@wandelbots/wandelbots-js-react-components 5.5.2-pr.fix-performance-issues.594.c24b644 → 5.5.2

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (20) hide show
  1. package/dist/3d.cjs +1 -1
  2. package/dist/3d.js +1 -1
  3. package/dist/SafetyBar/index.cjs +1 -1
  4. package/dist/SafetyBar/index.js +1 -1
  5. package/dist/chunks/MotionGroupVisualizer-C6wNomDj.cjs +1 -0
  6. package/dist/chunks/{MotionGroupVisualizer-3kwxPNYU.js → MotionGroupVisualizer-DDvhDBEq.js} +453 -455
  7. package/dist/chunks/{SafetyBar-C8whliAf.js → SafetyBar-CLp3W5D7.js} +1 -1
  8. package/dist/chunks/{SafetyBar-CLm3UQRA.cjs → SafetyBar-Dq9qSLtS.cjs} +1 -1
  9. package/dist/chunks/{externalizeComponent-D6S3WLFc.js → externalizeComponent-BuuzAqKe.js} +32 -34
  10. package/dist/chunks/{externalizeComponent-BHZdH14U.cjs → externalizeComponent-UnCHtc94.cjs} +2 -2
  11. package/dist/chunks/{interpolation-B84QX33C.cjs → interpolation-B8AQk0uI.cjs} +1 -1
  12. package/dist/chunks/{interpolation-D9WFd-j_.js → interpolation-BfD7X52s.js} +1 -1
  13. package/dist/chunks/{theming-DnEooKgA.cjs → theming-B8Wz2VOQ.cjs} +1 -1
  14. package/dist/chunks/{theming-CLIhckeP.js → theming-DT32b-FT.js} +3 -3
  15. package/dist/core.cjs +1 -1
  16. package/dist/core.js +4 -4
  17. package/dist/index.cjs +1 -1
  18. package/dist/index.js +5 -5
  19. package/package.json +1 -1
  20. package/dist/chunks/MotionGroupVisualizer-4AcH6kaR.cjs +0 -1
package/dist/chunks/{theming-DnEooKgA.cjs → theming-B8Wz2VOQ.cjs} RENAMED
@@ -1,4 +1,4 @@
1
- "use strict";const o=require("react/jsx-runtime"),A=require("@mui/material/styles"),He=require("@mui/material/AppBar"),Ee=require("@mui/material/Backdrop"),T=require("@mui/material/Box"),G=require("@mui/material/IconButton"),Ye=require("@mui/material/Menu"),W=require("@mui/material/MenuItem"),Ze=require("@mui/material/Toolbar"),R=require("@mui/material/Typography"),D=require("mobx-react-lite"),m=require("react"),B=require("./externalizeComponent-BHZdH14U.cjs"),Xe=require("@mui/material/SvgIcon"),q=require("@mui/material/Fade"),Qe=require("@mui/x-charts/Gauge"),L=require("react-i18next"),Y=require("./interpolation-B84QX33C.cjs"),Ke=require("@mui/icons-material/Clear"),et=require("@mui/icons-material/FilterList"),Ce=require("@mui/icons-material/Search"),U=require("@mui/material/Divider"),z=require("@mui/x-data-grid"),tt=require("@mui/icons-material/OpenWith"),nt=require("@mui/icons-material/Share"),P=require("@mui/material/Stack"),Pe=require("@mui/material/Tab"),_e=require("@mui/material/Tabs"),V=require("@wandelbots/nova-js/v2"),ue=require("lodash-es"),_=require("mobx"),J=require("@wandelbots/nova-js"),se=require("three/src/math/Vector3.js"),ot=require("@mui/material/CircularProgress"),it=require("@mui/material/utils"),rt=require("./SafetyBar-CLm3UQRA.cjs"),at=require("@mui/material/Alert"),st=require("@mui/material/AlertTitle"),H=require("@mui/material/Button"),Te=require("@mui/material/ToggleButton"),N=require("./robot-SEtfVAmf.cjs"),lt=require("lodash-es/isEqual.js"),ct=require("@mui/material/FormControl"),dt=require("@mui/material/InputLabel"),ut=require("@mui/material/Select"),te=require("lodash-es/keyBy.js"),gt=require("lodash-es/uniqueId.js"),pt=require("@mui/material/ToggleButtonGroup"),Oe=require("@mui/material/Slider"),mt=require("lodash-es/isNumber.js"),ht=require("@mui/icons-material/ChevronLeft"),ft=require("@mui/icons-material/ChevronRight"),xt=require("lodash-es/throttle.js"),bt=require("@mui/material/Tooltip"),yt=require("@mui/icons-material/ContentCopy"),St=require("@mui/icons-material/DescriptionOutlined"),vt=require("@mui/icons-material/ExpandLess"),jt=require("@mui/icons-material/ExpandMore"),Ct=require("@mui/material/Paper"),Tt=require("@mui/material/Dialog"),wt=require("@mui/material/DialogActions"),kt=require("@mui/material/DialogContent"),It=require("@mui/material/DialogTitle"),Mt=require("@mui/icons-material/Error"),Rt=require("@mui/material/Chip"),Et=require("@mui/material/Fab"),Pt=require("@mui/material/Badge"),_t=require("@mui/x-charts"),le=require("three");function Ot(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const n in e)if(n!=="default"){const a=Object.getOwnPropertyDescriptor(e,n);Object.defineProperty(t,n,a.get?a:{enumerable:!0,get:()=>e[n]})}}return t.default=e,Object.freeze(t)}const we=Ot(le),At=e=>o.jsx(Xe,{...e,viewBox:"0 0 10 8",children:o.jsx("path",{d:"M8.825 0.9125L5 4.72917L1.175 0.9125L0 2.0875L5 7.0875L10 2.0875L8.825 0.9125Z",fill:"currentColor",fillOpacity:"0.56"})}),Dt=B.externalizeComponent(D.observer(e=>{const{appIcon:t,appName:n,apps:a=[],onAppSelect:r,disabled:i=!1,sx:c}=e,[s,l]=m.useState(null),g=!!s,h=p=>{l(p.currentTarget)},d=()=>{l(null)},u=p=>{d(),p.onClick?p.onClick():p.href&&(window.location.href=p.href),r==null||r(p)};return o.jsxs(o.Fragment,{children:[o.jsx(He,{position:"static",sx:{boxShadow:"none",backgroundImage:"none","& .MuiAppBar-root":{backgroundImage:"none",backgroundColor:"transparent"},...c},children:o.jsxs(Ze,{sx:{minHeight:"62px !important"},children:[o.jsx(T,{sx:{mr:1,display:"flex",alignItems:"center"},children:t}),o.jsxs(T,{sx:{display:"flex",alignItems:"center",flexGrow:1},children:[o.jsx(R,{component:"h1",sx:{fontWeight:"bold",fontSize:"1rem"},children:n}),a.length>0&&o.jsx(G,{color:"inherit","aria-label":"switch app","aria-controls":"app-menu","aria-haspopup":"true",onClick:h,disabled:i,sx:{ml:1,width:28,height:28,borderRadius:"6px",padding:0,backgroundColor:p=>A.alpha(p.palette.common.white,.1),opacity:1,"&:hover":{backgroundColor:p=>A.alpha(p.palette.common.white,.16)},"& .MuiSvgIcon-root":{fontSize:"8px",width:"8px",height:"6px"}},children:o.jsx(At,{})})]})]})}),o.jsx(Ee,{open:g,onClick:d,sx:{backdropFilter:"blur(4px)",backgroundColor:"rgba(0, 0, 0, 0.3)",zIndex:p=>p.zIndex.modal-1}}),o.jsx(Ye,{id:"app-menu",anchorEl:s,open:g,onClose:d,anchorOrigin:{vertical:"bottom",horizontal:"left"},transformOrigin:{vertical:"top",horizontal:"left"},sx:{zIndex:p=>p.zIndex.modal,"& .MuiPaper-root":{minWidth:200,mt:1}},children:a.map(p=>o.jsxs(W,{onClick:()=>u(p),children:[o.jsx(T,{sx:{display:"flex",alignItems:"center"},children:p.icon}),o.jsx(R,{variant:"body1",sx:{ml:2},children:p.name})]},p.id))})]})})),Jt=e=>{const t=Math.floor(e/86400),n=Math.floor(e%86400/3600),a=Math.floor(e%3600/60),r=e%60,i=[];return t>0?(i.push(t.toString()),i.push(n.toString().padStart(2,"0")),i.push(a.toString().padStart(2,"0")),i.push(r.toString().padStart(2,"0"))):n>0?(i.push(n.toString()),i.push(a.toString().padStart(2,"0")),i.push(r.toString().padStart(2,"0"))):(i.push(a.toString()),i.push(r.toString().padStart(2,"0"))),i.join(":")},$=(e,t)=>{const n=Math.floor(e/86400),a=Math.floor(e%86400/3600),r=Math.floor(e%3600/60),i=e%60;if(typeof Intl<"u"&&"DurationFormat"in Intl)try{const s={};return n>0&&(s.days=n),a>0&&(s.hours=a),r>0&&(s.minutes=r),(i>0||Object.keys(s).length===0)&&(s.seconds=i),new Intl.DurationFormat(t,{style:"narrow"}).format(s)}catch{}const c=[];return n>0&&c.push(`${n}d`),a>0&&c.push(`${a}h`),r>0&&c.push(`${r}m`),(i>0||c.length===0)&&c.push(`${i}s`),c.join(" ")},Bt=(e,t,n)=>e==="countdown"&&n!==null?Math.min(100,t/n*100):e==="measuring"?t/60%1*100:0,Ft=({timerState:e,animationState:t,hasError:n,className:a})=>{const{t:r,i18n:i}=L.useTranslation(),c=A.useTheme(),{currentState:s,remainingTime:l,maxTime:g,currentProgress:h}=e,{showErrorAnimation:d,showPauseAnimation:u,showPulsatingText:p,pulsatingFinished:y,showLabels:S,showMainText:x,showIdlePulsating:f,idleDotsCount:v}=t;return o.jsxs(T,{className:a,sx:{position:"relative",width:264,height:264,display:"flex",alignItems:"center",justifyContent:"center"},children:[o.jsx(Qe.Gauge,{width:264,height:264,value:s==="idle"?0:h,valueMin:0,valueMax:100,innerRadius:"85%",outerRadius:"100%",margin:0,skipAnimation:!0,text:()=>"",sx:{opacity:u||d?.6:1,transition:"opacity 0.5s ease-out","& .MuiGauge-valueArc":{fill:n?c.palette.error.light:c.palette.success.main,transition:"fill 0.5s ease-out"},"& .MuiGauge-referenceArc":{fill:"#171927",stroke:"transparent",strokeWidth:0,transition:"fill 0.5s ease-out, stroke 0.5s ease-out, stroke-width 0.5s ease-out"},"& .MuiGauge-valueText":{display:"none"},"& .MuiGauge-text":{display:"none"}}}),o.jsxs(T,{sx:{position:"absolute",top:"50%",left:"50%",transform:"translate(-50%, -50%)",width:225,height:225,borderRadius:"50%",backgroundColor:"#292B3F",display:"flex",flexDirection:"column",alignItems:"center",justifyContent:"center",textAlign:"center",gap:1,transition:"background-color 0.5s ease-out"},children:[o.jsx(T,{sx:{height:"16px",display:"flex",alignItems:"center",justifyContent:"center",marginBottom:1},children:o.jsx(q,{in:S&&!n&&s!=="idle"&&s!=="success",timeout:300,children:o.jsx(R,{variant:"body2",sx:{fontSize:"12px",color:s==="measured"&&(p||y)?c.palette.success.main:c.palette.text.secondary,transition:"color 0.8s ease-in-out"},children:o.jsx("span",{style:{opacity:s==="measured"&&y?p?1:.6:1,transition:"opacity 2s ease-in-out"},children:s==="measuring"||s==="measured"?r("CycleTimer.CycleTime.lb","Cycle Time"):s==="countdown"?r("CycleTimer.RemainingTime.lb","Remaining Time"):""})})})}),o.jsxs(T,{sx:{position:"relative",height:"48px",display:"flex",alignItems:"center",justifyContent:"center",marginBottom:.5},children:[o.jsx(q,{in:x&&s==="idle"&&!n,timeout:200,children:o.jsxs(R,{variant:"body2",sx:{position:"absolute",fontSize:"12px",fontWeight:400,color:"rgba(255, 255, 255, 0.7)",lineHeight:"166%",letterSpacing:"0.17px",textAlign:"center",width:"200px",height:"20px",display:"flex",alignItems:"center",justifyContent:"center"},children:[o.jsx("span",{style:{opacity:f?1:.6,transition:"opacity 2s ease-in-out"},children:r("CycleTimer.WaitingForCycle.lb","Waiting for program cycle")}),o.jsx("span",{style:{display:"inline-block",width:"18px",textAlign:"left",opacity:f?1:.6,transition:"opacity 2s ease-in-out"},children:".".repeat(v)})]})}),o.jsx(q,{in:x&&n,timeout:200,children:o.jsx(R,{variant:"h3",sx:{position:"absolute",fontSize:"40px",fontWeight:400,color:"#FFFFFF",lineHeight:"116.7%"},children:r("CycleTimer.Error.lb","Error")})}),o.jsx(q,{in:x&&!n&&s!=="idle"&&s!=="success",timeout:300,children:o.jsx(R,{variant:"h1",sx:{position:"absolute",fontSize:"48px",fontWeight:500,color:c.palette.text.primary,lineHeight:1,transition:"color 0.8s ease-in-out"},children:o.jsx("span",{style:{opacity:1,transition:"opacity 2s ease-in-out"},children:Jt(l)})})})]}),o.jsx(T,{sx:{height:"16px",display:"flex",marginTop:.5,alignItems:"center",justifyContent:"center"},children:o.jsx(q,{in:S&&!n&&s!=="idle"&&s!=="success",timeout:300,children:o.jsx(R,{variant:"body2",sx:{fontSize:"12px",color:s==="measured"&&(p||y)?c.palette.success.main:c.palette.text.secondary,transition:"color 0.8s ease-in-out"},children:o.jsx("span",{style:{opacity:s==="measured"&&y?p?1:.6:1,transition:"opacity 2s ease-in-out"},children:s==="measuring"?r("CycleTimer.Measuring.lb","measuring..."):s==="measured"?r("CycleTimer.Determined.lb","determined"):s==="countdown"&&g!==null?r("CycleTimer.OfTime.lb",{time:$(g,i.language)}):""})})})})]})]})},Lt=({timerState:e,animationState:t,hasError:n,compact:a,className:r})=>{const{t:i,i18n:c}=L.useTranslation(),s=A.useTheme(),{currentState:l,remainingTime:g,maxTime:h}=e,{showErrorAnimation:d,showPauseAnimation:u,showPulsatingText:p,pulsatingFinished:y,showIdlePulsating:S,idleDotsCount:x}=t;return a&&l==="idle"?o.jsx(T,{className:r,sx:{display:"flex",alignItems:"center",m:0},children:o.jsx(R,{variant:"body2",sx:{color:n?s.palette.error.light:s.palette.text.primary,fontSize:"14px",transition:"color 0.5s ease-out"},children:n?i("CycleTimer.Error.lb","Error"):l==="idle"?"0s":$(g,c.language)})}):o.jsxs(T,{className:r,sx:{display:"flex",alignItems:"center",m:0,gap:1},children:[!(l==="idle"&&a)&&o.jsx(T,{sx:{width:20,height:20,display:"flex",alignItems:"center",justifyContent:"center",opacity:u||d?.6:1,transition:"opacity 0.5s ease-out"},children:o.jsxs("svg",{width:"20",height:"20",viewBox:"0 0 20 20",style:{transform:"rotate(-90deg)"},role:"img","aria-label":"Timer progress",children:[o.jsx("circle",{cx:"10",cy:"10",r:"8",fill:"none",stroke:n?s.palette.error.light:l==="measured"?p||y?s.palette.success.main:s.palette.text.secondary:s.palette.success.main,strokeWidth:"2",opacity:l==="measured"&&y?p?1:.6:.3,style:{transition:"stroke 0.8s ease-in-out, opacity 2s ease-in-out"}}),o.jsx("circle",{cx:"10",cy:"10",r:"8",fill:"none",stroke:n?s.palette.error.light:l==="measured"?p||y?s.palette.success.main:s.palette.text.secondary:s.palette.success.main,strokeWidth:"2",strokeLinecap:"round",strokeDasharray:`${2*Math.PI*8}`,strokeDashoffset:`${2*Math.PI*8*(1-(l==="idle"?0:e.currentProgress)/100)}`,style:{opacity:l==="measured"&&y?p?1:.6:1,transition:"stroke-dashoffset 0.1s ease-out, stroke 0.8s ease-in-out, opacity 2s ease-in-out"}})]})}),o.jsx(R,{variant:"body2",sx:{color:n?s.palette.error.light:l==="idle"?"rgba(255, 255, 255, 0.7)":l==="measured"?p||y?s.palette.success.main:s.palette.text.secondary:s.palette.text.primary,fontSize:"14px",lineHeight:"normal",letterSpacing:"normal",opacity:l==="idle"?S?1:.6:l==="measured"&&y?p?1:.6:1,transition:"color 0.8s ease-in-out, font-size 0.3s ease-out, opacity 2s ease-in-out"},children:n?i("CycleTimer.Error.lb","Error"):l==="idle"?o.jsxs(o.Fragment,{children:[o.jsx("span",{children:i("CycleTimer.WaitingForCycle.lb","Waiting for program cycle")}),o.jsx("span",{style:{display:"inline-block",width:"18px",textAlign:"left"},children:".".repeat(x)})]}):l==="measuring"?a?$(g,c.language):`${$(g,c.language)} / ${i("CycleTimer.Measuring.lb","measuring...")}`:l==="measured"?a?$(g,c.language):`${$(g,c.language)} / ${i("CycleTimer.Determined.lb","determined")}`:l==="countdown"&&h!==null?a?$(g,c.language):`${$(g,c.language)} / ${i("CycleTimer.Time.lb",{time:$(h,c.language)})}`:$(g,c.language)})]})},zt=()=>{const[e,t]=m.useState({showPauseAnimation:!1,showErrorAnimation:!1,showPulsatingText:!1,pulsatingFinished:!1,showLabels:!0,showMainText:!0,showIdlePulsating:!1,idleDotsCount:0}),n=m.useRef(null),a=m.useRef(null),r=m.useRef(null),i=m.useRef(null),c=m.useRef(0),s=m.useRef(null),l=m.useRef(null),g=m.useCallback(()=>{t(b=>({...b,showPauseAnimation:!0})),n.current&&clearTimeout(n.current),n.current=setTimeout(()=>{t(b=>({...b,showPauseAnimation:!1}))},800)},[]),h=m.useCallback(()=>{t(b=>({...b,showErrorAnimation:!0})),a.current&&clearTimeout(a.current),a.current=setTimeout(()=>{t(b=>({...b,showErrorAnimation:!1}))},600)},[]),d=m.useCallback(()=>{t(b=>({...b,showErrorAnimation:!1})),a.current&&clearTimeout(a.current)},[]),u=m.useCallback(b=>{c.current=0,t(C=>({...C,showPulsatingText:!0,pulsatingFinished:!1})),setTimeout(()=>{t(C=>({...C,pulsatingFinished:!0})),r.current=setInterval(()=>{t(C=>({...C,showPulsatingText:!C.showPulsatingText}))},2e3),b&&b()},800)},[]),p=m.useCallback(()=>{r.current&&(clearInterval(r.current),r.current=null),t(b=>({...b,showPulsatingText:!1,pulsatingFinished:!1})),c.current=0},[]),y=m.useCallback(()=>{t(b=>({...b,showIdlePulsating:!0})),s.current=setInterval(()=>{t(b=>({...b,showIdlePulsating:!b.showIdlePulsating}))},2e3),l.current=setInterval(()=>{t(b=>({...b,idleDotsCount:(b.idleDotsCount+1)%4}))},800)},[]),S=m.useCallback(()=>{s.current&&(clearInterval(s.current),s.current=null),l.current&&(clearInterval(l.current),l.current=null),t(b=>({...b,showIdlePulsating:!1,idleDotsCount:0}))},[]),x=m.useCallback(()=>{t(b=>({...b,showLabels:!1,showMainText:!1})),i.current&&clearTimeout(i.current),i.current=setTimeout(()=>{t(b=>({...b,showLabels:!0,showMainText:!0}))},200)},[]),f=m.useCallback(()=>{t(b=>({...b,showLabels:!0,showMainText:!0}))},[]),v=m.useCallback(()=>{n.current&&clearTimeout(n.current),a.current&&clearTimeout(a.current),i.current&&clearTimeout(i.current),r.current&&clearInterval(r.current),s.current&&clearInterval(s.current),l.current&&clearInterval(l.current)},[]);return{animationState:e,triggerPauseAnimation:g,triggerErrorAnimation:h,clearErrorAnimation:d,startPulsatingAnimation:u,stopPulsatingAnimation:p,startIdleAnimations:y,stopIdleAnimations:S,triggerFadeTransition:x,setInitialAnimationState:f,cleanup:v}},$t=({autoStart:e,onCycleEnd:t,onMeasuringComplete:n,hasError:a,onPauseAnimation:r,onErrorAnimation:i,onClearErrorAnimation:c,onStartPulsating:s})=>{const[l,g]=m.useState({currentState:"idle",remainingTime:0,maxTime:null,isRunning:!1,isPausedState:!1,currentProgress:0,wasRunningBeforeError:!1}),h=m.useRef(null),d=m.useRef(null),u=m.useRef(0),[p]=Y.useInterpolation([0],{tension:80,friction:18,onChange:([j])=>{g(w=>({...w,currentProgress:j}))}}),y=m.useCallback(()=>{g(j=>({...j,currentState:"idle",maxTime:null,isRunning:!1,isPausedState:!1,currentProgress:0})),u.current=0,d.current=null,p.setImmediate([0])},[p]),S=m.useCallback((j=0)=>{const w=j/60%1*100;g(I=>({...I,currentState:"measuring",maxTime:null,remainingTime:j,isPausedState:!1,currentProgress:w})),u.current=0,p.setImmediate([w]),e?(d.current=Date.now()-j*1e3,g(I=>({...I,isRunning:!0}))):d.current=null},[e,p]),x=m.useCallback((j,w=0)=>{g(k=>({...k,isRunning:!1})),d.current=null,g(k=>({...k,currentState:"countdown",maxTime:j,isPausedState:!1})),u.current=0;const I=Math.max(0,j-w),M=w>0?w/j*100:0;g(k=>({...k,remainingTime:I,currentProgress:M})),p.setImmediate([M]),I===0?(g(k=>({...k,isRunning:!1})),d.current=null,t&&queueMicrotask(()=>t())):e?setTimeout(()=>{d.current=Date.now()-w*1e3,g(k=>({...k,isRunning:!0}))},0):d.current=null},[e,t,p]),f=m.useCallback(()=>{g(j=>({...j,isRunning:!1,currentState:"measured"})),d.current=null,s(()=>{n&&n()})},[s,n]),v=m.useCallback(()=>{if(d.current&&l.isRunning){const w=Date.now()-d.current;u.current+=w;const I=u.current/1e3,M=Bt(l.currentState,I,l.maxTime);p.setTarget([M])}g(j=>({...j,isRunning:!1,isPausedState:!0})),r()},[l.isRunning,l.currentState,l.maxTime,p,r]),b=m.useCallback(()=>{l.isPausedState&&(l.remainingTime>0||l.currentState!=="countdown")&&(d.current=Date.now(),g(j=>({...j,isRunning:!0,isPausedState:!1})))},[l.isPausedState,l.remainingTime,l.currentState]),C=m.useCallback(()=>l.isPausedState,[l.isPausedState]);return m.useEffect(()=>{a?(l.isRunning&&!l.isPausedState&&(g(j=>({...j,wasRunningBeforeError:!0})),v()),i()):(l.wasRunningBeforeError&&l.isPausedState&&(g(j=>({...j,wasRunningBeforeError:!1})),b()),c())},[a,l.isRunning,l.isPausedState,l.wasRunningBeforeError,v,b,i,c]),m.useEffect(()=>{if(l.isRunning){const j=()=>{if(d.current){const I=(Date.now()-d.current+u.current)/1e3;if(l.currentState==="countdown"&&l.maxTime!==null){const M=Math.max(0,l.maxTime-I);g(E=>({...E,remainingTime:Math.ceil(M)}));const k=Math.min(100,I/l.maxTime*100);if(p.setTarget([k]),M<=0){g(E=>({...E,isRunning:!1,remainingTime:0})),d.current=null,p.setTarget([100]),t&&queueMicrotask(()=>t());return}}else if(l.currentState==="measuring"){g(k=>({...k,remainingTime:Math.floor(I)}));const M=I/60%1*100;p.setTarget([M])}l.isRunning&&(h.current=requestAnimationFrame(j))}};h.current=requestAnimationFrame(j)}else h.current&&(cancelAnimationFrame(h.current),h.current=null);return()=>{h.current&&cancelAnimationFrame(h.current)}},[l.isRunning,t,l.currentState,l.maxTime,p]),m.useEffect(()=>{let j=null;const w=()=>{p.update(1/60),j=requestAnimationFrame(w)};return j=requestAnimationFrame(w),()=>{j&&cancelAnimationFrame(j)}},[p]),{timerState:l,controls:{startNewCycle:x,startMeasuring:S,setIdle:y,completeMeasuring:f,pause:v,resume:b,isPaused:C}}},Vt=B.externalizeComponent(D.observer(({onCycleComplete:e,onCycleEnd:t,onMeasuringComplete:n,autoStart:a=!0,variant:r="default",compact:i=!1,className:c,hasError:s=!1})=>{const l=m.useRef(void 0),{animationState:g,triggerPauseAnimation:h,triggerErrorAnimation:d,clearErrorAnimation:u,startPulsatingAnimation:p,stopPulsatingAnimation:y,startIdleAnimations:S,stopIdleAnimations:x,triggerFadeTransition:f,setInitialAnimationState:v,cleanup:b}=zt(),{timerState:C,controls:j}=$t({autoStart:a,onCycleEnd:t,onMeasuringComplete:n,hasError:s,onPauseAnimation:h,onErrorAnimation:d,onClearErrorAnimation:u,onStartPulsating:p});return m.useEffect(()=>{const w=l.current;l.current!==void 0&&w!==C.currentState?(w==="measured"&&y(),w==="idle"&&x(),f()):v(),C.currentState==="idle"&&S(),l.current=C.currentState},[C.currentState,y,x,S,f,v]),m.useEffect(()=>{let w=!0;const I=setTimeout(()=>{w&&e(j)},0);return()=>{w=!1,clearTimeout(I)}},[e,j]),m.useEffect(()=>b,[b]),r==="small"?o.jsx(Lt,{timerState:C,animationState:g,hasError:s,compact:i,className:c}):o.jsx(Ft,{timerState:C,animationState:g,hasError:s,className:c})})),Ae=B.externalizeComponent(D.observer(({data:e,columns:t,getRowData:n,onRowClick:a,selectedItem:r,getItemId:i,title:c,showCount:s=!0,searchPlaceholder:l="Search programs",dataGridProps:g,CustomToolbar:h,selectFirstByDefault:d=!1,sx:u})=>{var M;const p=A.useTheme(),y=z.useGridApiRef(),S=m.useRef(null),[x,f]=m.useState(null),v=m.useMemo(()=>e.map(n),[e,n]);m.useEffect(()=>{y.current&&v.length>0&&y.current.autosizeColumns({includeOutliers:!0,includeHeaders:!0,expand:!0,columns:t.map(k=>k.field)})},[v,t,y]),m.useEffect(()=>{if(!S.current||!y.current)return;const k=new ResizeObserver(()=>{setTimeout(()=>{y.current&&v.length>0&&y.current.autosizeColumns({includeOutliers:!0,includeHeaders:!0,expand:!0,columns:t.map(E=>E.field)})},100)});return k.observe(S.current),()=>{k.disconnect()}},[y,v.length,t]);const b=m.useMemo(()=>{if(r!==void 0)return r;if(x!==null)return x;if(d&&e.length>0){const k=e[0];return f(k),k}return null},[d,e,r,x]),C=k=>{const E=e.find(F=>n(F).id===k.id);E&&(r===void 0&&f(E),a&&a(E,k))},j=m.useMemo(()=>!b||!i?null:i(b),[b,i]);function w(){return o.jsx(z.Toolbar,{children:o.jsxs(T,{sx:{display:"flex",width:"100%",gap:1,p:.5,alignItems:"center"},children:[c&&o.jsxs(R,{variant:"h6",sx:{fontWeight:500,color:"white"},children:[c,s&&` (${e.length})`]}),o.jsxs(T,{sx:{ml:"auto",display:"flex",gap:.5,alignItems:"center",pr:1},children:[o.jsx(z.FilterPanelTrigger,{render:o.jsx(z.ToolbarButton,{"aria-label":"Show filters",children:o.jsx(et,{fontSize:"small"})})}),o.jsx(U,{orientation:"vertical",flexItem:!0,sx:{height:"24px",alignSelf:"center"}}),o.jsx(z.QuickFilter,{render:(k,E)=>o.jsxs(T,{...k,sx:{display:"flex",overflow:"hidden"},children:[!E.expanded&&o.jsx(z.QuickFilterTrigger,{render:o.jsx(z.ToolbarButton,{"aria-label":"Search",children:o.jsx(Ce,{fontSize:"small"})})}),o.jsxs(T,{sx:{display:"flex",overflow:"hidden",transition:"all 0.3s ease-in-out",width:E.expanded?"200px":"0px",position:"relative"},children:[o.jsxs(T,{sx:{flex:1,position:"relative","& .MuiInputBase-root":{height:"32px",borderRadius:"16px",backgroundColor:"#171927",paddingLeft:"40px",paddingRight:E.expanded&&E.value!==""?"40px":"12px",color:"white",fontSize:"14px",border:"none !important",outline:"none !important",boxShadow:"none !important","&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"},"&:hover":{"&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"}},"&:focus-within":{outline:"none !important",boxShadow:"none !important","&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"}},"&.Mui-focused":{outline:"none !important",boxShadow:"none !important","&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"}},"& .MuiInputBase-input":{padding:"8px 0",border:"none !important",outline:"none !important",boxShadow:"none !important","&:focus":{outline:"none !important",boxShadow:"none !important",border:"none !important"},"&::placeholder":{color:"rgba(255, 255, 255, 0.3)",opacity:1}},"& fieldset":{border:"none !important",display:"none !important"},"& .MuiOutlinedInput-notchedOutline":{border:"none !important",display:"none !important"}}},children:[E.expanded&&o.jsx(Ce,{fontSize:"small",sx:{position:"absolute",left:"12px",top:"50%",transform:"translateY(-50%)",color:"rgba(255, 255, 255, 0.6)",zIndex:1,pointerEvents:"none"}}),o.jsx(z.QuickFilterControl,{placeholder:l})]}),E.expanded&&E.value!==""&&o.jsx(z.QuickFilterClear,{render:o.jsx(T,{sx:{position:"absolute",right:"8px",top:"50%",transform:"translateY(-50%)",zIndex:1},children:o.jsx(T,{sx:{minWidth:"24px",width:"24px",height:"24px",padding:0,color:"rgba(255, 255, 255, 0.6)","&:hover":{backgroundColor:"rgba(255, 255, 255, 0.1)"}},children:o.jsx(z.ToolbarButton,{"aria-label":"Clear",children:o.jsx(Ke,{fontSize:"small"})})})})})]})]})})]})]})})}const I=h||w;return o.jsx(T,{ref:S,sx:{height:"100%",display:"flex",flexDirection:"column","& *":{scrollbarWidth:"none",msOverflowStyle:"none","&::-webkit-scrollbar":{display:"none"}},"&:hover *":{scrollbarWidth:"thin",scrollbarColor:`${p.palette.divider} transparent`,"&::-webkit-scrollbar":{display:"block",width:"8px",height:"8px"},"&::-webkit-scrollbar-track":{background:"transparent"},"&::-webkit-scrollbar-thumb":{background:p.palette.divider,borderRadius:"4px"},"&::-webkit-scrollbar-thumb:hover":{background:p.palette.action.hover}},...u},children:o.jsx(z.DataGrid,{apiRef:y,rows:v,columns:t,onRowClick:C,disableColumnMenu:!1,disableRowSelectionOnClick:!0,disableMultipleRowSelection:!0,hideFooterSelectedRowCount:!0,filterMode:"client",sortingOrder:["desc","asc"],hideFooter:!1,showToolbar:!0,slots:{toolbar:I},initialState:{sorting:{sortModel:[]},filter:{filterModel:{items:[]}},...g==null?void 0:g.initialState},...g,autosizeOnMount:!0,autosizeOptions:{...(g==null?void 0:g.autosizeOptions)||{},includeOutliers:!0,includeHeaders:!0,expand:!0,columns:((M=g==null?void 0:g.autosizeOptions)==null?void 0:M.columns)||t.map(k=>k.field)},sx:{border:"none",width:"100%","& .MuiPaper-root":{boxShadow:"none !important"},"& .MuiDataGrid-overlay":{},"& .MuiDataGrid-main":{border:"none","& .MuiPaper-root":{}},"& .MuiDataGrid-container--top [role=row]":{},"& .MuiDataGrid-topContainer":{borderBottom:"none !important"},"& .MuiDataGrid-columnHeaders":{border:"none",borderBottom:"none !important"},"& .MuiDataGrid-row":{cursor:a?"pointer":"default",border:"none",margin:"1px 0",position:"relative",backgroundColor:"transparent !important","&:hover":{backgroundColor:"transparent !important","&::before":{content:'""',position:"absolute",top:0,left:"16px",right:"16px",bottom:0,backgroundColor:"action.hover",borderRadius:"16px",zIndex:0}},"&.Mui-selected":{backgroundColor:"transparent !important","&:hover":{backgroundColor:"transparent !important"}},...j!==null&&{[`&[data-id="${j}"]`]:{backgroundColor:"transparent !important","&::before":{content:'""',position:"absolute",top:0,left:"16px",right:"16px",bottom:0,backgroundColor:"rgba(255, 255, 255, 0.08) !important",borderRadius:"16px",zIndex:0},"&:hover":{backgroundColor:"transparent !important"},"&:hover::before":{backgroundColor:"rgba(255, 255, 255, 0.12) !important"}}}},"& .MuiDataGrid-cell--textLeft":{paddingLeft:"40px"},"& .MuiDataGrid-cell":{border:"none",position:"relative",zIndex:1,"&:focus":{outline:"none"},"&:focus-within":{outline:"none"},"&:hover":{backgroundColor:"transparent !important"}},"& .MuiDataGrid-columnHeader":{border:"none",paddingLeft:"40px",paddingRight:"40px","& .MuiDataGrid-columnHeaderTitle":{color:"rgba(255, 255, 255, 0.6)"}},"& .MuiDataGrid-toolbarContainer":{padding:"8px",border:"none !important",borderBottom:"none !important","& .MuiBox-root":{},"& .MuiFormControl-root":{},"& .MuiInputBase-root":{},"& .MuiPaper-root":{boxShadow:"none !important"},"& *":{borderBottom:"none !important"}},"& .MuiDataGrid-toolbar":{borderBottom:"none !important"},"& .MuiDataGrid-toolbarFilterList":{border:"none"},"& .MuiDataGrid-withBorderColor":{borderColor:"transparent !important"},"& .MuiDataGrid-columnSeparator":{display:"none"},"& .MuiDataGrid-footerContainer":{display:"none"},"& .MuiDataGrid-filler":{border:"none !important",borderTop:"none !important",borderBottom:"none !important",borderLeft:"none !important",borderRight:"none !important","--rowBorderColor":"none !important"},"& .MuiBackdrop-root":{},"& .MuiModal-backdrop":{},...g==null?void 0:g.sx}})})}));Ae.displayName="WandelbotsDataGrid";const ce=B.externalizeComponent(D.observer(({colors:e,label:t,getDisplayedValue:n,startJogging:a,stopJogging:r,disabled:i,activeJoggingDirection:c,...s})=>{var b,C,j,w,I,M,k;Y.useAnimationFrame(()=>{const E=n(),F=u.current;F&&(F.textContent=E)});const l=A.useTheme(),[g,h]=m.useState(null);m.useEffect(()=>{i&&v()},[i]);const d=c||g,u=m.useRef(null);e||(e={color:"#fff",backgroundColor:"#000",borderColor:"#000",buttonBackgroundColor:{disabled:"#000",default:"#000",hovered:"#000",pressed:"#000"},labelColor:"#000"});const p=d?(b=e.buttonBackgroundColor)==null?void 0:b.pressed:e.borderColor,y={width:"55px",color:e.color,path:{fill:e.color},alignContent:"center",fontSize:"37px",svg:{pointerEvents:"none"}},S={...y,backgroundColor:(C=e.buttonBackgroundColor)==null?void 0:C.default,":hover":{backgroundColor:(j=e.buttonBackgroundColor)==null?void 0:j.hovered},":active":{backgroundColor:(w=e.buttonBackgroundColor)==null?void 0:w.pressed,color:e.backgroundColor,path:{fill:e.backgroundColor}},":disabled":{backgroundColor:(I=e.buttonBackgroundColor)==null?void 0:I.disabled,"svg path":{fill:l.palette.action.disabled}}},x={...y,backgroundColor:(M=e.buttonBackgroundColor)==null?void 0:M.pressed,color:e.backgroundColor,path:{fill:e.backgroundColor},":disabled":{backgroundColor:(k=e.buttonBackgroundColor)==null?void 0:k.pressed,"svg path":{fill:l.palette.action.disabled}}};function f(E,F){i||E.button===0&&(h(F),a(F))}function v(){h(null),r()}return o.jsxs(P,{height:"64px",direction:"row",justifyContent:"center",...s,children:[o.jsx(G,{disabled:i,disableRipple:!0,onPointerDown:E=>f(E,"-"),onPointerUp:v,onPointerOut:v,size:"large",sx:{...d==="-"?x:S,borderRadius:"16px 0px 0px 16px",borderLeft:`2px solid ${p??"#fff"}`,borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:o.jsx(N.ForwardRef$3,{})}),o.jsxs(P,{spacing:"6px",sx:{width:"150px",backgroundColor:e.backgroundColor,alignItems:"center",justifyContent:"center",opacity:"0.9",borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:[o.jsx(P,{height:"22px",direction:"row",alignItems:"center",justifyItems:"center",spacing:1,sx:{userSelect:"none",color:e.color,".MuiTypography-root":{fontWeight:700,...i?{color:l.palette.action.disabled}:{}},...i?{"svg path":{fill:l.palette.action.disabled}}:{}},children:t}),o.jsx(R,{height:"22px",sx:{fontSize:"15px",color:i?l.palette.action.disabled:e.color,fontWeight:700,fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center"},ref:u,children:n()})]}),o.jsx(G,{disableRipple:!0,disabled:i,onPointerDown:E=>f(E,"+"),onPointerUp:v,onPointerOut:v,size:"large",sx:{...d==="+"?x:S,borderRadius:"0px 16px 16px 0px",borderRight:`2px solid ${p??"#fff"}`,borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:o.jsx(N.ForwardRef$4,{})})]})})),De=B.externalizeComponent(D.observer(({startJogging:e,stopJogging:t,lowerLimit:n,upperLimit:a,useDegree:r,getValue:i,disabled:c,...s})=>{var w,I,M,k,E,F,Z,ee,fe,xe,be,ye,Se,ve,je;const{t:l}=L.useTranslation(),[g,h]=m.useState(),d=A.useTheme(),u={background:(w=d.palette.backgroundPaperElevation)==null?void 0:w[4],color:(I=d.palette.backgroundPaperElevation)==null?void 0:I[11]},p=D.useLocalObservable(()=>({activeJoggingDir:null,startJogging(O){this.activeJoggingDir=O,e(O)},stopJogging(){this.activeJoggingDir=null,t()}})),y=xt(()=>{const O=r?S(i()):i();(O===void 0||g===void 0||Math.abs(g-O)>1e-9)&&h(O)},50);Y.useAnimationFrame(y);function S(O){if(O!==void 0)return J.radiansToDegrees(O)}function x(O){O.button===0&&p.startJogging("-")}function f(O){O.button===0&&p.startJogging("+")}function v(O){p.stopJogging()}function b(O){p.stopJogging()}function C(O,X=1){if(O===void 0||Number.isNaN(O))return"";const Q=l("General.degree.variable",{amount:O.toFixed(X)});return O>0&&X===0?`+${Q}`:Q}function j(O,X=1){if(O===void 0||Number.isNaN(O))return"";const Q=l("General.mm.variable",{amount:O.toFixed(X)});return O>0&&X===0?`+${Q}`:Q}return o.jsxs(P,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...s,sx:{"& .MuiIconButton-root":{width:"52px",color:d.palette.text.primary,alignContent:"center",backgroundColor:(M=d.palette.backgroundPaperElevation)==null?void 0:M[11],"& svg":{width:"42px",height:"42px"},"&.Mui-disabled":{backgroundColor:(k=d.palette.backgroundPaperElevation)==null?void 0:k[11],color:d.palette.action.disabled,opacity:1},"&:hover":{backgroundColor:(E=d.palette.backgroundPaperElevation)==null?void 0:E[9]},"&:active":{...u}}},children:[o.jsx(G,{onPointerDown:x,onPointerUp:v,onPointerOut:b,disabled:c,disableRipple:!0,sx:{borderRadius:"16px 0px 0px 16px",...p.activeJoggingDir==="-"?u:{}},children:o.jsx(ht,{sx:{pointerEvents:"none",color:(fe=(ee=(Z=(F=d.componentsExt)==null?void 0:F.JoggingPanel)==null?void 0:Z.JoggingJoint)==null?void 0:ee.Joint)==null?void 0:fe.arrowColor}})}),o.jsxs(P,{flexGrow:1,alignItems:"center",justifyContent:"center",sx:{borderStyle:"solid",borderLeftWidth:0,borderRightWidth:0,border:"none",backgroundColor:(xe=d.palette.backgroundPaperElevation)==null?void 0:xe[11],paddingLeft:"20px",paddingRight:"20px",zIndex:1},children:[o.jsx(R,{sx:{fontSize:"15px",fontWeight:700,position:"relative",top:"5px",fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center",color:c?d.palette.action.disabled:d.palette.text.primary},children:r?C(g):j(g)}),o.jsx(Oe,{disabled:!0,"aria-label":"Joint position",min:r?S(n):n,max:r?S(a):a,value:g||0,track:!1,sx:{"& .MuiSlider-mark":{display:"none"},"& .MuiSlider-thumb":{width:"5px",height:"12px",borderRadius:"2px",color:c?d.palette.action.disabled:d.palette.text.primary},"& .MuiSlider-markLabel":{top:"20px",fontSize:"12px",color:c?d.palette.action.disabled:d.palette.text.secondary},"& .MuiSlider-rail":{backgroundColor:(be=d.palette.backgroundPaperElevation)==null?void 0:be[5],opacity:1}},marks:n!==void 0&&a!==void 0&&[{value:r?S(n):n,label:r?C(S(n),0):j(n)},{value:r?S(a):a,label:r?C(S(a),0):j(a)}]})]}),o.jsx(G,{onPointerDown:f,onPointerUp:v,onPointerOut:b,disabled:c,disableRipple:!0,sx:{borderRadius:"0px 16px 16px 0px",...p.activeJoggingDir==="+"?u:{}},children:o.jsx(ft,{sx:{pointerEvents:"none",color:(je=(ve=(Se=(ye=d.componentsExt)==null?void 0:ye.JoggingPanel)==null?void 0:Se.JoggingJoint)==null?void 0:ve.Joint)==null?void 0:je.arrowColor}})})]})}));function ge(e,t,n){if(t.length!==e.length)return!0;for(let a=0;a<t.length;a++)if(Math.abs(t[a]-e[a])>n)return!1;return!0}function Je(e,t,n){if(e===void 0&&t||e&&t===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.position)===void 0||(t==null?void 0:t.position)===void 0)return!1;if(e===void 0||t===void 0)return!0;let a=0;return a+=Math.abs(e.orientation[0]-t.orientation[0]),a+=Math.abs(e.orientation[1]-t.orientation[1]),a+=Math.abs(e.orientation[2]-t.orientation[2]),a+=Math.abs(e.position[0]-t.position[0]),a+=Math.abs(e.position[1]-t.position[1]),a+=Math.abs(e.position[2]-t.position[2]),a<=n}function pe(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&Je(e.tcp_pose,t.tcp_pose,n)}function Be(e,t){const n=new le.Vector3(t[0],t[1],t[2]),a=new le.Vector3(e[0],e[1],e[2]),r=n.length(),i=n.normalize();let c=a.length(),s=a.normalize();s.dot(i)<0&&(c=-c,s=s.multiplyScalar(-1));let l=c-r;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),c=r+l,[...s.multiplyScalar(c)]}const ke=1e-4;class ie{constructor(t,n,a,r,i,c){this.nova=t,this.controller=n,this.motionGroup=a,this.description=r,this.initialMotionState=i,this.motionStateSocket=c,this.rapidlyChangingMotionState=i,c.addEventListener("message",s=>{var g;const l=(g=J.tryParseJson(s.data))==null?void 0:g.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);ge(this.rapidlyChangingMotionState.joint_position,l.joint_position,ke)||_.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),pe(this.rapidlyChangingMotionState,l,ke)||_.runInAction(()=>{var h,d,u;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:(h=l.tcp_pose)!=null&&h.orientation&&((d=l.tcp_pose)!=null&&d.position)&&((u=this.rapidlyChangingMotionState.tcp_pose)!=null&&u.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:Be(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",l.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==l.standstill&&_.runInAction(()=>{this.rapidlyChangingMotionState.standstill=l.standstill})}),_.makeAutoObservable(this)}static async open(t,n){var d;const[a,r]=n.split("@"),i=await t.api.controller.getCurrentRobotControllerState(r),c=i==null?void 0:i.motion_groups.find(u=>u.motion_group===n);if(!i||!c)throw new Error(`Controller ${r} or motion group ${n} not found`);const s=t.openReconnectingWebsocket(`/controllers/${r}/motion-groups/${n}/state-stream`),l=await s.firstMessage(),g=(d=J.tryParseJson(l.data))==null?void 0:d.result;if(!g)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
1
+ "use strict";const o=require("react/jsx-runtime"),A=require("@mui/material/styles"),He=require("@mui/material/AppBar"),Ee=require("@mui/material/Backdrop"),T=require("@mui/material/Box"),G=require("@mui/material/IconButton"),Ye=require("@mui/material/Menu"),W=require("@mui/material/MenuItem"),Ze=require("@mui/material/Toolbar"),R=require("@mui/material/Typography"),D=require("mobx-react-lite"),m=require("react"),B=require("./externalizeComponent-UnCHtc94.cjs"),Xe=require("@mui/material/SvgIcon"),q=require("@mui/material/Fade"),Qe=require("@mui/x-charts/Gauge"),L=require("react-i18next"),Y=require("./interpolation-B8AQk0uI.cjs"),Ke=require("@mui/icons-material/Clear"),et=require("@mui/icons-material/FilterList"),Ce=require("@mui/icons-material/Search"),U=require("@mui/material/Divider"),z=require("@mui/x-data-grid"),tt=require("@mui/icons-material/OpenWith"),nt=require("@mui/icons-material/Share"),P=require("@mui/material/Stack"),Pe=require("@mui/material/Tab"),_e=require("@mui/material/Tabs"),V=require("@wandelbots/nova-js/v2"),ue=require("lodash-es"),_=require("mobx"),J=require("@wandelbots/nova-js"),se=require("three/src/math/Vector3.js"),ot=require("@mui/material/CircularProgress"),it=require("@mui/material/utils"),rt=require("./SafetyBar-Dq9qSLtS.cjs"),at=require("@mui/material/Alert"),st=require("@mui/material/AlertTitle"),H=require("@mui/material/Button"),Te=require("@mui/material/ToggleButton"),N=require("./robot-SEtfVAmf.cjs"),lt=require("lodash-es/isEqual.js"),ct=require("@mui/material/FormControl"),dt=require("@mui/material/InputLabel"),ut=require("@mui/material/Select"),te=require("lodash-es/keyBy.js"),gt=require("lodash-es/uniqueId.js"),pt=require("@mui/material/ToggleButtonGroup"),Oe=require("@mui/material/Slider"),mt=require("lodash-es/isNumber.js"),ht=require("@mui/icons-material/ChevronLeft"),ft=require("@mui/icons-material/ChevronRight"),xt=require("lodash-es/throttle.js"),bt=require("@mui/material/Tooltip"),yt=require("@mui/icons-material/ContentCopy"),St=require("@mui/icons-material/DescriptionOutlined"),vt=require("@mui/icons-material/ExpandLess"),jt=require("@mui/icons-material/ExpandMore"),Ct=require("@mui/material/Paper"),Tt=require("@mui/material/Dialog"),wt=require("@mui/material/DialogActions"),kt=require("@mui/material/DialogContent"),It=require("@mui/material/DialogTitle"),Mt=require("@mui/icons-material/Error"),Rt=require("@mui/material/Chip"),Et=require("@mui/material/Fab"),Pt=require("@mui/material/Badge"),_t=require("@mui/x-charts"),le=require("three");function Ot(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const n in e)if(n!=="default"){const a=Object.getOwnPropertyDescriptor(e,n);Object.defineProperty(t,n,a.get?a:{enumerable:!0,get:()=>e[n]})}}return t.default=e,Object.freeze(t)}const we=Ot(le),At=e=>o.jsx(Xe,{...e,viewBox:"0 0 10 8",children:o.jsx("path",{d:"M8.825 0.9125L5 4.72917L1.175 0.9125L0 2.0875L5 7.0875L10 2.0875L8.825 0.9125Z",fill:"currentColor",fillOpacity:"0.56"})}),Dt=B.externalizeComponent(D.observer(e=>{const{appIcon:t,appName:n,apps:a=[],onAppSelect:r,disabled:i=!1,sx:c}=e,[s,l]=m.useState(null),g=!!s,h=p=>{l(p.currentTarget)},d=()=>{l(null)},u=p=>{d(),p.onClick?p.onClick():p.href&&(window.location.href=p.href),r==null||r(p)};return o.jsxs(o.Fragment,{children:[o.jsx(He,{position:"static",sx:{boxShadow:"none",backgroundImage:"none","& .MuiAppBar-root":{backgroundImage:"none",backgroundColor:"transparent"},...c},children:o.jsxs(Ze,{sx:{minHeight:"62px !important"},children:[o.jsx(T,{sx:{mr:1,display:"flex",alignItems:"center"},children:t}),o.jsxs(T,{sx:{display:"flex",alignItems:"center",flexGrow:1},children:[o.jsx(R,{component:"h1",sx:{fontWeight:"bold",fontSize:"1rem"},children:n}),a.length>0&&o.jsx(G,{color:"inherit","aria-label":"switch app","aria-controls":"app-menu","aria-haspopup":"true",onClick:h,disabled:i,sx:{ml:1,width:28,height:28,borderRadius:"6px",padding:0,backgroundColor:p=>A.alpha(p.palette.common.white,.1),opacity:1,"&:hover":{backgroundColor:p=>A.alpha(p.palette.common.white,.16)},"& .MuiSvgIcon-root":{fontSize:"8px",width:"8px",height:"6px"}},children:o.jsx(At,{})})]})]})}),o.jsx(Ee,{open:g,onClick:d,sx:{backdropFilter:"blur(4px)",backgroundColor:"rgba(0, 0, 0, 0.3)",zIndex:p=>p.zIndex.modal-1}}),o.jsx(Ye,{id:"app-menu",anchorEl:s,open:g,onClose:d,anchorOrigin:{vertical:"bottom",horizontal:"left"},transformOrigin:{vertical:"top",horizontal:"left"},sx:{zIndex:p=>p.zIndex.modal,"& .MuiPaper-root":{minWidth:200,mt:1}},children:a.map(p=>o.jsxs(W,{onClick:()=>u(p),children:[o.jsx(T,{sx:{display:"flex",alignItems:"center"},children:p.icon}),o.jsx(R,{variant:"body1",sx:{ml:2},children:p.name})]},p.id))})]})})),Jt=e=>{const t=Math.floor(e/86400),n=Math.floor(e%86400/3600),a=Math.floor(e%3600/60),r=e%60,i=[];return t>0?(i.push(t.toString()),i.push(n.toString().padStart(2,"0")),i.push(a.toString().padStart(2,"0")),i.push(r.toString().padStart(2,"0"))):n>0?(i.push(n.toString()),i.push(a.toString().padStart(2,"0")),i.push(r.toString().padStart(2,"0"))):(i.push(a.toString()),i.push(r.toString().padStart(2,"0"))),i.join(":")},$=(e,t)=>{const n=Math.floor(e/86400),a=Math.floor(e%86400/3600),r=Math.floor(e%3600/60),i=e%60;if(typeof Intl<"u"&&"DurationFormat"in Intl)try{const s={};return n>0&&(s.days=n),a>0&&(s.hours=a),r>0&&(s.minutes=r),(i>0||Object.keys(s).length===0)&&(s.seconds=i),new Intl.DurationFormat(t,{style:"narrow"}).format(s)}catch{}const c=[];return n>0&&c.push(`${n}d`),a>0&&c.push(`${a}h`),r>0&&c.push(`${r}m`),(i>0||c.length===0)&&c.push(`${i}s`),c.join(" ")},Bt=(e,t,n)=>e==="countdown"&&n!==null?Math.min(100,t/n*100):e==="measuring"?t/60%1*100:0,Ft=({timerState:e,animationState:t,hasError:n,className:a})=>{const{t:r,i18n:i}=L.useTranslation(),c=A.useTheme(),{currentState:s,remainingTime:l,maxTime:g,currentProgress:h}=e,{showErrorAnimation:d,showPauseAnimation:u,showPulsatingText:p,pulsatingFinished:y,showLabels:S,showMainText:x,showIdlePulsating:f,idleDotsCount:v}=t;return o.jsxs(T,{className:a,sx:{position:"relative",width:264,height:264,display:"flex",alignItems:"center",justifyContent:"center"},children:[o.jsx(Qe.Gauge,{width:264,height:264,value:s==="idle"?0:h,valueMin:0,valueMax:100,innerRadius:"85%",outerRadius:"100%",margin:0,skipAnimation:!0,text:()=>"",sx:{opacity:u||d?.6:1,transition:"opacity 0.5s ease-out","& .MuiGauge-valueArc":{fill:n?c.palette.error.light:c.palette.success.main,transition:"fill 0.5s ease-out"},"& .MuiGauge-referenceArc":{fill:"#171927",stroke:"transparent",strokeWidth:0,transition:"fill 0.5s ease-out, stroke 0.5s ease-out, stroke-width 0.5s ease-out"},"& .MuiGauge-valueText":{display:"none"},"& .MuiGauge-text":{display:"none"}}}),o.jsxs(T,{sx:{position:"absolute",top:"50%",left:"50%",transform:"translate(-50%, -50%)",width:225,height:225,borderRadius:"50%",backgroundColor:"#292B3F",display:"flex",flexDirection:"column",alignItems:"center",justifyContent:"center",textAlign:"center",gap:1,transition:"background-color 0.5s ease-out"},children:[o.jsx(T,{sx:{height:"16px",display:"flex",alignItems:"center",justifyContent:"center",marginBottom:1},children:o.jsx(q,{in:S&&!n&&s!=="idle"&&s!=="success",timeout:300,children:o.jsx(R,{variant:"body2",sx:{fontSize:"12px",color:s==="measured"&&(p||y)?c.palette.success.main:c.palette.text.secondary,transition:"color 0.8s ease-in-out"},children:o.jsx("span",{style:{opacity:s==="measured"&&y?p?1:.6:1,transition:"opacity 2s ease-in-out"},children:s==="measuring"||s==="measured"?r("CycleTimer.CycleTime.lb","Cycle Time"):s==="countdown"?r("CycleTimer.RemainingTime.lb","Remaining Time"):""})})})}),o.jsxs(T,{sx:{position:"relative",height:"48px",display:"flex",alignItems:"center",justifyContent:"center",marginBottom:.5},children:[o.jsx(q,{in:x&&s==="idle"&&!n,timeout:200,children:o.jsxs(R,{variant:"body2",sx:{position:"absolute",fontSize:"12px",fontWeight:400,color:"rgba(255, 255, 255, 0.7)",lineHeight:"166%",letterSpacing:"0.17px",textAlign:"center",width:"200px",height:"20px",display:"flex",alignItems:"center",justifyContent:"center"},children:[o.jsx("span",{style:{opacity:f?1:.6,transition:"opacity 2s ease-in-out"},children:r("CycleTimer.WaitingForCycle.lb","Waiting for program cycle")}),o.jsx("span",{style:{display:"inline-block",width:"18px",textAlign:"left",opacity:f?1:.6,transition:"opacity 2s ease-in-out"},children:".".repeat(v)})]})}),o.jsx(q,{in:x&&n,timeout:200,children:o.jsx(R,{variant:"h3",sx:{position:"absolute",fontSize:"40px",fontWeight:400,color:"#FFFFFF",lineHeight:"116.7%"},children:r("CycleTimer.Error.lb","Error")})}),o.jsx(q,{in:x&&!n&&s!=="idle"&&s!=="success",timeout:300,children:o.jsx(R,{variant:"h1",sx:{position:"absolute",fontSize:"48px",fontWeight:500,color:c.palette.text.primary,lineHeight:1,transition:"color 0.8s ease-in-out"},children:o.jsx("span",{style:{opacity:1,transition:"opacity 2s ease-in-out"},children:Jt(l)})})})]}),o.jsx(T,{sx:{height:"16px",display:"flex",marginTop:.5,alignItems:"center",justifyContent:"center"},children:o.jsx(q,{in:S&&!n&&s!=="idle"&&s!=="success",timeout:300,children:o.jsx(R,{variant:"body2",sx:{fontSize:"12px",color:s==="measured"&&(p||y)?c.palette.success.main:c.palette.text.secondary,transition:"color 0.8s ease-in-out"},children:o.jsx("span",{style:{opacity:s==="measured"&&y?p?1:.6:1,transition:"opacity 2s ease-in-out"},children:s==="measuring"?r("CycleTimer.Measuring.lb","measuring..."):s==="measured"?r("CycleTimer.Determined.lb","determined"):s==="countdown"&&g!==null?r("CycleTimer.OfTime.lb",{time:$(g,i.language)}):""})})})})]})]})},Lt=({timerState:e,animationState:t,hasError:n,compact:a,className:r})=>{const{t:i,i18n:c}=L.useTranslation(),s=A.useTheme(),{currentState:l,remainingTime:g,maxTime:h}=e,{showErrorAnimation:d,showPauseAnimation:u,showPulsatingText:p,pulsatingFinished:y,showIdlePulsating:S,idleDotsCount:x}=t;return a&&l==="idle"?o.jsx(T,{className:r,sx:{display:"flex",alignItems:"center",m:0},children:o.jsx(R,{variant:"body2",sx:{color:n?s.palette.error.light:s.palette.text.primary,fontSize:"14px",transition:"color 0.5s ease-out"},children:n?i("CycleTimer.Error.lb","Error"):l==="idle"?"0s":$(g,c.language)})}):o.jsxs(T,{className:r,sx:{display:"flex",alignItems:"center",m:0,gap:1},children:[!(l==="idle"&&a)&&o.jsx(T,{sx:{width:20,height:20,display:"flex",alignItems:"center",justifyContent:"center",opacity:u||d?.6:1,transition:"opacity 0.5s ease-out"},children:o.jsxs("svg",{width:"20",height:"20",viewBox:"0 0 20 20",style:{transform:"rotate(-90deg)"},role:"img","aria-label":"Timer progress",children:[o.jsx("circle",{cx:"10",cy:"10",r:"8",fill:"none",stroke:n?s.palette.error.light:l==="measured"?p||y?s.palette.success.main:s.palette.text.secondary:s.palette.success.main,strokeWidth:"2",opacity:l==="measured"&&y?p?1:.6:.3,style:{transition:"stroke 0.8s ease-in-out, opacity 2s ease-in-out"}}),o.jsx("circle",{cx:"10",cy:"10",r:"8",fill:"none",stroke:n?s.palette.error.light:l==="measured"?p||y?s.palette.success.main:s.palette.text.secondary:s.palette.success.main,strokeWidth:"2",strokeLinecap:"round",strokeDasharray:`${2*Math.PI*8}`,strokeDashoffset:`${2*Math.PI*8*(1-(l==="idle"?0:e.currentProgress)/100)}`,style:{opacity:l==="measured"&&y?p?1:.6:1,transition:"stroke-dashoffset 0.1s ease-out, stroke 0.8s ease-in-out, opacity 2s ease-in-out"}})]})}),o.jsx(R,{variant:"body2",sx:{color:n?s.palette.error.light:l==="idle"?"rgba(255, 255, 255, 0.7)":l==="measured"?p||y?s.palette.success.main:s.palette.text.secondary:s.palette.text.primary,fontSize:"14px",lineHeight:"normal",letterSpacing:"normal",opacity:l==="idle"?S?1:.6:l==="measured"&&y?p?1:.6:1,transition:"color 0.8s ease-in-out, font-size 0.3s ease-out, opacity 2s ease-in-out"},children:n?i("CycleTimer.Error.lb","Error"):l==="idle"?o.jsxs(o.Fragment,{children:[o.jsx("span",{children:i("CycleTimer.WaitingForCycle.lb","Waiting for program cycle")}),o.jsx("span",{style:{display:"inline-block",width:"18px",textAlign:"left"},children:".".repeat(x)})]}):l==="measuring"?a?$(g,c.language):`${$(g,c.language)} / ${i("CycleTimer.Measuring.lb","measuring...")}`:l==="measured"?a?$(g,c.language):`${$(g,c.language)} / ${i("CycleTimer.Determined.lb","determined")}`:l==="countdown"&&h!==null?a?$(g,c.language):`${$(g,c.language)} / ${i("CycleTimer.Time.lb",{time:$(h,c.language)})}`:$(g,c.language)})]})},zt=()=>{const[e,t]=m.useState({showPauseAnimation:!1,showErrorAnimation:!1,showPulsatingText:!1,pulsatingFinished:!1,showLabels:!0,showMainText:!0,showIdlePulsating:!1,idleDotsCount:0}),n=m.useRef(null),a=m.useRef(null),r=m.useRef(null),i=m.useRef(null),c=m.useRef(0),s=m.useRef(null),l=m.useRef(null),g=m.useCallback(()=>{t(b=>({...b,showPauseAnimation:!0})),n.current&&clearTimeout(n.current),n.current=setTimeout(()=>{t(b=>({...b,showPauseAnimation:!1}))},800)},[]),h=m.useCallback(()=>{t(b=>({...b,showErrorAnimation:!0})),a.current&&clearTimeout(a.current),a.current=setTimeout(()=>{t(b=>({...b,showErrorAnimation:!1}))},600)},[]),d=m.useCallback(()=>{t(b=>({...b,showErrorAnimation:!1})),a.current&&clearTimeout(a.current)},[]),u=m.useCallback(b=>{c.current=0,t(C=>({...C,showPulsatingText:!0,pulsatingFinished:!1})),setTimeout(()=>{t(C=>({...C,pulsatingFinished:!0})),r.current=setInterval(()=>{t(C=>({...C,showPulsatingText:!C.showPulsatingText}))},2e3),b&&b()},800)},[]),p=m.useCallback(()=>{r.current&&(clearInterval(r.current),r.current=null),t(b=>({...b,showPulsatingText:!1,pulsatingFinished:!1})),c.current=0},[]),y=m.useCallback(()=>{t(b=>({...b,showIdlePulsating:!0})),s.current=setInterval(()=>{t(b=>({...b,showIdlePulsating:!b.showIdlePulsating}))},2e3),l.current=setInterval(()=>{t(b=>({...b,idleDotsCount:(b.idleDotsCount+1)%4}))},800)},[]),S=m.useCallback(()=>{s.current&&(clearInterval(s.current),s.current=null),l.current&&(clearInterval(l.current),l.current=null),t(b=>({...b,showIdlePulsating:!1,idleDotsCount:0}))},[]),x=m.useCallback(()=>{t(b=>({...b,showLabels:!1,showMainText:!1})),i.current&&clearTimeout(i.current),i.current=setTimeout(()=>{t(b=>({...b,showLabels:!0,showMainText:!0}))},200)},[]),f=m.useCallback(()=>{t(b=>({...b,showLabels:!0,showMainText:!0}))},[]),v=m.useCallback(()=>{n.current&&clearTimeout(n.current),a.current&&clearTimeout(a.current),i.current&&clearTimeout(i.current),r.current&&clearInterval(r.current),s.current&&clearInterval(s.current),l.current&&clearInterval(l.current)},[]);return{animationState:e,triggerPauseAnimation:g,triggerErrorAnimation:h,clearErrorAnimation:d,startPulsatingAnimation:u,stopPulsatingAnimation:p,startIdleAnimations:y,stopIdleAnimations:S,triggerFadeTransition:x,setInitialAnimationState:f,cleanup:v}},$t=({autoStart:e,onCycleEnd:t,onMeasuringComplete:n,hasError:a,onPauseAnimation:r,onErrorAnimation:i,onClearErrorAnimation:c,onStartPulsating:s})=>{const[l,g]=m.useState({currentState:"idle",remainingTime:0,maxTime:null,isRunning:!1,isPausedState:!1,currentProgress:0,wasRunningBeforeError:!1}),h=m.useRef(null),d=m.useRef(null),u=m.useRef(0),[p]=Y.useInterpolation([0],{tension:80,friction:18,onChange:([j])=>{g(w=>({...w,currentProgress:j}))}}),y=m.useCallback(()=>{g(j=>({...j,currentState:"idle",maxTime:null,isRunning:!1,isPausedState:!1,currentProgress:0})),u.current=0,d.current=null,p.setImmediate([0])},[p]),S=m.useCallback((j=0)=>{const w=j/60%1*100;g(I=>({...I,currentState:"measuring",maxTime:null,remainingTime:j,isPausedState:!1,currentProgress:w})),u.current=0,p.setImmediate([w]),e?(d.current=Date.now()-j*1e3,g(I=>({...I,isRunning:!0}))):d.current=null},[e,p]),x=m.useCallback((j,w=0)=>{g(k=>({...k,isRunning:!1})),d.current=null,g(k=>({...k,currentState:"countdown",maxTime:j,isPausedState:!1})),u.current=0;const I=Math.max(0,j-w),M=w>0?w/j*100:0;g(k=>({...k,remainingTime:I,currentProgress:M})),p.setImmediate([M]),I===0?(g(k=>({...k,isRunning:!1})),d.current=null,t&&queueMicrotask(()=>t())):e?setTimeout(()=>{d.current=Date.now()-w*1e3,g(k=>({...k,isRunning:!0}))},0):d.current=null},[e,t,p]),f=m.useCallback(()=>{g(j=>({...j,isRunning:!1,currentState:"measured"})),d.current=null,s(()=>{n&&n()})},[s,n]),v=m.useCallback(()=>{if(d.current&&l.isRunning){const w=Date.now()-d.current;u.current+=w;const I=u.current/1e3,M=Bt(l.currentState,I,l.maxTime);p.setTarget([M])}g(j=>({...j,isRunning:!1,isPausedState:!0})),r()},[l.isRunning,l.currentState,l.maxTime,p,r]),b=m.useCallback(()=>{l.isPausedState&&(l.remainingTime>0||l.currentState!=="countdown")&&(d.current=Date.now(),g(j=>({...j,isRunning:!0,isPausedState:!1})))},[l.isPausedState,l.remainingTime,l.currentState]),C=m.useCallback(()=>l.isPausedState,[l.isPausedState]);return m.useEffect(()=>{a?(l.isRunning&&!l.isPausedState&&(g(j=>({...j,wasRunningBeforeError:!0})),v()),i()):(l.wasRunningBeforeError&&l.isPausedState&&(g(j=>({...j,wasRunningBeforeError:!1})),b()),c())},[a,l.isRunning,l.isPausedState,l.wasRunningBeforeError,v,b,i,c]),m.useEffect(()=>{if(l.isRunning){const j=()=>{if(d.current){const I=(Date.now()-d.current+u.current)/1e3;if(l.currentState==="countdown"&&l.maxTime!==null){const M=Math.max(0,l.maxTime-I);g(E=>({...E,remainingTime:Math.ceil(M)}));const k=Math.min(100,I/l.maxTime*100);if(p.setTarget([k]),M<=0){g(E=>({...E,isRunning:!1,remainingTime:0})),d.current=null,p.setTarget([100]),t&&queueMicrotask(()=>t());return}}else if(l.currentState==="measuring"){g(k=>({...k,remainingTime:Math.floor(I)}));const M=I/60%1*100;p.setTarget([M])}l.isRunning&&(h.current=requestAnimationFrame(j))}};h.current=requestAnimationFrame(j)}else h.current&&(cancelAnimationFrame(h.current),h.current=null);return()=>{h.current&&cancelAnimationFrame(h.current)}},[l.isRunning,t,l.currentState,l.maxTime,p]),m.useEffect(()=>{let j=null;const w=()=>{p.update(1/60),j=requestAnimationFrame(w)};return j=requestAnimationFrame(w),()=>{j&&cancelAnimationFrame(j)}},[p]),{timerState:l,controls:{startNewCycle:x,startMeasuring:S,setIdle:y,completeMeasuring:f,pause:v,resume:b,isPaused:C}}},Vt=B.externalizeComponent(D.observer(({onCycleComplete:e,onCycleEnd:t,onMeasuringComplete:n,autoStart:a=!0,variant:r="default",compact:i=!1,className:c,hasError:s=!1})=>{const l=m.useRef(void 0),{animationState:g,triggerPauseAnimation:h,triggerErrorAnimation:d,clearErrorAnimation:u,startPulsatingAnimation:p,stopPulsatingAnimation:y,startIdleAnimations:S,stopIdleAnimations:x,triggerFadeTransition:f,setInitialAnimationState:v,cleanup:b}=zt(),{timerState:C,controls:j}=$t({autoStart:a,onCycleEnd:t,onMeasuringComplete:n,hasError:s,onPauseAnimation:h,onErrorAnimation:d,onClearErrorAnimation:u,onStartPulsating:p});return m.useEffect(()=>{const w=l.current;l.current!==void 0&&w!==C.currentState?(w==="measured"&&y(),w==="idle"&&x(),f()):v(),C.currentState==="idle"&&S(),l.current=C.currentState},[C.currentState,y,x,S,f,v]),m.useEffect(()=>{let w=!0;const I=setTimeout(()=>{w&&e(j)},0);return()=>{w=!1,clearTimeout(I)}},[e,j]),m.useEffect(()=>b,[b]),r==="small"?o.jsx(Lt,{timerState:C,animationState:g,hasError:s,compact:i,className:c}):o.jsx(Ft,{timerState:C,animationState:g,hasError:s,className:c})})),Ae=B.externalizeComponent(D.observer(({data:e,columns:t,getRowData:n,onRowClick:a,selectedItem:r,getItemId:i,title:c,showCount:s=!0,searchPlaceholder:l="Search programs",dataGridProps:g,CustomToolbar:h,selectFirstByDefault:d=!1,sx:u})=>{var M;const p=A.useTheme(),y=z.useGridApiRef(),S=m.useRef(null),[x,f]=m.useState(null),v=m.useMemo(()=>e.map(n),[e,n]);m.useEffect(()=>{y.current&&v.length>0&&y.current.autosizeColumns({includeOutliers:!0,includeHeaders:!0,expand:!0,columns:t.map(k=>k.field)})},[v,t,y]),m.useEffect(()=>{if(!S.current||!y.current)return;const k=new ResizeObserver(()=>{setTimeout(()=>{y.current&&v.length>0&&y.current.autosizeColumns({includeOutliers:!0,includeHeaders:!0,expand:!0,columns:t.map(E=>E.field)})},100)});return k.observe(S.current),()=>{k.disconnect()}},[y,v.length,t]);const b=m.useMemo(()=>{if(r!==void 0)return r;if(x!==null)return x;if(d&&e.length>0){const k=e[0];return f(k),k}return null},[d,e,r,x]),C=k=>{const E=e.find(F=>n(F).id===k.id);E&&(r===void 0&&f(E),a&&a(E,k))},j=m.useMemo(()=>!b||!i?null:i(b),[b,i]);function w(){return o.jsx(z.Toolbar,{children:o.jsxs(T,{sx:{display:"flex",width:"100%",gap:1,p:.5,alignItems:"center"},children:[c&&o.jsxs(R,{variant:"h6",sx:{fontWeight:500,color:"white"},children:[c,s&&` (${e.length})`]}),o.jsxs(T,{sx:{ml:"auto",display:"flex",gap:.5,alignItems:"center",pr:1},children:[o.jsx(z.FilterPanelTrigger,{render:o.jsx(z.ToolbarButton,{"aria-label":"Show filters",children:o.jsx(et,{fontSize:"small"})})}),o.jsx(U,{orientation:"vertical",flexItem:!0,sx:{height:"24px",alignSelf:"center"}}),o.jsx(z.QuickFilter,{render:(k,E)=>o.jsxs(T,{...k,sx:{display:"flex",overflow:"hidden"},children:[!E.expanded&&o.jsx(z.QuickFilterTrigger,{render:o.jsx(z.ToolbarButton,{"aria-label":"Search",children:o.jsx(Ce,{fontSize:"small"})})}),o.jsxs(T,{sx:{display:"flex",overflow:"hidden",transition:"all 0.3s ease-in-out",width:E.expanded?"200px":"0px",position:"relative"},children:[o.jsxs(T,{sx:{flex:1,position:"relative","& .MuiInputBase-root":{height:"32px",borderRadius:"16px",backgroundColor:"#171927",paddingLeft:"40px",paddingRight:E.expanded&&E.value!==""?"40px":"12px",color:"white",fontSize:"14px",border:"none !important",outline:"none !important",boxShadow:"none !important","&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"},"&:hover":{"&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"}},"&:focus-within":{outline:"none !important",boxShadow:"none !important","&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"}},"&.Mui-focused":{outline:"none !important",boxShadow:"none !important","&::before":{display:"none !important",border:"none !important"},"&::after":{display:"none !important",border:"none !important"}},"& .MuiInputBase-input":{padding:"8px 0",border:"none !important",outline:"none !important",boxShadow:"none !important","&:focus":{outline:"none !important",boxShadow:"none !important",border:"none !important"},"&::placeholder":{color:"rgba(255, 255, 255, 0.3)",opacity:1}},"& fieldset":{border:"none !important",display:"none !important"},"& .MuiOutlinedInput-notchedOutline":{border:"none !important",display:"none !important"}}},children:[E.expanded&&o.jsx(Ce,{fontSize:"small",sx:{position:"absolute",left:"12px",top:"50%",transform:"translateY(-50%)",color:"rgba(255, 255, 255, 0.6)",zIndex:1,pointerEvents:"none"}}),o.jsx(z.QuickFilterControl,{placeholder:l})]}),E.expanded&&E.value!==""&&o.jsx(z.QuickFilterClear,{render:o.jsx(T,{sx:{position:"absolute",right:"8px",top:"50%",transform:"translateY(-50%)",zIndex:1},children:o.jsx(T,{sx:{minWidth:"24px",width:"24px",height:"24px",padding:0,color:"rgba(255, 255, 255, 0.6)","&:hover":{backgroundColor:"rgba(255, 255, 255, 0.1)"}},children:o.jsx(z.ToolbarButton,{"aria-label":"Clear",children:o.jsx(Ke,{fontSize:"small"})})})})})]})]})})]})]})})}const I=h||w;return o.jsx(T,{ref:S,sx:{height:"100%",display:"flex",flexDirection:"column","& *":{scrollbarWidth:"none",msOverflowStyle:"none","&::-webkit-scrollbar":{display:"none"}},"&:hover *":{scrollbarWidth:"thin",scrollbarColor:`${p.palette.divider} transparent`,"&::-webkit-scrollbar":{display:"block",width:"8px",height:"8px"},"&::-webkit-scrollbar-track":{background:"transparent"},"&::-webkit-scrollbar-thumb":{background:p.palette.divider,borderRadius:"4px"},"&::-webkit-scrollbar-thumb:hover":{background:p.palette.action.hover}},...u},children:o.jsx(z.DataGrid,{apiRef:y,rows:v,columns:t,onRowClick:C,disableColumnMenu:!1,disableRowSelectionOnClick:!0,disableMultipleRowSelection:!0,hideFooterSelectedRowCount:!0,filterMode:"client",sortingOrder:["desc","asc"],hideFooter:!1,showToolbar:!0,slots:{toolbar:I},initialState:{sorting:{sortModel:[]},filter:{filterModel:{items:[]}},...g==null?void 0:g.initialState},...g,autosizeOnMount:!0,autosizeOptions:{...(g==null?void 0:g.autosizeOptions)||{},includeOutliers:!0,includeHeaders:!0,expand:!0,columns:((M=g==null?void 0:g.autosizeOptions)==null?void 0:M.columns)||t.map(k=>k.field)},sx:{border:"none",width:"100%","& .MuiPaper-root":{boxShadow:"none !important"},"& .MuiDataGrid-overlay":{},"& .MuiDataGrid-main":{border:"none","& .MuiPaper-root":{}},"& .MuiDataGrid-container--top [role=row]":{},"& .MuiDataGrid-topContainer":{borderBottom:"none !important"},"& .MuiDataGrid-columnHeaders":{border:"none",borderBottom:"none !important"},"& .MuiDataGrid-row":{cursor:a?"pointer":"default",border:"none",margin:"1px 0",position:"relative",backgroundColor:"transparent !important","&:hover":{backgroundColor:"transparent !important","&::before":{content:'""',position:"absolute",top:0,left:"16px",right:"16px",bottom:0,backgroundColor:"action.hover",borderRadius:"16px",zIndex:0}},"&.Mui-selected":{backgroundColor:"transparent !important","&:hover":{backgroundColor:"transparent !important"}},...j!==null&&{[`&[data-id="${j}"]`]:{backgroundColor:"transparent !important","&::before":{content:'""',position:"absolute",top:0,left:"16px",right:"16px",bottom:0,backgroundColor:"rgba(255, 255, 255, 0.08) !important",borderRadius:"16px",zIndex:0},"&:hover":{backgroundColor:"transparent !important"},"&:hover::before":{backgroundColor:"rgba(255, 255, 255, 0.12) !important"}}}},"& .MuiDataGrid-cell--textLeft":{paddingLeft:"40px"},"& .MuiDataGrid-cell":{border:"none",position:"relative",zIndex:1,"&:focus":{outline:"none"},"&:focus-within":{outline:"none"},"&:hover":{backgroundColor:"transparent !important"}},"& .MuiDataGrid-columnHeader":{border:"none",paddingLeft:"40px",paddingRight:"40px","& .MuiDataGrid-columnHeaderTitle":{color:"rgba(255, 255, 255, 0.6)"}},"& .MuiDataGrid-toolbarContainer":{padding:"8px",border:"none !important",borderBottom:"none !important","& .MuiBox-root":{},"& .MuiFormControl-root":{},"& .MuiInputBase-root":{},"& .MuiPaper-root":{boxShadow:"none !important"},"& *":{borderBottom:"none !important"}},"& .MuiDataGrid-toolbar":{borderBottom:"none !important"},"& .MuiDataGrid-toolbarFilterList":{border:"none"},"& .MuiDataGrid-withBorderColor":{borderColor:"transparent !important"},"& .MuiDataGrid-columnSeparator":{display:"none"},"& .MuiDataGrid-footerContainer":{display:"none"},"& .MuiDataGrid-filler":{border:"none !important",borderTop:"none !important",borderBottom:"none !important",borderLeft:"none !important",borderRight:"none !important","--rowBorderColor":"none !important"},"& .MuiBackdrop-root":{},"& .MuiModal-backdrop":{},...g==null?void 0:g.sx}})})}));Ae.displayName="WandelbotsDataGrid";const ce=B.externalizeComponent(D.observer(({colors:e,label:t,getDisplayedValue:n,startJogging:a,stopJogging:r,disabled:i,activeJoggingDirection:c,...s})=>{var b,C,j,w,I,M,k;Y.useAnimationFrame(()=>{const E=n(),F=u.current;F&&(F.textContent=E)});const l=A.useTheme(),[g,h]=m.useState(null);m.useEffect(()=>{i&&v()},[i]);const d=c||g,u=m.useRef(null);e||(e={color:"#fff",backgroundColor:"#000",borderColor:"#000",buttonBackgroundColor:{disabled:"#000",default:"#000",hovered:"#000",pressed:"#000"},labelColor:"#000"});const p=d?(b=e.buttonBackgroundColor)==null?void 0:b.pressed:e.borderColor,y={width:"55px",color:e.color,path:{fill:e.color},alignContent:"center",fontSize:"37px",svg:{pointerEvents:"none"}},S={...y,backgroundColor:(C=e.buttonBackgroundColor)==null?void 0:C.default,":hover":{backgroundColor:(j=e.buttonBackgroundColor)==null?void 0:j.hovered},":active":{backgroundColor:(w=e.buttonBackgroundColor)==null?void 0:w.pressed,color:e.backgroundColor,path:{fill:e.backgroundColor}},":disabled":{backgroundColor:(I=e.buttonBackgroundColor)==null?void 0:I.disabled,"svg path":{fill:l.palette.action.disabled}}},x={...y,backgroundColor:(M=e.buttonBackgroundColor)==null?void 0:M.pressed,color:e.backgroundColor,path:{fill:e.backgroundColor},":disabled":{backgroundColor:(k=e.buttonBackgroundColor)==null?void 0:k.pressed,"svg path":{fill:l.palette.action.disabled}}};function f(E,F){i||E.button===0&&(h(F),a(F))}function v(){h(null),r()}return o.jsxs(P,{height:"64px",direction:"row",justifyContent:"center",...s,children:[o.jsx(G,{disabled:i,disableRipple:!0,onPointerDown:E=>f(E,"-"),onPointerUp:v,onPointerOut:v,size:"large",sx:{...d==="-"?x:S,borderRadius:"16px 0px 0px 16px",borderLeft:`2px solid ${p??"#fff"}`,borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:o.jsx(N.ForwardRef$3,{})}),o.jsxs(P,{spacing:"6px",sx:{width:"150px",backgroundColor:e.backgroundColor,alignItems:"center",justifyContent:"center",opacity:"0.9",borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:[o.jsx(P,{height:"22px",direction:"row",alignItems:"center",justifyItems:"center",spacing:1,sx:{userSelect:"none",color:e.color,".MuiTypography-root":{fontWeight:700,...i?{color:l.palette.action.disabled}:{}},...i?{"svg path":{fill:l.palette.action.disabled}}:{}},children:t}),o.jsx(R,{height:"22px",sx:{fontSize:"15px",color:i?l.palette.action.disabled:e.color,fontWeight:700,fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center"},ref:u,children:n()})]}),o.jsx(G,{disableRipple:!0,disabled:i,onPointerDown:E=>f(E,"+"),onPointerUp:v,onPointerOut:v,size:"large",sx:{...d==="+"?x:S,borderRadius:"0px 16px 16px 0px",borderRight:`2px solid ${p??"#fff"}`,borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:o.jsx(N.ForwardRef$4,{})})]})})),De=B.externalizeComponent(D.observer(({startJogging:e,stopJogging:t,lowerLimit:n,upperLimit:a,useDegree:r,getValue:i,disabled:c,...s})=>{var w,I,M,k,E,F,Z,ee,fe,xe,be,ye,Se,ve,je;const{t:l}=L.useTranslation(),[g,h]=m.useState(),d=A.useTheme(),u={background:(w=d.palette.backgroundPaperElevation)==null?void 0:w[4],color:(I=d.palette.backgroundPaperElevation)==null?void 0:I[11]},p=D.useLocalObservable(()=>({activeJoggingDir:null,startJogging(O){this.activeJoggingDir=O,e(O)},stopJogging(){this.activeJoggingDir=null,t()}})),y=xt(()=>{const O=r?S(i()):i();(O===void 0||g===void 0||Math.abs(g-O)>1e-9)&&h(O)},50);Y.useAnimationFrame(y);function S(O){if(O!==void 0)return J.radiansToDegrees(O)}function x(O){O.button===0&&p.startJogging("-")}function f(O){O.button===0&&p.startJogging("+")}function v(O){p.stopJogging()}function b(O){p.stopJogging()}function C(O,X=1){if(O===void 0||Number.isNaN(O))return"";const Q=l("General.degree.variable",{amount:O.toFixed(X)});return O>0&&X===0?`+${Q}`:Q}function j(O,X=1){if(O===void 0||Number.isNaN(O))return"";const Q=l("General.mm.variable",{amount:O.toFixed(X)});return O>0&&X===0?`+${Q}`:Q}return o.jsxs(P,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...s,sx:{"& .MuiIconButton-root":{width:"52px",color:d.palette.text.primary,alignContent:"center",backgroundColor:(M=d.palette.backgroundPaperElevation)==null?void 0:M[11],"& svg":{width:"42px",height:"42px"},"&.Mui-disabled":{backgroundColor:(k=d.palette.backgroundPaperElevation)==null?void 0:k[11],color:d.palette.action.disabled,opacity:1},"&:hover":{backgroundColor:(E=d.palette.backgroundPaperElevation)==null?void 0:E[9]},"&:active":{...u}}},children:[o.jsx(G,{onPointerDown:x,onPointerUp:v,onPointerOut:b,disabled:c,disableRipple:!0,sx:{borderRadius:"16px 0px 0px 16px",...p.activeJoggingDir==="-"?u:{}},children:o.jsx(ht,{sx:{pointerEvents:"none",color:(fe=(ee=(Z=(F=d.componentsExt)==null?void 0:F.JoggingPanel)==null?void 0:Z.JoggingJoint)==null?void 0:ee.Joint)==null?void 0:fe.arrowColor}})}),o.jsxs(P,{flexGrow:1,alignItems:"center",justifyContent:"center",sx:{borderStyle:"solid",borderLeftWidth:0,borderRightWidth:0,border:"none",backgroundColor:(xe=d.palette.backgroundPaperElevation)==null?void 0:xe[11],paddingLeft:"20px",paddingRight:"20px",zIndex:1},children:[o.jsx(R,{sx:{fontSize:"15px",fontWeight:700,position:"relative",top:"5px",fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center",color:c?d.palette.action.disabled:d.palette.text.primary},children:r?C(g):j(g)}),o.jsx(Oe,{disabled:!0,"aria-label":"Joint position",min:r?S(n):n,max:r?S(a):a,value:g||0,track:!1,sx:{"& .MuiSlider-mark":{display:"none"},"& .MuiSlider-thumb":{width:"5px",height:"12px",borderRadius:"2px",color:c?d.palette.action.disabled:d.palette.text.primary},"& .MuiSlider-markLabel":{top:"20px",fontSize:"12px",color:c?d.palette.action.disabled:d.palette.text.secondary},"& .MuiSlider-rail":{backgroundColor:(be=d.palette.backgroundPaperElevation)==null?void 0:be[5],opacity:1}},marks:n!==void 0&&a!==void 0&&[{value:r?S(n):n,label:r?C(S(n),0):j(n)},{value:r?S(a):a,label:r?C(S(a),0):j(a)}]})]}),o.jsx(G,{onPointerDown:f,onPointerUp:v,onPointerOut:b,disabled:c,disableRipple:!0,sx:{borderRadius:"0px 16px 16px 0px",...p.activeJoggingDir==="+"?u:{}},children:o.jsx(ft,{sx:{pointerEvents:"none",color:(je=(ve=(Se=(ye=d.componentsExt)==null?void 0:ye.JoggingPanel)==null?void 0:Se.JoggingJoint)==null?void 0:ve.Joint)==null?void 0:je.arrowColor}})})]})}));function ge(e,t,n){if(t.length!==e.length)return!0;for(let a=0;a<t.length;a++)if(Math.abs(t[a]-e[a])>n)return!1;return!0}function Je(e,t,n){if(e===void 0&&t||e&&t===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.position)===void 0||(t==null?void 0:t.position)===void 0)return!1;if(e===void 0||t===void 0)return!0;let a=0;return a+=Math.abs(e.orientation[0]-t.orientation[0]),a+=Math.abs(e.orientation[1]-t.orientation[1]),a+=Math.abs(e.orientation[2]-t.orientation[2]),a+=Math.abs(e.position[0]-t.position[0]),a+=Math.abs(e.position[1]-t.position[1]),a+=Math.abs(e.position[2]-t.position[2]),a<=n}function pe(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&Je(e.tcp_pose,t.tcp_pose,n)}function Be(e,t){const n=new le.Vector3(t[0],t[1],t[2]),a=new le.Vector3(e[0],e[1],e[2]),r=n.length(),i=n.normalize();let c=a.length(),s=a.normalize();s.dot(i)<0&&(c=-c,s=s.multiplyScalar(-1));let l=c-r;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),c=r+l,[...s.multiplyScalar(c)]}const ke=1e-4;class ie{constructor(t,n,a,r,i,c){this.nova=t,this.controller=n,this.motionGroup=a,this.description=r,this.initialMotionState=i,this.motionStateSocket=c,this.rapidlyChangingMotionState=i,c.addEventListener("message",s=>{var g;const l=(g=J.tryParseJson(s.data))==null?void 0:g.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);ge(this.rapidlyChangingMotionState.joint_position,l.joint_position,ke)||_.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),pe(this.rapidlyChangingMotionState,l,ke)||_.runInAction(()=>{var h,d,u;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:(h=l.tcp_pose)!=null&&h.orientation&&((d=l.tcp_pose)!=null&&d.position)&&((u=this.rapidlyChangingMotionState.tcp_pose)!=null&&u.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:Be(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",l.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==l.standstill&&_.runInAction(()=>{this.rapidlyChangingMotionState.standstill=l.standstill})}),_.makeAutoObservable(this)}static async open(t,n){var d;const[a,r]=n.split("@"),i=await t.api.controller.getCurrentRobotControllerState(r),c=i==null?void 0:i.motion_groups.find(u=>u.motion_group===n);if(!i||!c)throw new Error(`Controller ${r} or motion group ${n} not found`);const s=t.openReconnectingWebsocket(`/controllers/${r}/motion-groups/${n}/state-stream`),l=await s.firstMessage(),g=(d=J.tryParseJson(l.data))==null?void 0:d.result;if(!g)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
2
2
  `,g);const h=await t.api.motionGroup.getMotionGroupDescription(r,c.motion_group);return new ie(t,i,c,h,g,s)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Ie="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class re{constructor(t,n={}){this.motionStream=t,this.options=n,this.ENDPOINT_JOGGING="/execution/jogging",this.ENDPOINT_TRAJECTORY="/execution/trajectory",this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.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=(n==null?void 0:n.tcp)||t.motionGroup.tcp||this.getDefaultTcp(t),this.orientation=(n==null?void 0:n.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(n==null?void 0:n.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(n==null?void 0:n.mode)||this.DEFAULT_MODE,this.onError=n==null?void 0:n.onError}static async open(t,n,a={}){const r=await ie.open(t,n),i=new re(r,a);return await i.setJoggingMode(i.mode),i}getDefaultTcp(t){var a,r;const n=(r=(a=t.description.dh_parameters)==null?void 0:a[0])==null?void 0:r.type;return t.joints.length<6&&(n===V.JointTypeEnum.RevoluteJoint||n===V.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(n=>n!==null);return t.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(n=>n.closed()))}async setJoggingMode(t,n=!0){if(!(this.mode===t&&n)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,n)=>{const a=setTimeout(()=>{n(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",r=>{var c,s,l,g;const i=J.tryParseJson(r.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(a),t();return}if(((s=i==null?void 0:i.result)==null?void 0:s.kind)==="MOTION_ERROR")if(clearTimeout(a),this.onBlocked&&((l=i==null?void 0:i.result)!=null&&l.message.includes(Ie))){(g=this.joggingSocket)==null||g.dispose(),this.onBlocked();return}else this.onError?this.onError(r.data):n(new Error(r.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:t,direction:n,velocityValue:a,velocityUnit:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[t]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:t,direction:n,velocityMmPerSec:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=[0,0,0],i=[0,0,0];i[J.XYZ_TO_VECTOR[t]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:n,velocityRadsPerSec:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=[0,0,0],i=[0,0,0];r[J.XYZ_TO_VECTOR[t]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:n,velocityInRelevantUnits:a,axis:r,direction:i,motion:c}){const s=[];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 x=[...t.position];x[J.XYZ_TO_VECTOR[r]]+=c.distanceMm*(i==="-"?-1:1),s.push({limits_override:{tcp_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:x,orientation:t.orientation}}})}else if(c.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const x=new se.Vector3(t.orientation[0],t.orientation[1],t.orientation[2]),f=x.length(),v=x.clone().normalize(),b=c.distanceRads*(i==="-"?-1:1),C=new se.Vector3(0,0,0);C[r]=1;const j=Math.cos(.5*b)*Math.cos(.5*f),w=Math.sin(.5*b)*Math.sin(.5*f),I=Math.sin(.5*b)*Math.cos(.5*f),M=Math.cos(.5*b)*Math.sin(.5*f),k=C.dot(v),E=C.clone().cross(v),F=2*Math.acos(j-w*k),Z=F/Math.sin(.5*F),ee=new se.Vector3().addScaledVector(E,w).addScaledVector(C,I).addScaledVector(v,M).multiplyScalar(Z);s.push({limits_override:{tcp_orientation_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...ee]}}})}const l=this.motionStream.description;if(l.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const g={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},h=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:g,start_joint_position:n,motion_commands:s}),d=h.response;if(!d)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(h)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_TRAJECTORY);const u=x=>{var f;if(!x||x.add_trajectory_error||x.message)if(this.onError)this.onError(x);else throw new Error(((f=x==null?void 0:x.add_trajectory_error)==null?void 0:f.message)||(x==null?void 0:x.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"})},p=async()=>{var x;await _.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await _.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(x=this.trajectorySocket)==null||x.dispose(),this.trajectorySocket=null},y=async()=>{var x;await _.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(x=this.trajectorySocket)==null||x.dispose(),this.trajectorySocket=null},S=async x=>{if(x!=null&&x.message)if(this.onError){this.onError(x);return}else throw new Error(x.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await p():await y()};this.trajectorySocket.addEventListener("message",x=>{var v,b;const f=J.tryParseJson(x.data);if(!((v=f==null?void 0:f.result)!=null&&v.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${x.data}`);if(this.onBlocked&&((b=f.result.message)!=null&&b.includes(Ie))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")u(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${f.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:d,tcp:this.tcp}})}}const Fe=e=>{const t=e.softTimeout||3e3,[n,a]=m.useState(!1),r=A.useTheme();return m.useEffect(()=>{const i=setTimeout(()=>{a(!0)},t);return()=>clearTimeout(i)}),o.jsx(P,{width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{color:r.palette.text.primary},children:e.error?o.jsx(Le,{loadingMessage:e.message,error:e.error}):o.jsxs(o.Fragment,{children:[o.jsx(ot,{sx:{marginBottom:"24px"}}),!!e.message&&o.jsx("div",{children:e.message}),o.jsx(P,{sx:{visibility:n?"visible":"hidden",marginTop:"1rem",color:r.palette.text.secondary},children:"This is taking longer than expected..."})]})})},Le=e=>{const t=rt.makeErrorMessage(e.error),n=e.error instanceof Error?e.error.stack:null,a=A.useTheme();return o.jsxs(P,{sx:{maxHeight:"100%",maxWidth:"min(100%, 800px)",padding:2,overflow:"auto",color:a.palette.error.main,"& pre":{whiteSpace:"pre-wrap",wordBreak:"break-word",paddingBottom:"3rem"}},children:[(e.loadingMessage?`Error while ${ue.lowerFirst(it.capitalize(e.loadingMessage))} - `:"")+t,o.jsx("br",{}),n&&o.jsx("pre",{children:n})]})},qt=D.observer(({store:e})=>{const{t}=L.useTranslation();return o.jsx(Ee,{"data-testid":"jogging-blocked","aria-label":"jogging-blocked",open:!0,sx:{position:"absolute",zIndex:n=>n.zIndex.drawer+1,color:"#fff",background:"rgba(15, 15, 15, 0.88)",justifyContent:"flex-start",alignItems:"flex-start"},children:o.jsxs(P,{sx:{m:2,width:"100%"},children:[o.jsxs(at,{severity:"error",sx:{mb:2},children:[o.jsx(st,{children:t("Jogging.Blocked.ti")}),t("Jogging.Blocked.lb")]}),o.jsx(H,{variant:"contained",color:"secondary",onClick:()=>e.unblock(),children:t("Jogging.Blocked.Reenable.bt")})]})})}),ze=D.observer(({store:e})=>{const{t}=L.useTranslation(),[n,a]=m.useState(e.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached),r=m.useRef(n);Y.useAnimationFrame(()=>{const c=e.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;lt(r.current,c)||(r.current=c,a(c))});const i=[];for(const[c,s]of n.entries())s&&i.push(c);return o.jsx(R,{"data-testid":"jogging-joint-limit-detector","aria-label":"jogging-joint-limit-detector",color:"error",sx:{margin:"0.5rem 1rem",textAlign:"center",minHeight:"1.5rem",visibility:i.length?"visible":"hidden"},children:t("Jogging.JointLimitsReached.lb",{jointNumbers:i.map(c=>c+1).join(", ")})})}),Nt=A.styled(ct)(({theme:e})=>({"&.MuiFormControl-root":{".MuiSelect-select":{paddingTop:"20px",paddingLeft:"12px"},label:{pointerEvents:"none",fontSize:"16px"},".MuiInputLabel-root":{"&.Mui-focused":{color:e.palette.text.primary}}}}));function ne({labelValue:e,...t}){return o.jsxs(Nt,{fullWidth:!0,variant:"filled",children:[o.jsx(dt,{id:t.labelId,children:e}),o.jsx(ut,{...t})]})}const de=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],Gt=[{id:"continuous"},...de],Wt=["coordsys","tool"];class ae{constructor(t,n,a,r,i){var c,s,l,g;this.jogger=t,this.coordSystems=n,this.motionGroupDescription=a,this.tcps=r,this.inverseSolverValue=i,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=V.JointTypeEnum.RevoluteJoint;for(const h of n)if(h.coordinate_system===""){h.coordinate_system="world";break}this.selectedCoordSystemId=((c=n[0])==null?void 0:c.coordinate_system)||"world",this.selectedTcpId=((s=r[0])==null?void 0:s.id)||"",this.inverseSolver=i,this.jointType=((g=(l=a==null?void 0:a.dh_parameters)==null?void 0:l[0])==null?void 0:g.type)??V.JointTypeEnum.RevoluteJoint,_.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(_.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:n}=t,[a,r]=await Promise.all([n.api.controller.listCoordinateSystems(t.motionStream.controllerId,"ROTATION_VECTOR"),n.api.motionGroup.getMotionGroupDescription(t.motionStream.controllerId,t.motionGroupId)]),i=await n.api.motionGroupModels.getMotionGroupKinematicModel(r.motion_group_model),c=Object.entries(r.tcps||{}).map(([s,l])=>({id:s,readable_name:l.name,position:l.pose.position,orientation:l.pose.orientation}));return new ae(t,a||[],r,c,i.inverse_solver)}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return ue.countBy(this.coordSystems,t=>t.name)}async deactivate(){if(this.jogger.mode==="jogging")return this.jogger.stop()}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const t=J.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const t=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&t.unshift({id:"cartesian",label:"Cartesian"}),t}get incrementOptions(){return Gt}get discreteIncrementOptions(){return de}get incrementOptionsById(){return te(this.incrementOptions,t=>t.id)}get tabsById(){return te(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return te(this.coordSystems,t=>t.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return te(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:de.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(t){return t?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(t){return t?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(t){return t?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(t,n){const a=this.tabs[n]||this.tabs[0];this.selectedTabId=a.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setCurrentIncrementJog(t){this.incrementJogInProgress=t}setVelocityFromSlider(t,n){n?this.rotationVelocityDegPerSec=t:this.translationVelocityMmPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}lock(t){this.locks.add(t)}unlock(t){this.locks.delete(t)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(t){const n=gt();this.lock(n);try{return await t()}finally{this.unlock(n)}}}const Ut=D.observer(({store:e,useDegree:t})=>{var c;const{t:n}=L.useTranslation(),a=m.useId(),r=[];function i(s){switch(s){case"coordsys":return n("Jogging.Orientation.coordsys");case"tool":return n("Jogging.Orientation.tool");default:return s}}return e.showCoordSystemSelect&&r.push(o.jsx(ne,{labelId:`jogging-coord-select-${a}`,labelValue:n("Jogging.CoordinateSystem.hlb"),value:e.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:s=>e.setSelectedCoordSystemId(s.target.value),disabled:e.isLocked,children:e.coordSystems.map(s=>o.jsx(W,{value:s.coordinate_system,children:s.name&&e.coordSystemCountByName[s.name]>1?`${s.name} / ${s.coordinate_system}`:s.name||s.coordinate_system},s.coordinate_system))},"coord")),e.showTcpSelect&&r.push(o.jsx(ne,{labelId:`jogging-tcp-select-${a}`,labelValue:"TCP",value:e.selectedTcpId,size:"small",variant:"filled",onChange:s=>e.setSelectedTcpId(s.target.value),disabled:e.isLocked,children:e.tcps.map(s=>o.jsx(W,{value:s.id,children:s.id},s.id))},"tcp")),e.showOrientationSelect&&r.push(o.jsx(ne,{labelValue:n("Jogging.Cartesian.Orientation.lb"),labelId:`orientation-select-${a}`,value:e.selectedOrientation,onChange:s=>e.setSelectedOrientation(s.target.value),disabled:e.isLocked,children:Wt.map(s=>o.jsx(W,{value:s,children:i(s)},s))},"orientation")),e.showIncrementSelect&&r.push(o.jsxs(ne,{labelValue:n("Jogging.Increment.hlb"),labelId:`jogging-increment-select-${a}`,size:"small",variant:"filled",value:((c=e.activeDiscreteIncrement)==null?void 0:c.id)||"continuous",onChange:s=>e.setSelectedIncrementId(s.target.value),disabled:e.isLocked,children:[o.jsx(W,{value:"continuous",children:n("Jogging.Increment.Continuous.dd")},"continuous"),e.selectedOrientation==="tool"?null:e.discreteIncrementOptions.map(s=>o.jsx(W,{value:s.id,children:t?`${s.degrees}°`:`${s.mm}mm`},s.id))]},"increment")),o.jsx(T,{component:"div","data-testid":"jogging-options","aria-label":"jogging-options",sx:{display:"grid",gap:"16px",gridTemplateColumns:"1fr 1fr",gridAutoRows:"min-content","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:r.map((s,l)=>o.jsx(T,{sx:{gridColumn:r.length%2===1&&l===r.length-1?"span 2":"auto"},children:s},l))})}),Ht=A.styled(pt)(({theme:e})=>{var t;return{"&.MuiToggleButtonGroup-root":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[8],borderRadius:"8px",padding:"4px",gap:"4px",button:{border:"none",borderRadius:"4px",flex:"1 1 0px",minWidth:0,"&.MuiToggleButtonGroup-firstButton":{borderRadius:"8px 4px 4px 8px"},"&.MuiToggleButtonGroup-lastButton":{borderRadius:"4px 8px 8px 4px"}}}}}),$e=D.observer(e=>{var i,c,s;const t=A.useTheme(),{store:n}=e,{t:a}=L.useTranslation();function r(l,g){g===e.velocity||!mt(g)||e.onVelocityChange(g,e.useDegree)}return o.jsxs(P,{direction:"row",gap:2,alignItems:"center","data-testid":"velocity-slider","aria-label":"velocity-slider",children:[n.showVelocityLegend&&o.jsx(R,{sx:{color:(s=(c=(i=t.componentsExt)==null?void 0:i.JoggingPanel)==null?void 0:c.VelocitySlider)==null?void 0:s.sliderLegendColor,fontSize:"14px"},children:a("Jogging.Velocity.bt")}),o.jsx(Oe,{value:e.velocity,color:"secondary",onChange:r,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& .MuiSlider-valueLabelOpen":{zIndex:100,backgroundColor:"transparent",top:"0px"}}}),n.showVelocitySliderLabel&&(e.renderValue?e.renderValue(e.velocity):o.jsx(me,{value:e.velocity.toString()}))]})});function me({value:e,sx:t}){var a;const n=A.useTheme();return o.jsx(P,{direction:"row",justifyContent:"center",alignItems:"center",gap:"5px",sx:{padding:"6px 12px",background:(a=n.palette.backgroundPaperElevation)==null?void 0:a[8],borderRadius:"10px",minWidth:"111px",...t},children:o.jsx(R,{component:"span",sx:{textAlign:"right",fontSize:"14px",opacity:.8,color:n.palette.text.primary,whiteSpace:"nowrap"},children:e})})}const Ve=D.observer(({store:e,useDegree:t})=>{const{t:n}=L.useTranslation();function a(r,i){return i?`ω = ${n("Jogging.Cartesian.Rotation.velocityDegPerSec.lb",{amount:r})}`:`v = ${n("Jogging.Cartesian.Translation.velocityMmPerSec.lb",{amount:r})}`}return o.jsx($e,{store:e,velocity:e.velocityInDisplayUnits(t),min:e.minVelocityInDisplayUnits(t),max:e.maxVelocityInDisplayUnits(t),onVelocityChange:e.setVelocityFromSlider,useDegree:t,disabled:e.isLocked,renderValue:r=>o.jsx(me,{value:a(r,t),sx:{minWidth:"111px",span:{transform:"translateY(-1.5px)"}}})})}),Yt=D.observer(({store:e,children:t})=>{const{t:n}=L.useTranslation(),a=A.useTheme();function r(u,p){(p==="translate"||p==="rotate")&&e.setSelectedCartesianMotionType(p)}Y.useReaction(()=>[e.selectedCoordSystemId,e.selectedTcpId],()=>{e.jogger.motionStream.motionStateSocket.changeUrl(e.jogger.nova.makeWebsocketURL(`/controllers/${e.jogger.motionStream.controllerId}/motion-groups/${e.jogger.motionGroupId}/state-stream?tcp=${e.selectedTcpId}`))},{fireImmediately:!0});async function i(u,p){const y=await e.activate(),S=y.motionStream.rapidlyChangingMotionState.tcp_pose,x=y.motionStream.rapidlyChangingMotionState.joint_position;S&&await e.withMotionLock(async()=>{try{e.setCurrentIncrementJog({axis:u.axis,direction:u.direction}),await e.jogger.runIncrementalCartesianMotion({currentTcpPose:S,currentJoints:x,coordSystemId:e.activeCoordSystemId,velocityInRelevantUnits:e.selectedCartesianMotionType==="translate"?e.translationVelocityMmPerSec:e.rotationVelocityRadsPerSec,axis:u.axis,direction:u.direction,motion:e.selectedCartesianMotionType==="translate"?{type:"translate",distanceMm:p.mm}:{type:"rotate",distanceRads:J.degreesToRadians(p.degrees)}})}finally{e.setCurrentIncrementJog(null),await e.deactivate()}})}async function c(u){if(!e.isLocked){if(await e.activate(),e.activeDiscreteIncrement)return i(u,e.activeDiscreteIncrement);u.motionType==="translate"?await e.jogger.translateTCP({axis:u.axis,direction:u.direction,velocityMmPerSec:e.translationVelocityMmPerSec}):await e.jogger.rotateTCP({axis:u.axis,direction:u.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}}async function s(){e.isLocked||e.activeDiscreteIncrement||await e.deactivate()}function l(u,p,y){var x,f,v;const S=(v=(f=(x=y.componentsExt)==null?void 0:x.JoggingPanel)==null?void 0:f.JoggingCartesian)==null?void 0:v.Axis;if(S)return p==="translate"?S[u]:S.CustomRotation??S[u]}const g=[{id:"x",icon:o.jsx(N.ForwardRef,{}),colors:l("X",e.selectedCartesianMotionType,a)},{id:"y",icon:o.jsx(N.ForwardRef$1,{}),colors:l("Y",e.selectedCartesianMotionType,a)},{id:"z",icon:o.jsx(N.ForwardRef$2,{}),colors:l("Z",e.selectedCartesianMotionType,a)}];function h(u){return n("General.mm.variable",{amount:u.toFixed(1)})}function d(u){return n("General.degree.variable",{amount:J.radiansToDegrees(u).toFixed(1)})}return o.jsxs(P,{"data-testid":"jogging-cartesian-tab","aria-label":"jogging-cartesian-tab",flexGrow:1,gap:2,sx:{padding:"18px 24px"},children:[o.jsxs(P,{gap:2,children:[o.jsx(Ut,{store:e,useDegree:e.selectedCartesianMotionType==="rotate"}),o.jsx(Ve,{store:e,useDegree:e.selectedCartesianMotionType==="rotate"}),o.jsx(U,{})]}),o.jsx(P,{marginLeft:"auto",marginRight:"auto",gap:"24px",justifyContent:"center",sx:{flexGrow:"1"},children:o.jsxs(P,{alignItems:"center",justifyContent:"center",gap:"24px",sx:{flexGrow:1},children:[o.jsxs(Ht,{value:e.selectedCartesianMotionType,onChange:r,exclusive:!0,"aria-label":n("Jogging.Cartesian.MotionType.lb"),sx:{justifyContent:"center"},children:[o.jsx(Te,{value:"translate",children:n("Jogging.Cartesian.Translation.bt")}),o.jsx(Te,{value:"rotate",children:n("Jogging.Cartesian.Rotation.bt")})]}),e.selectedCartesianMotionType==="translate"&&g.map(u=>{var p,y;return o.jsx(ce,{"data-testid":`jogging-cartesian-axis-control-${u.id}`,"aria-label":`jogging-cartesian-axis-control-${u.id}`,colors:u.colors,disabled:e.isLocked,activeJoggingDirection:((p=e.incrementJogInProgress)==null?void 0:p.axis)===u.id?e.incrementJogInProgress.direction:void 0,label:o.jsxs(o.Fragment,{children:[u.icon,o.jsx(R,{sx:{fontSize:"24px",color:((y=u.colors)==null?void 0:y.labelColor)??a.palette.text.primary},children:u.id.toUpperCase()})]}),getDisplayedValue:()=>{var S,x;return h(((x=(S=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:S.position)==null?void 0:x[J.XYZ_TO_VECTOR[u.id]])||0)},startJogging:S=>c({axis:u.id,motionType:"translate",direction:S}),stopJogging:s},u.id)}),e.selectedCartesianMotionType==="rotate"&&g.map(u=>{var p,y;return o.jsx(ce,{"data-testid":`jogging-cartesian-axis-control-${u.id}`,"aria-label":`jogging-cartesian-axis-control-${u.id}`,colors:u.colors,disabled:e.isLocked,activeJoggingDirection:((p=e.incrementJogInProgress)==null?void 0:p.axis)===u.id?e.incrementJogInProgress.direction:void 0,label:o.jsxs(o.Fragment,{children:[o.jsx(N.ForwardRef$6,{}),o.jsx(R,{sx:{fontSize:"24px",color:((y=u.colors)==null?void 0:y.labelColor)??a.palette.text.primary},children:u.id.toUpperCase()})]}),getDisplayedValue:()=>{var S,x;return d(((x=(S=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:S.orientation)==null?void 0:x[J.XYZ_TO_VECTOR[u.id]])||0)},startJogging:S=>c({axis:u.id,motionType:"rotate",direction:S}),stopJogging:s},u.id)})]})}),o.jsx(ze,{store:e}),t&&o.jsx(U,{}),t]})}),Zt=D.observer(({store:e,children:t})=>{const n=A.useTheme();async function a(i){await e.activate(),await e.jogger.rotateJoints({joint:i.joint,direction:i.direction,velocityUnit:e.jointType===V.JointTypeEnum.PrismaticJoint?"mm/s":"rad/s",velocityValue:e.jointType===V.JointTypeEnum.PrismaticJoint?e.translationVelocityMmPerSec:e.rotationVelocityRadsPerSec})}async function r(){await e.jogger.stop(),await e.deactivate()}return o.jsxs(P,{"data-testid":"jogging-joint-tab","aria-label":"jogging-joint-tab",flexGrow:1,gap:2,sx:{padding:"18px 24px"},children:[o.jsx(Ve,{store:e,useDegree:e.jointType===V.JointTypeEnum.RevoluteJoint}),o.jsx(U,{}),o.jsx(P,{justifyContent:"center",alignItems:"stretch",sx:{flexGrow:"1"},children:o.jsx(P,{"data-testid":"jogging-joint-value-controls-wrapper","aria-label":"jogging-joint-value-controls-wrapper",alignItems:"center",gap:"24px",children:e.jogger.motionStream.joints.map(i=>{var s,l,g;const c=(g=(l=(s=e.motionGroupDescription.operation_limits.auto_limits)==null?void 0:s.joints)==null?void 0:l[i.index])==null?void 0:g.position;return o.jsxs(P,{"data-testid":`jogging-joint-value-control-${i.index}`,"aria-label":`jogging-joint-value-control-${i.index}`,direction:"row",alignItems:"center",justifyContent:"center",spacing:1.5,width:"100%",children:[e.showJointsLegend&&o.jsx(R,{color:e.isLocked?n.palette.text.disabled:n.palette.text.secondary,children:`G${i.index+1}`}),o.jsx(De,{disabled:e.isLocked,lowerLimit:c==null?void 0:c.lower_limit,upperLimit:c==null?void 0:c.upper_limit,useDegree:e.jointType===V.JointTypeEnum.RevoluteJoint,getValue:()=>{const h=e.jogger.motionStream.rapidlyChangingMotionState.joint_position[i.index];return h!==void 0?h:void 0},startJogging:h=>a({joint:i.index,direction:h}),stopJogging:r})]},`joint-${i.index}`)})})}),o.jsx(ze,{store:e}),t&&o.jsx(U,{}),t]})}),Xt=B.externalizeComponent(D.observer(e=>{const t=ue.isString(e.nova)?new V.NovaClient({instanceUrl:e.nova}):e.nova,n=D.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function a(){_.runInAction(()=>{n.loadingError=null,n.joggingStore=null});try{let r=e.store;if(!r){const i=await re.open(t,e.motionGroupId);r=await ae.loadFor(i)}_.runInAction(()=>{n.joggingStore=r}),e.onSetup&&e.onSetup(r)}catch(r){n.loadingError=r}}return m.useEffect(()=>(a(),e.store?()=>null:()=>{var r;(r=n.joggingStore)==null||r.dispose()}),[e.store,e.nova,e.motionGroupId]),m.useEffect(()=>{const r=n.joggingStore;r&&(e.locked?r.lock("external"):r.unlock("external"))},[n.joggingStore,e.locked]),o.jsx(P,{"data-testid":"jogging-panel","aria-label":"jogging-panel",sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:n.joggingStore?o.jsx(Qt,{store:n.joggingStore,children:e.children}):o.jsx(Fe,{message:"Loading jogging",error:n.loadingError})})})),Qt=D.observer(({store:e,children:t})=>{const{t:n}=L.useTranslation();function a(){if(e.currentTab.id==="cartesian")return o.jsx(Yt,{store:e,children:t});if(e.currentTab.id==="joint")return o.jsx(Zt,{store:e,children:t})}return o.jsxs(P,{flexGrow:1,sx:{overflow:"hidden"},children:[o.jsx(_e,{"data-testid":"jogging-tabs","aria-label":"jogging-tabs",value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(r=>{const i=r.label==="Cartesian"?n("Jogging.Cartesian.bt"):n("Jogging.Joints.bt"),c=r.label==="cartesian"?o.jsx(tt,{fontSize:"small",sx:{mr:1}}):o.jsx(nt,{fontSize:"small",sx:{mr:1}});return o.jsx(Pe,{"data-testid":`jogging-tab-${r.id}`,"aria-label":`jogging-tab-${r.id}`,label:e.showTabIcons?o.jsxs(P,{direction:"row",alignItems:"center",children:[c,i]}):i,id:`jogging-tab-${r.id}`,"aria-controls":`jogging-tab-${r.id}`},r.id)})}),o.jsx(P,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:a()}),e.blocked&&o.jsx(qt,{store:e})]})}),qe=e=>{var s;const{value:t,ref:n}=e,a=A.useTheme(),[r,i]=m.useState(!1);async function c(){if(!n||!("current"in n))return console.warn("No copy target found"),!1;try{return await navigator.clipboard.writeText(t),console.log("Copied!"),i(!0),!0}catch(l){console.error(l);const g=window.getSelection();if(g&&n&&"current"in n&&n.current){const h=document.createRange();h.selectNodeContents(n.current),g.removeAllRanges(),g.addRange(h)}}return!1}return m.useEffect(()=>{if(!r)return;const l=setTimeout(()=>i(!1),3e3);return()=>{l&&clearTimeout(l)}},[r]),o.jsx(bt,{open:r,title:"Copied!",children:o.jsx(P,{justifyContent:"center",sx:{height:"100%",boxSizing:"border-box",padding:"6px 12px",background:(s=a.palette.backgroundPaperElevation)==null?void 0:s[8],borderRadius:"10px",minWidth:"0",cursor:"pointer"},onClick:()=>c(),children:o.jsx(R,{ref:n,align:"center",sx:{pointerEvents:"none",fontSize:"12px",color:a.palette.text.primary,whiteSpace:"nowrap",minWidth:0,textOverflow:"ellipsis",width:"100%",overflow:"hidden"},children:t})})})},Kt=B.externalizeComponent(D.observer(({tcpPose:e,showCopyButton:t=!1})=>{const[n,a]=m.useState(null),r=V.poseToWandelscriptString(e),i=async()=>{try{await navigator.clipboard.writeText(r),a("Copied!"),setTimeout(()=>a(null),2e3)}catch{a("Copy failed"),setTimeout(()=>a(null),2e3)}};return o.jsxs(P,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-cartesian-values",children:[o.jsx(qe,{value:r}),t&&o.jsx(H,{variant:"contained",color:"secondary",size:"small",onClick:i,sx:{flexShrink:0},children:n||"Copy"})]})})),en=B.externalizeComponent(D.observer(({joints:e,showCopyButton:t=!1})=>{const[n,a]=m.useState(null),r=`[${e.map(c=>parseFloat(c.toFixed(4))).join(", ")}]`,i=async()=>{try{await navigator.clipboard.writeText(r),a("Copied!"),setTimeout(()=>a(null),2e3)}catch{a("Copy failed"),setTimeout(()=>a(null),2e3)}};return o.jsxs(P,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-joint-values",children:[o.jsx(qe,{value:r}),t&&o.jsx(H,{variant:"contained",color:"secondary",size:"small",onClick:i,sx:{flexShrink:0},children:n||"Copy"})]})}));class Ne{constructor(){this.messages=[],this.addMessage=(t,n="info")=>{const a={id:Math.random().toString(36).substring(2,11),timestamp:new Date,message:t,level:n};this.messages.push(a)},this.clearMessages=()=>{this.messages=[]},this.addInfo=t=>{this.addMessage(t,"info")},this.addWarning=t=>{this.addMessage(t,"warning")},this.addError=t=>{this.addMessage(t,"error")},this.addDebug=t=>{this.addMessage(t,"debug")},_.makeObservable(this,{messages:_.observable,addMessage:_.action,clearMessages:_.action})}}const K=(e,t,n)=>({id:n||`${Date.now()}-${Math.random().toString(36).substring(2,11)}`,timestamp:new Date,message:e,level:t}),tn=(e,t)=>K(e,"debug",t),nn=(e,t)=>K(e,"info",t),on=(e,t)=>K(e,"warning",t),rn=(e,t)=>K(e,"error",t),Ge=B.externalizeComponent(D.observer(e=>{var h;const{messages:t=[],onClear:n,height:a=400,sx:r}=e,i=A.useTheme(),c=m.useRef(null);m.useEffect(()=>{if(t.length===0)return;const d=c.current;if(!d)return;const u=setTimeout(()=>{d.scrollTop=d.scrollHeight},10);return()=>clearTimeout(u)},[t.length]);const s=d=>d.toLocaleTimeString("en-US",{hour12:!1,hour:"2-digit",minute:"2-digit",second:"2-digit"}),l=d=>{switch(d){case"error":return i.palette.error.main;case"warning":return i.palette.warning.main;case"info":return i.palette.info.main;case"debug":return i.palette.text.disabled;default:return i.palette.text.secondary}},g=({message:d})=>{const[u,p]=m.useState(!1),[y,S]=m.useState(!1),[x,f]=m.useState(!1),v=d.message.length>150,b=async()=>{try{await navigator.clipboard.writeText(d.message),S(!0),setTimeout(()=>S(!1),2e3)}catch(j){console.error("Failed to copy message:",j)}},C=v&&!u?`${d.message.substring(0,150)}...`:d.message;return o.jsx(T,{onMouseEnter:()=>f(!0),onMouseLeave:()=>f(!1),sx:{display:"flex",gap:1,fontFamily:"monospace",flexDirection:"column","&:hover":{backgroundColor:i.palette.action.hover},borderRadius:"4px",padding:"2px 4px",margin:"-2px -4px"},children:o.jsxs(T,{sx:{display:"flex",gap:1},children:[o.jsxs(R,{component:"span",sx:{fontWeight:400,fontSize:"12px",lineHeight:"18px",letterSpacing:"0.4px",color:i.palette.text.disabled,whiteSpace:"nowrap",flexShrink:0},children:["[",s(d.timestamp),"]"]}),o.jsx(R,{component:"span",sx:{fontWeight:400,fontSize:"12px",lineHeight:"18px",letterSpacing:"0.4px",color:l(d.level),wordBreak:"break-word",overflowWrap:"anywhere",hyphens:"auto",flex:1,whiteSpace:"pre-wrap"},children:C}),o.jsxs(T,{sx:{display:"flex",alignItems:"flex-start",gap:.5,opacity:x?1:0,transition:"opacity 0.2s ease-in-out",visibility:x?"visible":"hidden"},children:[o.jsx(G,{size:"small",onClick:b,sx:{padding:"2px",color:i.palette.text.secondary,"&:hover":{backgroundColor:i.palette.action.hover}},title:y?"Copied!":"Copy message",children:o.jsx(yt,{sx:{fontSize:12}})}),v&&o.jsx(G,{size:"small",onClick:()=>p(!u),sx:{padding:"2px",color:i.palette.text.secondary,"&:hover":{backgroundColor:i.palette.action.hover}},title:u?"Collapse":"Expand",children:u?o.jsx(vt,{sx:{fontSize:12}}):o.jsx(jt,{sx:{fontSize:12}})})]})]})},d.id)};return o.jsxs(Ct,{sx:{backgroundColor:((h=i.palette.backgroundPaperElevation)==null?void 0:h[2])||"#171927",backgroundImage:"none",height:a,display:"flex",flexDirection:"column",overflow:"hidden",...r},children:[o.jsxs(T,{sx:{display:"flex",alignItems:"center",justifyContent:"space-between",padding:"12px 16px"},children:[o.jsxs(T,{sx:{display:"flex",alignItems:"center",gap:1},children:[o.jsx(St,{sx:{fontSize:16,color:i.palette.action.active,opacity:.56}}),o.jsx(R,{sx:{fontWeight:500,fontSize:"14px",lineHeight:"143%",letterSpacing:"0.17px",color:i.palette.text.primary},children:"Log"})]}),o.jsx(H,{onClick:n,variant:"text",sx:{fontWeight:500,fontSize:"13px",lineHeight:"22px",letterSpacing:"0.46px",color:i.palette.primary.main,textTransform:"none",minWidth:"auto",padding:"4px 8px","&:hover":{backgroundColor:`${i.palette.primary.main}14`}},children:"Clear"})]}),o.jsx(T,{ref:c,sx:{flex:1,overflow:"auto",padding:"8px 16px",display:"flex",flexDirection:"column",gap:"2px",scrollbarWidth:"thin",scrollbarColor:`${i.palette.divider} transparent`,"&::-webkit-scrollbar":{width:"6px"},"&::-webkit-scrollbar-track":{background:"transparent"},"&::-webkit-scrollbar-thumb":{backgroundColor:i.palette.divider,borderRadius:"3px","&:hover":{backgroundColor:i.palette.divider}}},children:t.length===0?o.jsx(R,{sx:{color:i.palette.text.disabled,fontSize:"12px",fontStyle:"italic",textAlign:"center",marginTop:2},children:"No log messages"}):t.map(d=>o.jsx(g,{message:d},d.id))})]})})),an=B.externalizeComponent(D.observer(e=>{const{store:t,onStoreReady:n,...a}=e,r=m.useRef(n);m.useEffect(()=>{r.current=n},[n]);const i=m.useMemo(()=>{var l;const s=t||new Ne;return(l=r.current)==null||l.call(r,s),s},[t]),c=()=>{i.clearMessages()};return o.jsx(Ge,{...a,messages:i.messages,onClear:c})}));function sn(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function ln({baseUrl:e=sn(),...t}){return o.jsxs(Tt,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[o.jsx(It,{id:"no-motion-group-modal-title",children:"No motion group found"}),o.jsxs(kt,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[o.jsx(R,{color:"#fff",children:"Found no devices to connect to."}),o.jsx(R,{color:"#fff",children:"Please ensure a motion group has been created."})]}),o.jsx(wt,{children:o.jsxs(P,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[o.jsx(H,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),o.jsx(H,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}var he=(e=>(e.PRECONDITION_NOT_FULFILLED="PRECONDITION_NOT_FULFILLED",e.ROBOT_DISCONNECTED="ROBOT_DISCONNECTED",e.CELL_OPEN="CELL_OPEN",e.E_STOP="E_STOP",e.MANUAL_MODE="MANUAL_MODE",e.READY="READY",e))(he||{});const We=B.externalizeComponent(D.observer(({setupState:e,className:t})=>{const n=A.useTheme(),{t:a}=L.useTranslation(),r=()=>{var g,h,d,u,p,y,S;switch(e){case"READY":return{label:a("RobotSetupReadinessIndicator.Ready.lb"),indicatorColor:((g=n.palette.tertiary)==null?void 0:g.main)||n.palette.primary.main,backgroundColor:((h=n.palette.backgroundPaperElevation)==null?void 0:h[11])||n.palette.background.paper,textColor:n.palette.secondary.contrastText};case"ROBOT_DISCONNECTED":return{label:a("RobotSetupReadinessIndicator.RobotDisconnected.lb"),indicatorColor:n.palette.error.main,backgroundColor:((d=n.palette.backgroundPaperElevation)==null?void 0:d[11])||n.palette.background.paper,textColor:n.palette.secondary.contrastText};case"CELL_OPEN":return{label:a("RobotSetupReadinessIndicator.CellOpen.lb"),indicatorColor:n.palette.error.main,backgroundColor:((u=n.palette.backgroundPaperElevation)==null?void 0:u[11])||n.palette.background.paper,textColor:n.palette.secondary.contrastText};case"E_STOP":return{label:a("RobotSetupReadinessIndicator.EStop.lb"),indicatorColor:n.palette.error.main,backgroundColor:((p=n.palette.backgroundPaperElevation)==null?void 0:p[11])||n.palette.background.paper,textColor:n.palette.secondary.contrastText};case"MANUAL_MODE":return{label:a("RobotSetupReadinessIndicator.ManualMode.lb"),indicatorColor:n.palette.error.main,backgroundColor:((y=n.palette.backgroundPaperElevation)==null?void 0:y[11])||n.palette.background.paper,textColor:n.palette.secondary.contrastText};default:return{label:a("RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb"),indicatorColor:n.palette.error.main,backgroundColor:((S=n.palette.backgroundPaperElevation)==null?void 0:S[11])||n.palette.background.paper,textColor:n.palette.secondary.contrastText}}},{label:i,indicatorColor:c,backgroundColor:s,textColor:l}=r();return o.jsx(Rt,{className:t,label:o.jsxs(T,{sx:{display:"flex",alignItems:"center",gap:1},children:[o.jsx(T,{sx:{width:8,height:8,borderRadius:"50%",backgroundColor:c,flexShrink:0}}),o.jsx(R,{variant:"body2",sx:{color:l,fontSize:"0.75rem",lineHeight:1.2},children:i})]}),variant:"filled",sx:{backgroundColor:s,color:n.palette.getContrastText(s),fontWeight:500,height:"auto","& .MuiChip-label":{paddingX:1.5,paddingY:.5}}})})),cn=B.externalizeComponent(D.observer(({robotName:e,robotType:t,setupState:n,PreconditionComponent:a=We,className:r})=>{var l;const i=A.useTheme(),c=t||"Robot",s=n===he.READY;return o.jsxs(T,{className:r,sx:{border:`1px solid ${i.palette.divider}`,background:((l=i.palette.backgroundPaperElevation)==null?void 0:l[8])||"#292B3F",borderRadius:"8px",padding:"20px",display:"flex",alignItems:"center",justifyContent:"space-between",opacity:1},children:[o.jsxs(T,{sx:{display:"flex",alignItems:"center",gap:2,flex:1},children:[s?o.jsx(T,{sx:{fontSize:24,display:"flex",alignItems:"center",justifyContent:"center",width:24,height:24,"& svg":{fill:`${i.palette.primary.main} !important`},"& svg path":{fill:`${i.palette.primary.main} !important`}},children:o.jsx(N.ForwardRef$5,{})}):o.jsx(Mt,{sx:{color:i.palette.error.main,fontSize:24}}),o.jsx(R,{variant:"body1",sx:{fontWeight:500,color:i.palette.text.primary},children:e}),o.jsx(U,{orientation:"vertical",flexItem:!0,sx:{backgroundColor:i.palette.text.secondary,opacity:.3,width:"1px"}}),o.jsx(R,{variant:"body2",sx:{color:i.palette.text.secondary},children:c})]}),a&&o.jsx(a,{setupState:n})]})})),dn=A.styled(Et,{shouldForwardProp:e=>e!=="selected"})(({theme:e})=>{var t,n,a;return{borderRadius:"20px","&:hover":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[7]},variants:[{props:({selected:r})=>!r,style:{background:(n=e.palette.backgroundPaperElevation)==null?void 0:n[0],color:e.palette.action.disabled,"> img":{opacity:.4}}},{props:({selected:r})=>r,style:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[11],border:`1px solid ${e.palette.divider}`,color:e.palette.primary.contrastText}}]}}),un=e=>{const{ref:t,...n}=e;return o.jsx(dn,{ref:t,selected:e.selected,...n,color:"secondary",variant:"circular"})};function gn(e){const{children:t,value:n,index:a,...r}=e;return o.jsx("div",{role:"tabpanel",hidden:n!==a,id:`tabpanel-${a}`,"aria-labelledby":`tab-${a}`,...r,children:n===a&&o.jsx(T,{children:t})})}function pn({children:e,...t}){const{fullWidth:n,indicator:a,onChange:r,orientation:i,scrollButtons:c,selectionFollowsFocus:s,textColor:l,value:g,variant:h,...d}=t;return o.jsx(T,{...d,children:e})}const mn=B.externalizeComponent(D.observer(e=>{const{items:t,activeTab:n,defaultActiveTab:a=0,onTabChange:r,sx:i,ref:c}=e,s=n!==void 0,[l,g]=m.useState(a),h=s?n:l;m.useEffect(()=>{s||t.length!==0&&(l<0||l>t.length-1)&&g(0)},[t.length,s,l]);const d=(u,p)=>{s||g(p),r==null||r(p)};return o.jsxs(T,{ref:c,sx:{height:"100%",display:"flex",flexDirection:"column",...i},children:[o.jsx(T,{sx:{px:0,py:0,overflow:"visible",position:"relative",paddingTop:u=>u.spacing(2),paddingRight:u=>u.spacing(2.5)},children:o.jsx(_e,{value:h,onChange:d,sx:{minHeight:"32px",backgroundColor:"transparent",overflow:"visible","& .MuiTabs-indicator":{display:"none"},"& .MuiTabs-flexContainer":{gap:2,overflow:"visible",paddingTop:0,paddingBottom:0},"& .MuiTabs-scroller":{overflow:"visible !important"},"& .MuiTab-root":{overflow:"visible"}},children:t.map((u,p)=>{var C,j,w;const y=()=>{if(!u.badge)return;const I=u.badge.content,M=u.badge.max;return typeof I=="number"&&M&&I>M?`${M}+`:I},S=()=>{if(!u.badge)return!1;const I=u.badge.content,M=u.badge.showZero;return!(I===0&&!M)},x=y(),f=S(),v=()=>{s||g(p),r==null||r(p)},b=o.jsx(Pe,{label:u.label,icon:u.icon,iconPosition:"start",disableRipple:!0,onClick:v,sx:{minHeight:"32px",height:"32px",padding:"0px 10px",borderRadius:"12px",backgroundColor:I=>{var M;return((M=I.palette.backgroundPaperElevation)==null?void 0:M[11])||"#32344B"},color:"text.primary",opacity:h===p?1:.38,fontSize:"13px",transition:"all 0.2s ease-in-out",position:"relative",overflow:"visible","&:hover":{opacity:h===p?1:.6},"&.Mui-selected":{opacity:1,backgroundColor:I=>{var M;return((M=I.palette.backgroundPaperElevation)==null?void 0:M[11])||"#32344B"},color:"text.primary"},"&:focus":{outline:"none"},"&:active":{transform:"none"}}},u.id);return f?o.jsx(pn,{component:"span",sx:{display:"inline-flex"},children:o.jsx(Pt,{badgeContent:x,color:((C=u.badge)==null?void 0:C.color)||"error",max:(j=u.badge)==null?void 0:j.max,showZero:(w=u.badge)==null?void 0:w.showZero,anchorOrigin:{vertical:"top",horizontal:"right"},overlap:"rectangular",sx:{"& .MuiBadge-badge":{opacity:"1 !important"}},children:b})},u.id):b})})}),o.jsx(T,{sx:{mt:u=>u.spacing(2),borderBottom:1,borderColor:"divider"}}),o.jsx(T,{sx:{flex:1,overflow:"auto"},children:t.map((u,p)=>o.jsx(gn,{value:h,index:p,children:u.content},u.id))})]})})),hn=e=>{const t=Math.floor(e/86400),n=Math.floor(e%86400/3600),a=Math.floor(e%3600/60),r=e%60,i=[];return t>0?(i.push(t.toString()),i.push(n.toString().padStart(2,"0")),i.push(a.toString().padStart(2,"0")),i.push(r.toString().padStart(2,"0"))):n>0?(i.push(n.toString()),i.push(a.toString().padStart(2,"0")),i.push(r.toString().padStart(2,"0"))):(i.push(a.toString()),i.push(r.toString().padStart(2,"0"))),i.join(":")},Me=(e,t)=>{const n=Math.floor(e/86400),a=Math.floor(e%86400/3600),r=Math.floor(e%3600/60),i=e%60;if(typeof Intl<"u"&&"DurationFormat"in Intl)try{const s={};return n>0&&(s.days=n),a>0&&(s.hours=a),r>0&&(s.minutes=r),(i>0||Object.keys(s).length===0)&&(s.seconds=i),new Intl.DurationFormat(t,{style:"narrow"}).format(s)}catch{}const c=[];return n>0&&c.push(`${n}d`),a>0&&c.push(`${a}h`),r>0&&c.push(`${r}m`),(i>0||c.length===0)&&c.push(`${i}s`),c.join(" ")},fn=({timerState:e,animationState:t,hasError:n,className:a})=>{const{t:r}=L.useTranslation(),i=A.useTheme(),{elapsedTime:c,currentProgress:s}=e,{showErrorAnimation:l,showPauseAnimation:g,showMainText:h}=t;return o.jsxs(T,{className:a,sx:{position:"relative",width:264,height:264,display:"flex",alignItems:"center",justifyContent:"center"},children:[o.jsx(_t.Gauge,{width:264,height:264,value:s,valueMin:0,valueMax:100,innerRadius:"85%",outerRadius:"100%",margin:0,skipAnimation:!0,text:()=>"",sx:{opacity:g||l?.6:1,transition:"opacity 0.5s ease-out","& .MuiGauge-valueArc":{fill:n?i.palette.error.light:i.palette.success.main,transition:"fill 0.5s ease-out"},"& .MuiGauge-referenceArc":{fill:"#171927",stroke:"transparent",strokeWidth:0,transition:"fill 0.5s ease-out, stroke 0.5s ease-out, stroke-width 0.5s ease-out"},"& .MuiGauge-valueText":{display:"none"},"& .MuiGauge-text":{display:"none"}}}),o.jsx(T,{sx:{position:"absolute",top:"50%",left:"50%",transform:"translate(-50%, -50%)",width:225,height:225,borderRadius:"50%",backgroundColor:"#292B3F",display:"flex",flexDirection:"column",alignItems:"center",justifyContent:"center",textAlign:"center",gap:1,transition:"background-color 0.5s ease-out"},children:o.jsxs(T,{sx:{position:"relative",height:"48px",display:"flex",alignItems:"center",justifyContent:"center",marginBottom:.5},children:[o.jsx(q,{in:h&&n,timeout:200,children:o.jsx(R,{variant:"h6",sx:{position:"absolute",fontSize:"16px",fontWeight:500,color:i.palette.error.light},children:r("timer.error")})}),o.jsx(q,{in:h&&!n,timeout:300,children:o.jsx(R,{variant:"h1",sx:{position:"absolute",fontSize:"48px",fontWeight:500,color:i.palette.text.primary,lineHeight:1,letterSpacing:"-0.5px"},children:hn(c)})})]})})]})},xn=({timerState:e,animationState:t,hasError:n,compact:a,className:r})=>{const{t:i,i18n:c}=L.useTranslation(),s=A.useTheme(),{elapsedTime:l,currentProgress:g}=e,{showErrorAnimation:h,showPauseAnimation:d}=t;return a?o.jsx(T,{className:r,sx:{display:"flex",alignItems:"center",m:0},children:o.jsx(R,{variant:"body2",sx:{color:n?s.palette.error.light:s.palette.text.primary,fontSize:"14px",transition:"color 0.5s ease-out"},children:n?i("timer.error"):Me(l,c.language)})}):o.jsxs(T,{className:r,sx:{display:"flex",alignItems:"center",m:0,gap:1},children:[o.jsx(T,{sx:{width:20,height:20,display:"flex",alignItems:"center",justifyContent:"center",opacity:d||h?.6:1,transition:"opacity 0.5s ease-out"},children:o.jsxs("svg",{width:"20",height:"20",viewBox:"0 0 20 20",style:{transform:"rotate(-90deg)"},role:"img","aria-label":"Timer progress",children:[o.jsx("circle",{cx:"10",cy:"10",r:"8",fill:"none",stroke:n?s.palette.error.light:s.palette.success.main,strokeWidth:"2",opacity:.3,style:{transition:"stroke 0.8s ease-in-out, opacity 2s ease-in-out"}}),o.jsx("circle",{cx:"10",cy:"10",r:"8",fill:"none",stroke:n?s.palette.error.light:s.palette.success.main,strokeWidth:"2",strokeLinecap:"round",strokeDasharray:`${2*Math.PI*8}`,strokeDashoffset:`${2*Math.PI*8*(1-g/100)}`,style:{transition:"stroke-dashoffset 0.1s ease-out, stroke 0.8s ease-in-out, opacity 2s ease-in-out"}})]})}),o.jsx(R,{variant:"body2",sx:{color:n?s.palette.error.light:s.palette.text.primary,fontSize:"14px",lineHeight:"normal",letterSpacing:"normal",transition:"color 0.8s ease-in-out, font-size 0.3s ease-out, opacity 2s ease-in-out"},children:n?i("timer.error"):Me(l,c.language)})]})},bn=()=>{const[e,t]=m.useState({showPauseAnimation:!1,showErrorAnimation:!1,showMainText:!0}),n=m.useRef(null),a=m.useRef(null),r=m.useRef(null),i=m.useCallback(()=>{t(d=>({...d,showPauseAnimation:!0})),n.current&&clearTimeout(n.current),n.current=setTimeout(()=>{t(d=>({...d,showPauseAnimation:!1}))},800)},[]),c=m.useCallback(()=>{t(d=>({...d,showErrorAnimation:!0})),a.current&&clearTimeout(a.current),a.current=setTimeout(()=>{t(d=>({...d,showErrorAnimation:!1}))},600)},[]),s=m.useCallback(()=>{t(d=>({...d,showErrorAnimation:!1})),a.current&&clearTimeout(a.current)},[]),l=m.useCallback(()=>{t(d=>({...d,showMainText:!1})),r.current&&clearTimeout(r.current),r.current=setTimeout(()=>{t(d=>({...d,showMainText:!0}))},200)},[]),g=m.useCallback(()=>{t(d=>({...d,showMainText:!0}))},[]),h=m.useCallback(()=>{n.current&&clearTimeout(n.current),a.current&&clearTimeout(a.current),r.current&&clearTimeout(r.current)},[]);return{animationState:e,triggerPauseAnimation:i,triggerErrorAnimation:c,clearErrorAnimation:s,triggerFadeTransition:l,setInitialAnimationState:g,cleanup:h}},yn=({autoStart:e,hasError:t,onPauseAnimation:n,onErrorAnimation:a,onClearErrorAnimation:r})=>{const[i,c]=m.useState({elapsedTime:0,isRunning:!1,isPausedState:!1,currentProgress:0,wasRunningBeforeError:!1}),s=m.useRef(null),l=m.useRef(null),g=m.useRef(0),h=m.useRef(0),[d]=Y.useInterpolation([0],{tension:80,friction:18,onChange:([f])=>{c(v=>({...v,currentProgress:f}))}}),u=m.useCallback((f=0)=>{const v=f/60%1*100;c(b=>({...b,elapsedTime:f,isPausedState:!1,currentProgress:v})),g.current=0,h.current=v,d.setImmediate([v]),e?(l.current=Date.now()-f*1e3,c(b=>({...b,isRunning:!0}))):l.current=null},[e,d]),p=m.useCallback(()=>{if(l.current&&i.isRunning){const v=(Date.now()-l.current)/1e3+g.current,b=v/60%1*100;d.setTarget([b]),c(C=>({...C,elapsedTime:Math.floor(v)}))}c(f=>({...f,isRunning:!1,isPausedState:!0})),n()},[i.isRunning,d,n]),y=m.useCallback(()=>{i.isPausedState&&(g.current=i.elapsedTime,l.current=Date.now(),c(f=>({...f,isRunning:!0,isPausedState:!1})))},[i.isPausedState,i.elapsedTime]),S=m.useCallback(()=>{c(f=>({...f,elapsedTime:0,isRunning:!1,isPausedState:!1,currentProgress:0})),g.current=0,l.current=null,h.current=0,d.setImmediate([0])},[d]),x=m.useCallback(()=>i.isPausedState,[i.isPausedState]);return m.useEffect(()=>{t?(i.isRunning&&(c(f=>({...f,wasRunningBeforeError:!0})),p()),a()):(i.wasRunningBeforeError&&!i.isRunning&&(c(f=>({...f,wasRunningBeforeError:!1})),y()),r())},[t,i.isRunning,i.wasRunningBeforeError,p,y,a,r]),m.useEffect(()=>{if(i.isRunning){const f=()=>{if(l.current){const b=(Date.now()-l.current)/1e3+g.current,C=b/60%1*100;c(w=>({...w,elapsedTime:Math.floor(b)})),Math.abs(C-h.current)>.1&&(d.setTarget([C]),h.current=C)}s.current=requestAnimationFrame(f)};s.current=requestAnimationFrame(f)}else s.current&&(cancelAnimationFrame(s.current),s.current=null);return()=>{s.current&&(cancelAnimationFrame(s.current),s.current=null)}},[i.isRunning,d]),m.useEffect(()=>{let f=null;const v=()=>{d.update(),f=requestAnimationFrame(v)};return f=requestAnimationFrame(v),()=>{f&&cancelAnimationFrame(f)}},[d]),{timerState:i,controls:{start:u,pause:p,resume:y,reset:S,isPaused:x}}},Sn=B.externalizeComponent(D.observer(({onTimerReady:e,autoStart:t=!0,variant:n="default",compact:a=!1,className:r,hasError:i=!1})=>{const{animationState:c,triggerPauseAnimation:s,triggerErrorAnimation:l,clearErrorAnimation:g,setInitialAnimationState:h,cleanup:d}=bn(),{timerState:u,controls:p}=yn({autoStart:t,hasError:i,onPauseAnimation:s,onErrorAnimation:l,onClearErrorAnimation:g});return m.useEffect(()=>{h()},[h]),m.useEffect(()=>{let y=!0;const S=setTimeout(()=>{y&&e(p)},0);return()=>{y=!1,clearTimeout(S)}},[e,p]),m.useEffect(()=>d,[d]),n==="small"?o.jsx(xn,{timerState:u,animationState:c,hasError:i,compact:a,className:r}):o.jsx(fn,{timerState:u,animationState:c,hasError:i,className:r})})),Re=1e-4,vn={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class oe{constructor(t,n,a,r,i,c,s,l,g,h){this.nova=t,this.controller=n,this.motionGroup=a,this.initialMotionState=r,this.motionStateSocket=i,this.isVirtual=c,this.tcps=s,this.description=l,this.initialControllerState=g,this.controllerStateSocket=h,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=r,this.controllerState=g,h.addEventListener("message",d=>{var p;const u=(p=J.tryParseJson(d.data))==null?void 0:p.result;u&&_.runInAction(()=>{this.controllerState=u})}),i.addEventListener("message",d=>{var p;const u=(p=J.tryParseJson(d.data))==null?void 0:p.result;if(!u)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);ge(this.rapidlyChangingMotionState.joint_position,u.joint_position,Re)||_.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=u.joint_position}),pe(this.rapidlyChangingMotionState,u,Re)||_.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=u.tcp_pose}),this.rapidlyChangingMotionState.standstill!==u.standstill&&_.runInAction(()=>{this.rapidlyChangingMotionState.standstill=u.standstill})}),_.makeAutoObservable(this)}static async connectMultiple(t,n){return Promise.all(n.map(a=>oe.connect(t,a)))}static async connect(t,n){var f,v;const[a,r]=n.split("@"),i=await t.api.controller.getCurrentRobotControllerState(r),c=i==null?void 0:i.motion_groups.find(b=>b.motion_group===n);if(!i||!c)throw new Error(`Controller ${r} or motion group ${n} not found`);const s=t.openReconnectingWebsocket(`/controllers/${r}/motion-groups/${n}/state-stream`),l=await s.firstMessage(),g=(f=J.tryParseJson(l.data))==null?void 0:f.result;if(!g)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
3
3
  `,g);const d=(await t.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",u=await t.api.motionGroup.getMotionGroupDescription(r,c.motion_group),p=Object.entries(u.tcps||{}).map(([b,C])=>({id:b,readable_name:C.name,position:C.pose.position,orientation:C.pose.orientation})),y=t.openReconnectingWebsocket(`/controllers/${i.controller}/state-stream?response_rate=1000`),S=await y.firstMessage(),x=(v=J.tryParseJson(S.data))==null?void 0:v.result;if(!x)throw new Error(`Unable to parse initial controller state message ${S.data}`);return console.log(`Connected controller state websocket to controller ${i.controller}. Initial state:
4
4
  `,x),new oe(t,i,c,g,s,d,p,u,x,y)}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,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(t=>({...vn,...t}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var t,n,a;return this.description.mounting?[(((t=this.description.mounting.position)==null?void 0:t[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((a=this.description.mounting.position)==null?void 0:a[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,i,c,s,l,g;const t=new we.Vector3(((i=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:i[0])||0,((s=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:s[1])||0,((g=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:g[2])||0),n=t.length(),a=t.normalize();return new we.Quaternion().setFromAxisAngle(a,n)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}_.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),_.runInAction(()=>{this.activationState="inactive"})}catch(t){throw _.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}_.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),_.runInAction(()=>{this.activationState="active"})}catch(t){throw _.runInAction(()=>{this.activationState="inactive"}),t}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}}function Ue(){var t,n,a,r,i,c;const e=A.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${e.palette.divider} transparent`},".MuiDataGrid-panelContent":{borderRadius:"16px !important","& .MuiPaper-root":{borderRadius:"16px !important"}},".MuiDataGrid-filterForm":{borderRadius:"16px !important","& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}},"& .MuiTextField-root":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}},".MuiDataGrid-filterFormValueInput":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}}},MuiDataGrid:{styleOverrides:{root:{},panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}}}},MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(a=(n=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:n.tonal)==null?void 0:a.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(r=e.palette.backgroundPaperElevation)==null?void 0:r[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(c=(i=e.paletteExt)==null?void 0:i.secondary)==null?void 0:c.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:e.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:e.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:e.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:e.palette.text.primary}},VelocitySlider:{sliderLegendColor:e.palette.text.primary}}}}}function jn(){const e=Ue();return e.palette.mode="light",e}function Cn(e){var a,r,i,c;let t=!0;((a=e.palette)==null?void 0:a.mode)==="light"?t=!1:((r=e.palette)==null?void 0:r.mode)!=="dark"&&(t=!(typeof window<"u"&&((c=(i=window.matchMedia)==null?void 0:i.call(window,"(prefers-color-scheme: light)"))==null?void 0:c.matches)));const n=t?Ue():jn();return A.createTheme(n,e)}exports.AppHeader=Dt;exports.ConnectedMotionGroup=oe;exports.CycleTimer=Vt;exports.JoggerConnection=re;exports.JoggingCartesianAxisControl=ce;exports.JoggingJointValueControl=De;exports.JoggingPanel=Xt;exports.JoggingStore=ae;exports.LoadingCover=Fe;exports.LoadingErrorMessage=Le;exports.LogPanel=an;exports.LogStore=Ne;exports.LogViewer=Ge;exports.MotionStreamConnection=ie;exports.NoMotionGroupModal=ln;exports.PoseCartesianValues=Kt;exports.PoseJointValues=en;exports.RobotListItem=cn;exports.RobotSetupReadinessIndicator=We;exports.RobotSetupReadinessState=he;exports.SelectableFab=un;exports.TabBar=mn;exports.Timer=Sn;exports.VelocitySlider=$e;exports.VelocitySliderLabel=me;exports.WandelbotsDataGrid=Ae;exports.createDebugMessage=tn;exports.createErrorMessage=rn;exports.createInfoMessage=nn;exports.createLogMessage=K;exports.createNovaMuiTheme=Cn;exports.createWarningMessage=on;exports.jointValuesEqual=ge;exports.poseEqual=Je;exports.tcpMotionEqual=pe;exports.unwrapRotationVector=Be;
package/dist/chunks/{theming-CLIhckeP.js → theming-DT32b-FT.js} RENAMED
@@ -10,12 +10,12 @@ import te from "@mui/material/Toolbar";
10
10
  import E from "@mui/material/Typography";
11
11
  import { observer as J, useLocalObservable as Ft } from "mobx-react-lite";
12
12
  import { useState as B, useRef as D, useCallback as P, useEffect as A, useMemo as rt, useId as ee } from "react";
13
- import { e as $ } from "./externalizeComponent-D6S3WLFc.js";
13
+ import { e as $ } from "./externalizeComponent-BuuzAqKe.js";
14
14
  import oe from "@mui/material/SvgIcon";
15
15
  import U from "@mui/material/Fade";
16
16
  import { Gauge as ne } from "@mui/x-charts/Gauge";
17
17
  import { useTranslation as V } from "react-i18next";
18
- import { f as Lt, e as pt, d as ie } from "./interpolation-D9WFd-j_.js";
18
+ import { f as Lt, e as pt, d as ie } from "./interpolation-BfD7X52s.js";
19
19
  import re from "@mui/icons-material/Clear";
20
20
  import ae from "@mui/icons-material/FilterList";
21
21
  import It from "@mui/icons-material/Search";
@@ -33,7 +33,7 @@ import { radiansToDegrees as Vt, tryParseJson as W, XYZ_TO_VECTOR as tt, degrees
33
33
  import { Vector3 as ct } from "three/src/math/Vector3.js";
34
34
  import Ie from "@mui/material/CircularProgress";
35
35
  import { capitalize as ke } from "@mui/material/utils";
36
- import { m as Re } from "./SafetyBar-C8whliAf.js";
36
+ import { m as Re } from "./SafetyBar-CLp3W5D7.js";
37
37
  import Ee from "@mui/material/Alert";
38
38
  import je from "@mui/material/AlertTitle";
39
39
  import Z from "@mui/material/Button";
package/dist/core.cjs CHANGED
@@ -1 +1 @@
1
- "use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-DnEooKgA.cjs"),o=require("./chunks/interpolation-B84QX33C.cjs"),t=require("./chunks/externalizeComponent-BHZdH14U.cjs"),a=require("./chunks/SafetyBar-CLm3UQRA.cjs");exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;
1
+ "use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-B8Wz2VOQ.cjs"),o=require("./chunks/interpolation-B8AQk0uI.cjs"),t=require("./chunks/externalizeComponent-UnCHtc94.cjs"),a=require("./chunks/SafetyBar-Dq9qSLtS.cjs");exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;
package/dist/core.js CHANGED
@@ -1,7 +1,7 @@
1
- import { A as o, s, C as t, t as r, a as n, b as i, d as g, J as l, f as u, g as c, h as d, L as p, n as m, M, N as S, P as b, e as C, R as V, p as L, o as P, S as f, T as J, q as R, V as x, r as I, W as A, j as E, m as T, k as q, i as y, c as v, l as w, u as G, v as N, w as W, x as h } from "./chunks/theming-CLIhckeP.js";
2
- import { a as B, P as D, b as F, V as k, e as H, c as z, f as K, u as O, d as Q } from "./chunks/interpolation-D9WFd-j_.js";
3
- import { i as X } from "./chunks/externalizeComponent-D6S3WLFc.js";
4
- import { S as Z } from "./chunks/SafetyBar-C8whliAf.js";
1
+ import { A as o, s, C as t, t as r, a as n, b as i, d as g, J as l, f as u, g as c, h as d, L as p, n as m, M, N as S, P as b, e as C, R as V, p as L, o as P, S as f, T as J, q as R, V as x, r as I, W as A, j as E, m as T, k as q, i as y, c as v, l as w, u as G, v as N, w as W, x as h } from "./chunks/theming-DT32b-FT.js";
2
+ import { a as B, P as D, b as F, V as k, e as H, c as z, f as K, u as O, d as Q } from "./chunks/interpolation-BfD7X52s.js";
3
+ import { i as X } from "./chunks/externalizeComponent-BuuzAqKe.js";
4
+ import { S as Z } from "./chunks/SafetyBar-CLp3W5D7.js";
5
5
  export {
6
6
  o as AppHeader,
7
7
  s as ConnectedMotionGroup,
package/dist/index.cjs CHANGED
@@ -1 +1 @@
1
- "use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-4AcH6kaR.cjs"),e=require("./chunks/theming-DnEooKgA.cjs"),t=require("./chunks/interpolation-B84QX33C.cjs"),i=require("./chunks/externalizeComponent-BHZdH14U.cjs"),s=require("./chunks/SafetyBar-CLm3UQRA.cjs"),a=require("./chunks/robot-SEtfVAmf.cjs"),n=require("./chunks/wbLogo-G_IfZ03l.cjs"),r=require("./chunks/safety-state-stop-CgPfwC18.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=i.i18n;exports.SafetyBar=s.SafetyBar;exports.AxisXIcon=a.ForwardRef;exports.AxisYIcon=a.ForwardRef$1;exports.AxisZIcon=a.ForwardRef$2;exports.JogMinusIcon=a.ForwardRef$3;exports.JogPlusIcon=a.ForwardRef$4;exports.RobotIcon=a.ForwardRef$5;exports.RotationIcon=a.ForwardRef$6;exports.HomeIcon=n.ForwardRef;exports.JoggingIcon=n.ForwardRef$1;exports.OrientationCoordSystemIcon=n.ForwardRef$2;exports.OrientationToolIcon=n.ForwardRef$3;exports.WBLogoIcon=n.ForwardRef$4;exports.ControllerTypePhysicalIcon=r.ForwardRef;exports.ControllerTypeVirtualIcon=r.ForwardRef$1;exports.OperationModeAutomaticIcon=r.ForwardRef$2;exports.OperationModeErrorIcon=r.ForwardRef$3;exports.OperationModeManualIcon=r.ForwardRef$4;exports.SafetyStateErrorIcon=r.ForwardRef$5;exports.SafetyStateEstopIcon=r.ForwardRef$6;exports.SafetyStateManualActionRequiredIcon=r.ForwardRef$7;exports.SafetyStateNormalIcon=r.ForwardRef$8;exports.SafetyStateStopIcon=r.ForwardRef$9;
1
+ "use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-C6wNomDj.cjs"),e=require("./chunks/theming-B8Wz2VOQ.cjs"),t=require("./chunks/interpolation-B8AQk0uI.cjs"),i=require("./chunks/externalizeComponent-UnCHtc94.cjs"),s=require("./chunks/SafetyBar-Dq9qSLtS.cjs"),a=require("./chunks/robot-SEtfVAmf.cjs"),n=require("./chunks/wbLogo-G_IfZ03l.cjs"),r=require("./chunks/safety-state-stop-CgPfwC18.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=i.i18n;exports.SafetyBar=s.SafetyBar;exports.AxisXIcon=a.ForwardRef;exports.AxisYIcon=a.ForwardRef$1;exports.AxisZIcon=a.ForwardRef$2;exports.JogMinusIcon=a.ForwardRef$3;exports.JogPlusIcon=a.ForwardRef$4;exports.RobotIcon=a.ForwardRef$5;exports.RotationIcon=a.ForwardRef$6;exports.HomeIcon=n.ForwardRef;exports.JoggingIcon=n.ForwardRef$1;exports.OrientationCoordSystemIcon=n.ForwardRef$2;exports.OrientationToolIcon=n.ForwardRef$3;exports.WBLogoIcon=n.ForwardRef$4;exports.ControllerTypePhysicalIcon=r.ForwardRef;exports.ControllerTypeVirtualIcon=r.ForwardRef$1;exports.OperationModeAutomaticIcon=r.ForwardRef$2;exports.OperationModeErrorIcon=r.ForwardRef$3;exports.OperationModeManualIcon=r.ForwardRef$4;exports.SafetyStateErrorIcon=r.ForwardRef$5;exports.SafetyStateEstopIcon=r.ForwardRef$6;exports.SafetyStateManualActionRequiredIcon=r.ForwardRef$7;exports.SafetyStateNormalIcon=r.ForwardRef$8;exports.SafetyStateStopIcon=r.ForwardRef$9;
package/dist/index.js CHANGED
@@ -1,8 +1,8 @@
1
- import { C as e, L as s, M as t, h as r, P as n, b as i, R as c, S as l, c as g, f as u, T as d, a as p, d as S, e as I, g as f } from "./chunks/MotionGroupVisualizer-3kwxPNYU.js";
2
- import { A as m, s as C, C as R, t as b, a as x, b as y, d as A, J as L, f as P, g as V, h as E, L as J, n as T, M as F, N as O, P as G, e as N, R as h, p as q, o as v, S as H, T as W, q as j, V as w, r as B, W as D, j as U, m as Z, k as _, i as k, c as z, l as X, u as Y, v as K, w as Q, x as $ } from "./chunks/theming-CLIhckeP.js";
3
- import { a as oa, P as ea, b as sa, V as ta, e as ra, c as na, f as ia, u as ca, d as la } from "./chunks/interpolation-D9WFd-j_.js";
4
- import { i as ua } from "./chunks/externalizeComponent-D6S3WLFc.js";
5
- import { S as pa } from "./chunks/SafetyBar-C8whliAf.js";
1
+ import { C as e, L as s, M as t, h as r, P as n, b as i, R as c, S as l, c as g, f as u, T as d, a as p, d as S, e as I, g as f } from "./chunks/MotionGroupVisualizer-DDvhDBEq.js";
2
+ import { A as m, s as C, C as R, t as b, a as x, b as y, d as A, J as L, f as P, g as V, h as E, L as J, n as T, M as F, N as O, P as G, e as N, R as h, p as q, o as v, S as H, T as W, q as j, V as w, r as B, W as D, j as U, m as Z, k as _, i as k, c as z, l as X, u as Y, v as K, w as Q, x as $ } from "./chunks/theming-DT32b-FT.js";
3
+ import { a as oa, P as ea, b as sa, V as ta, e as ra, c as na, f as ia, u as ca, d as la } from "./chunks/interpolation-BfD7X52s.js";
4
+ import { i as ua } from "./chunks/externalizeComponent-BuuzAqKe.js";
5
+ import { S as pa } from "./chunks/SafetyBar-CLp3W5D7.js";
6
6
  import { F as Ia, a as fa, b as Ma, c as ma, d as Ca, e as Ra, f as ba } from "./chunks/robot-Cy9ST5-m.js";
7
7
  import { F as ya, a as Aa, b as La, c as Pa, d as Va } from "./chunks/wbLogo-CObCmqTw.js";
8
8
  import { F as Ja, a as Ta, b as Fa, c as Oa, d as Ga, e as Na, f as ha, g as qa, h as va, i as Ha } from "./chunks/safety-state-stop-CJW5CKkp.js";
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@wandelbots/wandelbots-js-react-components",
3
- "version": "5.5.2-pr.fix-performance-issues.594.c24b644",
3
+ "version": "5.5.2",
4
4
  "description": "React UI toolkit for building applications on top of the Wandelbots platform",
5
5
  "type": "module",
6
6
  "sideEffects": false,
package/dist/chunks/MotionGroupVisualizer-4AcH6kaR.cjs DELETED
@@ -1 +0,0 @@
1
- "use strict";const t=require("react/jsx-runtime"),j=require("three"),O=require("three-stdlib"),d=require("react"),S=require("./externalizeComponent-BHZdH14U.cjs"),M=require("@react-three/drei"),pe=require("@mui/material/styles"),v=require("@mui/material/Box"),Y=require("@mui/material/Button"),he=require("@mui/material/Card"),Q=require("@mui/material/Divider"),X=require("@mui/material/Typography"),T=require("@react-three/fiber"),me=require("mobx-react-lite"),xe=require("react-i18next"),L=require("./interpolation-B84QX33C.cjs"),R=require("@wandelbots/nova-js/v2"),K=require("react-error-boundary");function ye(e){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const o=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,o.get?o:{enumerable:!0,get:()=>e[r]})}}return n.default=e,Object.freeze(n)}const b=ye(j);function ge(e){switch(e.shape_type){case"convex_hull":return new O.ConvexGeometry(e.vertices.map(r=>new b.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new b.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new b.SphereGeometry(e.radius/1e3);case"capsule":return new b.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new b.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new b.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${e.shape_type} is not supported`),new b.BufferGeometry}}function je({name:e,collider:n,children:r}){var f,u;const o=((f=n.pose)==null?void 0:f.position)??[0,0,0],i=((u=n.pose)==null?void 0:u.orientation)??[0,0,0];return n.margin&&console.warn(`${e} margin is not supported`),t.jsx("mesh",{name:e,position:new b.Vector3(o[0],o[1],o[2]).divideScalar(1e3),rotation:new b.Euler(i[0],i[1],i[2],"XYZ"),geometry:ge(n.shape),children:r})}function be({name:e,colliders:n,meshChildrenProvider:r,...o}){return t.jsx("group",{name:e,...o,children:Object.entries(n).map(([i,f])=>t.jsx(je,{name:i,collider:f,children:r(i,f)},i))})}function we({scene:e,meshChildrenProvider:n}){const r=e.colliders;return t.jsx("group",{children:r&&t.jsx(be,{meshChildrenProvider:n,colliders:r})})}function V(){return t.jsx(M.Environment,{frames:1,children:t.jsx(Me,{})})}const Re=[2,0,2,0,2,0,2,0];function Me({positions:e=Re}){return t.jsxs(t.Fragment,{children:[t.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsx("group",{rotation:[0,.5,0],children:t.jsx("group",{children:e.map((n,r)=>t.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),t.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsx(M.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}const Z={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0};function ve({safetyZones:e,dhParameters:n,...r}){const o=d.useMemo(()=>S.dhParametersToPlaneSize(n??[]),[n]),i=(u,s)=>{var l,h;if(!((l=s==null?void 0:s.pose)!=null&&l.position)||!((h=s==null?void 0:s.pose)!=null&&h.orientation))return null;const y=new b.Vector3(s.pose.position[0]/1e3,s.pose.position[1]/1e3,s.pose.position[2]/1e3),a=new b.Vector3(s.pose.orientation[0],s.pose.orientation[1],s.pose.orientation[2]);let x;const c=s.shape.shape_type==="plane"?{...Z,side:b.DoubleSide}:{...Z,side:b.FrontSide};switch(s.shape.shape_type){case"plane":x=t.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const p=(s==null?void 0:s.shape).radius/1e3;x=t.jsx("sphereGeometry",{args:[p]});break}case"capsule":{const p=(s==null?void 0:s.shape).radius/1e3,m=(s==null?void 0:s.shape).cylinder_height/1e3;x=t.jsx("capsuleGeometry",{args:[p,m]});break}case"convex_hull":{const p=(s==null?void 0:s.shape).vertices.map(g=>new b.Vector3(g[0]/1e3,g[1]/1e3,g[2]/1e3)),m=S.verticesToCoplanarity(p);if(m.isCoplanar&&m.normal){const w=new b.Vector3().addVectors(p[0],m.normal.multiplyScalar(1e-4));p.push(w)}try{x=t.jsx("primitive",{object:new O.ConvexGeometry(p),attach:"geometry"})}catch(g){return console.log("Error creating ConvexGeometry:",g),null}break}case"rectangular_capsule":{const p=s.shape,m=p.radius/1e3,g=p.sphere_center_distance_x/1e3,w=p.sphere_center_distance_y/1e3,k=m*2;x=t.jsx("primitive",{object:new O.RoundedBoxGeometry(g,w,k,2,m),attach:"geometry"});break}default:console.warn("Unsupported safety zone shape type:",s.shape.shape_type),x=null}return t.jsxs("mesh",{renderOrder:u,position:y,quaternion:S.orientationToQuaternion(a),children:[x,t.jsx("meshStandardMaterial",{...c,polygonOffsetFactor:-u})]},`safety-zone-${s.shape.shape_type}-${u}`)},f=d.useMemo(()=>Object.values(e??{}).map((u,s)=>i(s,u)),[e,o]);return t.jsx("group",{...r,children:f})}function _e({trajectory:e,...n}){const r=(e==null?void 0:e.map(o=>{if(o.position&&o.position.length>=3){const[i,f,u]=o.position;if(Number.isFinite(i)&&Number.isFinite(f)&&Number.isFinite(u))return new b.Vector3(i/1e3,u/1e3,-f/1e3)}return null}).filter(o=>o!==null))||[];return t.jsx("group",{...n,children:r.length>0&&t.jsx(M.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const P=new Map;async function G(e,n){if(P.has(e))return P.get(e);const r=(async()=>{var u;const o=n||"",i=new R.NovaClient({instanceUrl:o}),f=i.api.motionGroupModels;(u=f.axios)!=null&&u.interceptors&&f.axios.interceptors.request.use(s=>{var y;return(y=s.url)!=null&&y.includes("/glb")&&(s.responseType="blob"),s});try{const s=await i.api.motionGroupModels.getMotionGroupGlbModel(e);return URL.createObjectURL(s)}catch(s){throw console.error("Failed to fetch model:",s),s}})();return P.set(e,r),r}function z(e){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(o=>n(o))]}return n(e).filter(r=>te(r))}function ee(e){return e.name.endsWith("_FLG")}function te(e){return/_J[0-9]+$/.test(e.name)}function Se(e,n){let r;function o(i){if(ee(i)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${i.name}. Only one _FLG group is allowed.`);r=i}te(i),i.children.map(o)}if(o(e.scene),!r)throw Error(`No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`);return{gltf:e}}function re({rapidlyChangingMotionState:e,dhParameters:n,onRotationChanged:r,children:o}){const i=d.useRef([]),f=d.useRef(null),{invalidate:u}=T.useThree(),s=d.useRef(e);s.current=e,d.useEffect(()=>{const c=e.joint_position.filter(l=>l!==void 0);return f.current=new L.ValueInterpolator(c,{tension:120,friction:20,threshold:.001}),()=>{var l;(l=f.current)==null||l.destroy()}},[]),T.useFrame((c,l)=>{if(f.current){const h=f.current.update(l);a(),h||u()}});function y(c){c&&(i.current=z(c),a(),u())}function a(){var l;const c=((l=f.current)==null?void 0:l.getCurrentValues())||[];if(r)r(i.current,c);else for(const[h,p]of i.current.entries()){const m=n[h],g=m.theta||0,w=m.reverse_rotation_direction?-1:1;p.rotation.y=w*(c[h]||0)+g}}function x(c){var h;const l=c.joint_position.filter(p=>p!==void 0);(h=f.current)==null||h.setTarget(l),u()}return L.useAutorun(()=>{x(s.current)}),d.useEffect(()=>{x(e)},[e]),t.jsx("group",{ref:y,children:o})}const Te="line",Le="mesh";function ke({rapidlyChangingMotionState:e,dhParameters:n,...r}){const o=new j.Matrix4,i=d.useRef([]),f=d.useRef([]);d.useEffect(()=>{i.current=new Array(n.length).fill(null),f.current=new Array(n.length).fill(null)},[n.length]);function u(a,x){const c=new j.Vector3,l=new j.Quaternion,h=new j.Vector3;o.decompose(c,l,h);const p=c.clone(),m=new j.Matrix4().makeRotationY(a.theta+x*(a.reverse_rotation_direction?-1:1)).multiply(new j.Matrix4().makeTranslation(0,a.d/1e3,0)).multiply(new j.Matrix4().makeTranslation(a.a/1e3,0,0)).multiply(new j.Matrix4().makeRotationX(a.alpha));return o.multiply(m),o.decompose(c,l,h),{a:p,b:c}}function s(a,x,c,l){if(!n)return;const h=n[a];if(!h)return;const{a:p,b:m}=u(h,l);x.geometry.setPositions([p.toArray(),m.toArray()].flat()),c.position.set(m.x,m.y,m.z)}function y(a,x){o.identity();for(let c=0;c<Math.min(a.length,x.length);c++){const l=i.current[c],h=f.current[c];l&&h&&s(c,l,h,x[c])}}return t.jsx(re,{rapidlyChangingMotionState:e,dhParameters:n,onRotationChanged:y,children:t.jsxs("group",{...r,name:"Scene",children:[t.jsxs("mesh",{children:[t.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n==null?void 0:n.map((a,x)=>{const{a:c,b:l}=u(a,e.joint_position[x]??0),h=`dhrobot_J0${x}`;return t.jsxs("group",{name:h,children:[t.jsx(M.Line,{ref:p=>{i.current[x]=p},name:Te,points:[c,l],color:"white",lineWidth:5}),t.jsxs("mesh",{ref:p=>{f.current[x]=p},name:Le,position:l,children:[t.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},`mesh_${x}`)]},h)})]})})}const Ge=console.warn;function ne(){return d.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&Ge(e)}},[]),null}function Ce(e){return e.type==="Mesh"}function Ee({url:e,flangeRef:n,postModelRender:r,...o}){const i=M.useGLTF(e),u=Se(i,"robot.glb").gltf,s=d.useCallback(a=>{a&&r&&r()},[r]);function y(a){try{return Ce(a)?a.geometry?t.jsx("mesh",{name:a.name,geometry:a.geometry,material:a.material,position:a.position,rotation:a.rotation},a.uuid):t.jsx("group",{name:a.name,position:a.position,rotation:a.rotation},a.uuid):t.jsx("group",{name:a.name,position:a.position,rotation:a.rotation,ref:ee(a)?n:void 0,children:a.children.map(y)},a.uuid)}catch(x){return console.warn("Error rendering node",a.name,x),null}}return t.jsx("group",{...o,dispose:null,ref:s,children:y(u.scene)})}function se({modelURL:e,flangeRef:n,postModelRender:r,...o}){const[i,f]=d.useState(null);return d.useEffect(()=>{let u=!1;return(async()=>{try{const y=typeof e=="string"?e:await e;u||f(a=>a===y?a:y)}catch(y){console.error("Failed to resolve model URL:",y)}})(),()=>{u=!0}},[e]),i?t.jsx(Ee,{url:i,flangeRef:n,postModelRender:r,...o}):null}const oe=(e,n)=>{e.userData.isGhost||(e.traverse(r=>{if(r instanceof b.Mesh){r.material instanceof b.Material&&(r.material.colorWrite=!1);const o=r.clone(),i=r.clone();o.material=new b.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:b.DoubleSide}),o.userData.isGhost=!0,i.material=new b.MeshStandardMaterial({color:n,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:b.DoubleSide}),i.userData.isGhost=!0,r.parent&&(r.parent.add(o),r.parent.add(i))}}),e.userData.isGhost=!0)},ie=e=>{if(!e.userData.isGhost)return;const n=[];e.traverse(r=>{var o;r instanceof b.Mesh&&((o=r.userData)!=null&&o.isGhost?n.push(r):r.material instanceof b.Material&&(r.material.colorWrite=!0))}),n.forEach(r=>{r.parent&&r.parent.remove(r)}),e.userData.isGhost=!1},q=S.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:i,postModelRender:f,transparentColor:u,instanceUrl:s,...y})=>{const[a,x]=d.useState(null),c=d.useCallback(p=>{x(p)},[]);d.useEffect(()=>{a&&(u?oe(a,u):ie(a))},[a,u]);const l=d.useMemo(()=>{const p=o(n,s);if(!p){const m=new Blob([],{type:"model/gltf-binary"}),g=new File([m],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(g))}return p},[n,s,o]),h=t.jsx(ke,{rapidlyChangingMotionState:e,dhParameters:r,...y});return t.jsxs(K.ErrorBoundary,{fallback:h,onError:p=>{console.warn(p)},children:[t.jsx(d.Suspense,{fallback:h,children:t.jsx("group",{ref:c,children:t.jsx(re,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsx(se,{modelURL:l,postModelRender:f,flangeRef:i,...y})})})}),t.jsx(ne,{})]})});function ae({connectedMotionGroup:e,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:i,...f}){return e.dhParameters?t.jsx(q,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:i,...f}):null}const Ae=S.externalizeComponent(me.observer(({robotName:e,programState:n,safetyState:r,operationMode:o,driveToHomeEnabled:i=!1,onDriveToHomePress:f,onDriveToHomeRelease:u,connectedMotionGroup:s,robotComponent:y=ae,customContentComponent:a,className:x})=>{var W;const c=pe.useTheme(),{t:l}=xe.useTranslation(),[h,p]=d.useState(!1),m=d.useRef(null),g=d.useRef(null),[w,k]=d.useState(!1),[C,fe]=d.useState({width:400,height:600}),[Ve,de]=d.useState(0);d.useEffect(()=>{const I=()=>{if(g.current){const{offsetWidth:$,offsetHeight:H}=g.current;k($>H),fe({width:$,height:H})}};I();const N=new ResizeObserver(I);return g.current&&N.observe(g.current),()=>{N.disconnect()}},[]);const J=d.useCallback(()=>{de(I=>I+1)},[]),E=d.useCallback(()=>{!i||!f||(p(!0),f())},[i,f]),A=d.useCallback(()=>{!i||!u||(p(!1),u())},[i,u]),B=d.useCallback(()=>{h&&u&&(p(!1),u())},[h,u]),_=w?C.width<350:C.height<200,F=w?C.height<310:C.height<450;return t.jsx(he,{ref:g,className:x,sx:{width:"100%",height:"100%",display:"flex",flexDirection:w?"row":"column",position:"relative",overflow:"hidden",minWidth:{xs:180,sm:220,md:250},minHeight:w?{xs:200,sm:240,md:260}:{xs:150,sm:180,md:220},border:`1px solid ${c.palette.divider}`,borderRadius:"18px",boxShadow:"none",backgroundColor:((W=c.palette.backgroundPaperElevation)==null?void 0:W[8])||"#2A2A3F",backgroundImage:"none"},children:w?t.jsxs(t.Fragment,{children:[t.jsx(v,{sx:{flex:"0 0 50%",position:"relative",height:"100%",minHeight:"100%",maxHeight:"100%",borderRadius:1,m:{xs:1.5,sm:2,md:3},mr:{xs:.75,sm:1,md:1.5},overflow:"hidden",display:_?"none":"block"},children:!_&&t.jsxs(T.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:c.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute",top:0,left:0},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[t.jsx(V,{}),t.jsx(M.Bounds,{fit:!0,observe:!0,margin:1,maxDuration:1,children:t.jsx(y,{connectedMotionGroup:s,postModelRender:J})})]})}),t.jsxs(v,{sx:{flex:"1",display:"flex",flexDirection:"column",justifyContent:"flex-start",width:_?"100%":"50%"},children:[t.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pb:{xs:1,sm:1.5,md:2},textAlign:"left"},children:[t.jsx(X,{variant:"h6",component:"h2",sx:{mb:1},children:e}),t.jsx(L.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),t.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pt:0,flex:"1",display:"flex",flexDirection:"column",justifyContent:"space-between"},children:[!F&&a&&t.jsxs(v,{children:[t.jsx(a,{}),t.jsx(Q,{sx:{mt:1,mb:0,borderColor:c.palette.divider,opacity:.5}})]}),t.jsx(v,{sx:{mt:!F&&a?"auto":0},children:t.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:{xs:1,sm:1.5,md:2},mb:{xs:.5,sm:.75,md:1}},children:t.jsx(Y,{ref:m,variant:"contained",color:"secondary",size:"small",disabled:!i,onMouseDown:E,onMouseUp:A,onMouseLeave:B,onTouchStart:E,onTouchEnd:A,sx:{textTransform:"none",px:1.5,py:.5},children:l("RobotCard.DriveToHome.bt")})})})]})]})]}):t.jsx(t.Fragment,{children:t.jsxs(v,{sx:{p:3,height:"100%",display:"flex",flexDirection:"column"},children:[t.jsxs(v,{children:[t.jsx(X,{variant:"h6",component:"h2",sx:{mb:1},children:e}),t.jsx(L.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),t.jsx(v,{sx:{flex:_?0:1,position:"relative",minHeight:_?0:{xs:120,sm:150,md:200},height:_?0:"auto",borderRadius:1,overflow:"hidden",display:_?"none":"block"},children:!_&&t.jsxs(T.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:c.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute"},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[t.jsx(V,{}),t.jsx(M.Bounds,{fit:!0,clip:!0,observe:!0,margin:1,maxDuration:1,children:t.jsx(y,{connectedMotionGroup:s,postModelRender:J})})]})}),t.jsxs(v,{children:[!F&&a&&t.jsxs(t.Fragment,{children:[t.jsx(a,{}),t.jsx(Q,{sx:{mt:1,mb:0,borderColor:c.palette.divider,opacity:.5}})]}),t.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:!F&&a?{xs:1,sm:2,md:5}:{xs:.5,sm:1,md:2},mb:{xs:.5,sm:.75,md:1}},children:t.jsx(Y,{ref:m,variant:"contained",color:"secondary",size:"small",disabled:!i,onMouseDown:E,onMouseUp:A,onMouseLeave:B,onTouchStart:E,onTouchEnd:A,sx:{textTransform:"none",px:1.5,py:.5},children:l("RobotCard.DriveToHome.bt")})})]})]})})})})),Fe=Array(6).fill(2*Math.PI);function ce({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:o}){const i=d.useRef([]),f=d.useRef([]),u=d.useRef(null),{invalidate:s}=T.useThree();d.useEffect(()=>{const c=e.joint_position.filter(l=>l!==void 0);return u.current=new L.ValueInterpolator(c,{tension:120,friction:20,threshold:.001}),()=>{var l;(l=u.current)==null||l.destroy()}},[]),T.useFrame((c,l)=>{if(u.current){const h=u.current.update(l);a(),h||s()}});function y(c){c&&(f.current=z(c),a(),s())}function a(){var l;const c=((l=u.current)==null?void 0:l.getCurrentValues())||[];if(r)r(f.current,c);else for(const[h,p]of f.current.entries()){const g=n[h].reverse_rotation_direction?-1:1;p.position.y=g*(c[h]||0)/1e3}}const x=d.useCallback(()=>{const c=e.joint_position.filter(l=>l!==void 0);requestAnimationFrame(()=>{var l;i.current=c,(l=u.current)==null||l.setTarget(c)})},[e]);return d.useEffect(()=>{x()},[e,x]),L.useAutorun(()=>{x()}),t.jsx("group",{ref:y,children:o})}function ue({rapidlyChangingMotionState:e,dhParameters:n,...r}){const o=new j.Matrix4,i=d.useRef(null),f=d.useRef(null);function u(a){const x=new j.Matrix4;for(let p=0;p<n.length;p++){const m=n[p],g=a[p]??0,w=new j.Matrix4().makeRotationY(m.theta).multiply(new j.Matrix4().makeTranslation(m.a/1e3,(m.d+g*(m.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new j.Matrix4().makeRotationX(m.alpha));x.multiply(w)}const c=new j.Vector3,l=new j.Quaternion,h=new j.Vector3;return x.decompose(c,l,h),c}const s=u(e.joint_position);function y(a,x){o.identity();let c=new j.Vector3;for(let m=0;m<n.length;m++){const g=x[m]??0,w=n[m],k=new j.Matrix4().makeRotationY(w.theta).multiply(new j.Matrix4().makeTranslation(w.a/1e3,(w.d+g*(w.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new j.Matrix4().makeRotationX(w.alpha));o.multiply(k)}const l=new j.Vector3,h=new j.Quaternion,p=new j.Vector3;if(o.decompose(l,h,p),c=l,i.current&&i.current.position.set(c.x,c.y,c.z),f.current){const m=f.current.geometry;m!=null&&m.setPositions&&m.setPositions([0,0,0,c.x,c.y,c.z])}}return t.jsx(ce,{rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:y,children:t.jsxs("group",{...r,name:"Scene",children:[t.jsxs("mesh",{name:"Base",position:[0,0,0],children:[t.jsx("sphereGeometry",{args:[.02,32,32]}),t.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),t.jsx(M.Line,{ref:f,points:[new j.Vector3(0,0,0),s],color:"White",lineWidth:5}),t.jsxs("mesh",{ref:i,name:"TCP",position:s,children:[t.jsx("sphereGeometry",{args:[.025,32,32]}),t.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})}const U=S.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:i,postModelRender:f,transparentColor:u,instanceUrl:s,...y})=>{const[a,x]=d.useState(null),c=d.useCallback(h=>{x(h)},[]);d.useEffect(()=>{a&&(u?oe(a,u):ie(a))},[a,u]);const l=t.jsx(ue,{rapidlyChangingMotionState:e,dhParameters:r,...y});return t.jsxs(K.ErrorBoundary,{fallback:l,onError:h=>{console.warn(h)},children:[t.jsx(d.Suspense,{fallback:l,children:t.jsx("group",{ref:c,children:t.jsx(ce,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsx(se,{modelURL:(()=>{const h=o(n,s);if(!h){const p=new Blob([],{type:"model/gltf-binary"}),m=new File([p],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(m))}return h})(),postModelRender:f,flangeRef:i,...y})})})}),t.jsx(ne,{})]})});function Ie({connectedMotionGroup:e,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:i,...f}){if(!e.dhParameters)return null;const u=e.modelFromController||"";return u&&n(u)?t.jsx(U,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:u,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:i,...f}):t.jsx(ue,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...f})}const D={[R.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[R.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[R.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function le(e){const[n]=e.split("_");switch(n){case"ABB":return R.Manufacturer.Abb;case"FANUC":return R.Manufacturer.Fanuc;case"YASKAWA":return R.Manufacturer.Yaskawa;case"KUKA":return R.Manufacturer.Kuka;case"UniversalRobots":return R.Manufacturer.Universalrobots;default:return null}}function Pe(e,n){const r=le(e);return r&&r in D?D[r]:n||null}const Oe=S.externalizeComponent(e=>{const{inverseSolver:n,dhParameters:r,...o}=e,[i,f]=d.useState(R.JointTypeEnum.RevoluteJoint);d.useEffect(()=>{r.length&&f(r[0].type??R.JointTypeEnum.RevoluteJoint)},[r]);const u=d.useMemo(()=>n===null&&i===R.JointTypeEnum.RevoluteJoint,[n,i]),s=d.useMemo(()=>n===null&&i===R.JointTypeEnum.PrismaticJoint,[n,i]);return d.useMemo(()=>!!n,[n])||u?t.jsx(q,{dhParameters:r,...o}):s?t.jsx(U,{dhParameters:r,...o}):null});exports.CollisionSceneRenderer=we;exports.LinearAxis=Ie;exports.MANUFACTURER_HOME_CONFIGS=D;exports.MotionGroupVisualizer=Oe;exports.PresetEnvironment=V;exports.Robot=ae;exports.RobotCard=Ae;exports.SafetyZonesRenderer=ve;exports.SupportedLinearAxis=U;exports.SupportedRobot=q;exports.TrajectoryRenderer=_e;exports.defaultAxisConfig=Fe;exports.defaultGetModel=G;exports.extractManufacturer=le;exports.getDefaultHomeConfig=Pe;