@wandelbots/wandelbots-js-react-components 5.5.1 → 5.5.2

package/dist/icons/orientation-tool.svg.js

@@ -1,11 +0,0 @@
-import * as e from "react";
-import { forwardRef as o } from "react";
-const a = ({
-  title: l,
-  titleId: t,
-  ...c
-}, r) => /* @__PURE__ */ e.createElement("svg", { xmlns: "http://www.w3.org/2000/svg", width: 15, height: 17, fill: "none", ref: r, "aria-labelledby": t, ...c }, l ? /* @__PURE__ */ e.createElement("title", { id: t }, l) : null, /* @__PURE__ */ e.createElement("path", { fill: "currentColor", d: "M12.9 7.667c-.133-.534-.533-1-1-1.134L10.367 6l-.4 1.267L11.5 7.8c.067 0 .133.067.133.2l1.067 4.867a.32.32 0 0 1-.133.4l-2.267 1.8c-.267.2-.333.666-.133.933s.666.333.933.133l2.267-1.8c.533-.4.733-1.133.6-1.733zM12.5 0H1.833A1.65 1.65 0 0 0 .167 1.667v1.4c0 .866.733 1.6 1.666 1.6h10.734c.866 0 1.6-.734 1.6-1.667V1.667A1.65 1.65 0 0 0 12.5 0M1.633 12.8 2.7 8c0-.067.067-.133.133-.2l1.534-.533-.4-1.2-1.534.466c-.533.2-.933.6-1 1.134L.367 12.533c-.134.667.066 1.334.6 1.734l2.266 1.8c.267.266.734.2.934-.067s.2-.733-.134-.933l-2.266-1.8c-.134-.134-.2-.267-.134-.467" })), i = o(a);
-export {
-  i as default
-};
-//# sourceMappingURL=orientation-tool.svg.js.map

package/dist/icons/orientation-tool.svg.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"orientation-tool.svg.js","sources":["../../src/icons/orientation-tool.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgOrientationTool = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", width: 15, height: 17, fill: \"none\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { fill: \"currentColor\", d: \"M12.9 7.667c-.133-.534-.533-1-1-1.134L10.367 6l-.4 1.267L11.5 7.8c.067 0 .133.067.133.2l1.067 4.867a.32.32 0 0 1-.133.4l-2.267 1.8c-.267.2-.333.666-.133.933s.666.333.933.133l2.267-1.8c.533-.4.733-1.133.6-1.733zM12.5 0H1.833A1.65 1.65 0 0 0 .167 1.667v1.4c0 .866.733 1.6 1.666 1.6h10.734c.866 0 1.6-.734 1.6-1.667V1.667A1.65 1.65 0 0 0 12.5 0M1.633 12.8 2.7 8c0-.067.067-.133.133-.2l1.534-.533-.4-1.2-1.534.466c-.533.2-.933.6-1 1.134L.367 12.533c-.134.667.066 1.334.6 1.734l2.266 1.8c.267.266.734.2.934-.067s.2-.733-.134-.933l-2.266-1.8c-.134-.134-.2-.267-.134-.467\" }));\nconst ForwardRef = forwardRef(SvgOrientationTool);\nexport default ForwardRef;\n"],"names":["SvgOrientationTool","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":";;AAEA,MAAMA,IAAqB,CAAC;AAAA,EAC1B,OAAAC;AAAA,EACA,SAAAC;AAAA,EACA,GAAGC;AACL,GAAGC,MAAwB,gBAAAC,EAAM,cAAc,OAAO,EAAE,OAAO,8BAA8B,OAAO,IAAI,QAAQ,IAAI,MAAM,QAAQ,KAAAD,GAAK,mBAAmBF,GAAS,GAAGC,EAAK,GAAIF,IAAwB,gBAAAI,EAAM,cAAc,SAAS,EAAE,IAAIH,EAAO,GAAID,CAAK,IAAI,MAAsB,gBAAAI,EAAM,cAAc,QAAQ,EAAE,MAAM,gBAAgB,GAAG,ujBAAsjB,CAAE,CAAC,GAC93BC,IAAaC,EAAWP,CAAkB;"}

package/dist/icons/robot.svg.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const o=require("react");function a(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const l in e)if(l!=="default"){const r=Object.getOwnPropertyDescriptor(e,l);Object.defineProperty(t,l,r.get?r:{enumerable:!0,get:()=>e[l]})}}return t.default=e,Object.freeze(t)}const n=a(o),c=({title:e,titleId:t,...l},r)=>n.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:18,height:18,fill:"none",ref:r,"aria-labelledby":t,...l},e?n.createElement("title",{id:t},e):null,n.createElement("path",{fill:"#38C6F4",fillRule:"evenodd",d:"M6.359 14.25v2.934h7.63v-3.521L10.196 9.87 9 8.674l.859-.859.337-.337.858-.858.565.565.631.63.565.565 1.196-1.195.543-.544 1.196-1.195-1.196-1.196-2.304-2.304L11.054.75 9.86 1.946 3.446 8.359 2.25 9.554l1.196 1.196 2.913 2.913zm1.69 0v1.244h4.249v-1.13L7.804 9.87 6.608 8.674l1.196-1.196L9.86 5.424l.007-.008-.543-.543-4.681 4.681 2.912 2.913.496.496v.113h2.124l1.174 1.174zm3.005-10.022-.294.294-.543-.543.837-.837 2.304 2.304-.543.543-.565-.565z",clipRule:"evenodd"})),u=o.forwardRef(c);exports.default=u;
-//# sourceMappingURL=robot.svg.cjs.map

package/dist/icons/robot.svg.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"robot.svg.cjs","sources":["../../src/icons/robot.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgRobot = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", width: 18, height: 18, fill: \"none\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { fill: \"#38C6F4\", fillRule: \"evenodd\", d: \"M6.359 14.25v2.934h7.63v-3.521L10.196 9.87 9 8.674l.859-.859.337-.337.858-.858.565.565.631.63.565.565 1.196-1.195.543-.544 1.196-1.195-1.196-1.196-2.304-2.304L11.054.75 9.86 1.946 3.446 8.359 2.25 9.554l1.196 1.196 2.913 2.913zm1.69 0v1.244h4.249v-1.13L7.804 9.87 6.608 8.674l1.196-1.196L9.86 5.424l.007-.008-.543-.543-4.681 4.681 2.912 2.913.496.496v.113h2.124l1.174 1.174zm3.005-10.022-.294.294-.543-.543.837-.837 2.304 2.304-.543.543-.565-.565z\", clipRule: \"evenodd\" }));\nconst ForwardRef = forwardRef(SvgRobot);\nexport default ForwardRef;\n"],"names":["SvgRobot","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":"+ZAEMA,EAAW,CAAC,CAChB,MAAAC,EACA,QAAAC,EACA,GAAGC,CACL,EAAGC,IAAwBC,EAAM,cAAc,MAAO,CAAE,MAAO,6BAA8B,MAAO,GAAI,OAAQ,GAAI,KAAM,OAAQ,IAAAD,EAAK,kBAAmBF,EAAS,GAAGC,CAAK,EAAIF,EAAwBI,EAAM,cAAc,QAAS,CAAE,GAAIH,CAAO,EAAID,CAAK,EAAI,KAAsBI,EAAM,cAAc,OAAQ,CAAE,KAAM,UAAW,SAAU,UAAW,EAAG,kcAAmc,SAAU,SAAS,CAAE,CAAC,EAC9yBC,EAAaC,EAAAA,WAAWP,CAAQ"}

package/dist/icons/robot.svg.d.ts

@@ -1,3 +0,0 @@
-import type { FunctionComponent, SVGAttributes } from "react"
-declare const content: FunctionComponent<SVGAttributes<SVGElement>>
-export default content

package/dist/icons/robot.svg.js

@@ -1,11 +0,0 @@
-import * as e from "react";
-import { forwardRef as a } from "react";
-const n = ({
-  title: l,
-  titleId: t,
-  ...o
-}, r) => /* @__PURE__ */ e.createElement("svg", { xmlns: "http://www.w3.org/2000/svg", width: 18, height: 18, fill: "none", ref: r, "aria-labelledby": t, ...o }, l ? /* @__PURE__ */ e.createElement("title", { id: t }, l) : null, /* @__PURE__ */ e.createElement("path", { fill: "#38C6F4", fillRule: "evenodd", d: "M6.359 14.25v2.934h7.63v-3.521L10.196 9.87 9 8.674l.859-.859.337-.337.858-.858.565.565.631.63.565.565 1.196-1.195.543-.544 1.196-1.195-1.196-1.196-2.304-2.304L11.054.75 9.86 1.946 3.446 8.359 2.25 9.554l1.196 1.196 2.913 2.913zm1.69 0v1.244h4.249v-1.13L7.804 9.87 6.608 8.674l1.196-1.196L9.86 5.424l.007-.008-.543-.543-4.681 4.681 2.912 2.913.496.496v.113h2.124l1.174 1.174zm3.005-10.022-.294.294-.543-.543.837-.837 2.304 2.304-.543.543-.565-.565z", clipRule: "evenodd" })), m = a(n);
-export {
-  m as default
-};
-//# sourceMappingURL=robot.svg.js.map

package/dist/icons/robot.svg.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"robot.svg.js","sources":["../../src/icons/robot.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgRobot = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", width: 18, height: 18, fill: \"none\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { fill: \"#38C6F4\", fillRule: \"evenodd\", d: \"M6.359 14.25v2.934h7.63v-3.521L10.196 9.87 9 8.674l.859-.859.337-.337.858-.858.565.565.631.63.565.565 1.196-1.195.543-.544 1.196-1.195-1.196-1.196-2.304-2.304L11.054.75 9.86 1.946 3.446 8.359 2.25 9.554l1.196 1.196 2.913 2.913zm1.69 0v1.244h4.249v-1.13L7.804 9.87 6.608 8.674l1.196-1.196L9.86 5.424l.007-.008-.543-.543-4.681 4.681 2.912 2.913.496.496v.113h2.124l1.174 1.174zm3.005-10.022-.294.294-.543-.543.837-.837 2.304 2.304-.543.543-.565-.565z\", clipRule: \"evenodd\" }));\nconst ForwardRef = forwardRef(SvgRobot);\nexport default ForwardRef;\n"],"names":["SvgRobot","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":";;AAEA,MAAMA,IAAW,CAAC;AAAA,EAChB,OAAAC;AAAA,EACA,SAAAC;AAAA,EACA,GAAGC;AACL,GAAGC,MAAwB,gBAAAC,EAAM,cAAc,OAAO,EAAE,OAAO,8BAA8B,OAAO,IAAI,QAAQ,IAAI,MAAM,QAAQ,KAAAD,GAAK,mBAAmBF,GAAS,GAAGC,EAAK,GAAIF,IAAwB,gBAAAI,EAAM,cAAc,SAAS,EAAE,IAAIH,EAAO,GAAID,CAAK,IAAI,MAAsB,gBAAAI,EAAM,cAAc,QAAQ,EAAE,MAAM,WAAW,UAAU,WAAW,GAAG,mcAAmc,UAAU,UAAS,CAAE,CAAC,GAC9yBC,IAAaC,EAAWP,CAAQ;"}

package/dist/icons/rotation.svg.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const a=require("react");function l(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const n=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,n.get?n:{enumerable:!0,get:()=>e[r]})}}return t.default=e,Object.freeze(t)}const o=l(a),c=({title:e,titleId:t,...r},n)=>o.createElement("svg",{width:16,height:16,viewBox:"0 0 16 16",fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?o.createElement("title",{id:t},e):null,o.createElement("path",{d:"M8 16C5.76667 16 3.875 15.225 2.325 13.675C0.775 12.125 0 10.2333 0 8C0 5.76667 0.775 3.875 2.325 2.325C3.875 0.775 5.76667 0 8 0C9.15 0 10.25 0.2375 11.3 0.7125C12.35 1.1875 13.25 1.86667 14 2.75V0H16V7H9V5H13.2C12.6667 4.06667 11.9375 3.33333 11.0125 2.8C10.0875 2.26667 9.08333 2 8 2C6.33333 2 4.91667 2.58333 3.75 3.75C2.58333 4.91667 2 6.33333 2 8C2 9.66667 2.58333 11.0833 3.75 12.25C4.91667 13.4167 6.33333 14 8 14C9.28333 14 10.4417 13.6333 11.475 12.9C11.0583 14.1 12.5083 12.1667 11.475 12.9L12.9 14.325C11.4667 15.4417 9.83333 16 8 16Z",fill:"white"})),i=a.forwardRef(c);exports.default=i;
-//# sourceMappingURL=rotation.svg.cjs.map

package/dist/icons/rotation.svg.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"rotation.svg.cjs","sources":["../../src/icons/rotation.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgRotation = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { width: 16, height: 16, viewBox: \"0 0 16 16\", fill: \"none\", xmlns: \"http://www.w3.org/2000/svg\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { d: \"M8 16C5.76667 16 3.875 15.225 2.325 13.675C0.775 12.125 0 10.2333 0 8C0 5.76667 0.775 3.875 2.325 2.325C3.875 0.775 5.76667 0 8 0C9.15 0 10.25 0.2375 11.3 0.7125C12.35 1.1875 13.25 1.86667 14 2.75V0H16V7H9V5H13.2C12.6667 4.06667 11.9375 3.33333 11.0125 2.8C10.0875 2.26667 9.08333 2 8 2C6.33333 2 4.91667 2.58333 3.75 3.75C2.58333 4.91667 2 6.33333 2 8C2 9.66667 2.58333 11.0833 3.75 12.25C4.91667 13.4167 6.33333 14 8 14C9.28333 14 10.4417 13.6333 11.475 12.9C11.0583 14.1 12.5083 12.1667 11.475 12.9L12.9 14.325C11.4667 15.4417 9.83333 16 8 16Z\", fill: \"white\" }));\nconst ForwardRef = forwardRef(SvgRotation);\nexport default ForwardRef;\n"],"names":["SvgRotation","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":"+ZAEMA,EAAc,CAAC,CACnB,MAAAC,EACA,QAAAC,EACA,GAAGC,CACL,EAAGC,IAAwBC,EAAM,cAAc,MAAO,CAAE,MAAO,GAAI,OAAQ,GAAI,QAAS,YAAa,KAAM,OAAQ,MAAO,6BAA8B,IAAAD,EAAK,kBAAmBF,EAAS,GAAGC,CAAK,EAAIF,EAAwBI,EAAM,cAAc,QAAS,CAAE,GAAIH,CAAO,EAAID,CAAK,EAAI,KAAsBI,EAAM,cAAc,OAAQ,CAAE,EAAG,qiBAAsiB,KAAM,OAAO,CAAE,CAAC,EAC33BC,EAAaC,EAAAA,WAAWP,CAAW"}

package/dist/icons/rotation.svg.d.ts

@@ -1,3 +0,0 @@
-import type { FunctionComponent, SVGAttributes } from "react"
-declare const content: FunctionComponent<SVGAttributes<SVGElement>>
-export default content

package/dist/icons/rotation.svg.js

@@ -1,11 +0,0 @@
-import * as e from "react";
-import { forwardRef as r } from "react";
-const l = ({
-  title: t,
-  titleId: C,
-  ...a
-}, o) => /* @__PURE__ */ e.createElement("svg", { width: 16, height: 16, viewBox: "0 0 16 16", fill: "none", xmlns: "http://www.w3.org/2000/svg", ref: o, "aria-labelledby": C, ...a }, t ? /* @__PURE__ */ e.createElement("title", { id: C }, t) : null, /* @__PURE__ */ e.createElement("path", { d: "M8 16C5.76667 16 3.875 15.225 2.325 13.675C0.775 12.125 0 10.2333 0 8C0 5.76667 0.775 3.875 2.325 2.325C3.875 0.775 5.76667 0 8 0C9.15 0 10.25 0.2375 11.3 0.7125C12.35 1.1875 13.25 1.86667 14 2.75V0H16V7H9V5H13.2C12.6667 4.06667 11.9375 3.33333 11.0125 2.8C10.0875 2.26667 9.08333 2 8 2C6.33333 2 4.91667 2.58333 3.75 3.75C2.58333 4.91667 2 6.33333 2 8C2 9.66667 2.58333 11.0833 3.75 12.25C4.91667 13.4167 6.33333 14 8 14C9.28333 14 10.4417 13.6333 11.475 12.9C11.0583 14.1 12.5083 12.1667 11.475 12.9L12.9 14.325C11.4667 15.4417 9.83333 16 8 16Z", fill: "white" })), n = r(l);
-export {
-  n as default
-};
-//# sourceMappingURL=rotation.svg.js.map

package/dist/icons/rotation.svg.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"rotation.svg.js","sources":["../../src/icons/rotation.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgRotation = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { width: 16, height: 16, viewBox: \"0 0 16 16\", fill: \"none\", xmlns: \"http://www.w3.org/2000/svg\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { d: \"M8 16C5.76667 16 3.875 15.225 2.325 13.675C0.775 12.125 0 10.2333 0 8C0 5.76667 0.775 3.875 2.325 2.325C3.875 0.775 5.76667 0 8 0C9.15 0 10.25 0.2375 11.3 0.7125C12.35 1.1875 13.25 1.86667 14 2.75V0H16V7H9V5H13.2C12.6667 4.06667 11.9375 3.33333 11.0125 2.8C10.0875 2.26667 9.08333 2 8 2C6.33333 2 4.91667 2.58333 3.75 3.75C2.58333 4.91667 2 6.33333 2 8C2 9.66667 2.58333 11.0833 3.75 12.25C4.91667 13.4167 6.33333 14 8 14C9.28333 14 10.4417 13.6333 11.475 12.9C11.0583 14.1 12.5083 12.1667 11.475 12.9L12.9 14.325C11.4667 15.4417 9.83333 16 8 16Z\", fill: \"white\" }));\nconst ForwardRef = forwardRef(SvgRotation);\nexport default ForwardRef;\n"],"names":["SvgRotation","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":";;AAEA,MAAMA,IAAc,CAAC;AAAA,EACnB,OAAAC;AAAA,EACA,SAAAC;AAAA,EACA,GAAGC;AACL,GAAGC,MAAwB,gBAAAC,EAAM,cAAc,OAAO,EAAE,OAAO,IAAI,QAAQ,IAAI,SAAS,aAAa,MAAM,QAAQ,OAAO,8BAA8B,KAAAD,GAAK,mBAAmBF,GAAS,GAAGC,EAAK,GAAIF,IAAwB,gBAAAI,EAAM,cAAc,SAAS,EAAE,IAAIH,EAAO,GAAID,CAAK,IAAI,MAAsB,gBAAAI,EAAM,cAAc,QAAQ,EAAE,GAAG,siBAAsiB,MAAM,QAAO,CAAE,CAAC,GAC33BC,IAAaC,EAAWP,CAAW;"}

package/dist/icons/wbLogo.svg.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const n=require("react");function a(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const l=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,l.get?l:{enumerable:!0,get:()=>e[r]})}}return t.default=e,Object.freeze(t)}const o=a(n),c=({title:e,titleId:t,...r},l)=>o.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",fill:"currentColor",viewBox:"0 0 21 25",ref:l,"aria-labelledby":t,...r},e?o.createElement("title",{id:t},e):null,o.createElement("path",{d:"M0 8.256v5.96l17.023-9.745L14.42 0zM9.703 11.676 0 17.21v5.974l9.703-5.536zM11.889 19.413l-9.663 5.58h13.278v-5.58z"})),u=n.forwardRef(c);exports.default=u;
-//# sourceMappingURL=wbLogo.svg.cjs.map

package/dist/icons/wbLogo.svg.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"wbLogo.svg.cjs","sources":["../../src/icons/wbLogo.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgWbLogo = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", fill: \"currentColor\", viewBox: \"0 0 21 25\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { d: \"M0 8.256v5.96l17.023-9.745L14.42 0zM9.703 11.676 0 17.21v5.974l9.703-5.536zM11.889 19.413l-9.663 5.58h13.278v-5.58z\" }));\nconst ForwardRef = forwardRef(SvgWbLogo);\nexport default ForwardRef;\n"],"names":["SvgWbLogo","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":"+ZAEMA,EAAY,CAAC,CACjB,MAAAC,EACA,QAAAC,EACA,GAAGC,CACL,EAAGC,IAAwBC,EAAM,cAAc,MAAO,CAAE,MAAO,6BAA8B,KAAM,eAAgB,QAAS,YAAa,IAAAD,EAAK,kBAAmBF,EAAS,GAAGC,CAAK,EAAIF,EAAwBI,EAAM,cAAc,QAAS,CAAE,GAAIH,CAAO,EAAID,CAAK,EAAI,KAAsBI,EAAM,cAAc,OAAQ,CAAE,EAAG,qHAAqH,CAAE,CAAC,EAC9aC,EAAaC,EAAAA,WAAWP,CAAS"}

package/dist/icons/wbLogo.svg.d.ts

@@ -1,3 +0,0 @@
-import type { FunctionComponent, SVGAttributes } from "react"
-declare const content: FunctionComponent<SVGAttributes<SVGElement>>
-export default content

package/dist/icons/wbLogo.svg.js

@@ -1,11 +0,0 @@
-import * as e from "react";
-import { forwardRef as a } from "react";
-const m = ({
-  title: r,
-  titleId: l,
-  ...o
-}, t) => /* @__PURE__ */ e.createElement("svg", { xmlns: "http://www.w3.org/2000/svg", fill: "currentColor", viewBox: "0 0 21 25", ref: t, "aria-labelledby": l, ...o }, r ? /* @__PURE__ */ e.createElement("title", { id: l }, r) : null, /* @__PURE__ */ e.createElement("path", { d: "M0 8.256v5.96l17.023-9.745L14.42 0zM9.703 11.676 0 17.21v5.974l9.703-5.536zM11.889 19.413l-9.663 5.58h13.278v-5.58z" })), c = a(m);
-export {
-  c as default
-};
-//# sourceMappingURL=wbLogo.svg.js.map

package/dist/icons/wbLogo.svg.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"wbLogo.svg.js","sources":["../../src/icons/wbLogo.svg"],"sourcesContent":["import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgWbLogo = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", fill: \"currentColor\", viewBox: \"0 0 21 25\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { d: \"M0 8.256v5.96l17.023-9.745L14.42 0zM9.703 11.676 0 17.21v5.974l9.703-5.536zM11.889 19.413l-9.663 5.58h13.278v-5.58z\" }));\nconst ForwardRef = forwardRef(SvgWbLogo);\nexport default ForwardRef;\n"],"names":["SvgWbLogo","title","titleId","props","ref","React","ForwardRef","forwardRef"],"mappings":";;AAEA,MAAMA,IAAY,CAAC;AAAA,EACjB,OAAAC;AAAA,EACA,SAAAC;AAAA,EACA,GAAGC;AACL,GAAGC,MAAwB,gBAAAC,EAAM,cAAc,OAAO,EAAE,OAAO,8BAA8B,MAAM,gBAAgB,SAAS,aAAa,KAAAD,GAAK,mBAAmBF,GAAS,GAAGC,EAAK,GAAIF,IAAwB,gBAAAI,EAAM,cAAc,SAAS,EAAE,IAAIH,EAAO,GAAID,CAAK,IAAI,MAAsB,gBAAAI,EAAM,cAAc,QAAQ,EAAE,GAAG,sHAAqH,CAAE,CAAC,GAC9aC,IAAaC,EAAWP,CAAS;"}

package/dist/index.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"index.cjs","sources":[],"sourcesContent":[],"names":[],"mappings":""}

package/dist/index.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AACA,cAAc,MAAM,CAAA;AACpB,cAAc,QAAQ,CAAA;AACtB,cAAc,YAAY,CAAA"}

package/dist/index.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"index.js","sources":[],"sourcesContent":[],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;"}

package/dist/lib/ConnectedMotionGroup.cjs

@@ -1,4 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const S=require("@wandelbots/nova-js"),a=require("mobx"),w=require("three"),A=require("./motionStateUpdate.cjs");function I(h){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(h){for(const o in h)if(o!=="default"){const n=Object.getOwnPropertyDescriptor(h,o);Object.defineProperty(t,o,n.get?n:{enumerable:!0,get:()=>h[o]})}}return t.default=h,Object.freeze(t)}const y=I(w),b=1e-4,R={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class p{constructor(t,o,n,r,e,s,l,g,c,_){this.nova=t,this.controller=o,this.motionGroup=n,this.initialMotionState=r,this.motionStateSocket=e,this.isVirtual=s,this.tcps=l,this.description=g,this.initialControllerState=c,this.controllerStateSocket=_,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=r,this.controllerState=c,_.addEventListener("message",d=>{var u;const i=(u=S.tryParseJson(d.data))==null?void 0:u.result;i&&a.runInAction(()=>{this.controllerState=i})}),e.addEventListener("message",d=>{var u;const i=(u=S.tryParseJson(d.data))==null?void 0:u.result;if(!i)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);A.jointValuesEqual(this.rapidlyChangingMotionState.joint_position,i.joint_position,b)||a.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=i.joint_position}),A.tcpMotionEqual(this.rapidlyChangingMotionState,i,b)||a.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=i.tcp_pose}),this.rapidlyChangingMotionState.standstill!==i.standstill&&a.runInAction(()=>{this.rapidlyChangingMotionState.standstill=i.standstill})}),a.makeAutoObservable(this)}static async connectMultiple(t,o){return Promise.all(o.map(n=>p.connect(t,n)))}static async connect(t,o){var O,T;const[n,r]=o.split("@"),e=await t.api.controller.getCurrentRobotControllerState(r),s=e==null?void 0:e.motion_groups.find(M=>M.motion_group===o);if(!e||!s)throw new Error(`Controller ${r} or motion group ${o} not found`);const l=t.openReconnectingWebsocket(`/controllers/${r}/motion-groups/${o}/state-stream`),g=await l.firstMessage(),c=(O=S.tryParseJson(g.data))==null?void 0:O.result;if(!c)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
-  `,c);const d=(await t.api.controller.getRobotController(e.controller)).configuration.kind==="VirtualController",i=await t.api.motionGroup.getMotionGroupDescription(r,s.motion_group),u=Object.entries(i.tcps||{}).map(([M,E])=>({id:M,readable_name:E.name,position:E.pose.position,orientation:E.pose.orientation})),f=t.openReconnectingWebsocket(`/controllers/${e.controller}/state-stream?response_rate=1000`),v=await f.firstMessage(),m=(T=S.tryParseJson(v.data))==null?void 0:T.result;if(!m)throw new Error(`Unable to parse initial controller state message ${v.data}`);return console.log(`Connected controller state websocket to controller ${e.controller}. Initial state:
-  `,m),new p(t,e,s,c,l,d,u,i,m,f)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((t,o)=>({index:o}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(t=>({...R,...t}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var t,o,n;return this.description.mounting?[(((t=this.description.mounting.position)==null?void 0:t[0])||0)/1e3,(((o=this.description.mounting.position)==null?void 0:o[1])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,e,s,l,g,c;const t=new y.Vector3(((e=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:e[0])||0,((l=(s=this.description.mounting)==null?void 0:s.orientation)==null?void 0:l[1])||0,((c=(g=this.description.mounting)==null?void 0:g.orientation)==null?void 0:c[2])||0),o=t.length(),n=t.normalize();return new y.Quaternion().setFromAxisAngle(n,o)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}a.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),a.runInAction(()=>{this.activationState="inactive"})}catch(t){throw a.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}a.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),a.runInAction(()=>{this.activationState="active"})}catch(t){throw a.runInAction(()=>{this.activationState="inactive"}),t}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}}exports.ConnectedMotionGroup=p;exports.default=p;
-//# sourceMappingURL=ConnectedMotionGroup.cjs.map

package/dist/lib/ConnectedMotionGroup.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"ConnectedMotionGroup.cjs","sources":["../../src/lib/ConnectedMotionGroup.ts"],"sourcesContent":["import {\n  tryParseJson,\n  type AutoReconnectingWebsocket,\n} from \"@wandelbots/nova-js\"\nimport type {\n  DHParameter,\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  OperationMode,\n  RobotControllerState,\n  SafetyStateType,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport { jointValuesEqual, tcpMotionEqual } from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type RobotTcpLike = {\n  id: string\n  readable_name: string\n  position: Vector3Simple\n  orientation: Vector3Simple\n}\n\nexport type MotionGroupOption = {\n  selectionId: string\n}\n\nconst EMPTY_DH_PARAMETER: DHParameter = {\n  a: 0,\n  d: 0,\n  alpha: 0,\n  theta: 0,\n  reverse_rotation_direction: false,\n}\n\n/**\n * Store representing the current state of a connected motion group.\n * API v2 version, not used yet in the components.\n */\nexport class ConnectedMotionGroup {\n  static async connectMultiple(nova: NovaClient, motionGroupIds: string[]) {\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(nova, motionGroupId),\n      ),\n    )\n  }\n\n  static async connect(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Check if robot is virtual or physical\n    const config = await nova.api.controller.getRobotController(\n      controller.controller,\n    )\n    const isVirtual = config.configuration.kind === \"VirtualController\"\n\n    // If there's a configured mounting, we need it to show the right\n    // position of the robot model\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    // There are converted into a RobotTcpLike for easier use in the UI\n    const tcps: RobotTcpLike[] = Object.entries(description.tcps || {}).map(\n      ([id, tcp]) => ({\n        id,\n        readable_name: tcp.name,\n        position: tcp.pose.position as Vector3Simple,\n        orientation: tcp.pose.orientation as Vector3Simple,\n      }),\n    )\n\n    // Open the websocket to monitor controller state for e.g. e-stop\n    const controllerStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controller.controller}/state-stream?response_rate=1000`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstControllerMessage = await controllerStateSocket.firstMessage()\n    const initialControllerState = tryParseJson(firstControllerMessage.data)\n      ?.result as RobotControllerState\n\n    if (!initialControllerState) {\n      throw new Error(\n        `Unable to parse initial controller state message ${firstControllerMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected controller state websocket to controller ${controller.controller}. Initial state:\\n  `,\n      initialControllerState,\n    )\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      tcps,\n      description,\n      initialControllerState,\n      controllerStateSocket,\n    )\n  }\n\n  connectedJoggingSocket: WebSocket | null = null\n  // biome-ignore lint/suspicious/noExplicitAny: legacy code\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  // Response rate on the websocket should be a bit slower on this one since\n  // we don't use the motion data\n  controllerState: RobotControllerState\n\n  /**\n   * Reflects activation state of the motion group / robot servos. The\n   * movement controls in the UI should only be enabled in the \"active\" state\n   */\n  activationState: \"inactive\" | \"activating\" | \"deactivating\" | \"active\" =\n    \"inactive\"\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcpLike[],\n    readonly description: MotionGroupDescription,\n    readonly initialControllerState: RobotControllerState,\n    readonly controllerStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n    this.controllerState = initialControllerState\n\n    // Track controller state updates (e.g. safety state and operation mode)\n    controllerStateSocket.addEventListener(\"message\", (event) => {\n      const data = tryParseJson(event.data)?.result\n\n      if (!data) {\n        return\n      }\n\n      runInAction(() => {\n        this.controllerState = data\n      })\n    })\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.joint_position =\n            latestMotionState.joint_position\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose = latestMotionState.tcp_pose\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.description.motion_group_model\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  // Please note that API v2 omits 0 values\n  get dhParameters() {\n    if (this.description.dh_parameters === undefined) {\n      return undefined\n    }\n\n    return this.description.dh_parameters.map((dh_param) => ({\n      ...EMPTY_DH_PARAMETER,\n      ...dh_param,\n    }))\n  }\n\n  get safetyZones() {\n    return this.description.safety_zones\n  }\n\n  /** Gets the robot mounting position offset in 3D viz coordinates */\n  get mountingPosition(): [number, number, number] {\n    if (!this.description.mounting) {\n      return [0, 0, 0]\n    }\n\n    return [\n      (this.description.mounting.position?.[0] || 0) / 1000,\n      (this.description.mounting.position?.[1] || 0) / 1000,\n      (this.description.mounting.position?.[2] || 0) / 1000,\n    ]\n  }\n\n  /** Gets the robot mounting position rotation in 3D viz coordinates */\n  get mountingQuaternion() {\n    const rotationVector = new THREE.Vector3(\n      this.description.mounting?.orientation?.[0] || 0,\n      this.description.mounting?.orientation?.[1] || 0,\n      this.description.mounting?.orientation?.[2] || 0,\n    )\n\n    const magnitude = rotationVector.length()\n    const axis = rotationVector.normalize()\n\n    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)\n  }\n\n  /**\n   * Whether the controller is currently in a safety state\n   * corresponding to an emergency stop\n   */\n  get isEstopActive() {\n    const estopStates: SafetyStateType[] = [\n      \"SAFETY_STATE_ROBOT_EMERGENCY_STOP\",\n      \"SAFETY_STATE_DEVICE_EMERGENCY_STOP\",\n    ]\n\n    return estopStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in a safety state\n   * that may be non-functional for robot pad purposes\n   */\n  get isMoveableSafetyState() {\n    const goodSafetyStates: SafetyStateType[] = [\n      \"SAFETY_STATE_NORMAL\",\n      \"SAFETY_STATE_REDUCED\",\n    ]\n\n    return goodSafetyStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in an operation mode that allows movement\n   */\n  get isMoveableOperationMode() {\n    const goodOperationModes: OperationMode[] = [\n      \"OPERATION_MODE_AUTO\",\n      \"OPERATION_MODE_MANUAL\",\n      \"OPERATION_MODE_MANUAL_T1\",\n      \"OPERATION_MODE_MANUAL_T2\",\n    ]\n\n    return goodOperationModes.includes(this.controllerState.operation_mode)\n  }\n\n  /**\n   * Whether the robot is currently active and can be moved, based on the\n   * safety state, operation mode and servo toggle activation state.\n   */\n  get canBeMoved() {\n    return (\n      this.isMoveableSafetyState &&\n      this.isMoveableOperationMode &&\n      this.activationState === \"active\"\n    )\n  }\n\n  async deactivate() {\n    if (this.activationState !== \"active\") {\n      console.error(\"Tried to deactivate while already deactivating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"deactivating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_MONITOR\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n      throw err\n    }\n  }\n\n  async activate() {\n    if (this.activationState !== \"inactive\") {\n      console.error(\"Tried to activate while already activating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"activating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_CONTROL\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n      throw err\n    }\n  }\n\n  toggleActivation() {\n    if (this.activationState === \"inactive\") {\n      this.activate()\n    } else if (this.activationState === \"active\") {\n      this.deactivate()\n    }\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingSocket) this.connectedJoggingSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n\nexport default ConnectedMotionGroup\n"],"names":["MOTION_DELTA_THRESHOLD","EMPTY_DH_PARAMETER","ConnectedMotionGroup","nova","controller","motionGroup","initialMotionState","motionStateSocket","isVirtual","tcps","description","initialControllerState","controllerStateSocket","event","data","tryParseJson","runInAction","latestMotionState","jointValuesEqual","tcpMotionEqual","makeAutoObservable","motionGroupIds","motionGroupId","_motionGroupIndex","controllerId","mg","firstMessage","id","tcp","firstControllerMessage","_","i","dh_param","_a","_b","_c","rotationVector","THREE","_d","_f","_e","magnitude","axis","err","velocity"],"mappings":"ufAkBMA,EAAyB,KAazBC,EAAkC,CACtC,EAAG,EACH,EAAG,EACH,MAAO,EACP,MAAO,EACP,2BAA4B,EAC9B,EAMO,MAAMC,CAAqB,CA6HhC,YACWC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACT,CAVS,KAAA,KAAAT,EACA,KAAA,WAAAC,EACA,KAAA,YAAAC,EACA,KAAA,mBAAAC,EACA,KAAA,kBAAAC,EACA,KAAA,UAAAC,EACA,KAAA,KAAAC,EACA,KAAA,YAAAC,EACA,KAAA,uBAAAC,EACA,KAAA,sBAAAC,EA9BX,KAAA,uBAA2C,KAG3C,KAAA,gBAA0B,GAc1B,KAAA,gBACE,WAcA,KAAK,2BAA6BN,EAClC,KAAK,gBAAkBK,EAGvBC,EAAsB,iBAAiB,UAAYC,GAAU,OAC3D,MAAMC,GAAOC,EAAAA,EAAAA,aAAaF,EAAM,IAAI,IAAvBE,YAAAA,EAA0B,OAElCD,GAILE,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkBF,CACzB,CAAC,CACH,CAAC,EAEDP,EAAkB,iBAAiB,UAAYM,GAAU,OACvD,MAAMI,GAAoBF,EAAAA,EAAAA,aAAaF,EAAM,IAAI,IAAvBE,YAAAA,EAA0B,OAIpD,GAAI,CAACE,EACH,MAAM,IAAI,MACR,kCAAkC,KAAK,aAAa,KAAKJ,EAAM,IAAI,EAAA,EAMpEK,EAAAA,iBACC,KAAK,2BAA2B,eAChCD,EAAkB,eAClBjB,CAAA,GAGFgB,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,eAC9BC,EAAkB,cACtB,CAAC,EAKAE,EAAAA,eACC,KAAK,2BACLF,EACAjB,CAAA,GAGFgB,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,SAAWC,EAAkB,QAC/D,CAAC,EAKD,KAAK,2BAA2B,aAChCA,EAAkB,YAElBD,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,WAC9BC,EAAkB,UACtB,CAAC,CAEL,CAAC,EACDG,EAAAA,mBAAmB,IAAI,CACzB,CA1MA,aAAa,gBAAgBjB,EAAkBkB,EAA0B,CACvE,OAAO,QAAQ,IACbA,EAAe,IAAKC,GAClBpB,EAAqB,QAAQC,EAAMmB,CAAa,CAAA,CAClD,CAEJ,CAEA,aAAa,QAAQnB,EAAkBmB,EAAuB,SAC5D,KAAM,CAACC,EAAmBC,CAAY,EAAIF,EAAc,MAAM,GAAG,EAK3DlB,EACJ,MAAMD,EAAK,IAAI,WAAW,+BAA+BqB,CAAY,EACjEnB,EAAcD,GAAA,YAAAA,EAAY,cAAc,KAC3CqB,GAAOA,EAAG,eAAiBH,GAE9B,GAAI,CAAClB,GAAc,CAACC,EAClB,MAAM,IAAI,MACR,cAAcmB,CAAY,oBAAoBF,CAAa,YAAA,EAI/D,MAAMf,EAAoBJ,EAAK,0BAC7B,gBAAgBqB,CAAY,kBAAkBF,CAAa,eAAA,EAIvDI,EAAe,MAAMnB,EAAkB,aAAA,EACvCD,GAAqBS,EAAAA,EAAAA,aAAaW,EAAa,IAAI,IAA9BX,YAAAA,EACvB,OAEJ,GAAI,CAACT,EACH,MAAM,IAAI,MACR,gDAAgDoB,EAAa,IAAI,EAAA,EAIrE,QAAQ,IACN,oDAAoDrB,EAAY,YAAY;AAAA,IAC5EC,CAAA,EAOF,MAAME,GAHS,MAAML,EAAK,IAAI,WAAW,mBACvCC,EAAW,UAAA,GAEY,cAAc,OAAS,oBAI1CM,EAAc,MAAMP,EAAK,IAAI,YAAY,0BAC7CqB,EACAnB,EAAY,YAAA,EAKRI,EAAuB,OAAO,QAAQC,EAAY,MAAQ,CAAA,CAAE,EAAE,IAClE,CAAC,CAACiB,EAAIC,CAAG,KAAO,CACd,GAAAD,EACA,cAAeC,EAAI,KACnB,SAAUA,EAAI,KAAK,SACnB,YAAaA,EAAI,KAAK,WAAA,EACxB,EAIIhB,EAAwBT,EAAK,0BACjC,gBAAgBC,EAAW,UAAU,kCAAA,EAIjCyB,EAAyB,MAAMjB,EAAsB,aAAA,EACrDD,GAAyBI,EAAAA,EAAAA,aAAac,EAAuB,IAAI,IAAxCd,YAAAA,EAC3B,OAEJ,GAAI,CAACJ,EACH,MAAM,IAAI,MACR,oDAAoDkB,EAAuB,IAAI,EAAA,EAInF,eAAQ,IACN,sDAAsDzB,EAAW,UAAU;AAAA,IAC3EO,CAAA,EAGK,IAAIT,EACTC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,EACAC,CAAA,CAEJ,CAsGA,IAAI,eAAgB,CAClB,OAAO,KAAK,YAAY,YAC1B,CAEA,IAAI,cAAe,CACjB,OAAO,KAAK,WAAW,UACzB,CAEA,IAAI,qBAAsB,CACxB,OAAO,KAAK,YAAY,kBAC1B,CAGA,IAAI,qBAAsB,CACxB,OAAQ,KAAK,gBAAkB,KAAK,GAAM,GAC5C,CAEA,IAAI,QAAS,CACX,OAAO,KAAK,mBAAmB,eAAe,IAAI,CAACkB,EAAGC,KAC7C,CACL,MAAOA,CAAA,EAEV,CACH,CAGA,IAAI,cAAe,CACjB,GAAI,KAAK,YAAY,gBAAkB,OAIvC,OAAO,KAAK,YAAY,cAAc,IAAKC,IAAc,CACvD,GAAG/B,EACH,GAAG+B,CAAA,EACH,CACJ,CAEA,IAAI,aAAc,CAChB,OAAO,KAAK,YAAY,YAC1B,CAGA,IAAI,kBAA6C,WAC/C,OAAK,KAAK,YAAY,SAIf,IACJC,EAAA,KAAK,YAAY,SAAS,WAA1B,YAAAA,EAAqC,KAAM,GAAK,OAChDC,EAAA,KAAK,YAAY,SAAS,WAA1B,YAAAA,EAAqC,KAAM,GAAK,OAChDC,EAAA,KAAK,YAAY,SAAS,WAA1B,YAAAA,EAAqC,KAAM,GAAK,GAAA,EAN1C,CAAC,EAAG,EAAG,CAAC,CAQnB,CAGA,IAAI,oBAAqB,iBACvB,MAAMC,EAAiB,IAAIC,EAAM,UAC/BH,GAAAD,EAAA,KAAK,YAAY,WAAjB,YAAAA,EAA2B,cAA3B,YAAAC,EAAyC,KAAM,IAC/CI,GAAAH,EAAA,KAAK,YAAY,WAAjB,YAAAA,EAA2B,cAA3B,YAAAG,EAAyC,KAAM,IAC/CC,GAAAC,EAAA,KAAK,YAAY,WAAjB,YAAAA,EAA2B,cAA3B,YAAAD,EAAyC,KAAM,CAAA,EAG3CE,EAAYL,EAAe,OAAA,EAC3BM,EAAON,EAAe,UAAA,EAE5B,OAAO,IAAIC,EAAM,WAAA,EAAa,iBAAiBK,EAAMD,CAAS,CAChE,CAMA,IAAI,eAAgB,CAMlB,MALuC,CACrC,oCACA,oCAAA,EAGiB,SAAS,KAAK,gBAAgB,YAAY,CAC/D,CAMA,IAAI,uBAAwB,CAM1B,MAL4C,CAC1C,sBACA,sBAAA,EAGsB,SAAS,KAAK,gBAAgB,YAAY,CACpE,CAKA,IAAI,yBAA0B,CAQ5B,MAP4C,CAC1C,sBACA,wBACA,2BACA,0BAAA,EAGwB,SAAS,KAAK,gBAAgB,cAAc,CACxE,CAMA,IAAI,YAAa,CACf,OACE,KAAK,uBACL,KAAK,yBACL,KAAK,kBAAoB,QAE7B,CAEA,MAAM,YAAa,CACjB,GAAI,KAAK,kBAAoB,SAAU,CACrC,QAAQ,MAAM,gDAAgD,EAC9D,MACF,CAEAzB,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,cACzB,CAAC,EAED,GAAI,CACF,MAAM,KAAK,KAAK,IAAI,WAAW,eAC7B,KAAK,aACL,2BAAA,EAGFA,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,UACzB,CAAC,CACH,OAAS2B,EAAK,CACZ3B,MAAAA,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,QACzB,CAAC,EACK2B,CACR,CACF,CAEA,MAAM,UAAW,CACf,GAAI,KAAK,kBAAoB,WAAY,CACvC,QAAQ,MAAM,4CAA4C,EAC1D,MACF,CAEA3B,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,YACzB,CAAC,EAED,GAAI,CACF,MAAM,KAAK,KAAK,IAAI,WAAW,eAC7B,KAAK,aACL,2BAAA,EAGFA,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,QACzB,CAAC,CACH,OAAS2B,EAAK,CACZ3B,MAAAA,EAAAA,YAAY,IAAM,CAChB,KAAK,gBAAkB,UACzB,CAAC,EACK2B,CACR,CACF,CAEA,kBAAmB,CACb,KAAK,kBAAoB,WAC3B,KAAK,SAAA,EACI,KAAK,kBAAoB,UAClC,KAAK,WAAA,CAET,CAEA,SAAU,CACR,KAAK,kBAAkB,MAAA,EACnB,KAAK,wBAAwB,KAAK,uBAAuB,MAAA,CAC/D,CAEA,mBAAmBC,EAAkB,CACnC,KAAK,gBAAkBA,CACzB,CACF"}

package/dist/lib/ConnectedMotionGroup.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"ConnectedMotionGroup.d.ts","sourceRoot":"","sources":["../../src/lib/ConnectedMotionGroup.ts"],"names":[],"mappings":"AAAA,OAAO,EAEL,KAAK,yBAAyB,EAC/B,MAAM,qBAAqB,CAAA;AAC5B,OAAO,KAAK,EAEV,sBAAsB,EACtB,gBAAgB,EAChB,UAAU,EAEV,oBAAoB,EAErB,MAAM,wBAAwB,CAAA;AAE/B,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAA;AAKvD,MAAM,MAAM,YAAY,GAAG;IACzB,EAAE,EAAE,MAAM,CAAA;IACV,aAAa,EAAE,MAAM,CAAA;IACrB,QAAQ,EAAE,aAAa,CAAA;IACvB,WAAW,EAAE,aAAa,CAAA;CAC3B,CAAA;AAED,MAAM,MAAM,iBAAiB,GAAG;IAC9B,WAAW,EAAE,MAAM,CAAA;CACpB,CAAA;AAUD;;;GAGG;AACH,qBAAa,oBAAoB;IA8H7B,QAAQ,CAAC,IAAI,EAAE,UAAU;IACzB,QAAQ,CAAC,UAAU,EAAE,oBAAoB;IACzC,QAAQ,CAAC,WAAW,EAAE,gBAAgB;IACtC,QAAQ,CAAC,kBAAkB,EAAE,gBAAgB;IAC7C,QAAQ,CAAC,iBAAiB,EAAE,yBAAyB;IACrD,QAAQ,CAAC,SAAS,EAAE,OAAO;IAC3B,QAAQ,CAAC,IAAI,EAAE,YAAY,EAAE;IAC7B,QAAQ,CAAC,WAAW,EAAE,sBAAsB;IAC5C,QAAQ,CAAC,sBAAsB,EAAE,oBAAoB;IACrD,QAAQ,CAAC,qBAAqB,EAAE,yBAAyB;WAtI9C,eAAe,CAAC,IAAI,EAAE,UAAU,EAAE,cAAc,EAAE,MAAM,EAAE;WAQ1D,OAAO,CAAC,IAAI,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM;IAgG5D,sBAAsB,EAAE,SAAS,GAAG,IAAI,CAAO;IAE/C,QAAQ,EAAE,GAAG,GAAG,IAAI,CAAA;IACpB,eAAe,EAAE,MAAM,CAAK;IAI5B,0BAA0B,EAAE,gBAAgB,CAAA;IAI5C,eAAe,EAAE,oBAAoB,CAAA;IAErC;;;OAGG;IACH,eAAe,EAAE,UAAU,GAAG,YAAY,GAAG,cAAc,GAAG,QAAQ,CAC1D;gBAGD,IAAI,EAAE,UAAU,EAChB,UAAU,EAAE,oBAAoB,EAChC,WAAW,EAAE,gBAAgB,EAC7B,kBAAkB,EAAE,gBAAgB,EACpC,iBAAiB,EAAE,yBAAyB,EAC5C,SAAS,EAAE,OAAO,EAClB,IAAI,EAAE,YAAY,EAAE,EACpB,WAAW,EAAE,sBAAsB,EACnC,sBAAsB,EAAE,oBAAoB,EAC5C,qBAAqB,EAAE,yBAAyB;IAsE3D,IAAI,aAAa,WAEhB;IAED,IAAI,YAAY,WAEf;IAED,IAAI,mBAAmB,WAEtB;IAED,kEAAkE;IAClE,IAAI,mBAAmB,WAEtB;IAED,IAAI,MAAM;;QAMT;IAGD,IAAI,YAAY;;;;;;;oBASf;IAED,IAAI,WAAW;;kBAEd;IAED,oEAAoE;IACpE,IAAI,gBAAgB,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAU/C;IAED,sEAAsE;IACtE,IAAI,kBAAkB,qBAWrB;IAED;;;OAGG;IACH,IAAI,aAAa,YAOhB;IAED;;;OAGG;IACH,IAAI,qBAAqB,YAOxB;IAED;;OAEG;IACH,IAAI,uBAAuB,YAS1B;IAED;;;OAGG;IACH,IAAI,UAAU,YAMb;IAEK,UAAU;IA2BV,QAAQ;IA2Bd,gBAAgB;IAQhB,OAAO;IAKP,kBAAkB,CAAC,QAAQ,EAAE,MAAM;CAGpC;AAED,eAAe,oBAAoB,CAAA"}

package/dist/lib/ConnectedMotionGroup.js

@@ -1,250 +0,0 @@
-import { tryParseJson as p } from "@wandelbots/nova-js";
-import { runInAction as a, makeAutoObservable as A } from "mobx";
-import * as T from "three";
-import { jointValuesEqual as w, tcpMotionEqual as R } from "./motionStateUpdate.js";
-const y = 1e-4, C = {
-  a: 0,
-  d: 0,
-  alpha: 0,
-  theta: 0,
-  reverse_rotation_direction: !1
-};
-class E {
-  constructor(t, o, s, n, i, r, l, g, c, u) {
-    this.nova = t, this.controller = o, this.motionGroup = s, this.initialMotionState = n, this.motionStateSocket = i, this.isVirtual = r, this.tcps = l, this.description = g, this.initialControllerState = c, this.controllerStateSocket = u, this.connectedJoggingSocket = null, this.joggingVelocity = 10, this.activationState = "inactive", this.rapidlyChangingMotionState = n, this.controllerState = c, u.addEventListener("message", (d) => {
-      var h;
-      const e = (h = p(d.data)) == null ? void 0 : h.result;
-      e && a(() => {
-        this.controllerState = e;
-      });
-    }), i.addEventListener("message", (d) => {
-      var h;
-      const e = (h = p(d.data)) == null ? void 0 : h.result;
-      if (!e)
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${d.data}`
-        );
-      w(
-        this.rapidlyChangingMotionState.joint_position,
-        e.joint_position,
-        y
-      ) || a(() => {
-        this.rapidlyChangingMotionState.joint_position = e.joint_position;
-      }), R(
-        this.rapidlyChangingMotionState,
-        e,
-        y
-      ) || a(() => {
-        this.rapidlyChangingMotionState.tcp_pose = e.tcp_pose;
-      }), this.rapidlyChangingMotionState.standstill !== e.standstill && a(() => {
-        this.rapidlyChangingMotionState.standstill = e.standstill;
-      });
-    }), A(this);
-  }
-  static async connectMultiple(t, o) {
-    return Promise.all(
-      o.map(
-        (s) => E.connect(t, s)
-      )
-    );
-  }
-  static async connect(t, o) {
-    var f, O;
-    const [s, n] = o.split("@"), i = await t.api.controller.getCurrentRobotControllerState(n), r = i == null ? void 0 : i.motion_groups.find(
-      (m) => m.motion_group === o
-    );
-    if (!i || !r)
-      throw new Error(
-        `Controller ${n} or motion group ${o} not found`
-      );
-    const l = t.openReconnectingWebsocket(
-      `/controllers/${n}/motion-groups/${o}/state-stream`
-    ), g = await l.firstMessage(), c = (f = p(g.data)) == null ? void 0 : f.result;
-    if (!c)
-      throw new Error(
-        `Unable to parse initial motion state message ${g.data}`
-      );
-    console.log(
-      `Connected motion state websocket to motion group ${r.motion_group}. Initial state:
-  `,
-      c
-    );
-    const d = (await t.api.controller.getRobotController(
-      i.controller
-    )).configuration.kind === "VirtualController", e = await t.api.motionGroup.getMotionGroupDescription(
-      n,
-      r.motion_group
-    ), h = Object.entries(e.tcps || {}).map(
-      ([m, _]) => ({
-        id: m,
-        readable_name: _.name,
-        position: _.pose.position,
-        orientation: _.pose.orientation
-      })
-    ), M = t.openReconnectingWebsocket(
-      `/controllers/${i.controller}/state-stream?response_rate=1000`
-    ), v = await M.firstMessage(), S = (O = p(v.data)) == null ? void 0 : O.result;
-    if (!S)
-      throw new Error(
-        `Unable to parse initial controller state message ${v.data}`
-      );
-    return console.log(
-      `Connected controller state websocket to controller ${i.controller}. Initial state:
-  `,
-      S
-    ), new E(
-      t,
-      i,
-      r,
-      c,
-      l,
-      d,
-      h,
-      e,
-      S,
-      M
-    );
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get modelFromController() {
-    return this.description.motion_group_model;
-  }
-  /** Jogging velocity in radians for rotation and joint movement */
-  get joggingVelocityRads() {
-    return this.joggingVelocity * Math.PI / 180;
-  }
-  get joints() {
-    return this.initialMotionState.joint_position.map((t, o) => ({
-      index: o
-    }));
-  }
-  // Please note that API v2 omits 0 values
-  get dhParameters() {
-    if (this.description.dh_parameters !== void 0)
-      return this.description.dh_parameters.map((t) => ({
-        ...C,
-        ...t
-      }));
-  }
-  get safetyZones() {
-    return this.description.safety_zones;
-  }
-  /** Gets the robot mounting position offset in 3D viz coordinates */
-  get mountingPosition() {
-    var t, o, s;
-    return this.description.mounting ? [
-      (((t = this.description.mounting.position) == null ? void 0 : t[0]) || 0) / 1e3,
-      (((o = this.description.mounting.position) == null ? void 0 : o[1]) || 0) / 1e3,
-      (((s = this.description.mounting.position) == null ? void 0 : s[2]) || 0) / 1e3
-    ] : [0, 0, 0];
-  }
-  /** Gets the robot mounting position rotation in 3D viz coordinates */
-  get mountingQuaternion() {
-    var n, i, r, l, g, c;
-    const t = new T.Vector3(
-      ((i = (n = this.description.mounting) == null ? void 0 : n.orientation) == null ? void 0 : i[0]) || 0,
-      ((l = (r = this.description.mounting) == null ? void 0 : r.orientation) == null ? void 0 : l[1]) || 0,
-      ((c = (g = this.description.mounting) == null ? void 0 : g.orientation) == null ? void 0 : c[2]) || 0
-    ), o = t.length(), s = t.normalize();
-    return new T.Quaternion().setFromAxisAngle(s, o);
-  }
-  /**
-   * Whether the controller is currently in a safety state
-   * corresponding to an emergency stop
-   */
-  get isEstopActive() {
-    return [
-      "SAFETY_STATE_ROBOT_EMERGENCY_STOP",
-      "SAFETY_STATE_DEVICE_EMERGENCY_STOP"
-    ].includes(this.controllerState.safety_state);
-  }
-  /**
-   * Whether the controller is in a safety state
-   * that may be non-functional for robot pad purposes
-   */
-  get isMoveableSafetyState() {
-    return [
-      "SAFETY_STATE_NORMAL",
-      "SAFETY_STATE_REDUCED"
-    ].includes(this.controllerState.safety_state);
-  }
-  /**
-   * Whether the controller is in an operation mode that allows movement
-   */
-  get isMoveableOperationMode() {
-    return [
-      "OPERATION_MODE_AUTO",
-      "OPERATION_MODE_MANUAL",
-      "OPERATION_MODE_MANUAL_T1",
-      "OPERATION_MODE_MANUAL_T2"
-    ].includes(this.controllerState.operation_mode);
-  }
-  /**
-   * Whether the robot is currently active and can be moved, based on the
-   * safety state, operation mode and servo toggle activation state.
-   */
-  get canBeMoved() {
-    return this.isMoveableSafetyState && this.isMoveableOperationMode && this.activationState === "active";
-  }
-  async deactivate() {
-    if (this.activationState !== "active") {
-      console.error("Tried to deactivate while already deactivating");
-      return;
-    }
-    a(() => {
-      this.activationState = "deactivating";
-    });
-    try {
-      await this.nova.api.controller.setDefaultMode(
-        this.controllerId,
-        "ROBOT_SYSTEM_MODE_MONITOR"
-      ), a(() => {
-        this.activationState = "inactive";
-      });
-    } catch (t) {
-      throw a(() => {
-        this.activationState = "active";
-      }), t;
-    }
-  }
-  async activate() {
-    if (this.activationState !== "inactive") {
-      console.error("Tried to activate while already activating");
-      return;
-    }
-    a(() => {
-      this.activationState = "activating";
-    });
-    try {
-      await this.nova.api.controller.setDefaultMode(
-        this.controllerId,
-        "ROBOT_SYSTEM_MODE_CONTROL"
-      ), a(() => {
-        this.activationState = "active";
-      });
-    } catch (t) {
-      throw a(() => {
-        this.activationState = "inactive";
-      }), t;
-    }
-  }
-  toggleActivation() {
-    this.activationState === "inactive" ? this.activate() : this.activationState === "active" && this.deactivate();
-  }
-  dispose() {
-    this.motionStateSocket.close(), this.connectedJoggingSocket && this.connectedJoggingSocket.close();
-  }
-  setJoggingVelocity(t) {
-    this.joggingVelocity = t;
-  }
-}
-export {
-  E as ConnectedMotionGroup,
-  E as default
-};
-//# sourceMappingURL=ConnectedMotionGroup.js.map

package/dist/lib/ConnectedMotionGroup.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"ConnectedMotionGroup.js","sources":["../../src/lib/ConnectedMotionGroup.ts"],"sourcesContent":["import {\n  tryParseJson,\n  type AutoReconnectingWebsocket,\n} from \"@wandelbots/nova-js\"\nimport type {\n  DHParameter,\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  OperationMode,\n  RobotControllerState,\n  SafetyStateType,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport { jointValuesEqual, tcpMotionEqual } from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type RobotTcpLike = {\n  id: string\n  readable_name: string\n  position: Vector3Simple\n  orientation: Vector3Simple\n}\n\nexport type MotionGroupOption = {\n  selectionId: string\n}\n\nconst EMPTY_DH_PARAMETER: DHParameter = {\n  a: 0,\n  d: 0,\n  alpha: 0,\n  theta: 0,\n  reverse_rotation_direction: false,\n}\n\n/**\n * Store representing the current state of a connected motion group.\n * API v2 version, not used yet in the components.\n */\nexport class ConnectedMotionGroup {\n  static async connectMultiple(nova: NovaClient, motionGroupIds: string[]) {\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(nova, motionGroupId),\n      ),\n    )\n  }\n\n  static async connect(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Check if robot is virtual or physical\n    const config = await nova.api.controller.getRobotController(\n      controller.controller,\n    )\n    const isVirtual = config.configuration.kind === \"VirtualController\"\n\n    // If there's a configured mounting, we need it to show the right\n    // position of the robot model\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    // There are converted into a RobotTcpLike for easier use in the UI\n    const tcps: RobotTcpLike[] = Object.entries(description.tcps || {}).map(\n      ([id, tcp]) => ({\n        id,\n        readable_name: tcp.name,\n        position: tcp.pose.position as Vector3Simple,\n        orientation: tcp.pose.orientation as Vector3Simple,\n      }),\n    )\n\n    // Open the websocket to monitor controller state for e.g. e-stop\n    const controllerStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controller.controller}/state-stream?response_rate=1000`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstControllerMessage = await controllerStateSocket.firstMessage()\n    const initialControllerState = tryParseJson(firstControllerMessage.data)\n      ?.result as RobotControllerState\n\n    if (!initialControllerState) {\n      throw new Error(\n        `Unable to parse initial controller state message ${firstControllerMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected controller state websocket to controller ${controller.controller}. Initial state:\\n  `,\n      initialControllerState,\n    )\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      tcps,\n      description,\n      initialControllerState,\n      controllerStateSocket,\n    )\n  }\n\n  connectedJoggingSocket: WebSocket | null = null\n  // biome-ignore lint/suspicious/noExplicitAny: legacy code\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  // Response rate on the websocket should be a bit slower on this one since\n  // we don't use the motion data\n  controllerState: RobotControllerState\n\n  /**\n   * Reflects activation state of the motion group / robot servos. The\n   * movement controls in the UI should only be enabled in the \"active\" state\n   */\n  activationState: \"inactive\" | \"activating\" | \"deactivating\" | \"active\" =\n    \"inactive\"\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcpLike[],\n    readonly description: MotionGroupDescription,\n    readonly initialControllerState: RobotControllerState,\n    readonly controllerStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n    this.controllerState = initialControllerState\n\n    // Track controller state updates (e.g. safety state and operation mode)\n    controllerStateSocket.addEventListener(\"message\", (event) => {\n      const data = tryParseJson(event.data)?.result\n\n      if (!data) {\n        return\n      }\n\n      runInAction(() => {\n        this.controllerState = data\n      })\n    })\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.joint_position =\n            latestMotionState.joint_position\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose = latestMotionState.tcp_pose\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.description.motion_group_model\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  // Please note that API v2 omits 0 values\n  get dhParameters() {\n    if (this.description.dh_parameters === undefined) {\n      return undefined\n    }\n\n    return this.description.dh_parameters.map((dh_param) => ({\n      ...EMPTY_DH_PARAMETER,\n      ...dh_param,\n    }))\n  }\n\n  get safetyZones() {\n    return this.description.safety_zones\n  }\n\n  /** Gets the robot mounting position offset in 3D viz coordinates */\n  get mountingPosition(): [number, number, number] {\n    if (!this.description.mounting) {\n      return [0, 0, 0]\n    }\n\n    return [\n      (this.description.mounting.position?.[0] || 0) / 1000,\n      (this.description.mounting.position?.[1] || 0) / 1000,\n      (this.description.mounting.position?.[2] || 0) / 1000,\n    ]\n  }\n\n  /** Gets the robot mounting position rotation in 3D viz coordinates */\n  get mountingQuaternion() {\n    const rotationVector = new THREE.Vector3(\n      this.description.mounting?.orientation?.[0] || 0,\n      this.description.mounting?.orientation?.[1] || 0,\n      this.description.mounting?.orientation?.[2] || 0,\n    )\n\n    const magnitude = rotationVector.length()\n    const axis = rotationVector.normalize()\n\n    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)\n  }\n\n  /**\n   * Whether the controller is currently in a safety state\n   * corresponding to an emergency stop\n   */\n  get isEstopActive() {\n    const estopStates: SafetyStateType[] = [\n      \"SAFETY_STATE_ROBOT_EMERGENCY_STOP\",\n      \"SAFETY_STATE_DEVICE_EMERGENCY_STOP\",\n    ]\n\n    return estopStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in a safety state\n   * that may be non-functional for robot pad purposes\n   */\n  get isMoveableSafetyState() {\n    const goodSafetyStates: SafetyStateType[] = [\n      \"SAFETY_STATE_NORMAL\",\n      \"SAFETY_STATE_REDUCED\",\n    ]\n\n    return goodSafetyStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in an operation mode that allows movement\n   */\n  get isMoveableOperationMode() {\n    const goodOperationModes: OperationMode[] = [\n      \"OPERATION_MODE_AUTO\",\n      \"OPERATION_MODE_MANUAL\",\n      \"OPERATION_MODE_MANUAL_T1\",\n      \"OPERATION_MODE_MANUAL_T2\",\n    ]\n\n    return goodOperationModes.includes(this.controllerState.operation_mode)\n  }\n\n  /**\n   * Whether the robot is currently active and can be moved, based on the\n   * safety state, operation mode and servo toggle activation state.\n   */\n  get canBeMoved() {\n    return (\n      this.isMoveableSafetyState &&\n      this.isMoveableOperationMode &&\n      this.activationState === \"active\"\n    )\n  }\n\n  async deactivate() {\n    if (this.activationState !== \"active\") {\n      console.error(\"Tried to deactivate while already deactivating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"deactivating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_MONITOR\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n      throw err\n    }\n  }\n\n  async activate() {\n    if (this.activationState !== \"inactive\") {\n      console.error(\"Tried to activate while already activating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"activating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_CONTROL\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n      throw err\n    }\n  }\n\n  toggleActivation() {\n    if (this.activationState === \"inactive\") {\n      this.activate()\n    } else if (this.activationState === \"active\") {\n      this.deactivate()\n    }\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingSocket) this.connectedJoggingSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n\nexport default ConnectedMotionGroup\n"],"names":["MOTION_DELTA_THRESHOLD","EMPTY_DH_PARAMETER","ConnectedMotionGroup","nova","controller","motionGroup","initialMotionState","motionStateSocket","isVirtual","tcps","description","initialControllerState","controllerStateSocket","event","data","_a","tryParseJson","runInAction","latestMotionState","jointValuesEqual","tcpMotionEqual","makeAutoObservable","motionGroupIds","motionGroupId","_motionGroupIndex","controllerId","mg","firstMessage","id","tcp","firstControllerMessage","_b","_","i","dh_param","_c","rotationVector","THREE","_d","_f","_e","magnitude","axis","err","velocity"],"mappings":";;;;AAkBA,MAAMA,IAAyB,MAazBC,IAAkC;AAAA,EACtC,GAAG;AAAA,EACH,GAAG;AAAA,EACH,OAAO;AAAA,EACP,OAAO;AAAA,EACP,4BAA4B;AAC9B;AAMO,MAAMC,EAAqB;AAAA,EA6HhC,YACWC,GACAC,GACAC,GACAC,GACAC,GACAC,GACAC,GACAC,GACAC,GACAC,GACT;AAVS,SAAA,OAAAT,GACA,KAAA,aAAAC,GACA,KAAA,cAAAC,GACA,KAAA,qBAAAC,GACA,KAAA,oBAAAC,GACA,KAAA,YAAAC,GACA,KAAA,OAAAC,GACA,KAAA,cAAAC,GACA,KAAA,yBAAAC,GACA,KAAA,wBAAAC,GA9BX,KAAA,yBAA2C,MAG3C,KAAA,kBAA0B,IAc1B,KAAA,kBACE,YAcA,KAAK,6BAA6BN,GAClC,KAAK,kBAAkBK,GAGvBC,EAAsB,iBAAiB,WAAW,CAACC,MAAU;;AAC3D,YAAMC,KAAOC,IAAAC,EAAaH,EAAM,IAAI,MAAvB,gBAAAE,EAA0B;AAEvC,MAAKD,KAILG,EAAY,MAAM;AAChB,aAAK,kBAAkBH;AAAA,MACzB,CAAC;AAAA,IACH,CAAC,GAEDP,EAAkB,iBAAiB,WAAW,CAACM,MAAU;;AACvD,YAAMK,KAAoBH,IAAAC,EAAaH,EAAM,IAAI,MAAvB,gBAAAE,EAA0B;AAIpD,UAAI,CAACG;AACH,cAAM,IAAI;AAAA,UACR,kCAAkC,KAAK,aAAa,KAAKL,EAAM,IAAI;AAAA,QAAA;AAKvE,MACGM;AAAA,QACC,KAAK,2BAA2B;AAAA,QAChCD,EAAkB;AAAA,QAClBlB;AAAA,MAAA,KAGFiB,EAAY,MAAM;AAChB,aAAK,2BAA2B,iBAC9BC,EAAkB;AAAA,MACtB,CAAC,GAKAE;AAAA,QACC,KAAK;AAAA,QACLF;AAAA,QACAlB;AAAA,MAAA,KAGFiB,EAAY,MAAM;AAChB,aAAK,2BAA2B,WAAWC,EAAkB;AAAA,MAC/D,CAAC,GAKD,KAAK,2BAA2B,eAChCA,EAAkB,cAElBD,EAAY,MAAM;AAChB,aAAK,2BAA2B,aAC9BC,EAAkB;AAAA,MACtB,CAAC;AAAA,IAEL,CAAC,GACDG,EAAmB,IAAI;AAAA,EACzB;AAAA,EA1MA,aAAa,gBAAgBlB,GAAkBmB,GAA0B;AACvE,WAAO,QAAQ;AAAA,MACbA,EAAe;AAAA,QAAI,CAACC,MAClBrB,EAAqB,QAAQC,GAAMoB,CAAa;AAAA,MAAA;AAAA,IAClD;AAAA,EAEJ;AAAA,EAEA,aAAa,QAAQpB,GAAkBoB,GAAuB;;AAC5D,UAAM,CAACC,GAAmBC,CAAY,IAAIF,EAAc,MAAM,GAAG,GAK3DnB,IACJ,MAAMD,EAAK,IAAI,WAAW,+BAA+BsB,CAAY,GACjEpB,IAAcD,KAAA,gBAAAA,EAAY,cAAc;AAAA,MAC5C,CAACsB,MAAOA,EAAG,iBAAiBH;AAAA;AAE9B,QAAI,CAACnB,KAAc,CAACC;AAClB,YAAM,IAAI;AAAA,QACR,cAAcoB,CAAY,oBAAoBF,CAAa;AAAA,MAAA;AAI/D,UAAMhB,IAAoBJ,EAAK;AAAA,MAC7B,gBAAgBsB,CAAY,kBAAkBF,CAAa;AAAA,IAAA,GAIvDI,IAAe,MAAMpB,EAAkB,aAAA,GACvCD,KAAqBS,IAAAC,EAAaW,EAAa,IAAI,MAA9B,gBAAAZ,EACvB;AAEJ,QAAI,CAACT;AACH,YAAM,IAAI;AAAA,QACR,gDAAgDqB,EAAa,IAAI;AAAA,MAAA;AAIrE,YAAQ;AAAA,MACN,oDAAoDtB,EAAY,YAAY;AAAA;AAAA,MAC5EC;AAAA,IAAA;AAOF,UAAME,KAHS,MAAML,EAAK,IAAI,WAAW;AAAA,MACvCC,EAAW;AAAA,IAAA,GAEY,cAAc,SAAS,qBAI1CM,IAAc,MAAMP,EAAK,IAAI,YAAY;AAAA,MAC7CsB;AAAA,MACApB,EAAY;AAAA,IAAA,GAKRI,IAAuB,OAAO,QAAQC,EAAY,QAAQ,CAAA,CAAE,EAAE;AAAA,MAClE,CAAC,CAACkB,GAAIC,CAAG,OAAO;AAAA,QACd,IAAAD;AAAA,QACA,eAAeC,EAAI;AAAA,QACnB,UAAUA,EAAI,KAAK;AAAA,QACnB,aAAaA,EAAI,KAAK;AAAA,MAAA;AAAA,IACxB,GAIIjB,IAAwBT,EAAK;AAAA,MACjC,gBAAgBC,EAAW,UAAU;AAAA,IAAA,GAIjC0B,IAAyB,MAAMlB,EAAsB,aAAA,GACrDD,KAAyBoB,IAAAf,EAAac,EAAuB,IAAI,MAAxC,gBAAAC,EAC3B;AAEJ,QAAI,CAACpB;AACH,YAAM,IAAI;AAAA,QACR,oDAAoDmB,EAAuB,IAAI;AAAA,MAAA;AAInF,mBAAQ;AAAA,MACN,sDAAsD1B,EAAW,UAAU;AAAA;AAAA,MAC3EO;AAAA,IAAA,GAGK,IAAIT;AAAA,MACTC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,IAAA;AAAA,EAEJ;AAAA,EAsGA,IAAI,gBAAgB;AAClB,WAAO,KAAK,YAAY;AAAA,EAC1B;AAAA,EAEA,IAAI,eAAe;AACjB,WAAO,KAAK,WAAW;AAAA,EACzB;AAAA,EAEA,IAAI,sBAAsB;AACxB,WAAO,KAAK,YAAY;AAAA,EAC1B;AAAA;AAAA,EAGA,IAAI,sBAAsB;AACxB,WAAQ,KAAK,kBAAkB,KAAK,KAAM;AAAA,EAC5C;AAAA,EAEA,IAAI,SAAS;AACX,WAAO,KAAK,mBAAmB,eAAe,IAAI,CAACoB,GAAGC,OAC7C;AAAA,MACL,OAAOA;AAAA,IAAA,EAEV;AAAA,EACH;AAAA;AAAA,EAGA,IAAI,eAAe;AACjB,QAAI,KAAK,YAAY,kBAAkB;AAIvC,aAAO,KAAK,YAAY,cAAc,IAAI,CAACC,OAAc;AAAA,QACvD,GAAGjC;AAAA,QACH,GAAGiC;AAAA,MAAA,EACH;AAAA,EACJ;AAAA,EAEA,IAAI,cAAc;AAChB,WAAO,KAAK,YAAY;AAAA,EAC1B;AAAA;AAAA,EAGA,IAAI,mBAA6C;;AAC/C,WAAK,KAAK,YAAY,WAIf;AAAA,SACJnB,IAAA,KAAK,YAAY,SAAS,aAA1B,gBAAAA,EAAqC,OAAM,KAAK;AAAA,SAChDgB,IAAA,KAAK,YAAY,SAAS,aAA1B,gBAAAA,EAAqC,OAAM,KAAK;AAAA,SAChDI,IAAA,KAAK,YAAY,SAAS,aAA1B,gBAAAA,EAAqC,OAAM,KAAK;AAAA,IAAA,IAN1C,CAAC,GAAG,GAAG,CAAC;AAAA,EAQnB;AAAA;AAAA,EAGA,IAAI,qBAAqB;;AACvB,UAAMC,IAAiB,IAAIC,EAAM;AAAA,QAC/BN,KAAAhB,IAAA,KAAK,YAAY,aAAjB,gBAAAA,EAA2B,gBAA3B,gBAAAgB,EAAyC,OAAM;AAAA,QAC/CO,KAAAH,IAAA,KAAK,YAAY,aAAjB,gBAAAA,EAA2B,gBAA3B,gBAAAG,EAAyC,OAAM;AAAA,QAC/CC,KAAAC,IAAA,KAAK,YAAY,aAAjB,gBAAAA,EAA2B,gBAA3B,gBAAAD,EAAyC,OAAM;AAAA,IAAA,GAG3CE,IAAYL,EAAe,OAAA,GAC3BM,IAAON,EAAe,UAAA;AAE5B,WAAO,IAAIC,EAAM,WAAA,EAAa,iBAAiBK,GAAMD,CAAS;AAAA,EAChE;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,IAAI,gBAAgB;AAMlB,WALuC;AAAA,MACrC;AAAA,MACA;AAAA,IAAA,EAGiB,SAAS,KAAK,gBAAgB,YAAY;AAAA,EAC/D;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,IAAI,wBAAwB;AAM1B,WAL4C;AAAA,MAC1C;AAAA,MACA;AAAA,IAAA,EAGsB,SAAS,KAAK,gBAAgB,YAAY;AAAA,EACpE;AAAA;AAAA;AAAA;AAAA,EAKA,IAAI,0BAA0B;AAQ5B,WAP4C;AAAA,MAC1C;AAAA,MACA;AAAA,MACA;AAAA,MACA;AAAA,IAAA,EAGwB,SAAS,KAAK,gBAAgB,cAAc;AAAA,EACxE;AAAA;AAAA;AAAA;AAAA;AAAA,EAMA,IAAI,aAAa;AACf,WACE,KAAK,yBACL,KAAK,2BACL,KAAK,oBAAoB;AAAA,EAE7B;AAAA,EAEA,MAAM,aAAa;AACjB,QAAI,KAAK,oBAAoB,UAAU;AACrC,cAAQ,MAAM,gDAAgD;AAC9D;AAAA,IACF;AAEA,IAAAxB,EAAY,MAAM;AAChB,WAAK,kBAAkB;AAAA,IACzB,CAAC;AAED,QAAI;AACF,YAAM,KAAK,KAAK,IAAI,WAAW;AAAA,QAC7B,KAAK;AAAA,QACL;AAAA,MAAA,GAGFA,EAAY,MAAM;AAChB,aAAK,kBAAkB;AAAA,MACzB,CAAC;AAAA,IACH,SAAS0B,GAAK;AACZ,YAAA1B,EAAY,MAAM;AAChB,aAAK,kBAAkB;AAAA,MACzB,CAAC,GACK0B;AAAA,IACR;AAAA,EACF;AAAA,EAEA,MAAM,WAAW;AACf,QAAI,KAAK,oBAAoB,YAAY;AACvC,cAAQ,MAAM,4CAA4C;AAC1D;AAAA,IACF;AAEA,IAAA1B,EAAY,MAAM;AAChB,WAAK,kBAAkB;AAAA,IACzB,CAAC;AAED,QAAI;AACF,YAAM,KAAK,KAAK,IAAI,WAAW;AAAA,QAC7B,KAAK;AAAA,QACL;AAAA,MAAA,GAGFA,EAAY,MAAM;AAChB,aAAK,kBAAkB;AAAA,MACzB,CAAC;AAAA,IACH,SAAS0B,GAAK;AACZ,YAAA1B,EAAY,MAAM;AAChB,aAAK,kBAAkB;AAAA,MACzB,CAAC,GACK0B;AAAA,IACR;AAAA,EACF;AAAA,EAEA,mBAAmB;AACjB,IAAI,KAAK,oBAAoB,aAC3B,KAAK,SAAA,IACI,KAAK,oBAAoB,YAClC,KAAK,WAAA;AAAA,EAET;AAAA,EAEA,UAAU;AACR,SAAK,kBAAkB,MAAA,GACnB,KAAK,0BAAwB,KAAK,uBAAuB,MAAA;AAAA,EAC/D;AAAA,EAEA,mBAAmBC,GAAkB;AACnC,SAAK,kBAAkBA;AAAA,EACzB;AACF;"}

package/dist/lib/JoggerConnection.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const l=require("@wandelbots/nova-js"),w=require("@wandelbots/nova-js/v2"),_=require("mobx"),E=require("three/src/math/Vector3.js"),F=require("./MotionStreamConnection.cjs"),k="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class y{constructor(t,e={}){this.motionStream=t,this.options=e,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=(e==null?void 0:e.tcp)||t.motionGroup.tcp||this.getDefaultTcp(t),this.orientation=(e==null?void 0:e.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(e==null?void 0:e.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(e==null?void 0:e.mode)||this.DEFAULT_MODE,this.onError=e==null?void 0:e.onError}static async open(t,e,r={}){const s=await F.MotionStreamConnection.open(t,e),i=new y(s,r);return await i.setJoggingMode(i.mode),i}getDefaultTcp(t){var r,s;const e=(s=(r=t.description.dh_parameters)==null?void 0:r[0])==null?void 0:s.type;return t.joints.length<6&&(e===w.JointTypeEnum.RevoluteJoint||e===w.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(e=>e!==null);return t.forEach(e=>{e.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(e=>e.closed()))}async setJoggingMode(t,e=!0){if(!(this.mode===t&&e)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,e)=>{const r=setTimeout(()=>{e(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",s=>{var c,h,a,d;const i=l.tryParseJson(s.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(r),t();return}if(((h=i==null?void 0:i.result)==null?void 0:h.kind)==="MOTION_ERROR")if(clearTimeout(r),this.onBlocked&&((a=i==null?void 0:i.result)!=null&&a.message.includes(k))){(d=this.joggingSocket)==null||d.dispose(),this.onBlocked();return}else this.onError?this.onError(s.data):e(new Error(s.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:t,direction:e,velocityValue:r,velocityUnit:s}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[t]=e==="-"?-r:r,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:t,direction:e,velocityMmPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const s=[0,0,0],i=[0,0,0];i[l.XYZ_TO_VECTOR[t]]=e==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:s,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:e,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const s=[0,0,0],i=[0,0,0];s[l.XYZ_TO_VECTOR[t]]=e==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:s})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:e,velocityInRelevantUnits:r,axis:s,direction:i,motion:c}){const h=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(c.type==="translate"){if(!t.position)throw new Error("Current pose has no position, cannot perform translation");const o=[...t.position];o[l.XYZ_TO_VECTOR[s]]+=c.distanceMm*(i==="-"?-1:1),h.push({limits_override:{tcp_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:o,orientation:t.orientation}}})}else if(c.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const o=new E.Vector3(t.orientation[0],t.orientation[1],t.orientation[2]),n=o.length(),m=o.clone().normalize(),g=c.distanceRads*(i==="-"?-1:1),u=new E.Vector3(0,0,0);u[s]=1;const J=Math.cos(.5*g)*Math.cos(.5*n),T=Math.sin(.5*g)*Math.sin(.5*n),M=Math.sin(.5*g)*Math.cos(.5*n),C=Math.cos(.5*g)*Math.sin(.5*n),D=u.dot(m),N=u.clone().cross(m),p=2*Math.acos(J-T*D),v=p/Math.sin(.5*p),A=new E.Vector3().addScaledVector(N,T).addScaledVector(u,M).addScaledVector(m,C).multiplyScalar(v);h.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...A]}}})}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 d={motion_group_model:a.motion_group_model,cycle_time:a.cycle_time,mounting:a.mounting,global:a.operation_limits.auto_limits},j=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:d,start_joint_position:e,motion_commands:h}),f=j.response;if(!f)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(j)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const S=o=>{var n;if(!o||o.add_trajectory_error||o.message)if(this.onError)this.onError(o);else throw new Error(((n=o==null?void 0:o.add_trajectory_error)==null?void 0:n.message)||(o==null?void 0:o.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"})},R=async()=>{var o;await _.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await _.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(o=this.trajectorySocket)==null||o.dispose(),this.trajectorySocket=null},I=async()=>{var o;await _.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(o=this.trajectorySocket)==null||o.dispose(),this.trajectorySocket=null},O=async o=>{if(o!=null&&o.message)if(this.onError){this.onError(o);return}else throw new Error(o.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await R():await I()};this.trajectorySocket.addEventListener("message",o=>{var m,g;const n=l.tryParseJson(o.data);if(!((m=n==null?void 0:n.result)!=null&&m.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${o.data}`);if(this.onBlocked&&((g=n.result.message)!=null&&g.includes(k))){this.onBlocked();return}if(n.result.kind==="INITIALIZE_RECEIVED")S(n.result);else if(n.result.kind==="START_RECEIVED")O(n);else if(n.result.kind!=="PAUSE_RECEIVED")if(n.result.kind==="MOTION_ERROR"&&n.result.message)if(this.onError){this.onError(n);return}else throw new Error(n.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${n.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:f,tcp:this.tcp}})}}exports.JoggerConnection=y;exports.default=y;
-//# sourceMappingURL=JoggerConnection.cjs.map

package/dist/lib/JoggerConnection.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"JoggerConnection.cjs","sources":["../../src/lib/JoggerConnection.ts"],"sourcesContent":["import {\n  type AutoReconnectingWebsocket,\n  tryParseJson,\n  XYZ_TO_VECTOR,\n} from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type InitializeMovementResponse,\n  type MotionCommand,\n  type NovaClient,\n  type Pose,\n  type StartMovementResponse,\n} from \"@wandelbots/nova-js/v2\"\nimport { when } from \"mobx\"\nimport { Vector3 } from \"three/src/math/Vector3.js\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection\"\n\nexport type Vector3Simple = [number, number, number]\n\nconst API_ERROR_CONNECTION_BLOCKED = `Movement request rejected. Another client is currently executing a 'Jogging' motion!`\n\nexport type JoggerConnectionOptions = {\n  // The mode of the jogger connection - see type description of JoggerMode for details\n  mode?: JoggerMode\n\n  // Connection timeout in milliseconds to wait for jogging initialization to complete\n  timeout?: number\n\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n\n  // The TCP to use for jogging motions.\n  tcp?: string\n\n  // The coordinate system in which jogging takes place in\n  // coordinateSystem?: string,\n\n  // If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option\n  orientation?: JoggerOrientation\n}\n\n// Three modes are supported:\n// - \"jogging\": Continuous jogging mode, where joint velocities or TCP velocities can be commanded. Opens a single websocket connection to jogging endpoint\n// - \"trajectory\": Incremental jogging mode, where fixed distance motions are planned and executed. Opens a short lived websocket for each motion.\n// - \"off\": No jogging, all websockets are closed.\nexport type JoggerMode = \"jogging\" | \"trajectory\" | \"off\"\n\n// If set to \"tool\", will use `use_tool_coordinate_system` option in movement requests\nexport type JoggerOrientation = \"coordsys\" | \"tool\"\n\nexport class JoggerConnection {\n  ENDPOINT_JOGGING = \"/execution/jogging\"\n  ENDPOINT_TRAJECTORY = \"/execution/trajectory\"\n  DEFAULT_MODE = \"off\" as JoggerMode\n  DEFAULT_TCP: string | undefined = \"Flange\"\n  NO_TCP: string | undefined = undefined\n  // DEFAULT_COORDINATE_SYSTEM = \"world\"\n  DEFAULT_INIT_TIMEOUT = 5000\n  DEFAULT_ORIENTATION = \"coordsys\" as JoggerOrientation\n\n  mode: JoggerMode = \"off\"\n  joggingSocket: AutoReconnectingWebsocket | null = null\n  trajectorySocket: AutoReconnectingWebsocket | null = null\n  timeout: number = this.DEFAULT_INIT_TIMEOUT\n  tcp: string | undefined\n  // coordinateSystem?: string\n  orientation: JoggerOrientation\n  onError?: (err: unknown) => void\n  onBlocked?: () => void\n\n  /**\n   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.\n   *\n   * @param nova - The Nova client instance\n   * @param motionGroupId - The ID of the motion group to connect to\n   * @param options - Configuration options for the jogger connection\n   * @param options.mode - The jogging mode to initialize:\n   *   - \"jogging\": Continuous jogging mode with persistent websocket for real-time velocity commands\n   *   - \"trajectory\": Incremental jogging mode for fixed-distance motions via trajectory planning\n   *   - \"off\": No jogging enabled, all websockets closed (default)\n   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)\n   * @param options.tcp - TCP frame to use for motions (default: from motion group)\n   * //param options.coordinateSystem - Coordinate system for jogging commands (default: \"world\"). Please note: Currently not implemented\n   * @param options.orientation - If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: \"coordsys\")\n   * @param options.onError - Error handler for websocket errors\n   * @returns Promise resolving to initialized JoggerConnection instance\n   */\n  static async open(\n    nova: NovaClient,\n    motionGroupId: string,\n    options: JoggerConnectionOptions = {},\n  ) {\n    // Get matching motion stream\n    const motionStream = await MotionStreamConnection.open(nova, motionGroupId)\n\n    // Initialize jogger with options\n    const jogger = new JoggerConnection(motionStream, options)\n\n    // Initialize the jogging websocket, if necessary (mode is \"jogging\")\n    await jogger.setJoggingMode(jogger.mode)\n\n    // Return the initialized jogger\n    return jogger\n  }\n\n  constructor(\n    readonly motionStream: MotionStreamConnection,\n    readonly options: JoggerConnectionOptions | undefined = {},\n  ) {\n    this.tcp =\n      options?.tcp ||\n      motionStream.motionGroup.tcp ||\n      this.getDefaultTcp(motionStream)\n    // this.coordinateSystem = options?.coordinateSystem || this.DEFAULT_COORDINATE_SYSTEM\n    this.orientation = options?.orientation || this.DEFAULT_ORIENTATION\n    this.timeout = options?.timeout || this.DEFAULT_INIT_TIMEOUT\n    this.mode = options?.mode || this.DEFAULT_MODE\n    this.onError = options?.onError\n  }\n\n  getDefaultTcp(motionStream: MotionStreamConnection) {\n    const firstJointType = motionStream.description.dh_parameters?.[0]?.type\n    if (\n      motionStream.joints.length < 6 &&\n      (firstJointType === JointTypeEnum.RevoluteJoint ||\n        firstJointType === JointTypeEnum.PrismaticJoint)\n    ) {\n      return this.NO_TCP\n    }\n    return this.DEFAULT_TCP\n  }\n\n  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket\n  async setOptions(options: Partial<JoggerConnectionOptions>) {\n    if (options.tcp) {\n      this.tcp = options.tcp\n    }\n\n    if (options.orientation) {\n      this.orientation = options.orientation\n    }\n\n    // if (options.coordinateSystem) {\n    //   this.coordinateSystem = options.coordinateSystem\n    // }\n\n    if (options.timeout) {\n      this.timeout = options.timeout\n    }\n\n    if (options.mode) {\n      this.mode = options.mode\n    }\n\n    if (options.onError) {\n      this.onError = options.onError\n    }\n\n    this.setJoggingMode(this.mode, false)\n  }\n\n  get motionGroupId() {\n    return this.motionStream.motionGroupId\n  }\n\n  get nova() {\n    return this.motionStream.nova\n  }\n\n  get numJoints() {\n    return this.motionStream.joints.length\n  }\n\n  // get activeJoggingMode() {\n  //   return this.mode\n  // }\n\n  // get activeWebsocket() {\n  //   return this.mode === \"jogging\" ? this.joggingSocket : this.trajectorySocket;\n  // }\n\n  // Sends stop movement command to robot\n  async stop() {\n    if (this.joggingSocket) {\n      const velocity = new Array(this.numJoints).fill(0)\n      this.joggingSocket.sendJson({\n        message_type: \"JointVelocityRequest\",\n        velocity,\n      })\n    }\n\n    if (this.trajectorySocket) {\n      this.trajectorySocket.sendJson({\n        message_type: \"PauseMovementRequest\",\n      })\n    }\n  }\n\n  // Dispose the jogger, closing all open websockets\n  async dispose() {\n    // Collect all initialized sockets\n    const sockets = [this.joggingSocket, this.trajectorySocket].filter(\n      (s) => s !== null,\n    ) as AutoReconnectingWebsocket[]\n\n    // Call them to dispose\n    sockets.forEach((s) => {\n      s.dispose()\n    })\n\n    // Remove references\n    this.joggingSocket = null\n    this.trajectorySocket = null\n\n    // Return promise that resolves when all sockets are closed\n    return Promise.all(sockets.map((s) => s.closed()))\n  }\n\n  // Activate jogger in one of the supported modes\n  // Will iniitialize or close websockets as necessary\n  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)\n  async setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode = true) {\n    // If not changing mode, do nothing\n    if (this.mode === mode && skipReinitializeIfSameMode) {\n      return\n    }\n\n    // Close any previous websocket connection\n    this.dispose()\n\n    // Set the new mode\n    this.mode = mode\n\n    // Mode is \"jogging\" - open jogging websocket\n    if (this.mode === \"jogging\") {\n      return this.initializeJoggingWebsocket()\n    }\n\n    // Mode is \"trajectory\" or \"off\" - nothing more to do\n    return\n  }\n\n  // Initializes continuous jogging websocket, called by setJoggingMode(\"jogging\")\n  async initializeJoggingWebsocket() {\n    // Wait for initialization with timeout\n    return new Promise<void>((resolve, reject) => {\n      const connectionFailedTimeout = setTimeout(() => {\n        reject(\n          new Error(\n            `Jogging initialization timeout after ${this.timeout} seconds`,\n          ),\n        )\n      }, this.timeout)\n\n      this.joggingSocket = this.nova.openReconnectingWebsocket(\n        this.ENDPOINT_JOGGING,\n      )\n      this.joggingSocket.addEventListener(\"message\", (ev: MessageEvent) => {\n        const data = tryParseJson(ev.data)\n\n        if (data?.result?.kind === \"INITIALIZE_RECEIVED\") {\n          clearTimeout(connectionFailedTimeout)\n          resolve()\n          return\n        }\n\n        if (data?.result?.kind === \"MOTION_ERROR\") {\n          clearTimeout(connectionFailedTimeout)\n          if (\n            this.onBlocked &&\n            data?.result?.message.includes(API_ERROR_CONNECTION_BLOCKED)\n          ) {\n            this.joggingSocket?.dispose()\n            this.onBlocked()\n            return\n          } else if (this.onError) {\n            this.onError(ev.data)\n          } else {\n            reject(new Error(ev.data))\n          }\n        }\n      })\n\n      this.joggingSocket.sendJson({\n        message_type: \"InitializeJoggingRequest\",\n        motion_group: this.motionGroupId,\n        ...(this.tcp ? { tcp: this.tcp } : {}),\n      })\n    })\n  }\n\n  /**\n   * Jogging: Start rotation of a single robot joint at the specified velocity\n   */\n  async rotateJoints({\n    joint,\n    direction,\n    velocityValue,\n    velocityUnit,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Direction of rotation (\"+\" or \"-\") */\n    direction: \"+\" | \"-\"\n    /** Speed of the rotation, unit is currently unused, but i wanted it there to raise awareness that not everything here is rad/s*/\n    velocityValue: number\n    velocityUnit: \"mm/s\" | \"rad/s\"\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n\n    const velocity = new Array(this.numJoints).fill(0)\n\n    velocity[joint] = direction === \"-\" ? -velocityValue : velocityValue\n\n    this.joggingSocket.sendJson({\n      message_type: \"JointVelocityRequest\",\n      velocity,\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP moving along a specified axis at a given velocity\n   */\n  async translateTCP({\n    axis,\n    direction,\n    velocityMmPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityMmPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    translation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityMmPerSec : velocityMmPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n      use_tool_coordinate_system: this.orientation === \"tool\",\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP rotating around a specified axis at a given velocity\n   */\n  async rotateTCP({\n    axis,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    rotation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n    })\n  }\n\n  /**\n   * Trajectory jogging:\n   *\n   * Move the robot by a fixed distance in a single cartesian\n   * axis, either rotating or translating relative to the TCP.\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalCartesianMotion({\n    currentTcpPose,\n    currentJoints,\n    // coordSystemId,\n    velocityInRelevantUnits,\n    axis,\n    direction,\n    motion,\n  }: {\n    currentTcpPose: Pose\n    currentJoints: Vector3Simple\n    coordSystemId: string\n    velocityInRelevantUnits: number\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    motion:\n      | {\n          type: \"rotate\"\n          distanceRads: number\n        }\n      | {\n          type: \"translate\"\n          distanceMm: number\n        }\n  }) {\n    const commands: MotionCommand[] = []\n\n    if (this.mode !== \"trajectory\") {\n      throw new Error(\n        \"Set jogging mode to 'trajectory' to run incremental cartesian motions\",\n      )\n    }\n\n    if (motion.type === \"translate\") {\n      if (!currentTcpPose.position) {\n        throw new Error(\n          \"Current pose has no position, cannot perform translation\",\n        )\n      }\n\n      const targetTcpPosition = [...currentTcpPose.position]\n      targetTcpPosition[XYZ_TO_VECTOR[axis]] +=\n        motion.distanceMm * (direction === \"-\" ? -1 : 1)\n\n      commands.push({\n        limits_override: {\n          tcp_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: targetTcpPosition,\n            orientation: currentTcpPose.orientation,\n          },\n        },\n      })\n    } else if (motion.type === \"rotate\") {\n      // Concatenate rotations expressed by rotation vectors\n      // Equations taken from https://physics.stackexchange.com/a/287819\n\n      if (!currentTcpPose.orientation) {\n        throw new Error(\n          \"Current pose has no orientation, cannot perform rotation\",\n        )\n      }\n\n      // Compute axis and angle of current rotation vector\n      const currentRotationVector = new Vector3(\n        currentTcpPose.orientation[0],\n        currentTcpPose.orientation[1],\n        currentTcpPose.orientation[2],\n      )\n\n      const currentRotationRad = currentRotationVector.length()\n      const currentRotationDirection = currentRotationVector.clone().normalize()\n\n      // Compute axis and angle of difference rotation vector\n      const differenceRotationRad =\n        motion.distanceRads * (direction === \"-\" ? -1 : 1)\n\n      const differenceRotationDirection = new Vector3(0.0, 0.0, 0.0)\n      differenceRotationDirection[axis] = 1.0\n\n      // Some abbreviations to make the following equations more readable\n      const f1 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f2 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n      const f3 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f4 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n\n      const dotProduct = differenceRotationDirection.dot(\n        currentRotationDirection,\n      )\n\n      const crossProduct = differenceRotationDirection\n        .clone()\n        .cross(currentRotationDirection)\n\n      // Compute angle of concatenated rotation\n      const newRotationRad = 2.0 * Math.acos(f1 - f2 * dotProduct)\n\n      // Compute rotation vector of concatenated rotation\n      const f5 = newRotationRad / Math.sin(0.5 * newRotationRad)\n\n      const targetTcpOrientation = new Vector3()\n        .addScaledVector(crossProduct, f2)\n        .addScaledVector(differenceRotationDirection, f3)\n        .addScaledVector(currentRotationDirection, f4)\n        .multiplyScalar(f5)\n\n      commands.push({\n        limits_override: {\n          tcp_orientation_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: currentTcpPose.position,\n            orientation: [...targetTcpOrientation],\n          },\n        },\n      })\n    }\n\n    // Plan the motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/planTrajectory\n    const description = this.motionStream.description\n    if (description.cycle_time === undefined) {\n      console.warn(\n        \"Current motion group has no cycle time, cannot plan jogging motion\",\n      )\n      return\n    }\n\n    const motion_group_setup = {\n      motion_group_model: description.motion_group_model,\n      cycle_time: description.cycle_time,\n      mounting: description.mounting,\n\n      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling\n      // FIXME use proper mode's limits if set\n      global: description.operation_limits.auto_limits,\n    }\n\n    const motionPlanRes = await this.nova.api.trajectoryPlanning.planTrajectory(\n      {\n        motion_group_setup,\n        start_joint_position: currentJoints,\n        motion_commands: commands,\n      },\n    )\n\n    const trajectoryData = motionPlanRes.response\n    if (!trajectoryData) {\n      throw new Error(\n        `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`,\n      )\n    }\n\n    if (this.trajectorySocket) {\n      console.warn(\"Trajectory jogging websocket already open; will close\")\n      this.trajectorySocket.dispose()\n    }\n\n    // Execute the planned motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/executeTrajectory\n    this.trajectorySocket = this.nova.openReconnectingWebsocket(\n      this.ENDPOINT_TRAJECTORY,\n    )\n\n    const messageInitializeMovementResponse = (\n      result: InitializeMovementResponse | undefined,\n    ) => {\n      // Handle errorous response\n      if (!result || result.add_trajectory_error || result.message) {\n        if (this.onError) {\n          this.onError(result)\n        } else {\n          throw new Error(\n            result?.add_trajectory_error?.message ||\n              result?.message ||\n              \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Handle socket gone\n      if (!this.trajectorySocket) {\n        throw new Error(\n          `Failed to execute trajectory, websocket not available anymore`,\n        )\n      }\n\n      // Trajectory locked, now start movement\n      this.trajectorySocket.sendJson({\n        message_type: \"StartMovementRequest\",\n        direction: \"DIRECTION_FORWARD\",\n      })\n    }\n\n    const waitForMovementToStartAndFinish = async () => {\n      // Wait for robot to start moving (standstill becomes false)\n      await when(() => !this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Then wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const waitForMovementToFinish = async () => {\n      // Wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const messageStartMovementResponse = async (\n      data: StartMovementResponse,\n    ) => {\n      if (data?.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(\n            data.message || \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Movement started we now wait to verify the robot is moving\n      // by observing changes to motion state\n      if (this.motionStream.rapidlyChangingMotionState.standstill) {\n        await waitForMovementToStartAndFinish()\n      } else {\n        await waitForMovementToFinish()\n      }\n    }\n\n    this.trajectorySocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data)\n\n      if (!data?.result?.kind) {\n        throw new Error(\n          `Failed to execute trajectory: Received invalid message ${ev.data}`,\n        )\n      }\n\n      if (\n        this.onBlocked &&\n        data.result.message?.includes(API_ERROR_CONNECTION_BLOCKED)\n      ) {\n        this.onBlocked()\n        return\n      }\n\n      if (data.result.kind === \"INITIALIZE_RECEIVED\") {\n        messageInitializeMovementResponse(data.result)\n      } else if (data.result.kind === \"START_RECEIVED\") {\n        messageStartMovementResponse(data)\n      } else if (data.result.kind === \"PAUSE_RECEIVED\") {\n        // do nothing\n      } else if (data.result.kind === \"MOTION_ERROR\" && data.result.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(data.result.message)\n        }\n      } else {\n        throw new Error(\n          `Failed to execute trajectory, cannot handle message type \"${data.result.kind}\"`,\n        )\n      }\n    })\n\n    // Send initialization/movement request\n    this.trajectorySocket.sendJson({\n      message_type: \"InitializeMovementRequest\",\n      trajectory: {\n        message_type: \"TrajectoryData\",\n        motion_group: this.motionGroupId,\n        data: trajectoryData,\n        tcp: this.tcp,\n      },\n    })\n  }\n}\n\nexport default JoggerConnection\n"],"names":["API_ERROR_CONNECTION_BLOCKED","JoggerConnection","motionStream","options","nova","motionGroupId","MotionStreamConnection","jogger","firstJointType","_b","_a","JointTypeEnum","velocity","sockets","s","mode","skipReinitializeIfSameMode","resolve","reject","connectionFailedTimeout","ev","data","tryParseJson","_c","_d","joint","direction","velocityValue","velocityUnit","axis","velocityMmPerSec","rotation","translation","XYZ_TO_VECTOR","velocityRadsPerSec","currentTcpPose","currentJoints","velocityInRelevantUnits","motion","commands","targetTcpPosition","currentRotationVector","Vector3","currentRotationRad","currentRotationDirection","differenceRotationRad","differenceRotationDirection","f1","f2","f3","f4","dotProduct","crossProduct","newRotationRad","f5","targetTcpOrientation","description","motion_group_setup","motionPlanRes","trajectoryData","messageInitializeMovementResponse","result","waitForMovementToStartAndFinish","when","waitForMovementToFinish","messageStartMovementResponse"],"mappings":"0RAmBMA,EAA+B,uFAmC9B,MAAMC,CAAiB,CAuD5B,YACWC,EACAC,EAA+C,GACxD,CAFS,KAAA,aAAAD,EACA,KAAA,QAAAC,EAxDX,KAAA,iBAAmB,qBACnB,KAAA,oBAAsB,wBACtB,KAAA,aAAe,MACf,KAAA,YAAkC,SAClC,KAAA,OAA6B,OAE7B,KAAA,qBAAuB,IACvB,KAAA,oBAAsB,WAEtB,KAAA,KAAmB,MACnB,KAAA,cAAkD,KAClD,KAAA,iBAAqD,KACrD,KAAA,QAAkB,KAAK,qBA8CrB,KAAK,KACHA,GAAA,YAAAA,EAAS,MACTD,EAAa,YAAY,KACzB,KAAK,cAAcA,CAAY,EAEjC,KAAK,aAAcC,GAAA,YAAAA,EAAS,cAAe,KAAK,oBAChD,KAAK,SAAUA,GAAA,YAAAA,EAAS,UAAW,KAAK,qBACxC,KAAK,MAAOA,GAAA,YAAAA,EAAS,OAAQ,KAAK,aAClC,KAAK,QAAUA,GAAA,YAAAA,EAAS,OAC1B,CA/BA,aAAa,KACXC,EACAC,EACAF,EAAmC,CAAA,EACnC,CAEA,MAAMD,EAAe,MAAMI,EAAAA,uBAAuB,KAAKF,EAAMC,CAAa,EAGpEE,EAAS,IAAIN,EAAiBC,EAAcC,CAAO,EAGzD,aAAMI,EAAO,eAAeA,EAAO,IAAI,EAGhCA,CACT,CAiBA,cAAcL,EAAsC,SAClD,MAAMM,GAAiBC,GAAAC,EAAAR,EAAa,YAAY,gBAAzB,YAAAQ,EAAyC,KAAzC,YAAAD,EAA6C,KACpE,OACEP,EAAa,OAAO,OAAS,IAC5BM,IAAmBG,EAAAA,cAAc,eAChCH,IAAmBG,EAAAA,cAAc,gBAE5B,KAAK,OAEP,KAAK,WACd,CAGA,MAAM,WAAWR,EAA2C,CACtDA,EAAQ,MACV,KAAK,IAAMA,EAAQ,KAGjBA,EAAQ,cACV,KAAK,YAAcA,EAAQ,aAOzBA,EAAQ,UACV,KAAK,QAAUA,EAAQ,SAGrBA,EAAQ,OACV,KAAK,KAAOA,EAAQ,MAGlBA,EAAQ,UACV,KAAK,QAAUA,EAAQ,SAGzB,KAAK,eAAe,KAAK,KAAM,EAAK,CACtC,CAEA,IAAI,eAAgB,CAClB,OAAO,KAAK,aAAa,aAC3B,CAEA,IAAI,MAAO,CACT,OAAO,KAAK,aAAa,IAC3B,CAEA,IAAI,WAAY,CACd,OAAO,KAAK,aAAa,OAAO,MAClC,CAWA,MAAM,MAAO,CACX,GAAI,KAAK,cAAe,CACtB,MAAMS,EAAW,IAAI,MAAM,KAAK,SAAS,EAAE,KAAK,CAAC,EACjD,KAAK,cAAc,SAAS,CAC1B,aAAc,uBACd,SAAAA,CAAA,CACD,CACH,CAEI,KAAK,kBACP,KAAK,iBAAiB,SAAS,CAC7B,aAAc,sBAAA,CACf,CAEL,CAGA,MAAM,SAAU,CAEd,MAAMC,EAAU,CAAC,KAAK,cAAe,KAAK,gBAAgB,EAAE,OACzDC,GAAMA,IAAM,IAAA,EAIf,OAAAD,EAAQ,QAASC,GAAM,CACrBA,EAAE,QAAA,CACJ,CAAC,EAGD,KAAK,cAAgB,KACrB,KAAK,iBAAmB,KAGjB,QAAQ,IAAID,EAAQ,IAAKC,GAAMA,EAAE,OAAA,CAAQ,CAAC,CACnD,CAKA,MAAM,eAAeC,EAAkBC,EAA6B,GAAM,CAExE,GAAI,OAAK,OAASD,GAAQC,KAK1B,KAAK,QAAA,EAGL,KAAK,KAAOD,EAGR,KAAK,OAAS,WAChB,OAAO,KAAK,2BAAA,CAKhB,CAGA,MAAM,4BAA6B,CAEjC,OAAO,IAAI,QAAc,CAACE,EAASC,IAAW,CAC5C,MAAMC,EAA0B,WAAW,IAAM,CAC/CD,EACE,IAAI,MACF,wCAAwC,KAAK,OAAO,UAAA,CACtD,CAEJ,EAAG,KAAK,OAAO,EAEf,KAAK,cAAgB,KAAK,KAAK,0BAC7B,KAAK,gBAAA,EAEP,KAAK,cAAc,iBAAiB,UAAYE,GAAqB,aACnE,MAAMC,EAAOC,EAAAA,aAAaF,EAAG,IAAI,EAEjC,KAAIV,EAAAW,GAAA,YAAAA,EAAM,SAAN,YAAAX,EAAc,QAAS,sBAAuB,CAChD,aAAaS,CAAuB,EACpCF,EAAA,EACA,MACF,CAEA,KAAIR,EAAAY,GAAA,YAAAA,EAAM,SAAN,YAAAZ,EAAc,QAAS,eAEzB,GADA,aAAaU,CAAuB,EAElC,KAAK,aACLI,EAAAF,GAAA,YAAAA,EAAM,SAAN,MAAAE,EAAc,QAAQ,SAASvB,IAC/B,EACAwB,EAAA,KAAK,gBAAL,MAAAA,EAAoB,UACpB,KAAK,UAAA,EACL,MACF,MAAW,KAAK,QACd,KAAK,QAAQJ,EAAG,IAAI,EAEpBF,EAAO,IAAI,MAAME,EAAG,IAAI,CAAC,CAG/B,CAAC,EAED,KAAK,cAAc,SAAS,CAC1B,aAAc,2BACd,aAAc,KAAK,cACnB,GAAI,KAAK,IAAM,CAAE,IAAK,KAAK,GAAA,EAAQ,CAAA,CAAC,CACrC,CACH,CAAC,CACH,CAKA,MAAM,aAAa,CACjB,MAAAK,EACA,UAAAC,EACA,cAAAC,EACA,aAAAC,CAAA,EASC,CACD,GAAI,CAAC,KAAK,eAAiB,KAAK,OAAS,UACvC,MAAM,IAAI,MACR,wFAAA,EAIJ,MAAMhB,EAAW,IAAI,MAAM,KAAK,SAAS,EAAE,KAAK,CAAC,EAEjDA,EAASa,CAAK,EAAIC,IAAc,IAAM,CAACC,EAAgBA,EAEvD,KAAK,cAAc,SAAS,CAC1B,aAAc,uBACd,SAAAf,CAAA,CACD,CACH,CAKA,MAAM,aAAa,CACjB,KAAAiB,EACA,UAAAH,EACA,iBAAAI,CAAA,EAKC,CACD,GAAI,CAAC,KAAK,eAAiB,KAAK,OAAS,UACvC,MAAM,IAAI,MACR,6FAAA,EAGJ,MAAMC,EAAW,CAAC,EAAG,EAAG,CAAC,EACnBC,EAAc,CAAC,EAAG,EAAG,CAAC,EAC5BA,EAAYC,EAAAA,cAAcJ,CAAI,CAAC,EAC7BH,IAAc,IAAM,CAACI,EAAmBA,EAE1C,KAAK,cAAc,SAAS,CAC1B,aAAc,qBACd,YAAAE,EACA,SAAAD,EACA,2BAA4B,KAAK,cAAgB,MAAA,CAClD,CACH,CAKA,MAAM,UAAU,CACd,KAAAF,EACA,UAAAH,EACA,mBAAAQ,CAAA,EAKC,CACD,GAAI,CAAC,KAAK,eAAiB,KAAK,OAAS,UACvC,MAAM,IAAI,MACR,6FAAA,EAGJ,MAAMH,EAAW,CAAC,EAAG,EAAG,CAAC,EACnBC,EAAc,CAAC,EAAG,EAAG,CAAC,EAC5BD,EAASE,EAAAA,cAAcJ,CAAI,CAAC,EAC1BH,IAAc,IAAM,CAACQ,EAAqBA,EAE5C,KAAK,cAAc,SAAS,CAC1B,aAAc,qBACd,YAAAF,EACA,SAAAD,CAAA,CACD,CACH,CASA,MAAM,8BAA8B,CAClC,eAAAI,EACA,cAAAC,EAEA,wBAAAC,EACA,KAAAR,EACA,UAAAH,EACA,OAAAY,CAAA,EAiBC,CACD,MAAMC,EAA4B,CAAA,EAElC,GAAI,KAAK,OAAS,aAChB,MAAM,IAAI,MACR,uEAAA,EAIJ,GAAID,EAAO,OAAS,YAAa,CAC/B,GAAI,CAACH,EAAe,SAClB,MAAM,IAAI,MACR,0DAAA,EAIJ,MAAMK,EAAoB,CAAC,GAAGL,EAAe,QAAQ,EACrDK,EAAkBP,EAAAA,cAAcJ,CAAI,CAAC,GACnCS,EAAO,YAAcZ,IAAc,IAAM,GAAK,GAEhDa,EAAS,KAAK,CACZ,gBAAiB,CACf,mBAAoBF,CAAA,EAEtB,KAAM,CACJ,qBAAsB,WACtB,YAAa,CACX,SAAUG,EACV,YAAaL,EAAe,WAAA,CAC9B,CACF,CACD,CACH,SAAWG,EAAO,OAAS,SAAU,CAInC,GAAI,CAACH,EAAe,YAClB,MAAM,IAAI,MACR,0DAAA,EAKJ,MAAMM,EAAwB,IAAIC,EAAAA,QAChCP,EAAe,YAAY,CAAC,EAC5BA,EAAe,YAAY,CAAC,EAC5BA,EAAe,YAAY,CAAC,CAAA,EAGxBQ,EAAqBF,EAAsB,OAAA,EAC3CG,EAA2BH,EAAsB,MAAA,EAAQ,UAAA,EAGzDI,EACJP,EAAO,cAAgBZ,IAAc,IAAM,GAAK,GAE5CoB,EAA8B,IAAIJ,EAAAA,QAAQ,EAAK,EAAK,CAAG,EAC7DI,EAA4BjB,CAAI,EAAI,EAGpC,MAAMkB,EACJ,KAAK,IAAI,GAAMF,CAAqB,EACpC,KAAK,IAAI,GAAMF,CAAkB,EAC7BK,EACJ,KAAK,IAAI,GAAMH,CAAqB,EACpC,KAAK,IAAI,GAAMF,CAAkB,EAC7BM,EACJ,KAAK,IAAI,GAAMJ,CAAqB,EACpC,KAAK,IAAI,GAAMF,CAAkB,EAC7BO,EACJ,KAAK,IAAI,GAAML,CAAqB,EACpC,KAAK,IAAI,GAAMF,CAAkB,EAE7BQ,EAAaL,EAA4B,IAC7CF,CAAA,EAGIQ,EAAeN,EAClB,MAAA,EACA,MAAMF,CAAwB,EAG3BS,EAAiB,EAAM,KAAK,KAAKN,EAAKC,EAAKG,CAAU,EAGrDG,EAAKD,EAAiB,KAAK,IAAI,GAAMA,CAAc,EAEnDE,EAAuB,IAAIb,EAAAA,QAAA,EAC9B,gBAAgBU,EAAcJ,CAAE,EAChC,gBAAgBF,EAA6BG,CAAE,EAC/C,gBAAgBL,EAA0BM,CAAE,EAC5C,eAAeI,CAAE,EAEpBf,EAAS,KAAK,CACZ,gBAAiB,CACf,+BAAgCF,CAAA,EAElC,KAAM,CACJ,qBAAsB,WACtB,YAAa,CACX,SAAUF,EAAe,SACzB,YAAa,CAAC,GAAGoB,CAAoB,CAAA,CACvC,CACF,CACD,CACH,CAGA,MAAMC,EAAc,KAAK,aAAa,YACtC,GAAIA,EAAY,aAAe,OAAW,CACxC,QAAQ,KACN,oEAAA,EAEF,MACF,CAEA,MAAMC,EAAqB,CACzB,mBAAoBD,EAAY,mBAChC,WAAYA,EAAY,WACxB,SAAUA,EAAY,SAItB,OAAQA,EAAY,iBAAiB,WAAA,EAGjCE,EAAgB,MAAM,KAAK,KAAK,IAAI,mBAAmB,eAC3D,CACE,mBAAAD,EACA,qBAAsBrB,EACtB,gBAAiBG,CAAA,CACnB,EAGIoB,EAAiBD,EAAc,SACrC,GAAI,CAACC,EACH,MAAM,IAAI,MACR,2CAA2C,KAAK,UAAUD,CAAa,CAAC,EAAA,EAIxE,KAAK,mBACP,QAAQ,KAAK,uDAAuD,EACpE,KAAK,iBAAiB,QAAA,GAIxB,KAAK,iBAAmB,KAAK,KAAK,0BAChC,KAAK,mBAAA,EAGP,MAAME,EACJC,GACG,OAEH,GAAI,CAACA,GAAUA,EAAO,sBAAwBA,EAAO,QACnD,GAAI,KAAK,QACP,KAAK,QAAQA,CAAM,MAEnB,OAAM,IAAI,QACRnD,EAAAmD,GAAA,YAAAA,EAAQ,uBAAR,YAAAnD,EAA8B,WAC5BmD,GAAA,YAAAA,EAAQ,UACR,6CAAA,EAMR,GAAI,CAAC,KAAK,iBACR,MAAM,IAAI,MACR,+DAAA,EAKJ,KAAK,iBAAiB,SAAS,CAC7B,aAAc,uBACd,UAAW,mBAAA,CACZ,CACH,EAEMC,EAAkC,SAAY,OAElD,MAAMC,EAAAA,KAAK,IAAM,CAAC,KAAK,aAAa,2BAA2B,UAAU,EAGzE,MAAMA,EAAAA,KAAK,IAAM,KAAK,aAAa,2BAA2B,UAAU,GAGxErD,EAAA,KAAK,mBAAL,MAAAA,EAAuB,UACvB,KAAK,iBAAmB,IAC1B,EAEMsD,EAA0B,SAAY,OAE1C,MAAMD,EAAAA,KAAK,IAAM,KAAK,aAAa,2BAA2B,UAAU,GAGxErD,EAAA,KAAK,mBAAL,MAAAA,EAAuB,UACvB,KAAK,iBAAmB,IAC1B,EAEMuD,EAA+B,MACnC5C,GACG,CACH,GAAIA,GAAA,MAAAA,EAAM,QACR,GAAI,KAAK,QAAS,CAChB,KAAK,QAAQA,CAAI,EACjB,MACF,KACE,OAAM,IAAI,MACRA,EAAK,SAAW,6CAAA,EAOlB,KAAK,aAAa,2BAA2B,WAC/C,MAAMyC,EAAA,EAEN,MAAME,EAAA,CAEV,EAEA,KAAK,iBAAiB,iBAAiB,UAAY5C,GAAqB,SACtE,MAAMC,EAAOC,EAAAA,aAAaF,EAAG,IAAI,EAEjC,GAAI,GAACV,EAAAW,GAAA,YAAAA,EAAM,SAAN,MAAAX,EAAc,MACjB,MAAM,IAAI,MACR,0DAA0DU,EAAG,IAAI,EAAA,EAIrE,GACE,KAAK,aACLX,EAAAY,EAAK,OAAO,UAAZ,MAAAZ,EAAqB,SAAST,IAC9B,CACA,KAAK,UAAA,EACL,MACF,CAEA,GAAIqB,EAAK,OAAO,OAAS,sBACvBuC,EAAkCvC,EAAK,MAAM,UACpCA,EAAK,OAAO,OAAS,iBAC9B4C,EAA6B5C,CAAI,UACxBA,EAAK,OAAO,OAAS,oBAErBA,EAAK,OAAO,OAAS,gBAAkBA,EAAK,OAAO,QAC5D,GAAI,KAAK,QAAS,CAChB,KAAK,QAAQA,CAAI,EACjB,MACF,KACE,OAAM,IAAI,MAAMA,EAAK,OAAO,OAAO,MAGrC,OAAM,IAAI,MACR,6DAA6DA,EAAK,OAAO,IAAI,GAAA,CAGnF,CAAC,EAGD,KAAK,iBAAiB,SAAS,CAC7B,aAAc,4BACd,WAAY,CACV,aAAc,iBACd,aAAc,KAAK,cACnB,KAAMsC,EACN,IAAK,KAAK,GAAA,CACZ,CACD,CACH,CACF"}