshold){const c=this.state.startDistance?a/this.state.startDistance:1,u=c/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=c-this.state.lastScale,this.state.lastScale=c,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(l=>l.type!=="pointerup"&&l.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 l=Wr(a);this.state.startDistance=l/this.state.lastScale,this.state.lastDistance=l,this.state.lastTime=r.timeStamp}}break}});this.threshold=n.threshold??0}clone(n){return new ta(G({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=G({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}emitPinchEvent(n,r,i,o){const s=nt(i),a=this.state.lastDistance,l=this.state.lastScale,c=this.gesturesRegistry.getActiveGestures(n),u={gestureName:this.name,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,scale:l,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:a,velocity:this.state.velocity,activeGestures:c,direction:z0(this.state.velocity),customData:this.customData};this.preventDefault&&o.preventDefault(),this.stopPropagation&&o.stopPropagation();const d=Xe(this.name,r),h=new CustomEvent(d,{bubbles:!0,cancelable:!0,composed:!0,detail:u});n.dispatchEvent(h)}}class ao extends pn{constructor(n){super(n);H(this,"state",{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1});H(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=nt(s),this.state.lastPosition=G({},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=nt(s);this.state.lastPosition=a;const l=a.x-this.state.startCentroid.x,c=a.y-this.state.startCentroid.y;Math.sqrt(l*l+c*c)>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 ao(G({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=G({},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),l=o.timeStamp-this.state.startTime,c={gestureName:this.name,centroid:s,target:o.target,srcEvent:o,phase:r,pointers:i,timeStamp:o.timeStamp,x:s.x,y:s.y,duration:l,activeGestures:a,customData:this.customData},u=Xe(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,composed:!0,detail:c});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 na extends pn{constructor(n){super(n);H(this,"state",{phase:"waitingForPress",dragTimeoutId:null});H(this,"pressHandler",()=>{this.state.phase==="waitingForPress"&&(this.state.phase="pressDetected",this.setTouchAction(),this.state.dragTimeoutId=setTimeout(()=>{this.resetState()},this.dragTimeout))});H(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(Xe(this.name,n.detail.phase),n)))});H(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Xe(this.name,n.detail.phase),n))});H(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(Xe(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 ao({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 sn({name:`${this.name}-pan`,minPointers:this.minPointers,maxPointers:this.maxPointers,threshold:this.dragThreshold,direction:this.dragDirection,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)})}clone(n){return new na(G({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,pressDuration:this.pressDuration,pressMaxDistance:this.pressMaxDistance,dragTimeout:this.dragTimeout,dragThreshold:this.dragThreshold,dragDirection:[...this.dragDirection],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf],pointerOptions:structuredClone(this.pointerOptions)},n))}init(n,r,i,o){super.init(n,r,i,o),this.pressGesture.init(n,r,i,o),this.panGesture.init(n,r,i,o),this.element.addEventListener(this.pressGesture.name,this.pressHandler),this.element.addEventListener(`${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",Nt,{passive:!1}),this.element.addEventListener("touchmove",Nt,{passive:!1}),this.element.addEventListener("touchend",Nt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",Nt),this.element.removeEventListener("touchmove",Nt),this.element.removeEventListener("touchend",Nt)}}class fr extends pn{constructor(n){super(n);H(this,"state",{startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null});H(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=nt(s),this.state.lastPosition=G({},this.state.startCentroid),this.isActive=!0,this.originalTarget=o);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const a=nt(s);this.state.lastPosition=a;const l=a.x-this.state.startCentroid.x,c=a.y-this.state.startCentroid.y;Math.sqrt(l*l+c*c)>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 fr(G({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},l=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,composed:!0,detail:a});n.dispatchEvent(l),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},l=Xe(this.name,"cancel"),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,composed:!0,detail:a});n.dispatchEvent(c)}this.resetState()}}class ra extends pn{constructor(n){super(n);H(this,"state",{phase:"waitingForTap",dragTimeoutId:null});H(this,"tapHandler",()=>{this.state.phase==="waitingForTap"&&(this.state.phase="tapDetected",this.setTouchAction(),this.state.dragTimeoutId=setTimeout(()=>{this.resetState()},this.dragTimeout))});H(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(Xe(this.name,n.detail.phase),n)))});H(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Xe(this.name,n.detail.phase),n))});H(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(Xe(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 fr({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 sn({name:`${this.name}-pan`,minPointers:this.minPointers,maxPointers:this.maxPointers,threshold:this.dragThreshold,direction:this.dragDirection,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)})}clone(n){return new ra(G({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,tapMaxDistance:this.tapMaxDistance,dragTimeout:this.dragTimeout,dragThreshold:this.dragThreshold,dragDirection:[...this.dragDirection],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf],pointerOptions:structuredClone(this.pointerOptions)},n))}init(n,r,i,o){super.init(n,r,i,o),this.tapGesture.init(n,r,i,o),this.panGesture.init(n,r,i,o),this.element.addEventListener(this.tapGesture.name,this.tapHandler),this.element.addEventListener(`${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",Nt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",Nt)}}class bi extends ed{constructor(n){super(n);H(this,"state",{totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0});H(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 bi(G({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?nt(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=Xe(this.name,"ongoing"),l=new CustomEvent(a,{bubbles:!0,cancelable:!0,composed:!0,detail:s});this.element.dispatchEvent(l)}}const Rn=e=>e.preventDefault(),ia=({svgRef:e})=>{const t=j.useRef(null);j.useEffect(()=>{const i=e.current;t.current||(t.current=new P0({gestures:[new sn({name:"pan",threshold:0,maxPointers:1}),new ea({name:"move",preventIf:["pan","zoomPinch","zoomPan"]}),new fr({name:"tap",preventIf:["pan","zoomPinch","zoomPan"]}),new ao({name:"quickPress",duration:50}),new sn({name:"brush",threshold:0,maxPointers:1}),new sn({name:"zoomPan",threshold:0,preventIf:["zoomTapAndDrag","zoomPressAndDrag"]}),new ta({name:"zoomPinch",threshold:5}),new bi({name:"zoomTurnWheel",sensitivity:.01,initialDelta:1}),new bi({name:"panTurnWheel",sensitivity:.5}),new ra({name:"zoomTapAndDrag",dragThreshold:10}),new na({name:"zoomPressAndDrag",dragThreshold:10,preventIf:["zoomPinch"]}),new fr({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=j.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=j.useCallback((i,o)=>{const s=e.current,a=t.current;!a||!s||a.setGestureOptions(i,s,o??{})},[e,t]);return j.useEffect(()=>{const i=e.current;return i==null||i.addEventListener("gesturestart",Rn),i==null||i.addEventListener("gesturechange",Rn),i==null||i.addEventListener("gestureend",Rn),()=>{i==null||i.removeEventListener("gesturestart",Rn),i==null||i.removeEventListener("gesturechange",Rn),i==null||i.removeEventListener("gestureend",Rn)}},[e]),{instance:{addInteractionListener:n,updateZoomInteractionListeners:r}}};ia.params={};ia.getInitialState=()=>({});const F0=[Zs,Xs,io,so,ia,ro],B0=["apiRef"],G0=e=>{let{plugins:t}=e,n=ft(e.props,B0);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 Ll=0;function V0(e,t,n){const r=bm(),i=j.useMemo(()=>[...F0,...e],[e]),o=G0({plugins:i,props:t});o.id=o.id??r;const a=j.useRef({}).current,l=W0(t.apiRef),c=j.useRef(null),u=j.useRef(null),d=j.useRef(null);if(d.current==null){Ll+=1;const m={cacheKey:{id:Ll}};i.forEach(p=>{p.getInitialState&&Object.assign(m,p.getInitialState(o,m,n))}),d.current=new Ks(m)}const h=m=>{const p=m({instance:a,params:o,plugins:i,store:d.current,svgRef:u,chartRootRef:c,seriesConfig:n});p.publicAPI&&Object.assign(l.current,p.publicAPI),p.instance&&Object.assign(a,p.instance)};return i.forEach(h),{contextValue:j.useMemo(()=>({store:d.current,publicAPI:l.current,instance:a,svgRef:u,chartRootRef:c}),[a,l])}}function U0(e){return e.current==null&&(e.current={}),e}function W0(e){const t=j.useRef({});return e?U0(e):t}const oa=j.createContext(null);process.env.NODE_ENV!=="production"&&(oa.displayName="ChartContext");const Nl=new Set;function Fn(e,t="warning"){if(process.env.NODE_ENV==="production")return;const n=Array.isArray(e)?e.join(`
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r=0;r<t.length;r++)if(Math.abs(t[r]-e[r])>n)return!1;return!0}function Mh(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 Ua(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&Mh(e.tcp_pose,t.tcp_pose,n)}function Rh(e,t){const n=new ms.Vector3(t[0],t[1],t[2]),r=new ms.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 l=s-i;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=i+l,[...a.multiplyScalar(s)]}const Bc=1e-4;class Ro{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 c;const l=(c=Ee.tryParseJson(a.data))==null?void 0:c.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${a.data}`);Va(this.rapidlyChangingMotionState.joint_position,l.joint_position,Bc)||he.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),Ua(this.rapidlyChangingMotionState,l,Bc)||he.runInAction(()=>{var u,d,h;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:(u=l.tcp_pose)!=null&&u.orientation&&((d=l.tcp_pose)!=null&&d.position)&&((h=this.rapidlyChangingMotionState.tcp_pose)!=null&&h.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:Rh(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",l.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==l.standstill&&he.runInAction(()=>{this.rapidlyChangingMotionState.standstill=l.standstill})}),he.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`),l=await a.firstMessage(),c=(d=Ee.tryParseJson(l.data))==null?void 0:d.result;if(!c)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
+  `,c);const u=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group);return new Ro(t,o,s,u,c,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Gc="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class Ao{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 Ro.open(t,n),o=new Ao(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,l,c;const o=Ee.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&&((l=o==null?void 0:o.result)!=null&&l.message.includes(Gc))){(c=this.joggingSocket)==null||c.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[Ee.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[Ee.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 y=[...t.position];y[Ee.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:y,orientation:t.orientation}}})}else if(s.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const y=new Nn(t.orientation[0],t.orientation[1],t.orientation[2]),v=y.length(),T=y.clone().normalize(),w=s.distanceRads*(o==="-"?-1:1),E=new Nn(0,0,0);E[i]=1;const R=Math.cos(.5*w)*Math.cos(.5*v),S=Math.sin(.5*w)*Math.sin(.5*v),C=Math.sin(.5*w)*Math.cos(.5*v),I=Math.cos(.5*w)*Math.sin(.5*v),k=E.dot(T),P=E.clone().cross(T),D=2*Math.acos(R-S*k),g=D/Math.sin(.5*D),A=new Nn().addScaledVector(P,S).addScaledVector(E,C).addScaledVector(T,I).multiplyScalar(g);a.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...A]}}})}const l=this.motionStream.description;if(l.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const c={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},u=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:c,start_joint_position:n,motion_commands:a}),d=u.response;if(!d)throw new Error(`Failed to plan jogging increment motion 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v=requestAnimationFrame(T),()=>{v&&cancelAnimationFrame(v)}},[d]),{timerState:o,controls:{start:h,pause:f,resume:m,reset:p,isPaused:y}}},$5=x.externalizeComponent(oe.observer(({onTimerReady:e,autoStart:t=!0,variant:n="default",compact:r=!1,className:i,hasError:o=!1})=>{const{animationState:s,triggerPauseAnimation:a,triggerErrorAnimation:l,clearErrorAnimation:c,setInitialAnimationState:u,cleanup:d}=P5(),{timerState:h,controls:f}=D5({autoStart:t,hasError:o,onPauseAnimation:a,onErrorAnimation:l,onClearErrorAnimation:c});return $.useEffect(()=>{u()},[u]),$.useEffect(()=>{let m=!0;const p=setTimeout(()=>{m&&e(f)},0);return()=>{m=!1,clearTimeout(p)}},[e,f]),$.useEffect(()=>d,[d]),n==="small"?x.jsxRuntimeExports.jsx(O5,{timerState:h,animationState:s,hasError:o,compact:r,className:i}):x.jsxRuntimeExports.jsx(k5,{timerState:h,animationState:s,hasError:o,className:i})})),xu=1e-4,L5={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class Fi{constructor(t,n,r,i,o,s,a,l,c,u){this.nova=t,this.controller=n,this.motionGroup=r,this.initialMotionState=i,this.motionStateSocket=o,this.isVirtual=s,this.tcps=a,this.description=l,this.initialControllerState=c,this.controllerStateSocket=u,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=i,this.controllerState=c,u.addEventListener("message",d=>{var f;const h=(f=Ee.tryParseJson(d.data))==null?void 0:f.result;h&&he.runInAction(()=>{this.controllerState=h})}),o.addEventListener("message",d=>{var f;const h=(f=Ee.tryParseJson(d.data))==null?void 0:f.result;if(!h)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);Va(this.rapidlyChangingMotionState.joint_position,h.joint_position,xu)||he.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=h.joint_position}),Ua(this.rapidlyChangingMotionState,h,xu)||he.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose}),this.rapidlyChangingMotionState.standstill!==h.standstill&&he.runInAction(()=>{this.rapidlyChangingMotionState.standstill=h.standstill})}),he.makeAutoObservable(this)}static async connectMultiple(t,n){return Promise.all(n.map(r=>Fi.connect(t,r)))}static async connect(t,n){var v,T;const[r,i]=n.split("@"),o=await t.api.controller.getCurrentRobotControllerState(i),s=o==null?void 0:o.motion_groups.find(w=>w.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`),l=await a.firstMessage(),c=(v=Ee.tryParseJson(l.data))==null?void 0:v.result;if(!c)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
+  `,c);const d=(await t.api.controller.getRobotController(o.controller)).configuration.kind==="VirtualController",h=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group),f=Object.entries(h.tcps||{}).map(([w,E])=>({id:w,readable_name:E.name,position:E.pose.position,orientation:E.pose.orientation})),m=t.openReconnectingWebsocket(`/controllers/${o.controller}/state-stream?response_rate=1000`),p=await m.firstMessage(),y=(T=Ee.tryParseJson(p.data))==null?void 0:T.result;if(!y)throw new Error(`Unable to parse initial controller state message ${p.data}`);return console.log(`Connected controller state websocket to controller ${o.controller}. Initial state:
+  `,y),new Fi(t,o,s,c,a,d,f,h,y,m)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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=>({...L5,...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,l,c;const t=new Za.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,((c=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:c[2])||0),n=t.length(),r=t.normalize();return new Za.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}he.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),he.runInAction(()=>{this.activationState="inactive"})}catch(t){throw he.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}he.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),he.runInAction(()=>{this.activationState="active"})}catch(t){throw he.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 nf(){var t,n,r,i,o,s,a;const e=M.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${e.palette.divider} transparent`},".MuiDataGrid-panelContent":{borderRadius:"16px !important","& .MuiPaper-root":{borderRadius:"16px !important"}},".MuiDataGrid-filterForm":{borderRadius:"16px !important","& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}},"& .MuiTextField-root":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}},".MuiDataGrid-filterFormValueInput":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& 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${e.palette.divider}`}}]},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(i=e.palette.backgroundPaperElevation)==null?void 0:i[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(s=(o=e.paletteExt)==null?void 0:o.secondary)==null?void 0:s.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:e.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:e.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:e.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:e.palette.text.primary}},VelocitySlider:{sliderLegendColor:e.palette.text.primary}},WandelscriptEditor:{monacoTheme:{base:"vs-dark",inherit:!0,rules:[{token:"keyword",foreground:"#b349a9ff"}],colors:{"editor.background":M.rgbToHex(((a=e.palette.backgroundPaperElevation)==null?void 0:a[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function N5(){const e=nf();return e.palette.mode="light",e}function z5(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?nf():N5();return Wu(n,e)}exports.AppHeader=$f;exports.ConnectedMotionGroup=Fi;exports.CycleTimer=QS;exports.JoggerConnection=Ao;exports.JoggingCartesianAxisControl=Ds;exports.JoggingJointRotationControl=_h;exports.JoggingPanel=BC;exports.JoggingStore=Po;exports.LogPanel=JC;exports.LogStore=Qh;exports.LogViewer=ef;exports.MotionStreamConnection=Ro;exports.NoMotionGroupModal=XC;exports.PoseCartesianValues=VC;exports.PoseJointValues=UC;exports.RobotListItem=t5;exports.RobotSetupReadinessIndicator=tf;exports.RobotSetupReadinessState=Xa;exports.SafetyBar=C5;exports.SelectableFab=M5;exports.TabBar=I5;exports.Timer=$5;exports.VelocitySlider=Kh;exports.VelocitySliderLabel=Ka;exports.WandelbotsDataGrid=Eh;exports.createDebugMessage=WC;exports.createErrorMessage=qC;exports.createInfoMessage=HC;exports.createLogMessage=jr;exports.createNovaMuiTheme=z5;exports.createWarningMessage=YC;exports.jointValuesEqual=Va;exports.poseEqual=Mh;exports.tcpMotionEqual=Ua;exports.unwrapRotationVector=Rh;
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