npm - @wandelbots/wandelbots-js-react-components - Versions diffs - 4.3.0 → 4.4.0 - Mend

@wandelbots/wandelbots-js-react-components 4.3.0 → 4.4.0

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Files changed (34) hide show

package/dist/{theming-Cqo-msxF.cjs → theming-b98f6nXs.cjs} RENAMED Viewed

@@ -1,4 +1,4 @@
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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 ${s.motion_group}. Initial state:
   `,c);const d=(await t.api.controller.getRobotController(o.controller)).configuration.kind==="VirtualController",h=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group),f=Object.entries(h.tcps||{}).map(([w,T])=>({id:w,readable_name:T.name,position:T.pose.position,orientation:T.pose.orientation})),m=t.openReconnectingWebsocket(`/controllers/${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 ${o.controller}. Initial state:
   `,y),new Ni(t,o,s,c,a,d,f,h,y,m)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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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${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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