@wandelbots/wandelbots-js-react-components 5.5.4 → 5.5.5-pr.ci-pr-preview-concurrency.611.8fb1478

package/dist/chunks/{theming-Bshha-6d.cjs → theming-CxOImT4p.cjs}

@@ -1,4 +1,4 @@
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.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,M,I,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:(M=e.buttonBackgroundColor)==null?void 0:M.disabled,"svg path":{fill:l.palette.action.disabled}}},x={...y,backgroundColor:(I=e.buttonBackgroundColor)==null?void 0:I.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(W,{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(W,{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$4,{})})]})})),De=B.externalizeComponent(D.observer(({startJogging:e,stopJogging:t,lowerLimit:n,upperLimit:a,useDegree:r,getValue:i,disabled:c,...s})=>{var w,M,I,k,E,F,Z,ee,fe,xe,be,ye,Se,ve,je;const{t:l}=L.useTranslation(),[g,h]=m.useState(),d=A.useTheme(),u={background:(w=d.palette.backgroundPaperElevation)==null?void 0:w[4],color:(M=d.palette.backgroundPaperElevation)==null?void 0:M[11]},p=D.useLocalObservable(()=>({activeJoggingDir:null,startJogging(O){this.activeJoggingDir=O,e(O)},stopJogging(){this.activeJoggingDir=null,t()}})),y=xt(()=>{const O=r?S(i()):i();(O===void 0||g===void 0||Math.abs(g-O)>1e-9)&&h(O)},50);Y.useAnimationFrame(y);function S(O){if(O!==void 0)return J.radiansToDegrees(O)}function x(O){O.button===0&&p.startJogging("-")}function f(O){O.button===0&&p.startJogging("+")}function v(O){p.stopJogging()}function b(O){p.stopJogging()}function C(O,X=1){if(O===void 0||Number.isNaN(O))return"";const Q=l("General.degree.variable",{amount:O.toFixed(X)});return O>0&&X===0?`+${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:(I=d.palette.backgroundPaperElevation)==null?void 0:I[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(W,{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 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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:
-  `,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 Me="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class re{constructor(t,n={}){this.motionStream=t,this.options=n,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 ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/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(Me))){(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,use_tool_coordinate_system:this.orientation==="tool"})}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),M=Math.sin(.5*b)*Math.cos(.5*f),I=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,M).addScaledVector(v,I).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 ${JSON.stringify(h)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/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 ${x.data}`);if(this.onBlocked&&((b=f.result.message)!=null&&b.includes(Me))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")u(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${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}],Wt=[{id:"continuous"},...de],Gt=["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 Wt}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(G,{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(G,{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-${a}`,value:e.selectedOrientation,onChange:s=>e.setSelectedOrientation(s.target.value),disabled:e.isLocked,children:Gt.map(s=>o.jsx(G,{value:s,children:i(s)},s))},"orientation")),e.showIncrementSelect&&r.push(o.jsxs(ne,{labelValue:n("Jogging.Increment.hlb"),labelId:`jogging-increment-select-${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(G,{value:"continuous",children:n("Jogging.Increment.Continuous.dd")},"continuous"),e.selectedOrientation==="tool"?null:e.discreteIncrementOptions.map(s=>o.jsx(G,{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:{"& 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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:
+  `,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 Me="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class re{constructor(t,n={}){this.motionStream=t,this.options=n,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 ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/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(Me))){(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,use_tool_coordinate_system:this.orientation==="tool"})}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),M=Math.sin(.5*b)*Math.cos(.5*f),I=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,M).addScaledVector(v,I).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 ${JSON.stringify(h)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/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 ${x.data}`);if(this.onBlocked&&((b=f.result.message)!=null&&b.includes(Me))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")u(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${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 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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}],Wt=[{id:"continuous"},...de],Gt=["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(){this.jogger.mode==="jogging"&&await this.jogger.setJoggingMode("off")}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 Wt}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-${a}`,labelValue:n("Jogging.CoordinateSystem.hlb"),value:e.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:s=>e.setSelectedCoordSystemId(s.target.value),disabled:e.isLocked,children:e.coordSystems.map(s=>o.jsx(G,{value:s.coordinate_system,children:s.name&&e.coordSystemCountByName[s.name]>1?`${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(G,{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-${a}`,value:e.selectedOrientation,onChange:s=>e.setSelectedOrientation(s.target.value),disabled:e.isLocked,children:Gt.map(s=>o.jsx(G,{value:s,children:i(s)},s))},"orientation")),e.showIncrementSelect&&r.push(o.jsxs(ne,{labelValue:n("Jogging.Increment.hlb"),labelId:`jogging-increment-select-${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(G,{value:"continuous",children:n("Jogging.Increment.Continuous.dd")},"continuous"),e.selectedOrientation==="tool"?null:e.discreteIncrementOptions.map(s=>o.jsx(G,{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"}}}}}),$e=D.observer(e=>{var i,c,s;const t=A.useTheme(),{store:n}=e,{t:a}=L.useTranslation();function r(l,g){g===e.velocity||!mt(g)||e.onVelocityChange(g,e.useDegree)}return o.jsxs(P,{direction:"row",gap:2,alignItems:"center","data-testid":"velocity-slider","aria-label":"velocity-slider",children:[n.showVelocityLegend&&o.jsx(R,{sx:{color:(s=(c=(i=t.componentsExt)==null?void 0:i.JoggingPanel)==null?void 0:c.VelocitySlider)==null?void 0:s.sliderLegendColor,fontSize:"14px"},children:a("Jogging.Velocity.bt")}),o.jsx(Oe,{value:e.velocity,color:"secondary",onChange:r,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& 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o.jsx($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 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motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. 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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 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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=We;exports.MotionStreamConnection=ie;exports.NoMotionGroupModal=ln;exports.PoseCartesianValues=Kt;exports.PoseJointValues=en;exports.RobotListItem=cn;exports.RobotSetupReadinessIndicator=Ge;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-U5DTlp9R.js → theming-iMsXEbX7.js}

@@ -28,7 +28,7 @@ import $t from "@mui/material/Tab";
 import zt from "@mui/material/Tabs";
 import { JointTypeEnum as G, NovaClient as be, poseToWandelscriptString as xe } from "@wandelbots/nova-js/v2";
 import { lowerFirst as ye, countBy as Se, isString as ve } from "lodash-es";
-import { runInAction as L, makeAutoObservable as mt, when as lt, autorun as Ce, makeObservable as we, action as kt, observable as Te } from "mobx";
+import { runInAction as L, makeAutoObservable as mt, when as lt, autorun as we, makeObservable as Ce, action as kt, observable as Te } from "mobx";
 import { radiansToDegrees as Vt, tryParseJson as W, XYZ_TO_VECTOR as tt, degreesToRadians as Me } from "@wandelbots/nova-js";
 import { Vector3 as ct } from "three/src/math/Vector3.js";
 import Ie from "@mui/material/CircularProgress";
@@ -663,19 +663,19 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
   }, []), d = _(() => {
     e((b) => ({ ...b, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
   }, []), u = _((b) => {
-    c.current = 0, e((w) => ({
-      ...w,
+    c.current = 0, e((C) => ({
+      ...C,
       showPulsatingText: !0,
       pulsatingFinished: !1
     })), setTimeout(() => {
-      e((w) => ({
-        ...w,
+      e((C) => ({
+        ...C,
         pulsatingFinished: !0
         // This will keep the success color and start slow pulsating
       })), i.current = setInterval(() => {
-        e((w) => ({
-          ...w,
-          showPulsatingText: !w.showPulsatingText
+        e((C) => ({
+          ...C,
+          showPulsatingText: !C.showPulsatingText
         }));
       }, 2e3), b && b();
     }, 800);
@@ -762,12 +762,12 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
   }), m = D(null), d = D(null), u = D(0), [p] = Lt([0], {
     tension: 80,
     friction: 18,
-    onChange: ([C]) => {
-      g((M) => ({ ...M, currentProgress: C }));
+    onChange: ([w]) => {
+      g((M) => ({ ...M, currentProgress: w }));
     }
   }), x = _(() => {
-    g((C) => ({
-      ...C,
+    g((w) => ({
+      ...w,
       currentState: "idle",
       maxTime: null,
       // Don't reset remainingTime - keep the last value
@@ -777,28 +777,28 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       // Reset progress to 0 for gauge
     })), u.current = 0, d.current = null, p.setImmediate([0]);
   }, [p]), y = _(
-    (C = 0) => {
-      const M = C / 60 % 1 * 100;
+    (w = 0) => {
+      const M = w / 60 % 1 * 100;
       g((k) => ({
         ...k,
         currentState: "measuring",
         maxTime: null,
-        remainingTime: C,
+        remainingTime: w,
         isPausedState: !1,
         currentProgress: M
         // Immediately set progress
-      })), u.current = 0, p.setImmediate([M]), t ? (d.current = Date.now() - C * 1e3, g((k) => ({ ...k, isRunning: !0 }))) : d.current = null;
+      })), u.current = 0, p.setImmediate([M]), t ? (d.current = Date.now() - w * 1e3, g((k) => ({ ...k, isRunning: !0 }))) : d.current = null;
     },
     [t, p]
   ), f = _(
-    (C, M = 0) => {
+    (w, M = 0) => {
       g((I) => ({ ...I, isRunning: !1 })), d.current = null, g((I) => ({
         ...I,
         currentState: "countdown",
-        maxTime: C,
+        maxTime: w,
         isPausedState: !1
       })), u.current = 0;
-      const k = Math.max(0, C - M), R = M > 0 ? M / C * 100 : 0;
+      const k = Math.max(0, w - M), R = M > 0 ? M / w * 100 : 0;
       g((I) => ({
         ...I,
         remainingTime: k,
@@ -810,8 +810,8 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     },
     [t, e, p]
   ), h = _(() => {
-    g((C) => ({
-      ...C,
+    g((w) => ({
+      ...w,
       isRunning: !1,
       currentState: "measured"
     })), d.current = null, s(() => {
@@ -828,8 +828,8 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       );
       p.setTarget([R]);
     }
-    g((C) => ({
-      ...C,
+    g((w) => ({
+      ...w,
       isRunning: !1,
       isPausedState: !0
     })), i();
@@ -840,8 +840,8 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     p,
     i
   ]), b = _(() => {
-    l.isPausedState && (l.remainingTime > 0 || l.currentState !== "countdown") && (d.current = Date.now(), g((C) => ({
-      ...C,
+    l.isPausedState && (l.remainingTime > 0 || l.currentState !== "countdown") && (d.current = Date.now(), g((w) => ({
+      ...w,
       isRunning: !0,
       isPausedState: !1
     })));
@@ -849,9 +849,9 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     l.isPausedState,
     l.remainingTime,
     l.currentState
-  ]), w = _(() => l.isPausedState, [l.isPausedState]);
+  ]), C = _(() => l.isPausedState, [l.isPausedState]);
   return A(() => {
-    r ? (l.isRunning && !l.isPausedState && (g((C) => ({ ...C, wasRunningBeforeError: !0 })), v()), n()) : (l.wasRunningBeforeError && l.isPausedState && (g((C) => ({ ...C, wasRunningBeforeError: !1 })), b()), c());
+    r ? (l.isRunning && !l.isPausedState && (g((w) => ({ ...w, wasRunningBeforeError: !0 })), v()), n()) : (l.wasRunningBeforeError && l.isPausedState && (g((w) => ({ ...w, wasRunningBeforeError: !1 })), b()), c());
   }, [
     r,
     l.isRunning,
@@ -863,7 +863,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     c
   ]), A(() => {
     if (l.isRunning) {
-      const C = () => {
+      const w = () => {
         if (d.current) {
           const k = (Date.now() - d.current + u.current) / 1e3;
           if (l.currentState === "countdown" && l.maxTime !== null) {
@@ -889,10 +889,10 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
             const R = k / 60 % 1 * 100;
             p.setTarget([R]);
           }
-          l.isRunning && (m.current = requestAnimationFrame(C));
+          l.isRunning && (m.current = requestAnimationFrame(w));
         }
       };
-      m.current = requestAnimationFrame(C);
+      m.current = requestAnimationFrame(w);
     } else
       m.current && (cancelAnimationFrame(m.current), m.current = null);
     return () => {
@@ -905,12 +905,12 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     l.maxTime,
     p
   ]), A(() => {
-    let C = null;
+    let w = null;
     const M = () => {
-      p.update(1 / 60), C = requestAnimationFrame(M);
+      p.update(1 / 60), w = requestAnimationFrame(M);
     };
-    return C = requestAnimationFrame(M), () => {
-      C && cancelAnimationFrame(C);
+    return w = requestAnimationFrame(M), () => {
+      w && cancelAnimationFrame(w);
     };
   }, [p]), {
     timerState: l,
@@ -921,7 +921,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       completeMeasuring: h,
       pause: v,
       resume: b,
-      isPaused: w
+      isPaused: C
     }
   };
 }, di = $(
@@ -948,7 +948,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         triggerFadeTransition: h,
         setInitialAnimationState: v,
         cleanup: b
-      } = ho(), { timerState: w, controls: C } = fo({
+      } = ho(), { timerState: C, controls: w } = fo({
         autoStart: r,
         onCycleEnd: e,
         onMeasuringComplete: o,
@@ -960,9 +960,9 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       });
       return A(() => {
         const M = l.current;
-        l.current !== void 0 && M !== w.currentState ? (M === "measured" && x(), M === "idle" && f(), h()) : v(), w.currentState === "idle" && y(), l.current = w.currentState;
+        l.current !== void 0 && M !== C.currentState ? (M === "measured" && x(), M === "idle" && f(), h()) : v(), C.currentState === "idle" && y(), l.current = C.currentState;
       }, [
-        w.currentState,
+        C.currentState,
         x,
         f,
         y,
@@ -971,15 +971,15 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       ]), A(() => {
         let M = !0;
         const k = setTimeout(() => {
-          M && t(C);
+          M && t(w);
         }, 0);
         return () => {
           M = !1, clearTimeout(k);
         };
-      }, [t, C]), A(() => b, [b]), i === "small" ? /* @__PURE__ */ a(
+      }, [t, w]), A(() => b, [b]), i === "small" ? /* @__PURE__ */ a(
         mo,
         {
-          timerState: w,
+          timerState: C,
           animationState: g,
           hasError: s,
           compact: n,
@@ -988,7 +988,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       ) : /* @__PURE__ */ a(
         po,
         {
-          timerState: w,
+          timerState: C,
           animationState: g,
           hasError: s,
           className: c
@@ -1048,10 +1048,10 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
           return h(I), I;
         }
         return null;
-      }, [d, t, i, f]), w = (I) => {
+      }, [d, t, i, f]), C = (I) => {
         const j = t.find((z) => o(z).id === I.id);
         j && (i === void 0 && h(j), r && r(j, I));
-      }, C = rt(() => !b || !n ? null : n(b), [b, n]);
+      }, w = rt(() => !b || !n ? null : n(b), [b, n]);
       function M() {
         return /* @__PURE__ */ a(ce, { children: /* @__PURE__ */ S(
           T,
@@ -1331,7 +1331,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
               apiRef: x,
               rows: v,
               columns: e,
-              onRowClick: w,
+              onRowClick: C,
               disableColumnMenu: !1,
               disableRowSelectionOnClick: !0,
               disableMultipleRowSelection: !0,
@@ -1416,8 +1416,8 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                     }
                   },
                   // Highlight selected row with a distinct color using data attribute
-                  ...C !== null && {
-                    [`&[data-id="${C}"]`]: {
+                  ...w !== null && {
+                    [`&[data-id="${w}"]`]: {
                       backgroundColor: "transparent !important",
                       "&::before": {
                         content: '""',
@@ -1526,7 +1526,7 @@ const _t = $(
       activeJoggingDirection: c,
       ...s
     }) => {
-      var b, w, C, M, k, R, I;
+      var b, C, w, M, k, R, I;
       pt(() => {
         const j = o(), z = u.current;
         z && (z.textContent = j);
@@ -1559,9 +1559,9 @@ const _t = $(
         }
       }, y = {
         ...x,
-        backgroundColor: (w = t.buttonBackgroundColor) == null ? void 0 : w.default,
+        backgroundColor: (C = t.buttonBackgroundColor) == null ? void 0 : C.default,
         ":hover": {
-          backgroundColor: (C = t.buttonBackgroundColor) == null ? void 0 : C.hovered
+          backgroundColor: (w = t.buttonBackgroundColor) == null ? void 0 : w.hovered
         },
         ":active": {
           backgroundColor: (M = t.buttonBackgroundColor) == null ? void 0 : M.pressed,
@@ -1695,7 +1695,7 @@ const _t = $(
       disabled: c,
       ...s
     }) => {
-      var M, k, R, I, j, z, Q, ot, xt, yt, St, vt, Ct, wt, Tt;
+      var M, k, R, I, j, z, Q, ot, xt, yt, St, vt, wt, Ct, Tt;
       const { t: l } = V(), [g, m] = B(), d = F(), u = {
         background: (M = d.palette.backgroundPaperElevation) == null ? void 0 : M[4],
         color: (k = d.palette.backgroundPaperElevation) == null ? void 0 : k[11]
@@ -1728,14 +1728,14 @@ const _t = $(
       function b(O) {
         p.stopJogging();
       }
-      function w(O, X = 1) {
+      function C(O, X = 1) {
         if (O === void 0 || Number.isNaN(O)) return "";
         const K = l("General.degree.variable", {
           amount: O.toFixed(X)
         });
         return O > 0 && X === 0 ? `+${K}` : K;
       }
-      function C(O, X = 1) {
+      function w(O, X = 1) {
         if (O === void 0 || Number.isNaN(O)) return "";
         const K = l("General.mm.variable", {
           amount: O.toFixed(X)
@@ -1827,7 +1827,7 @@ const _t = $(
                         textAlign: "center",
                         color: c ? d.palette.action.disabled : d.palette.text.primary
                       },
-                      children: i ? w(g) : C(g)
+                      children: i ? C(g) : w(g)
                     }
                   ),
                   /* @__PURE__ */ a(
@@ -1862,11 +1862,11 @@ const _t = $(
                       marks: o !== void 0 && r !== void 0 && [
                         {
                           value: i ? y(o) : o,
-                          label: i ? w(y(o), 0) : C(o)
+                          label: i ? C(y(o), 0) : w(o)
                         },
                         {
                           value: i ? y(r) : r,
-                          label: i ? w(y(r), 0) : C(r)
+                          label: i ? C(y(r), 0) : w(r)
                         }
                       ]
                     }
@@ -1891,7 +1891,7 @@ const _t = $(
                   {
                     sx: {
                       pointerEvents: "none",
-                      color: (Tt = (wt = (Ct = (vt = d.componentsExt) == null ? void 0 : vt.JoggingPanel) == null ? void 0 : Ct.JoggingJoint) == null ? void 0 : wt.Joint) == null ? void 0 : Tt.arrowColor
+                      color: (Tt = (Ct = (wt = (vt = d.componentsExt) == null ? void 0 : vt.JoggingPanel) == null ? void 0 : wt.JoggingJoint) == null ? void 0 : Ct.Joint) == null ? void 0 : Tt.arrowColor
                     }
                   }
                 )
@@ -2247,11 +2247,11 @@ class ft {
         e.orientation[0],
         e.orientation[1],
         e.orientation[2]
-      ), h = f.length(), v = f.clone().normalize(), b = c.distanceRads * (n === "-" ? -1 : 1), w = new ct(0, 0, 0);
-      w[i] = 1;
-      const C = Math.cos(0.5 * b) * Math.cos(0.5 * h), M = Math.sin(0.5 * b) * Math.sin(0.5 * h), k = Math.sin(0.5 * b) * Math.cos(0.5 * h), R = Math.cos(0.5 * b) * Math.sin(0.5 * h), I = w.dot(
+      ), h = f.length(), v = f.clone().normalize(), b = c.distanceRads * (n === "-" ? -1 : 1), C = new ct(0, 0, 0);
+      C[i] = 1;
+      const w = Math.cos(0.5 * b) * Math.cos(0.5 * h), M = Math.sin(0.5 * b) * Math.sin(0.5 * h), k = Math.sin(0.5 * b) * Math.cos(0.5 * h), R = Math.cos(0.5 * b) * Math.sin(0.5 * h), I = C.dot(
         v
-      ), j = w.clone().cross(v), z = 2 * Math.acos(C - M * I), Q = z / Math.sin(0.5 * z), ot = new ct().addScaledVector(j, M).addScaledVector(w, k).addScaledVector(v, R).multiplyScalar(Q);
+      ), j = C.clone().cross(v), z = 2 * Math.acos(w - M * I), Q = z / Math.sin(0.5 * z), ot = new ct().addScaledVector(j, M).addScaledVector(C, k).addScaledVector(v, R).multiplyScalar(Q);
       s.push({
         limits_override: {
           tcp_orientation_velocity_limit: r
@@ -2379,7 +2379,7 @@ const vo = (t) => {
       justifyContent: "center",
       sx: { color: i.palette.text.primary },
       children: t.error ? /* @__PURE__ */ a(
-        Co,
+        wo,
         {
           loadingMessage: t.message,
           error: t.error
@@ -2401,7 +2401,7 @@ const vo = (t) => {
       ] })
     }
   );
-}, Co = (t) => {
+}, wo = (t) => {
   const e = Re(t.error), o = t.error instanceof Error ? t.error.stack : null, r = F();
   return /* @__PURE__ */ S(
     P,
@@ -2425,7 +2425,7 @@ const vo = (t) => {
       ]
     }
   );
-}, wo = J(({ store: t }) => {
+}, Co = J(({ store: t }) => {
   const { t: e } = V();
   return /* @__PURE__ */ a(
     Bt,
@@ -2534,7 +2534,7 @@ class bt {
       }
     this.selectedCoordSystemId = ((c = o[0]) == null ? void 0 : c.coordinate_system) || "world", this.selectedTcpId = ((s = i[0]) == null ? void 0 : s.id) || "", this.inverseSolver = n, this.jointType = ((g = (l = r == null ? void 0 : r.dh_parameters) == null ? void 0 : l[0]) == null ? void 0 : g.type) ?? G.RevoluteJoint, mt(this, {}, { autoBind: !0 }), this.jogger.onBlocked = () => {
       this.block();
-    }, this.loadFromLocalStorage(), this.disposers.push(Ce(() => this.saveToLocalStorage())), window.joggingStore = this;
+    }, this.loadFromLocalStorage(), this.disposers.push(we(() => this.saveToLocalStorage())), window.joggingStore = this;
   }
   /**
    * Load a jogging store with the relevant data it needs
@@ -2577,8 +2577,7 @@ class bt {
     return Se(this.coordSystems, (e) => e.name);
   }
   async deactivate() {
-    if (this.jogger.mode === "jogging")
-      return this.jogger.stop();
+    this.jogger.mode === "jogging" && await this.jogger.setJoggingMode("off");
   }
   /** Activate the jogger with current settings */
   async activate() {
@@ -3396,7 +3395,7 @@ const qt = J(
           children: r()
         }
       ),
-      t.blocked && /* @__PURE__ */ a(wo, { store: t })
+      t.blocked && /* @__PURE__ */ a(Co, { store: t })
     ] });
   }
 ), Yt = (t) => {
@@ -3547,7 +3546,7 @@ class Oo {
       this.addMessage(e, "error");
     }, this.addDebug = (e) => {
       this.addMessage(e, "debug");
-    }, we(this, {
+    }, Ce(this, {
       messages: Te,
       addMessage: kt,
       clearMessages: kt
@@ -3594,10 +3593,10 @@ const at = (t, e, o) => ({
       const [u, p] = B(!1), [x, y] = B(!1), [f, h] = B(!1), v = d.message.length > 150, b = async () => {
         try {
           await navigator.clipboard.writeText(d.message), y(!0), setTimeout(() => y(!1), 2e3);
-        } catch (C) {
-          console.error("Failed to copy message:", C);
+        } catch (w) {
+          console.error("Failed to copy message:", w);
         }
-      }, w = v && !u ? `${d.message.substring(0, 150)}...` : d.message;
+      }, C = v && !u ? `${d.message.substring(0, 150)}...` : d.message;
       return /* @__PURE__ */ a(
         T,
         {
@@ -3652,7 +3651,7 @@ const at = (t, e, o) => ({
                   flex: 1,
                   whiteSpace: "pre-wrap"
                 },
-                children: w
+                children: C
               }
             ),
             /* @__PURE__ */ S(
@@ -4215,7 +4214,7 @@ function Lo({ children: t, ...e }) {
   } = e;
   return /* @__PURE__ */ a(T, { ...d, children: t });
 }
-const Ci = $(
+const wi = $(
   J((t) => {
     const {
       items: e,
@@ -4280,7 +4279,7 @@ const Ci = $(
                     }
                   },
                   children: e.map((u, p) => {
-                    var w, C, M;
+                    var C, w, M;
                     const x = () => {
                       if (!u.badge) return;
                       const k = u.badge.content, R = u.badge.max;
@@ -4344,8 +4343,8 @@ const Ci = $(
                           so,
                           {
                             badgeContent: f,
-                            color: ((w = u.badge) == null ? void 0 : w.color) || "error",
-                            max: (C = u.badge) == null ? void 0 : C.max,
+                            color: ((C = u.badge) == null ? void 0 : C.color) || "error",
+                            max: (w = u.badge) == null ? void 0 : w.max,
                             showZero: (M = u.badge) == null ? void 0 : M.showZero,
                             anchorOrigin: {
                               vertical: "top",
@@ -4716,8 +4715,8 @@ const Ci = $(
   ), p = _(() => {
     if (l.current && n.isRunning) {
       const v = (Date.now() - l.current) / 1e3 + g.current, b = v / 60 % 1 * 100;
-      d.setTarget([b]), c((w) => ({
-        ...w,
+      d.setTarget([b]), c((C) => ({
+        ...C,
         elapsedTime: Math.floor(v)
       }));
     }
@@ -4755,13 +4754,13 @@ const Ci = $(
     if (n.isRunning) {
       const h = () => {
         if (l.current) {
-          const b = (Date.now() - l.current) / 1e3 + g.current, w = b / 60 % 1 * 100;
+          const b = (Date.now() - l.current) / 1e3 + g.current, C = b / 60 % 1 * 100;
           c((M) => ({
             ...M,
             elapsedTime: Math.floor(b)
           })), Math.abs(
-            w - m.current
-          ) > 0.1 && (d.setTarget([w]), m.current = w);
+            C - m.current
+          ) > 0.1 && (d.setTarget([C]), m.current = C);
         }
         s.current = requestAnimationFrame(h);
       };
@@ -4789,7 +4788,7 @@ const Ci = $(
       isPaused: f
     }
   };
-}, wi = $(
+}, Ci = $(
   J(
     ({
       onTimerReady: t,
@@ -4916,11 +4915,11 @@ class ut {
       i,
       c.motion_group
     ), p = Object.entries(u.tcps || {}).map(
-      ([b, w]) => ({
+      ([b, C]) => ({
         id: b,
-        readable_name: w.name,
-        position: w.pose.position,
-        orientation: w.pose.orientation
+        readable_name: C.name,
+        position: C.pose.position,
+        orientation: C.pose.orientation
       })
     ), x = e.openReconnectingWebsocket(
       `/controllers/${n.controller}/state-stream?response_rate=1000`
@@ -5444,7 +5443,7 @@ export {
   gi as P,
   Si as R,
   vi as S,
-  Ci as T,
+  wi as T,
   Eo as V,
   bo as W,
   _t as a,
@@ -5453,7 +5452,7 @@ export {
   ui as d,
   pi as e,
   vo as f,
-  Co as g,
+  wo as g,
   xi as h,
   at as i,
   mi as j,
@@ -5463,7 +5462,7 @@ export {
   Do as n,
   Zt as o,
   Jo as p,
-  wi as q,
+  Ci as q,
   Ht as r,
   ut as s,
   ft as t,

package/dist/core.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-Bshha-6d.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;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-CxOImT4p.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;

package/dist/core.js

@@ -1,4 +1,4 @@
-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-U5DTlp9R.js";
+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-iMsXEbX7.js";
 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";
 import { i as X } from "./chunks/externalizeComponent-D6S3WLFc.js";
 import { S as Z } from "./chunks/SafetyBar-C8whliAf.js";

package/dist/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-EN8Nw5xP.cjs"),e=require("./chunks/theming-Bshha-6d.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;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-EN8Nw5xP.cjs"),e=require("./chunks/theming-CxOImT4p.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;

package/dist/index.js

@@ -1,5 +1,5 @@
 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-BXDggjVD.js";
-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-U5DTlp9R.js";
+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-iMsXEbX7.js";
 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";
 import { i as ua } from "./chunks/externalizeComponent-D6S3WLFc.js";
 import { S as pa } from "./chunks/SafetyBar-C8whliAf.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.5.4",
+  "version": "5.5.5-pr.ci-pr-preview-concurrency.611.8fb1478",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,