@wandelbots/wandelbots-js-react-components 5.9.0 → 5.9.1

package/dist/chunks/{theming-BQZdGyPT.cjs → theming-CIegg9xA.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":{},...d==null?void 0:d.sx}})})}));Be.displayName="WandelbotsDataGrid";const ge=B.externalizeComponent(O.observer(({colors:t,label:e,getDisplayedValue:n,startJogging:a,stopJogging:r,disabled:i,activeJoggingDirection:c,...s})=>{var x,v,C,w,I,E,M;ee.useAnimationFrame(()=>{const P=n(),F=p.current;F&&(F.textContent=P)});const l=D.useTheme(),[d,m]=h.useState(null);h.useEffect(()=>{i&&j()},[i]);const g=c||d,p=h.useRef(null);t||(t={color:"#fff",backgroundColor:"#000",borderColor:"#000",buttonBackgroundColor:{disabled:"#000",default:"#000",hovered:"#000",pressed:"#000"},labelColor:"#000"});const u=g?(x=t.buttonBackgroundColor)==null?void 0:x.pressed:t.borderColor,b={width:"55px",color:t.color,path:{fill:t.color},alignContent:"center",fontSize:"37px",svg:{pointerEvents:"none"}},S={...b,backgroundColor:(v=t.buttonBackgroundColor)==null?void 0:v.default,":hover":{backgroundColor:(C=t.buttonBackgroundColor)==null?void 0:C.hovered},":active":{backgroundColor:(w=t.buttonBackgroundColor)==null?void 0:w.pressed,color:t.backgroundColor,path:{fill:t.backgroundColor}},":disabled":{backgroundColor:(I=t.buttonBackgroundColor)==null?void 0:I.disabled,"svg path":{fill:l.palette.action.disabled}}},y={...b,backgroundColor:(E=t.buttonBackgroundColor)==null?void 0:E.pressed,color:t.backgroundColor,path:{fill:t.backgroundColor},":disabled":{backgroundColor:(M=t.buttonBackgroundColor)==null?void 0:M.pressed,"svg path":{fill:l.palette.action.disabled}}};function f(P,F){i||P.button===0&&(m(F),a(F))}function j(){m(null),r()}return o.jsxs(_,{height:"64px",direction:"row",justifyContent:"center",...s,children:[o.jsx(G,{disabled:i,disableRipple:!0,onPointerDown:P=>f(P,"-"),onPointerUp:j,onPointerOut:j,size:"large",sx:{...g==="-"?y:S,borderRadius:"16px 0px 0px 16px",borderLeft:`2px solid ${u??"#fff"}`,borderBottom:`2px solid ${u??"#fff"}`,borderTop:`2px solid ${u??"#fff"}`},children:o.jsx(W.ForwardRef$3,{})}),o.jsxs(_,{spacing:"6px",sx:{width:"150px",backgroundColor:t.backgroundColor,alignItems:"center",justifyContent:"center",opacity:"0.9",borderBottom:`2px solid ${u??"#fff"}`,borderTop:`2px solid ${u??"#fff"}`},children:[o.jsx(_,{height:"22px",direction:"row",alignItems:"center",justifyItems:"center",spacing:1,sx:{userSelect:"none",color:t.color,".MuiTypography-root":{fontWeight:700,...i?{color:l.palette.action.disabled}:{}},...i?{"svg 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0:I[11]},u=O.useLocalObservable(()=>({activeJoggingDir:null,startJogging(A){this.activeJoggingDir=A,t(A)},stopJogging(){this.activeJoggingDir=null,e()}})),b=vt(()=>{const A=r?S(i()):i();(A===void 0||d===void 0||Math.abs(d-A)>1e-9)&&m(A)},50);ee.useAnimationFrame(b);function S(A){if(A!==void 0)return J.radiansToDegrees(A)}function y(A){A.button===0&&u.startJogging("-")}function f(A){A.button===0&&u.startJogging("+")}function j(A){u.stopJogging()}function x(A){u.stopJogging()}function v(A,X=1){if(A===void 0||Number.isNaN(A))return"";const Q=l("General.degree.variable",{amount:A.toFixed(X)});return A>0&&X===0?`+${Q}`:Q}function C(A,X=1){if(A===void 0||Number.isNaN(A))return"";const Q=l("General.mm.variable",{amount:A.toFixed(X)});return A>0&&X===0?`+${Q}`:Q}return o.jsxs(_,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...s,sx:{"& 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16px 16px 0px",...u.activeJoggingDir==="+"?p:{}},children:o.jsx(Ct,{sx:{pointerEvents:"none",color:(we=(Te=(ve=(Ce=g.componentsExt)==null?void 0:Ce.JoggingPanel)==null?void 0:ve.JoggingJoint)==null?void 0:Te.Joint)==null?void 0:we.arrowColor}})})]})}));function me(t,e,n){if(e.length!==t.length)return!0;for(let a=0;a<e.length;a++)if(Math.abs(e[a]-t[a])>n)return!1;return!0}function $e(t,e,n){if(t===void 0&&e||t&&e===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.position)===void 0||(e==null?void 0:e.position)===void 0)return!1;if(t===void 0||e===void 0)return!0;let a=0;return a+=Math.abs(t.orientation[0]-e.orientation[0]),a+=Math.abs(t.orientation[1]-e.orientation[1]),a+=Math.abs(t.orientation[2]-e.orientation[2]),a+=Math.abs(t.position[0]-e.position[0]),a+=Math.abs(t.position[1]-e.position[1]),a+=Math.abs(t.position[2]-e.position[2]),a<=n}function fe(t,e,n){return t.coordinate_system===e.coordinate_system&&t.tcp===e.tcp&&$e(t.tcp_pose,e.tcp_pose,n)}function ze(t,e){const n=new ue.Vector3(e[0],e[1],e[2]),a=new ue.Vector3(t[0],t[1],t[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)]}function Qt(t){return"cellId"in t.api}function re(t){if(!Qt(t))return t;const e=t,n=e.api.cellId,a=new Proxy(e.api,{get(r,i){const c=Reflect.get(r,i);return!c||typeof c!="object"?c:new Proxy(c,{get(s,l){const d=Reflect.get(s,l);return typeof d!="function"?d:(...m)=>m.length>0&&m[0]===n?d.apply(s,m.slice(1)):d.apply(s,m)}})}});return new Proxy(e,{get(r,i){return i==="api"?a:i==="openReconnectingWebsocket"?c=>r.openReconnectingWebsocket(c.replace(/^\/cells\/[^/]+/,"")):Reflect.get(r,i)}})}const Re=1e-4;class se{constructor(e,n,a,r,i,c,s="cell"){this.controller=n,this.motionGroup=a,this.description=r,this.initialMotionState=i,this.motionStateSocket=c,this.cellId=s,this.nova=re(e),this.rapidlyChangingMotionState=i,c.addEventListener("message",l=>{var p;const d=(p=J.tryParseJson(l.data))==null?void 0:p.result;if(!d)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${l.data}`);me(this.rapidlyChangingMotionState.joint_position,d.joint_position,Re)||k.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=d.joint_position}),fe(this.rapidlyChangingMotionState,d,Re)||k.runInAction(()=>{var u,b,S;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=d.tcp_pose:(u=d.tcp_pose)!=null&&u.orientation&&((b=d.tcp_pose)!=null&&b.position)&&((S=this.rapidlyChangingMotionState.tcp_pose)!=null&&S.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:d.tcp_pose.position,orientation:ze(d.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",d.tcp_pose)}),d.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==d.tcp&&k.runInAction(()=>{this.rapidlyChangingMotionState.tcp=d.tcp}),this.rapidlyChangingMotionState.standstill!==d.standstill&&k.runInAction(()=>{this.rapidlyChangingMotionState.standstill=d.standstill});const m=this.rapidlyChangingMotionState.joint_limit_reached.limit_reached,g=d.joint_limit_reached.limit_reached;m.some((u,b)=>u!==g[b])&&k.runInAction(()=>{this.rapidlyChangingMotionState.joint_limit_reached=d.joint_limit_reached}),this.rapidlyChangingMotionState.execute!==d.execute&&k.runInAction(()=>{this.rapidlyChangingMotionState.execute=d.execute})}),k.makeAutoObservable(this)}static async open(e,n,a={}){var b;const r=re(e),i=a.cellId??"cell",[c,s]=n.split("@"),l=await r.api.controller.getCurrentRobotControllerState(i,s),d=l==null?void 0:l.motion_groups.find(S=>S.motion_group===n);if(!l||!d)throw new Error(`Controller ${s} or motion group ${n} not found`);const m=r.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(b=J.tryParseJson(g.data))==null?void 0:b.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${d.motion_group}. Initial state:
   `,p);const u=await r.api.motionGroup.getMotionGroupDescription(i,s,d.motion_group);return new se(r,l,d,u,p,m,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Ee="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class le{constructor(e,n={}){this.motionStream=e,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)||e.motionGroup.tcp||this.getDefaultTcp(e),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(e,n,a={}){const r=await se.open(e,n,{cellId:a.cellId}),i=new le(r,a);return await i.setJoggingMode(i.mode),i}getDefaultTcp(e){var a,r;const n=(r=(a=e.description.dh_parameters)==null?void 0:a[0])==null?void 0:r.type;return e.joints.length<6&&(n===q.JointTypeEnum.RevoluteJoint||n===q.JointTypeEnum.PrismaticJoint)?this.NO_TCP:this.DEFAULT_TCP}async setOptions(e){e.tcp&&(this.tcp=e.tcp),e.orientation&&(this.orientation=e.orientation),e.timeout&&(this.timeout=e.timeout),e.mode&&(this.mode=e.mode),e.onError&&(this.onError=e.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get cellId(){return this.motionStream.cellId}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const e=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:e})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const e=[this.joggingSocket,this.trajectorySocket].filter(n=>n!==null);return e.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(e.map(n=>n.closed()))}async setJoggingMode(e,n=!0){if(!(this.mode===e&&n)&&(this.dispose(),this.mode=e,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((e,n)=>{const a=setTimeout(()=>{n(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/jogging`),this.joggingSocket.addEventListener("message",r=>{var c,s,l,d;const i=J.tryParseJson(r.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(a),e();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(Ee))){(d=this.joggingSocket)==null||d.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:e,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[e]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:e,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[e]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:e,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[e]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async runIncrementalCartesianMotion({currentTcpPose:e,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(!e.position)throw new Error("Current pose has no position, cannot perform translation");const y=[...e.position];y[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:y,orientation:e.orientation}}})}else if(c.type==="rotate"){if(!e.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const y=new de.Vector3(e.orientation[0],e.orientation[1],e.orientation[2]),f=y.length(),j=y.clone().normalize(),x=c.distanceRads*(i==="-"?-1:1),v=new de.Vector3(0,0,0);v[r]=1;const C=Math.cos(.5*x)*Math.cos(.5*f),w=Math.sin(.5*x)*Math.sin(.5*f),I=Math.sin(.5*x)*Math.cos(.5*f),E=Math.cos(.5*x)*Math.sin(.5*f),M=v.dot(j),P=v.clone().cross(j),F=2*Math.acos(C-w*M),Z=F/Math.sin(.5*F),ne=new de.Vector3().addScaledVector(P,w).addScaledVector(v,I).addScaledVector(j,E).multiplyScalar(Z);s.push({limits_override:{tcp_orientation_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:e.position,orientation:[...ne]}}})}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 d={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},m=await this.nova.api.trajectoryPlanning.planTrajectory(this.cellId,{motion_group_setup:d,start_joint_position:n,motion_commands:s}),g=m.response;if(!g)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(m)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/trajectory`);const p=y=>{var f;if(!y||y.add_trajectory_error||y.message)if(this.onError)this.onError(y);else throw new Error(((f=y==null?void 0:y.add_trajectory_error)==null?void 0:f.message)||(y==null?void 0:y.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"})},u=async()=>{var y;await k.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},b=async()=>{var y;await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},S=async y=>{if(y!=null&&y.message)if(this.onError){this.onError(y);return}else throw new Error(y.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await u():await b()};this.trajectorySocket.addEventListener("message",y=>{var j,x;const f=J.tryParseJson(y.data);if(!((j=f==null?void 0:f.result)!=null&&j.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${y.data}`);if(this.onBlocked&&((x=f.result.message)!=null&&x.includes(Ee))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")p(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${f.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:g,tcp:this.tcp}})}}const qe=t=>{const e=t.softTimeout||3e3,[n,a]=h.useState(!1),r=D.useTheme();return h.useEffect(()=>{const 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ce{constructor(e,n,a,r,i){var c,s,l;this.jogger=e,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.tcpChangeInProgress=!1,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=q.JointTypeEnum.RevoluteJoint;for(const d of n)if(d.coordinate_system===""){d.coordinate_system="world";break}this.selectedCoordSystemId=((c=n[0])==null?void 0:c.coordinate_system)||"world",this.selectedTcpId=e.motionStream.rapidlyChangingMotionState.tcp??"",this.tcpChangeInProgress=this.tcps.length>0&&!this.selectedTcpId,this.inverseSolver=i,this.jointType=((l=(s=a==null?void 0:a.dh_parameters)==null?void 0:s[0])==null?void 0:l.type)??q.JointTypeEnum.RevoluteJoint,k.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(k.autorun(()=>this.saveToLocalStorage())),this.disposers.push(k.autorun(()=>{const d=this.jogger.motionStream.rapidlyChangingMotionState.tcp;d&&d!==this.selectedTcpId&&k.runInAction(()=>{this.selectedTcpId=d,this.tcpChangeInProgress=!1})})),window.joggingStore=this}static async loadFor(e){const{nova:n,cellId:a}=e,[r,i]=await Promise.all([n.api.controller.listCoordinateSystems(a,e.motionStream.controllerId,"ROTATION_VECTOR"),n.api.motionGroup.getMotionGroupDescription(a,e.motionStream.controllerId,e.motionGroupId)]),c=await n.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),s=Object.entries(i.tcps||{}).map(([l,d])=>({id:l,readable_name:d.name,position:d.pose.position,orientation:d.pose.orientation}));return new ce(e,r||[],i,s,c.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return he.countBy(this.coordSystems,e=>e.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)&&await this.jogger.setOptions({tcp:this.selectedTcpId||void 0,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=J.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return tn}get discreteIncrementOptions(){return pe}get incrementOptionsById(){return oe(this.incrementOptions,e=>e.id)}get tabsById(){return oe(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return oe(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return oe(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:pe.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,n){const a=this.tabs[n]||this.tabs[0];this.selectedTabId=a.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.requestTcpChange(e).catch(n=>{console.error("Failed to change TCP:",n)})}async requestTcpChange(e){if(e===this.selectedTcpId)return;this.tcpChangeInProgress=!0;const n=this.jogger.tcp,a=this.jogger.mode!=="jogging";try{this.jogger.tcp=e,a?await this.jogger.setJoggingMode("jogging"):await this.jogger.setJoggingMode("jogging",!1);let r=await this.waitForTcpConfirmation(e,1e3);a&&await this.jogger.setJoggingMode("off"),r||(r=await this.waitForTcpConfirmation(e,2e3)),k.runInAction(()=>{r?this.selectedTcpId=e:(this.jogger.tcp=n,this.selectedTcpId=this.jogger.motionStream.rapidlyChangingMotionState.tcp??"")})}catch(r){throw a&&await this.jogger.setJoggingMode("off").catch(()=>{}),k.runInAction(()=>{this.jogger.tcp=n,this.selectedTcpId=this.jogger.motionStream.rapidlyChangingMotionState.tcp??""}),r}finally{k.runInAction(()=>{this.tcpChangeInProgress=!1})}}waitForTcpConfirmation(e,n){return new Promise(a=>{const r=setTimeout(()=>{i(),a(!1)},n),i=k.when(()=>this.jogger.motionStream.rapidlyChangingMotionState.tcp===e,()=>{clearTimeout(r),a(!0)})})}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,n){n?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const n=bt();this.lock(n);try{return await e()}finally{this.unlock(n)}}}const on=O.observer(({store:t,useDegree:e})=>{var c;const{t:n}=L.useTranslation(),a=h.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 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ae{constructor(e,n,a,r,i,c,s,l,d,m,g="cell"){this.controller=n,this.motionGroup=a,this.initialMotionState=r,this.motionStateSocket=i,this.isVirtual=c,this.tcps=s,this.description=l,this.initialControllerState=d,this.controllerStateSocket=m,this.cellId=g,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.nova=re(e),this.rapidlyChangingMotionState=r,this.controllerState=d,m.addEventListener("message",p=>{var b;const u=(b=J.tryParseJson(p.data))==null?void 0:b.result;u&&k.runInAction(()=>{this.controllerState=u})}),i.addEventListener("message",p=>{var b;const u=(b=J.tryParseJson(p.data))==null?void 0:b.result;if(!u)throw new Error(`Failed to get motion state for ${this.motionGroupId}: 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m=r.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(v=J.tryParseJson(g.data))==null?void 0:v.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${d.motion_group}. Initial state:
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-  `,x),new ae(r,l,d,p,m,b,y,S,x,f,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(e=>({...Pn,...e}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var e,n,a;return this.description.mounting?[(((e=this.description.mounting.position)==null?void 0:e[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((a=this.description.mounting.position)==null?void 0:a[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,i,c,s,l,d;const e=new ke.Vector3(((i=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:i[0])||0,((s=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:s[1])||0,((d=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:d[2])||0),n=e.length(),a=e.normalize();return new ke.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}k.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),k.runInAction(()=>{this.activationState="inactive"})}catch(e){throw k.runInAction(()=>{this.activationState="active"}),e}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}k.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),k.runInAction(()=>{this.activationState="active"})}catch(e){throw k.runInAction(()=>{this.activationState="inactive"}),e}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(e){this.joggingVelocity=e}}const K="rgba(255, 255, 255, 1)",_n={components:{MuiCssBaseline:{styleOverrides:{".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:{panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm}px !important`,"& fieldset":{borderRadius:`${U.RadiusSm}px !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm}px !important`}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm}px !important`,"& fieldset":{borderRadius:`${U.RadiusSm}px !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm}px !important`}}}}}},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:K},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:K},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:K}}},JoggingJoint:{Joint:{arrowColor:K}},VelocitySlider:{sliderLegendColor:K}}}};function Qe(...t){return Lt.createNovaMuiTheme(_n,...t)}function An(t={}){return Qe(t)}exports.AdornedTextField=qt;exports.AppHeader=Nt;exports.ConnectedMotionGroup=ae;exports.CycleTimer=Xt;exports.JoggerConnection=le;exports.JoggingCartesianAxisControl=ge;exports.JoggingJointValueControl=Le;exports.JoggingPanel=ln;exports.JoggingStore=ce;exports.LoadingCover=qe;exports.LoadingErrorMessage=Ve;exports.LogPanel=fn;exports.LogStore=Ye;exports.LogViewer=Ze;exports.MotionStreamConnection=se;exports.NoMotionGroupModal=bn;exports.PoseCartesianValues=dn;exports.PoseJointValues=un;exports.RobotListItem=yn;exports.RobotSetupReadinessIndicator=Xe;exports.RobotSetupReadinessState=be;exports.SelectableFab=jn;exports.TabBar=Tn;exports.Timer=En;exports.VelocitySlider=We;exports.VelocitySliderLabel=xe;exports.WandelbotsDataGrid=Be;exports.createDebugMessage=gn;exports.createErrorMessage=mn;exports.createInfoMessage=pn;exports.createLogMessage=te;exports.createNovaMuiTheme=An;exports.createNovaTheme=Qe;exports.createWarningMessage=hn;exports.jointValuesEqual=me;exports.poseEqual=$e;exports.tcpMotionEqual=fe;exports.unwrapRotationVector=ze;
+  `,x),new ae(r,l,d,p,m,b,y,S,x,f,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(e=>({...Pn,...e}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var e,n,a;return this.description.mounting?[(((e=this.description.mounting.position)==null?void 0:e[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((a=this.description.mounting.position)==null?void 0:a[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,i,c,s,l,d;const e=new ke.Vector3(((i=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:i[0])||0,((s=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:s[1])||0,((d=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:d[2])||0),n=e.length(),a=e.normalize();return new ke.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}k.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),k.runInAction(()=>{this.activationState="inactive"})}catch(e){throw k.runInAction(()=>{this.activationState="active"}),e}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}k.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),k.runInAction(()=>{this.activationState="active"})}catch(e){throw k.runInAction(()=>{this.activationState="inactive"}),e}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(e){this.joggingVelocity=e}}const K="rgba(255, 255, 255, 1)",_n={components:{MuiCssBaseline:{styleOverrides:{".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:{panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm} !important`,"& fieldset":{borderRadius:`${U.RadiusSm} !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm} !important`}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm} !important`,"& fieldset":{borderRadius:`${U.RadiusSm} !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm} !important`}}}}}},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:K},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:K},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:K}}},JoggingJoint:{Joint:{arrowColor:K}},VelocitySlider:{sliderLegendColor:K}}}};function Qe(...t){const e=t.map(n=>{var a;if(((a=n==null?void 0:n.palette)==null?void 0:a.mode)==="light"){console.warn("[createNovaTheme] palette.mode 'light' is not supported — light tokens are not yet available. Falling back to dark mode. Remove palette.mode from your theme options to silence this warning.");const{mode:r,...i}=n.palette;return{...n,palette:i}}return n});return Lt.createNovaMuiTheme(_n,...e)}function An(t={}){return Qe(t)}exports.AdornedTextField=qt;exports.AppHeader=Nt;exports.ConnectedMotionGroup=ae;exports.CycleTimer=Xt;exports.JoggerConnection=le;exports.JoggingCartesianAxisControl=ge;exports.JoggingJointValueControl=Le;exports.JoggingPanel=ln;exports.JoggingStore=ce;exports.LoadingCover=qe;exports.LoadingErrorMessage=Ve;exports.LogPanel=fn;exports.LogStore=Ye;exports.LogViewer=Ze;exports.MotionStreamConnection=se;exports.NoMotionGroupModal=bn;exports.PoseCartesianValues=dn;exports.PoseJointValues=un;exports.RobotListItem=yn;exports.RobotSetupReadinessIndicator=Xe;exports.RobotSetupReadinessState=be;exports.SelectableFab=jn;exports.TabBar=Tn;exports.Timer=En;exports.VelocitySlider=We;exports.VelocitySliderLabel=xe;exports.WandelbotsDataGrid=Be;exports.createDebugMessage=gn;exports.createErrorMessage=mn;exports.createInfoMessage=pn;exports.createLogMessage=te;exports.createNovaMuiTheme=An;exports.createNovaTheme=Qe;exports.createWarningMessage=hn;exports.jointValuesEqual=me;exports.poseEqual=$e;exports.tcpMotionEqual=fe;exports.unwrapRotationVector=ze;