@wandelbots/wandelbots-js-react-components 4.2.0 → 4.3.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/README.md +1 -1
- package/dist/3d.cjs.js +1 -1
- package/dist/3d.es.js +1 -1
- package/dist/{MotionGroupVisualizer-CrLamHYm.js → MotionGroupVisualizer-BgvrTXeT.js} +93 -93
- package/dist/{MotionGroupVisualizer-CrLamHYm.js.map → MotionGroupVisualizer-BgvrTXeT.js.map} +1 -1
- package/dist/{MotionGroupVisualizer-C3CB-L2z.cjs → MotionGroupVisualizer-C_fyiA-X.cjs} +2 -2
- package/dist/{MotionGroupVisualizer-C3CB-L2z.cjs.map → MotionGroupVisualizer-C_fyiA-X.cjs.map} +1 -1
- package/dist/components/jogging/JoggingJointTab.d.ts +1 -1
- package/dist/components/jogging/JoggingJointTab.d.ts.map +1 -1
- package/dist/components/jogging/JoggingJointValueControl.d.ts +16 -0
- package/dist/components/jogging/JoggingJointValueControl.d.ts.map +1 -0
- package/dist/components/jogging/JoggingStore.d.ts +17 -19
- package/dist/components/jogging/JoggingStore.d.ts.map +1 -1
- package/dist/core.cjs.js +1 -1
- package/dist/core.d.ts +1 -1
- package/dist/core.d.ts.map +1 -1
- package/dist/core.es.js +8 -8
- package/dist/index.cjs.js +1 -1
- package/dist/index.es.js +10 -10
- package/dist/{interpolation-Cs2pC1zE.js → interpolation-6ZZN4S_x.js} +2 -2
- package/dist/{interpolation-Cs2pC1zE.js.map → interpolation-6ZZN4S_x.js.map} +1 -1
- package/dist/{interpolation-C5OTEwAm.cjs → interpolation-CyO6DaVa.cjs} +2 -2
- package/dist/{interpolation-C5OTEwAm.cjs.map → interpolation-CyO6DaVa.cjs.map} +1 -1
- package/dist/lib/JoggerConnection.d.ts +4 -3
- package/dist/lib/JoggerConnection.d.ts.map +1 -1
- package/dist/{theming-Dk07SE2_.cjs → theming-Cqo-msxF.cjs} +36 -36
- package/dist/theming-Cqo-msxF.cjs.map +1 -0
- package/dist/{theming-C-zvh022.js → theming-gUgI75AD.js} +2915 -2891
- package/dist/theming-gUgI75AD.js.map +1 -0
- package/package.json +2 -2
- package/src/components/jogging/JoggingJointTab.tsx +18 -18
- package/src/components/jogging/{JoggingJointRotationControl.tsx → JoggingJointValueControl.tsx} +51 -28
- package/src/components/jogging/JoggingPanel.tsx +1 -1
- package/src/components/jogging/JoggingStore.ts +42 -12
- package/src/components/robots/MotionGroupVisualizer.tsx +4 -4
- package/src/core.ts +2 -1
- package/src/lib/JoggerConnection.test.ts +4 -2
- package/src/lib/JoggerConnection.ts +8 -4
- package/dist/components/jogging/JoggingJointRotationControl.d.ts +0 -15
- package/dist/components/jogging/JoggingJointRotationControl.d.ts.map +0 -1
- package/dist/theming-C-zvh022.js.map +0 -1
- package/dist/theming-Dk07SE2_.cjs.map +0 -1
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"use strict";var
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"use strict";var Zh=Object.defineProperty;var Qh=(e,t,n)=>t in e?Zh(e,t,{enumerable:!0,configurable:!0,writable:!0,value:n}):e[t]=n;var Y=(e,t,n)=>Qh(e,typeof t!="symbol"?t+"":t,n);const g=require("./externalizeComponent-CkVWk2F_.cjs"),M=require("@mui/material"),re=require("mobx-react-lite"),O=require("react"),he=require("react-i18next"),x=require("prop-types"),Ft=require("./interpolation-CyO6DaVa.cjs"),Qe=require("@mui/x-data-grid"),mu=require("lodash-es"),de=require("mobx"),Ie=require("@wandelbots/nova-js"),gu=require("./LoadingCover-CukpS_aj.cjs"),Lr=require("@mui/icons-material"),ef=require("@emotion/styled"),tf=require("@emotion/react"),nf=require("@mui/x-charts"),hs=require("three");function yu(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 _=yu(O),Ka=yu(hs);function rf(e){return e&&e.__esModule&&Object.prototype.hasOwnProperty.call(e,"default")?e.default:e}const of=e=>g.jsxRuntimeExports.jsx(M.SvgIcon,{...e,viewBox:"0 0 10 8",children:g.jsxRuntimeExports.jsx("path",{d:"M8.825 0.9125L5 4.72917L1.175 0.9125L0 2.0875L5 7.0875L10 2.0875L8.825 0.9125Z",fill:"currentColor",fillOpacity:"0.56"})}),sf=g.externalizeComponent(re.observer(e=>{const{appIcon:t,appName:n,apps:r=[],onAppSelect:i,disabled:o=!1,sx:s}=e,[a,l]=O.useState(null),c=!!a,u=f=>{l(f.currentTarget)},d=()=>{l(null)},h=f=>{d(),f.onClick?f.onClick():f.href&&(window.location.href=f.href),i==null||i(f)};return g.jsxRuntimeExports.jsxs(g.jsxRuntimeExports.Fragment,{children:[g.jsxRuntimeExports.jsx(M.AppBar,{position:"static",sx:{boxShadow:"none",backgroundImage:"none","& .MuiAppBar-root":{backgroundImage:"none",backgroundColor:"transparent"},...s},children:g.jsxRuntimeExports.jsxs(M.Toolbar,{sx:{minHeight:"62px !important"},children:[g.jsxRuntimeExports.jsx(M.Box,{sx:{mr:1,display:"flex",alignItems:"center"},children:t}),g.jsxRuntimeExports.jsxs(M.Box,{sx:{display:"flex",alignItems:"center",flexGrow:1},children:[g.jsxRuntimeExports.jsx(M.Typography,{component:"h1",sx:{fontWeight:"bold",fontSize:"1rem"},children:n}),r.length>0&&g.jsxRuntimeExports.jsx(M.IconButton,{color:"inherit","aria-label":"switch app","aria-controls":"app-menu","aria-haspopup":"true",onClick:u,disabled:o,sx:{ml:1,width:28,height:28,borderRadius:"6px",padding:0,backgroundColor:f=>M.alpha(f.palette.common.white,.1),opacity:1,"&:hover":{backgroundColor:f=>M.alpha(f.palette.common.white,.16)},"& .MuiSvgIcon-root":{fontSize:"8px",width:"8px",height:"6px"}},children:g.jsxRuntimeExports.jsx(of,{})})]})]})}),g.jsxRuntimeExports.jsx(M.Backdrop,{open:c,onClick:d,sx:{backdropFilter:"blur(4px)",backgroundColor:"rgba(0, 0, 0, 0.3)",zIndex:f=>f.zIndex.modal-1}}),g.jsxRuntimeExports.jsx(M.Menu,{id:"app-menu",anchorEl:a,open:c,onClose:d,anchorOrigin:{vertical:"bottom",horizontal:"left"},transformOrigin:{vertical:"top",horizontal:"left"},sx:{zIndex:f=>f.zIndex.modal,"& .MuiPaper-root":{minWidth:200,mt:1}},children:r.map(f=>g.jsxRuntimeExports.jsxs(M.MenuItem,{onClick:()=>h(f),children:[g.jsxRuntimeExports.jsx(M.Box,{sx:{display:"flex",alignItems:"center"},children:f.icon}),g.jsxRuntimeExports.jsx(M.Typography,{variant:"body1",sx:{ml:2},children:f.name})]},f.id))})]})}));function L(){return L=Object.assign?Object.assign.bind():function(e){for(var t=1;t<arguments.length;t++){var n=arguments[t];for(var r in n)({}).hasOwnProperty.call(n,r)&&(e[r]=n[r])}return e},L.apply(null,arguments)}function ft(e,t){if(e==null)return{};var n={};for(var r in e)if({}.hasOwnProperty.call(e,r)){if(t.indexOf(r)!==-1)continue;n[r]=e[r]}return n}function Sr(e,t,n=void 0){const r={};for(const i in e){const o=e[i];let s="",a=!0;for(let l=0;l<o.length;l+=1){const c=o[l];c&&(s+=(a===!0?"":" ")+t(c),a=!1,n&&n[c]&&(s+=" "+n[c]))}r[i]=s}return r}function xu(e){var t,n,r="";if(typeof e=="string"||typeof e=="number")r+=e;else if(typeof e=="object")if(Array.isArray(e)){var i=e.length;for(t=0;t<i;t++)e[t]&&(n=xu(e[t]))&&(r&&(r+=" "),r+=n)}else for(n in e)e[n]&&(r&&(r+=" "),r+=n);return r}function $e(){for(var e,t,n=0,r="",i=arguments.length;n<i;n++)(e=arguments[n])&&(t=xu(e))&&(r&&(r+=" "),r+=t);return r}function Lt(e,...t){const n=new URL(`https://mui.com/production-error/?code=${e}`);return t.forEach(r=>n.searchParams.append("args[]",r)),`Minified MUI error #${e}; 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*/function pf(e,t){const n=ef(e,t);return process.env.NODE_ENV!=="production"?(...r)=>{const i=typeof e=="string"?`"${e}"`:"component";return r.length===0?console.error([`MUI: Seems like you called \`styled(${i})()\` without a \`style\` argument.`,'You must provide a `styles` argument: `styled("div")(styleYouForgotToPass)`.'].join(`
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`)):r.some(o=>o===void 0)&&console.error(`MUI: the styled(${i})(...args) API requires all its args to be defined.`),n(...r)}:n}function mf(e,t){Array.isArray(e.__emotion_styles)&&(e.__emotion_styles=t(e.__emotion_styles))}const Qa=[];function rn(e){return Qa[0]=e,ff(Qa)}var Nr={exports:{}},le={};/**
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*/var el;function gf(){if(el)return le;el=1;var e=Symbol.for("react.transitional.element"),t=Symbol.for("react.portal"),n=Symbol.for("react.fragment"),r=Symbol.for("react.strict_mode"),i=Symbol.for("react.profiler"),o=Symbol.for("react.consumer"),s=Symbol.for("react.context"),a=Symbol.for("react.forward_ref"),l=Symbol.for("react.suspense"),c=Symbol.for("react.suspense_list"),u=Symbol.for("react.memo"),d=Symbol.for("react.lazy"),h=Symbol.for("react.view_transition"),f=Symbol.for("react.client.reference");function m(p){if(typeof p=="object"&&p!==null){var y=p.$$typeof;switch(y){case e:switch(p=p.type,p){case n:case i:case r:case l:case c:case h:return p;default:switch(p=p&&p.$$typeof,p){case s:case a:case d:case u:return p;case o:return p;default:return y}}case t:return y}}}return le.ContextConsumer=o,le.ContextProvider=s,le.Element=e,le.ForwardRef=a,le.Fragment=n,le.Lazy=d,le.Memo=u,le.Portal=t,le.Profiler=i,le.StrictMode=r,le.Suspense=l,le.SuspenseList=c,le.isContextConsumer=function(p){return m(p)===o},le.isContextProvider=function(p){return m(p)===s},le.isElement=function(p){return typeof p=="object"&&p!==null&&p.$$typeof===e},le.isForwardRef=function(p){return m(p)===a},le.isFragment=function(p){return m(p)===n},le.isLazy=function(p){return m(p)===d},le.isMemo=function(p){return m(p)===u},le.isPortal=function(p){return m(p)===t},le.isProfiler=function(p){return m(p)===i},le.isStrictMode=function(p){return m(p)===r},le.isSuspense=function(p){return m(p)===l},le.isSuspenseList=function(p){return m(p)===c},le.isValidElementType=function(p){return typeof p=="string"||typeof p=="function"||p===n||p===i||p===r||p===l||p===c||typeof p=="object"&&p!==null&&(p.$$typeof===d||p.$$typeof===u||p.$$typeof===s||p.$$typeof===o||p.$$typeof===a||p.$$typeof===f||p.getModuleId!==void 0)},le.typeOf=m,le}var ce={};/**
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The following formats are supported: #nnn, #nnnnnn, rgb(), rgba(), hsl(), hsla(), color().`:Lt(9,e));let r=e.substring(t+1,e.length-1),i;if(n==="color"){if(r=r.split(" "),i=r.shift(),r.length===4&&r[3].charAt(0)==="/"&&(r[3]=r[3].slice(1)),!["srgb","display-p3","a98-rgb","prophoto-rgb","rec-2020"].includes(i))throw new Error(process.env.NODE_ENV!=="production"?`MUI: unsupported \`${i}\` color space.
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ur={black:"#000",white:"#fff"},nm={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},Sn={50:"#f3e5f5",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",700:"#7b1fa2"},En={300:"#e57373",400:"#ef5350",500:"#f44336",700:"#d32f2f",800:"#c62828"},Kn={300:"#ffb74d",400:"#ffa726",500:"#ff9800",700:"#f57c00",900:"#e65100"},wn={50:"#e3f2fd",200:"#90caf9",400:"#42a5f5",700:"#1976d2",800:"#1565c0"},Tn={300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",700:"#0288d1",900:"#01579b"},Cn={300:"#81c784",400:"#66bb6a",500:"#4caf50",700:"#388e3c",800:"#2e7d32",900:"#1b5e20"};function ku(){return{text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:ur.white,default:ur.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 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30
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The following color spaces are supported: srgb, display-p3, a98-rgb, prophoto-rgb, rec-2020.`:Lt(10,i))}else r=r.split(",");return r=r.map(o=>parseFloat(o)),{type:n,values:r,colorSpace:i}}const Pp=e=>{const t=Nt(e);return t.values.slice(0,3).map((n,r)=>t.type.includes("hsl")&&r!==0?`${n}%`:n).join(" ")},tr=(e,t)=>{try{return Pp(e)}catch{return t&&process.env.NODE_ENV!=="production"&&console.warn(t),e}};function Xi(e){const{type:t,colorSpace:n}=e;let{values:r}=e;return t.includes("rgb")?r=r.map((i,o)=>o<3?parseInt(i,10):i):t.includes("hsl")&&(r[1]=`${r[1]}%`,r[2]=`${r[2]}%`),t.includes("color")?r=`${n} ${r.join(" ")}`:r=`${r.join(", ")}`,`${t}(${r})`}function ju(e){e=Nt(e);const{values:t}=e,n=t[0],r=t[1]/100,i=t[2]/100,o=r*Math.min(i,1-i),s=(c,u=(c+n/30)%12)=>i-o*Math.max(Math.min(u-3,9-u,1),-1);let a="rgb";const l=[Math.round(s(0)*255),Math.round(s(8)*255),Math.round(s(4)*255)];return e.type==="hsla"&&(a+="a",l.push(t[3])),Xi({type:a,values:l})}function ps(e){e=Nt(e);let 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ur={black:"#000",white:"#fff"},rm={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},Sn={50:"#f3e5f5",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",700:"#7b1fa2"},En={300:"#e57373",400:"#ef5350",500:"#f44336",700:"#d32f2f",800:"#c62828"},Kn={300:"#ffb74d",400:"#ffa726",500:"#ff9800",700:"#f57c00",900:"#e65100"},wn={50:"#e3f2fd",200:"#90caf9",400:"#42a5f5",700:"#1976d2",800:"#1565c0"},Tn={300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",700:"#0288d1",900:"#01579b"},Cn={300:"#81c784",400:"#66bb6a",500:"#4caf50",700:"#388e3c",800:"#2e7d32",900:"#1b5e20"};function Ou(){return{text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:ur.white,default:ur.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 0.04)",hoverOpacity:.04,selected:"rgba(0, 0, 0, 0.08)",selectedOpacity:.08,disabled:"rgba(0, 0, 0, 0.26)",disabledBackground:"rgba(0, 0, 0, 0.12)",disabledOpacity:.38,focus:"rgba(0, 0, 0, 0.12)",focusOpacity:.12,activatedOpacity:.12}}}const Pu=Ou();function Du(){return{text:{primary:ur.white,secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.5)",icon:"rgba(255, 255, 255, 0.5)"},divider:"rgba(255, 255, 255, 0.12)",background:{paper:"#121212",default:"#121212"},action:{active:ur.white,hover:"rgba(255, 255, 255, 0.08)",hoverOpacity:.08,selected:"rgba(255, 255, 255, 0.16)",selectedOpacity:.16,disabled:"rgba(255, 255, 255, 0.3)",disabledBackground:"rgba(255, 255, 255, 0.12)",disabledOpacity:.38,focus:"rgba(255, 255, 255, 0.12)",focusOpacity:.12,activatedOpacity:.24}}}const ms=Du();function fl(e,t,n,r){const i=r.light||r,o=r.dark||r*1.5;e[t]||(e.hasOwnProperty(n)?e[t]=e[n]:t==="light"?e.light=Qi(e.main,i):t==="dark"&&(e.dark=Zi(e.main,o)))}function pl(e,t,n,r,i){const 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 im(e="light"){return e==="dark"?{main:wn[200],light:wn[50],dark:wn[400]}:{main:wn[700],light:wn[400],dark:wn[800]}}function om(e="light"){return e==="dark"?{main:Sn[200],light:Sn[50],dark:Sn[400]}:{main:Sn[500],light:Sn[300],dark:Sn[700]}}function sm(e="light"){return e==="dark"?{main:En[500],light:En[300],dark:En[700]}:{main:En[700],light:En[400],dark:En[800]}}function am(e="light"){return e==="dark"?{main:Tn[400],light:Tn[300],dark:Tn[700]}:{main:Tn[700],light:Tn[500],dark:Tn[900]}}function lm(e="light"){return e==="dark"?{main:Cn[400],light:Cn[300],dark:Cn[700]}:{main:Cn[800],light:Cn[500],dark:Cn[900]}}function cm(e="light"){return e==="dark"?{main:Kn[400],light:Kn[300],dark:Kn[700]}:{main:"#ed6c02",light:Kn[500],dark:Kn[900]}}function um(e){return`oklch(from ${e} var(--__l) 0 h / var(--__a))`}function Bs(e){const{mode:t="light",contrastThreshold:n=3,tonalOffset:r=.2,colorSpace:i,...o}=e,s=e.primary||im(t),a=e.secondary||om(t),l=e.error||sm(t),c=e.info||am(t),u=e.success||lm(t),d=e.warning||cm(t);function h(y){if(i)return um(y);const v=ll(y,ms.text.primary)>=n?ms.text.primary:Pu.text.primary;if(process.env.NODE_ENV!=="production"){const E=ll(y,v);E<3&&console.error([`MUI: The contrast ratio of ${E}:1 for ${v} on ${y}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
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`))}return v}const f=({color:y,name:v,mainShade:E=500,lightShade:w=300,darkShade:T=700})=>{if(y={...y},!y.main&&y[E]&&(y.main=y[E]),!y.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${v?` (${v})`:""} provided to augmentColor(color) is invalid.
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The color object needs to have a \`main\` property or a \`${E}\` property.`:Lt(11,v?` (${v})`:"",E));if(typeof y.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${v?` (${v})`:""} provided to augmentColor(color) is invalid.
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@@ -42,23 +42,23 @@ const theme1 = createTheme({ palette: {
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} });`:Lt(12,v?` (${v})`:"",JSON.stringify(y.main)));return i?(
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`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(i)?i:[i]).map(u=>`${u} ${typeof s=="string"?s:
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} });`:Lt(12,v?` (${v})`:"",JSON.stringify(y.main)));return i?(pl(i,y,"light",w,r),pl(i,y,"dark",T,r)):(fl(y,"light",w,r),fl(y,"dark",T,r)),y.contrastText||(y.contrastText=h(y.main)),y};let m;return t==="light"?m=Ou():t==="dark"&&(m=Du()),process.env.NODE_ENV!=="production"&&(m||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),Le({common:{...ur},mode:t,primary:f({color:s,name:"primary"}),secondary:f({color:a,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:f({color:l,name:"error"}),warning:f({color:d,name:"warning"}),info:f({color:c,name:"info"}),success:f({color:u,name:"success"}),grey:rm,contrastThreshold:n,getContrastText:h,augmentColor:f,tonalOffset:r,...m},o)}function dm(e){const t={};return Object.entries(e).forEach(r=>{const[i,o]=r;typeof o=="object"&&(t[i]=`${o.fontStyle?`${o.fontStyle} `:""}${o.fontVariant?`${o.fontVariant} `:""}${o.fontWeight?`${o.fontWeight} `:""}${o.fontStretch?`${o.fontStretch} `:""}${o.fontSize||""}${o.lineHeight?`/${o.lineHeight} `:""}${o.fontFamily||""}`)}),t}function hm(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function fm(e){return Math.round(e*1e5)/1e5}const ml={textTransform:"uppercase"},gl='"Roboto", "Helvetica", "Arial", sans-serif';function pm(e,t){const{fontFamily:n=gl,fontSize:r=14,fontWeightLight:i=300,fontWeightRegular:o=400,fontWeightMedium:s=500,fontWeightBold:a=700,htmlFontSize:l=16,allVariants:c,pxToRem:u,...d}=typeof t=="function"?t(e):t;process.env.NODE_ENV!=="production"&&(typeof r!="number"&&console.error("MUI: `fontSize` is required to be a number."),typeof l!="number"&&console.error("MUI: `htmlFontSize` is required to be a number."));const h=r/14,f=u||(y=>`${y/l*h}rem`),m=(y,v,E,w,T)=>({fontFamily:n,fontWeight:y,fontSize:f(v),lineHeight:E,...n===gl?{letterSpacing:`${fm(w/v)}em`}:{},...T,...c}),p={h1:m(i,96,1.167,-1.5),h2:m(i,60,1.2,-.5),h3:m(o,48,1.167,0),h4:m(o,34,1.235,.25),h5:m(o,24,1.334,0),h6:m(s,20,1.6,.15),subtitle1:m(o,16,1.75,.15),subtitle2:m(s,14,1.57,.1),body1:m(o,16,1.5,.15),body2:m(o,14,1.43,.15),button:m(s,14,1.75,.4,ml),caption:m(o,12,1.66,.4),overline:m(o,12,2.66,1,ml),inherit:{fontFamily:"inherit",fontWeight:"inherit",fontSize:"inherit",lineHeight:"inherit",letterSpacing:"inherit"}};return Le({htmlFontSize:l,pxToRem:f,fontFamily:n,fontSize:r,fontWeightLight:i,fontWeightRegular:o,fontWeightMedium:s,fontWeightBold:a,...p},d,{clone:!1})}const mm=.2,gm=.14,ym=.12;function pe(...e){return[`${e[0]}px ${e[1]}px ${e[2]}px ${e[3]}px rgba(0,0,0,${mm})`,`${e[4]}px ${e[5]}px ${e[6]}px ${e[7]}px rgba(0,0,0,${gm})`,`${e[8]}px ${e[9]}px ${e[10]}px ${e[11]}px rgba(0,0,0,${ym})`].join(",")}const xm=["none",pe(0,2,1,-1,0,1,1,0,0,1,3,0),pe(0,3,1,-2,0,2,2,0,0,1,5,0),pe(0,3,3,-2,0,3,4,0,0,1,8,0),pe(0,2,4,-1,0,4,5,0,0,1,10,0),pe(0,3,5,-1,0,5,8,0,0,1,14,0),pe(0,3,5,-1,0,6,10,0,0,1,18,0),pe(0,4,5,-2,0,7,10,1,0,2,16,1),pe(0,5,5,-3,0,8,10,1,0,3,14,2),pe(0,5,6,-3,0,9,12,1,0,3,16,2),pe(0,6,6,-3,0,10,14,1,0,4,18,3),pe(0,6,7,-4,0,11,15,1,0,4,20,3),pe(0,7,8,-4,0,12,17,2,0,5,22,4),pe(0,7,8,-4,0,13,19,2,0,5,24,4),pe(0,7,9,-4,0,14,21,2,0,5,26,4),pe(0,8,9,-5,0,15,22,2,0,6,28,5),pe(0,8,10,-5,0,16,24,2,0,6,30,5),pe(0,8,11,-5,0,17,26,2,0,6,32,5),pe(0,9,11,-5,0,18,28,2,0,7,34,6),pe(0,9,12,-6,0,19,29,2,0,7,36,6),pe(0,10,13,-6,0,20,31,3,0,8,38,7),pe(0,10,13,-6,0,21,33,3,0,8,40,7),pe(0,10,14,-6,0,22,35,3,0,8,42,7),pe(0,11,14,-7,0,23,36,3,0,9,44,8),pe(0,11,15,-7,0,24,38,3,0,9,46,8)],bm={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)"},vm={shortest:150,shorter:200,short:250,standard:300,complex:375,enteringScreen:225,leavingScreen:195};function yl(e){return`${Math.round(e)}ms`}function Sm(e){if(!e)return 0;const t=e/36;return Math.min(Math.round((4+15*t**.25+t/5)*10),3e3)}function Em(e){const t={...bm,...e.easing},n={...vm,...e.duration};return{getAutoHeightDuration:Sm,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 ${s}.`),u(a)||console.error('MUI: Argument "easing" must be a string.'),!d(l)&&!u(l)&&console.error('MUI: Argument "delay" must be a number or a string.'),typeof o!="object"&&console.error(["MUI: Secong argument of transition.create must be an object.","Arguments should be either `create('prop1', options)` or `create(['prop1', 'prop2'], options)`"].join(`
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`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(i)?i:[i]).map(u=>`${u} ${typeof s=="string"?s:yl(s)} ${a} ${typeof l=="string"?l:yl(l)}`).join(",")},...e,easing:t,duration:n}}const wm={mobileStepper:1e3,fab:1050,speedDial:1050,appBar:1100,drawer:1200,modal:1300,snackbar:1400,tooltip:1500};function Tm(e){return ct(e)||typeof e>"u"||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||Array.isArray(e)}function $u(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];!Tm(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';
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`))}y[E]={}}}};Object.keys(f.components).forEach(y=>{const v=f.components[y].styleOverrides;v&&y.startsWith("Mui")&&p(v,y)})}return f.unstable_sxConfig={...wr,...u==null?void 0:u.unstable_sxConfig},f.unstable_sx=function(p){return $n({sx:p,theme:this})},f.toRuntimeSource
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To suppress this warning, you need to explicitly provide the \`palette.${t}Channel\` as a string (in rgb format, for example "12 12 12") or undefined if you want to remove the channel token.`))}function Om(e){return typeof e=="number"?`${e}px`:typeof e=="string"||typeof e=="function"||Array.isArray(e)?e:"8px"}const ot=e=>{try{return e()}catch{}},Pm=(e="mui")=>Up(e);function Go(e,t,n,r,i){if(!n)return;n=n===!0?{}:n;const o=i==="dark"?"dark":"light";if(!r){t[i]=Am({...n,palette:{mode:o,...n==null?void 0:n.palette},colorSpace:e});return}const{palette:s,...a}=gs({...r,palette:{mode:o,...n==null?void 0:n.palette},colorSpace:e});return t[i]={...n,palette:s,opacity:{...$u(o),...n==null?void 0:n.opacity},overlays:(n==null?void 0:n.overlays)||Lu(o)},a}function Dm(e={},...t){const{colorSchemes:n={light:!0},defaultColorScheme:r,disableCssColorScheme:i=!1,cssVarPrefix:o="mui",nativeColor:s=!1,shouldSkipGeneratingVar:a=_m,colorSchemeSelector:l=n.light&&n.dark?"media":void 0,rootSelector:c=":root",...u}=e,d=Object.keys(n)[0],h=r||(n.light&&d!=="light"?"light":d),f=Pm(o),{[h]:m,light:p,dark:y,...v}=n,E={...v};let w=m;if((h==="dark"&&!("dark"in n)||h==="light"&&!("light"in n))&&(w=!0),!w)throw new Error(process.env.NODE_ENV!=="production"?`MUI: The \`colorSchemes.${h}\` option is either missing or invalid.`:Lt(21,h));let T;s&&(T="oklch");const C=Go(T,E,w,u,h);p&&!E.light&&Go(T,E,p,void 0,"light"),y&&!E.dark&&Go(T,E,y,void 0,"dark");let S={defaultColorScheme:h,...C,cssVarPrefix:o,colorSchemeSelector:l,rootSelector:c,getCssVar:f,colorSchemes:E,font:{...um(C.typography),...C.font},spacing:Om(u.spacing)};Object.keys(S.colorSchemes).forEach(B=>{const b=S.colorSchemes[B].palette,I=z=>{const V=z.split("-"),X=V[1],U=V[2];return f(z,b[X][U])};b.mode==="light"&&(k(b.common,"background","#fff"),k(b.common,"onBackground","#000")),b.mode==="dark"&&(k(b.common,"background","#000"),k(b.common,"onBackground","#fff"));function A(z,V,X){if(T){let U;return z===Jt&&(U=`transparent ${((1-X)*100).toFixed(0)}%`),z===ie&&(U=`#000 ${(X*100).toFixed(0)}%`),z===oe&&(U=`#fff ${(X*100).toFixed(0)}%`),`color-mix(in ${T}, ${V}, ${U})`}return z(V,X)}if(km(b,["Alert","AppBar","Avatar","Button","Chip","FilledInput","LinearProgress","Skeleton","Slider","SnackbarContent","SpeedDialAction","StepConnector","StepContent","Switch","TableCell","Tooltip"]),b.mode==="light"){k(b.Alert,"errorColor",A(ie,b.error.light,.6)),k(b.Alert,"infoColor",A(ie,b.info.light,.6)),k(b.Alert,"successColor",A(ie,b.success.light,.6)),k(b.Alert,"warningColor",A(ie,b.warning.light,.6)),k(b.Alert,"errorFilledBg",I("palette-error-main")),k(b.Alert,"infoFilledBg",I("palette-info-main")),k(b.Alert,"successFilledBg",I("palette-success-main")),k(b.Alert,"warningFilledBg",I("palette-warning-main")),k(b.Alert,"errorFilledColor",ot(()=>b.getContrastText(b.error.main))),k(b.Alert,"infoFilledColor",ot(()=>b.getContrastText(b.info.main))),k(b.Alert,"successFilledColor",ot(()=>b.getContrastText(b.success.main))),k(b.Alert,"warningFilledColor",ot(()=>b.getContrastText(b.warning.main))),k(b.Alert,"errorStandardBg",A(oe,b.error.light,.9)),k(b.Alert,"infoStandardBg",A(oe,b.info.light,.9)),k(b.Alert,"successStandardBg",A(oe,b.success.light,.9)),k(b.Alert,"warningStandardBg",A(oe,b.warning.light,.9)),k(b.Alert,"errorIconColor",I("palette-error-main")),k(b.Alert,"infoIconColor",I("palette-info-main")),k(b.Alert,"successIconColor",I("palette-success-main")),k(b.Alert,"warningIconColor",I("palette-warning-main")),k(b.AppBar,"defaultBg",I("palette-grey-100")),k(b.Avatar,"defaultBg",I("palette-grey-400")),k(b.Button,"inheritContainedBg",I("palette-grey-300")),k(b.Button,"inheritContainedHoverBg",I("palette-grey-A100")),k(b.Chip,"defaultBorder",I("palette-grey-400")),k(b.Chip,"defaultAvatarColor",I("palette-grey-700")),k(b.Chip,"defaultIconColor",I("palette-grey-700")),k(b.FilledInput,"bg","rgba(0, 0, 0, 0.06)"),k(b.FilledInput,"hoverBg","rgba(0, 0, 0, 0.09)"),k(b.FilledInput,"disabledBg","rgba(0, 0, 0, 0.12)"),k(b.LinearProgress,"primaryBg",A(oe,b.primary.main,.62)),k(b.LinearProgress,"secondaryBg",A(oe,b.secondary.main,.62)),k(b.LinearProgress,"errorBg",A(oe,b.error.main,.62)),k(b.LinearProgress,"infoBg",A(oe,b.info.main,.62)),k(b.LinearProgress,"successBg",A(oe,b.success.main,.62)),k(b.LinearProgress,"warningBg",A(oe,b.warning.main,.62)),k(b.Skeleton,"bg",T?A(Jt,b.text.primary,.11):`rgba(${I("palette-text-primaryChannel")} / 0.11)`),k(b.Slider,"primaryTrack",A(oe,b.primary.main,.62)),k(b.Slider,"secondaryTrack",A(oe,b.secondary.main,.62)),k(b.Slider,"errorTrack",A(oe,b.error.main,.62)),k(b.Slider,"infoTrack",A(oe,b.info.main,.62)),k(b.Slider,"successTrack",A(oe,b.success.main,.62)),k(b.Slider,"warningTrack",A(oe,b.warning.main,.62));const z=T?A(ie,b.background.default,.6825):zr(b.background.default,.8);k(b.SnackbarContent,"bg",z),k(b.SnackbarContent,"color",ot(()=>T?ms.text.primary:b.getContrastText(z))),k(b.SpeedDialAction,"fabHoverBg",zr(b.background.paper,.15)),k(b.StepConnector,"border",I("palette-grey-400")),k(b.StepContent,"border",I("palette-grey-400")),k(b.Switch,"defaultColor",I("palette-common-white")),k(b.Switch,"defaultDisabledColor",I("palette-grey-100")),k(b.Switch,"primaryDisabledColor",A(oe,b.primary.main,.62)),k(b.Switch,"secondaryDisabledColor",A(oe,b.secondary.main,.62)),k(b.Switch,"errorDisabledColor",A(oe,b.error.main,.62)),k(b.Switch,"infoDisabledColor",A(oe,b.info.main,.62)),k(b.Switch,"successDisabledColor",A(oe,b.success.main,.62)),k(b.Switch,"warningDisabledColor",A(oe,b.warning.main,.62)),k(b.TableCell,"border",A(oe,A(Jt,b.divider,1),.88)),k(b.Tooltip,"bg",A(Jt,b.grey[700],.92))}if(b.mode==="dark"){k(b.Alert,"errorColor",A(oe,b.error.light,.6)),k(b.Alert,"infoColor",A(oe,b.info.light,.6)),k(b.Alert,"successColor",A(oe,b.success.light,.6)),k(b.Alert,"warningColor",A(oe,b.warning.light,.6)),k(b.Alert,"errorFilledBg",I("palette-error-dark")),k(b.Alert,"infoFilledBg",I("palette-info-dark")),k(b.Alert,"successFilledBg",I("palette-success-dark")),k(b.Alert,"warningFilledBg",I("palette-warning-dark")),k(b.Alert,"errorFilledColor",ot(()=>b.getContrastText(b.error.dark))),k(b.Alert,"infoFilledColor",ot(()=>b.getContrastText(b.info.dark))),k(b.Alert,"successFilledColor",ot(()=>b.getContrastText(b.success.dark))),k(b.Alert,"warningFilledColor",ot(()=>b.getContrastText(b.warning.dark))),k(b.Alert,"errorStandardBg",A(ie,b.error.light,.9)),k(b.Alert,"infoStandardBg",A(ie,b.info.light,.9)),k(b.Alert,"successStandardBg",A(ie,b.success.light,.9)),k(b.Alert,"warningStandardBg",A(ie,b.warning.light,.9)),k(b.Alert,"errorIconColor",I("palette-error-main")),k(b.Alert,"infoIconColor",I("palette-info-main")),k(b.Alert,"successIconColor",I("palette-success-main")),k(b.Alert,"warningIconColor",I("palette-warning-main")),k(b.AppBar,"defaultBg",I("palette-grey-900")),k(b.AppBar,"darkBg",I("palette-background-paper")),k(b.AppBar,"darkColor",I("palette-text-primary")),k(b.Avatar,"defaultBg",I("palette-grey-600")),k(b.Button,"inheritContainedBg",I("palette-grey-800")),k(b.Button,"inheritContainedHoverBg",I("palette-grey-700")),k(b.Chip,"defaultBorder",I("palette-grey-700")),k(b.Chip,"defaultAvatarColor",I("palette-grey-300")),k(b.Chip,"defaultIconColor",I("palette-grey-300")),k(b.FilledInput,"bg","rgba(255, 255, 255, 0.09)"),k(b.FilledInput,"hoverBg","rgba(255, 255, 255, 0.13)"),k(b.FilledInput,"disabledBg","rgba(255, 255, 255, 0.12)"),k(b.LinearProgress,"primaryBg",A(ie,b.primary.main,.5)),k(b.LinearProgress,"secondaryBg",A(ie,b.secondary.main,.5)),k(b.LinearProgress,"errorBg",A(ie,b.error.main,.5)),k(b.LinearProgress,"infoBg",A(ie,b.info.main,.5)),k(b.LinearProgress,"successBg",A(ie,b.success.main,.5)),k(b.LinearProgress,"warningBg",A(ie,b.warning.main,.5)),k(b.Skeleton,"bg",T?A(Jt,b.text.primary,.13):`rgba(${I("palette-text-primaryChannel")} / 0.13)`),k(b.Slider,"primaryTrack",A(ie,b.primary.main,.5)),k(b.Slider,"secondaryTrack",A(ie,b.secondary.main,.5)),k(b.Slider,"errorTrack",A(ie,b.error.main,.5)),k(b.Slider,"infoTrack",A(ie,b.info.main,.5)),k(b.Slider,"successTrack",A(ie,b.success.main,.5)),k(b.Slider,"warningTrack",A(ie,b.warning.main,.5));const z=T?A(oe,b.background.default,.985):zr(b.background.default,.98);k(b.SnackbarContent,"bg",z),k(b.SnackbarContent,"color",ot(()=>T?Ou.text.primary:b.getContrastText(z))),k(b.SpeedDialAction,"fabHoverBg",zr(b.background.paper,.15)),k(b.StepConnector,"border",I("palette-grey-600")),k(b.StepContent,"border",I("palette-grey-600")),k(b.Switch,"defaultColor",I("palette-grey-300")),k(b.Switch,"defaultDisabledColor",I("palette-grey-600")),k(b.Switch,"primaryDisabledColor",A(ie,b.primary.main,.55)),k(b.Switch,"secondaryDisabledColor",A(ie,b.secondary.main,.55)),k(b.Switch,"errorDisabledColor",A(ie,b.error.main,.55)),k(b.Switch,"infoDisabledColor",A(ie,b.info.main,.55)),k(b.Switch,"successDisabledColor",A(ie,b.success.main,.55)),k(b.Switch,"warningDisabledColor",A(ie,b.warning.main,.55)),k(b.TableCell,"border",A(ie,A(Jt,b.divider,1),.68)),k(b.Tooltip,"bg",A(Jt,b.grey[700],.92))}vt(b.background,"default"),vt(b.background,"paper"),vt(b.common,"background"),vt(b.common,"onBackground"),vt(b,"divider"),Object.keys(b).forEach(z=>{const V=b[z];z!=="tonalOffset"&&V&&typeof V=="object"&&(V.main&&k(b[z],"mainChannel",tr(nr(V.main))),V.light&&k(b[z],"lightChannel",tr(nr(V.light))),V.dark&&k(b[z],"darkChannel",tr(nr(V.dark))),V.contrastText&&k(b[z],"contrastTextChannel",tr(nr(V.contrastText))),z==="text"&&(vt(b[z],"primary"),vt(b[z],"secondary")),z==="action"&&(V.active&&vt(b[z],"active"),V.selected&&vt(b[z],"selected")))})}),S=t.reduce((B,b)=>De(B,b),S);const R={prefix:o,disableCssColorScheme:i,shouldSkipGeneratingVar:a,getSelector:jm(S),enableContrastVars:s},{vars:j,generateThemeVars:P,generateStyleSheets:N}=Wp(S,R);return S.vars=j,Object.entries(S.colorSchemes[S.defaultColorScheme]).forEach(([B,b])=>{S[B]=b}),S.generateThemeVars=P,S.generateStyleSheets=N,S.generateSpacing=function(){return Eu(u.spacing,Vi(this))},S.getColorSchemeSelector=qp(l),S.spacing=S.generateSpacing(),S.shouldSkipGeneratingVar=a,S.unstable_sxConfig={...wr,...u==null?void 0:u.unstable_sxConfig},S.unstable_sx=function(b){return $n({sx:b,theme:this})},S.toRuntimeSource=Du,S}function xl(e,t,n){e.colorSchemes&&n&&(e.colorSchemes[t]={...n!==!0&&n,palette:Fs({...n===!0?{}:n.palette,mode:t})})}function Nu(e={},...t){const{palette:n,cssVariables:r=!1,colorSchemes:i=n?void 0:{light:!0},defaultColorScheme:o=n==null?void 0:n.mode,...s}=e,a=o||"light",l=i==null?void 0:i[a],c={...i,...n?{[a]:{...typeof l!="boolean"&&l,palette:n}}:void 0};if(r===!1){if(!("colorSchemes"in e))return gs(e,...t);let u=n;"palette"in e||c[a]&&(c[a]!==!0?u=c[a].palette:a==="dark"&&(u={mode:"dark"}));const d=gs({...e,palette:u},...t);return d.defaultColorScheme=a,d.colorSchemes=c,d.palette.mode==="light"&&(d.colorSchemes.light={...c.light!==!0&&c.light,palette:d.palette},xl(d,"dark",c.dark)),d.palette.mode==="dark"&&(d.colorSchemes.dark={...c.dark!==!0&&c.dark,palette:d.palette},xl(d,"light",c.light)),d}return!n&&!("light"in c)&&a==="light"&&(c.light=!0),Dm({...s,colorSchemes:c,defaultColorScheme:a,...typeof r!="boolean"&&r},...t)}const Bs=Nu();function zu(){const e=wu(Bs);return process.env.NODE_ENV!=="production"&&_.useDebugValue(e),e[Ls]||e}function $m({props:e,name:t}){return _u({props:e,name:t,defaultTheme:Bs,themeId:Ls})}function Gs(e){return e!=="ownerState"&&e!=="theme"&&e!=="sx"&&e!=="as"}const Lm=e=>Gs(e)&&e!=="classes",Ue=Ru({themeId:Ls,defaultTheme:Bs,rootShouldForwardProp:Lm});function eo(...e){const t=_.useRef(void 0),n=_.useCallback(r=>{const i=e.map(o=>{if(o==null)return null;if(typeof o=="function"){const s=o,a=s(r);return typeof a=="function"?a:()=>{s(null)}}return o.current=r,()=>{o.current=null}});return()=>{i.forEach(o=>o==null?void 0:o())}},e);return _.useMemo(()=>e.every(r=>r==null)?null:r=>{t.current&&(t.current(),t.current=void 0),r!=null&&(t.current=n(r))},e)}var Nm=(e,t,n)=>{if(t.length===1&&t[0]===n){let r=!1;try{const i={};e(i)===i&&(r=!0)}catch{}if(r){let i;try{throw new Error}catch(o){({stack:i}=o)}console.warn(`The result function returned its own inputs without modification. e.g
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export default theme;`}function xl(e){return typeof e=="number"?`${(e*100).toFixed(0)}%`:`calc((${e}) * 100%)`}const Cm=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 Mm(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})`:ku(t,Cm(n))},lighten(t,n){const r=this||e;return r.colorSpace?`color-mix(in ${r.colorSpace}, ${t}, #fff ${xl(n)})`:Qi(t,n)},darken(t,n){const r=this||e;return r.colorSpace?`color-mix(in ${r.colorSpace}, ${t}, #000 ${xl(n)})`:Zi(t,n)}})}function gs(e={},...t){const{breakpoints:n,mixins:r={},spacing:i,palette:o={},transitions:s={},typography:a={},shape:l,colorSpace:c,...u}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":Lt(20));const d=Bs({...o,colorSpace:c}),h=Ki(e);let f=Le(h,{mixins:hm(h.breakpoints,r),palette:d,shadows:xm.slice(),typography:pm(d,a),transitions:Em(s),zIndex:{...wm}});if(f=Le(f,u),f=t.reduce((m,p)=>Le(m,p),f),process.env.NODE_ENV!=="production"){const m=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],p=(y,v)=>{let E;for(E in y){const w=y[E];if(m.includes(E)&&Object.keys(w).length>0){if(process.env.NODE_ENV!=="production"){const T=hn("",E);console.error([`MUI: The \`${v}\` component increases the CSS specificity of the \`${E}\` internal state.`,"You can not override it like this: ",JSON.stringify(y,null,2),"",`Instead, you need to use the '&.${T}' syntax:`,JSON.stringify({root:{[`&.${T}`]:w}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
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`))}y[E]={}}}};Object.keys(f.components).forEach(y=>{const v=f.components[y].styleOverrides;v&&y.startsWith("Mui")&&p(v,y)})}return f.unstable_sxConfig={...wr,...u==null?void 0:u.unstable_sxConfig},f.unstable_sx=function(p){return $n({sx:p,theme:this})},f.toRuntimeSource=$u,Mm(f),f}function Rm(e){let t;return e<1?t=5.11916*e**2:t=4.5*Math.log(e+1)+2,Math.round(t*10)/1e3}const Am=[...Array(25)].map((e,t)=>{if(t===0)return"none";const n=Rm(t);return`linear-gradient(rgba(255 255 255 / ${n}), rgba(255 255 255 / ${n}))`});function Lu(e){return{inputPlaceholder:e==="dark"?.5:.42,inputUnderline:e==="dark"?.7:.42,switchTrackDisabled:e==="dark"?.2:.12,switchTrack:e==="dark"?.3:.38}}function Nu(e){return e==="dark"?Am:[]}function _m(e){const{palette:t={mode:"light"},opacity:n,overlays:r,colorSpace:i,...o}=e,s=Bs({...t,colorSpace:i});return{palette:s,opacity:{...Lu(s.mode),...n},overlays:r||Nu(s.mode),...o}}function Im(e){var t;return!!e[0].match(/(cssVarPrefix|colorSchemeSelector|modularCssLayers|rootSelector|typography|mixins|breakpoints|direction|transitions)/)||!!e[0].match(/sxConfig$/)||e[0]==="palette"&&!!((t=e[1])!=null&&t.match(/(mode|contrastThreshold|tonalOffset)/))}const jm=e=>[...[...Array(25)].map((t,n)=>`--${e?`${e}-`:""}overlays-${n}`),`--${e?`${e}-`:""}palette-AppBar-darkBg`,`--${e?`${e}-`:""}palette-AppBar-darkColor`],km=e=>(t,n)=>{const r=e.rootSelector||":root",i=e.colorSchemeSelector;let o=i;if(i==="class"&&(o=".%s"),i==="data"&&(o="[data-%s]"),i!=null&&i.startsWith("data-")&&!i.includes("%s")&&(o=`[${i}="%s"]`),e.defaultColorScheme===t){if(t==="dark"){const s={};return jm(e.cssVarPrefix).forEach(a=>{s[a]=n[a],delete n[a]}),o==="media"?{[r]:n,"@media (prefers-color-scheme: dark)":{[r]:s}}:o?{[o.replace("%s",t)]:s,[`${r}, ${o.replace("%s",t)}`]:n}:{[r]:{...n,...s}}}if(o&&o!=="media")return`${r}, ${o.replace("%s",String(t))}`}else if(t){if(o==="media")return{[`@media (prefers-color-scheme: ${String(t)})`]:{[r]:n}};if(o)return o.replace("%s",String(t))}return r};function Om(e,t){t.forEach(n=>{e[n]||(e[n]={})})}function k(e,t,n){!e[t]&&n&&(e[t]=n)}function nr(e){return typeof e!="string"||!e.startsWith("hsl")?e:ju(e)}function vt(e,t){`${t}Channel`in e||(e[`${t}Channel`]=tr(nr(e[t]),`MUI: Can't create \`palette.${t}Channel\` because \`palette.${t}\` is not one of these formats: #nnn, #nnnnnn, rgb(), rgba(), hsl(), hsla(), color().
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+
To suppress this warning, you need to explicitly provide the \`palette.${t}Channel\` as a string (in rgb format, for example "12 12 12") or undefined if you want to remove the channel token.`))}function Pm(e){return typeof e=="number"?`${e}px`:typeof e=="string"||typeof e=="function"||Array.isArray(e)?e:"8px"}const st=e=>{try{return e()}catch{}},Dm=(e="mui")=>Hp(e);function Go(e,t,n,r,i){if(!n)return;n=n===!0?{}:n;const o=i==="dark"?"dark":"light";if(!r){t[i]=_m({...n,palette:{mode:o,...n==null?void 0:n.palette},colorSpace:e});return}const{palette:s,...a}=gs({...r,palette:{mode:o,...n==null?void 0:n.palette},colorSpace:e});return t[i]={...n,palette:s,opacity:{...Lu(o),...n==null?void 0:n.opacity},overlays:(n==null?void 0:n.overlays)||Nu(o)},a}function $m(e={},...t){const{colorSchemes:n={light:!0},defaultColorScheme:r,disableCssColorScheme:i=!1,cssVarPrefix:o="mui",nativeColor:s=!1,shouldSkipGeneratingVar:a=Im,colorSchemeSelector:l=n.light&&n.dark?"media":void 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0, 0, 0.06)"),k(b.FilledInput,"hoverBg","rgba(0, 0, 0, 0.09)"),k(b.FilledInput,"disabledBg","rgba(0, 0, 0, 0.12)"),k(b.LinearProgress,"primaryBg",A(oe,b.primary.main,.62)),k(b.LinearProgress,"secondaryBg",A(oe,b.secondary.main,.62)),k(b.LinearProgress,"errorBg",A(oe,b.error.main,.62)),k(b.LinearProgress,"infoBg",A(oe,b.info.main,.62)),k(b.LinearProgress,"successBg",A(oe,b.success.main,.62)),k(b.LinearProgress,"warningBg",A(oe,b.warning.main,.62)),k(b.Skeleton,"bg",T?A(Jt,b.text.primary,.11):`rgba(${I("palette-text-primaryChannel")} / 0.11)`),k(b.Slider,"primaryTrack",A(oe,b.primary.main,.62)),k(b.Slider,"secondaryTrack",A(oe,b.secondary.main,.62)),k(b.Slider,"errorTrack",A(oe,b.error.main,.62)),k(b.Slider,"infoTrack",A(oe,b.info.main,.62)),k(b.Slider,"successTrack",A(oe,b.success.main,.62)),k(b.Slider,"warningTrack",A(oe,b.warning.main,.62));const z=T?A(ie,b.background.default,.6825):zr(b.background.default,.8);k(b.SnackbarContent,"bg",z),k(b.SnackbarContent,"color",st(()=>T?ms.text.primary:b.getContrastText(z))),k(b.SpeedDialAction,"fabHoverBg",zr(b.background.paper,.15)),k(b.StepConnector,"border",I("palette-grey-400")),k(b.StepContent,"border",I("palette-grey-400")),k(b.Switch,"defaultColor",I("palette-common-white")),k(b.Switch,"defaultDisabledColor",I("palette-grey-100")),k(b.Switch,"primaryDisabledColor",A(oe,b.primary.main,.62)),k(b.Switch,"secondaryDisabledColor",A(oe,b.secondary.main,.62)),k(b.Switch,"errorDisabledColor",A(oe,b.error.main,.62)),k(b.Switch,"infoDisabledColor",A(oe,b.info.main,.62)),k(b.Switch,"successDisabledColor",A(oe,b.success.main,.62)),k(b.Switch,"warningDisabledColor",A(oe,b.warning.main,.62)),k(b.TableCell,"border",A(oe,A(Jt,b.divider,1),.88)),k(b.Tooltip,"bg",A(Jt,b.grey[700],.92))}if(b.mode==="dark"){k(b.Alert,"errorColor",A(oe,b.error.light,.6)),k(b.Alert,"infoColor",A(oe,b.info.light,.6)),k(b.Alert,"successColor",A(oe,b.success.light,.6)),k(b.Alert,"warningColor",A(oe,b.warning.light,.6)),k(b.Alert,"errorFilledBg",I("palette-error-dark")),k(b.Alert,"infoFilledBg",I("palette-info-dark")),k(b.Alert,"successFilledBg",I("palette-success-dark")),k(b.Alert,"warningFilledBg",I("palette-warning-dark")),k(b.Alert,"errorFilledColor",st(()=>b.getContrastText(b.error.dark))),k(b.Alert,"infoFilledColor",st(()=>b.getContrastText(b.info.dark))),k(b.Alert,"successFilledColor",st(()=>b.getContrastText(b.success.dark))),k(b.Alert,"warningFilledColor",st(()=>b.getContrastText(b.warning.dark))),k(b.Alert,"errorStandardBg",A(ie,b.error.light,.9)),k(b.Alert,"infoStandardBg",A(ie,b.info.light,.9)),k(b.Alert,"successStandardBg",A(ie,b.success.light,.9)),k(b.Alert,"warningStandardBg",A(ie,b.warning.light,.9)),k(b.Alert,"errorIconColor",I("palette-error-main")),k(b.Alert,"infoIconColor",I("palette-info-main")),k(b.Alert,"successIconColor",I("palette-success-main")),k(b.Alert,"warningIconColor",I("palette-warning-main")),k(b.AppBar,"defaultBg",I("palette-grey-900")),k(b.AppBar,"darkBg",I("palette-background-paper")),k(b.AppBar,"darkColor",I("palette-text-primary")),k(b.Avatar,"defaultBg",I("palette-grey-600")),k(b.Button,"inheritContainedBg",I("palette-grey-800")),k(b.Button,"inheritContainedHoverBg",I("palette-grey-700")),k(b.Chip,"defaultBorder",I("palette-grey-700")),k(b.Chip,"defaultAvatarColor",I("palette-grey-300")),k(b.Chip,"defaultIconColor",I("palette-grey-300")),k(b.FilledInput,"bg","rgba(255, 255, 255, 0.09)"),k(b.FilledInput,"hoverBg","rgba(255, 255, 255, 0.13)"),k(b.FilledInput,"disabledBg","rgba(255, 255, 255, 0.12)"),k(b.LinearProgress,"primaryBg",A(ie,b.primary.main,.5)),k(b.LinearProgress,"secondaryBg",A(ie,b.secondary.main,.5)),k(b.LinearProgress,"errorBg",A(ie,b.error.main,.5)),k(b.LinearProgress,"infoBg",A(ie,b.info.main,.5)),k(b.LinearProgress,"successBg",A(ie,b.success.main,.5)),k(b.LinearProgress,"warningBg",A(ie,b.warning.main,.5)),k(b.Skeleton,"bg",T?A(Jt,b.text.primary,.13):`rgba(${I("palette-text-primaryChannel")} / 0.13)`),k(b.Slider,"primaryTrack",A(ie,b.primary.main,.5)),k(b.Slider,"secondaryTrack",A(ie,b.secondary.main,.5)),k(b.Slider,"errorTrack",A(ie,b.error.main,.5)),k(b.Slider,"infoTrack",A(ie,b.info.main,.5)),k(b.Slider,"successTrack",A(ie,b.success.main,.5)),k(b.Slider,"warningTrack",A(ie,b.warning.main,.5));const z=T?A(oe,b.background.default,.985):zr(b.background.default,.98);k(b.SnackbarContent,"bg",z),k(b.SnackbarContent,"color",st(()=>T?Pu.text.primary:b.getContrastText(z))),k(b.SpeedDialAction,"fabHoverBg",zr(b.background.paper,.15)),k(b.StepConnector,"border",I("palette-grey-600")),k(b.StepContent,"border",I("palette-grey-600")),k(b.Switch,"defaultColor",I("palette-grey-300")),k(b.Switch,"defaultDisabledColor",I("palette-grey-600")),k(b.Switch,"primaryDisabledColor",A(ie,b.primary.main,.55)),k(b.Switch,"secondaryDisabledColor",A(ie,b.secondary.main,.55)),k(b.Switch,"errorDisabledColor",A(ie,b.error.main,.55)),k(b.Switch,"infoDisabledColor",A(ie,b.info.main,.55)),k(b.Switch,"successDisabledColor",A(ie,b.success.main,.55)),k(b.Switch,"warningDisabledColor",A(ie,b.warning.main,.55)),k(b.TableCell,"border",A(ie,A(Jt,b.divider,1),.68)),k(b.Tooltip,"bg",A(Jt,b.grey[700],.92))}vt(b.background,"default"),vt(b.background,"paper"),vt(b.common,"background"),vt(b.common,"onBackground"),vt(b,"divider"),Object.keys(b).forEach(z=>{const V=b[z];z!=="tonalOffset"&&V&&typeof V=="object"&&(V.main&&k(b[z],"mainChannel",tr(nr(V.main))),V.light&&k(b[z],"lightChannel",tr(nr(V.light))),V.dark&&k(b[z],"darkChannel",tr(nr(V.dark))),V.contrastText&&k(b[z],"contrastTextChannel",tr(nr(V.contrastText))),z==="text"&&(vt(b[z],"primary"),vt(b[z],"secondary")),z==="action"&&(V.active&&vt(b[z],"active"),V.selected&&vt(b[z],"selected")))})}),S=t.reduce((B,b)=>Le(B,b),S);const R={prefix:o,disableCssColorScheme:i,shouldSkipGeneratingVar:a,getSelector:km(S),enableContrastVars:s},{vars:j,generateThemeVars:P,generateStyleSheets:N}=qp(S,R);return S.vars=j,Object.entries(S.colorSchemes[S.defaultColorScheme]).forEach(([B,b])=>{S[B]=b}),S.generateThemeVars=P,S.generateStyleSheets=N,S.generateSpacing=function(){return wu(u.spacing,Vi(this))},S.getColorSchemeSelector=Kp(l),S.spacing=S.generateSpacing(),S.shouldSkipGeneratingVar=a,S.unstable_sxConfig={...wr,...u==null?void 0:u.unstable_sxConfig},S.unstable_sx=function(b){return $n({sx:b,theme:this})},S.toRuntimeSource=$u,S}function bl(e,t,n){e.colorSchemes&&n&&(e.colorSchemes[t]={...n!==!0&&n,palette:Bs({...n===!0?{}:n.palette,mode:t})})}function zu(e={},...t){const{palette:n,cssVariables:r=!1,colorSchemes:i=n?void 0:{light:!0},defaultColorScheme:o=n==null?void 0:n.mode,...s}=e,a=o||"light",l=i==null?void 0:i[a],c={...i,...n?{[a]:{...typeof l!="boolean"&&l,palette:n}}:void 0};if(r===!1){if(!("colorSchemes"in e))return gs(e,...t);let u=n;"palette"in e||c[a]&&(c[a]!==!0?u=c[a].palette:a==="dark"&&(u={mode:"dark"}));const d=gs({...e,palette:u},...t);return d.defaultColorScheme=a,d.colorSchemes=c,d.palette.mode==="light"&&(d.colorSchemes.light={...c.light!==!0&&c.light,palette:d.palette},bl(d,"dark",c.dark)),d.palette.mode==="dark"&&(d.colorSchemes.dark={...c.dark!==!0&&c.dark,palette:d.palette},bl(d,"light",c.light)),d}return!n&&!("light"in c)&&a==="light"&&(c.light=!0),$m({...s,colorSchemes:c,defaultColorScheme:a,...typeof r!="boolean"&&r},...t)}const Gs=zu();function Fu(){const e=Tu(Gs);return process.env.NODE_ENV!=="production"&&_.useDebugValue(e),e[Ns]||e}function Lm({props:e,name:t}){return Iu({props:e,name:t,defaultTheme:Gs,themeId:Ns})}function Vs(e){return e!=="ownerState"&&e!=="theme"&&e!=="sx"&&e!=="as"}const Nm=e=>Vs(e)&&e!=="classes",He=Au({themeId:Ns,defaultTheme:Gs,rootShouldForwardProp:Nm});function eo(...e){const t=_.useRef(void 0),n=_.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 _.useMemo(()=>e.every(r=>r==null)?null:r=>{t.current&&(t.current(),t.current=void 0),r!=null&&(t.current=n(r))},e)}var zm=(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
|
|
56
56
|
\`createSelector([state => state.todos], todos => todos)\`
|
|
57
57
|
This could lead to inefficient memoization and unnecessary re-renders.
|
|
58
|
-
Ensure transformation logic is in the result function, and extraction logic is in the input selectors.`,{stack:i})}}},
|
|
58
|
+
Ensure transformation logic is in the result function, and extraction logic is in the input selectors.`,{stack:i})}}},Fm=(e,t,n)=>{const{memoize:r,memoizeOptions:i}=t,{inputSelectorResults:o,inputSelectorResultsCopy:s}=e,a=r(()=>({}),...i);if(!(a.apply(null,o)===a.apply(null,s))){let c;try{throw new Error}catch(u){({stack:c}=u)}console.warn(`An input selector returned a different result when passed same arguments.
|
|
59
59
|
This means your output selector will likely run more frequently than intended.
|
|
60
60
|
Avoid returning a new reference inside your input selector, e.g.
|
|
61
|
-
\`createSelector([state => state.todos.map(todo => todo.id)], todoIds => todoIds.length)\``,{arguments:n,firstInputs:o,secondInputs:s,stack:c})}},
|
|
61
|
+
\`createSelector([state => state.todos.map(todo => todo.id)], todoIds => todoIds.length)\``,{arguments:n,firstInputs:o,secondInputs:s,stack:c})}},Bm={inputStabilityCheck:"once",identityFunctionCheck:"once"},gi=Symbol("NOT_FOUND");function Gm(e,t=`expected a function, instead received ${typeof e}`){if(typeof e!="function")throw new TypeError(t)}function Vm(e,t=`expected an object, instead received ${typeof e}`){if(typeof e!="object")throw new TypeError(t)}function Um(e,t="expected all items to be functions, instead received the following types: "){if(!e.every(n=>typeof n=="function")){const n=e.map(r=>typeof r=="function"?`function ${r.name||"unnamed"}()`:typeof r).join(", ");throw new TypeError(`${t}[${n}]`)}}var vl=e=>Array.isArray(e)?e:[e];function Hm(e){const t=Array.isArray(e[0])?e[0]:e;return Um(t,"createSelector expects all input-selectors to be functions, but received the following types: "),t}function Sl(e,t){const n=[],{length:r}=e;for(let 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*/var Ml;function ag(){return Ml||(Ml=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=O,n=Us(),r=typeof Object.is=="function"?Object.is:e,i=n.useSyncExternalStore,o=t.useRef,s=t.useEffect,a=t.useMemo,l=t.useDebugValue;Yo.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(!E){if(E=!0,w=S,S=h(S),f!==void 0&&p.hasValue){var R=p.value;if(f(R,S))return T=R}return T=S}if(R=T,r(w,S))return R;var j=h(S);return f!==void 0&&f(R,j)?(w=S,R):(w=S,T=j)}var E=!1,w,T,C=d===void 0?null:d;return[function(){return v(u())},C===null?void 0:function(){return v(C())}]},[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},typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop(Error())})()),Yo}var Rl;function lg(){return Rl||(Rl=1,process.env.NODE_ENV==="production"?Gr.exports=sg():Gr.exports=ag()),Gr.exports}var cg=lg();const ug=parseInt(_.version,10),dg=ug>=19,hg=dg?pg:mg;function fg(e,t,n,r,i){return hg(e,t,n,r,i)}function pg(e,t,n,r,i){const o=_.useCallback(()=>t(e.getSnapshot(),n,r,i),[e,t,n,r,i]);return og.useSyncExternalStore(e.subscribe,o,o)}function mg(e,t,n,r,i){return cg.useSyncExternalStoreWithSelector(e.subscribe,e.getSnapshot,e.getSnapshot,o=>t(o,n,r,i))}const Al={};function gg(e,t){const n=_.useRef(Al);return n.current===Al&&(n.current=e(t)),n}const yg=[];function xg(e){_.useEffect(e,yg)}const bg=()=>{};function vg(e,t,n){const r=gg(Sg,{store:e,selector:t}).current;r.effect=n,xg(r.onMount)}function 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Ys=({params:e,store:t})=>(rt(()=>{t.set("experimentalFeatures",e.experimentalFeatures)},[t,e.experimentalFeatures]),{});Ys.params={experimentalFeatures:!0};Ys.getInitialState=({experimentalFeatures:e})=>({experimentalFeatures:e});const Bg=e=>e.experimentalFeatures,ro=K(Bg,e=>!!(e!=null&&e.preferStrictDomainInLineCharts));let _l=0;const Gg=()=>(_l+=1,`mui-chart-${_l}`),Ws=({params:e,store:t})=>(_.useEffect(()=>{e.id===void 0||e.id===t.state.id.providedChartId&&t.state.id.chartId!==void 0||t.set("id",L({},t.state.id,{chartId:e.id??Gg()}))},[t,e.id]),{});Ws.params={id:!0};Ws.getInitialState=({id:e})=>({id:{chartId:e,providedChartId:e}});const Vg=e=>e.id,Ug=K(Vg,e=>e.chartId);function Ve(e){const t=_.useRef(e);return rt(()=>{t.current=e}),_.useRef((...n)=>(0,t.current)(...n)).current}const Hg=["#4254FB","#FFB422","#FA4F58","#0DBEFF","#22BF75","#FA83B4","#FF7511"],Yg=["#495AFB","#FFC758","#F35865","#30C8FF","#44CE8D","#F286B3","#FF8C39"],Hu=e=>e==="dark"?Yg:Hg,Yu=({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 "${a}" is not unique.`);r[i.type].series[a]=s,r[i.type].seriesOrder.push(a)}),r},Wg=(e,t,n,r)=>{const i={};return Object.keys(t).forEach(o=>{var a,l;const s=e[o];s!==void 0&&(i[o]=((l=(a=t[o])==null?void 0:a.seriesProcessor)==null?void 0:l.call(a,s,n,r))??s)}),i},qg=(e,t,n)=>{let r=!1;const i={};return Object.keys(e).forEach(o=>{var l;const s=(l=t[o])==null?void 0:l.seriesLayout,a=e[o];if(s!==void 0&&a!==void 0){const c=s(a,n);c&&c!==e[o]&&(r=!0,i[o]=c)}}),r?i:{}},Wu=(e,t)=>{var r;const n=(r=e[t.type])==null?void 0:r.identifierSerializer;if(!n)throw new Error(`MUI X Charts: No identifier serializer found for series type "${t.type}".`);return n(t)},io=({params:e,store:t,seriesConfig:n})=>{const{series:r,dataset:i,theme:o,colors:s}=e;return Gu(()=>{t.set("series",L({},t.state.series,{defaultizedSeries:Yu({series:r,colors:typeof s=="function"?s(o):s,seriesConfig:n}),dataset:i}))},[s,i,r,o,n,t]),{instance:{serializeIdentifier:Ve(l=>Wu(n,l))}}};io.params={dataset:!0,series:!0,colors:!0,theme:!0};const Kg=[];io.getDefaultizedParams=({params:e})=>{var t;return L({},e,{series:(t=e.series)!=null&&t.length?e.series:Kg,colors:e.colors??Hu,theme:e.theme??"light"})};io.getInitialState=({series:e=[],colors:t,theme:n,dataset:r},i,o)=>({series:{seriesConfig:o,defaultizedSeries:Yu({series:e,colors:typeof t=="function"?t(n):t,seriesConfig:o}),dataset:r}});const Jg=(e,t,n)=>{const r=Wu(n,t);return!e.has(r)},Xg=e=>e.visibilityManager,Zg=new Map,Qg=K(Xg,e=>(e==null?void 0:e.visibilityMap)??Zg),e0=we(Qg,e=>(t,n)=>Jg(e,n,t)),qs=e=>e.series,t0=K(qs,e=>e.defaultizedSeries),Ut=K(qs,e=>e.seriesConfig),n0=K(qs,e=>e.dataset),$e=we(t0,Ut,n0,e0,function(t,n,r,i){return Wg(t,n,r,o=>i(n,o))});we($e,Ut,pt,function(t,n,r){return qg(t,n,r)});const r0={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 qu{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 r0)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=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode,this.pointerOptions=t.pointerOptions??this.pointerOptions}getBaseConfig(){return{requiredKeys:this.requiredKeys}}getEffectiveConfig(t,n){if(t!=="mouse"&&t!=="touch"&&t!=="pen")return n;const r=this.pointerOptions[t];return r?L({},n,r):n}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||"contains"in this.element&&this.element.contains(t.target)||"getRootNode"in this.element&&this.element.getRootNode()instanceof ShadowRoot&&t.composedPath().includes(this.element)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t,n){const r=this.getEffectiveConfig(n,this.getBaseConfig());if(!this.keyboardManager.areKeysPressed(r.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const i=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(o=>i[o])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange);const n=`${this.name}ChangeState`;this.element.removeEventListener(n,this.handleStateChange)}}class i0{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 o0{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 s0{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=L({},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 a0{constructor(t){H(this,"gestureTemplates",new Map);H(this,"elementGestureMap",new Map);H(this,"activeGesturesRegistry",new i0);H(this,"keyboardManager",new o0);this.pointerManager=new s0({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 fn extends qu{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 l0(e,t){const n=t.x-e.x,r=t.y-e.y;return Math.sqrt(n*n+r*r)}function Vr(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+=l0({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 tt(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 Je(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ur=1e-5,kt=1e-5,Il=.15;function c0(e,t){const n=t.x-e.x,r=t.y-e.y,i={vertical:null,horizontal:null,mainAxis:null},o=u0(t,e),s=Math.abs(n)>Math.abs(r)?"horizontal":"vertical",a=o||s==="horizontal"?Ur:Il,l=o?Ur:s==="horizontal"?Il:Ur;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 u0(e,t){const n=t.x-e.x,r=t.y-e.y,i=Math.atan2(r,n)*180/Math.PI;return i>=-45+kt&&i<=-22.5+kt||i>=22.5+kt&&i<=45+kt||i>=135+kt&&i<=157.5+kt||i>=-157.5+kt&&i<=-135+kt}function d0(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 jl=0,h0=e=>e>jl?1:e<-jl?-1:0,Pt=e=>{e.cancelable&&e.preventDefault()};class Ks extends fn{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 Ks(L({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||tt(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=Je(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,composed:!0,detail:l});n.dispatchEvent(u)}}class on extends fn{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=tt(s),this.state.lastCentroid=L({},this.state.startCentroid);else if(this.state.startCentroid&&this.state.lastCentroid){const l=this.state.lastCentroid,c=tt(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=tt(s),c=l.x-this.state.startCentroid.x,u=l.y-this.state.startCentroid.y,d=Math.sqrt(c*c+u*u),h=c0(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&&d0(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=tt(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 on(L({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=L({},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 E,w;if(!this.state.startCentroid)return;const a=((E=this.state.lastDeltas)==null?void 0:E.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=Je(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 Js extends fn{constructor(n){super(L({},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=Vr(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=Vr(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=Vr(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=Vr(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 Js(L({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=L({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}emitPinchEvent(n,r,i,o){const s=tt(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:h0(this.state.velocity),customData:this.customData};this.preventDefault&&o.preventDefault(),this.stopPropagation&&o.stopPropagation();const d=Je(this.name,r),h=new CustomEvent(d,{bubbles:!0,cancelable:!0,composed:!0,detail:u});n.dispatchEvent(h)}}class oo extends fn{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=tt(s),this.state.lastPosition=L({},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=tt(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 oo(L({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=L({},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=Je(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 Xs extends fn{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(Je(this.name,n.detail.phase),n)))});H(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Je(this.name,n.detail.phase),n))});H(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(Je(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 oo({name:`${this.name}-press`,duration:this.pressDuration,maxDistance:this.pressMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new on({name:`${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 Xs(L({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",Pt,{passive:!1}),this.element.addEventListener("touchmove",Pt,{passive:!1}),this.element.addEventListener("touchend",Pt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",Pt),this.element.removeEventListener("touchmove",Pt),this.element.removeEventListener("touchend",Pt)}}class dr extends fn{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=tt(s),this.state.lastPosition=L({},this.state.startCentroid),this.isActive=!0,this.originalTarget=o);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const a=tt(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(L({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=Je(this.name,"cancel"),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,composed:!0,detail:a});n.dispatchEvent(c)}this.resetState()}}class Zs extends fn{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(Je(this.name,n.detail.phase),n)))});H(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Je(this.name,n.detail.phase),n))});H(this,"dragEndHandler",n=>{this.state.phase==="dragging"&&(this.resetState(),this.element.dispatchEvent(new CustomEvent(Je(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:`${this.name}-tap`,maxDistance:this.tapMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new on({name:`${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 Zs(L({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",Pt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",Pt)}}class yi extends 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r=Gp(),i=_.useMemo(()=>[...f0,...e],[e]),o=m0({plugins:i,props:t});o.id=o.id??r;const a=_.useRef({}).current,l=x0(t.apiRef),c=_.useRef(null),u=_.useRef(null),d=_.useRef(null);if(d.current==null){kl+=1;const m={cacheKey:{id:kl}};i.forEach(p=>{p.getInitialState&&Object.assign(m,p.getInitialState(o,m,n))}),d.current=new Hs(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:_.useMemo(()=>({store:d.current,publicAPI:l.current,instance:a,svgRef:u,chartRootRef:c}),[a,l])}}function y0(e){return e.current==null&&(e.current={}),e}function x0(e){const t=_.useRef({});return e?y0(e):t}const ea=_.createContext(null);process.env.NODE_ENV!=="production"&&(ea.displayName="ChartContext");const Ol=new Set;function Ln(e,t="warning"){if(process.env.NODE_ENV==="production")return;const n=Array.isArray(e)?e.join(`
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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 Ku{constructor(t){Y(this,"customData",{});Y(this,"handleOptionsChange",t=>{t&&t.detail&&this.updateOptions(t.detail)});Y(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=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode,this.pointerOptions=t.pointerOptions??this.pointerOptions}getBaseConfig(){return{requiredKeys:this.requiredKeys}}getEffectiveConfig(t,n){if(t!=="mouse"&&t!=="touch"&&t!=="pen")return n;const r=this.pointerOptions[t];return r?L({},n,r):n}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||"contains"in this.element&&this.element.contains(t.target)||"getRootNode"in this.element&&this.element.getRootNode()instanceof ShadowRoot&&t.composedPath().includes(this.element)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t,n){const r=this.getEffectiveConfig(n,this.getBaseConfig());if(!this.keyboardManager.areKeysPressed(r.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const i=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(o=>i[o])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange);const n=`${this.name}ChangeState`;this.element.removeEventListener(n,this.handleStateChange)}}class o0{constructor(){Y(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 s0{constructor(){Y(this,"pressedKeys",new Set);Y(this,"handleKeyDown",t=>{this.pressedKeys.add(t.key)});Y(this,"handleKeyUp",t=>{this.pressedKeys.delete(t.key)});Y(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 a0{constructor(t){Y(this,"preventEventInterruption",!0);Y(this,"pointers",new Map);Y(this,"gestureHandlers",new Set);Y(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=L({},o,{type:"forceCancel"});this.pointers.set(i,s)}}this.notifyHandlers(n),this.pointers.clear()});Y(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 l0{constructor(t){Y(this,"gestureTemplates",new Map);Y(this,"elementGestureMap",new Map);Y(this,"activeGesturesRegistry",new o0);Y(this,"keyboardManager",new s0);this.pointerManager=new a0({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 fn extends Ku{constructor(n){super(n);Y(this,"unregisterHandler",null);Y(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 c0(e,t){const n=t.x-e.x,r=t.y-e.y;return Math.sqrt(n*n+r*r)}function Vr(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+=c0({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 Ur=1e-5,kt=1e-5,jl=.15;function u0(e,t){const n=t.x-e.x,r=t.y-e.y,i={vertical:null,horizontal:null,mainAxis:null},o=d0(t,e),s=Math.abs(n)>Math.abs(r)?"horizontal":"vertical",a=o||s==="horizontal"?Ur:jl,l=o?Ur:s==="horizontal"?jl:Ur;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 d0(e,t){const n=t.x-e.x,r=t.y-e.y,i=Math.atan2(r,n)*180/Math.PI;return i>=-45+kt&&i<=-22.5+kt||i>=22.5+kt&&i<=45+kt||i>=135+kt&&i<=157.5+kt||i>=-157.5+kt&&i<=-135+kt}function h0(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 kl=0,f0=e=>e>kl?1:e<-kl?-1:0,Pt=e=>{e.cancelable&&e.preventDefault()};class Js extends fn{constructor(n){super(n);Y(this,"state",{lastPosition:null});Y(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)}});Y(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()});Y(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 Js(L({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 on extends fn{constructor(n){super(n);Y(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});Y(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=L({},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=u0(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&&h0(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 on(L({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=L({},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 E,w;if(!this.state.startCentroid)return;const a=((E=this.state.lastDeltas)==null?void 0:E.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 Xs extends fn{constructor(n){super(L({},n,{minPointers:n.minPointers??2}));Y(this,"state",{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0});Y(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=Vr(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=Vr(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=Vr(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=Vr(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 Xs(L({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=L({},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:f0(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 oo extends fn{constructor(n){super(n);Y(this,"state",{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1});Y(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=L({},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 oo(L({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=L({},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 Zs extends fn{constructor(n){super(n);Y(this,"state",{phase:"waitingForPress",dragTimeoutId:null});Y(this,"pressHandler",()=>{this.state.phase==="waitingForPress"&&(this.state.phase="pressDetected",this.setTouchAction(),this.state.dragTimeoutId=setTimeout(()=>{this.resetState()},this.dragTimeout))});Y(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)))});Y(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Xe(this.name,n.detail.phase),n))});Y(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 oo({name:`${this.name}-press`,duration:this.pressDuration,maxDistance:this.pressMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new on({name:`${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 Zs(L({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",Pt,{passive:!1}),this.element.addEventListener("touchmove",Pt,{passive:!1}),this.element.addEventListener("touchend",Pt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",Pt),this.element.removeEventListener("touchmove",Pt),this.element.removeEventListener("touchend",Pt)}}class dr extends fn{constructor(n){super(n);Y(this,"state",{startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null});Y(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=L({},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 dr(L({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 Qs extends fn{constructor(n){super(n);Y(this,"state",{phase:"waitingForTap",dragTimeoutId:null});Y(this,"tapHandler",()=>{this.state.phase==="waitingForTap"&&(this.state.phase="tapDetected",this.setTouchAction(),this.state.dragTimeoutId=setTimeout(()=>{this.resetState()},this.dragTimeout))});Y(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)))});Y(this,"dragMoveHandler",n=>{this.state.phase==="dragging"&&this.element.dispatchEvent(new CustomEvent(Xe(this.name,n.detail.phase),n))});Y(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 dr({name:`${this.name}-tap`,maxDistance:this.tapMaxDistance,maxPointers:this.maxPointers,pointerMode:this.pointerMode,requiredKeys:this.requiredKeys,preventIf:this.preventIf,pointerOptions:structuredClone(this.pointerOptions)}),this.panGesture=new on({name:`${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 Qs(L({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",Pt,{passive:!1})}restoreTouchAction(){this.element.removeEventListener("touchstart",Pt)}}class yi extends Ku{constructor(n){super(n);Y(this,"state",{totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0});Y(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 yi(L({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 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r=0;r<t.length;r++)if(Math.abs(t[r]-e[r])>n)return!1;return!0}function xh(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 Fa(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&xh(e.tcp_pose,t.tcp_pose,n)}function bh(e,t){const n=new hs.Vector3(t[0],t[1],t[2]),r=new hs.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 $c=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}: ${a.data}`);za(this.rapidlyChangingMotionState.joint_position,l.joint_position,$c)||de.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),Fa(this.rapidlyChangingMotionState,l,$c)||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:bh(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 ${s.motion_group}. Initial state:
|
|
111
|
-
`,c);const u=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group);return new Ro(t,o,s,u,c,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Lc="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(Lc))){(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 Dn(t.orientation[0],t.orientation[1],t.orientation[2]),v=y.length(),E=y.clone().normalize(),w=s.distanceRads*(o==="-"?-1:1),T=new Dn(0,0,0);T[i]=1;const C=Math.cos(.5*w)*Math.cos(.5*v),S=Math.sin(.5*w)*Math.sin(.5*v),R=Math.sin(.5*w)*Math.cos(.5*v),j=Math.cos(.5*w)*Math.sin(.5*v),P=T.dot(E),N=T.clone().cross(E),B=2*Math.acos(C-S*P),b=B/Math.sin(.5*B),I=new Dn().addScaledVector(N,S).addScaledVector(T,R).addScaledVector(E,j).multiplyScalar(b);a.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...I]}}})}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 ${JSON.stringify(u)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const h=y=>{var v;if(!y||y.add_trajectory_error||y.message)if(this.onError)this.onError(y);else throw new Error(((v=y==null?void 0:y.add_trajectory_error)==null?void 0:v.message)||(y==null?void 0:y.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},f=async()=>{var y;await de.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await de.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},m=async()=>{var y;await de.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},p=async y=>{if(y!=null&&y.message)if(this.onError){this.onError(y);return}else throw new Error(y.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await f():await m()};this.trajectorySocket.addEventListener("message",y=>{var E,w;const v=Ee.tryParseJson(y.data);if(!((E=v==null?void 0:v.result)!=null&&E.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${y.data}`);if(this.onBlocked&&((w=v.result.message)!=null&&w.includes(Lc))){this.onBlocked();return}if(v.result.kind==="INITIALIZE_RECEIVED")h(v.result);else if(v.result.kind==="START_RECEIVED")p(v);else if(v.result.kind!=="PAUSE_RECEIVED")if(v.result.kind==="MOTION_ERROR"&&v.result.message)if(this.onError){this.onError(v);return}else throw new Error(v.result.message);else throw new Error(`Failed to execute 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${d.data}`);za(this.rapidlyChangingMotionState.joint_position,h.joint_position,fu)||de.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=h.joint_position}),Fa(this.rapidlyChangingMotionState,h,fu)||de.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose}),this.rapidlyChangingMotionState.standstill!==h.standstill&&de.runInAction(()=>{this.rapidlyChangingMotionState.standstill=h.standstill})}),de.makeAutoObservable(this)}static async connectMultiple(t,n){return Promise.all(n.map(r=>Ni.connect(t,r)))}static async connect(t,n){var v,E;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 ${s.motion_group}. Initial state:
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`,c);const d=(await t.api.controller.getRobotController(o.controller)).configuration.kind==="VirtualController",h=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group),f=Object.entries(h.tcps||{}).map(([w,T])=>({id:w,readable_name:T.name,position:T.pose.position,orientation:T.pose.orientation})),m=t.openReconnectingWebsocket(`/controllers/${o.controller}/state-stream?response_rate=1000`),p=await m.firstMessage(),y=(E=
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`,y),new Ni(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=>({...uM,...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 qa.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 qa.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 Wh(){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, 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0:s.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:e.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:e.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:e.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:e.palette.text.primary}},VelocitySlider:{sliderLegendColor:e.palette.text.primary}},WandelscriptEditor:{monacoTheme:{base:"vs-dark",inherit:!0,rules:[{token:"keyword",foreground:"#b349a9ff"}],colors:{"editor.background":M.rgbToHex(((a=e.palette.backgroundPaperElevation)==null?void 0:a[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function dM(){const e=Wh();return e.palette.mode="light",e}function hM(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?Wh():dM();return Nu(n,e)}exports.AppHeader=of;exports.ConnectedMotionGroup=Ni;exports.CycleTimer=MS;exports.JoggerConnection=Ao;exports.JoggingCartesianAxisControl=Is;exports.JoggingJointRotationControl=yh;exports.JoggingPanel=pC;exports.JoggingStore=Oo;exports.LogPanel=EC;exports.LogStore=Uh;exports.LogViewer=Hh;exports.MotionStreamConnection=Ro;exports.NoMotionGroupModal=TC;exports.PoseCartesianValues=gC;exports.PoseJointValues=yC;exports.RobotListItem=AC;exports.RobotSetupReadinessIndicator=Yh;exports.RobotSetupReadinessState=Wa;exports.SafetyBar=ZC;exports.SelectableFab=eM;exports.TabBar=rM;exports.Timer=cM;exports.VelocitySlider=Bh;exports.VelocitySliderLabel=Ya;exports.WandelbotsDataGrid=ph;exports.createDebugMessage=xC;exports.createErrorMessage=SC;exports.createInfoMessage=bC;exports.createLogMessage=Ir;exports.createNovaMuiTheme=hM;exports.createWarningMessage=vC;exports.jointValuesEqual=za;exports.poseEqual=xh;exports.tcpMotionEqual=Fa;exports.unwrapRotationVector=bh;
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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:hE("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 Dn{constructor(t=0,n=0,r=0){Dn.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($c.setFromEuler(t))}applyAxisAngle(t,n){return this.applyQuaternion($c.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 ls.copy(this).projectOnVector(t),this.sub(ls)}reflect(t){return this.sub(ls.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 ls=new Dn,$c=new fE;function Fa(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 bh(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 Ba(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&bh(e.tcp_pose,t.tcp_pose,n)}function vh(e,t){const n=new hs.Vector3(t[0],t[1],t[2]),r=new hs.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 Lc=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=Ie.tryParseJson(a.data))==null?void 0:c.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${a.data}`);Fa(this.rapidlyChangingMotionState.joint_position,l.joint_position,Lc)||de.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),Ba(this.rapidlyChangingMotionState,l,Lc)||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:vh(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=Ie.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 ${s.motion_group}. Initial state:
|
|
111
|
+
`,c);const u=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group);return new Ro(t,o,s,u,c,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Nc="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=Ie.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(Nc))){(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,velocityValue:r,velocityUnit:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const o=new Array(this.numJoints).fill(0);o[t]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:o})}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[Ie.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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O.useEffect(()=>{t?(o.isRunning&&(s(v=>({...v,wasRunningBeforeError:!0})),f()),r()):(o.wasRunningBeforeError&&!o.isRunning&&(s(v=>({...v,wasRunningBeforeError:!1})),m()),i())},[t,o.isRunning,o.wasRunningBeforeError,f,m,r,i]),O.useEffect(()=>{if(o.isRunning){const v=()=>{if(l.current){const w=(Date.now()-l.current)/1e3+c.current,T=w/60%1*100;s(S=>({...S,elapsedTime:Math.floor(w)})),Math.abs(T-u.current)>.1&&(d.setTarget([T]),u.current=T)}a.current=requestAnimationFrame(v)};a.current=requestAnimationFrame(v)}else a.current&&(cancelAnimationFrame(a.current),a.current=null);return()=>{a.current&&(cancelAnimationFrame(a.current),a.current=null)}},[o.isRunning,d]),O.useEffect(()=>{let v=null;const E=()=>{d.update(),v=requestAnimationFrame(E)};return v=requestAnimationFrame(E),()=>{v&&cancelAnimationFrame(v)}},[d]),{timerState:o,controls:{start:h,pause:f,resume:m,reset:p,isPaused:y}}},uM=g.externalizeComponent(re.observer(({onTimerReady:e,autoStart:t=!0,variant:n="default",compact:r=!1,className:i,hasError:o=!1})=>{const{animationState:s,triggerPauseAnimation:a,triggerErrorAnimation:l,clearErrorAnimation:c,setInitialAnimationState:u,cleanup:d}=lM(),{timerState:h,controls:f}=cM({autoStart:t,hasError:o,onPauseAnimation:a,onErrorAnimation:l,onClearErrorAnimation:c});return O.useEffect(()=>{u()},[u]),O.useEffect(()=>{let m=!0;const p=setTimeout(()=>{m&&e(f)},0);return()=>{m=!1,clearTimeout(p)}},[e,f]),O.useEffect(()=>d,[d]),n==="small"?g.jsxRuntimeExports.jsx(aM,{timerState:h,animationState:s,hasError:o,compact:r,className:i}):g.jsxRuntimeExports.jsx(sM,{timerState:h,animationState:s,hasError:o,className:i})})),pu=1e-4,dM={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class Ni{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=Ie.tryParseJson(d.data))==null?void 0:f.result;h&&de.runInAction(()=>{this.controllerState=h})}),o.addEventListener("message",d=>{var f;const h=(f=Ie.tryParseJson(d.data))==null?void 0:f.result;if(!h)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);Fa(this.rapidlyChangingMotionState.joint_position,h.joint_position,pu)||de.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=h.joint_position}),Ba(this.rapidlyChangingMotionState,h,pu)||de.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose}),this.rapidlyChangingMotionState.standstill!==h.standstill&&de.runInAction(()=>{this.rapidlyChangingMotionState.standstill=h.standstill})}),de.makeAutoObservable(this)}static async connectMultiple(t,n){return Promise.all(n.map(r=>Ni.connect(t,r)))}static async connect(t,n){var v,E;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=Ie.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 ${s.motion_group}. Initial state:
|
|
113
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+
`,c);const d=(await t.api.controller.getRobotController(o.controller)).configuration.kind==="VirtualController",h=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group),f=Object.entries(h.tcps||{}).map(([w,T])=>({id:w,readable_name:T.name,position:T.pose.position,orientation:T.pose.orientation})),m=t.openReconnectingWebsocket(`/controllers/${o.controller}/state-stream?response_rate=1000`),p=await m.firstMessage(),y=(E=Ie.tryParseJson(p.data))==null?void 0:E.result;if(!y)throw new Error(`Unable to parse initial controller state message ${p.data}`);return console.log(`Connected controller state websocket to controller ${o.controller}. Initial state:
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+
`,y),new Ni(t,o,s,c,a,d,f,h,y,m)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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=>({...dM,...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 Ka.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 Ka.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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.MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}}},MuiDataGrid:{styleOverrides:{root:{},panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}}}},MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(r=(n=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:n.tonal)==null?void 0:r.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${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 hM(){const e=qh();return e.palette.mode="light",e}function fM(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?qh():hM();return zu(n,e)}exports.AppHeader=sf;exports.ConnectedMotionGroup=Ni;exports.CycleTimer=RS;exports.JoggerConnection=Ao;exports.JoggingCartesianAxisControl=Is;exports.JoggingJointValueControl=xh;exports.JoggingPanel=mC;exports.JoggingStore=Oo;exports.LogPanel=wC;exports.LogStore=Hh;exports.LogViewer=Yh;exports.MotionStreamConnection=Ro;exports.NoMotionGroupModal=CC;exports.PoseCartesianValues=yC;exports.PoseJointValues=xC;exports.RobotListItem=_C;exports.RobotSetupReadinessIndicator=Wh;exports.RobotSetupReadinessState=qa;exports.SafetyBar=QC;exports.SelectableFab=tM;exports.TabBar=iM;exports.Timer=uM;exports.VelocitySlider=Gh;exports.VelocitySliderLabel=Wa;exports.WandelbotsDataGrid=mh;exports.createDebugMessage=bC;exports.createErrorMessage=EC;exports.createInfoMessage=vC;exports.createLogMessage=Ir;exports.createNovaMuiTheme=fM;exports.createWarningMessage=SC;exports.jointValuesEqual=Fa;exports.poseEqual=bh;exports.tcpMotionEqual=Ba;exports.unwrapRotationVector=vh;
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