@wandelbots/wandelbots-js-react-components 5.5.0-pr.fix-esm-extensions.590.0a9a3ff → 5.5.0

package/dist/components/ThemeSelect.d.ts.map

@@ -1 +1 @@
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package/dist/components/VelocitySlider.cjs

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const t=require("react/jsx-runtime"),b=require("@mui/material/Slider"),s=require("@mui/material/Stack"),d=require("@mui/material/styles"),u=require("@mui/material/Typography"),m=require("lodash-es/isNumber.js"),h=require("mobx-react-lite"),S=require("react-i18next"),x=h.observer(e=>{var o,a,c;const r=d.useTheme(),{store:i}=e,{t:n}=S.useTranslation();function y(v,l){l===e.velocity||!m(l)||e.onVelocityChange(l,e.useDegree)}return t.jsxs(s,{direction:"row",gap:2,alignItems:"center","data-testid":"velocity-slider","aria-label":"velocity-slider",children:[i.showVelocityLegend&&t.jsx(u,{sx:{color:(c=(a=(o=r.componentsExt)==null?void 0:o.JoggingPanel)==null?void 0:a.VelocitySlider)==null?void 0:c.sliderLegendColor,fontSize:"14px"},children:n("Jogging.Velocity.bt")}),t.jsx(b,{value:e.velocity,color:"secondary",onChange:y,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& .MuiSlider-valueLabelOpen":{zIndex:100,backgroundColor:"transparent",top:"0px"}}}),i.showVelocitySliderLabel&&(e.renderValue?e.renderValue(e.velocity):t.jsx(g,{value:e.velocity.toString()}))]})});function g({value:e,sx:r}){var n;const i=d.useTheme();return t.jsx(s,{direction:"row",justifyContent:"center",alignItems:"center",gap:"5px",sx:{padding:"6px 12px",background:(n=i.palette.backgroundPaperElevation)==null?void 0:n[8],borderRadius:"10px",minWidth:"111px",...r},children:t.jsx(u,{component:"span",sx:{textAlign:"right",fontSize:"14px",opacity:.8,color:i.palette.text.primary,whiteSpace:"nowrap"},children:e})})}exports.VelocitySlider=x;exports.VelocitySliderLabel=g;exports.default=x;
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const t=require("react/jsx-runtime"),s=require("@mui/material/styles"),d=require("@mui/material/Stack"),u=require("@mui/material/Typography"),b=require("@mui/material/Slider"),m=require("lodash-es/isNumber"),h=require("mobx-react-lite"),S=require("react-i18next"),x=h.observer(e=>{var o,a,c;const r=s.useTheme(),{store:i}=e,{t:n}=S.useTranslation();function y(v,l){l===e.velocity||!m(l)||e.onVelocityChange(l,e.useDegree)}return t.jsxs(d,{direction:"row",gap:2,alignItems:"center","data-testid":"velocity-slider","aria-label":"velocity-slider",children:[i.showVelocityLegend&&t.jsx(u,{sx:{color:(c=(a=(o=r.componentsExt)==null?void 0:o.JoggingPanel)==null?void 0:a.VelocitySlider)==null?void 0:c.sliderLegendColor,fontSize:"14px"},children:n("Jogging.Velocity.bt")}),t.jsx(b,{value:e.velocity,color:"secondary",onChange:y,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& .MuiSlider-valueLabelOpen":{zIndex:100,backgroundColor:"transparent",top:"0px"}}}),i.showVelocitySliderLabel&&(e.renderValue?e.renderValue(e.velocity):t.jsx(g,{value:e.velocity.toString()}))]})});function g({value:e,sx:r}){var n;const i=s.useTheme();return t.jsx(d,{direction:"row",justifyContent:"center",alignItems:"center",gap:"5px",sx:{padding:"6px 12px",background:(n=i.palette.backgroundPaperElevation)==null?void 0:n[8],borderRadius:"10px",minWidth:"111px",...r},children:t.jsx(u,{component:"span",sx:{textAlign:"right",fontSize:"14px",opacity:.8,color:i.palette.text.primary,whiteSpace:"nowrap"},children:e})})}exports.VelocitySlider=x;exports.VelocitySliderLabel=g;exports.default=x;
 //# sourceMappingURL=VelocitySlider.cjs.map

package/dist/components/VelocitySlider.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"VelocitySlider.cjs","sources":["../../src/components/VelocitySlider.tsx"],"sourcesContent":["import Slider from \"@mui/material/Slider\"\nimport Stack from \"@mui/material/Stack\"\nimport { useTheme, type SxProps } from \"@mui/material/styles\"\nimport Typography from \"@mui/material/Typography\"\nimport isNumber from \"lodash-es/isNumber.js\"\nimport { observer } from \"mobx-react-lite\"\nimport type { ReactNode } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport type { JoggingStore } from \"./jogging/JoggingStore\"\n\ntype VelocitySliderProps = {\n  min: number\n  max: number\n  velocity: number\n  onVelocityChange: (newVelocity: number, useDegree: boolean) => void\n  disabled?: boolean\n  renderValue?: (value: number) => ReactNode\n  useDegree: boolean\n  store: JoggingStore\n}\n\n/** A slider for controlling the movement velocity of a robot */\nexport const VelocitySlider = observer((props: VelocitySliderProps) => {\n  const theme = useTheme()\n  const { store } = props\n  const { t } = useTranslation()\n\n  function onSliderChange(_event: Event, newVelocity: number | number[]) {\n    if (newVelocity === props.velocity || !isNumber(newVelocity)) return\n\n    props.onVelocityChange(newVelocity, props.useDegree)\n  }\n\n  return (\n    <Stack\n      direction=\"row\"\n      gap={2}\n      alignItems=\"center\"\n      data-testid=\"velocity-slider\"\n      aria-label=\"velocity-slider\"\n    >\n      {store.showVelocityLegend && (\n        <Typography\n          sx={{\n            color:\n              theme.componentsExt?.JoggingPanel?.VelocitySlider\n                ?.sliderLegendColor,\n            fontSize: \"14px\",\n          }}\n        >\n          {t(\"Jogging.Velocity.bt\")}\n        </Typography>\n      )}\n      <Slider\n        value={props.velocity}\n        color=\"secondary\"\n        onChange={onSliderChange}\n        min={props.min}\n        max={props.max}\n        aria-labelledby=\"input-slider\"\n        disabled={props.disabled}\n        sx={{\n          \"& .MuiSlider-valueLabelOpen\": {\n            zIndex: 100,\n            backgroundColor: \"transparent\",\n            top: \"0px\",\n          },\n        }}\n      />\n      {store.showVelocitySliderLabel &&\n        (props.renderValue ? (\n          props.renderValue(props.velocity)\n        ) : (\n          <VelocitySliderLabel value={props.velocity.toString()} />\n        ))}\n    </Stack>\n  )\n})\n\ntype VelocitySliderLabelProps = {\n  value: string\n  sx?: SxProps\n}\n\nexport function VelocitySliderLabel({ value, sx }: VelocitySliderLabelProps) {\n  const theme = useTheme()\n  return (\n    <Stack\n      direction={\"row\"}\n      justifyContent={\"center\"}\n      alignItems={\"center\"}\n      gap={\"5px\"}\n      sx={{\n        padding: \"6px 12px\",\n        background: theme.palette.backgroundPaperElevation?.[8],\n        borderRadius: \"10px\",\n        minWidth: \"111px\",\n        ...sx,\n      }}\n    >\n      <Typography\n        component=\"span\"\n        sx={{\n          textAlign: \"right\",\n          fontSize: \"14px\",\n          opacity: 0.8,\n          color: theme.palette.text.primary,\n          whiteSpace: \"nowrap\",\n        }}\n      >\n        {value}\n      </Typography>\n    </Stack>\n  )\n}\n\nexport default VelocitySlider\n"],"names":["VelocitySlider","observer","props","theme","useTheme","store","t","useTranslation","onSliderChange","_event","newVelocity","isNumber","jsxs","Stack","jsx","Typography","_c","_b","_a","Slider","VelocitySliderLabel","value","sx"],"mappings":"uXAsBaA,EAAiBC,EAAAA,SAAUC,GAA+B,WACrE,MAAMC,EAAQC,EAAAA,SAAA,EACR,CAAE,MAAAC,GAAUH,EACZ,CAAE,EAAAI,CAAA,EAAMC,iBAAA,EAEd,SAASC,EAAeC,EAAeC,EAAgC,CACjEA,IAAgBR,EAAM,UAAY,CAACS,EAASD,CAAW,GAE3DR,EAAM,iBAAiBQ,EAAaR,EAAM,SAAS,CACrD,CAEA,OACEU,EAAAA,KAACC,EAAA,CACC,UAAU,MACV,IAAK,EACL,WAAW,SACX,cAAY,kBACZ,aAAW,kBAEV,SAAA,CAAAR,EAAM,oBACLS,EAAAA,IAACC,EAAA,CACC,GAAI,CACF,OACEC,GAAAC,GAAAC,EAAAf,EAAM,gBAAN,YAAAe,EAAqB,eAArB,YAAAD,EAAmC,iBAAnC,YAAAD,EACI,kBACN,SAAU,MAAA,EAGX,WAAE,qBAAqB,CAAA,CAAA,EAG5BF,EAAAA,IAACK,EAAA,CACC,MAAOjB,EAAM,SACb,MAAM,YACN,SAAUM,EACV,IAAKN,EAAM,IACX,IAAKA,EAAM,IACX,kBAAgB,eAChB,SAAUA,EAAM,SAChB,GAAI,CACF,8BAA+B,CAC7B,OAAQ,IACR,gBAAiB,cACjB,IAAK,KAAA,CACP,CACF,CAAA,EAEDG,EAAM,0BACJH,EAAM,YACLA,EAAM,YAAYA,EAAM,QAAQ,QAE/BkB,EAAA,CAAoB,MAAOlB,EAAM,SAAS,WAAY,EAAA,CAAA,CAAA,CAIjE,CAAC,EAOM,SAASkB,EAAoB,CAAE,MAAAC,EAAO,GAAAC,GAAgC,OAC3E,MAAMnB,EAAQC,EAAAA,SAAA,EACd,OACEU,EAAAA,IAACD,EAAA,CACC,UAAW,MACX,eAAgB,SAChB,WAAY,SACZ,IAAK,MACL,GAAI,CACF,QAAS,WACT,YAAYK,EAAAf,EAAM,QAAQ,2BAAd,YAAAe,EAAyC,GACrD,aAAc,OACd,SAAU,QACV,GAAGI,CAAA,EAGL,SAAAR,EAAAA,IAACC,EAAA,CACC,UAAU,OACV,GAAI,CACF,UAAW,QACX,SAAU,OACV,QAAS,GACT,MAAOZ,EAAM,QAAQ,KAAK,QAC1B,WAAY,QAAA,EAGb,SAAAkB,CAAA,CAAA,CACH,CAAA,CAGN"}
+{"version":3,"file":"VelocitySlider.cjs","sources":["../../src/components/VelocitySlider.tsx"],"sourcesContent":["import { useTheme, type SxProps } from \"@mui/material/styles\"\nimport Stack from \"@mui/material/Stack\"\nimport Typography from \"@mui/material/Typography\"\nimport Slider from \"@mui/material/Slider\"\nimport isNumber from \"lodash-es/isNumber\"\nimport { observer } from \"mobx-react-lite\"\nimport type { ReactNode } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport type { JoggingStore } from \"./jogging/JoggingStore\"\n\ntype VelocitySliderProps = {\n  min: number\n  max: number\n  velocity: number\n  onVelocityChange: (newVelocity: number, useDegree: boolean) => void\n  disabled?: boolean\n  renderValue?: (value: number) => ReactNode\n  useDegree: boolean\n  store: JoggingStore\n}\n\n/** A slider for controlling the movement velocity of a robot */\nexport const VelocitySlider = observer((props: VelocitySliderProps) => {\n  const theme = useTheme()\n  const { store } = props\n  const { t } = useTranslation()\n\n  function onSliderChange(_event: Event, newVelocity: number | number[]) {\n    if (newVelocity === props.velocity || !isNumber(newVelocity)) return\n\n    props.onVelocityChange(newVelocity, props.useDegree)\n  }\n\n  return (\n    <Stack\n      direction=\"row\"\n      gap={2}\n      alignItems=\"center\"\n      data-testid=\"velocity-slider\"\n      aria-label=\"velocity-slider\"\n    >\n      {store.showVelocityLegend && (\n        <Typography\n          sx={{\n            color:\n              theme.componentsExt?.JoggingPanel?.VelocitySlider\n                ?.sliderLegendColor,\n            fontSize: \"14px\",\n          }}\n        >\n          {t(\"Jogging.Velocity.bt\")}\n        </Typography>\n      )}\n      <Slider\n        value={props.velocity}\n        color=\"secondary\"\n        onChange={onSliderChange}\n        min={props.min}\n        max={props.max}\n        aria-labelledby=\"input-slider\"\n        disabled={props.disabled}\n        sx={{\n          \"& .MuiSlider-valueLabelOpen\": {\n            zIndex: 100,\n            backgroundColor: \"transparent\",\n            top: \"0px\",\n          },\n        }}\n      />\n      {store.showVelocitySliderLabel &&\n        (props.renderValue ? (\n          props.renderValue(props.velocity)\n        ) : (\n          <VelocitySliderLabel value={props.velocity.toString()} />\n        ))}\n    </Stack>\n  )\n})\n\ntype VelocitySliderLabelProps = {\n  value: string\n  sx?: SxProps\n}\n\nexport function VelocitySliderLabel({ value, sx }: VelocitySliderLabelProps) {\n  const theme = useTheme()\n  return (\n    <Stack\n      direction={\"row\"}\n      justifyContent={\"center\"}\n      alignItems={\"center\"}\n      gap={\"5px\"}\n      sx={{\n        padding: \"6px 12px\",\n        background: theme.palette.backgroundPaperElevation?.[8],\n        borderRadius: \"10px\",\n        minWidth: \"111px\",\n        ...sx,\n      }}\n    >\n      <Typography\n        component=\"span\"\n        sx={{\n          textAlign: \"right\",\n          fontSize: \"14px\",\n          opacity: 0.8,\n          color: theme.palette.text.primary,\n          whiteSpace: \"nowrap\",\n        }}\n      >\n        {value}\n      </Typography>\n    </Stack>\n  )\n}\n\nexport default VelocitySlider\n"],"names":["VelocitySlider","observer","props","theme","useTheme","store","t","useTranslation","onSliderChange","_event","newVelocity","isNumber","jsxs","Stack","jsx","Typography","_c","_b","_a","Slider","VelocitySliderLabel","value","sx"],"mappings":"oXAsBaA,EAAiBC,EAAAA,SAAUC,GAA+B,WACrE,MAAMC,EAAQC,EAAAA,SAAA,EACR,CAAE,MAAAC,GAAUH,EACZ,CAAE,EAAAI,CAAA,EAAMC,iBAAA,EAEd,SAASC,EAAeC,EAAeC,EAAgC,CACjEA,IAAgBR,EAAM,UAAY,CAACS,EAASD,CAAW,GAE3DR,EAAM,iBAAiBQ,EAAaR,EAAM,SAAS,CACrD,CAEA,OACEU,EAAAA,KAACC,EAAA,CACC,UAAU,MACV,IAAK,EACL,WAAW,SACX,cAAY,kBACZ,aAAW,kBAEV,SAAA,CAAAR,EAAM,oBACLS,EAAAA,IAACC,EAAA,CACC,GAAI,CACF,OACEC,GAAAC,GAAAC,EAAAf,EAAM,gBAAN,YAAAe,EAAqB,eAArB,YAAAD,EAAmC,iBAAnC,YAAAD,EACI,kBACN,SAAU,MAAA,EAGX,WAAE,qBAAqB,CAAA,CAAA,EAG5BF,EAAAA,IAACK,EAAA,CACC,MAAOjB,EAAM,SACb,MAAM,YACN,SAAUM,EACV,IAAKN,EAAM,IACX,IAAKA,EAAM,IACX,kBAAgB,eAChB,SAAUA,EAAM,SAChB,GAAI,CACF,8BAA+B,CAC7B,OAAQ,IACR,gBAAiB,cACjB,IAAK,KAAA,CACP,CACF,CAAA,EAEDG,EAAM,0BACJH,EAAM,YACLA,EAAM,YAAYA,EAAM,QAAQ,QAE/BkB,EAAA,CAAoB,MAAOlB,EAAM,SAAS,WAAY,EAAA,CAAA,CAAA,CAIjE,CAAC,EAOM,SAASkB,EAAoB,CAAE,MAAAC,EAAO,GAAAC,GAAgC,OAC3E,MAAMnB,EAAQC,EAAAA,SAAA,EACd,OACEU,EAAAA,IAACD,EAAA,CACC,UAAW,MACX,eAAgB,SAChB,WAAY,SACZ,IAAK,MACL,GAAI,CACF,QAAS,WACT,YAAYK,EAAAf,EAAM,QAAQ,2BAAd,YAAAe,EAAyC,GACrD,aAAc,OACd,SAAU,QACV,GAAGI,CAAA,EAGL,SAAAR,EAAAA,IAACC,EAAA,CACC,UAAU,OACV,GAAI,CACF,UAAW,QACX,SAAU,OACV,QAAS,GACT,MAAOZ,EAAM,QAAQ,KAAK,QAC1B,WAAY,QAAA,EAGb,SAAAkB,CAAA,CAAA,CACH,CAAA,CAGN"}

package/dist/components/VelocitySlider.d.ts.map

@@ -1 +1 @@
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package/dist/components/VelocitySlider.js

@@ -1,19 +1,19 @@
 import { jsxs as u, jsx as i } from "react/jsx-runtime";
-import x from "@mui/material/Slider";
-import d from "@mui/material/Stack";
-import { useTheme as m } from "@mui/material/styles";
+import { useTheme as d } from "@mui/material/styles";
+import m from "@mui/material/Stack";
 import s from "@mui/material/Typography";
-import y from "lodash-es/isNumber.js";
+import x from "@mui/material/Slider";
+import y from "lodash-es/isNumber";
 import { observer as h } from "mobx-react-lite";
 import { useTranslation as b } from "react-i18next";
 const z = h((e) => {
   var l, a, c;
-  const r = m(), { store: t } = e, { t: o } = b();
+  const r = d(), { store: t } = e, { t: o } = b();
   function g(p, n) {
     n === e.velocity || !y(n) || e.onVelocityChange(n, e.useDegree);
   }
   return /* @__PURE__ */ u(
-    d,
+    m,
     {
       direction: "row",
       gap: 2,
@@ -57,9 +57,9 @@ const z = h((e) => {
 });
 function f({ value: e, sx: r }) {
   var o;
-  const t = m();
+  const t = d();
   return /* @__PURE__ */ i(
-    d,
+    m,
     {
       direction: "row",
       justifyContent: "center",

package/dist/components/VelocitySlider.js.map

@@ -1 +1 @@
-{"version":3,"file":"VelocitySlider.js","sources":["../../src/components/VelocitySlider.tsx"],"sourcesContent":["import Slider from \"@mui/material/Slider\"\nimport Stack from \"@mui/material/Stack\"\nimport { useTheme, type SxProps } from \"@mui/material/styles\"\nimport Typography from \"@mui/material/Typography\"\nimport isNumber from \"lodash-es/isNumber.js\"\nimport { observer } from \"mobx-react-lite\"\nimport type { ReactNode } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport type { JoggingStore } from \"./jogging/JoggingStore\"\n\ntype VelocitySliderProps = {\n  min: number\n  max: number\n  velocity: number\n  onVelocityChange: (newVelocity: number, useDegree: boolean) => void\n  disabled?: boolean\n  renderValue?: (value: number) => ReactNode\n  useDegree: boolean\n  store: JoggingStore\n}\n\n/** A slider for controlling the movement velocity of a robot */\nexport const VelocitySlider = observer((props: VelocitySliderProps) => {\n  const theme = useTheme()\n  const { store } = props\n  const { t } = useTranslation()\n\n  function onSliderChange(_event: Event, newVelocity: number | number[]) {\n    if (newVelocity === props.velocity || !isNumber(newVelocity)) return\n\n    props.onVelocityChange(newVelocity, props.useDegree)\n  }\n\n  return (\n    <Stack\n      direction=\"row\"\n      gap={2}\n      alignItems=\"center\"\n      data-testid=\"velocity-slider\"\n      aria-label=\"velocity-slider\"\n    >\n      {store.showVelocityLegend && (\n        <Typography\n          sx={{\n            color:\n              theme.componentsExt?.JoggingPanel?.VelocitySlider\n                ?.sliderLegendColor,\n            fontSize: \"14px\",\n          }}\n        >\n          {t(\"Jogging.Velocity.bt\")}\n        </Typography>\n      )}\n      <Slider\n        value={props.velocity}\n        color=\"secondary\"\n        onChange={onSliderChange}\n        min={props.min}\n        max={props.max}\n        aria-labelledby=\"input-slider\"\n        disabled={props.disabled}\n        sx={{\n          \"& .MuiSlider-valueLabelOpen\": {\n            zIndex: 100,\n            backgroundColor: \"transparent\",\n            top: \"0px\",\n          },\n        }}\n      />\n      {store.showVelocitySliderLabel &&\n        (props.renderValue ? 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+{"version":3,"file":"VelocitySlider.js","sources":["../../src/components/VelocitySlider.tsx"],"sourcesContent":["import { useTheme, type SxProps } from \"@mui/material/styles\"\nimport Stack from \"@mui/material/Stack\"\nimport Typography from \"@mui/material/Typography\"\nimport Slider from \"@mui/material/Slider\"\nimport isNumber from \"lodash-es/isNumber\"\nimport { observer } from \"mobx-react-lite\"\nimport type { ReactNode } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport type { JoggingStore } from \"./jogging/JoggingStore\"\n\ntype VelocitySliderProps = {\n  min: number\n  max: number\n  velocity: number\n  onVelocityChange: (newVelocity: number, useDegree: boolean) => void\n  disabled?: boolean\n  renderValue?: (value: number) => ReactNode\n  useDegree: boolean\n  store: JoggingStore\n}\n\n/** A slider for controlling the movement velocity of a robot */\nexport const VelocitySlider = observer((props: VelocitySliderProps) => {\n  const theme = useTheme()\n  const { store } = props\n  const { t } = useTranslation()\n\n  function onSliderChange(_event: Event, newVelocity: number | number[]) {\n    if (newVelocity === props.velocity || !isNumber(newVelocity)) return\n\n    props.onVelocityChange(newVelocity, props.useDegree)\n  }\n\n  return (\n    <Stack\n      direction=\"row\"\n      gap={2}\n      alignItems=\"center\"\n      data-testid=\"velocity-slider\"\n      aria-label=\"velocity-slider\"\n    >\n      {store.showVelocityLegend && (\n        <Typography\n          sx={{\n            color:\n              theme.componentsExt?.JoggingPanel?.VelocitySlider\n                ?.sliderLegendColor,\n            fontSize: \"14px\",\n          }}\n        >\n          {t(\"Jogging.Velocity.bt\")}\n        </Typography>\n      )}\n      <Slider\n        value={props.velocity}\n        color=\"secondary\"\n        onChange={onSliderChange}\n        min={props.min}\n        max={props.max}\n        aria-labelledby=\"input-slider\"\n        disabled={props.disabled}\n        sx={{\n          \"& .MuiSlider-valueLabelOpen\": {\n            zIndex: 100,\n            backgroundColor: \"transparent\",\n            top: \"0px\",\n          },\n        }}\n      />\n      {store.showVelocitySliderLabel &&\n        (props.renderValue ? (\n          props.renderValue(props.velocity)\n        ) : (\n          <VelocitySliderLabel value={props.velocity.toString()} />\n        ))}\n    </Stack>\n  )\n})\n\ntype VelocitySliderLabelProps = {\n  value: string\n  sx?: SxProps\n}\n\nexport function VelocitySliderLabel({ value, sx }: VelocitySliderLabelProps) {\n  const theme = useTheme()\n  return (\n    <Stack\n      direction={\"row\"}\n      justifyContent={\"center\"}\n      alignItems={\"center\"}\n      gap={\"5px\"}\n      sx={{\n        padding: \"6px 12px\",\n        background: theme.palette.backgroundPaperElevation?.[8],\n        borderRadius: \"10px\",\n        minWidth: \"111px\",\n        ...sx,\n      }}\n    >\n      <Typography\n        component=\"span\"\n        sx={{\n          textAlign: \"right\",\n          fontSize: \"14px\",\n          opacity: 0.8,\n          color: theme.palette.text.primary,\n          whiteSpace: \"nowrap\",\n        }}\n      >\n        {value}\n      </Typography>\n    </Stack>\n  )\n}\n\nexport default VelocitySlider\n"],"names":["VelocitySlider","observer","props","theme","useTheme","store","t","useTranslation","onSliderChange","_event","newVelocity","isNumber","jsxs","Stack","jsx","Typography","_c","_b","_a","Slider","VelocitySliderLabel","value","sx"],"mappings":";;;;;;;;AAsBO,MAAMA,IAAiBC,EAAS,CAACC,MAA+B;;AACrE,QAAMC,IAAQC,EAAA,GACR,EAAE,OAAAC,MAAUH,GACZ,EAAE,GAAAI,EAAA,IAAMC,EAAA;AAEd,WAASC,EAAeC,GAAeC,GAAgC;AACrE,IAAIA,MAAgBR,EAAM,YAAY,CAACS,EAASD,CAAW,KAE3DR,EAAM,iBAAiBQ,GAAaR,EAAM,SAAS;AAAA,EACrD;AAEA,SACE,gBAAAU;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,WAAU;AAAA,MACV,KAAK;AAAA,MACL,YAAW;AAAA,MACX,eAAY;AAAA,MACZ,cAAW;AAAA,MAEV,UAAA;AAAA,QAAAR,EAAM,sBACL,gBAAAS;AAAA,UAACC;AAAA,UAAA;AAAA,YACC,IAAI;AAAA,cACF,QACEC,KAAAC,KAAAC,IAAAf,EAAM,kBAAN,gBAAAe,EAAqB,iBAArB,gBAAAD,EAAmC,mBAAnC,gBAAAD,EACI;AAAA,cACN,UAAU;AAAA,YAAA;AAAA,YAGX,YAAE,qBAAqB;AAAA,UAAA;AAAA,QAAA;AAAA,QAG5B,gBAAAF;AAAA,UAACK;AAAA,UAAA;AAAA,YACC,OAAOjB,EAAM;AAAA,YACb,OAAM;AAAA,YACN,UAAUM;AAAA,YACV,KAAKN,EAAM;AAAA,YACX,KAAKA,EAAM;AAAA,YACX,mBAAgB;AAAA,YAChB,UAAUA,EAAM;AAAA,YAChB,IAAI;AAAA,cACF,+BAA+B;AAAA,gBAC7B,QAAQ;AAAA,gBACR,iBAAiB;AAAA,gBACjB,KAAK;AAAA,cAAA;AAAA,YACP;AAAA,UACF;AAAA,QAAA;AAAA,QAEDG,EAAM,4BACJH,EAAM,cACLA,EAAM,YAAYA,EAAM,QAAQ,sBAE/BkB,GAAA,EAAoB,OAAOlB,EAAM,SAAS,YAAY;AAAA,MAAA;AAAA,IAAA;AAAA,EAAA;AAIjE,CAAC;AAOM,SAASkB,EAAoB,EAAE,OAAAC,GAAO,IAAAC,KAAgC;;AAC3E,QAAMnB,IAAQC,EAAA;AACd,SACE,gBAAAU;AAAA,IAACD;AAAA,IAAA;AAAA,MACC,WAAW;AAAA,MACX,gBAAgB;AAAA,MAChB,YAAY;AAAA,MACZ,KAAK;AAAA,MACL,IAAI;AAAA,QACF,SAAS;AAAA,QACT,aAAYK,IAAAf,EAAM,QAAQ,6BAAd,gBAAAe,EAAyC;AAAA,QACrD,cAAc;AAAA,QACd,UAAU;AAAA,QACV,GAAGI;AAAA,MAAA;AAAA,MAGL,UAAA,gBAAAR;AAAA,QAACC;AAAA,QAAA;AAAA,UACC,WAAU;AAAA,UACV,IAAI;AAAA,YACF,WAAW;AAAA,YACX,UAAU;AAAA,YACV,SAAS;AAAA,YACT,OAAOZ,EAAM,QAAQ,KAAK;AAAA,YAC1B,YAAY;AAAA,UAAA;AAAA,UAGb,UAAAkB;AAAA,QAAA;AAAA,MAAA;AAAA,IACH;AAAA,EAAA;AAGN;"}

package/dist/components/jogging/JoggingJointLimitDetector.cjs

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const m=require("react/jsx-runtime"),g=require("@mui/material/Typography"),d=require("lodash-es/isEqual.js"),l=require("mobx-react-lite"),r=require("react"),u=require("react-i18next"),h=require("../utils/hooks.cjs"),j=l.observer(({store:t})=>{const{t:c}=u.useTranslation(),[n,s]=r.useState(t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached),o=r.useRef(n);h.useAnimationFrame(()=>{const e=t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;d(o.current,e)||(o.current=e,s(e))});const i=[];for(const[e,a]of n.entries())a&&i.push(e);return m.jsx(g,{"data-testid":"jogging-joint-limit-detector","aria-label":"jogging-joint-limit-detector",color:"error",sx:{margin:"0.5rem 1rem",textAlign:"center",minHeight:"1.5rem",visibility:i.length?"visible":"hidden"},children:c("Jogging.JointLimitsReached.lb",{jointNumbers:i.map(e=>e+1).join(", ")})})});exports.JoggingJointLimitDetector=j;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const m=require("react/jsx-runtime"),g=require("@mui/material/Typography"),d=require("mobx-react-lite"),l=require("lodash-es/isEqual"),r=require("react"),u=require("react-i18next"),h=require("../utils/hooks.cjs"),j=d.observer(({store:t})=>{const{t:c}=u.useTranslation(),[n,s]=r.useState(t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached),o=r.useRef(n);h.useAnimationFrame(()=>{const e=t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;l(o.current,e)||(o.current=e,s(e))});const i=[];for(const[e,a]of n.entries())a&&i.push(e);return m.jsx(g,{"data-testid":"jogging-joint-limit-detector","aria-label":"jogging-joint-limit-detector",color:"error",sx:{margin:"0.5rem 1rem",textAlign:"center",minHeight:"1.5rem",visibility:i.length?"visible":"hidden"},children:c("Jogging.JointLimitsReached.lb",{jointNumbers:i.map(e=>e+1).join(", ")})})});exports.JoggingJointLimitDetector=j;
 //# sourceMappingURL=JoggingJointLimitDetector.cjs.map

package/dist/components/jogging/JoggingJointLimitDetector.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"JoggingJointLimitDetector.cjs","sources":["../../../src/components/jogging/JoggingJointLimitDetector.tsx"],"sourcesContent":["import Typography from \"@mui/material/Typography\"\nimport isEqual from \"lodash-es/isEqual.js\"\nimport { observer } from \"mobx-react-lite\"\nimport { useRef, useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { useAnimationFrame } from \"../utils/hooks\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\n/**\n * Monitors the active robot motion state and displays a message if\n * any joint limits are reached.\n */\nexport const JoggingJointLimitDetector = observer(\n  ({ store }: { store: JoggingStore }) => {\n    const { t } = useTranslation()\n\n    const [jointLimitsReached, setJointLimitsReached] = useState(\n      store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n        .limit_reached,\n    )\n    const jointLimitsReachedRef = useRef(jointLimitsReached)\n\n    useAnimationFrame(() => {\n      const newLimitsReached =\n        store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n          .limit_reached\n\n      if (!isEqual(jointLimitsReachedRef.current, newLimitsReached)) {\n        jointLimitsReachedRef.current = newLimitsReached\n        setJointLimitsReached(newLimitsReached)\n      }\n    })\n\n    const jointLimitReachedIndices: number[] = []\n    for (const [index, limitReached] of jointLimitsReached.entries()) {\n      if (limitReached) jointLimitReachedIndices.push(index)\n    }\n\n    return (\n      <Typography\n        data-testid=\"jogging-joint-limit-detector\"\n        aria-label=\"jogging-joint-limit-detector\"\n        color=\"error\"\n        sx={{\n          margin: \"0.5rem 1rem\",\n          textAlign: \"center\",\n          minHeight: \"1.5rem\",\n          visibility: jointLimitReachedIndices.length ? \"visible\" : \"hidden\",\n        }}\n      >\n        {t(\"Jogging.JointLimitsReached.lb\", {\n          jointNumbers: jointLimitReachedIndices.map((i) => i + 1).join(\", \"),\n        })}\n      </Typography>\n    )\n  },\n)\n"],"names":["JoggingJointLimitDetector","observer","store","t","useTranslation","jointLimitsReached","setJointLimitsReached","useState","jointLimitsReachedRef","useRef","useAnimationFrame","newLimitsReached","isEqual","jointLimitReachedIndices","index","limitReached","jsx","Typography","i"],"mappings":"wSAYaA,EAA4BC,EAAAA,SACvC,CAAC,CAAE,MAAAC,CAAA,IAAqC,CACtC,KAAM,CAAE,EAAAC,CAAA,EAAMC,iBAAA,EAER,CAACC,EAAoBC,CAAqB,EAAIC,EAAAA,SAClDL,EAAM,OAAO,aAAa,2BAA2B,oBAClD,aAAA,EAECM,EAAwBC,EAAAA,OAAOJ,CAAkB,EAEvDK,EAAAA,kBAAkB,IAAM,CACtB,MAAMC,EACJT,EAAM,OAAO,aAAa,2BAA2B,oBAClD,cAEAU,EAAQJ,EAAsB,QAASG,CAAgB,IAC1DH,EAAsB,QAAUG,EAChCL,EAAsBK,CAAgB,EAE1C,CAAC,EAED,MAAME,EAAqC,CAAA,EAC3C,SAAW,CAACC,EAAOC,CAAY,IAAKV,EAAmB,UACjDU,GAAcF,EAAyB,KAAKC,CAAK,EAGvD,OACEE,EAAAA,IAACC,EAAA,CACC,cAAY,+BACZ,aAAW,+BACX,MAAM,QACN,GAAI,CACF,OAAQ,cACR,UAAW,SACX,UAAW,SACX,WAAYJ,EAAyB,OAAS,UAAY,QAAA,EAG3D,WAAE,gCAAiC,CAClC,aAAcA,EAAyB,IAAKK,GAAMA,EAAI,CAAC,EAAE,KAAK,IAAI,CAAA,CACnE,CAAA,CAAA,CAGP,CACF"}
+{"version":3,"file":"JoggingJointLimitDetector.cjs","sources":["../../../src/components/jogging/JoggingJointLimitDetector.tsx"],"sourcesContent":["import Typography from \"@mui/material/Typography\"\nimport { observer } from \"mobx-react-lite\"\nimport isEqual from \"lodash-es/isEqual\"\nimport { useRef, useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { useAnimationFrame } from \"../utils/hooks\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\n/**\n * Monitors the active robot motion state and displays a message if\n * any joint limits are reached.\n */\nexport const JoggingJointLimitDetector = observer(\n  ({ store }: { store: JoggingStore }) => {\n    const { t } = useTranslation()\n\n    const [jointLimitsReached, setJointLimitsReached] = useState(\n      store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n        .limit_reached,\n    )\n    const jointLimitsReachedRef = useRef(jointLimitsReached)\n\n    useAnimationFrame(() => {\n      const newLimitsReached =\n        store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n          .limit_reached\n\n      if (!isEqual(jointLimitsReachedRef.current, newLimitsReached)) {\n        jointLimitsReachedRef.current = newLimitsReached\n        setJointLimitsReached(newLimitsReached)\n      }\n    })\n\n    const jointLimitReachedIndices: number[] = []\n    for (const [index, limitReached] of jointLimitsReached.entries()) {\n      if (limitReached) jointLimitReachedIndices.push(index)\n    }\n\n    return (\n      <Typography\n        data-testid=\"jogging-joint-limit-detector\"\n        aria-label=\"jogging-joint-limit-detector\"\n        color=\"error\"\n        sx={{\n          margin: \"0.5rem 1rem\",\n          textAlign: \"center\",\n          minHeight: \"1.5rem\",\n          visibility: jointLimitReachedIndices.length ? \"visible\" : \"hidden\",\n        }}\n      >\n        {t(\"Jogging.JointLimitsReached.lb\", {\n          jointNumbers: jointLimitReachedIndices.map((i) => i + 1).join(\", \"),\n        })}\n      </Typography>\n    )\n  },\n)\n"],"names":["JoggingJointLimitDetector","observer","store","t","useTranslation","jointLimitsReached","setJointLimitsReached","useState","jointLimitsReachedRef","useRef","useAnimationFrame","newLimitsReached","isEqual","jointLimitReachedIndices","index","limitReached","jsx","Typography","i"],"mappings":"qSAYaA,EAA4BC,EAAAA,SACvC,CAAC,CAAE,MAAAC,CAAA,IAAqC,CACtC,KAAM,CAAE,EAAAC,CAAA,EAAMC,iBAAA,EAER,CAACC,EAAoBC,CAAqB,EAAIC,EAAAA,SAClDL,EAAM,OAAO,aAAa,2BAA2B,oBAClD,aAAA,EAECM,EAAwBC,EAAAA,OAAOJ,CAAkB,EAEvDK,EAAAA,kBAAkB,IAAM,CACtB,MAAMC,EACJT,EAAM,OAAO,aAAa,2BAA2B,oBAClD,cAEAU,EAAQJ,EAAsB,QAASG,CAAgB,IAC1DH,EAAsB,QAAUG,EAChCL,EAAsBK,CAAgB,EAE1C,CAAC,EAED,MAAME,EAAqC,CAAA,EAC3C,SAAW,CAACC,EAAOC,CAAY,IAAKV,EAAmB,UACjDU,GAAcF,EAAyB,KAAKC,CAAK,EAGvD,OACEE,EAAAA,IAACC,EAAA,CACC,cAAY,+BACZ,aAAW,+BACX,MAAM,QACN,GAAI,CACF,OAAQ,cACR,UAAW,SACX,UAAW,SACX,WAAYJ,EAAyB,OAAS,UAAY,QAAA,EAG3D,WAAE,gCAAiC,CAClC,aAAcA,EAAyB,IAAKK,GAAMA,EAAI,CAAC,EAAE,KAAK,IAAI,CAAA,CACnE,CAAA,CAAA,CAGP,CACF"}

package/dist/components/jogging/JoggingJointLimitDetector.js

@@ -1,18 +1,18 @@
 import { jsx as s } from "react/jsx-runtime";
 import c from "@mui/material/Typography";
-import g from "lodash-es/isEqual.js";
-import { observer as d } from "mobx-react-lite";
+import { observer as g } from "mobx-react-lite";
+import d from "lodash-es/isEqual";
 import { useState as l, useRef as h } from "react";
 import { useTranslation as j } from "react-i18next";
 import { useAnimationFrame as p } from "../utils/hooks.js";
-const y = d(
+const y = g(
   ({ store: e }) => {
     const { t: n } = j(), [o, m] = l(
       e.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached
     ), r = h(o);
     p(() => {
       const i = e.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;
-      g(r.current, i) || (r.current = i, m(i));
+      d(r.current, i) || (r.current = i, m(i));
     });
     const t = [];
     for (const [i, a] of o.entries())

package/dist/components/jogging/JoggingJointLimitDetector.js.map

@@ -1 +1 @@
-{"version":3,"file":"JoggingJointLimitDetector.js","sources":["../../../src/components/jogging/JoggingJointLimitDetector.tsx"],"sourcesContent":["import Typography from \"@mui/material/Typography\"\nimport isEqual from \"lodash-es/isEqual.js\"\nimport { observer } from \"mobx-react-lite\"\nimport { useRef, useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { useAnimationFrame } from \"../utils/hooks\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\n/**\n * Monitors the active robot motion state and displays a message if\n * any joint limits are reached.\n */\nexport const JoggingJointLimitDetector = observer(\n  ({ store }: { store: JoggingStore }) => {\n    const { t } = useTranslation()\n\n    const [jointLimitsReached, setJointLimitsReached] = useState(\n      store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n        .limit_reached,\n    )\n    const jointLimitsReachedRef = useRef(jointLimitsReached)\n\n    useAnimationFrame(() => {\n      const newLimitsReached =\n        store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n          .limit_reached\n\n      if (!isEqual(jointLimitsReachedRef.current, newLimitsReached)) {\n        jointLimitsReachedRef.current = newLimitsReached\n        setJointLimitsReached(newLimitsReached)\n      }\n    })\n\n    const jointLimitReachedIndices: number[] = []\n    for (const [index, limitReached] of jointLimitsReached.entries()) {\n      if (limitReached) jointLimitReachedIndices.push(index)\n    }\n\n    return (\n      <Typography\n        data-testid=\"jogging-joint-limit-detector\"\n        aria-label=\"jogging-joint-limit-detector\"\n        color=\"error\"\n        sx={{\n          margin: \"0.5rem 1rem\",\n          textAlign: \"center\",\n          minHeight: \"1.5rem\",\n          visibility: jointLimitReachedIndices.length ? \"visible\" : \"hidden\",\n        }}\n      >\n        {t(\"Jogging.JointLimitsReached.lb\", {\n          jointNumbers: jointLimitReachedIndices.map((i) => i + 1).join(\", \"),\n        })}\n      </Typography>\n    )\n  },\n)\n"],"names":["JoggingJointLimitDetector","observer","store","t","useTranslation","jointLimitsReached","setJointLimitsReached","useState","jointLimitsReachedRef","useRef","useAnimationFrame","newLimitsReached","isEqual","jointLimitReachedIndices","index","limitReached","jsx","Typography"],"mappings":";;;;;;;AAYO,MAAMA,IAA4BC;AAAA,EACvC,CAAC,EAAE,OAAAC,EAAA,MAAqC;AACtC,UAAM,EAAE,GAAAC,EAAA,IAAMC,EAAA,GAER,CAACC,GAAoBC,CAAqB,IAAIC;AAAA,MAClDL,EAAM,OAAO,aAAa,2BAA2B,oBAClD;AAAA,IAAA,GAECM,IAAwBC,EAAOJ,CAAkB;AAEvD,IAAAK,EAAkB,MAAM;AACtB,YAAMC,IACJT,EAAM,OAAO,aAAa,2BAA2B,oBAClD;AAEL,MAAKU,EAAQJ,EAAsB,SAASG,CAAgB,MAC1DH,EAAsB,UAAUG,GAChCL,EAAsBK,CAAgB;AAAA,IAE1C,CAAC;AAED,UAAME,IAAqC,CAAA;AAC3C,eAAW,CAACC,GAAOC,CAAY,KAAKV,EAAmB;AACrD,MAAIU,KAAcF,EAAyB,KAAKC,CAAK;AAGvD,WACE,gBAAAE;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,eAAY;AAAA,QACZ,cAAW;AAAA,QACX,OAAM;AAAA,QACN,IAAI;AAAA,UACF,QAAQ;AAAA,UACR,WAAW;AAAA,UACX,WAAW;AAAA,UACX,YAAYJ,EAAyB,SAAS,YAAY;AAAA,QAAA;AAAA,QAG3D,YAAE,iCAAiC;AAAA,UAClC,cAAcA,EAAyB,IAAI,CAAC,MAAM,IAAI,CAAC,EAAE,KAAK,IAAI;AAAA,QAAA,CACnE;AAAA,MAAA;AAAA,IAAA;AAAA,EAGP;AACF;"}
+{"version":3,"file":"JoggingJointLimitDetector.js","sources":["../../../src/components/jogging/JoggingJointLimitDetector.tsx"],"sourcesContent":["import Typography from \"@mui/material/Typography\"\nimport { observer } from \"mobx-react-lite\"\nimport isEqual from \"lodash-es/isEqual\"\nimport { useRef, useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { useAnimationFrame } from \"../utils/hooks\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\n/**\n * Monitors the active robot motion state and displays a message if\n * any joint limits are reached.\n */\nexport const JoggingJointLimitDetector = observer(\n  ({ store }: { store: JoggingStore }) => {\n    const { t } = useTranslation()\n\n    const [jointLimitsReached, setJointLimitsReached] = useState(\n      store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n        .limit_reached,\n    )\n    const jointLimitsReachedRef = useRef(jointLimitsReached)\n\n    useAnimationFrame(() => {\n      const newLimitsReached =\n        store.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached\n          .limit_reached\n\n      if (!isEqual(jointLimitsReachedRef.current, newLimitsReached)) {\n        jointLimitsReachedRef.current = newLimitsReached\n        setJointLimitsReached(newLimitsReached)\n      }\n    })\n\n    const jointLimitReachedIndices: number[] = []\n    for (const [index, limitReached] of jointLimitsReached.entries()) {\n      if (limitReached) jointLimitReachedIndices.push(index)\n    }\n\n    return (\n      <Typography\n        data-testid=\"jogging-joint-limit-detector\"\n        aria-label=\"jogging-joint-limit-detector\"\n        color=\"error\"\n        sx={{\n          margin: \"0.5rem 1rem\",\n          textAlign: \"center\",\n          minHeight: \"1.5rem\",\n          visibility: jointLimitReachedIndices.length ? \"visible\" : \"hidden\",\n        }}\n      >\n        {t(\"Jogging.JointLimitsReached.lb\", {\n          jointNumbers: jointLimitReachedIndices.map((i) => i + 1).join(\", \"),\n        })}\n      </Typography>\n    )\n  },\n)\n"],"names":["JoggingJointLimitDetector","observer","store","t","useTranslation","jointLimitsReached","setJointLimitsReached","useState","jointLimitsReachedRef","useRef","useAnimationFrame","newLimitsReached","isEqual","jointLimitReachedIndices","index","limitReached","jsx","Typography"],"mappings":";;;;;;;AAYO,MAAMA,IAA4BC;AAAA,EACvC,CAAC,EAAE,OAAAC,EAAA,MAAqC;AACtC,UAAM,EAAE,GAAAC,EAAA,IAAMC,EAAA,GAER,CAACC,GAAoBC,CAAqB,IAAIC;AAAA,MAClDL,EAAM,OAAO,aAAa,2BAA2B,oBAClD;AAAA,IAAA,GAECM,IAAwBC,EAAOJ,CAAkB;AAEvD,IAAAK,EAAkB,MAAM;AACtB,YAAMC,IACJT,EAAM,OAAO,aAAa,2BAA2B,oBAClD;AAEL,MAAKU,EAAQJ,EAAsB,SAASG,CAAgB,MAC1DH,EAAsB,UAAUG,GAChCL,EAAsBK,CAAgB;AAAA,IAE1C,CAAC;AAED,UAAME,IAAqC,CAAA;AAC3C,eAAW,CAACC,GAAOC,CAAY,KAAKV,EAAmB;AACrD,MAAIU,KAAcF,EAAyB,KAAKC,CAAK;AAGvD,WACE,gBAAAE;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,eAAY;AAAA,QACZ,cAAW;AAAA,QACX,OAAM;AAAA,QACN,IAAI;AAAA,UACF,QAAQ;AAAA,UACR,WAAW;AAAA,UACX,WAAW;AAAA,UACX,YAAYJ,EAAyB,SAAS,YAAY;AAAA,QAAA;AAAA,QAG3D,YAAE,iCAAiC;AAAA,UAClC,cAAcA,EAAyB,IAAI,CAAC,MAAM,IAAI,CAAC,EAAE,KAAK,IAAI;AAAA,QAAA,CACnE;AAAA,MAAA;AAAA,IAAA;AAAA,EAGP;AACF;"}

package/dist/components/jogging/JoggingJointValueControl.cjs

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const n=require("react/jsx-runtime"),$=require("@mui/icons-material/ChevronLeft"),U=require("@mui/icons-material/ChevronRight"),V=require("@mui/material/IconButton"),H=require("@mui/material/Slider"),z=require("@mui/material/Stack"),K=require("@mui/material/styles"),Q=require("@mui/material/Typography"),X=require("@wandelbots/nova-js"),Y=require("lodash-es/throttle.js"),D=require("mobx-react-lite"),Z=require("react"),L=require("react-i18next"),tt=require("../../externalizeComponent.cjs"),et=require("../utils/hooks.cjs"),I=tt.externalizeComponent(D.observer(({startJogging:W,stopJogging:B,lowerLimit:r,upperLimit:i,useDegree:o,getValue:b,disabled:s,...F})=>{var J,m,k,P,C,q,y,S,j,E,M,R,w,N,T;const{t:h}=L.useTranslation(),[c,G]=Z.useState(),e=K.useTheme(),d={background:(J=e.palette.backgroundPaperElevation)==null?void 0:J[4],color:(m=e.palette.backgroundPaperElevation)==null?void 0:m[11]},l=D.useLocalObservable(()=>({activeJoggingDir:null,startJogging(t){this.activeJoggingDir=t,W(t)},stopJogging(){this.activeJoggingDir=null,B()}})),O=Y(()=>{const t=o?a(b()):b();(t===void 0||c===void 0||Math.abs(c-t)>1e-9)&&G(t)},50);et.useAnimationFrame(O);function a(t){if(t!==void 0)return X.radiansToDegrees(t)}function A(t){t.button===0&&l.startJogging("-")}function _(t){t.button===0&&l.startJogging("+")}function v(t){l.stopJogging()}function f(t){l.stopJogging()}function p(t,u=1){if(t===void 0||Number.isNaN(t))return"";const g=h("General.degree.variable",{amount:t.toFixed(u)});return t>0&&u===0?`+${g}`:g}function x(t,u=1){if(t===void 0||Number.isNaN(t))return"";const g=h("General.mm.variable",{amount:t.toFixed(u)});return t>0&&u===0?`+${g}`:g}return n.jsxs(z,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...F,sx:{"& .MuiIconButton-root":{width:"52px",color:e.palette.text.primary,alignContent:"center",backgroundColor:(k=e.palette.backgroundPaperElevation)==null?void 0:k[11],"& svg":{width:"42px",height:"42px"},"&.Mui-disabled":{backgroundColor:(P=e.palette.backgroundPaperElevation)==null?void 0:P[11],color:e.palette.action.disabled,opacity:1},"&:hover":{backgroundColor:(C=e.palette.backgroundPaperElevation)==null?void 0:C[9]},"&:active":{...d}}},children:[n.jsx(V,{onPointerDown:A,onPointerUp:v,onPointerOut:f,disabled:s,disableRipple:!0,sx:{borderRadius:"16px 0px 0px 16px",...l.activeJoggingDir==="-"?d:{}},children:n.jsx($,{sx:{pointerEvents:"none",color:(j=(S=(y=(q=e.componentsExt)==null?void 0:q.JoggingPanel)==null?void 0:y.JoggingJoint)==null?void 0:S.Joint)==null?void 0:j.arrowColor}})}),n.jsxs(z,{flexGrow:1,alignItems:"center",justifyContent:"center",sx:{borderStyle:"solid",borderLeftWidth:0,borderRightWidth:0,border:"none",backgroundColor:(E=e.palette.backgroundPaperElevation)==null?void 0:E[11],paddingLeft:"20px",paddingRight:"20px",zIndex:1},children:[n.jsx(Q,{sx:{fontSize:"15px",fontWeight:700,position:"relative",top:"5px",fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center",color:s?e.palette.action.disabled:e.palette.text.primary},children:o?p(c):x(c)}),n.jsx(H,{disabled:!0,"aria-label":"Joint position",min:o?a(r):r,max:o?a(i):i,value:c||0,track:!1,sx:{"& .MuiSlider-mark":{display:"none"},"& .MuiSlider-thumb":{width:"5px",height:"12px",borderRadius:"2px",color:s?e.palette.action.disabled:e.palette.text.primary},"& .MuiSlider-markLabel":{top:"20px",fontSize:"12px",color:s?e.palette.action.disabled:e.palette.text.secondary},"& .MuiSlider-rail":{backgroundColor:(M=e.palette.backgroundPaperElevation)==null?void 0:M[5],opacity:1}},marks:r!==void 0&&i!==void 0&&[{value:o?a(r):r,label:o?p(a(r),0):x(r)},{value:o?a(i):i,label:o?p(a(i),0):x(i)}]})]}),n.jsx(V,{onPointerDown:_,onPointerUp:v,onPointerOut:f,disabled:s,disableRipple:!0,sx:{borderRadius:"0px 16px 16px 0px",...l.activeJoggingDir==="+"?d:{}},children:n.jsx(U,{sx:{pointerEvents:"none",color:(T=(N=(w=(R=e.componentsExt)==null?void 0:R.JoggingPanel)==null?void 0:w.JoggingJoint)==null?void 0:N.Joint)==null?void 0:T.arrowColor}})})]})}));exports.JoggingJointValueControl=I;exports.default=I;
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const n=require("react/jsx-runtime"),$=require("@mui/icons-material/ChevronLeft"),U=require("@mui/icons-material/ChevronRight"),H=require("@mui/material/styles"),V=require("@mui/material/IconButton"),K=require("@mui/material/Slider"),Q=require("@mui/material/Typography"),z=require("@mui/material/Stack"),X=require("@wandelbots/nova-js"),Y=require("lodash-es/throttle"),D=require("mobx-react-lite"),Z=require("react"),L=require("react-i18next"),tt=require("../../externalizeComponent.cjs"),et=require("../utils/hooks.cjs"),I=tt.externalizeComponent(D.observer(({startJogging:W,stopJogging:B,lowerLimit:r,upperLimit:i,useDegree:o,getValue:b,disabled:s,...F})=>{var J,m,k,P,C,q,y,S,j,E,M,R,w,N,T;const{t:h}=L.useTranslation(),[c,G]=Z.useState(),e=H.useTheme(),d={background:(J=e.palette.backgroundPaperElevation)==null?void 0:J[4],color:(m=e.palette.backgroundPaperElevation)==null?void 0:m[11]},l=D.useLocalObservable(()=>({activeJoggingDir:null,startJogging(t){this.activeJoggingDir=t,W(t)},stopJogging(){this.activeJoggingDir=null,B()}})),O=Y(()=>{const t=o?a(b()):b();(t===void 0||c===void 0||Math.abs(c-t)>1e-9)&&G(t)},50);et.useAnimationFrame(O);function a(t){if(t!==void 0)return X.radiansToDegrees(t)}function A(t){t.button===0&&l.startJogging("-")}function _(t){t.button===0&&l.startJogging("+")}function v(t){l.stopJogging()}function f(t){l.stopJogging()}function p(t,u=1){if(t===void 0||Number.isNaN(t))return"";const g=h("General.degree.variable",{amount:t.toFixed(u)});return t>0&&u===0?`+${g}`:g}function x(t,u=1){if(t===void 0||Number.isNaN(t))return"";const g=h("General.mm.variable",{amount:t.toFixed(u)});return t>0&&u===0?`+${g}`:g}return n.jsxs(z,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...F,sx:{"& .MuiIconButton-root":{width:"52px",color:e.palette.text.primary,alignContent:"center",backgroundColor:(k=e.palette.backgroundPaperElevation)==null?void 0:k[11],"& svg":{width:"42px",height:"42px"},"&.Mui-disabled":{backgroundColor:(P=e.palette.backgroundPaperElevation)==null?void 0:P[11],color:e.palette.action.disabled,opacity:1},"&:hover":{backgroundColor:(C=e.palette.backgroundPaperElevation)==null?void 0:C[9]},"&:active":{...d}}},children:[n.jsx(V,{onPointerDown:A,onPointerUp:v,onPointerOut:f,disabled:s,disableRipple:!0,sx:{borderRadius:"16px 0px 0px 16px",...l.activeJoggingDir==="-"?d:{}},children:n.jsx($,{sx:{pointerEvents:"none",color:(j=(S=(y=(q=e.componentsExt)==null?void 0:q.JoggingPanel)==null?void 0:y.JoggingJoint)==null?void 0:S.Joint)==null?void 0:j.arrowColor}})}),n.jsxs(z,{flexGrow:1,alignItems:"center",justifyContent:"center",sx:{borderStyle:"solid",borderLeftWidth:0,borderRightWidth:0,border:"none",backgroundColor:(E=e.palette.backgroundPaperElevation)==null?void 0:E[11],paddingLeft:"20px",paddingRight:"20px",zIndex:1},children:[n.jsx(Q,{sx:{fontSize:"15px",fontWeight:700,position:"relative",top:"5px",fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center",color:s?e.palette.action.disabled:e.palette.text.primary},children:o?p(c):x(c)}),n.jsx(K,{disabled:!0,"aria-label":"Joint position",min:o?a(r):r,max:o?a(i):i,value:c||0,track:!1,sx:{"& .MuiSlider-mark":{display:"none"},"& .MuiSlider-thumb":{width:"5px",height:"12px",borderRadius:"2px",color:s?e.palette.action.disabled:e.palette.text.primary},"& .MuiSlider-markLabel":{top:"20px",fontSize:"12px",color:s?e.palette.action.disabled:e.palette.text.secondary},"& .MuiSlider-rail":{backgroundColor:(M=e.palette.backgroundPaperElevation)==null?void 0:M[5],opacity:1}},marks:r!==void 0&&i!==void 0&&[{value:o?a(r):r,label:o?p(a(r),0):x(r)},{value:o?a(i):i,label:o?p(a(i),0):x(i)}]})]}),n.jsx(V,{onPointerDown:_,onPointerUp:v,onPointerOut:f,disabled:s,disableRipple:!0,sx:{borderRadius:"0px 16px 16px 0px",...l.activeJoggingDir==="+"?d:{}},children:n.jsx(U,{sx:{pointerEvents:"none",color:(T=(N=(w=(R=e.componentsExt)==null?void 0:R.JoggingPanel)==null?void 0:w.JoggingJoint)==null?void 0:N.Joint)==null?void 0:T.arrowColor}})})]})}));exports.JoggingJointValueControl=I;exports.default=I;
 //# sourceMappingURL=JoggingJointValueControl.cjs.map

package/dist/components/jogging/JoggingJointValueControl.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"JoggingJointValueControl.cjs","sources":["../../../src/components/jogging/JoggingJointValueControl.tsx"],"sourcesContent":["import ChevronLeft from \"@mui/icons-material/ChevronLeft\"\nimport ChevronRight from \"@mui/icons-material/ChevronRight\"\nimport IconButton from \"@mui/material/IconButton\"\nimport Slider from \"@mui/material/Slider\"\nimport Stack from \"@mui/material/Stack\"\nimport { useTheme } from \"@mui/material/styles\"\nimport Typography from \"@mui/material/Typography\"\nimport { radiansToDegrees } from \"@wandelbots/nova-js\"\nimport throttle from \"lodash-es/throttle.js\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { useAnimationFrame } from \"../utils/hooks\"\n\ntype JoggingJointValueControlProps = {\n  startJogging: (direction: \"-\" | \"+\") => void\n  stopJogging: () => void\n  lowerLimit?: number\n  upperLimit?: number\n  useDegree: boolean\n  getValue: () => number | undefined\n  disabled?: boolean\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual joint */\nexport const JoggingJointValueControl = externalizeComponent(\n  observer(\n    ({\n      startJogging,\n      stopJogging,\n      lowerLimit,\n      upperLimit,\n      useDegree,\n      getValue,\n      disabled,\n      ...rest\n    }: JoggingJointValueControlProps) => {\n      const { t } = useTranslation()\n      const [currentValue, setCurrentValue] = useState<number | undefined>()\n      const theme = useTheme()\n\n      const pressedButtonStyle = {\n        background: theme.palette.backgroundPaperElevation?.[4],\n        color: theme.palette.backgroundPaperElevation?.[11],\n      }\n\n      const state = useLocalObservable(() => ({\n        activeJoggingDir: null as \"-\" | \"+\" | null,\n\n        startJogging(dir: \"-\" | \"+\") {\n          this.activeJoggingDir = dir\n          startJogging(dir)\n        },\n\n        stopJogging() {\n          this.activeJoggingDir = null\n          stopJogging()\n        },\n      }))\n\n      const updateValue = throttle(() => {\n        const newValue = useDegree ? convertToDegree(getValue()) : getValue()\n        if (\n          newValue === undefined ||\n          currentValue === undefined ||\n          Math.abs(currentValue - newValue) > 1e-9\n        ) {\n          setCurrentValue(newValue)\n        }\n      }, 50)\n\n      useAnimationFrame(updateValue)\n\n      function convertToDegree(value: number | undefined) {\n        if (value === undefined) {\n          return undefined\n        }\n        return radiansToDegrees(value)\n      }\n\n      function onPointerDownMinus(ev: React.PointerEvent) {\n        // Stop right click from triggering jog\n        if (ev.button === 0) state.startJogging(\"-\")\n      }\n\n      function onPointerDownPlus(ev: React.PointerEvent) {\n        if (ev.button === 0) state.startJogging(\"+\")\n      }\n\n      function onPointerUp(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function onPointerOut(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function formatDegrees(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.degree.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n      function formatMm(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.mm.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n\n      return (\n        <Stack\n          height=\"64px\"\n          width=\"100%\"\n          maxWidth=\"260px\"\n          direction=\"row\"\n          {...rest}\n          sx={{\n            \"& .MuiIconButton-root\": {\n              width: \"52px\",\n              color: theme.palette.text.primary,\n              alignContent: \"center\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              \"& svg\": {\n                width: \"42px\",\n                height: \"42px\",\n              },\n\n              \"&.Mui-disabled\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n                color: theme.palette.action.disabled,\n                opacity: 1,\n              },\n              \"&:hover\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[9],\n              },\n              \"&:active\": {\n                ...pressedButtonStyle,\n              },\n            },\n          }}\n        >\n          <IconButton\n            onPointerDown={onPointerDownMinus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"16px 0px 0px 16px\",\n              ...(state.activeJoggingDir === \"-\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronLeft\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n\n          <Stack\n            flexGrow={1}\n            alignItems=\"center\"\n            justifyContent=\"center\"\n            sx={{\n              borderStyle: \"solid\",\n              borderLeftWidth: 0,\n              borderRightWidth: 0,\n              border: \"none\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              paddingLeft: \"20px\",\n              paddingRight: \"20px\",\n              zIndex: 1,\n            }}\n          >\n            <Typography\n              sx={{\n                fontSize: \"15px\",\n                fontWeight: 700,\n                position: \"relative\",\n                top: \"5px\",\n                fontVariantNumeric: \"tabular-nums\",\n                minWidth: \"80px\",\n                textAlign: \"center\",\n\n                color: disabled\n                  ? theme.palette.action.disabled\n                  : theme.palette.text.primary,\n              }}\n            >\n              {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}\n            </Typography>\n\n            <Slider\n              disabled\n              aria-label=\"Joint position\"\n              min={useDegree ? convertToDegree(lowerLimit) : lowerLimit}\n              max={useDegree ? convertToDegree(upperLimit) : upperLimit}\n              value={currentValue || 0}\n              track={false}\n              sx={{\n                \"& .MuiSlider-mark\": {\n                  display: \"none\",\n                },\n                \"& .MuiSlider-thumb\": {\n                  width: \"5px\",\n                  height: \"12px\",\n                  borderRadius: \"2px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.primary,\n                },\n                \"& .MuiSlider-markLabel\": {\n                  top: \"20px\",\n                  fontSize: \"12px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.secondary,\n                },\n                \"& .MuiSlider-rail\": {\n                  backgroundColor: theme.palette.backgroundPaperElevation?.[5],\n                  opacity: 1,\n                },\n              }}\n              marks={\n                lowerLimit !== undefined &&\n                upperLimit !== undefined && [\n                  {\n                    value: (useDegree\n                      ? convertToDegree(lowerLimit)\n                      : lowerLimit) as number,\n                    label: useDegree\n                      ? formatDegrees(convertToDegree(lowerLimit), 0)\n                      : formatMm(lowerLimit),\n                  },\n                  {\n                    value: (useDegree\n                      ? convertToDegree(upperLimit)\n                      : upperLimit) as number,\n                    label: useDegree\n                      ? formatDegrees(convertToDegree(upperLimit), 0)\n                      : formatMm(upperLimit),\n                  },\n                ]\n              }\n            />\n          </Stack>\n\n          <IconButton\n            onPointerDown={onPointerDownPlus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"0px 16px 16px 0px\",\n              ...(state.activeJoggingDir === \"+\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronRight\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n        </Stack>\n      )\n    },\n  ),\n)\n\nexport default JoggingJointValueControl\n"],"names":["JoggingJointValueControl","externalizeComponent","observer","startJogging","stopJogging","lowerLimit","upperLimit","useDegree","getValue","disabled","rest","t","useTranslation","currentValue","setCurrentValue","useState","theme","useTheme","pressedButtonStyle","_a","_b","state","useLocalObservable","dir","updateValue","throttle","newValue","convertToDegree","useAnimationFrame","value","radiansToDegrees","onPointerDownMinus","ev","onPointerDownPlus","onPointerUp","onPointerOut","formatDegrees","precision","output","formatMm","jsxs","Stack","_c","_d","_e","jsx","IconButton","ChevronLeft","_i","_h","_g","_f","_j","Typography","Slider","_k","ChevronRight","_o","_n","_m","_l"],"mappings":"0nBA0BaA,EAA2BC,GAAAA,qBACtCC,EAAAA,SACE,CAAC,CACC,aAAAC,EACA,YAAAC,EACA,WAAAC,EACA,WAAAC,EACA,UAAAC,EACA,SAAAC,EACA,SAAAC,EACA,GAAGC,CAAA,IACgC,mCACnC,KAAM,CAAE,EAAAC,CAAA,EAAMC,iBAAA,EACR,CAACC,EAAcC,CAAe,EAAIC,WAAA,EAClCC,EAAQC,EAAAA,SAAA,EAERC,EAAqB,CACzB,YAAYC,EAAAH,EAAM,QAAQ,2BAAd,YAAAG,EAAyC,GACrD,OAAOC,EAAAJ,EAAM,QAAQ,2BAAd,YAAAI,EAAyC,GAAE,EAG9CC,EAAQC,EAAAA,mBAAmB,KAAO,CACtC,iBAAkB,KAElB,aAAaC,EAAgB,CAC3B,KAAK,iBAAmBA,EACxBpB,EAAaoB,CAAG,CAClB,EAEA,aAAc,CACZ,KAAK,iBAAmB,KACxBnB,EAAA,CACF,CAAA,EACA,EAEIoB,EAAcC,EAAS,IAAM,CACjC,MAAMC,EAAWnB,EAAYoB,EAAgBnB,EAAA,CAAU,EAAIA,EAAA,GAEzDkB,IAAa,QACbb,IAAiB,QACjB,KAAK,IAAIA,EAAea,CAAQ,EAAI,OAEpCZ,EAAgBY,CAAQ,CAE5B,EAAG,EAAE,EAELE,GAAAA,kBAAkBJ,CAAW,EAE7B,SAASG,EAAgBE,EAA2B,CAClD,GAAIA,IAAU,OAGd,OAAOC,EAAAA,iBAAiBD,CAAK,CAC/B,CAEA,SAASE,EAAmBC,EAAwB,CAE9CA,EAAG,SAAW,GAAGX,EAAM,aAAa,GAAG,CAC7C,CAEA,SAASY,EAAkBD,EAAwB,CAC7CA,EAAG,SAAW,GAAGX,EAAM,aAAa,GAAG,CAC7C,CAEA,SAASa,EAAYF,EAAwB,CAC3CX,EAAM,YAAA,CACR,CAEA,SAASc,EAAaH,EAAwB,CAC5CX,EAAM,YAAA,CACR,CAEA,SAASe,EAAcP,EAA2BQ,EAAY,EAAG,CAC/D,GAAIR,IAAU,QAAa,OAAO,MAAMA,CAAK,EAAG,MAAO,GAEvD,MAAMS,EAAS3B,EAAE,0BAA2B,CAC1C,OAAQkB,EAAM,QAAQQ,CAAS,CAAA,CAChC,EAED,OAAIR,EAAQ,GAAKQ,IAAc,EACtB,IAAIC,CAAM,GAEVA,CAEX,CACA,SAASC,EAASV,EAA2BQ,EAAY,EAAG,CAC1D,GAAIR,IAAU,QAAa,OAAO,MAAMA,CAAK,EAAG,MAAO,GAEvD,MAAMS,EAAS3B,EAAE,sBAAuB,CACtC,OAAQkB,EAAM,QAAQQ,CAAS,CAAA,CAChC,EAED,OAAIR,EAAQ,GAAKQ,IAAc,EACtB,IAAIC,CAAM,GAEVA,CAEX,CAEA,OACEE,EAAAA,KAACC,EAAA,CACC,OAAO,OACP,MAAM,OACN,SAAS,QACT,UAAU,MACT,GAAG/B,EACJ,GAAI,CACF,wBAAyB,CACvB,MAAO,OACP,MAAOM,EAAM,QAAQ,KAAK,QAC1B,aAAc,SACd,iBAAiB0B,EAAA1B,EAAM,QAAQ,2BAAd,YAAA0B,EAAyC,IAC1D,QAAS,CACP,MAAO,OACP,OAAQ,MAAA,EAGV,iBAAkB,CAChB,iBAAiBC,EAAA3B,EAAM,QAAQ,2BAAd,YAAA2B,EAAyC,IAC1D,MAAO3B,EAAM,QAAQ,OAAO,SAC5B,QAAS,CAAA,EAEX,UAAW,CACT,iBAAiB4B,EAAA5B,EAAM,QAAQ,2BAAd,YAAA4B,EAAyC,EAAC,EAE7D,WAAY,CACV,GAAG1B,CAAA,CACL,CACF,EAGF,SAAA,CAAA2B,EAAAA,IAACC,EAAA,CACC,cAAef,EACf,YAAAG,EACA,aAAAC,EACA,SAAA1B,EACA,cAAa,GACb,GAAI,CACF,aAAc,oBACd,GAAIY,EAAM,mBAAqB,IAAMH,EAAqB,CAAA,CAAC,EAG7D,SAAA2B,EAAAA,IAACE,EAAA,CACC,GAAI,CACF,cAAe,OACf,OACEC,GAAAC,GAAAC,GAAAC,EAAAnC,EAAM,gBAAN,YAAAmC,EAAqB,eAArB,YAAAD,EAAmC,eAAnC,YAAAD,EAAiD,QAAjD,YAAAD,EACI,UAAA,CACR,CAAA,CACF,CAAA,EAGFR,EAAAA,KAACC,EAAA,CACC,SAAU,EACV,WAAW,SACX,eAAe,SACf,GAAI,CACF,YAAa,QACb,gBAAiB,EACjB,iBAAkB,EAClB,OAAQ,OACR,iBAAiBW,EAAApC,EAAM,QAAQ,2BAAd,YAAAoC,EAAyC,IAC1D,YAAa,OACb,aAAc,OACd,OAAQ,CAAA,EAGV,SAAA,CAAAP,EAAAA,IAACQ,EAAA,CACC,GAAI,CACF,SAAU,OACV,WAAY,IACZ,SAAU,WACV,IAAK,MACL,mBAAoB,eACpB,SAAU,OACV,UAAW,SAEX,MAAO5C,EACHO,EAAM,QAAQ,OAAO,SACrBA,EAAM,QAAQ,KAAK,OAAA,EAGxB,SAAAT,EAAY6B,EAAcvB,CAAY,EAAI0B,EAAS1B,CAAY,CAAA,CAAA,EAGlEgC,EAAAA,IAACS,EAAA,CACC,SAAQ,GACR,aAAW,iBACX,IAAK/C,EAAYoB,EAAgBtB,CAAU,EAAIA,EAC/C,IAAKE,EAAYoB,EAAgBrB,CAAU,EAAIA,EAC/C,MAAOO,GAAgB,EACvB,MAAO,GACP,GAAI,CACF,oBAAqB,CACnB,QAAS,MAAA,EAEX,qBAAsB,CACpB,MAAO,MACP,OAAQ,OACR,aAAc,MACd,MAAOJ,EACHO,EAAM,QAAQ,OAAO,SACrBA,EAAM,QAAQ,KAAK,OAAA,EAEzB,yBAA0B,CACxB,IAAK,OACL,SAAU,OACV,MAAOP,EACHO,EAAM,QAAQ,OAAO,SACrBA,EAAM,QAAQ,KAAK,SAAA,EAEzB,oBAAqB,CACnB,iBAAiBuC,EAAAvC,EAAM,QAAQ,2BAAd,YAAAuC,EAAyC,GAC1D,QAAS,CAAA,CACX,EAEF,MACElD,IAAe,QACfC,IAAe,QAAa,CAC1B,CACE,MAAQC,EACJoB,EAAgBtB,CAAU,EAC1BA,EACJ,MAAOE,EACH6B,EAAcT,EAAgBtB,CAAU,EAAG,CAAC,EAC5CkC,EAASlC,CAAU,CAAA,EAEzB,CACE,MAAQE,EACJoB,EAAgBrB,CAAU,EAC1BA,EACJ,MAAOC,EACH6B,EAAcT,EAAgBrB,CAAU,EAAG,CAAC,EAC5CiC,EAASjC,CAAU,CAAA,CACzB,CACF,CAAA,CAEJ,CAAA,CAAA,EAGFuC,EAAAA,IAACC,EAAA,CACC,cAAeb,EACf,YAAAC,EACA,aAAAC,EACA,SAAA1B,EACA,cAAa,GACb,GAAI,CACF,aAAc,oBACd,GAAIY,EAAM,mBAAqB,IAAMH,EAAqB,CAAA,CAAC,EAG7D,SAAA2B,EAAAA,IAACW,EAAA,CACC,GAAI,CACF,cAAe,OACf,OACEC,GAAAC,GAAAC,GAAAC,EAAA5C,EAAM,gBAAN,YAAA4C,EAAqB,eAArB,YAAAD,EAAmC,eAAnC,YAAAD,EAAiD,QAAjD,YAAAD,EACI,UAAA,CACR,CAAA,CACF,CAAA,CACF,CAAA,CAAA,CAGN,CAAA,CAEJ"}
+{"version":3,"file":"JoggingJointValueControl.cjs","sources":["../../../src/components/jogging/JoggingJointValueControl.tsx"],"sourcesContent":["import ChevronLeft from \"@mui/icons-material/ChevronLeft\"\nimport ChevronRight from \"@mui/icons-material/ChevronRight\"\nimport { useTheme } from \"@mui/material/styles\"\nimport IconButton from \"@mui/material/IconButton\"\nimport Slider from \"@mui/material/Slider\"\nimport Typography from \"@mui/material/Typography\"\nimport Stack from \"@mui/material/Stack\"\nimport { radiansToDegrees } from \"@wandelbots/nova-js\"\nimport throttle from \"lodash-es/throttle\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { useAnimationFrame } from \"../utils/hooks\"\n\ntype JoggingJointValueControlProps = {\n  startJogging: (direction: \"-\" | \"+\") => void\n  stopJogging: () => void\n  lowerLimit?: number\n  upperLimit?: number\n  useDegree: boolean\n  getValue: () => number | undefined\n  disabled?: boolean\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual joint */\nexport const JoggingJointValueControl = externalizeComponent(\n  observer(\n    ({\n      startJogging,\n      stopJogging,\n      lowerLimit,\n      upperLimit,\n      useDegree,\n      getValue,\n      disabled,\n      ...rest\n    }: JoggingJointValueControlProps) => {\n      const { t } = useTranslation()\n      const [currentValue, setCurrentValue] = useState<number | undefined>()\n      const theme = useTheme()\n\n      const pressedButtonStyle = {\n        background: theme.palette.backgroundPaperElevation?.[4],\n        color: theme.palette.backgroundPaperElevation?.[11],\n      }\n\n      const state = useLocalObservable(() => ({\n        activeJoggingDir: null as \"-\" | \"+\" | null,\n\n        startJogging(dir: \"-\" | \"+\") {\n          this.activeJoggingDir = dir\n          startJogging(dir)\n        },\n\n        stopJogging() {\n          this.activeJoggingDir = null\n          stopJogging()\n        },\n      }))\n\n      const updateValue = throttle(() => {\n        const newValue = useDegree ? convertToDegree(getValue()) : getValue()\n        if (\n          newValue === undefined ||\n          currentValue === undefined ||\n          Math.abs(currentValue - newValue) > 1e-9\n        ) {\n          setCurrentValue(newValue)\n        }\n      }, 50)\n\n      useAnimationFrame(updateValue)\n\n      function convertToDegree(value: number | undefined) {\n        if (value === undefined) {\n          return undefined\n        }\n        return radiansToDegrees(value)\n      }\n\n      function onPointerDownMinus(ev: React.PointerEvent) {\n        // Stop right click from triggering jog\n        if (ev.button === 0) state.startJogging(\"-\")\n      }\n\n      function onPointerDownPlus(ev: React.PointerEvent) {\n        if (ev.button === 0) state.startJogging(\"+\")\n      }\n\n      function onPointerUp(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function onPointerOut(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function formatDegrees(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.degree.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n      function formatMm(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.mm.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n\n      return (\n        <Stack\n          height=\"64px\"\n          width=\"100%\"\n          maxWidth=\"260px\"\n          direction=\"row\"\n          {...rest}\n          sx={{\n            \"& .MuiIconButton-root\": {\n              width: \"52px\",\n              color: theme.palette.text.primary,\n              alignContent: \"center\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              \"& svg\": {\n                width: \"42px\",\n                height: \"42px\",\n              },\n\n              \"&.Mui-disabled\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n                color: theme.palette.action.disabled,\n                opacity: 1,\n              },\n              \"&:hover\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[9],\n              },\n              \"&:active\": {\n                ...pressedButtonStyle,\n              },\n            },\n          }}\n        >\n          <IconButton\n            onPointerDown={onPointerDownMinus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"16px 0px 0px 16px\",\n              ...(state.activeJoggingDir === \"-\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronLeft\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n\n          <Stack\n            flexGrow={1}\n            alignItems=\"center\"\n            justifyContent=\"center\"\n            sx={{\n              borderStyle: \"solid\",\n              borderLeftWidth: 0,\n              borderRightWidth: 0,\n              border: \"none\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              paddingLeft: \"20px\",\n              paddingRight: \"20px\",\n              zIndex: 1,\n            }}\n          >\n            <Typography\n              sx={{\n                fontSize: \"15px\",\n                fontWeight: 700,\n                position: \"relative\",\n                top: \"5px\",\n                fontVariantNumeric: \"tabular-nums\",\n                minWidth: \"80px\",\n                textAlign: \"center\",\n\n                color: disabled\n                  ? theme.palette.action.disabled\n                  : theme.palette.text.primary,\n              }}\n            >\n              {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}\n            </Typography>\n\n            <Slider\n              disabled\n              aria-label=\"Joint position\"\n              min={useDegree ? convertToDegree(lowerLimit) : lowerLimit}\n              max={useDegree ? convertToDegree(upperLimit) : upperLimit}\n              value={currentValue || 0}\n              track={false}\n              sx={{\n                \"& .MuiSlider-mark\": {\n                  display: \"none\",\n                },\n                \"& .MuiSlider-thumb\": {\n                  width: \"5px\",\n                  height: \"12px\",\n                  borderRadius: \"2px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.primary,\n                },\n                \"& .MuiSlider-markLabel\": {\n                  top: \"20px\",\n                  fontSize: \"12px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.secondary,\n                },\n                \"& .MuiSlider-rail\": {\n                  backgroundColor: theme.palette.backgroundPaperElevation?.[5],\n                  opacity: 1,\n                },\n              }}\n              marks={\n                lowerLimit !== undefined &&\n                upperLimit !== undefined && [\n                  {\n                    value: (useDegree\n                      ? convertToDegree(lowerLimit)\n                      : lowerLimit) as number,\n                    label: useDegree\n                      ? formatDegrees(convertToDegree(lowerLimit), 0)\n                      : formatMm(lowerLimit),\n                  },\n                  {\n                    value: (useDegree\n                      ? convertToDegree(upperLimit)\n                      : upperLimit) as number,\n                    label: useDegree\n                      ? formatDegrees(convertToDegree(upperLimit), 0)\n                      : formatMm(upperLimit),\n                  },\n                ]\n              }\n            />\n          </Stack>\n\n          <IconButton\n            onPointerDown={onPointerDownPlus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"0px 16px 16px 0px\",\n              ...(state.activeJoggingDir === \"+\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronRight\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n        </Stack>\n      )\n    },\n  ),\n)\n\nexport default JoggingJointValueControl\n"],"names":["JoggingJointValueControl","externalizeComponent","observer","startJogging","stopJogging","lowerLimit","upperLimit","useDegree","getValue","disabled","rest","t","useTranslation","currentValue","setCurrentValue","useState","theme","useTheme","pressedButtonStyle","_a","_b","state","useLocalObservable","dir","updateValue","throttle","newValue","convertToDegree","useAnimationFrame","value","radiansToDegrees","onPointerDownMinus","ev","onPointerDownPlus","onPointerUp","onPointerOut","formatDegrees","precision","output","formatMm","jsxs","Stack","_c","_d","_e","jsx","IconButton","ChevronLeft","_i","_h","_g","_f","_j","Typography","Slider","_k","ChevronRight","_o","_n","_m","_l"],"mappings":"unBA0BaA,EAA2BC,GAAAA,qBACtCC,EAAAA,SACE,CAAC,CACC,aAAAC,EACA,YAAAC,EACA,WAAAC,EACA,WAAAC,EACA,UAAAC,EACA,SAAAC,EACA,SAAAC,EACA,GAAGC,CAAA,IACgC,mCACnC,KAAM,CAAE,EAAAC,CAAA,EAAMC,iBAAA,EACR,CAACC,EAAcC,CAAe,EAAIC,WAAA,EAClCC,EAAQC,EAAAA,SAAA,EAERC,EAAqB,CACzB,YAAYC,EAAAH,EAAM,QAAQ,2BAAd,YAAAG,EAAyC,GACrD,OAAOC,EAAAJ,EAAM,QAAQ,2BAAd,YAAAI,EAAyC,GAAE,EAG9CC,EAAQC,EAAAA,mBAAmB,KAAO,CACtC,iBAAkB,KAElB,aAAaC,EAAgB,CAC3B,KAAK,iBAAmBA,EACxBpB,EAAaoB,CAAG,CAClB,EAEA,aAAc,CACZ,KAAK,iBAAmB,KACxBnB,EAAA,CACF,CAAA,EACA,EAEIoB,EAAcC,EAAS,IAAM,CACjC,MAAMC,EAAWnB,EAAYoB,EAAgBnB,EAAA,CAAU,EAAIA,EAAA,GAEzDkB,IAAa,QACbb,IAAiB,QACjB,KAAK,IAAIA,EAAea,CAAQ,EAAI,OAEpCZ,EAAgBY,CAAQ,CAE5B,EAAG,EAAE,EAELE,GAAAA,kBAAkBJ,CAAW,EAE7B,SAASG,EAAgBE,EAA2B,CAClD,GAAIA,IAAU,OAGd,OAAOC,EAAAA,iBAAiBD,CAAK,CAC/B,CAEA,SAASE,EAAmBC,EAAwB,CAE9CA,EAAG,SAAW,GAAGX,EAAM,aAAa,GAAG,CAC7C,CAEA,SAASY,EAAkBD,EAAwB,CAC7CA,EAAG,SAAW,GAAGX,EAAM,aAAa,GAAG,CAC7C,CAEA,SAASa,EAAYF,EAAwB,CAC3CX,EAAM,YAAA,CACR,CAEA,SAASc,EAAaH,EAAwB,CAC5CX,EAAM,YAAA,CACR,CAEA,SAASe,EAAcP,EAA2BQ,EAAY,EAAG,CAC/D,GAAIR,IAAU,QAAa,OAAO,MAAMA,CAAK,EAAG,MAAO,GAEvD,MAAMS,EAAS3B,EAAE,0BAA2B,CAC1C,OAAQkB,EAAM,QAAQQ,CAAS,CAAA,CAChC,EAED,OAAIR,EAAQ,GAAKQ,IAAc,EACtB,IAAIC,CAAM,GAEVA,CAEX,CACA,SAASC,EAASV,EAA2BQ,EAAY,EAAG,CAC1D,GAAIR,IAAU,QAAa,OAAO,MAAMA,CAAK,EAAG,MAAO,GAEvD,MAAMS,EAAS3B,EAAE,sBAAuB,CACtC,OAAQkB,EAAM,QAAQQ,CAAS,CAAA,CAChC,EAED,OAAIR,EAAQ,GAAKQ,IAAc,EACtB,IAAIC,CAAM,GAEVA,CAEX,CAEA,OACEE,EAAAA,KAACC,EAAA,CACC,OAAO,OACP,MAAM,OACN,SAAS,QACT,UAAU,MACT,GAAG/B,EACJ,GAAI,CACF,wBAAyB,CACvB,MAAO,OACP,MAAOM,EAAM,QAAQ,KAAK,QAC1B,aAAc,SACd,iBAAiB0B,EAAA1B,EAAM,QAAQ,2BAAd,YAAA0B,EAAyC,IAC1D,QAAS,CACP,MAAO,OACP,OAAQ,MAAA,EAGV,iBAAkB,CAChB,iBAAiBC,EAAA3B,EAAM,QAAQ,2BAAd,YAAA2B,EAAyC,IAC1D,MAAO3B,EAAM,QAAQ,OAAO,SAC5B,QAAS,CAAA,EAEX,UAAW,CACT,iBAAiB4B,EAAA5B,EAAM,QAAQ,2BAAd,YAAA4B,EAAyC,EAAC,EAE7D,WAAY,CACV,GAAG1B,CAAA,CACL,CACF,EAGF,SAAA,CAAA2B,EAAAA,IAACC,EAAA,CACC,cAAef,EACf,YAAAG,EACA,aAAAC,EACA,SAAA1B,EACA,cAAa,GACb,GAAI,CACF,aAAc,oBACd,GAAIY,EAAM,mBAAqB,IAAMH,EAAqB,CAAA,CAAC,EAG7D,SAAA2B,EAAAA,IAACE,EAAA,CACC,GAAI,CACF,cAAe,OACf,OACEC,GAAAC,GAAAC,GAAAC,EAAAnC,EAAM,gBAAN,YAAAmC,EAAqB,eAArB,YAAAD,EAAmC,eAAnC,YAAAD,EAAiD,QAAjD,YAAAD,EACI,UAAA,CACR,CAAA,CACF,CAAA,EAGFR,EAAAA,KAACC,EAAA,CACC,SAAU,EACV,WAAW,SACX,eAAe,SACf,GAAI,CACF,YAAa,QACb,gBAAiB,EACjB,iBAAkB,EAClB,OAAQ,OACR,iBAAiBW,EAAApC,EAAM,QAAQ,2BAAd,YAAAoC,EAAyC,IAC1D,YAAa,OACb,aAAc,OACd,OAAQ,CAAA,EAGV,SAAA,CAAAP,EAAAA,IAACQ,EAAA,CACC,GAAI,CACF,SAAU,OACV,WAAY,IACZ,SAAU,WACV,IAAK,MACL,mBAAoB,eACpB,SAAU,OACV,UAAW,SAEX,MAAO5C,EACHO,EAAM,QAAQ,OAAO,SACrBA,EAAM,QAAQ,KAAK,OAAA,EAGxB,SAAAT,EAAY6B,EAAcvB,CAAY,EAAI0B,EAAS1B,CAAY,CAAA,CAAA,EAGlEgC,EAAAA,IAACS,EAAA,CACC,SAAQ,GACR,aAAW,iBACX,IAAK/C,EAAYoB,EAAgBtB,CAAU,EAAIA,EAC/C,IAAKE,EAAYoB,EAAgBrB,CAAU,EAAIA,EAC/C,MAAOO,GAAgB,EACvB,MAAO,GACP,GAAI,CACF,oBAAqB,CACnB,QAAS,MAAA,EAEX,qBAAsB,CACpB,MAAO,MACP,OAAQ,OACR,aAAc,MACd,MAAOJ,EACHO,EAAM,QAAQ,OAAO,SACrBA,EAAM,QAAQ,KAAK,OAAA,EAEzB,yBAA0B,CACxB,IAAK,OACL,SAAU,OACV,MAAOP,EACHO,EAAM,QAAQ,OAAO,SACrBA,EAAM,QAAQ,KAAK,SAAA,EAEzB,oBAAqB,CACnB,iBAAiBuC,EAAAvC,EAAM,QAAQ,2BAAd,YAAAuC,EAAyC,GAC1D,QAAS,CAAA,CACX,EAEF,MACElD,IAAe,QACfC,IAAe,QAAa,CAC1B,CACE,MAAQC,EACJoB,EAAgBtB,CAAU,EAC1BA,EACJ,MAAOE,EACH6B,EAAcT,EAAgBtB,CAAU,EAAG,CAAC,EAC5CkC,EAASlC,CAAU,CAAA,EAEzB,CACE,MAAQE,EACJoB,EAAgBrB,CAAU,EAC1BA,EACJ,MAAOC,EACH6B,EAAcT,EAAgBrB,CAAU,EAAG,CAAC,EAC5CiC,EAASjC,CAAU,CAAA,CACzB,CACF,CAAA,CAEJ,CAAA,CAAA,EAGFuC,EAAAA,IAACC,EAAA,CACC,cAAeb,EACf,YAAAC,EACA,aAAAC,EACA,SAAA1B,EACA,cAAa,GACb,GAAI,CACF,aAAc,oBACd,GAAIY,EAAM,mBAAqB,IAAMH,EAAqB,CAAA,CAAC,EAG7D,SAAA2B,EAAAA,IAACW,EAAA,CACC,GAAI,CACF,cAAe,OACf,OACEC,GAAAC,GAAAC,GAAAC,EAAA5C,EAAM,gBAAN,YAAA4C,EAAqB,eAArB,YAAAD,EAAmC,eAAnC,YAAAD,EAAiD,QAAjD,YAAAD,EACI,UAAA,CACR,CAAA,CACF,CAAA,CACF,CAAA,CAAA,CAGN,CAAA,CAEJ"}

package/dist/components/jogging/JoggingJointValueControl.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"JoggingJointValueControl.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/JoggingJointValueControl.tsx"],"names":[],"mappings":"AAMA,OAAO,KAAK,MAAM,qBAAqB,CAAA;AASvC,KAAK,6BAA6B,GAAG;IACnC,YAAY,EAAE,CAAC,SAAS,EAAE,GAAG,GAAG,GAAG,KAAK,IAAI,CAAA;IAC5C,WAAW,EAAE,MAAM,IAAI,CAAA;IACvB,UAAU,CAAC,EAAE,MAAM,CAAA;IACnB,UAAU,CAAC,EAAE,MAAM,CAAA;IACnB,SAAS,EAAE,OAAO,CAAA;IAClB,QAAQ,EAAE,MAAM,MAAM,GAAG,SAAS,CAAA;IAClC,QAAQ,CAAC,EAAE,OAAO,CAAA;CACnB,GAAG,KAAK,CAAC,cAAc,CAAC,OAAO,KAAK,CAAC,CAAA;AAEtC,oDAAoD;AACpD,eAAO,MAAM,wBAAwB,mGAW9B,6BAA6B;;CA6PnC,CAAA;AAED,eAAe,wBAAwB,CAAA"}

package/dist/components/jogging/JoggingJointValueControl.js

@@ -1,13 +1,13 @@
 import { jsxs as W, jsx as l } from "react/jsx-runtime";
 import U from "@mui/icons-material/ChevronLeft";
 import q from "@mui/icons-material/ChevronRight";
+import { useTheme as H } from "@mui/material/styles";
 import z from "@mui/material/IconButton";
-import H from "@mui/material/Slider";
-import I from "@mui/material/Stack";
-import { useTheme as K } from "@mui/material/styles";
+import K from "@mui/material/Slider";
 import Q from "@mui/material/Typography";
+import I from "@mui/material/Stack";
 import { radiansToDegrees as X } from "@wandelbots/nova-js";
-import Y from "lodash-es/throttle.js";
+import Y from "lodash-es/throttle";
 import { observer as Z, useLocalObservable as _ } from "mobx-react-lite";
 import { useState as L } from "react";
 import { useTranslation as oo } from "react-i18next";
@@ -26,7 +26,7 @@ const vo = to(
       ...F
     }) => {
       var v, J, k, P, C, y, E, S, M, R, w, N, D, T, V;
-      const { t: f } = oo(), [g, G] = L(), t = K(), s = {
+      const { t: f } = oo(), [g, G] = L(), t = H(), s = {
         background: (v = t.palette.backgroundPaperElevation) == null ? void 0 : v[4],
         color: (J = t.palette.backgroundPaperElevation) == null ? void 0 : J[11]
       }, a = _(() => ({
@@ -161,7 +161,7 @@ const vo = to(
                     }
                   ),
                   /* @__PURE__ */ l(
-                    H,
+                    K,
                     {
                       disabled: !0,
                       "aria-label": "Joint position",

package/dist/components/jogging/JoggingJointValueControl.js.map

@@ -1 +1 @@
-{"version":3,"file":"JoggingJointValueControl.js","sources":["../../../src/components/jogging/JoggingJointValueControl.tsx"],"sourcesContent":["import ChevronLeft from \"@mui/icons-material/ChevronLeft\"\nimport ChevronRight from \"@mui/icons-material/ChevronRight\"\nimport IconButton from \"@mui/material/IconButton\"\nimport Slider from \"@mui/material/Slider\"\nimport Stack from \"@mui/material/Stack\"\nimport { useTheme } from \"@mui/material/styles\"\nimport Typography from \"@mui/material/Typography\"\nimport { radiansToDegrees } from \"@wandelbots/nova-js\"\nimport throttle from \"lodash-es/throttle.js\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { useAnimationFrame } from \"../utils/hooks\"\n\ntype JoggingJointValueControlProps = {\n  startJogging: (direction: \"-\" | \"+\") => void\n  stopJogging: () => void\n  lowerLimit?: number\n  upperLimit?: number\n  useDegree: boolean\n  getValue: () => number | undefined\n  disabled?: boolean\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual joint */\nexport const JoggingJointValueControl = externalizeComponent(\n  observer(\n    ({\n      startJogging,\n      stopJogging,\n      lowerLimit,\n      upperLimit,\n      useDegree,\n      getValue,\n      disabled,\n      ...rest\n    }: JoggingJointValueControlProps) => {\n      const { t } = useTranslation()\n      const [currentValue, setCurrentValue] = useState<number | undefined>()\n      const theme = useTheme()\n\n      const pressedButtonStyle = {\n        background: theme.palette.backgroundPaperElevation?.[4],\n        color: theme.palette.backgroundPaperElevation?.[11],\n      }\n\n      const state = useLocalObservable(() => ({\n        activeJoggingDir: null as \"-\" | \"+\" | null,\n\n        startJogging(dir: \"-\" | \"+\") {\n          this.activeJoggingDir = dir\n          startJogging(dir)\n        },\n\n        stopJogging() {\n          this.activeJoggingDir = null\n          stopJogging()\n        },\n      }))\n\n      const updateValue = throttle(() => {\n        const newValue = useDegree ? convertToDegree(getValue()) : getValue()\n        if (\n          newValue === undefined ||\n          currentValue === undefined ||\n          Math.abs(currentValue - newValue) > 1e-9\n        ) {\n          setCurrentValue(newValue)\n        }\n      }, 50)\n\n      useAnimationFrame(updateValue)\n\n      function convertToDegree(value: number | undefined) {\n        if (value === undefined) {\n          return undefined\n        }\n        return radiansToDegrees(value)\n      }\n\n      function onPointerDownMinus(ev: React.PointerEvent) {\n        // Stop right click from triggering jog\n        if (ev.button === 0) state.startJogging(\"-\")\n      }\n\n      function onPointerDownPlus(ev: React.PointerEvent) {\n        if (ev.button === 0) state.startJogging(\"+\")\n      }\n\n      function onPointerUp(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function onPointerOut(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function formatDegrees(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.degree.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n      function formatMm(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.mm.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n\n      return (\n        <Stack\n          height=\"64px\"\n          width=\"100%\"\n          maxWidth=\"260px\"\n          direction=\"row\"\n          {...rest}\n          sx={{\n            \"& .MuiIconButton-root\": {\n              width: \"52px\",\n              color: theme.palette.text.primary,\n              alignContent: \"center\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              \"& svg\": {\n                width: \"42px\",\n                height: \"42px\",\n              },\n\n              \"&.Mui-disabled\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n                color: theme.palette.action.disabled,\n                opacity: 1,\n              },\n              \"&:hover\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[9],\n              },\n              \"&:active\": {\n                ...pressedButtonStyle,\n              },\n            },\n          }}\n        >\n          <IconButton\n            onPointerDown={onPointerDownMinus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"16px 0px 0px 16px\",\n              ...(state.activeJoggingDir === \"-\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronLeft\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n\n          <Stack\n            flexGrow={1}\n            alignItems=\"center\"\n            justifyContent=\"center\"\n            sx={{\n              borderStyle: \"solid\",\n              borderLeftWidth: 0,\n              borderRightWidth: 0,\n              border: \"none\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              paddingLeft: \"20px\",\n              paddingRight: \"20px\",\n              zIndex: 1,\n            }}\n          >\n            <Typography\n              sx={{\n                fontSize: \"15px\",\n                fontWeight: 700,\n                position: \"relative\",\n                top: \"5px\",\n                fontVariantNumeric: \"tabular-nums\",\n                minWidth: \"80px\",\n                textAlign: \"center\",\n\n                color: disabled\n                  ? theme.palette.action.disabled\n                  : theme.palette.text.primary,\n              }}\n            >\n              {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}\n            </Typography>\n\n            <Slider\n              disabled\n              aria-label=\"Joint position\"\n              min={useDegree ? convertToDegree(lowerLimit) : lowerLimit}\n              max={useDegree ? convertToDegree(upperLimit) : upperLimit}\n              value={currentValue || 0}\n              track={false}\n              sx={{\n                \"& .MuiSlider-mark\": {\n                  display: \"none\",\n                },\n                \"& .MuiSlider-thumb\": {\n                  width: \"5px\",\n                  height: \"12px\",\n                  borderRadius: \"2px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.primary,\n                },\n                \"& .MuiSlider-markLabel\": {\n                  top: \"20px\",\n                  fontSize: \"12px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.secondary,\n                },\n                \"& .MuiSlider-rail\": {\n                  backgroundColor: theme.palette.backgroundPaperElevation?.[5],\n   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onPointerDown={onPointerDownPlus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"0px 16px 16px 0px\",\n              ...(state.activeJoggingDir === \"+\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronRight\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n        </Stack>\n      )\n    },\n  ),\n)\n\nexport default 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+{"version":3,"file":"JoggingJointValueControl.js","sources":["../../../src/components/jogging/JoggingJointValueControl.tsx"],"sourcesContent":["import ChevronLeft from \"@mui/icons-material/ChevronLeft\"\nimport ChevronRight from \"@mui/icons-material/ChevronRight\"\nimport { useTheme } from \"@mui/material/styles\"\nimport IconButton from \"@mui/material/IconButton\"\nimport Slider from \"@mui/material/Slider\"\nimport Typography from \"@mui/material/Typography\"\nimport Stack from \"@mui/material/Stack\"\nimport { radiansToDegrees } from \"@wandelbots/nova-js\"\nimport throttle from \"lodash-es/throttle\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { useAnimationFrame } from \"../utils/hooks\"\n\ntype JoggingJointValueControlProps = {\n  startJogging: (direction: \"-\" | \"+\") => void\n  stopJogging: () => void\n  lowerLimit?: number\n  upperLimit?: number\n  useDegree: boolean\n  getValue: () => number | undefined\n  disabled?: boolean\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual joint */\nexport const JoggingJointValueControl = externalizeComponent(\n  observer(\n    ({\n      startJogging,\n      stopJogging,\n      lowerLimit,\n      upperLimit,\n      useDegree,\n      getValue,\n      disabled,\n      ...rest\n    }: JoggingJointValueControlProps) => {\n      const { t } = useTranslation()\n      const [currentValue, setCurrentValue] = useState<number | undefined>()\n      const theme = useTheme()\n\n      const pressedButtonStyle = {\n        background: theme.palette.backgroundPaperElevation?.[4],\n        color: theme.palette.backgroundPaperElevation?.[11],\n      }\n\n      const state = useLocalObservable(() => ({\n        activeJoggingDir: null as \"-\" | \"+\" | null,\n\n        startJogging(dir: \"-\" | \"+\") {\n          this.activeJoggingDir = dir\n          startJogging(dir)\n        },\n\n        stopJogging() {\n          this.activeJoggingDir = null\n          stopJogging()\n        },\n      }))\n\n      const updateValue = throttle(() => {\n        const newValue = useDegree ? convertToDegree(getValue()) : getValue()\n        if (\n          newValue === undefined ||\n          currentValue === undefined ||\n          Math.abs(currentValue - newValue) > 1e-9\n        ) {\n          setCurrentValue(newValue)\n        }\n      }, 50)\n\n      useAnimationFrame(updateValue)\n\n      function convertToDegree(value: number | undefined) {\n        if (value === undefined) {\n          return undefined\n        }\n        return radiansToDegrees(value)\n      }\n\n      function onPointerDownMinus(ev: React.PointerEvent) {\n        // Stop right click from triggering jog\n        if (ev.button === 0) state.startJogging(\"-\")\n      }\n\n      function onPointerDownPlus(ev: React.PointerEvent) {\n        if (ev.button === 0) state.startJogging(\"+\")\n      }\n\n      function onPointerUp(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function onPointerOut(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function formatDegrees(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.degree.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n      function formatMm(value: number | undefined, precision = 1) {\n        if (value === undefined || Number.isNaN(value)) return \"\"\n\n        const output = t(\"General.mm.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n     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...pressedButtonStyle,\n              },\n            },\n          }}\n        >\n          <IconButton\n            onPointerDown={onPointerDownMinus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"16px 0px 0px 16px\",\n              ...(state.activeJoggingDir === \"-\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronLeft\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n\n          <Stack\n            flexGrow={1}\n            alignItems=\"center\"\n            justifyContent=\"center\"\n            sx={{\n              borderStyle: \"solid\",\n              borderLeftWidth: 0,\n              borderRightWidth: 0,\n              border: \"none\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              paddingLeft: \"20px\",\n              paddingRight: \"20px\",\n              zIndex: 1,\n            }}\n          >\n            <Typography\n              sx={{\n                fontSize: \"15px\",\n                fontWeight: 700,\n                position: \"relative\",\n                top: \"5px\",\n                fontVariantNumeric: \"tabular-nums\",\n                minWidth: \"80px\",\n                textAlign: \"center\",\n\n                color: disabled\n                  ? theme.palette.action.disabled\n                  : theme.palette.text.primary,\n              }}\n            >\n              {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}\n            </Typography>\n\n            <Slider\n              disabled\n              aria-label=\"Joint position\"\n              min={useDegree ? convertToDegree(lowerLimit) : lowerLimit}\n              max={useDegree ? convertToDegree(upperLimit) : upperLimit}\n              value={currentValue || 0}\n              track={false}\n              sx={{\n                \"& .MuiSlider-mark\": {\n                  display: \"none\",\n                },\n                \"& .MuiSlider-thumb\": {\n                  width: \"5px\",\n                  height: \"12px\",\n                  borderRadius: \"2px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.primary,\n                },\n                \"& .MuiSlider-markLabel\": {\n                  top: \"20px\",\n                  fontSize: \"12px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.secondary,\n                },\n                \"& .MuiSlider-rail\": {\n                  backgroundColor: theme.palette.backgroundPaperElevation?.[5],\n   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package/dist/components/jogging/JoggingStore.cjs

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const I=require("@wandelbots/nova-js"),m=require("@wandelbots/nova-js/v2"),u=require("lodash-es"),d=require("lodash-es/keyBy.js"),S=require("lodash-es/uniqueId.js"),y=require("mobx"),l=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],p=[{id:"continuous"},...l],T=["coordsys","tool"];class a{constructor(e,t,s,i,n){var r,c,o,h;this.jogger=e,this.coordSystems=t,this.motionGroupDescription=s,this.tcps=i,this.inverseSolverValue=n,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=m.JointTypeEnum.RevoluteJoint;for(const g of t)if(g.coordinate_system===""){g.coordinate_system="world";break}this.selectedCoordSystemId=((r=t[0])==null?void 0:r.coordinate_system)||"world",this.selectedTcpId=((c=i[0])==null?void 0:c.id)||"",this.inverseSolver=n,this.jointType=((h=(o=s==null?void 0:s.dh_parameters)==null?void 0:o[0])==null?void 0:h.type)??m.JointTypeEnum.RevoluteJoint,y.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(y.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(e){const{nova:t}=e,[s,i]=await Promise.all([t.api.controller.listCoordinateSystems(e.motionStream.controllerId,"ROTATION_VECTOR"),t.api.motionGroup.getMotionGroupDescription(e.motionStream.controllerId,e.motionGroupId)]),n=await t.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),r=Object.entries(i.tcps||{}).map(([c,o])=>({id:c,readable_name:o.name,position:o.pose.position,orientation:o.pose.orientation}));return new a(e,s||[],i,r,n.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return u.countBy(this.coordSystems,e=>e.name)}async deactivate(){if(this.jogger.mode==="jogging")return this.jogger.stop()}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=I.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.tcpsById[e.selectedTcpId]&&(this.selectedTcpId=e.selectedTcpId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return p}get discreteIncrementOptions(){return l}get incrementOptionsById(){return d(this.incrementOptions,e=>e.id)}get tabsById(){return d(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return d(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return d(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:l.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,t){const s=this.tabs[t]||this.tabs[0];this.selectedTabId=s.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.selectedTcpId=e}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,t){t?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const t=S();this.lock(t);try{return await e()}finally{this.unlock(t)}}}exports.JoggingStore=a;exports.ORIENTATION_IDS=T;exports.default=a;
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const I=require("@wandelbots/nova-js"),m=require("@wandelbots/nova-js/v2"),u=require("lodash-es"),d=require("lodash-es/keyBy"),S=require("lodash-es/uniqueId"),y=require("mobx"),l=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],p=[{id:"continuous"},...l],T=["coordsys","tool"];class a{constructor(e,t,s,i,n){var r,c,o,h;this.jogger=e,this.coordSystems=t,this.motionGroupDescription=s,this.tcps=i,this.inverseSolverValue=n,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=m.JointTypeEnum.RevoluteJoint;for(const g of t)if(g.coordinate_system===""){g.coordinate_system="world";break}this.selectedCoordSystemId=((r=t[0])==null?void 0:r.coordinate_system)||"world",this.selectedTcpId=((c=i[0])==null?void 0:c.id)||"",this.inverseSolver=n,this.jointType=((h=(o=s==null?void 0:s.dh_parameters)==null?void 0:o[0])==null?void 0:h.type)??m.JointTypeEnum.RevoluteJoint,y.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(y.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(e){const{nova:t}=e,[s,i]=await Promise.all([t.api.controller.listCoordinateSystems(e.motionStream.controllerId,"ROTATION_VECTOR"),t.api.motionGroup.getMotionGroupDescription(e.motionStream.controllerId,e.motionGroupId)]),n=await t.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),r=Object.entries(i.tcps||{}).map(([c,o])=>({id:c,readable_name:o.name,position:o.pose.position,orientation:o.pose.orientation}));return new a(e,s||[],i,r,n.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return u.countBy(this.coordSystems,e=>e.name)}async deactivate(){if(this.jogger.mode==="jogging")return this.jogger.stop()}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=I.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.tcpsById[e.selectedTcpId]&&(this.selectedTcpId=e.selectedTcpId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return p}get discreteIncrementOptions(){return l}get incrementOptionsById(){return d(this.incrementOptions,e=>e.id)}get tabsById(){return d(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return d(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return d(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:l.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,t){const s=this.tabs[t]||this.tabs[0];this.selectedTabId=s.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.selectedTcpId=e}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,t){t?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const t=S();this.lock(t);try{return await e()}finally{this.unlock(t)}}}exports.JoggingStore=a;exports.ORIENTATION_IDS=T;exports.default=a;
 //# sourceMappingURL=JoggingStore.cjs.map

package/dist/components/jogging/JoggingStore.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"JoggingStore.cjs","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type CoordinateSystem,\n  type KinematicModel,\n  type MotionGroupDescription,\n  type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy.js\"\nimport uniqueId from \"lodash-es/uniqueId.js\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n  JoggerConnection,\n  JoggerOrientation,\n  Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n  { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n  { id: \"1\", mm: 1, degrees: 0.5 },\n  { id: \"5\", mm: 5, degrees: 2.5 },\n  { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n  { id: \"continuous\" },\n  ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n  direction: JoggingDirection\n  axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n  selectedTabId: TabType = \"cartesian\"\n\n  /** Locks to prevent UI interactions during certain operations */\n  locks = new Set<string>()\n\n  /** Block jogging UI interactions when connection is taken by another jogger */\n  blocked: boolean = false\n\n  /**\n   * Id of selected coordinate system from among those defined on the API side\n   */\n  selectedCoordSystemId: string = \"world\"\n\n  /** Id of selected tool center point from among the options available on the robot */\n  selectedTcpId: string = \"\"\n\n  /**\n   * Whether the user is jogging in the coordinate system or tool orientation.\n   * When in tool orientation, the robot moves in a direction relative to the\n   * attached tool rotation.\n   */\n  selectedOrientation: OrientationId = \"coordsys\"\n\n  /**\n   * Id of selected increment amount for jogging. Options are defined by robot pad.\n   * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n   * each time the button is pressed, for extra precision\n   */\n  selectedIncrementId: IncrementOptionId = \"continuous\"\n\n  /**\n   * When on the cartesian tab, jogging can be either translating or rotating\n   * around the TCP.\n   */\n  selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n  /**\n   * If the jogger is busy running an incremental jog, this will be set\n   * with the information about the motion\n   */\n  incrementJogInProgress: IncrementJogInProgress | null = null\n\n  /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n  translationVelocityMmPerSec: number = 10\n  /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n  rotationVelocityDegPerSec: number = 1\n\n  /** Minimum translation velocity user can choose on the velocity slider in °/s */\n  minTranslationVelocityMmPerSec: number = 5\n  /** Maximum translation velocity user can choose on the velocity slider in °/s */\n  maxTranslationVelocityMmPerSec: number = 250\n\n  /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n  minRotationVelocityDegPerSec: number = 1\n  /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n  maxRotationVelocityDegPerSec: number = 60\n\n  /** Whether to show the coordinate system select dropdown in the UI */\n  showCoordSystemSelect: boolean = false\n\n  /** Whether to show the TCP select dropdown in the UI */\n  showTcpSelect: boolean = true\n\n  /** Whether to show the orientation select dropdown in the UI */\n  showOrientationSelect: boolean = true\n\n  /** Whether to show the increment select dropdown in the UI */\n  showIncrementSelect: boolean = true\n\n  /** Whether to show icons in the jogging tabs */\n  showTabIcons: boolean = false\n\n  /** Whether to show the label to the right of the velocity slider */\n  showVelocitySliderLabel: boolean = true\n\n  /** Whether to show the legend before the slider */\n  showVelocityLegend: boolean = false\n\n  /** Whether to show the legend before the joints */\n  showJointsLegend: boolean = false\n\n  disposers: IReactionDisposer[] = []\n\n  /**\n   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n   */\n  inverseSolver: string | null | undefined = undefined\n\n  /**\n   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n   * should be rendered by the JoggingPanel component.\n   */\n  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n  /**\n   * Load a jogging store with the relevant data it needs\n   * from the backend\n   */\n  static async loadFor(jogger: JoggerConnection) {\n    const { nova } = jogger\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const [coordinatesystems, description] = await Promise.all([\n      // Fetch coord systems so user can select between them\n      nova.api.controller.listCoordinateSystems(\n        jogger.motionStream.controllerId,\n        \"ROTATION_VECTOR\",\n      ),\n\n      // Same for TCPs and other info from description\n      nova.api.motionGroup.getMotionGroupDescription(\n        jogger.motionStream.controllerId,\n        jogger.motionGroupId,\n      ),\n    ])\n\n    const kinematicModel: KinematicModel =\n      await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n        description.motion_group_model,\n      )\n\n    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n      id,\n      readable_name: tcp.name,\n      position: tcp.pose.position as Vector3Simple,\n      orientation: tcp.pose.orientation as Vector3Simple,\n    }))\n\n    return new JoggingStore(\n      jogger,\n      coordinatesystems || [],\n      description,\n      tcps,\n      kinematicModel.inverse_solver,\n    )\n  }\n\n  constructor(\n    readonly jogger: JoggerConnection,\n    readonly coordSystems: CoordinateSystem[],\n    readonly motionGroupDescription: MotionGroupDescription,\n    readonly tcps: RobotTcp[],\n    readonly inverseSolverValue: string | null | undefined,\n  ) {\n    // TODO workaround for default coord system on backend having a canonical id\n    // of empty string. Can remove when fixed on API side\n    for (const cs of coordSystems) {\n      if (cs.coordinate_system === \"\") {\n        cs.coordinate_system = \"world\"\n        break\n      }\n    }\n    this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n    this.selectedTcpId = tcps[0]?.id || \"\"\n    this.inverseSolver = inverseSolverValue\n    this.jointType =\n      motionGroupDescription?.dh_parameters?.[0]?.type ??\n      JointTypeEnum.RevoluteJoint\n\n    // Make all properties observable and actions auto-bound\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    // Register blocked watching\n    this.jogger.onBlocked = () => {\n      this.block()\n    }\n\n    // Load user settings from local storage if available\n    this.loadFromLocalStorage()\n\n    // Automatically save user settings to local storage when save changes\n    this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n    // Assign joggingStore to window\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    ;(window as any).joggingStore = this\n  }\n\n  dispose() {\n    for (const dispose of this.disposers) {\n      dispose()\n    }\n    this.jogger.dispose()\n  }\n\n  get coordSystemCountByName() {\n    return countBy(this.coordSystems, (cs) => cs.name)\n  }\n\n  async deactivate() {\n    if (this.jogger.mode === \"jogging\") {\n      return this.jogger.stop()\n    }\n  }\n\n  /** Activate the jogger with current settings */\n  async activate() {\n    if (this.currentTab.id === \"cartesian\") {\n      if (\n        this.jogger.tcp !== this.selectedTcpId ||\n        this.jogger.orientation !== this.selectedOrientation\n      ) {\n        this.jogger.setOptions({\n          tcp: this.selectedTcpId,\n          orientation: this.selectedOrientation as JoggerOrientation,\n        })\n      }\n\n      if (this.activeDiscreteIncrement) {\n        this.jogger.setJoggingMode(\"trajectory\")\n      } else {\n        this.jogger.setJoggingMode(\"jogging\")\n      }\n    } else {\n      this.jogger.setJoggingMode(\"jogging\")\n    }\n\n    return this.jogger\n  }\n\n  loadFromLocalStorage() {\n    const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n    if (!save) return\n\n    if (this.tabsById[save.selectedTabId]) {\n      this.selectedTabId = save.selectedTabId\n    }\n\n    if (this.coordSystemsById[save.selectedCoordSystemId]) {\n      this.selectedCoordSystemId = save.selectedCoordSystemId\n    }\n\n    if (this.tcpsById[save.selectedTcpId]) {\n      this.selectedTcpId = save.selectedTcpId\n    }\n\n    if (this.incrementOptionsById[save.selectedIncrementId]) {\n      this.selectedIncrementId = save.selectedIncrementId\n    }\n\n    if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n      this.selectedCartesianMotionType = save.selectedCartesianMotionType\n    }\n\n    if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n      this.selectedOrientation = save.selectedOrientation\n    }\n  }\n\n  saveToLocalStorage() {\n    localStorage.setItem(\n      \"joggingToolStore\",\n      JSON.stringify(this.localStorageSave),\n    )\n  }\n\n  get isLocked() {\n    return this.locks.size > 0\n  }\n\n  get localStorageSave() {\n    return {\n      selectedTabId: this.selectedTabId,\n      selectedCoordSystemId: this.selectedCoordSystemId,\n      selectedTcpId: this.selectedTcpId,\n      selectedOrientation: this.selectedOrientation,\n      selectedIncrementId: this.selectedIncrementId,\n      selectedCartesianMotionType: this.selectedCartesianMotionType,\n    }\n  }\n\n  get tabs() {\n    const tempTabs: { id: TabType; label: string }[] = [\n      {\n        id: \"joint\",\n        label: \"Joints\",\n      },\n    ]\n    // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )\n    // do not show the cartesian tab when the solver is null this means, it cannot get jogged cartesian\n    if (this.inverseSolver !== null) {\n      tempTabs.unshift({\n        id: \"cartesian\",\n        label: \"Cartesian\",\n      })\n    }\n\n    return tempTabs\n  }\n\n  get incrementOptions() {\n    return incrementOptions\n  }\n\n  get discreteIncrementOptions() {\n    return discreteIncrementOptions\n  }\n\n  get incrementOptionsById() {\n    return keyBy(this.incrementOptions, (o) => o.id)\n  }\n\n  get tabsById() {\n    return keyBy(this.tabs, (t) => t.id)\n  }\n\n  get currentTab() {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return this.tabsById[this.selectedTabId] || this.tabs[0]!\n  }\n\n  get tabIndex() {\n    return this.tabs.indexOf(this.currentTab)\n  }\n\n  get coordSystemsById() {\n    return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n  }\n\n  /**\n   * The id of the coordinate system to use for jogging.\n   * If in tool orientation, this is set to \"tool\", not the\n   * selected coordinate system.\n   */\n  get activeCoordSystemId() {\n    return this.selectedOrientation === \"tool\"\n      ? \"tool\"\n      : this.selectedCoordSystemId\n  }\n\n  get tcpsById() {\n    return keyBy(this.tcps, (tcp) => tcp.id)\n  }\n\n  get activeDiscreteIncrement() {\n    return this.selectedOrientation === \"tool\"\n      ? undefined\n      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n  }\n\n  /** The selected rotation velocity converted to radians per second */\n  get rotationVelocityRadsPerSec() {\n    return (this.rotationVelocityDegPerSec * Math.PI) / 180\n  }\n\n  /** Selected velocity in mm/sec or deg/sec */\n  velocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.rotationVelocityDegPerSec\n      : this.translationVelocityMmPerSec\n  }\n\n  /** Minimum selectable velocity in mm/sec or deg/sec */\n  minVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.minRotationVelocityDegPerSec\n      : this.minTranslationVelocityMmPerSec\n  }\n\n  /** Maximum selectable velocity in mm/sec or deg/sec */\n  maxVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.maxRotationVelocityDegPerSec\n      : this.maxTranslationVelocityMmPerSec\n  }\n\n  onTabChange(_event: React.SyntheticEvent, newValue: number) {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    const tab = this.tabs[newValue] || this.tabs[0]!\n    this.selectedTabId = tab.id\n  }\n\n  setSelectedCoordSystemId(id: string) {\n    this.selectedCoordSystemId = id\n  }\n\n  setSelectedTcpId(id: string) {\n    this.selectedTcpId = id\n  }\n\n  setSelectedOrientation(orientation: OrientationId) {\n    this.selectedOrientation = orientation\n  }\n\n  setSelectedIncrementId(id: IncrementOptionId) {\n    this.selectedIncrementId = id\n  }\n\n  setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n    this.incrementJogInProgress = incrementJog\n  }\n\n  setVelocityFromSlider(velocity: number, useDegree: boolean) {\n    if (useDegree) {\n      this.rotationVelocityDegPerSec = velocity\n    } else {\n      this.translationVelocityMmPerSec = velocity\n    }\n  }\n\n  setSelectedCartesianMotionType(type: CartesianMotionType) {\n    this.selectedCartesianMotionType = type\n  }\n\n  lock(id: string) {\n    this.locks.add(id)\n  }\n\n  unlock(id: string) {\n    this.locks.delete(id)\n  }\n\n  block() {\n    this.blocked = true\n  }\n\n  unblock() {\n    this.blocked = false\n    if (this.jogger.mode === \"jogging\") {\n      this.jogger.initializeJoggingWebsocket()\n    }\n  }\n\n  /** Lock the UI until the given async callback resolves */\n  async withMotionLock(fn: () => Promise<void>) {\n    const lockId = uniqueId()\n    this.lock(lockId)\n\n    try {\n      return await fn()\n    } finally {\n      this.unlock(lockId)\n    }\n  }\n}\n\nexport default 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+{"version":3,"file":"JoggingStore.cjs","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type CoordinateSystem,\n  type KinematicModel,\n  type MotionGroupDescription,\n  type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy\"\nimport uniqueId from \"lodash-es/uniqueId\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n  JoggerConnection,\n  JoggerOrientation,\n  Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n  { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n  { id: \"1\", mm: 1, degrees: 0.5 },\n  { id: \"5\", mm: 5, degrees: 2.5 },\n  { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n  { id: \"continuous\" },\n  ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n  direction: JoggingDirection\n  axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n  selectedTabId: TabType = \"cartesian\"\n\n  /** Locks to prevent UI interactions during certain operations */\n  locks = new Set<string>()\n\n  /** Block jogging UI interactions when connection is taken by another jogger */\n  blocked: boolean = false\n\n  /**\n   * Id of selected coordinate system from among those defined on the API side\n   */\n  selectedCoordSystemId: string = \"world\"\n\n  /** Id of selected tool center point from among the options available on the robot */\n  selectedTcpId: string = \"\"\n\n  /**\n   * Whether the user is jogging in the coordinate system or tool orientation.\n   * When in tool orientation, the robot moves in a direction relative to the\n   * attached tool rotation.\n   */\n  selectedOrientation: OrientationId = \"coordsys\"\n\n  /**\n   * Id of selected increment amount for jogging. Options are defined by robot pad.\n   * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n   * each time the button is pressed, for extra precision\n   */\n  selectedIncrementId: IncrementOptionId = \"continuous\"\n\n  /**\n   * When on the cartesian tab, jogging can be either translating or rotating\n   * around the TCP.\n   */\n  selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n  /**\n   * If the jogger is busy running an incremental jog, this will be set\n   * with the information about the motion\n   */\n  incrementJogInProgress: IncrementJogInProgress | null = null\n\n  /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n  translationVelocityMmPerSec: number = 10\n  /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n  rotationVelocityDegPerSec: number = 1\n\n  /** Minimum translation velocity user can choose on the velocity slider in °/s */\n  minTranslationVelocityMmPerSec: number = 5\n  /** Maximum translation velocity user can choose on the velocity slider in °/s */\n  maxTranslationVelocityMmPerSec: number = 250\n\n  /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n  minRotationVelocityDegPerSec: number = 1\n  /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n  maxRotationVelocityDegPerSec: number = 60\n\n  /** Whether to show the coordinate system select dropdown in the UI */\n  showCoordSystemSelect: boolean = false\n\n  /** Whether to show the TCP select dropdown in the UI */\n  showTcpSelect: boolean = true\n\n  /** Whether to show the orientation select dropdown in the UI */\n  showOrientationSelect: boolean = true\n\n  /** Whether to show the increment select dropdown in the UI */\n  showIncrementSelect: boolean = true\n\n  /** Whether to show icons in the jogging tabs */\n  showTabIcons: boolean = false\n\n  /** Whether to show the label to the right of the velocity slider */\n  showVelocitySliderLabel: boolean = true\n\n  /** Whether to show the legend before the slider */\n  showVelocityLegend: boolean = false\n\n  /** Whether to show the legend before the joints */\n  showJointsLegend: boolean = false\n\n  disposers: IReactionDisposer[] = []\n\n  /**\n   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n   */\n  inverseSolver: string | null | undefined = undefined\n\n  /**\n   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n   * should be rendered by the JoggingPanel component.\n   */\n  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n  /**\n   * Load a jogging store with the relevant data it needs\n   * from the backend\n   */\n  static async loadFor(jogger: JoggerConnection) {\n    const { nova } = jogger\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const [coordinatesystems, description] = await Promise.all([\n      // Fetch coord systems so user can select between them\n      nova.api.controller.listCoordinateSystems(\n        jogger.motionStream.controllerId,\n        \"ROTATION_VECTOR\",\n      ),\n\n      // Same for TCPs and other info from description\n      nova.api.motionGroup.getMotionGroupDescription(\n        jogger.motionStream.controllerId,\n        jogger.motionGroupId,\n      ),\n    ])\n\n    const kinematicModel: KinematicModel =\n      await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n        description.motion_group_model,\n      )\n\n    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n      id,\n      readable_name: tcp.name,\n      position: tcp.pose.position as Vector3Simple,\n      orientation: tcp.pose.orientation as Vector3Simple,\n    }))\n\n    return new JoggingStore(\n      jogger,\n      coordinatesystems || [],\n      description,\n      tcps,\n      kinematicModel.inverse_solver,\n    )\n  }\n\n  constructor(\n    readonly jogger: JoggerConnection,\n    readonly coordSystems: CoordinateSystem[],\n    readonly motionGroupDescription: MotionGroupDescription,\n    readonly tcps: RobotTcp[],\n    readonly inverseSolverValue: string | null | undefined,\n  ) {\n    // TODO workaround for default coord system on backend having a canonical id\n    // of empty string. Can remove when fixed on API side\n    for (const cs of coordSystems) {\n      if (cs.coordinate_system === \"\") {\n        cs.coordinate_system = \"world\"\n        break\n      }\n    }\n    this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n    this.selectedTcpId = tcps[0]?.id || \"\"\n    this.inverseSolver = inverseSolverValue\n    this.jointType =\n      motionGroupDescription?.dh_parameters?.[0]?.type ??\n      JointTypeEnum.RevoluteJoint\n\n    // Make all properties observable and actions auto-bound\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    // Register blocked watching\n    this.jogger.onBlocked = () => {\n      this.block()\n    }\n\n    // Load user settings from local storage if available\n    this.loadFromLocalStorage()\n\n    // Automatically save user settings to local storage when save changes\n    this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n    // Assign joggingStore to window\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    ;(window as any).joggingStore = this\n  }\n\n  dispose() {\n    for (const dispose of this.disposers) {\n      dispose()\n    }\n    this.jogger.dispose()\n  }\n\n  get coordSystemCountByName() {\n    return countBy(this.coordSystems, (cs) => cs.name)\n  }\n\n  async deactivate() {\n    if (this.jogger.mode === \"jogging\") {\n      return this.jogger.stop()\n    }\n  }\n\n  /** Activate the jogger with current settings */\n  async activate() {\n    if (this.currentTab.id === \"cartesian\") {\n      if (\n        this.jogger.tcp !== this.selectedTcpId ||\n        this.jogger.orientation !== this.selectedOrientation\n      ) {\n        this.jogger.setOptions({\n          tcp: this.selectedTcpId,\n          orientation: this.selectedOrientation as JoggerOrientation,\n        })\n      }\n\n      if (this.activeDiscreteIncrement) {\n        this.jogger.setJoggingMode(\"trajectory\")\n      } else {\n        this.jogger.setJoggingMode(\"jogging\")\n      }\n    } else {\n      this.jogger.setJoggingMode(\"jogging\")\n    }\n\n    return this.jogger\n  }\n\n  loadFromLocalStorage() {\n    const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n    if (!save) return\n\n    if (this.tabsById[save.selectedTabId]) {\n      this.selectedTabId = save.selectedTabId\n    }\n\n    if (this.coordSystemsById[save.selectedCoordSystemId]) {\n      this.selectedCoordSystemId = save.selectedCoordSystemId\n    }\n\n    if (this.tcpsById[save.selectedTcpId]) {\n      this.selectedTcpId = save.selectedTcpId\n    }\n\n    if (this.incrementOptionsById[save.selectedIncrementId]) {\n      this.selectedIncrementId = save.selectedIncrementId\n    }\n\n    if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n      this.selectedCartesianMotionType = save.selectedCartesianMotionType\n    }\n\n    if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n      this.selectedOrientation = save.selectedOrientation\n    }\n  }\n\n  saveToLocalStorage() {\n    localStorage.setItem(\n      \"joggingToolStore\",\n      JSON.stringify(this.localStorageSave),\n    )\n  }\n\n  get isLocked() {\n    return this.locks.size > 0\n  }\n\n  get localStorageSave() {\n    return {\n      selectedTabId: this.selectedTabId,\n      selectedCoordSystemId: this.selectedCoordSystemId,\n      selectedTcpId: this.selectedTcpId,\n      selectedOrientation: this.selectedOrientation,\n      selectedIncrementId: this.selectedIncrementId,\n      selectedCartesianMotionType: this.selectedCartesianMotionType,\n    }\n  }\n\n  get tabs() {\n    const tempTabs: { id: TabType; label: string }[] = [\n      {\n        id: \"joint\",\n        label: \"Joints\",\n      },\n    ]\n    // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )\n    // do not show the cartesian tab when the solver is null this means, it cannot get jogged cartesian\n    if (this.inverseSolver !== null) {\n      tempTabs.unshift({\n        id: \"cartesian\",\n        label: \"Cartesian\",\n      })\n    }\n\n    return tempTabs\n  }\n\n  get incrementOptions() {\n    return incrementOptions\n  }\n\n  get discreteIncrementOptions() {\n    return discreteIncrementOptions\n  }\n\n  get incrementOptionsById() {\n    return keyBy(this.incrementOptions, (o) => o.id)\n  }\n\n  get tabsById() {\n    return keyBy(this.tabs, (t) => t.id)\n  }\n\n  get currentTab() {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return this.tabsById[this.selectedTabId] || this.tabs[0]!\n  }\n\n  get tabIndex() {\n    return this.tabs.indexOf(this.currentTab)\n  }\n\n  get coordSystemsById() {\n    return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n  }\n\n  /**\n   * The id of the coordinate system to use for jogging.\n   * If in tool orientation, this is set to \"tool\", not the\n   * selected coordinate system.\n   */\n  get activeCoordSystemId() {\n    return this.selectedOrientation === \"tool\"\n      ? \"tool\"\n      : this.selectedCoordSystemId\n  }\n\n  get tcpsById() {\n    return keyBy(this.tcps, (tcp) => tcp.id)\n  }\n\n  get activeDiscreteIncrement() {\n    return this.selectedOrientation === \"tool\"\n      ? undefined\n      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n  }\n\n  /** The selected rotation velocity converted to radians per second */\n  get rotationVelocityRadsPerSec() {\n    return (this.rotationVelocityDegPerSec * Math.PI) / 180\n  }\n\n  /** Selected velocity in mm/sec or deg/sec */\n  velocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.rotationVelocityDegPerSec\n      : this.translationVelocityMmPerSec\n  }\n\n  /** Minimum selectable velocity in mm/sec or deg/sec */\n  minVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.minRotationVelocityDegPerSec\n      : this.minTranslationVelocityMmPerSec\n  }\n\n  /** Maximum selectable velocity in mm/sec or deg/sec */\n  maxVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.maxRotationVelocityDegPerSec\n      : this.maxTranslationVelocityMmPerSec\n  }\n\n  onTabChange(_event: React.SyntheticEvent, newValue: number) {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    const tab = this.tabs[newValue] || this.tabs[0]!\n    this.selectedTabId = tab.id\n  }\n\n  setSelectedCoordSystemId(id: string) {\n    this.selectedCoordSystemId = id\n  }\n\n  setSelectedTcpId(id: string) {\n    this.selectedTcpId = id\n  }\n\n  setSelectedOrientation(orientation: OrientationId) {\n    this.selectedOrientation = orientation\n  }\n\n  setSelectedIncrementId(id: IncrementOptionId) {\n    this.selectedIncrementId = id\n  }\n\n  setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n    this.incrementJogInProgress = incrementJog\n  }\n\n  setVelocityFromSlider(velocity: number, useDegree: boolean) {\n    if (useDegree) {\n      this.rotationVelocityDegPerSec = velocity\n    } else {\n      this.translationVelocityMmPerSec = velocity\n    }\n  }\n\n  setSelectedCartesianMotionType(type: CartesianMotionType) {\n    this.selectedCartesianMotionType = type\n  }\n\n  lock(id: string) {\n    this.locks.add(id)\n  }\n\n  unlock(id: string) {\n    this.locks.delete(id)\n  }\n\n  block() {\n    this.blocked = true\n  }\n\n  unblock() {\n    this.blocked = false\n    if (this.jogger.mode === \"jogging\") {\n      this.jogger.initializeJoggingWebsocket()\n    }\n  }\n\n  /** Lock the UI until the given async callback resolves */\n  async withMotionLock(fn: () => Promise<void>) {\n    const lockId = uniqueId()\n    this.lock(lockId)\n\n    try {\n      return await fn()\n    } finally {\n      this.unlock(lockId)\n    }\n  }\n}\n\nexport default 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package/dist/components/jogging/JoggingStore.js

@@ -1,8 +1,8 @@
 import { tryParseJson as y } from "@wandelbots/nova-js";
 import { JointTypeEnum as m } from "@wandelbots/nova-js/v2";
 import { countBy as I } from "lodash-es";
-import d from "lodash-es/keyBy.js";
-import p from "lodash-es/uniqueId.js";
+import d from "lodash-es/keyBy";
+import p from "lodash-es/uniqueId";
 import { makeAutoObservable as S, autorun as u } from "mobx";
 const a = [
   { id: "0.1", mm: 0.1, degrees: 0.05 },

package/dist/components/jogging/JoggingStore.js.map

@@ -1 +1 @@
-{"version":3,"file":"JoggingStore.js","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type CoordinateSystem,\n  type KinematicModel,\n  type MotionGroupDescription,\n  type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy.js\"\nimport uniqueId from \"lodash-es/uniqueId.js\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n  JoggerConnection,\n  JoggerOrientation,\n  Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n  { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n  { id: \"1\", mm: 1, degrees: 0.5 },\n  { id: \"5\", mm: 5, degrees: 2.5 },\n  { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n  { id: \"continuous\" },\n  ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n  direction: JoggingDirection\n  axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n  selectedTabId: TabType = \"cartesian\"\n\n  /** Locks to prevent UI interactions during certain operations */\n  locks = new Set<string>()\n\n  /** Block jogging UI interactions when connection is taken by another jogger */\n  blocked: boolean = false\n\n  /**\n   * Id of selected coordinate system from among those defined on the API side\n   */\n  selectedCoordSystemId: string = \"world\"\n\n  /** Id of selected tool center point from among the options available on the robot */\n  selectedTcpId: string = \"\"\n\n  /**\n   * Whether the user is jogging in the coordinate system or tool orientation.\n   * When in tool orientation, the robot moves in a direction relative to the\n   * attached tool rotation.\n   */\n  selectedOrientation: OrientationId = \"coordsys\"\n\n  /**\n   * Id of selected increment amount for jogging. Options are defined by robot pad.\n   * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n   * each time the button is pressed, for extra precision\n   */\n  selectedIncrementId: IncrementOptionId = \"continuous\"\n\n  /**\n   * When on the cartesian tab, jogging can be either translating or rotating\n   * around the TCP.\n   */\n  selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n  /**\n   * If the jogger is busy running an incremental jog, this will be set\n   * with the information about the motion\n   */\n  incrementJogInProgress: IncrementJogInProgress | null = null\n\n  /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n  translationVelocityMmPerSec: number = 10\n  /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n  rotationVelocityDegPerSec: number = 1\n\n  /** Minimum translation velocity user can choose on the velocity slider in °/s */\n  minTranslationVelocityMmPerSec: number = 5\n  /** Maximum translation velocity user can choose on the velocity slider in °/s */\n  maxTranslationVelocityMmPerSec: number = 250\n\n  /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n  minRotationVelocityDegPerSec: number = 1\n  /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n  maxRotationVelocityDegPerSec: number = 60\n\n  /** Whether to show the coordinate system select dropdown in the UI */\n  showCoordSystemSelect: boolean = false\n\n  /** Whether to show the TCP select dropdown in the UI */\n  showTcpSelect: boolean = true\n\n  /** Whether to show the orientation select dropdown in the UI */\n  showOrientationSelect: boolean = true\n\n  /** Whether to show the increment select dropdown in the UI */\n  showIncrementSelect: boolean = true\n\n  /** Whether to show icons in the jogging tabs */\n  showTabIcons: boolean = false\n\n  /** Whether to show the label to the right of the velocity slider */\n  showVelocitySliderLabel: boolean = true\n\n  /** Whether to show the legend before the slider */\n  showVelocityLegend: boolean = false\n\n  /** Whether to show the legend before the joints */\n  showJointsLegend: boolean = false\n\n  disposers: IReactionDisposer[] = []\n\n  /**\n   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n   */\n  inverseSolver: string | null | undefined = undefined\n\n  /**\n   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n   * should be rendered by the JoggingPanel component.\n   */\n  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n  /**\n   * Load a jogging store with the relevant data it needs\n   * from the backend\n   */\n  static async loadFor(jogger: JoggerConnection) {\n    const { nova } = jogger\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const [coordinatesystems, description] = await Promise.all([\n      // Fetch coord systems so user can select between them\n      nova.api.controller.listCoordinateSystems(\n        jogger.motionStream.controllerId,\n        \"ROTATION_VECTOR\",\n      ),\n\n      // Same for TCPs and other info from description\n      nova.api.motionGroup.getMotionGroupDescription(\n        jogger.motionStream.controllerId,\n        jogger.motionGroupId,\n      ),\n    ])\n\n    const kinematicModel: KinematicModel =\n      await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n        description.motion_group_model,\n      )\n\n    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n      id,\n      readable_name: tcp.name,\n      position: tcp.pose.position as Vector3Simple,\n      orientation: tcp.pose.orientation as Vector3Simple,\n    }))\n\n    return new JoggingStore(\n      jogger,\n      coordinatesystems || [],\n      description,\n      tcps,\n      kinematicModel.inverse_solver,\n    )\n  }\n\n  constructor(\n    readonly jogger: JoggerConnection,\n    readonly coordSystems: CoordinateSystem[],\n    readonly motionGroupDescription: MotionGroupDescription,\n    readonly tcps: RobotTcp[],\n    readonly inverseSolverValue: string | null | undefined,\n  ) {\n    // TODO workaround for default coord system on backend having a canonical id\n    // of empty string. Can remove when fixed on API side\n    for (const cs of coordSystems) {\n      if (cs.coordinate_system === \"\") {\n        cs.coordinate_system = \"world\"\n        break\n      }\n    }\n    this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n    this.selectedTcpId = tcps[0]?.id || \"\"\n    this.inverseSolver = inverseSolverValue\n    this.jointType =\n      motionGroupDescription?.dh_parameters?.[0]?.type ??\n      JointTypeEnum.RevoluteJoint\n\n    // Make all properties observable and actions auto-bound\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    // Register blocked watching\n    this.jogger.onBlocked = () => {\n      this.block()\n    }\n\n    // Load user settings from local storage if available\n    this.loadFromLocalStorage()\n\n    // Automatically save user settings to local storage when save changes\n    this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n    // Assign joggingStore to window\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    ;(window as any).joggingStore = this\n  }\n\n  dispose() {\n    for (const dispose of this.disposers) {\n      dispose()\n    }\n    this.jogger.dispose()\n  }\n\n  get coordSystemCountByName() {\n    return countBy(this.coordSystems, (cs) => cs.name)\n  }\n\n  async deactivate() {\n    if (this.jogger.mode === \"jogging\") {\n      return this.jogger.stop()\n    }\n  }\n\n  /** Activate the jogger with current settings */\n  async activate() {\n    if (this.currentTab.id === \"cartesian\") {\n      if (\n        this.jogger.tcp !== this.selectedTcpId ||\n        this.jogger.orientation !== this.selectedOrientation\n      ) {\n        this.jogger.setOptions({\n          tcp: this.selectedTcpId,\n          orientation: this.selectedOrientation as JoggerOrientation,\n        })\n      }\n\n      if (this.activeDiscreteIncrement) {\n        this.jogger.setJoggingMode(\"trajectory\")\n      } else {\n        this.jogger.setJoggingMode(\"jogging\")\n      }\n    } else {\n      this.jogger.setJoggingMode(\"jogging\")\n    }\n\n    return this.jogger\n  }\n\n  loadFromLocalStorage() {\n    const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n    if (!save) return\n\n    if (this.tabsById[save.selectedTabId]) {\n      this.selectedTabId = save.selectedTabId\n    }\n\n    if (this.coordSystemsById[save.selectedCoordSystemId]) {\n      this.selectedCoordSystemId = save.selectedCoordSystemId\n    }\n\n    if (this.tcpsById[save.selectedTcpId]) {\n      this.selectedTcpId = save.selectedTcpId\n    }\n\n    if (this.incrementOptionsById[save.selectedIncrementId]) {\n      this.selectedIncrementId = save.selectedIncrementId\n    }\n\n    if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n      this.selectedCartesianMotionType = save.selectedCartesianMotionType\n    }\n\n    if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n      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jogged cartesian\n    if (this.inverseSolver !== null) {\n      tempTabs.unshift({\n        id: \"cartesian\",\n        label: \"Cartesian\",\n      })\n    }\n\n    return tempTabs\n  }\n\n  get incrementOptions() {\n    return incrementOptions\n  }\n\n  get discreteIncrementOptions() {\n    return discreteIncrementOptions\n  }\n\n  get incrementOptionsById() {\n    return keyBy(this.incrementOptions, (o) => o.id)\n  }\n\n  get tabsById() {\n    return keyBy(this.tabs, (t) => t.id)\n  }\n\n  get currentTab() {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return this.tabsById[this.selectedTabId] || this.tabs[0]!\n  }\n\n  get tabIndex() {\n    return this.tabs.indexOf(this.currentTab)\n  }\n\n  get coordSystemsById() {\n    return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n  }\n\n  /**\n   * The id of the coordinate system to use for jogging.\n   * If in tool orientation, this is set to \"tool\", not the\n   * selected coordinate system.\n   */\n  get activeCoordSystemId() {\n    return this.selectedOrientation === \"tool\"\n      ? \"tool\"\n      : this.selectedCoordSystemId\n  }\n\n  get tcpsById() {\n    return keyBy(this.tcps, (tcp) => tcp.id)\n  }\n\n  get activeDiscreteIncrement() {\n    return this.selectedOrientation === \"tool\"\n      ? undefined\n      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n  }\n\n  /** The selected rotation velocity converted to radians per second */\n  get rotationVelocityRadsPerSec() {\n    return (this.rotationVelocityDegPerSec * Math.PI) / 180\n  }\n\n  /** Selected velocity in mm/sec or deg/sec */\n  velocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.rotationVelocityDegPerSec\n      : this.translationVelocityMmPerSec\n  }\n\n  /** Minimum selectable velocity in mm/sec or deg/sec */\n  minVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.minRotationVelocityDegPerSec\n      : 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setVelocityFromSlider(velocity: number, useDegree: boolean) {\n    if (useDegree) {\n      this.rotationVelocityDegPerSec = velocity\n    } else {\n      this.translationVelocityMmPerSec = velocity\n    }\n  }\n\n  setSelectedCartesianMotionType(type: CartesianMotionType) {\n    this.selectedCartesianMotionType = type\n  }\n\n  lock(id: string) {\n    this.locks.add(id)\n  }\n\n  unlock(id: string) {\n    this.locks.delete(id)\n  }\n\n  block() {\n    this.blocked = true\n  }\n\n  unblock() {\n    this.blocked = false\n    if (this.jogger.mode === \"jogging\") {\n      this.jogger.initializeJoggingWebsocket()\n    }\n  }\n\n  /** Lock the UI until the given async callback resolves */\n  async withMotionLock(fn: () => Promise<void>) {\n    const lockId = uniqueId()\n    this.lock(lockId)\n\n    try {\n      return await fn()\n    } finally {\n      this.unlock(lockId)\n    }\n  }\n}\n\nexport default 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+{"version":3,"file":"JoggingStore.js","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type CoordinateSystem,\n  type KinematicModel,\n  type MotionGroupDescription,\n  type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy\"\nimport uniqueId from \"lodash-es/uniqueId\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n  JoggerConnection,\n  JoggerOrientation,\n  Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n  { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n  { id: \"1\", mm: 1, degrees: 0.5 },\n  { id: \"5\", mm: 5, degrees: 2.5 },\n  { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n  { id: \"continuous\" },\n  ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n  direction: JoggingDirection\n  axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n  selectedTabId: TabType = \"cartesian\"\n\n  /** Locks to prevent UI interactions during certain operations */\n  locks = new Set<string>()\n\n  /** Block jogging UI interactions when connection is taken by another jogger */\n  blocked: boolean = false\n\n  /**\n   * Id of selected coordinate system from among those defined on the API side\n   */\n  selectedCoordSystemId: string = \"world\"\n\n  /** Id of selected tool center point from among the options available on the robot */\n  selectedTcpId: string = \"\"\n\n  /**\n   * Whether the user is jogging in the coordinate system or tool orientation.\n   * When in tool orientation, the robot moves in a direction relative to the\n   * attached tool rotation.\n   */\n  selectedOrientation: OrientationId = \"coordsys\"\n\n  /**\n   * Id of selected increment amount for jogging. Options are defined by robot pad.\n   * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n   * each time the button is pressed, for extra precision\n   */\n  selectedIncrementId: IncrementOptionId = \"continuous\"\n\n  /**\n   * When on the cartesian tab, jogging can be either translating or rotating\n   * around the TCP.\n   */\n  selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n  /**\n   * If the jogger is busy running an incremental jog, this will be set\n   * with the information about the motion\n   */\n  incrementJogInProgress: IncrementJogInProgress | null = null\n\n  /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n  translationVelocityMmPerSec: number = 10\n  /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n  rotationVelocityDegPerSec: number = 1\n\n  /** Minimum translation velocity user can choose on the velocity slider in °/s */\n  minTranslationVelocityMmPerSec: number = 5\n  /** Maximum translation velocity user can choose on the velocity slider in °/s */\n  maxTranslationVelocityMmPerSec: number = 250\n\n  /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n  minRotationVelocityDegPerSec: number = 1\n  /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n  maxRotationVelocityDegPerSec: number = 60\n\n  /** Whether to show the coordinate system select dropdown in the UI */\n  showCoordSystemSelect: boolean = false\n\n  /** Whether to show the TCP select dropdown in the UI */\n  showTcpSelect: boolean = true\n\n  /** Whether to show the orientation select dropdown in the UI */\n  showOrientationSelect: boolean = true\n\n  /** Whether to show the increment select dropdown in the UI */\n  showIncrementSelect: boolean = true\n\n  /** Whether to show icons in the jogging tabs */\n  showTabIcons: boolean = false\n\n  /** Whether to show the label to the right of the velocity slider */\n  showVelocitySliderLabel: boolean = true\n\n  /** Whether to show the legend before the slider */\n  showVelocityLegend: boolean = false\n\n  /** Whether to show the legend before the joints */\n  showJointsLegend: boolean = false\n\n  disposers: IReactionDisposer[] = []\n\n  /**\n   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n   */\n  inverseSolver: string | null | undefined = undefined\n\n  /**\n   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n   * should be rendered by the JoggingPanel component.\n   */\n  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n  /**\n   * Load a jogging store with the relevant data it needs\n   * from the backend\n   */\n  static async loadFor(jogger: JoggerConnection) {\n    const { nova } = jogger\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const [coordinatesystems, description] = await Promise.all([\n      // Fetch coord systems so user can select between them\n      nova.api.controller.listCoordinateSystems(\n        jogger.motionStream.controllerId,\n        \"ROTATION_VECTOR\",\n      ),\n\n      // Same for TCPs and other info from description\n      nova.api.motionGroup.getMotionGroupDescription(\n        jogger.motionStream.controllerId,\n        jogger.motionGroupId,\n      ),\n    ])\n\n    const kinematicModel: KinematicModel =\n      await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n        description.motion_group_model,\n      )\n\n    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n      id,\n      readable_name: tcp.name,\n      position: tcp.pose.position as Vector3Simple,\n      orientation: tcp.pose.orientation as Vector3Simple,\n    }))\n\n    return new JoggingStore(\n      jogger,\n      coordinatesystems || [],\n      description,\n      tcps,\n      kinematicModel.inverse_solver,\n    )\n  }\n\n  constructor(\n    readonly jogger: JoggerConnection,\n    readonly coordSystems: CoordinateSystem[],\n    readonly motionGroupDescription: MotionGroupDescription,\n    readonly tcps: RobotTcp[],\n    readonly inverseSolverValue: string | null | undefined,\n  ) {\n    // TODO workaround for default coord system on backend having a canonical id\n    // of empty string. Can remove when fixed on API side\n    for (const cs of coordSystems) {\n      if (cs.coordinate_system === \"\") {\n        cs.coordinate_system = \"world\"\n        break\n      }\n    }\n    this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n    this.selectedTcpId = tcps[0]?.id || \"\"\n    this.inverseSolver = inverseSolverValue\n    this.jointType =\n      motionGroupDescription?.dh_parameters?.[0]?.type ??\n      JointTypeEnum.RevoluteJoint\n\n    // Make all properties observable and actions auto-bound\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    // Register blocked watching\n    this.jogger.onBlocked = () => {\n      this.block()\n    }\n\n    // Load user settings from local storage if available\n    this.loadFromLocalStorage()\n\n    // Automatically save user settings to local storage when save changes\n    this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n    // Assign joggingStore to window\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    ;(window as any).joggingStore = this\n  }\n\n  dispose() {\n    for (const dispose of this.disposers) {\n      dispose()\n    }\n    this.jogger.dispose()\n  }\n\n  get coordSystemCountByName() {\n    return countBy(this.coordSystems, (cs) => cs.name)\n  }\n\n  async deactivate() {\n    if (this.jogger.mode === \"jogging\") {\n      return this.jogger.stop()\n    }\n  }\n\n  /** Activate the jogger with current settings */\n  async activate() {\n    if (this.currentTab.id === \"cartesian\") {\n      if (\n        this.jogger.tcp !== this.selectedTcpId ||\n        this.jogger.orientation !== this.selectedOrientation\n      ) {\n        this.jogger.setOptions({\n          tcp: this.selectedTcpId,\n          orientation: this.selectedOrientation as JoggerOrientation,\n        })\n      }\n\n      if (this.activeDiscreteIncrement) {\n        this.jogger.setJoggingMode(\"trajectory\")\n      } else {\n        this.jogger.setJoggingMode(\"jogging\")\n      }\n    } else {\n      this.jogger.setJoggingMode(\"jogging\")\n    }\n\n    return this.jogger\n  }\n\n  loadFromLocalStorage() {\n    const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n    if (!save) return\n\n    if (this.tabsById[save.selectedTabId]) {\n      this.selectedTabId = save.selectedTabId\n    }\n\n    if (this.coordSystemsById[save.selectedCoordSystemId]) {\n      this.selectedCoordSystemId = save.selectedCoordSystemId\n    }\n\n    if (this.tcpsById[save.selectedTcpId]) {\n      this.selectedTcpId = save.selectedTcpId\n    }\n\n    if (this.incrementOptionsById[save.selectedIncrementId]) {\n      this.selectedIncrementId = save.selectedIncrementId\n    }\n\n    if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n      this.selectedCartesianMotionType = save.selectedCartesianMotionType\n    }\n\n    if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n      this.selectedOrientation = save.selectedOrientation\n    }\n  }\n\n  saveToLocalStorage() {\n    localStorage.setItem(\n      \"joggingToolStore\",\n      JSON.stringify(this.localStorageSave),\n    )\n  }\n\n  get isLocked() {\n    return this.locks.size > 0\n  }\n\n  get localStorageSave() {\n    return {\n      selectedTabId: this.selectedTabId,\n      selectedCoordSystemId: this.selectedCoordSystemId,\n      selectedTcpId: this.selectedTcpId,\n      selectedOrientation: this.selectedOrientation,\n      selectedIncrementId: this.selectedIncrementId,\n      selectedCartesianMotionType: this.selectedCartesianMotionType,\n    }\n  }\n\n  get tabs() {\n    const tempTabs: { id: TabType; label: string }[] = [\n      {\n        id: \"joint\",\n        label: \"Joints\",\n      },\n    ]\n    // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )\n    // do not show the cartesian tab when the solver is null this means, it cannot get jogged cartesian\n    if (this.inverseSolver !== null) {\n      tempTabs.unshift({\n        id: \"cartesian\",\n        label: \"Cartesian\",\n      })\n    }\n\n    return tempTabs\n  }\n\n  get incrementOptions() {\n    return incrementOptions\n  }\n\n  get discreteIncrementOptions() {\n    return discreteIncrementOptions\n  }\n\n  get incrementOptionsById() {\n    return keyBy(this.incrementOptions, (o) => o.id)\n  }\n\n  get tabsById() {\n    return keyBy(this.tabs, (t) => t.id)\n  }\n\n  get currentTab() {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return this.tabsById[this.selectedTabId] || this.tabs[0]!\n  }\n\n  get tabIndex() {\n    return this.tabs.indexOf(this.currentTab)\n  }\n\n  get coordSystemsById() {\n    return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n  }\n\n  /**\n   * The id of the coordinate system to use for jogging.\n   * If in tool orientation, this is set to \"tool\", not the\n   * selected coordinate system.\n   */\n  get activeCoordSystemId() {\n    return this.selectedOrientation === \"tool\"\n      ? \"tool\"\n      : this.selectedCoordSystemId\n  }\n\n  get tcpsById() {\n    return keyBy(this.tcps, (tcp) => tcp.id)\n  }\n\n  get activeDiscreteIncrement() {\n    return this.selectedOrientation === \"tool\"\n      ? undefined\n      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n  }\n\n  /** The selected rotation velocity converted to radians per second */\n  get rotationVelocityRadsPerSec() {\n    return (this.rotationVelocityDegPerSec * Math.PI) / 180\n  }\n\n  /** Selected velocity in mm/sec or deg/sec */\n  velocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.rotationVelocityDegPerSec\n      : this.translationVelocityMmPerSec\n  }\n\n  /** Minimum selectable velocity in mm/sec or deg/sec */\n  minVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.minRotationVelocityDegPerSec\n      : this.minTranslationVelocityMmPerSec\n  }\n\n  /** Maximum selectable velocity in mm/sec or deg/sec */\n  maxVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.maxRotationVelocityDegPerSec\n      : this.maxTranslationVelocityMmPerSec\n  }\n\n  onTabChange(_event: React.SyntheticEvent, newValue: number) {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    const tab = this.tabs[newValue] || this.tabs[0]!\n    this.selectedTabId = tab.id\n  }\n\n  setSelectedCoordSystemId(id: string) {\n    this.selectedCoordSystemId = id\n  }\n\n  setSelectedTcpId(id: string) {\n    this.selectedTcpId = id\n  }\n\n  setSelectedOrientation(orientation: OrientationId) {\n    this.selectedOrientation = orientation\n  }\n\n  setSelectedIncrementId(id: IncrementOptionId) {\n    this.selectedIncrementId = id\n  }\n\n  setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n    this.incrementJogInProgress = incrementJog\n  }\n\n  setVelocityFromSlider(velocity: number, useDegree: boolean) {\n    if (useDegree) {\n      this.rotationVelocityDegPerSec = velocity\n    } else {\n      this.translationVelocityMmPerSec = velocity\n    }\n  }\n\n  setSelectedCartesianMotionType(type: CartesianMotionType) {\n    this.selectedCartesianMotionType = type\n  }\n\n  lock(id: string) {\n    this.locks.add(id)\n  }\n\n  unlock(id: string) {\n    this.locks.delete(id)\n  }\n\n  block() {\n    this.blocked = true\n  }\n\n  unblock() {\n    this.blocked = false\n    if (this.jogger.mode === \"jogging\") {\n      this.jogger.initializeJoggingWebsocket()\n    }\n  }\n\n  /** Lock the UI until the given async callback resolves */\n  async withMotionLock(fn: () => Promise<void>) {\n    const lockId = uniqueId()\n    this.lock(lockId)\n\n    try {\n      return await fn()\n    } finally {\n      this.unlock(lockId)\n    }\n  }\n}\n\nexport default JoggingStore\n"],"names":["discreteIncrementOptions","incrementOptions","ORIENTATION_IDS","JoggingStore","jogger","coordSystems","motionGroupDescription","tcps","inverseSolverValue","JointTypeEnum","cs","_a","_b","_d","_c","makeAutoObservable","autorun","nova","coordinatesystems","description","kinematicModel","id","tcp","dispose","countBy","save","tryParseJson","tempTabs","keyBy","o","t","d","useDegree","_event","newValue","tab","orientation","incrementJog","velocity","type","fn","lockId","uniqueId"],"mappings":";;;;;;AAkBA,MAAMA,IAA2B;AAAA,EAC/B,EAAE,IAAI,OAAO,IAAI,KAAK,SAAS,KAAA;AAAA,EAC/B,EAAE,IAAI,KAAK,IAAI,GAAG,SAAS,IAAA;AAAA,EAC3B,EAAE,IAAI,KAAK,IAAI,GAAG,SAAS,IAAA;AAAA,EAC3B,EAAE,IAAI,MAAM,IAAI,IAAI,SAAS,EAAA;AAC/B,GAEMC,IAAmB;AAAA,EACvB,EAAE,IAAI,aAAA;AAAA,EACN,GAAGD;AACL,GAQaE,IAAkB,CAAC,YAAY,MAAM;AAW3C,MAAMC,EAAa;AAAA,EA0IxB,YACWC,GACAC,GACAC,GACAC,GACAC,GACT;;AALS,SAAA,SAAAJ,GACA,KAAA,eAAAC,GACA,KAAA,yBAAAC,GACA,KAAA,OAAAC,GACA,KAAA,qBAAAC,GA9IX,KAAA,gBAAyB,aAGzB,KAAA,4BAAY,IAAA,GAGZ,KAAA,UAAmB,IAKnB,KAAA,wBAAgC,SAGhC,KAAA,gBAAwB,IAOxB,KAAA,sBAAqC,YAOrC,KAAA,sBAAyC,cAMzC,KAAA,8BAAmD,aAMnD,KAAA,yBAAwD,MAGxD,KAAA,8BAAsC,IAEtC,KAAA,4BAAoC,GAGpC,KAAA,iCAAyC,GAEzC,KAAA,iCAAyC,KAGzC,KAAA,+BAAuC,GAEvC,KAAA,+BAAuC,IAGvC,KAAA,wBAAiC,IAGjC,KAAA,gBAAyB,IAGzB,KAAA,wBAAiC,IAGjC,KAAA,sBAA+B,IAG/B,KAAA,eAAwB,IAGxB,KAAA,0BAAmC,IAGnC,KAAA,qBAA8B,IAG9B,KAAA,mBAA4B,IAE5B,KAAA,YAAiC,CAAA,GAKjC,KAAA,gBAA2C,QAM3C,KAAA,YAA2BC,EAAc;AAsDvC,eAAWC,KAAML;AACf,UAAIK,EAAG,sBAAsB,IAAI;AAC/B,QAAAA,EAAG,oBAAoB;AACvB;AAAA,MACF;AAEF,SAAK,0BAAwBC,IAAAN,EAAa,CAAC,MAAd,gBAAAM,EAAiB,sBAAqB,SACnE,KAAK,kBAAgBC,IAAAL,EAAK,CAAC,MAAN,gBAAAK,EAAS,OAAM,IACpC,KAAK,gBAAgBJ,GACrB,KAAK,cACHK,KAAAC,IAAAR,KAAA,gBAAAA,EAAwB,kBAAxB,gBAAAQ,EAAwC,OAAxC,gBAAAD,EAA4C,SAC5CJ,EAAc,eAGhBM,EAAmB,MAAM,CAAA,GAAI,EAAE,UAAU,IAAM,GAG/C,KAAK,OAAO,YAAY,MAAM;AAC5B,WAAK,MAAA;AAAA,IACP,GAGA,KAAK,qBAAA,GAGL,KAAK,UAAU,KAAKC,EAAQ,MAAM,KAAK,mBAAA,CAAoB,CAAC,GAI1D,OAAe,eAAe;AAAA,EAClC;AAAA;AAAA;AAAA;AAAA;AAAA,EA9EA,aAAa,QAAQZ,GAA0B;AAC7C,UAAM,EAAE,MAAAa,MAASb,GAGX,CAACc,GAAmBC,CAAW,IAAI,MAAM,QAAQ,IAAI;AAAA;AAAA,MAEzDF,EAAK,IAAI,WAAW;AAAA,QAClBb,EAAO,aAAa;AAAA,QACpB;AAAA,MAAA;AAAA;AAAA,MAIFa,EAAK,IAAI,YAAY;AAAA,QACnBb,EAAO,aAAa;AAAA,QACpBA,EAAO;AAAA,MAAA;AAAA,IACT,CACD,GAEKgB,IACJ,MAAMH,EAAK,IAAI,kBAAkB;AAAA,MAC/BE,EAAY;AAAA,IAAA,GAGVZ,IAAO,OAAO,QAAQY,EAAY,QAAQ,EAAE,EAAE,IAAI,CAAC,CAACE,GAAIC,CAAG,OAAO;AAAA,MACtE,IAAAD;AAAA,MACA,eAAeC,EAAI;AAAA,MACnB,UAAUA,EAAI,KAAK;AAAA,MACnB,aAAaA,EAAI,KAAK;AAAA,IAAA,EACtB;AAEF,WAAO,IAAInB;AAAA,MACTC;AAAA,MACAc,KAAqB,CAAA;AAAA,MACrBC;AAAA,MACAZ;AAAA,MACAa,EAAe;AAAA,IAAA;AAAA,EAEnB;AAAA,EA2CA,UAAU;AACR,eAAWG,KAAW,KAAK;AACzB,MAAAA,EAAA;AAEF,SAAK,OAAO,QAAA;AAAA,EACd;AAAA,EAEA,IAAI,yBAAyB;AAC3B,WAAOC,EAAQ,KAAK,cAAc,CAACd,MAAOA,EAAG,IAAI;AAAA,EACnD;AAAA,EAEA,MAAM,aAAa;AACjB,QAAI,KAAK,OAAO,SAAS;AACvB,aAAO,KAAK,OAAO,KAAA;AAAA,EAEvB;AAAA;AAAA,EAGA,MAAM,WAAW;AACf,WAAI,KAAK,WAAW,OAAO,gBAEvB,KAAK,OAAO,QAAQ,KAAK,iBACzB,KAAK,OAAO,gBAAgB,KAAK,wBAEjC,KAAK,OAAO,WAAW;AAAA,MACrB,KAAK,KAAK;AAAA,MACV,aAAa,KAAK;AAAA,IAAA,CACnB,GAGC,KAAK,0BACP,KAAK,OAAO,eAAe,YAAY,IAEvC,KAAK,OAAO,eAAe,SAAS,KAGtC,KAAK,OAAO,eAAe,SAAS,GAG/B,KAAK;AAAA,EACd;AAAA,EAEA,uBAAuB;AACrB,UAAMe,IAAOC,EAAa,aAAa,QAAQ,kBAAkB,CAAC;AAClE,IAAKD,MAED,KAAK,SAASA,EAAK,aAAa,MAClC,KAAK,gBAAgBA,EAAK,gBAGxB,KAAK,iBAAiBA,EAAK,qBAAqB,MAClD,KAAK,wBAAwBA,EAAK,wBAGhC,KAAK,SAASA,EAAK,aAAa,MAClC,KAAK,gBAAgBA,EAAK,gBAGxB,KAAK,qBAAqBA,EAAK,mBAAmB,MACpD,KAAK,sBAAsBA,EAAK,sBAG9B,CAAC,aAAa,QAAQ,EAAE,SAASA,EAAK,2BAA2B,MACnE,KAAK,8BAA8BA,EAAK,8BAGtC,CAAC,YAAY,MAAM,EAAE,SAASA,EAAK,mBAAmB,MACxD,KAAK,sBAAsBA,EAAK;AAAA,EAEpC;AAAA,EAEA,qBAAqB;AACnB,iBAAa;AAAA,MACX;AAAA,MACA,KAAK,UAAU,KAAK,gBAAgB;AAAA,IAAA;AAAA,EAExC;AAAA,EAEA,IAAI,WAAW;AACb,WAAO,KAAK,MAAM,OAAO;AAAA,EAC3B;AAAA,EAEA,IAAI,mBAAmB;AACrB,WAAO;AAAA,MACL,eAAe,KAAK;AAAA,MACpB,uBAAuB,KAAK;AAAA,MAC5B,eAAe,KAAK;AAAA,MACpB,qBAAqB,KAAK;AAAA,MAC1B,qBAAqB,KAAK;AAAA,MAC1B,6BAA6B,KAAK;AAAA,IAAA;AAAA,EAEtC;AAAA,EAEA,IAAI,OAAO;AACT,UAAME,IAA6C;AAAA,MACjD;AAAA,QACE,IAAI;AAAA,QACJ,OAAO;AAAA,MAAA;AAAA,IACT;AAIF,WAAI,KAAK,kBAAkB,QACzBA,EAAS,QAAQ;AAAA,MACf,IAAI;AAAA,MACJ,OAAO;AAAA,IAAA,CACR,GAGIA;AAAA,EACT;AAAA,EAEA,IAAI,mBAAmB;AACrB,WAAO1B;AAAA,EACT;AAAA,EAEA,IAAI,2BAA2B;AAC7B,WAAOD;AAAA,EACT;AAAA,EAEA,IAAI,uBAAuB;AACzB,WAAO4B,EAAM,KAAK,kBAAkB,CAACC,MAAMA,EAAE,EAAE;AAAA,EACjD;AAAA,EAEA,IAAI,WAAW;AACb,WAAOD,EAAM,KAAK,MAAM,CAACE,MAAMA,EAAE,EAAE;AAAA,EACrC;AAAA,EAEA,IAAI,aAAa;AAEf,WAAO,KAAK,SAAS,KAAK,aAAa,KAAK,KAAK,KAAK,CAAC;AAAA,EACzD;AAAA,EAEA,IAAI,WAAW;AACb,WAAO,KAAK,KAAK,QAAQ,KAAK,UAAU;AAAA,EAC1C;AAAA,EAEA,IAAI,mBAAmB;AACrB,WAAOF,EAAM,KAAK,cAAc,CAAClB,MAAOA,EAAG,iBAAiB;AAAA,EAC9D;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAOA,IAAI,sBAAsB;AACxB,WAAO,KAAK,wBAAwB,SAChC,SACA,KAAK;AAAA,EACX;AAAA,EAEA,IAAI,WAAW;AACb,WAAOkB,EAAM,KAAK,MAAM,CAACN,MAAQA,EAAI,EAAE;AAAA,EACzC;AAAA,EAEA,IAAI,0BAA0B;AAC5B,WAAO,KAAK,wBAAwB,SAChC,SACAtB,EAAyB,KAAK,CAAC+B,MAAMA,EAAE,OAAO,KAAK,mBAAmB;AAAA,EAC5E;AAAA;AAAA,EAGA,IAAI,6BAA6B;AAC/B,WAAQ,KAAK,4BAA4B,KAAK,KAAM;AAAA,EACtD;AAAA;AAAA,EAGA,uBAAuBC,GAAoB;AACzC,WAAOA,I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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.5.0-pr.fix-esm-extensions.590.0a9a3ff",
+  "version": "5.5.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/ThemeSelect.tsx

@@ -1,8 +1,8 @@
 // TODO implement this as part of theme?
 
-import Select from "@mui/material/Select"
 import { useTheme, type SxProps } from "@mui/material/styles"
-import defaultsDeep from "lodash-es/defaultsDeep.js"
+import Select from "@mui/material/Select"
+import defaultsDeep from "lodash-es/defaultsDeep"
 
 type ThemeSelectProps = {
   kind: "filled" | "outlined" | "text"

package/src/components/VelocitySlider.tsx

@@ -1,8 +1,8 @@
-import Slider from "@mui/material/Slider"
-import Stack from "@mui/material/Stack"
 import { useTheme, type SxProps } from "@mui/material/styles"
+import Stack from "@mui/material/Stack"
 import Typography from "@mui/material/Typography"
-import isNumber from "lodash-es/isNumber.js"
+import Slider from "@mui/material/Slider"
+import isNumber from "lodash-es/isNumber"
 import { observer } from "mobx-react-lite"
 import type { ReactNode } from "react"
 import { useTranslation } from "react-i18next"

package/src/components/jogging/JoggingJointLimitDetector.tsx

@@ -1,6 +1,6 @@
 import Typography from "@mui/material/Typography"
-import isEqual from "lodash-es/isEqual.js"
 import { observer } from "mobx-react-lite"
+import isEqual from "lodash-es/isEqual"
 import { useRef, useState } from "react"
 import { useTranslation } from "react-i18next"
 import { useAnimationFrame } from "../utils/hooks"

package/src/components/jogging/JoggingJointValueControl.tsx

@@ -1,12 +1,12 @@
 import ChevronLeft from "@mui/icons-material/ChevronLeft"
 import ChevronRight from "@mui/icons-material/ChevronRight"
+import { useTheme } from "@mui/material/styles"
 import IconButton from "@mui/material/IconButton"
 import Slider from "@mui/material/Slider"
-import Stack from "@mui/material/Stack"
-import { useTheme } from "@mui/material/styles"
 import Typography from "@mui/material/Typography"
+import Stack from "@mui/material/Stack"
 import { radiansToDegrees } from "@wandelbots/nova-js"
-import throttle from "lodash-es/throttle.js"
+import throttle from "lodash-es/throttle"
 import { observer, useLocalObservable } from "mobx-react-lite"
 import { useState } from "react"
 import { useTranslation } from "react-i18next"

package/src/components/jogging/JoggingStore.ts

@@ -7,8 +7,8 @@ import {
   type RobotTcp,
 } from "@wandelbots/nova-js/v2"
 import { countBy } from "lodash-es"
-import keyBy from "lodash-es/keyBy.js"
-import uniqueId from "lodash-es/uniqueId.js"
+import keyBy from "lodash-es/keyBy"
+import uniqueId from "lodash-es/uniqueId"
 import { autorun, makeAutoObservable, type IReactionDisposer } from "mobx"
 import type {
   JoggerConnection,

package/src/test/consumer.test.ts

@@ -212,33 +212,6 @@ describe("CJS interop", () => {
     expect(Object.keys(cjs).sort()).toEqual(Object.keys(esm).sort())
   })
 
-  // Regression test: Vitest's `await import()` goes through Vite's lenient
-  // resolver, which happily accepts extensionless ESM specifiers like
-  // `lodash-es/throttle`. Real downstream consumers hit Node's strict ESM
-  // resolver, which requires `.js`. Spawn a real Node process so the whole
-  // dependency graph (including transitive imports from dist/) is exercised
-  // under strict resolution.
-  it.each([
-    "components/DataGrid",
-    "components/VelocitySlider",
-    "components/jogging/JoggingPanel",
-    "components/jogging/JoggingJointValueControl",
-    "components/jogging/JoggingJointLimitDetector",
-    "components/jogging/JoggingStore",
-  ])("Node strict ESM can import %s and its transitive deps", (sub) => {
-    // Redirect stderr to stdout so the assertion message surfaces any
-    // "Cannot find module" errors from the child process.
-    execFileSync(
-      process.execPath,
-      [
-        "--input-type=module",
-        "-e",
-        `await import(${JSON.stringify(`${pkgName}/${sub}`)})`,
-      ],
-      { cwd: sandbox, stdio: "pipe", encoding: "utf8" },
-    )
-  })
-
   it('Node can load the CJS output under `"type": "module"`', () => {
     // Sanity check that `.cjs` extension was emitted (not `.cjs.js`) so
     // that Node's CJS loader accepts it despite the package being ESM.