@wandelbots/wandelbots-js-react-components 3.6.0-pr.feat-model-retrieval-from-rdp.463.368fcc8 → 3.6.0-pr.feat-add-abb-cobots.464.ab034a2

package/dist/theming-C9apy9Ov.cjs

@@ -1,115 +0,0 @@
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lm(e){return`oklch(from ${e} var(--__l) 0 h / var(--__a))`}function Ns(e){const{mode:t="light",contrastThreshold:n=3,tonalOffset:r=.2,colorSpace:i,...o}=e,s=e.primary||nm(t),a=e.secondary||rm(t),l=e.error||im(t),c=e.info||om(t),u=e.success||sm(t),d=e.warning||am(t);function h(g){if(i)return lm(g);const v=il(g,fs.text.primary)>=n?fs.text.primary:Iu.text.primary;if(process.env.NODE_ENV!=="production"){const T=il(g,v);T<3&&console.error([`MUI: The contrast ratio of ${T}:1 for ${v} on ${g}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
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-
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-
-const theme1 = createTheme({ palette: {
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-} });
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-const theme2 = createTheme({ palette: {
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-
-const theme = ${JSON.stringify(t,null,2)};
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- *
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s=`${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?N({},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 Qg{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 e0{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 t0{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=N({},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 n0{constructor(t){H(this,"gestureTemplates",new Map);H(this,"elementGestureMap",new Map);H(this,"activeGesturesRegistry",new Qg);H(this,"keyboardManager",new e0);this.pointerManager=new t0({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 hn extends Uu{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 r0(e,t){const n=t.x-e.x,r=t.y-e.y;return Math.sqrt(n*n+r*r)}function Gr(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+=r0({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 et(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 Ke(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Vr=1e-5,Pt=1e-5,Rl=.15;function i0(e,t){const n=t.x-e.x,r=t.y-e.y,i={vertical:null,horizontal:null,mainAxis:null},o=o0(t,e),s=Math.abs(n)>Math.abs(r)?"horizontal":"vertical",a=o||s==="horizontal"?Vr:Rl,l=o?Vr:s==="horizontal"?Rl:Vr;return Math.abs(n)>a&&(i.horizontal=n>0?"right":"left"),Math.abs(r)>l&&(i.vertical=r>0?"down":"up"),i.mainAxis=o?"diagonal":s,i}function o0(e,t){const n=t.x-e.x,r=t.y-e.y,i=Math.atan2(r,n)*180/Math.PI;return i>=-45+Pt&&i<=-22.5+Pt||i>=22.5+Pt&&i<=45+Pt||i>=135+Pt&&i<=157.5+Pt||i>=-157.5+Pt&&i<=-135+Pt}function s0(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const n=e.vertical===null||t.includes(e.vertical),r=e.horizontal===null||t.includes(e.horizontal);return n&&r}const Al=0,a0=e=>e>Al?1:e<-Al?-1:0,$t=e=>{e.cancelable&&e.preventDefault()};class Ws extends hn{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 Ws(N({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||et(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=Ke(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,composed:!0,detail:l});n.dispatchEvent(u)}}class rn extends hn{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=et(s),this.state.lastCentroid=N({},this.state.startCentroid);else if(this.state.startCentroid&&this.state.lastCentroid){const l=this.state.lastCentroid,c=et(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=et(s),c=l.x-this.state.startCentroid.x,u=l.y-this.state.startCentroid.y,d=Math.sqrt(c*c+u*u),h=i0(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&&s0(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=et(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 rn(N({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=N({},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,E;if(!this.state.startCentroid)return;const a=((T=this.state.lastDeltas)==null?void 0:T.x)??0,l=((E=this.state.lastDeltas)==null?void 0:E.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},g=Ke(this.name,r),v=new CustomEvent(g,{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 qs extends hn{constructor(n){super(N({},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=Gr(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=Gr(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=Gr(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=Gr(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 qs(N({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=N({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}emitPinchEvent(n,r,i,o){const s=et(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:a0(this.state.velocity),customData:this.customData};this.preventDefault&&o.preventDefault(),this.stopPropagation&&o.stopPropagation();const d=Ke(this.name,r),h=new CustomEvent(d,{bubbles:!0,cancelable:!0,composed:!0,detail:u});n.dispatchEvent(h)}}class io extends hn{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=et(s),this.state.lastPosition=N({},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=et(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 io(N({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=N({},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=Ke(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 Ks extends hn{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(Ke(this.name,n.detail.phase),n)))});H(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Ke(this.name,n.detail.phase),n))});H(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(Ke(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 io({name:`${this.name}-press`,duration:this.pressDuration,maxDistance:this.pressMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new rn({name:`${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 Ks(N({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",$t,{passive:!1}),this.element.addEventListener("touchmove",$t,{passive:!1}),this.element.addEventListener("touchend",$t,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",$t),this.element.removeEventListener("touchmove",$t),this.element.removeEventListener("touchend",$t)}}class dr extends hn{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=et(s),this.state.lastPosition=N({},this.state.startCentroid),this.isActive=!0,this.originalTarget=o);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const a=et(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 dr(N({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=Ke(this.name,"cancel"),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,composed:!0,detail:a});n.dispatchEvent(c)}this.resetState()}}class Js extends hn{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(Ke(this.name,n.detail.phase),n)))});H(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Ke(this.name,n.detail.phase),n))});H(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(Ke(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 dr({name:`${this.name}-tap`,maxDistance:this.tapMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new rn({name:`${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 Js(N({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",$t,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",$t)}}class gi extends Uu{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 gi(N({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?et(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=Ke(this.name,"ongoing"),l=new CustomEvent(a,{bubbles:!0,cancelable:!0,composed:!0,detail:s});this.element.dispatchEvent(l)}}const Mn=e=>e.preventDefault(),Xs=({svgRef:e})=>{const t=A.useRef(null);A.useEffect(()=>{const i=e.current;t.current||(t.current=new n0({gestures:[new rn({name:"pan",threshold:0,maxPointers:1}),new Ws({name:"move",preventIf:["pan","zoomPinch","zoomPan"]}),new dr({name:"tap",preventIf:["pan","zoomPinch","zoomPan"]}),new io({name:"quickPress",duration:50}),new rn({name:"brush",threshold:0,maxPointers:1}),new rn({name:"zoomPan",threshold:0,preventIf:["zoomTapAndDrag","zoomPressAndDrag"]}),new qs({name:"zoomPinch",threshold:5}),new gi({name:"zoomTurnWheel",sensitivity:.01,initialDelta:1}),new gi({name:"panTurnWheel",sensitivity:.5}),new Js({name:"zoomTapAndDrag",dragThreshold:10}),new Ks({name:"zoomPressAndDrag",dragThreshold:10,preventIf:["zoomPinch"]}),new dr({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=A.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=A.useCallback((i,o)=>{const s=e.current,a=t.current;!a||!s||a.setGestureOptions(i,s,o??{})},[e,t]);return A.useEffect(()=>{const i=e.current;return i==null||i.addEventListener("gesturestart",Mn),i==null||i.addEventListener("gesturechange",Mn),i==null||i.addEventListener("gestureend",Mn),()=>{i==null||i.removeEventListener("gesturestart",Mn),i==null||i.removeEventListener("gesturechange",Mn),i==null||i.removeEventListener("gestureend",Mn)}},[e]),{instance:{addInteractionListener:n,updateZoomInteractionListeners:r}}};Xs.params={};Xs.getInitialState=()=>({});const l0=[Hs,Us,to,ro,Xs,eo],c0=["apiRef"],u0=e=>{let{plugins:t}=e,n=dt(e.props,c0);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 _l=0;function d0(e,t,n){const r=Bp(),i=A.useMemo(()=>[...l0,...e],[e]),o=u0({plugins:i,props:t});o.id=o.id??r;const a=A.useRef({}).current,l=f0(t.apiRef),c=A.useRef(null),u=A.useRef(null),d=A.useRef(null);if(d.current==null){_l+=1;const m={cacheKey:{id:_l}};i.forEach(p=>{p.getInitialState&&Object.assign(m,p.getInitialState(o,m,n))}),d.current=new Vs(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:A.useMemo(()=>({store:d.current,publicAPI:l.current,instance:a,svgRef:u,chartRootRef:c}),[a,l])}}function h0(e){return e.current==null&&(e.current={}),e}function f0(e){const t=A.useRef({});return e?h0(e):t}const Zs=A.createContext(null);process.env.NODE_ENV!=="production"&&(Zs.displayName="ChartContext");const Il=new Set;function Nn(e,t="warning"){if(process.env.NODE_ENV==="production")return;const n=Array.isArray(e)?e.join(`
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r=t._x,i=t._y,o=t._z,s=t._order,a=Math.cos,l=Math.sin,c=a(r/2),u=a(i/2),d=a(o/2),h=l(r/2),f=l(i/2),m=l(o/2);switch(s){case"XYZ":this._x=h*u*d+c*f*m,this._y=c*f*d-h*u*m,this._z=c*u*m+h*f*d,this._w=c*u*d-h*f*m;break;case"YXZ":this._x=h*u*d+c*f*m,this._y=c*f*d-h*u*m,this._z=c*u*m-h*f*d,this._w=c*u*d+h*f*m;break;case"ZXY":this._x=h*u*d-c*f*m,this._y=c*f*d+h*u*m,this._z=c*u*m+h*f*d,this._w=c*u*d-h*f*m;break;case"ZYX":this._x=h*u*d-c*f*m,this._y=c*f*d+h*u*m,this._z=c*u*m-h*f*d,this._w=c*u*d+h*f*m;break;case"YZX":this._x=h*u*d+c*f*m,this._y=c*f*d+h*u*m,this._z=c*u*m-h*f*d,this._w=c*u*d-h*f*m;break;case"XZY":this._x=h*u*d-c*f*m,this._y=c*f*d-h*u*m,this._z=c*u*m+h*f*d,this._w=c*u*d+h*f*m;break;default:sE("Quaternion: .setFromEuler() encountered an unknown order: "+s)}return n===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,n){const r=n/2,i=Math.sin(r);return this._x=t.x*i,this._y=t.y*i,this._z=t.z*i,this._w=Math.cos(r),this._onChangeCallback(),this}setFromRotationMatrix(t){const n=t.elements,r=n[0],i=n[4],o=n[8],s=n[1],a=n[5],l=n[9],c=n[2],u=n[6],d=n[10],h=r+a+d;if(h>0){const f=.5/Math.sqrt(h+1);this._w=.25/f,this._x=(u-l)*f,this._y=(o-c)*f,this._z=(s-i)*f}else if(r>a&&r>d){const f=2*Math.sqrt(1+r-a-d);this._w=(u-l)/f,this._x=.25*f,this._y=(i+s)/f,this._z=(o+c)/f}else if(a>d){const f=2*Math.sqrt(1+a-r-d);this._w=(o-c)/f,this._x=(i+s)/f,this._y=.25*f,this._z=(l+u)/f}else{const f=2*Math.sqrt(1+d-r-a);this._w=(s-i)/f,this._x=(o+c)/f,this._y=(l+u)/f,this._z=.25*f}return this._onChangeCallback(),this}setFromUnitVectors(t,n){let r=t.dot(n)+1;return r<1e-8?(r=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=r):(this._x=0,this._y=-t.z,this._z=t.y,this._w=r)):(this._x=t.y*n.z-t.z*n.y,this._y=t.z*n.x-t.x*n.z,this._z=t.x*n.y-t.y*n.x,this._w=r),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(St(this.dot(t),-1,1)))}rotateTowards(t,n){const r=this.angleTo(t);if(r===0)return this;const i=Math.min(1,n/r);return this.slerp(t,i),this}identity(){return this.set(0,0,0,1)}invert(){return this.conjugate()}conjugate(){return this._x*=-1,this._y*=-1,this._z*=-1,this._onChangeCallback(),this}dot(t){return this._x*t._x+this._y*t._y+this._z*t._z+this._w*t._w}lengthSq(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w}length(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)}normalize(){let t=this.length();return t===0?(this._x=0,this._y=0,this._z=0,this._w=1):(t=1/t,this._x=this._x*t,this._y=this._y*t,this._z=this._z*t,this._w=this._w*t),this._onChangeCallback(),this}multiply(t){return this.multiplyQuaternions(this,t)}premultiply(t){return this.multiplyQuaternions(t,this)}multiplyQuaternions(t,n){const r=t._x,i=t._y,o=t._z,s=t._w,a=n._x,l=n._y,c=n._z,u=n._w;return this._x=r*u+s*a+i*c-o*l,this._y=i*u+s*l+o*a-r*c,this._z=o*u+s*c+r*l-i*a,this._w=s*u-r*a-i*l-o*c,this._onChangeCallback(),this}slerp(t,n){if(n<=0)return this;if(n>=1)return this.copy(t);let r=t._x,i=t._y,o=t._z,s=t._w,a=this.dot(t);a<0&&(r=-r,i=-i,o=-o,s=-s,a=-a);let l=1-n;if(a<.9995){const c=Math.acos(a),u=Math.sin(c);l=Math.sin(l*c)/u,n=Math.sin(n*c)/u,this._x=this._x*l+r*n,this._y=this._y*l+i*n,this._z=this._z*l+o*n,this._w=this._w*l+s*n,this._onChangeCallback()}else this._x=this._x*l+r*n,this._y=this._y*l+i*n,this._z=this._z*l+o*n,this._w=this._w*l+s*n,this.normalize();return this}slerpQuaternions(t,n,r){return this.copy(t).slerp(n,r)}random(){const t=2*Math.PI*Math.random(),n=2*Math.PI*Math.random(),r=Math.random(),i=Math.sqrt(1-r),o=Math.sqrt(r);return this.set(i*Math.sin(t),i*Math.cos(t),o*Math.sin(n),o*Math.cos(n))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,n=0){return this._x=t[n],this._y=t[n+1],this._z=t[n+2],this._w=t[n+3],this._onChangeCallback(),this}toArray(t=[],n=0){return t[n]=this._x,t[n+1]=this._y,t[n+2]=this._z,t[n+3]=this._w,t}fromBufferAttribute(t,n){return this._x=t.getX(n),this._y=t.getY(n),this._z=t.getZ(n),this._w=t.getW(n),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class $n{constructor(t=0,n=0,r=0){$n.prototype.isVector3=!0,this.x=t,this.y=n,this.z=r}set(t,n,r){return r===void 0&&(r=this.z),this.x=t,this.y=n,this.z=r,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,n){switch(t){case 0:this.x=n;break;case 1:this.y=n;break;case 2:this.z=n;break;default:throw new Error("index is out of range: "+t)}return this}getComponent(t){switch(t){case 0:return this.x;case 1:return this.y;case 2:return this.z;default:throw new Error("index is out of range: "+t)}}clone(){return new this.constructor(this.x,this.y,this.z)}copy(t){return this.x=t.x,this.y=t.y,this.z=t.z,this}add(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this}addScalar(t){return this.x+=t,this.y+=t,this.z+=t,this}addVectors(t,n){return this.x=t.x+n.x,this.y=t.y+n.y,this.z=t.z+n.z,this}addScaledVector(t,n){return this.x+=t.x*n,this.y+=t.y*n,this.z+=t.z*n,this}sub(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this}subScalar(t){return this.x-=t,this.y-=t,this.z-=t,this}subVectors(t,n){return this.x=t.x-n.x,this.y=t.y-n.y,this.z=t.z-n.z,this}multiply(t){return this.x*=t.x,this.y*=t.y,this.z*=t.z,this}multiplyScalar(t){return this.x*=t,this.y*=t,this.z*=t,this}multiplyVectors(t,n){return this.x=t.x*n.x,this.y=t.y*n.y,this.z=t.z*n.z,this}applyEuler(t){return this.applyQuaternion(kc.setFromEuler(t))}applyAxisAngle(t,n){return this.applyQuaternion(kc.setFromAxisAngle(t,n))}applyMatrix3(t){const n=this.x,r=this.y,i=this.z,o=t.elements;return this.x=o[0]*n+o[3]*r+o[6]*i,this.y=o[1]*n+o[4]*r+o[7]*i,this.z=o[2]*n+o[5]*r+o[8]*i,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const n=this.x,r=this.y,i=this.z,o=t.elements,s=1/(o[3]*n+o[7]*r+o[11]*i+o[15]);return this.x=(o[0]*n+o[4]*r+o[8]*i+o[12])*s,this.y=(o[1]*n+o[5]*r+o[9]*i+o[13])*s,this.z=(o[2]*n+o[6]*r+o[10]*i+o[14])*s,this}applyQuaternion(t){const n=this.x,r=this.y,i=this.z,o=t.x,s=t.y,a=t.z,l=t.w,c=2*(s*i-a*r),u=2*(a*n-o*i),d=2*(o*r-s*n);return this.x=n+l*c+s*d-a*u,this.y=r+l*u+a*c-o*d,this.z=i+l*d+o*u-s*c,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const n=this.x,r=this.y,i=this.z,o=t.elements;return this.x=o[0]*n+o[4]*r+o[8]*i,this.y=o[1]*n+o[5]*r+o[9]*i,this.z=o[2]*n+o[6]*r+o[10]*i,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,n){return this.x=St(this.x,t.x,n.x),this.y=St(this.y,t.y,n.y),this.z=St(this.z,t.z,n.z),this}clampScalar(t,n){return this.x=St(this.x,t,n),this.y=St(this.y,t,n),this.z=St(this.z,t,n),this}clampLength(t,n){const r=this.length();return this.divideScalar(r||1).multiplyScalar(St(r,t,n))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,n){return this.x+=(t.x-this.x)*n,this.y+=(t.y-this.y)*n,this.z+=(t.z-this.z)*n,this}lerpVectors(t,n,r){return this.x=t.x+(n.x-t.x)*r,this.y=t.y+(n.y-t.y)*r,this.z=t.z+(n.z-t.z)*r,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,n){const r=t.x,i=t.y,o=t.z,s=n.x,a=n.y,l=n.z;return this.x=i*l-o*a,this.y=o*s-r*l,this.z=r*a-i*s,this}projectOnVector(t){const n=t.lengthSq();if(n===0)return this.set(0,0,0);const r=t.dot(this)/n;return this.copy(t).multiplyScalar(r)}projectOnPlane(t){return ss.copy(this).projectOnVector(t),this.sub(ss)}reflect(t){return this.sub(ss.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const n=Math.sqrt(this.lengthSq()*t.lengthSq());if(n===0)return Math.PI/2;const r=this.dot(t)/n;return Math.acos(St(r,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const n=this.x-t.x,r=this.y-t.y,i=this.z-t.z;return n*n+r*r+i*i}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,n,r){const i=Math.sin(n)*t;return this.x=i*Math.sin(r),this.y=Math.cos(n)*t,this.z=i*Math.cos(r),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,n,r){return this.x=t*Math.sin(n),this.y=r,this.z=t*Math.cos(n),this}setFromMatrixPosition(t){const n=t.elements;return this.x=n[12],this.y=n[13],this.z=n[14],this}setFromMatrixScale(t){const n=this.setFromMatrixColumn(t,0).length(),r=this.setFromMatrixColumn(t,1).length(),i=this.setFromMatrixColumn(t,2).length();return this.x=n,this.y=r,this.z=i,this}setFromMatrixColumn(t,n){return this.fromArray(t.elements,n*4)}setFromMatrix3Column(t,n){return this.fromArray(t.elements,n*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,n=0){return this.x=t[n],this.y=t[n+1],this.z=t[n+2],this}toArray(t=[],n=0){return t[n]=this.x,t[n+1]=this.y,t[n+2]=this.z,t}fromBufferAttribute(t,n){return this.x=t.getX(n),this.y=t.getY(n),this.z=t.getZ(n),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this}randomDirection(){const t=Math.random()*Math.PI*2,n=Math.random()*2-1,r=Math.sqrt(1-n*n);return this.x=r*Math.cos(t),this.y=n,this.z=r*Math.sin(t),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z}}const ss=new $n,kc=new aE;function $a(e,t,n){if(t.length!==e.length)return!0;for(let r=0;r<t.length;r++)if(Math.abs(t[r]-e[r])>n)return!1;return!0}function yh(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 La(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&yh(e.tcp_pose,t.tcp_pose,n)}function xh(e,t){const n=new us.Vector3(t[0],t[1],t[2]),r=new us.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 Oc=1e-4;class Co{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}: ${a.data}`);$a(this.rapidlyChangingMotionState.joint_position,l.joint_position,Oc)||de.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),La(this.rapidlyChangingMotionState,l,Oc)||de.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:xh(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",l.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==l.standstill&&de.runInAction(()=>{this.rapidlyChangingMotionState.standstill=l.standstill})}),de.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 ${s.motion_group}. Initial state:
-  `,c);const u=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group);return new Co(t,o,s,u,c,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Pc="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class Mo{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 Co.open(t,n),o=new Mo(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(Pc))){(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 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motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. 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-  `,c);const d=(await t.api.controller.getRobotController(o.controller)).configuration.kind==="VirtualController",h=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group),f=Object.entries(h.tcps||{}).map(([E,w])=>({id:E,readable_name:w.name,position:w.pose.position,orientation:w.pose.orientation})),m=t.openReconnectingWebsocket(`/controllers/${o.controller}/state-stream?response_rate=1000`),p=await m.firstMessage(),g=(T=Ee.tryParseJson(p.data))==null?void 0:T.result;if(!g)throw new Error(`Unable to parse initial controller state message ${p.data}`);return console.log(`Connected controller state websocket to controller ${o.controller}. Initial state:
-  `,g),new Li(t,o,s,c,a,d,f,h,g,m)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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=>({...oM,...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 Ha.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 Ha.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}de.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),de.runInAction(()=>{this.activationState="inactive"})}catch(t){throw de.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}de.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),de.runInAction(()=>{this.activationState="active"})}catch(t){throw de.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 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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":C.rgbToHex(((a=e.palette.backgroundPaperElevation)==null?void 0:a[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function sM(){const e=Yh();return e.palette.mode="light",e}function aM(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?Yh():sM();return Du(n,e)}exports.AppHeader=rf;exports.ConnectedMotionGroup=Li;exports.CycleTimer=SS;exports.JoggerConnection=Mo;exports.JoggingCartesianAxisControl=As;exports.JoggingJointRotationControl=gh;exports.JoggingPanel=cC;exports.JoggingStore=jo;exports.LogPanel=yC;exports.LogStore=Vh;exports.LogViewer=Uh;exports.MotionStreamConnection=Co;exports.NoMotionGroupModal=bC;exports.PoseCartesianValues=dC;exports.PoseJointValues=hC;exports.RobotListItem=wC;exports.RobotSetupReadinessIndicator=Hh;exports.RobotSetupReadinessState=Ua;exports.SafetyBar=WC;exports.SelectableFab=KC;exports.TabBar=ZC;exports.Timer=iM;exports.VelocitySlider=Fh;exports.VelocitySliderLabel=Va;exports.WandelbotsDataGrid=fh;exports.createDebugMessage=fC;exports.createErrorMessage=gC;exports.createInfoMessage=pC;exports.createLogMessage=_r;exports.createNovaMuiTheme=aM;exports.createWarningMessage=mC;exports.jointValuesEqual=$a;exports.poseEqual=yh;exports.tcpMotionEqual=La;exports.unwrapRotationVector=xh;
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