@wandelbots/wandelbots-js-react-components 5.5.1-pr.fix-standardize-output.591.60112ee → 5.5.1

package/dist/chunks/JoggingPanel-CQH_oXTB.js

@@ -1,586 +0,0 @@
-import { jsx as m, jsxs as v } from "react/jsx-runtime";
-import W from "@mui/icons-material/OpenWith";
-import B from "@mui/icons-material/Share";
-import E from "@mui/material/Stack";
-import Y from "@mui/material/Tab";
-import Z from "@mui/material/Tabs";
-import { JointTypeEnum as J, NovaClient as H } from "@wandelbots/nova-js/v2";
-import { isString as X } from "lodash-es";
-import { runInAction as _, makeAutoObservable as K, when as k } from "mobx";
-import { observer as N, useLocalObservable as Q } from "mobx-react-lite";
-import { useEffect as O } from "react";
-import { useTranslation as tt } from "react-i18next";
-import { e as ot } from "./externalizeComponent-eiCc5DIh.js";
-import { tryParseJson as S, XYZ_TO_VECTOR as w } from "@wandelbots/nova-js";
-import { Vector3 as I } from "three/src/math/Vector3.js";
-import { Vector3 as D } from "three";
-import { LoadingCover as it } from "../components/LoadingCover.js";
-import { JoggingBlocked as et } from "../components/jogging/JoggingBlocked.js";
-import { JoggingCartesianTab as nt } from "../components/jogging/JoggingCartesianTab.js";
-import { JoggingJointTab as rt } from "../components/jogging/JoggingJointTab.js";
-import { JoggingStore as st } from "../components/jogging/JoggingStore.js";
-function at(i, t, o) {
-  if (t.length !== i.length)
-    return !0;
-  for (let n = 0; n < t.length; n++)
-    if (
-      // biome-ignore lint/style/noNonNullAssertion: legacy code
-      Math.abs(t[n] - i[n]) > o
-    )
-      return !1;
-  return !0;
-}
-function gt(i, t, o) {
-  if (i === void 0 && t || i && t === void 0 || (i == null ? void 0 : i.orientation) === void 0 || (t == null ? void 0 : t.orientation) === void 0 || (i == null ? void 0 : i.position) === void 0 || (t == null ? void 0 : t.position) === void 0)
-    return !1;
-  if (i === void 0 || t === void 0)
-    return !0;
-  let n = 0;
-  return n += Math.abs(i.orientation[0] - t.orientation[0]), n += Math.abs(i.orientation[1] - t.orientation[1]), n += Math.abs(i.orientation[2] - t.orientation[2]), n += Math.abs(i.position[0] - t.position[0]), n += Math.abs(i.position[1] - t.position[1]), n += Math.abs(i.position[2] - t.position[2]), n <= o;
-}
-function ct(i, t, o) {
-  return i.coordinate_system === t.coordinate_system && i.tcp === t.tcp && gt(
-    i.tcp_pose,
-    t.tcp_pose,
-    o
-  );
-}
-function lt(i, t) {
-  const o = new D(
-    t[0],
-    t[1],
-    t[2]
-  ), n = new D(
-    i[0],
-    i[1],
-    i[2]
-  ), e = o.length(), r = o.normalize();
-  let g = n.length(), l = n.normalize();
-  l.dot(r) < 0 && (g = -g, l = l.multiplyScalar(-1));
-  let a = g - e;
-  return a -= 2 * Math.PI * Math.floor((a + Math.PI) / (2 * Math.PI)), g = e + a, [...l.multiplyScalar(g)];
-}
-const T = 1e-4;
-class M {
-  constructor(t, o, n, e, r, g) {
-    this.nova = t, this.controller = o, this.motionGroup = n, this.description = e, this.initialMotionState = r, this.motionStateSocket = g, this.rapidlyChangingMotionState = r, g.addEventListener("message", (l) => {
-      var h;
-      const a = (h = S(l.data)) == null ? void 0 : h.result;
-      if (!a)
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${l.data}`
-        );
-      at(
-        this.rapidlyChangingMotionState.joint_position,
-        a.joint_position,
-        T
-      ) || _(() => {
-        this.rapidlyChangingMotionState.joint_position = a.joint_position;
-      }), ct(
-        this.rapidlyChangingMotionState,
-        a,
-        T
-      ) || _(() => {
-        var u, d, p;
-        this.rapidlyChangingMotionState.tcp_pose == null ? this.rapidlyChangingMotionState.tcp_pose = a.tcp_pose : (u = a.tcp_pose) != null && u.orientation && ((d = a.tcp_pose) != null && d.position) && ((p = this.rapidlyChangingMotionState.tcp_pose) != null && p.orientation) ? this.rapidlyChangingMotionState.tcp_pose = {
-          position: a.tcp_pose.position,
-          orientation: lt(
-            a.tcp_pose.orientation,
-            this.rapidlyChangingMotionState.tcp_pose.orientation
-          )
-        } : console.warn(
-          "Received incomplete tcp_pose, ignoring",
-          a.tcp_pose
-        );
-      }), this.rapidlyChangingMotionState.standstill !== a.standstill && _(() => {
-        this.rapidlyChangingMotionState.standstill = a.standstill;
-      });
-    }), K(this);
-  }
-  static async open(t, o) {
-    var d;
-    const [n, e] = o.split("@"), r = await t.api.controller.getCurrentRobotControllerState(e), g = r == null ? void 0 : r.motion_groups.find(
-      (p) => p.motion_group === o
-    );
-    if (!r || !g)
-      throw new Error(
-        `Controller ${e} or motion group ${o} not found`
-      );
-    const l = t.openReconnectingWebsocket(
-      `/controllers/${e}/motion-groups/${o}/state-stream`
-    ), a = await l.firstMessage(), h = (d = S(a.data)) == null ? void 0 : d.result;
-    if (!h)
-      throw new Error(
-        `Unable to parse initial motion state message ${a.data}`
-      );
-    console.log(
-      `Connected motion state websocket to motion group ${g.motion_group}. Initial state:
-  `,
-      h
-    );
-    const u = await t.api.motionGroup.getMotionGroupDescription(
-      e,
-      g.motion_group
-    );
-    return new M(
-      t,
-      r,
-      g,
-      u,
-      h,
-      l
-    );
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get joints() {
-    return this.initialMotionState.joint_position.map((t, o) => ({
-      index: o
-    }));
-  }
-  dispose() {
-    this.motionStateSocket.close();
-  }
-}
-const x = "Movement request rejected. Another client is currently executing a 'Jogging' motion!";
-class b {
-  constructor(t, o = {}) {
-    this.motionStream = t, this.options = o, this.ENDPOINT_JOGGING = "/execution/jogging", this.ENDPOINT_TRAJECTORY = "/execution/trajectory", this.DEFAULT_MODE = "off", this.DEFAULT_TCP = "Flange", this.NO_TCP = void 0, this.DEFAULT_INIT_TIMEOUT = 5e3, this.DEFAULT_ORIENTATION = "coordsys", this.mode = "off", this.joggingSocket = null, this.trajectorySocket = null, this.timeout = this.DEFAULT_INIT_TIMEOUT, this.tcp = (o == null ? void 0 : o.tcp) || t.motionGroup.tcp || this.getDefaultTcp(t), this.orientation = (o == null ? void 0 : o.orientation) || this.DEFAULT_ORIENTATION, this.timeout = (o == null ? void 0 : o.timeout) || this.DEFAULT_INIT_TIMEOUT, this.mode = (o == null ? void 0 : o.mode) || this.DEFAULT_MODE, this.onError = o == null ? void 0 : o.onError;
-  }
-  /**
-   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
-   *
-   * @param nova - The Nova client instance
-   * @param motionGroupId - The ID of the motion group to connect to
-   * @param options - Configuration options for the jogger connection
-   * @param options.mode - The jogging mode to initialize:
-   *   - "jogging": Continuous jogging mode with persistent websocket for real-time velocity commands
-   *   - "trajectory": Incremental jogging mode for fixed-distance motions via trajectory planning
-   *   - "off": No jogging enabled, all websockets closed (default)
-   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)
-   * @param options.tcp - TCP frame to use for motions (default: from motion group)
-   * //param options.coordinateSystem - Coordinate system for jogging commands (default: "world"). Please note: Currently not implemented
-   * @param options.orientation - If set to "tool", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: "coordsys")
-   * @param options.onError - Error handler for websocket errors
-   * @returns Promise resolving to initialized JoggerConnection instance
-   */
-  static async open(t, o, n = {}) {
-    const e = await M.open(t, o), r = new b(e, n);
-    return await r.setJoggingMode(r.mode), r;
-  }
-  getDefaultTcp(t) {
-    var n, e;
-    const o = (e = (n = t.description.dh_parameters) == null ? void 0 : n[0]) == null ? void 0 : e.type;
-    return t.joints.length < 6 && (o === J.RevoluteJoint || o === J.PrismaticJoint) ? this.NO_TCP : this.DEFAULT_TCP;
-  }
-  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket
-  async setOptions(t) {
-    t.tcp && (this.tcp = t.tcp), t.orientation && (this.orientation = t.orientation), t.timeout && (this.timeout = t.timeout), t.mode && (this.mode = t.mode), t.onError && (this.onError = t.onError), this.setJoggingMode(this.mode, !1);
-  }
-  get motionGroupId() {
-    return this.motionStream.motionGroupId;
-  }
-  get nova() {
-    return this.motionStream.nova;
-  }
-  get numJoints() {
-    return this.motionStream.joints.length;
-  }
-  // get activeJoggingMode() {
-  //   return this.mode
-  // }
-  // get activeWebsocket() {
-  //   return this.mode === "jogging" ? this.joggingSocket : this.trajectorySocket;
-  // }
-  // Sends stop movement command to robot
-  async stop() {
-    if (this.joggingSocket) {
-      const t = new Array(this.numJoints).fill(0);
-      this.joggingSocket.sendJson({
-        message_type: "JointVelocityRequest",
-        velocity: t
-      });
-    }
-    this.trajectorySocket && this.trajectorySocket.sendJson({
-      message_type: "PauseMovementRequest"
-    });
-  }
-  // Dispose the jogger, closing all open websockets
-  async dispose() {
-    const t = [this.joggingSocket, this.trajectorySocket].filter(
-      (o) => o !== null
-    );
-    return t.forEach((o) => {
-      o.dispose();
-    }), this.joggingSocket = null, this.trajectorySocket = null, Promise.all(t.map((o) => o.closed()));
-  }
-  // Activate jogger in one of the supported modes
-  // Will iniitialize or close websockets as necessary
-  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)
-  async setJoggingMode(t, o = !0) {
-    if (!(this.mode === t && o) && (this.dispose(), this.mode = t, this.mode === "jogging"))
-      return this.initializeJoggingWebsocket();
-  }
-  // Initializes continuous jogging websocket, called by setJoggingMode("jogging")
-  async initializeJoggingWebsocket() {
-    return new Promise((t, o) => {
-      const n = setTimeout(() => {
-        o(
-          new Error(
-            `Jogging initialization timeout after ${this.timeout} seconds`
-          )
-        );
-      }, this.timeout);
-      this.joggingSocket = this.nova.openReconnectingWebsocket(
-        this.ENDPOINT_JOGGING
-      ), this.joggingSocket.addEventListener("message", (e) => {
-        var g, l, a, h;
-        const r = S(e.data);
-        if (((g = r == null ? void 0 : r.result) == null ? void 0 : g.kind) === "INITIALIZE_RECEIVED") {
-          clearTimeout(n), t();
-          return;
-        }
-        if (((l = r == null ? void 0 : r.result) == null ? void 0 : l.kind) === "MOTION_ERROR")
-          if (clearTimeout(n), this.onBlocked && ((a = r == null ? void 0 : r.result) != null && a.message.includes(x))) {
-            (h = this.joggingSocket) == null || h.dispose(), this.onBlocked();
-            return;
-          } else this.onError ? this.onError(e.data) : o(new Error(e.data));
-      }), this.joggingSocket.sendJson({
-        message_type: "InitializeJoggingRequest",
-        motion_group: this.motionGroupId,
-        ...this.tcp ? { tcp: this.tcp } : {}
-      });
-    });
-  }
-  /**
-   * Jogging: Start rotation of a single robot joint at the specified velocity
-   */
-  async rotateJoints({
-    joint: t,
-    direction: o,
-    velocityValue: n,
-    velocityUnit: e
-  }) {
-    if (!this.joggingSocket || this.mode !== "jogging")
-      throw new Error(
-        "Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'"
-      );
-    const r = new Array(this.numJoints).fill(0);
-    r[t] = o === "-" ? -n : n, this.joggingSocket.sendJson({
-      message_type: "JointVelocityRequest",
-      velocity: r
-    });
-  }
-  /**
-   * Jogging: Start the TCP moving along a specified axis at a given velocity
-   */
-  async translateTCP({
-    axis: t,
-    direction: o,
-    velocityMmPerSec: n
-  }) {
-    if (!this.joggingSocket || this.mode !== "jogging")
-      throw new Error(
-        "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
-      );
-    const e = [0, 0, 0], r = [0, 0, 0];
-    r[w[t]] = o === "-" ? -n : n, this.joggingSocket.sendJson({
-      message_type: "TcpVelocityRequest",
-      translation: r,
-      rotation: e,
-      use_tool_coordinate_system: this.orientation === "tool"
-    });
-  }
-  /**
-   * Jogging: Start the TCP rotating around a specified axis at a given velocity
-   */
-  async rotateTCP({
-    axis: t,
-    direction: o,
-    velocityRadsPerSec: n
-  }) {
-    if (!this.joggingSocket || this.mode !== "jogging")
-      throw new Error(
-        "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
-      );
-    const e = [0, 0, 0], r = [0, 0, 0];
-    e[w[t]] = o === "-" ? -n : n, this.joggingSocket.sendJson({
-      message_type: "TcpVelocityRequest",
-      translation: r,
-      rotation: e
-    });
-  }
-  /**
-   * Trajectory jogging:
-   *
-   * Move the robot by a fixed distance in a single cartesian
-   * axis, either rotating or translating relative to the TCP.
-   * Promise resolves only after the motion has completed.
-   */
-  async runIncrementalCartesianMotion({
-    currentTcpPose: t,
-    currentJoints: o,
-    // coordSystemId,
-    velocityInRelevantUnits: n,
-    axis: e,
-    direction: r,
-    motion: g
-  }) {
-    const l = [];
-    if (this.mode !== "trajectory")
-      throw new Error(
-        "Set jogging mode to 'trajectory' to run incremental cartesian motions"
-      );
-    if (g.type === "translate") {
-      if (!t.position)
-        throw new Error(
-          "Current pose has no position, cannot perform translation"
-        );
-      const s = [...t.position];
-      s[w[e]] += g.distanceMm * (r === "-" ? -1 : 1), l.push({
-        limits_override: {
-          tcp_velocity_limit: n
-        },
-        path: {
-          path_definition_name: "PathLine",
-          target_pose: {
-            position: s,
-            orientation: t.orientation
-          }
-        }
-      });
-    } else if (g.type === "rotate") {
-      if (!t.orientation)
-        throw new Error(
-          "Current pose has no orientation, cannot perform rotation"
-        );
-      const s = new I(
-        t.orientation[0],
-        t.orientation[1],
-        t.orientation[2]
-      ), c = s.length(), y = s.clone().normalize(), f = g.distanceRads * (r === "-" ? -1 : 1), j = new I(0, 0, 0);
-      j[e] = 1;
-      const G = Math.cos(0.5 * f) * Math.cos(0.5 * c), C = Math.sin(0.5 * f) * Math.sin(0.5 * c), P = Math.sin(0.5 * f) * Math.cos(0.5 * c), $ = Math.cos(0.5 * f) * Math.sin(0.5 * c), U = j.dot(
-        y
-      ), q = j.clone().cross(y), R = 2 * Math.acos(G - C * U), z = R / Math.sin(0.5 * R), V = new I().addScaledVector(q, C).addScaledVector(j, P).addScaledVector(y, $).multiplyScalar(z);
-      l.push({
-        limits_override: {
-          tcp_orientation_velocity_limit: n
-        },
-        path: {
-          path_definition_name: "PathLine",
-          target_pose: {
-            position: t.position,
-            orientation: [...V]
-          }
-        }
-      });
-    }
-    const a = this.motionStream.description;
-    if (a.cycle_time === void 0) {
-      console.warn(
-        "Current motion group has no cycle time, cannot plan jogging motion"
-      );
-      return;
-    }
-    const h = {
-      motion_group_model: a.motion_group_model,
-      cycle_time: a.cycle_time,
-      mounting: a.mounting,
-      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling
-      // FIXME use proper mode's limits if set
-      global: a.operation_limits.auto_limits
-    }, u = await this.nova.api.trajectoryPlanning.planTrajectory(
-      {
-        motion_group_setup: h,
-        start_joint_position: o,
-        motion_commands: l
-      }
-    ), d = u.response;
-    if (!d)
-      throw new Error(
-        `Failed to plan jogging increment motion ${JSON.stringify(u)}`
-      );
-    this.trajectorySocket && (console.warn("Trajectory jogging websocket already open; will close"), this.trajectorySocket.dispose()), this.trajectorySocket = this.nova.openReconnectingWebsocket(
-      this.ENDPOINT_TRAJECTORY
-    );
-    const p = (s) => {
-      var c;
-      if (!s || s.add_trajectory_error || s.message)
-        if (this.onError)
-          this.onError(s);
-        else
-          throw new Error(
-            ((c = s == null ? void 0 : s.add_trajectory_error) == null ? void 0 : c.message) || (s == null ? void 0 : s.message) || "Failed to execute trajectory, unknown error"
-          );
-      if (!this.trajectorySocket)
-        throw new Error(
-          "Failed to execute trajectory, websocket not available anymore"
-        );
-      this.trajectorySocket.sendJson({
-        message_type: "StartMovementRequest",
-        direction: "DIRECTION_FORWARD"
-      });
-    }, A = async () => {
-      var s;
-      await k(() => !this.motionStream.rapidlyChangingMotionState.standstill), await k(() => this.motionStream.rapidlyChangingMotionState.standstill), (s = this.trajectorySocket) == null || s.dispose(), this.trajectorySocket = null;
-    }, F = async () => {
-      var s;
-      await k(() => this.motionStream.rapidlyChangingMotionState.standstill), (s = this.trajectorySocket) == null || s.dispose(), this.trajectorySocket = null;
-    }, L = async (s) => {
-      if (s != null && s.message)
-        if (this.onError) {
-          this.onError(s);
-          return;
-        } else
-          throw new Error(
-            s.message || "Failed to execute trajectory, unknown error"
-          );
-      this.motionStream.rapidlyChangingMotionState.standstill ? await A() : await F();
-    };
-    this.trajectorySocket.addEventListener("message", (s) => {
-      var y, f;
-      const c = S(s.data);
-      if (!((y = c == null ? void 0 : c.result) != null && y.kind))
-        throw new Error(
-          `Failed to execute trajectory: Received invalid message ${s.data}`
-        );
-      if (this.onBlocked && ((f = c.result.message) != null && f.includes(x))) {
-        this.onBlocked();
-        return;
-      }
-      if (c.result.kind === "INITIALIZE_RECEIVED")
-        p(c.result);
-      else if (c.result.kind === "START_RECEIVED")
-        L(c);
-      else if (c.result.kind !== "PAUSE_RECEIVED") if (c.result.kind === "MOTION_ERROR" && c.result.message)
-        if (this.onError) {
-          this.onError(c);
-          return;
-        } else
-          throw new Error(c.result.message);
-      else
-        throw new Error(
-          `Failed to execute trajectory, cannot handle message type "${c.result.kind}"`
-        );
-    }), this.trajectorySocket.sendJson({
-      message_type: "InitializeMovementRequest",
-      trajectory: {
-        message_type: "TrajectoryData",
-        motion_group: this.motionGroupId,
-        data: d,
-        tcp: this.tcp
-      }
-    });
-  }
-}
-const Tt = ot(
-  N((i) => {
-    const t = X(i.nova) ? new H({ instanceUrl: i.nova }) : i.nova, o = Q(() => ({
-      joggingStore: null,
-      loadingError: null
-    }));
-    async function n() {
-      _(() => {
-        o.loadingError = null, o.joggingStore = null;
-      });
-      try {
-        let e = i.store;
-        if (!e) {
-          const r = await b.open(t, i.motionGroupId);
-          e = await st.loadFor(r);
-        }
-        _(() => {
-          o.joggingStore = e;
-        }), i.onSetup && i.onSetup(e);
-      } catch (e) {
-        o.loadingError = e;
-      }
-    }
-    return O(() => (n(), i.store ? () => null : () => {
-      var e;
-      (e = o.joggingStore) == null || e.dispose();
-    }), [i.store, i.nova, i.motionGroupId]), O(() => {
-      const e = o.joggingStore;
-      e && (i.locked ? e.lock("external") : e.unlock("external"));
-    }, [o.joggingStore, i.locked]), /* @__PURE__ */ m(
-      E,
-      {
-        "data-testid": "jogging-panel",
-        "aria-label": "jogging-panel",
-        sx: {
-          maxWidth: "460px",
-          minWidth: "320px",
-          position: "relative",
-          ...i.sx
-        },
-        children: o.joggingStore ? /* @__PURE__ */ m(ht, { store: o.joggingStore, children: i.children }) : /* @__PURE__ */ m(it, { message: "Loading jogging", error: o.loadingError })
-      }
-    );
-  })
-), ht = N(
-  ({
-    store: i,
-    children: t
-  }) => {
-    const { t: o } = tt();
-    function n() {
-      if (i.currentTab.id === "cartesian")
-        return /* @__PURE__ */ m(nt, { store: i, children: t });
-      if (i.currentTab.id === "joint")
-        return /* @__PURE__ */ m(rt, { store: i, children: t });
-    }
-    return /* @__PURE__ */ v(E, { flexGrow: 1, sx: { overflow: "hidden" }, children: [
-      /* @__PURE__ */ m(
-        Z,
-        {
-          "data-testid": "jogging-tabs",
-          "aria-label": "jogging-tabs",
-          value: i.tabIndex,
-          onChange: i.onTabChange,
-          variant: "fullWidth",
-          children: i.tabs.map((e) => {
-            const r = e.label === "Cartesian" ? o("Jogging.Cartesian.bt") : o("Jogging.Joints.bt"), g = e.label === "cartesian" ? /* @__PURE__ */ m(W, { fontSize: "small", sx: { mr: 1 } }) : /* @__PURE__ */ m(B, { fontSize: "small", sx: { mr: 1 } });
-            return /* @__PURE__ */ m(
-              Y,
-              {
-                "data-testid": `jogging-tab-${e.id}`,
-                "aria-label": `jogging-tab-${e.id}`,
-                label: i.showTabIcons ? /* @__PURE__ */ v(E, { direction: "row", alignItems: "center", children: [
-                  g,
-                  r
-                ] }) : r,
-                id: `jogging-tab-${e.id}`,
-                "aria-controls": `jogging-tab-${e.id}`
-              },
-              e.id
-            );
-          })
-        }
-      ),
-      /* @__PURE__ */ m(
-        E,
-        {
-          flexGrow: 1,
-          position: "relative",
-          sx: { overflowY: "auto", overflowX: "hidden" },
-          children: n()
-        }
-      ),
-      i.blocked && /* @__PURE__ */ m(et, { store: i })
-    ] });
-  }
-);
-export {
-  Tt as J,
-  M,
-  b as a,
-  at as j,
-  gt as p,
-  ct as t,
-  lt as u
-};

package/dist/chunks/JoggingPanel-DZN2Y39k.cjs

@@ -1,2 +0,0 @@
-"use strict";const h=require("react/jsx-runtime"),B=require("@mui/icons-material/OpenWith"),Y=require("@mui/icons-material/Share"),S=require("@mui/material/Stack"),Z=require("@mui/material/Tab"),X=require("@mui/material/Tabs"),M=require("@wandelbots/nova-js/v2"),H=require("lodash-es"),d=require("mobx"),C=require("mobx-react-lite"),J=require("react"),K=require("react-i18next"),Q=require("./externalizeComponent-DOwkaDcw.cjs"),f=require("@wandelbots/nova-js"),w=require("three/src/math/Vector3.js"),v=require("three"),tt=require("../components/LoadingCover.cjs"),ot=require("../components/jogging/JoggingBlocked.cjs"),et=require("../components/jogging/JoggingCartesianTab.cjs"),nt=require("../components/jogging/JoggingJointTab.cjs"),it=require("../components/jogging/JoggingStore.cjs");function T(e,t,o){if(t.length!==e.length)return!0;for(let i=0;i<t.length;i++)if(Math.abs(t[i]-e[i])>o)return!1;return!0}function q(e,t,o){if(e===void 0&&t||e&&t===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.position)===void 0||(t==null?void 0:t.position)===void 0)return!1;if(e===void 0||t===void 0)return!0;let i=0;return i+=Math.abs(e.orientation[0]-t.orientation[0]),i+=Math.abs(e.orientation[1]-t.orientation[1]),i+=Math.abs(e.orientation[2]-t.orientation[2]),i+=Math.abs(e.position[0]-t.position[0]),i+=Math.abs(e.position[1]-t.position[1]),i+=Math.abs(e.position[2]-t.position[2]),i<=o}function D(e,t,o){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&q(e.tcp_pose,t.tcp_pose,o)}function A(e,t){const o=new v.Vector3(t[0],t[1],t[2]),i=new v.Vector3(e[0],e[1],e[2]),n=o.length(),r=o.normalize();let g=i.length(),l=i.normalize();l.dot(r)<0&&(g=-g,l=l.multiplyScalar(-1));let a=g-n;return a-=2*Math.PI*Math.floor((a+Math.PI)/(2*Math.PI)),g=n+a,[...l.multiplyScalar(g)]}const x=1e-4;class k{constructor(t,o,i,n,r,g){this.nova=t,this.controller=o,this.motionGroup=i,this.description=n,this.initialMotionState=r,this.motionStateSocket=g,this.rapidlyChangingMotionState=r,g.addEventListener("message",l=>{var u;const a=(u=f.tryParseJson(l.data))==null?void 0:u.result;if(!a)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${l.data}`);T(this.rapidlyChangingMotionState.joint_position,a.joint_position,x)||d.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=a.joint_position}),D(this.rapidlyChangingMotionState,a,x)||d.runInAction(()=>{var _,m,y;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=a.tcp_pose:(_=a.tcp_pose)!=null&&_.orientation&&((m=a.tcp_pose)!=null&&m.position)&&((y=this.rapidlyChangingMotionState.tcp_pose)!=null&&y.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:a.tcp_pose.position,orientation:A(a.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",a.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==a.standstill&&d.runInAction(()=>{this.rapidlyChangingMotionState.standstill=a.standstill})}),d.makeAutoObservable(this)}static async open(t,o){var m;const[i,n]=o.split("@"),r=await t.api.controller.getCurrentRobotControllerState(n),g=r==null?void 0:r.motion_groups.find(y=>y.motion_group===o);if(!r||!g)throw new Error(`Controller ${n} or motion group ${o} not found`);const l=t.openReconnectingWebsocket(`/controllers/${n}/motion-groups/${o}/state-stream`),a=await l.firstMessage(),u=(m=f.tryParseJson(a.data))==null?void 0:m.result;if(!u)throw new Error(`Unable to parse initial motion state message ${a.data}`);console.log(`Connected motion state websocket to motion group ${g.motion_group}. Initial state:
-  `,u);const _=await t.api.motionGroup.getMotionGroupDescription(n,g.motion_group);return new k(t,r,g,_,u,l)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((t,o)=>({index:o}))}dispose(){this.motionStateSocket.close()}}const O="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class I{constructor(t,o={}){this.motionStream=t,this.options=o,this.ENDPOINT_JOGGING="/execution/jogging",this.ENDPOINT_TRAJECTORY="/execution/trajectory",this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.NO_TCP=void 0,this.DEFAULT_INIT_TIMEOUT=5e3,this.DEFAULT_ORIENTATION="coordsys",this.mode="off",this.joggingSocket=null,this.trajectorySocket=null,this.timeout=this.DEFAULT_INIT_TIMEOUT,this.tcp=(o==null?void 0:o.tcp)||t.motionGroup.tcp||this.getDefaultTcp(t),this.orientation=(o==null?void 0:o.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(o==null?void 0:o.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(o==null?void 0:o.mode)||this.DEFAULT_MODE,this.onError=o==null?void 0:o.onError}static async open(t,o,i={}){const n=await k.open(t,o),r=new I(n,i);return await r.setJoggingMode(r.mode),r}getDefaultTcp(t){var i,n;const o=(n=(i=t.description.dh_parameters)==null?void 0:i[0])==null?void 0:n.type;return t.joints.length<6&&(o===M.JointTypeEnum.RevoluteJoint||o===M.JointTypeEnum.PrismaticJoint)?this.NO_TCP:this.DEFAULT_TCP}async setOptions(t){t.tcp&&(this.tcp=t.tcp),t.orientation&&(this.orientation=t.orientation),t.timeout&&(this.timeout=t.timeout),t.mode&&(this.mode=t.mode),t.onError&&(this.onError=t.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const t=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:t})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const t=[this.joggingSocket,this.trajectorySocket].filter(o=>o!==null);return t.forEach(o=>{o.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(o=>o.closed()))}async setJoggingMode(t,o=!0){if(!(this.mode===t&&o)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,o)=>{const i=setTimeout(()=>{o(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",n=>{var g,l,a,u;const r=f.tryParseJson(n.data);if(((g=r==null?void 0:r.result)==null?void 0:g.kind)==="INITIALIZE_RECEIVED"){clearTimeout(i),t();return}if(((l=r==null?void 0:r.result)==null?void 0:l.kind)==="MOTION_ERROR")if(clearTimeout(i),this.onBlocked&&((a=r==null?void 0:r.result)!=null&&a.message.includes(O))){(u=this.joggingSocket)==null||u.dispose(),this.onBlocked();return}else this.onError?this.onError(n.data):o(new Error(n.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:t,direction:o,velocityValue:i,velocityUnit:n}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=new Array(this.numJoints).fill(0);r[t]=o==="-"?-i:i,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:r})}async translateTCP({axis:t,direction:o,velocityMmPerSec:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const n=[0,0,0],r=[0,0,0];r[f.XYZ_TO_VECTOR[t]]=o==="-"?-i:i,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:r,rotation:n,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:o,velocityRadsPerSec:i}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const n=[0,0,0],r=[0,0,0];n[f.XYZ_TO_VECTOR[t]]=o==="-"?-i:i,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:r,rotation:n})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:o,velocityInRelevantUnits:i,axis:n,direction:r,motion:g}){const l=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(g.type==="translate"){if(!t.position)throw new Error("Current pose has no position, cannot perform translation");const s=[...t.position];s[f.XYZ_TO_VECTOR[n]]+=g.distanceMm*(r==="-"?-1:1),l.push({limits_override:{tcp_velocity_limit:i},path:{path_definition_name:"PathLine",target_pose:{position:s,orientation:t.orientation}}})}else if(g.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const s=new w.Vector3(t.orientation[0],t.orientation[1],t.orientation[2]),c=s.length(),p=s.clone().normalize(),j=g.distanceRads*(r==="-"?-1:1),E=new w.Vector3(0,0,0);E[n]=1;const P=Math.cos(.5*j)*Math.cos(.5*c),R=Math.sin(.5*j)*Math.sin(.5*c),G=Math.sin(.5*j)*Math.cos(.5*c),V=Math.cos(.5*j)*Math.sin(.5*c),$=E.dot(p),U=E.clone().cross(p),b=2*Math.acos(P-R*$),z=b/Math.sin(.5*b),W=new w.Vector3().addScaledVector(U,R).addScaledVector(E,G).addScaledVector(p,V).multiplyScalar(z);l.push({limits_override:{tcp_orientation_velocity_limit:i},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...W]}}})}const a=this.motionStream.description;if(a.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const u={motion_group_model:a.motion_group_model,cycle_time:a.cycle_time,mounting:a.mounting,global:a.operation_limits.auto_limits},_=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:u,start_joint_position:o,motion_commands:l}),m=_.response;if(!m)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(_)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const y=s=>{var c;if(!s||s.add_trajectory_error||s.message)if(this.onError)this.onError(s);else throw new Error(((c=s==null?void 0:s.add_trajectory_error)==null?void 0:c.message)||(s==null?void 0:s.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},N=async()=>{var s;await d.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await d.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(s=this.trajectorySocket)==null||s.dispose(),this.trajectorySocket=null},F=async()=>{var s;await d.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(s=this.trajectorySocket)==null||s.dispose(),this.trajectorySocket=null},L=async s=>{if(s!=null&&s.message)if(this.onError){this.onError(s);return}else throw new Error(s.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await N():await F()};this.trajectorySocket.addEventListener("message",s=>{var p,j;const c=f.tryParseJson(s.data);if(!((p=c==null?void 0:c.result)!=null&&p.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${s.data}`);if(this.onBlocked&&((j=c.result.message)!=null&&j.includes(O))){this.onBlocked();return}if(c.result.kind==="INITIALIZE_RECEIVED")y(c.result);else if(c.result.kind==="START_RECEIVED")L(c);else if(c.result.kind!=="PAUSE_RECEIVED")if(c.result.kind==="MOTION_ERROR"&&c.result.message)if(this.onError){this.onError(c);return}else throw new Error(c.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${c.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:m,tcp:this.tcp}})}}const rt=Q.externalizeComponent(C.observer(e=>{const t=H.isString(e.nova)?new M.NovaClient({instanceUrl:e.nova}):e.nova,o=C.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function i(){d.runInAction(()=>{o.loadingError=null,o.joggingStore=null});try{let n=e.store;if(!n){const r=await I.open(t,e.motionGroupId);n=await it.JoggingStore.loadFor(r)}d.runInAction(()=>{o.joggingStore=n}),e.onSetup&&e.onSetup(n)}catch(n){o.loadingError=n}}return J.useEffect(()=>(i(),e.store?()=>null:()=>{var n;(n=o.joggingStore)==null||n.dispose()}),[e.store,e.nova,e.motionGroupId]),J.useEffect(()=>{const n=o.joggingStore;n&&(e.locked?n.lock("external"):n.unlock("external"))},[o.joggingStore,e.locked]),h.jsx(S,{"data-testid":"jogging-panel","aria-label":"jogging-panel",sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:o.joggingStore?h.jsx(st,{store:o.joggingStore,children:e.children}):h.jsx(tt.LoadingCover,{message:"Loading jogging",error:o.loadingError})})})),st=C.observer(({store:e,children:t})=>{const{t:o}=K.useTranslation();function i(){if(e.currentTab.id==="cartesian")return h.jsx(et.JoggingCartesianTab,{store:e,children:t});if(e.currentTab.id==="joint")return h.jsx(nt.JoggingJointTab,{store:e,children:t})}return h.jsxs(S,{flexGrow:1,sx:{overflow:"hidden"},children:[h.jsx(X,{"data-testid":"jogging-tabs","aria-label":"jogging-tabs",value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(n=>{const r=n.label==="Cartesian"?o("Jogging.Cartesian.bt"):o("Jogging.Joints.bt"),g=n.label==="cartesian"?h.jsx(B,{fontSize:"small",sx:{mr:1}}):h.jsx(Y,{fontSize:"small",sx:{mr:1}});return h.jsx(Z,{"data-testid":`jogging-tab-${n.id}`,"aria-label":`jogging-tab-${n.id}`,label:e.showTabIcons?h.jsxs(S,{direction:"row",alignItems:"center",children:[g,r]}):r,id:`jogging-tab-${n.id}`,"aria-controls":`jogging-tab-${n.id}`},n.id)})}),h.jsx(S,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:i()}),e.blocked&&h.jsx(ot.JoggingBlocked,{store:e})]})});exports.JoggerConnection=I;exports.JoggingPanel=rt;exports.MotionStreamConnection=k;exports.jointValuesEqual=T;exports.poseEqual=q;exports.tcpMotionEqual=D;exports.unwrapRotationVector=A;

package/dist/chunks/controller-type-virtual-BuJWQOvV.cjs

@@ -1 +0,0 @@
-"use strict";const c=require("react");function n(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const a in e)if(a!=="default"){const r=Object.getOwnPropertyDescriptor(e,a);Object.defineProperty(t,a,r.get?r:{enumerable:!0,get:()=>e[a]})}}return t.default=e,Object.freeze(t)}const l=n(c),o=({title:e,titleId:t,...a},r)=>l.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:r,"aria-labelledby":t,...a},e?l.createElement("title",{id:t},e):null,l.createElement("path",{d:"M5.248 21c-.334 0-.619-.116-.853-.35a1.153 1.153 0 0 1-.351-.848c0-.333.117-.616.351-.85.234-.233.519-.35.853-.35H7.24L4.558 9.87a2.881 2.881 0 0 1-1.126-1.042A2.77 2.77 0 0 1 3 7.317c0-.793.28-1.467.838-2.023a2.774 2.774 0 0 1 2.033-.834 2.71 2.71 0 0 1 1.728.585c.494.389.832.887 1.014 1.493h3.58V5.239c0-.22.076-.406.226-.555a.76.76 0 0 1 .558-.224c.136 0 .263.035.381.104.118.07.209.167.273.292v.14l1.835-1.702a.979.979 0 0 1 .52-.279.881.881 0 0 1 .58.091l4.01 1.85a.74.74 0 0 1 .36.364.537.537 0 0 1-.002.474.592.592 0 0 1-.366.323.657.657 0 0 1-.477-.039l-3.858-1.774L13.76 6.59v1.454l2.473 2.233 3.858-1.774a.648.648 0 0 1 .485-.03.571.571 0 0 1 .358.314.513.513 0 0 1 .01.482.79.79 0 0 1-.367.357l-4.011 1.882a.881.881 0 0 1-.58.09.979.979 0 0 1-.52-.278L13.63 9.638v.14a.92.92 0 0 1-.273.275.665.665 0 0 1-.381.12.76.76 0 0 1-.558-.224.752.752 0 0 1-.225-.555V8.096h-3.58a2.82 2.82 0 0 1-.215.54 2.552 2.552 0 0 1-.323.479l5.139 9.488h2.673c.335 0 .62.116.854.35.234.233.35.516.35.849 0 .332-.116.615-.35.849a1.167 1.167 0 0 1-.854.349H5.248Zm.623-12.385c.362 0 .67-.126.924-.378a1.25 1.25 0 0 0 .38-.92 1.25 1.25 0 0 0-.38-.92 1.261 1.261 0 0 0-.924-.379 1.26 1.26 0 0 0-.925.379 1.25 1.25 0 0 0-.38.92c0 .36.127.667.38.92.254.252.562.378.925.378Z"})),h=c.forwardRef(o),v=({title:e,titleId:t,...a},r)=>l.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:r,"aria-labelledby":t,...a},e?l.createElement("title",{id:t},e):null,l.createElement("path",{d:"m13.37 9.12 1.69 1.69 2.99-2.99-3.73-3.73-.95-.95-7.66 7.66-.95.95 3.99 3.99v3.44h7.55v-3.55l-4.72-4.72 1.79-1.79Zm-.91-2.99.91-.91 2.6 2.6-.91.91-2.6-2.6Zm-2.25 10.24h3.74l-1.34-1.34-.04-.04h-2.5l-3.25-3.25 4.59-4.59.92.92L9.5 10.9l5.33 5.33v1.48H10.2v-1.35l.01.01ZM2 2v4.99h1.41V3.4h3.58V2H2ZM22.21 2h-4.98v1.41h3.59v3.58h1.4V2h-.01ZM20.81 20.65h-3.58v1.4h4.98v-4.99h-1.4v3.59ZM3.4 17.06H2v4.98h4.99v-1.4H3.4v-3.58Z"})),s=c.forwardRef(v);exports.ForwardRef=h;exports.ForwardRef$1=s;

package/dist/chunks/externalizeComponent-DOwkaDcw.cjs

@@ -1,2 +0,0 @@
-"use strict";const t=require("react/jsx-runtime"),r=require("react-i18next"),n=require("i18next"),i=require("i18next-browser-languagedetector"),l={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Geschwindigkeit","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Blocked.ti":"Verbindung blockiert","Jogging.Blocked.lb":"Ein anderer Client kontrolliert das Jogging.","Jogging.Blocked.Reenable.bt":"Neu verbinden","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physisch","SafetyBar.ControllerType.Virtual.lb":"Virtuell","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. Für die Bewegung dieses Roboters sind <strong>Sicherheitsmaßnahmen</strong> aktiv.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> ist eine virtuelle Robotersteuerung ohne physisches Gegenstück. Der Roboter kann ohne Sicherheitsmaßnahmen bewegt werden.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatischer Betriebsmodus der Robotersteuerung aktiv. Automatisierte Bewegung ohne manuelle Bestätigung freigegeben.","SafetyBar.OperationMode.Automatic.ti":"Automatisch","SafetyBar.OperationMode.Error.Explanation.lb":"Fehler beim Abrufen des Betriebsmodus. Originalhandbediengerät des Roboters verwenden, um Fehler zu lösen.","SafetyBar.OperationMode.Error.lb":"Fehler","SafetyBar.OperationMode.Manual.Explanation.lb":`Die Robotersteuerung befindet sich im manuellen Betriebsmodus. 
-Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit","CycleTimer.RemainingTime.lb":"Verbleibende Zeit","CycleTimer.OfTime.lb":"von {{time}}","CycleTimer.Time.lb":"{{time}}","CycleTimer.Error.lb":"Fehler","CycleTimer.WaitingForCycle.lb":"Warten auf Programmzyklus","CycleTimer.CycleTime.lb":"Zykluszeit","CycleTimer.Measuring.lb":"wird gemessen...","CycleTimer.Determined.lb":"bestimmt","Timer.error":"Fehler","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Weiter","ProgramControl.Retry.bt":"Wiederholen","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stopp","ProgramStateIndicator.Preparing.lb":"Vorbereitung","ProgramStateIndicator.Starting.lb":"Startet","ProgramStateIndicator.Running.lb":"In Betrieb","ProgramStateIndicator.Pausing.lb":"Pausiert","ProgramStateIndicator.Stopping.lb":"Stoppt","ProgramStateIndicator.Completed.lb":"Abgeschlossen","ProgramStateIndicator.Failed.lb":"Fehlgeschlagen","ProgramStateIndicator.Error.lb":"Fehler","ProgramStateIndicator.EStop.lb":"Not-Aus","ProgramStateIndicator.Idle.lb":"Leerlauf","ProgramStateIndicator.Paused.lb":"Pausiert","ProgramStateIndicator.Ready.lb":"Bereit","ProgramStateIndicator.Stopped.lb":"Gestoppt","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manuell","ProgramStateIndicator.ManualT1.lb":"Manuell T1","ProgramStateIndicator.ManualT2.lb":"Manuell T2","RobotSetupReadinessIndicator.Ready.lb":"Bereit","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Roboter getrennt","RobotSetupReadinessIndicator.CellOpen.lb":"Zelle offen","RobotSetupReadinessIndicator.EStop.lb":"Not-Stopp","RobotSetupReadinessIndicator.ManualMode.lb":"Manueller Modus","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Voraussetzung nicht erfüllt","RobotCard.Runtime.lb":"Laufzeit","RobotCard.DriveToHome.bt":"Zur Home-Position fahren"},g={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Blocked.ti":"Connection blocked","Jogging.Blocked.lb":"Another client is currently controlling the jogging.","Jogging.Blocked.Reenable.bt":"Reconnect","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical","SafetyBar.ControllerType.Virtual.lb":"Virtual","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved.","SafetyBar.SafetyState.Stop.lb":"Stop","SafetyBar.SafetyState.ti":"Safety state","SafetyBar.StopState.Estop.Explanation.lb":"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released.","Jogging.Increment.hlb":"Increment","Jogging.CoordinateSystem.hlb":"Coordinate system","Jogging.Cartesian.bt":"Cartesian","Jogging.Joints.bt":"Joints","Jogging.Velocity.bt":"Velocity","CycleTimer.RemainingTime.lb":"Time remaining","CycleTimer.OfTime.lb":"of {{time}}","CycleTimer.Time.lb":"{{time}}","CycleTimer.Error.lb":"Error","CycleTimer.WaitingForCycle.lb":"Waiting for program cycle","CycleTimer.CycleTime.lb":"Cycle Time","CycleTimer.Measuring.lb":"measuring...","CycleTimer.Determined.lb":"determined","Timer.error":"Error","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Resume","ProgramControl.Retry.bt":"Retry","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stop","ProgramStateIndicator.Preparing.lb":"Preparing","ProgramStateIndicator.Starting.lb":"Starting","ProgramStateIndicator.Running.lb":"Running","ProgramStateIndicator.Pausing.lb":"Pausing","ProgramStateIndicator.Stopping.lb":"Stopping","ProgramStateIndicator.Completed.lb":"Completed","ProgramStateIndicator.Failed.lb":"Failed","ProgramStateIndicator.Error.lb":"Error","ProgramStateIndicator.EStop.lb":"E-Stop","ProgramStateIndicator.Idle.lb":"Idle","ProgramStateIndicator.Paused.lb":"Paused","ProgramStateIndicator.Ready.lb":"Ready","ProgramStateIndicator.Stopped.lb":"Stopped","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manual","ProgramStateIndicator.ManualT1.lb":"Manual T1","ProgramStateIndicator.ManualT2.lb":"Manual T2","RobotSetupReadinessIndicator.Ready.lb":"Ready","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Robot disconnected","RobotSetupReadinessIndicator.CellOpen.lb":"Cell open","RobotSetupReadinessIndicator.EStop.lb":"E-Stop","RobotSetupReadinessIndicator.ManualMode.lb":"Manual mode","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Precondition not fulfilled","RobotCard.Runtime.lb":"Runtime","RobotCard.DriveToHome.bt":"Drive to Home"},o=n.createInstance();o.use(i).init({supportedLngs:["en","de"],resources:{en:{translations:g},de:{translations:l}},ns:["translations"],defaultNS:"translations",detection:{order:["navigator","htmlTag"]}});function s(e){return(a=>t.jsx(b,{children:t.jsx(e,{...a})}))}const b=({children:e})=>t.jsx(r.I18nextProvider,{i18n:o,children:e});exports.externalizeComponent=s;exports.i18n=o;