lebai_sdk 0.2.4 → 0.2.5

package/lebai_sdk_bg.js

@@ -0,0 +1,1794 @@
+let wasm;
+export function __wbg_set_wasm(val) {
+    wasm = val;
+}
+
+
+const heap = new Array(128).fill(undefined);
+
+heap.push(undefined, null, true, false);
+
+let heap_next = heap.length;
+
+function addHeapObject(obj) {
+    if (heap_next === heap.length) heap.push(heap.length + 1);
+    const idx = heap_next;
+    heap_next = heap[idx];
+
+    heap[idx] = obj;
+    return idx;
+}
+
+function getObject(idx) { return heap[idx]; }
+
+function dropObject(idx) {
+    if (idx < 132) return;
+    heap[idx] = heap_next;
+    heap_next = idx;
+}
+
+function takeObject(idx) {
+    const ret = getObject(idx);
+    dropObject(idx);
+    return ret;
+}
+
+let WASM_VECTOR_LEN = 0;
+
+let cachedUint8Memory0 = null;
+
+function getUint8Memory0() {
+    if (cachedUint8Memory0 === null || cachedUint8Memory0.byteLength === 0) {
+        cachedUint8Memory0 = new Uint8Array(wasm.memory.buffer);
+    }
+    return cachedUint8Memory0;
+}
+
+const lTextEncoder = typeof TextEncoder === 'undefined' ? (0, module.require)('util').TextEncoder : TextEncoder;
+
+let cachedTextEncoder = new lTextEncoder('utf-8');
+
+const encodeString = (typeof cachedTextEncoder.encodeInto === 'function'
+    ? function (arg, view) {
+    return cachedTextEncoder.encodeInto(arg, view);
+}
+    : function (arg, view) {
+    const buf = cachedTextEncoder.encode(arg);
+    view.set(buf);
+    return {
+        read: arg.length,
+        written: buf.length
+    };
+});
+
+function passStringToWasm0(arg, malloc, realloc) {
+
+    if (realloc === undefined) {
+        const buf = cachedTextEncoder.encode(arg);
+        const ptr = malloc(buf.length, 1) >>> 0;
+        getUint8Memory0().subarray(ptr, ptr + buf.length).set(buf);
+        WASM_VECTOR_LEN = buf.length;
+        return ptr;
+    }
+
+    let len = arg.length;
+    let ptr = malloc(len, 1) >>> 0;
+
+    const mem = getUint8Memory0();
+
+    let offset = 0;
+
+    for (; offset < len; offset++) {
+        const code = arg.charCodeAt(offset);
+        if (code > 0x7F) break;
+        mem[ptr + offset] = code;
+    }
+
+    if (offset !== len) {
+        if (offset !== 0) {
+            arg = arg.slice(offset);
+        }
+        ptr = realloc(ptr, len, len = offset + arg.length * 3, 1) >>> 0;
+        const view = getUint8Memory0().subarray(ptr + offset, ptr + len);
+        const ret = encodeString(arg, view);
+
+        offset += ret.written;
+    }
+
+    WASM_VECTOR_LEN = offset;
+    return ptr;
+}
+
+function isLikeNone(x) {
+    return x === undefined || x === null;
+}
+
+let cachedInt32Memory0 = null;
+
+function getInt32Memory0() {
+    if (cachedInt32Memory0 === null || cachedInt32Memory0.byteLength === 0) {
+        cachedInt32Memory0 = new Int32Array(wasm.memory.buffer);
+    }
+    return cachedInt32Memory0;
+}
+
+const lTextDecoder = typeof TextDecoder === 'undefined' ? (0, module.require)('util').TextDecoder : TextDecoder;
+
+let cachedTextDecoder = new lTextDecoder('utf-8', { ignoreBOM: true, fatal: true });
+
+cachedTextDecoder.decode();
+
+function getStringFromWasm0(ptr, len) {
+    ptr = ptr >>> 0;
+    return cachedTextDecoder.decode(getUint8Memory0().subarray(ptr, ptr + len));
+}
+
+let cachedFloat64Memory0 = null;
+
+function getFloat64Memory0() {
+    if (cachedFloat64Memory0 === null || cachedFloat64Memory0.byteLength === 0) {
+        cachedFloat64Memory0 = new Float64Array(wasm.memory.buffer);
+    }
+    return cachedFloat64Memory0;
+}
+
+let cachedBigInt64Memory0 = null;
+
+function getBigInt64Memory0() {
+    if (cachedBigInt64Memory0 === null || cachedBigInt64Memory0.byteLength === 0) {
+        cachedBigInt64Memory0 = new BigInt64Array(wasm.memory.buffer);
+    }
+    return cachedBigInt64Memory0;
+}
+
+function debugString(val) {
+    // primitive types
+    const type = typeof val;
+    if (type == 'number' || type == 'boolean' || val == null) {
+        return  `${val}`;
+    }
+    if (type == 'string') {
+        return `"${val}"`;
+    }
+    if (type == 'symbol') {
+        const description = val.description;
+        if (description == null) {
+            return 'Symbol';
+        } else {
+            return `Symbol(${description})`;
+        }
+    }
+    if (type == 'function') {
+        const name = val.name;
+        if (typeof name == 'string' && name.length > 0) {
+            return `Function(${name})`;
+        } else {
+            return 'Function';
+        }
+    }
+    // objects
+    if (Array.isArray(val)) {
+        const length = val.length;
+        let debug = '[';
+        if (length > 0) {
+            debug += debugString(val[0]);
+        }
+        for(let i = 1; i < length; i++) {
+            debug += ', ' + debugString(val[i]);
+        }
+        debug += ']';
+        return debug;
+    }
+    // Test for built-in
+    const builtInMatches = /\[object ([^\]]+)\]/.exec(toString.call(val));
+    let className;
+    if (builtInMatches.length > 1) {
+        className = builtInMatches[1];
+    } else {
+        // Failed to match the standard '[object ClassName]'
+        return toString.call(val);
+    }
+    if (className == 'Object') {
+        // we're a user defined class or Object
+        // JSON.stringify avoids problems with cycles, and is generally much
+        // easier than looping through ownProperties of `val`.
+        try {
+            return 'Object(' + JSON.stringify(val) + ')';
+        } catch (_) {
+            return 'Object';
+        }
+    }
+    // errors
+    if (val instanceof Error) {
+        return `${val.name}: ${val.message}\n${val.stack}`;
+    }
+    // TODO we could test for more things here, like `Set`s and `Map`s.
+    return className;
+}
+
+function makeMutClosure(arg0, arg1, dtor, f) {
+    const state = { a: arg0, b: arg1, cnt: 1, dtor };
+    const real = (...args) => {
+        // First up with a closure we increment the internal reference
+        // count. This ensures that the Rust closure environment won't
+        // be deallocated while we're invoking it.
+        state.cnt++;
+        const a = state.a;
+        state.a = 0;
+        try {
+            return f(a, state.b, ...args);
+        } finally {
+            if (--state.cnt === 0) {
+                wasm.__wbindgen_export_2.get(state.dtor)(a, state.b);
+
+            } else {
+                state.a = a;
+            }
+        }
+    };
+    real.original = state;
+
+    return real;
+}
+function __wbg_adapter_50(arg0, arg1) {
+    wasm._dyn_core__ops__function__FnMut_____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__h6ec8fc04c2a6203d(arg0, arg1);
+}
+
+function __wbg_adapter_53(arg0, arg1, arg2) {
+    wasm._dyn_core__ops__function__FnMut__A____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__h325fa89650025c24(arg0, arg1, addHeapObject(arg2));
+}
+
+function __wbg_adapter_60(arg0, arg1, arg2) {
+    wasm._dyn_core__ops__function__FnMut__A____Output___R_as_wasm_bindgen__closure__WasmClosure___describe__invoke__hdddd44ffff5953d7(arg0, arg1, addHeapObject(arg2));
+}
+
+function __wbg_adapter_63(arg0, arg1) {
+    wasm.wasm_bindgen__convert__closures__invoke0_mut__h3f8d714827ea705e(arg0, arg1);
+}
+
+let cachedUint32Memory0 = null;
+
+function getUint32Memory0() {
+    if (cachedUint32Memory0 === null || cachedUint32Memory0.byteLength === 0) {
+        cachedUint32Memory0 = new Uint32Array(wasm.memory.buffer);
+    }
+    return cachedUint32Memory0;
+}
+
+function passArray32ToWasm0(arg, malloc) {
+    const ptr = malloc(arg.length * 4, 4) >>> 0;
+    getUint32Memory0().set(arg, ptr / 4);
+    WASM_VECTOR_LEN = arg.length;
+    return ptr;
+}
+/**
+* @param {string} ip
+* @param {boolean} simu
+* @returns {Promise<Robot>}
+*/
+export function connect(ip, simu) {
+    const ptr0 = passStringToWasm0(ip, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+    const len0 = WASM_VECTOR_LEN;
+    const ret = wasm.connect(ptr0, len0, simu);
+    return takeObject(ret);
+}
+
+/**
+* @param {number} time
+* @returns {Promise<any>}
+*/
+export function discover_devices(time) {
+    const ret = wasm.discover_devices(time);
+    return takeObject(ret);
+}
+
+/**
+* @param {any} ms
+* @returns {Promise<void>}
+*/
+export function sleep_ms(ms) {
+    const ret = wasm.sleep_ms(addHeapObject(ms));
+    return takeObject(ret);
+}
+
+/**
+* @returns {any}
+*/
+export function timestamp() {
+    try {
+        const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);
+        wasm.timestamp(retptr);
+        var r0 = getInt32Memory0()[retptr / 4 + 0];
+        var r1 = getInt32Memory0()[retptr / 4 + 1];
+        var r2 = getInt32Memory0()[retptr / 4 + 2];
+        if (r2) {
+            throw takeObject(r1);
+        }
+        return takeObject(r0);
+    } finally {
+        wasm.__wbindgen_add_to_stack_pointer(16);
+    }
+}
+
+/**
+* @returns {string}
+*/
+export function version() {
+    let deferred2_0;
+    let deferred2_1;
+    try {
+        const retptr = wasm.__wbindgen_add_to_stack_pointer(-16);
+        wasm.version(retptr);
+        var r0 = getInt32Memory0()[retptr / 4 + 0];
+        var r1 = getInt32Memory0()[retptr / 4 + 1];
+        var r2 = getInt32Memory0()[retptr / 4 + 2];
+        var r3 = getInt32Memory0()[retptr / 4 + 3];
+        var ptr1 = r0;
+        var len1 = r1;
+        if (r3) {
+            ptr1 = 0; len1 = 0;
+            throw takeObject(r2);
+        }
+        deferred2_0 = ptr1;
+        deferred2_1 = len1;
+        return getStringFromWasm0(ptr1, len1);
+    } finally {
+        wasm.__wbindgen_add_to_stack_pointer(16);
+        wasm.__wbindgen_free(deferred2_0, deferred2_1, 1);
+    }
+}
+
+function handleError(f, args) {
+    try {
+        return f.apply(this, args);
+    } catch (e) {
+        wasm.__wbindgen_exn_store(addHeapObject(e));
+    }
+}
+
+function getArrayU8FromWasm0(ptr, len) {
+    ptr = ptr >>> 0;
+    return getUint8Memory0().subarray(ptr / 1, ptr / 1 + len);
+}
+function __wbg_adapter_251(arg0, arg1, arg2, arg3) {
+    wasm.wasm_bindgen__convert__closures__invoke2_mut__hec2b27bf71d5ba83(arg0, arg1, addHeapObject(arg2), addHeapObject(arg3));
+}
+
+/**
+*/
+export class Robot {
+
+    static __wrap(ptr) {
+        ptr = ptr >>> 0;
+        const obj = Object.create(Robot.prototype);
+        obj.__wbg_ptr = ptr;
+
+        return obj;
+    }
+
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+
+        return ptr;
+    }
+
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_robot_free(ptr);
+    }
+    /**
+    * @param {string} method
+    * @param {string | undefined} [param]
+    * @returns {Promise<string>}
+    */
+    call(method, param) {
+        const ptr0 = passStringToWasm0(method, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(param) ? 0 : passStringToWasm0(param, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_call(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} method
+    * @param {string | undefined} [param]
+    * @returns {Promise<RobotSubscription>}
+    */
+    subscribe(method, param) {
+        const ptr0 = passStringToWasm0(method, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(param) ? 0 : passStringToWasm0(param, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_subscribe(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @returns {Promise<any>}
+    */
+    kinematics_forward(p) {
+        const ret = wasm.robot_kinematics_forward(this.__wbg_ptr, addHeapObject(p));
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @param {any | undefined} [refer]
+    * @returns {Promise<any>}
+    */
+    kinematics_inverse(p, refer) {
+        const ret = wasm.robot_kinematics_inverse(this.__wbg_ptr, addHeapObject(p), isLikeNone(refer) ? 0 : addHeapObject(refer));
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} from
+    * @param {any} to
+    * @returns {Promise<any>}
+    */
+    pose_trans(from, to) {
+        const ret = wasm.robot_pose_trans(this.__wbg_ptr, addHeapObject(from), addHeapObject(to));
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} pose
+    * @param {any} delta
+    * @param {any | undefined} [frame]
+    * @returns {Promise<any>}
+    */
+    pose_add(pose, delta, frame) {
+        const ret = wasm.robot_pose_add(this.__wbg_ptr, addHeapObject(pose), addHeapObject(delta), isLikeNone(frame) ? 0 : addHeapObject(frame));
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @returns {Promise<any>}
+    */
+    pose_inverse(p) {
+        const ret = wasm.robot_pose_inverse(this.__wbg_ptr, addHeapObject(p));
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} name
+    * @param {string | undefined} [dir]
+    * @returns {Promise<any>}
+    */
+    load_pose(name, dir) {
+        const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_load_pose(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} name
+    * @param {string | undefined} [dir]
+    * @returns {Promise<any>}
+    */
+    load_frame(name, dir) {
+        const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_load_frame(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    pause_move() {
+        const ret = wasm.robot_pause_move(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    resume_move() {
+        const ret = wasm.robot_resume_move(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    stop_move() {
+        const ret = wasm.robot_stop_move(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [id]
+    * @returns {Promise<void>}
+    */
+    wait_move(id) {
+        const ret = wasm.robot_wait_move(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<number>}
+    */
+    get_running_motion() {
+        const ret = wasm.robot_get_running_motion(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} id
+    * @returns {Promise<string>}
+    */
+    get_motion_state(id) {
+        const ret = wasm.robot_get_motion_state(this.__wbg_ptr, id);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @param {number} a
+    * @param {number} v
+    * @param {number | undefined} [t]
+    * @param {number | undefined} [r]
+    * @returns {Promise<number>}
+    */
+    towardj(p, a, v, t, r) {
+        const ret = wasm.robot_towardj(this.__wbg_ptr, addHeapObject(p), a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @param {number} a
+    * @param {number} v
+    * @param {number | undefined} [t]
+    * @param {number | undefined} [r]
+    * @returns {Promise<number>}
+    */
+    movej(p, a, v, t, r) {
+        const ret = wasm.robot_movej(this.__wbg_ptr, addHeapObject(p), a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @param {number} a
+    * @param {number} v
+    * @param {number | undefined} [t]
+    * @param {number | undefined} [r]
+    * @returns {Promise<number>}
+    */
+    movel(p, a, v, t, r) {
+        const ret = wasm.robot_movel(this.__wbg_ptr, addHeapObject(p), a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} via
+    * @param {any} p
+    * @param {number} rad
+    * @param {number} a
+    * @param {number} v
+    * @param {number | undefined} [t]
+    * @param {number | undefined} [r]
+    * @returns {Promise<number>}
+    */
+    movec(via, p, rad, a, v, t, r) {
+        const ret = wasm.robot_movec(this.__wbg_ptr, addHeapObject(via), addHeapObject(p), rad, a, v, !isLikeNone(t), isLikeNone(t) ? 0 : t, !isLikeNone(r), isLikeNone(r) ? 0 : r);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @param {any} v
+    * @param {number} t
+    * @returns {Promise<void>}
+    */
+    move_pvt(p, v, t) {
+        const ret = wasm.robot_move_pvt(this.__wbg_ptr, addHeapObject(p), addHeapObject(v), t);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} p
+    * @param {any} v
+    * @param {any} a
+    * @param {number} t
+    * @returns {Promise<void>}
+    */
+    move_pvat(p, v, a, t) {
+        const ret = wasm.robot_move_pvat(this.__wbg_ptr, addHeapObject(p), addHeapObject(v), addHeapObject(a), t);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} a
+    * @param {any} v
+    * @param {number | undefined} [t]
+    * @returns {Promise<number>}
+    */
+    speedj(a, v, t) {
+        const ret = wasm.robot_speedj(this.__wbg_ptr, a, addHeapObject(v), !isLikeNone(t), isLikeNone(t) ? 0 : t);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} a
+    * @param {any} v
+    * @param {number | undefined} [t]
+    * @param {any | undefined} [frame]
+    * @returns {Promise<number>}
+    */
+    speedl(a, v, t, frame) {
+        const ret = wasm.robot_speedl(this.__wbg_ptr, a, addHeapObject(v), !isLikeNone(t), isLikeNone(t) ? 0 : t, isLikeNone(frame) ? 0 : addHeapObject(frame));
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    teach_mode() {
+        const ret = wasm.robot_teach_mode(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    end_teach_mode() {
+        const ret = wasm.robot_end_teach_mode(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @param {number} value
+    * @returns {Promise<void>}
+    */
+    set_do(device, pin, value) {
+        const ret = wasm.robot_set_do(this.__wbg_ptr, addHeapObject(device), pin, value);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @returns {Promise<number>}
+    */
+    get_do(device, pin) {
+        const ret = wasm.robot_get_do(this.__wbg_ptr, addHeapObject(device), pin);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @param {number} num
+    * @returns {Promise<any>}
+    */
+    get_dos(device, pin, num) {
+        const ret = wasm.robot_get_dos(this.__wbg_ptr, addHeapObject(device), pin, num);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @returns {Promise<number>}
+    */
+    get_di(device, pin) {
+        const ret = wasm.robot_get_di(this.__wbg_ptr, addHeapObject(device), pin);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @param {number} num
+    * @returns {Promise<any>}
+    */
+    get_dis(device, pin, num) {
+        const ret = wasm.robot_get_dis(this.__wbg_ptr, addHeapObject(device), pin, num);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @param {number} value
+    * @returns {Promise<void>}
+    */
+    set_ao(device, pin, value) {
+        const ret = wasm.robot_set_ao(this.__wbg_ptr, addHeapObject(device), pin, value);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @returns {Promise<number>}
+    */
+    get_ao(device, pin) {
+        const ret = wasm.robot_get_ao(this.__wbg_ptr, addHeapObject(device), pin);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @param {number} num
+    * @returns {Promise<any>}
+    */
+    get_aos(device, pin, num) {
+        const ret = wasm.robot_get_aos(this.__wbg_ptr, addHeapObject(device), pin, num);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @returns {Promise<number>}
+    */
+    get_ai(device, pin) {
+        const ret = wasm.robot_get_ai(this.__wbg_ptr, addHeapObject(device), pin);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} device
+    * @param {number} pin
+    * @param {number} num
+    * @returns {Promise<any>}
+    */
+    get_ais(device, pin, num) {
+        const ret = wasm.robot_get_ais(this.__wbg_ptr, addHeapObject(device), pin, num);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} index
+    * @param {number} value
+    * @returns {Promise<void>}
+    */
+    set_signal(index, value) {
+        const ret = wasm.robot_set_signal(this.__wbg_ptr, index, value);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} index
+    * @param {any} values
+    * @returns {Promise<void>}
+    */
+    set_signals(index, values) {
+        const ret = wasm.robot_set_signals(this.__wbg_ptr, index, addHeapObject(values));
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} index
+    * @returns {Promise<number>}
+    */
+    get_signal(index) {
+        const ret = wasm.robot_get_signal(this.__wbg_ptr, index);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} index
+    * @param {number} len
+    * @returns {Promise<any>}
+    */
+    get_signals(index, len) {
+        const ret = wasm.robot_get_signals(this.__wbg_ptr, index, len);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} index
+    * @param {number} value
+    * @returns {Promise<void>}
+    */
+    add_signal(index, value) {
+        const ret = wasm.robot_add_signal(this.__wbg_ptr, index, value);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} key
+    * @param {string} value
+    * @returns {Promise<void>}
+    */
+    set_item(key, value) {
+        const ptr0 = passStringToWasm0(key, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(value, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_set_item(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} key
+    * @returns {Promise<any>}
+    */
+    get_item(key) {
+        const ptr0 = passStringToWasm0(key, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_get_item(this.__wbg_ptr, ptr0, len0);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} prefix
+    * @returns {Promise<any>}
+    */
+    get_items(prefix) {
+        const ptr0 = passStringToWasm0(prefix, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_get_items(this.__wbg_ptr, ptr0, len0);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} name
+    * @param {any | undefined} [params]
+    * @returns {Promise<any>}
+    */
+    run_plugin_cmd(name, params) {
+        const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_run_plugin_cmd(this.__wbg_ptr, ptr0, len0, isLikeNone(params) ? 0 : addHeapObject(params));
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} scene
+    * @param {any | undefined} [params]
+    * @param {string | undefined} [dir]
+    * @param {boolean | undefined} [is_parallel]
+    * @param {number | undefined} [loop_to]
+    * @returns {Promise<number>}
+    */
+    start_task(scene, params, dir, is_parallel, loop_to) {
+        const ptr0 = passStringToWasm0(scene, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_start_task(this.__wbg_ptr, ptr0, len0, isLikeNone(params) ? 0 : addHeapObject(params), ptr1, len1, isLikeNone(is_parallel) ? 0xFFFFFF : is_parallel ? 1 : 0, !isLikeNone(loop_to), isLikeNone(loop_to) ? 0 : loop_to);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_task_list() {
+        const ret = wasm.robot_get_task_list(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<number | undefined>}
+    */
+    get_main_task_id() {
+        const ret = wasm.robot_get_main_task_id(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [id]
+    * @returns {Promise<string>}
+    */
+    wait_task(id) {
+        const ret = wasm.robot_wait_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [id]
+    * @returns {Promise<string>}
+    */
+    get_task_state(id) {
+        const ret = wasm.robot_get_task_state(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [id]
+    * @returns {Promise<void>}
+    */
+    cancel_task(id) {
+        const ret = wasm.robot_cancel_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [id]
+    * @returns {Promise<void>}
+    */
+    pause_task(id) {
+        const ret = wasm.robot_pause_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [id]
+    * @returns {Promise<void>}
+    */
+    resume_task(id) {
+        const ret = wasm.robot_resume_task(this.__wbg_ptr, !isLikeNone(id), isLikeNone(id) ? 0 : id);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {number} timeout
+    * @returns {Promise<void>}
+    */
+    set_serial_timeout(device, timeout) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_set_serial_timeout(this.__wbg_ptr, ptr0, len0, timeout);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {number} baud_rate
+    * @returns {Promise<void>}
+    */
+    set_serial_baud_rate(device, baud_rate) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_set_serial_baud_rate(this.__wbg_ptr, ptr0, len0, baud_rate);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {any} parity
+    * @returns {Promise<void>}
+    */
+    set_serial_parity(device, parity) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_set_serial_parity(this.__wbg_ptr, ptr0, len0, addHeapObject(parity));
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {any} data
+    * @returns {Promise<void>}
+    */
+    write_serial(device, data) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_write_serial(this.__wbg_ptr, ptr0, len0, addHeapObject(data));
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {number} len
+    * @returns {Promise<any>}
+    */
+    read_serial(device, len) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_read_serial(this.__wbg_ptr, ptr0, len0, len);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {number} timeout
+    * @returns {Promise<void>}
+    */
+    set_modbus_timeout(device, timeout) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_set_modbus_timeout(this.__wbg_ptr, ptr0, len0, timeout);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {boolean} value
+    * @returns {Promise<void>}
+    */
+    write_single_coil(device, pin, value) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_write_single_coil(this.__wbg_ptr, ptr0, len0, ptr1, len1, value);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {any} values
+    * @returns {Promise<void>}
+    */
+    write_multiple_coils(device, pin, values) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_write_multiple_coils(this.__wbg_ptr, ptr0, len0, ptr1, len1, addHeapObject(values));
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {number} count
+    * @returns {Promise<any>}
+    */
+    read_coils(device, pin, count) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_read_coils(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {number} count
+    * @returns {Promise<any>}
+    */
+    read_discrete_inputs(device, pin, count) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_read_discrete_inputs(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {number} value
+    * @returns {Promise<void>}
+    */
+    write_single_register(device, pin, value) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_write_single_register(this.__wbg_ptr, ptr0, len0, ptr1, len1, value);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {any} values
+    * @returns {Promise<void>}
+    */
+    write_multiple_registers(device, pin, values) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_write_multiple_registers(this.__wbg_ptr, ptr0, len0, ptr1, len1, addHeapObject(values));
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {number} count
+    * @returns {Promise<any>}
+    */
+    read_holding_registers(device, pin, count) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_read_holding_registers(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} device
+    * @param {string} pin
+    * @param {number} count
+    * @returns {Promise<any>}
+    */
+    read_input_registers(device, pin, count) {
+        const ptr0 = passStringToWasm0(device, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ptr1 = passStringToWasm0(pin, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_read_input_registers(this.__wbg_ptr, ptr0, len0, ptr1, len1, count);
+        return takeObject(ret);
+    }
+    /**
+    * @param {boolean | undefined} [force]
+    * @returns {Promise<void>}
+    */
+    init_claw(force) {
+        const ret = wasm.robot_init_claw(this.__wbg_ptr, isLikeNone(force) ? 0xFFFFFF : force ? 1 : 0);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [force]
+    * @param {number | undefined} [amplitude]
+    * @returns {Promise<void>}
+    */
+    set_claw(force, amplitude) {
+        const ret = wasm.robot_set_claw(this.__wbg_ptr, !isLikeNone(force), isLikeNone(force) ? 0 : force, !isLikeNone(amplitude), isLikeNone(amplitude) ? 0 : amplitude);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_claw() {
+        const ret = wasm.robot_get_claw(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} name
+    * @param {string | undefined} [dir]
+    * @returns {Promise<any>}
+    */
+    load_led_style(name, dir) {
+        const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_load_led_style(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} style
+    * @returns {Promise<void>}
+    */
+    set_led_style(style) {
+        const ret = wasm.robot_set_led_style(this.__wbg_ptr, addHeapObject(style));
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} mode
+    * @param {number} speed
+    * @param {Int32Array} colors
+    * @returns {Promise<void>}
+    */
+    set_led(mode, speed, colors) {
+        const ptr0 = passArray32ToWasm0(colors, wasm.__wbindgen_malloc);
+        const len0 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_set_led(this.__wbg_ptr, mode, speed, ptr0, len0);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} voice
+    * @param {number} volume
+    * @returns {Promise<void>}
+    */
+    set_voice(voice, volume) {
+        const ret = wasm.robot_set_voice(this.__wbg_ptr, voice, volume);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} mode
+    * @returns {Promise<void>}
+    */
+    set_fan(mode) {
+        const ret = wasm.robot_set_fan(this.__wbg_ptr, mode);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    start_sys() {
+        const ret = wasm.robot_start_sys(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    stop_sys() {
+        const ret = wasm.robot_stop_sys(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    powerdown() {
+        const ret = wasm.robot_powerdown(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    reboot() {
+        const ret = wasm.robot_reboot(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    stop() {
+        const ret = wasm.robot_stop(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<void>}
+    */
+    estop() {
+        const ret = wasm.robot_estop(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} name
+    * @param {string | undefined} [dir]
+    * @returns {Promise<any>}
+    */
+    load_tcp(name, dir) {
+        const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_load_tcp(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} pose
+    * @returns {Promise<void>}
+    */
+    set_tcp(pose) {
+        const ret = wasm.robot_set_tcp(this.__wbg_ptr, addHeapObject(pose));
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_tcp() {
+        const ret = wasm.robot_get_tcp(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number} speed_factor
+    * @returns {Promise<void>}
+    */
+    set_velocity_factor(speed_factor) {
+        const ret = wasm.robot_set_velocity_factor(this.__wbg_ptr, speed_factor);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<number>}
+    */
+    get_velocity_factor() {
+        const ret = wasm.robot_get_velocity_factor(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_kin_data() {
+        const ret = wasm.robot_get_kin_data(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_robot_state() {
+        const ret = wasm.robot_get_robot_state(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_phy_data() {
+        const ret = wasm.robot_get_phy_data(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {string} name
+    * @param {string | undefined} [dir]
+    * @returns {Promise<any>}
+    */
+    load_payload(name, dir) {
+        const ptr0 = passStringToWasm0(name, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        const len0 = WASM_VECTOR_LEN;
+        var ptr1 = isLikeNone(dir) ? 0 : passStringToWasm0(dir, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+        var len1 = WASM_VECTOR_LEN;
+        const ret = wasm.robot_load_payload(this.__wbg_ptr, ptr0, len0, ptr1, len1);
+        return takeObject(ret);
+    }
+    /**
+    * @param {number | undefined} [mass]
+    * @param {any | undefined} [cog]
+    * @returns {Promise<void>}
+    */
+    set_payload(mass, cog) {
+        const ret = wasm.robot_set_payload(this.__wbg_ptr, !isLikeNone(mass), isLikeNone(mass) ? 0 : mass, isLikeNone(cog) ? 0 : addHeapObject(cog));
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_payload() {
+        const ret = wasm.robot_get_payload(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+    /**
+    * @param {any} pose
+    * @returns {Promise<void>}
+    */
+    set_gravity(pose) {
+        const ret = wasm.robot_set_gravity(this.__wbg_ptr, addHeapObject(pose));
+        return takeObject(ret);
+    }
+    /**
+    * @returns {Promise<any>}
+    */
+    get_gravity() {
+        const ret = wasm.robot_get_gravity(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+}
+/**
+*/
+export class RobotSubscription {
+
+    static __wrap(ptr) {
+        ptr = ptr >>> 0;
+        const obj = Object.create(RobotSubscription.prototype);
+        obj.__wbg_ptr = ptr;
+
+        return obj;
+    }
+
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+
+        return ptr;
+    }
+
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_robotsubscription_free(ptr);
+    }
+    /**
+    * @returns {Promise<string | undefined>}
+    */
+    next() {
+        const ret = wasm.robotsubscription_next(this.__wbg_ptr);
+        return takeObject(ret);
+    }
+}
+
+export function __wbindgen_number_new(arg0) {
+    const ret = arg0;
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_object_drop_ref(arg0) {
+    takeObject(arg0);
+};
+
+export function __wbindgen_string_get(arg0, arg1) {
+    const obj = getObject(arg1);
+    const ret = typeof(obj) === 'string' ? obj : undefined;
+    var ptr1 = isLikeNone(ret) ? 0 : passStringToWasm0(ret, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+    var len1 = WASM_VECTOR_LEN;
+    getInt32Memory0()[arg0 / 4 + 1] = len1;
+    getInt32Memory0()[arg0 / 4 + 0] = ptr1;
+};
+
+export function __wbindgen_string_new(arg0, arg1) {
+    const ret = getStringFromWasm0(arg0, arg1);
+    return addHeapObject(ret);
+};
+
+export function __wbg_robotsubscription_new(arg0) {
+    const ret = RobotSubscription.__wrap(arg0);
+    return addHeapObject(ret);
+};
+
+export function __wbg_robot_new(arg0) {
+    const ret = Robot.__wrap(arg0);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_is_object(arg0) {
+    const val = getObject(arg0);
+    const ret = typeof(val) === 'object' && val !== null;
+    return ret;
+};
+
+export function __wbindgen_cb_drop(arg0) {
+    const obj = takeObject(arg0).original;
+    if (obj.cnt-- == 1) {
+        obj.a = 0;
+        return true;
+    }
+    const ret = false;
+    return ret;
+};
+
+export function __wbindgen_error_new(arg0, arg1) {
+    const ret = new Error(getStringFromWasm0(arg0, arg1));
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_boolean_get(arg0) {
+    const v = getObject(arg0);
+    const ret = typeof(v) === 'boolean' ? (v ? 1 : 0) : 2;
+    return ret;
+};
+
+export function __wbindgen_number_get(arg0, arg1) {
+    const obj = getObject(arg1);
+    const ret = typeof(obj) === 'number' ? obj : undefined;
+    getFloat64Memory0()[arg0 / 8 + 1] = isLikeNone(ret) ? 0 : ret;
+    getInt32Memory0()[arg0 / 4 + 0] = !isLikeNone(ret);
+};
+
+export function __wbindgen_as_number(arg0) {
+    const ret = +getObject(arg0);
+    return ret;
+};
+
+export function __wbindgen_object_clone_ref(arg0) {
+    const ret = getObject(arg0);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_is_undefined(arg0) {
+    const ret = getObject(arg0) === undefined;
+    return ret;
+};
+
+export function __wbindgen_in(arg0, arg1) {
+    const ret = getObject(arg0) in getObject(arg1);
+    return ret;
+};
+
+export function __wbindgen_is_bigint(arg0) {
+    const ret = typeof(getObject(arg0)) === 'bigint';
+    return ret;
+};
+
+export function __wbindgen_bigint_from_i64(arg0) {
+    const ret = arg0;
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_jsval_eq(arg0, arg1) {
+    const ret = getObject(arg0) === getObject(arg1);
+    return ret;
+};
+
+export function __wbindgen_bigint_from_u64(arg0) {
+    const ret = BigInt.asUintN(64, arg0);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_is_string(arg0) {
+    const ret = typeof(getObject(arg0)) === 'string';
+    return ret;
+};
+
+export function __wbg_data_ba3ea616b5392abf(arg0) {
+    const ret = getObject(arg0).data;
+    return addHeapObject(ret);
+};
+
+export function __wbg_addEventListener_9bf60ea8a362e5e4() { return handleError(function (arg0, arg1, arg2, arg3) {
+    getObject(arg0).addEventListener(getStringFromWasm0(arg1, arg2), getObject(arg3));
+}, arguments) };
+
+export function __wbg_addEventListener_374cbfd2bbc19ccf() { return handleError(function (arg0, arg1, arg2, arg3, arg4) {
+    getObject(arg0).addEventListener(getStringFromWasm0(arg1, arg2), getObject(arg3), getObject(arg4));
+}, arguments) };
+
+export function __wbg_dispatchEvent_40c3472e9e4dcf5e() { return handleError(function (arg0, arg1) {
+    const ret = getObject(arg0).dispatchEvent(getObject(arg1));
+    return ret;
+}, arguments) };
+
+export function __wbg_removeEventListener_66ee1536a0b32c11() { return handleError(function (arg0, arg1, arg2, arg3) {
+    getObject(arg0).removeEventListener(getStringFromWasm0(arg1, arg2), getObject(arg3));
+}, arguments) };
+
+export function __wbg_wasClean_1efd9561c5671b45(arg0) {
+    const ret = getObject(arg0).wasClean;
+    return ret;
+};
+
+export function __wbg_code_72a380a2ce61a242(arg0) {
+    const ret = getObject(arg0).code;
+    return ret;
+};
+
+export function __wbg_reason_ad453a16ee68a1b9(arg0, arg1) {
+    const ret = getObject(arg1).reason;
+    const ptr1 = passStringToWasm0(ret, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+    const len1 = WASM_VECTOR_LEN;
+    getInt32Memory0()[arg0 / 4 + 1] = len1;
+    getInt32Memory0()[arg0 / 4 + 0] = ptr1;
+};
+
+export function __wbg_newwitheventinitdict_744eb6eb61245b7c() { return handleError(function (arg0, arg1, arg2) {
+    const ret = new CloseEvent(getStringFromWasm0(arg0, arg1), getObject(arg2));
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_readyState_c8f9a5deaec3bb41(arg0) {
+    const ret = getObject(arg0).readyState;
+    return ret;
+};
+
+export function __wbg_setbinaryType_68fc3c6feda7310c(arg0, arg1) {
+    getObject(arg0).binaryType = takeObject(arg1);
+};
+
+export function __wbg_new_2575c598b4006174() { return handleError(function (arg0, arg1) {
+    const ret = new WebSocket(getStringFromWasm0(arg0, arg1));
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_close_328b8b803521cbdd() { return handleError(function (arg0) {
+    getObject(arg0).close();
+}, arguments) };
+
+export function __wbg_send_5bf3f962e9ffe0f6() { return handleError(function (arg0, arg1, arg2) {
+    getObject(arg0).send(getStringFromWasm0(arg1, arg2));
+}, arguments) };
+
+export function __wbg_send_2ba7d32fcb03b9a4() { return handleError(function (arg0, arg1, arg2) {
+    getObject(arg0).send(getArrayU8FromWasm0(arg1, arg2));
+}, arguments) };
+
+export function __wbg_queueMicrotask_4d890031a6a5a50c(arg0) {
+    queueMicrotask(getObject(arg0));
+};
+
+export function __wbg_queueMicrotask_adae4bc085237231(arg0) {
+    const ret = getObject(arg0).queueMicrotask;
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_is_function(arg0) {
+    const ret = typeof(getObject(arg0)) === 'function';
+    return ret;
+};
+
+export function __wbg_clearTimeout_76877dbc010e786d(arg0) {
+    const ret = clearTimeout(takeObject(arg0));
+    return addHeapObject(ret);
+};
+
+export function __wbg_setTimeout_75cb9b6991a4031d() { return handleError(function (arg0, arg1) {
+    const ret = setTimeout(getObject(arg0), arg1);
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbindgen_jsval_loose_eq(arg0, arg1) {
+    const ret = getObject(arg0) == getObject(arg1);
+    return ret;
+};
+
+export function __wbg_getwithrefkey_4a92a5eca60879b9(arg0, arg1) {
+    const ret = getObject(arg0)[getObject(arg1)];
+    return addHeapObject(ret);
+};
+
+export function __wbg_set_9182712abebf82ef(arg0, arg1, arg2) {
+    getObject(arg0)[takeObject(arg1)] = takeObject(arg2);
+};
+
+export function __wbg_get_f01601b5a68d10e3(arg0, arg1) {
+    const ret = getObject(arg0)[arg1 >>> 0];
+    return addHeapObject(ret);
+};
+
+export function __wbg_length_1009b1af0c481d7b(arg0) {
+    const ret = getObject(arg0).length;
+    return ret;
+};
+
+export function __wbg_new_ffc6d4d085022169() {
+    const ret = new Array();
+    return addHeapObject(ret);
+};
+
+export function __wbg_newnoargs_c62ea9419c21fbac(arg0, arg1) {
+    const ret = new Function(getStringFromWasm0(arg0, arg1));
+    return addHeapObject(ret);
+};
+
+export function __wbg_next_9b877f231f476d01(arg0) {
+    const ret = getObject(arg0).next;
+    return addHeapObject(ret);
+};
+
+export function __wbg_next_6529ee0cca8d57ed() { return handleError(function (arg0) {
+    const ret = getObject(arg0).next();
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_done_5fe336b092d60cf2(arg0) {
+    const ret = getObject(arg0).done;
+    return ret;
+};
+
+export function __wbg_value_0c248a78fdc8e19f(arg0) {
+    const ret = getObject(arg0).value;
+    return addHeapObject(ret);
+};
+
+export function __wbg_iterator_db7ca081358d4fb2() {
+    const ret = Symbol.iterator;
+    return addHeapObject(ret);
+};
+
+export function __wbg_get_7b48513de5dc5ea4() { return handleError(function (arg0, arg1) {
+    const ret = Reflect.get(getObject(arg0), getObject(arg1));
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_call_90c26b09837aba1c() { return handleError(function (arg0, arg1) {
+    const ret = getObject(arg0).call(getObject(arg1));
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_new_9fb8d994e1c0aaac() {
+    const ret = new Object();
+    return addHeapObject(ret);
+};
+
+export function __wbg_self_f0e34d89f33b99fd() { return handleError(function () {
+    const ret = self.self;
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_window_d3b084224f4774d7() { return handleError(function () {
+    const ret = window.window;
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_globalThis_9caa27ff917c6860() { return handleError(function () {
+    const ret = globalThis.globalThis;
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_global_35dfdd59a4da3e74() { return handleError(function () {
+    const ret = global.global;
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_set_f2740edb12e318cd(arg0, arg1, arg2) {
+    getObject(arg0)[arg1 >>> 0] = takeObject(arg2);
+};
+
+export function __wbg_isArray_74fb723e24f76012(arg0) {
+    const ret = Array.isArray(getObject(arg0));
+    return ret;
+};
+
+export function __wbg_instanceof_ArrayBuffer_e7d53d51371448e2(arg0) {
+    let result;
+    try {
+        result = getObject(arg0) instanceof ArrayBuffer;
+    } catch (_) {
+        result = false;
+    }
+    const ret = result;
+    return ret;
+};
+
+export function __wbg_instanceof_Error_31ca8d97f188bfbc(arg0) {
+    let result;
+    try {
+        result = getObject(arg0) instanceof Error;
+    } catch (_) {
+        result = false;
+    }
+    const ret = result;
+    return ret;
+};
+
+export function __wbg_message_55b9ea8030688597(arg0) {
+    const ret = getObject(arg0).message;
+    return addHeapObject(ret);
+};
+
+export function __wbg_name_e5eede664187fed6(arg0) {
+    const ret = getObject(arg0).name;
+    return addHeapObject(ret);
+};
+
+export function __wbg_toString_a44236e90224e279(arg0) {
+    const ret = getObject(arg0).toString();
+    return addHeapObject(ret);
+};
+
+export function __wbg_call_5da1969d7cd31ccd() { return handleError(function (arg0, arg1, arg2) {
+    const ret = getObject(arg0).call(getObject(arg1), getObject(arg2));
+    return addHeapObject(ret);
+}, arguments) };
+
+export function __wbg_isSafeInteger_f93fde0dca9820f8(arg0) {
+    const ret = Number.isSafeInteger(getObject(arg0));
+    return ret;
+};
+
+export function __wbg_entries_9e2e2aa45aa5094a(arg0) {
+    const ret = Object.entries(getObject(arg0));
+    return addHeapObject(ret);
+};
+
+export function __wbg_new_60f57089c7563e81(arg0, arg1) {
+    try {
+        var state0 = {a: arg0, b: arg1};
+        var cb0 = (arg0, arg1) => {
+            const a = state0.a;
+            state0.a = 0;
+            try {
+                return __wbg_adapter_251(a, state0.b, arg0, arg1);
+            } finally {
+                state0.a = a;
+            }
+        };
+        const ret = new Promise(cb0);
+        return addHeapObject(ret);
+    } finally {
+        state0.a = state0.b = 0;
+    }
+};
+
+export function __wbg_resolve_6e1c6553a82f85b7(arg0) {
+    const ret = Promise.resolve(getObject(arg0));
+    return addHeapObject(ret);
+};
+
+export function __wbg_then_3ab08cd4fbb91ae9(arg0, arg1) {
+    const ret = getObject(arg0).then(getObject(arg1));
+    return addHeapObject(ret);
+};
+
+export function __wbg_buffer_a448f833075b71ba(arg0) {
+    const ret = getObject(arg0).buffer;
+    return addHeapObject(ret);
+};
+
+export function __wbg_new_8f67e318f15d7254(arg0) {
+    const ret = new Uint8Array(getObject(arg0));
+    return addHeapObject(ret);
+};
+
+export function __wbg_set_2357bf09366ee480(arg0, arg1, arg2) {
+    getObject(arg0).set(getObject(arg1), arg2 >>> 0);
+};
+
+export function __wbg_length_1d25fa9e4ac21ce7(arg0) {
+    const ret = getObject(arg0).length;
+    return ret;
+};
+
+export function __wbg_instanceof_Uint8Array_bced6f43aed8c1aa(arg0) {
+    let result;
+    try {
+        result = getObject(arg0) instanceof Uint8Array;
+    } catch (_) {
+        result = false;
+    }
+    const ret = result;
+    return ret;
+};
+
+export function __wbg_set_759f75cd92b612d2() { return handleError(function (arg0, arg1, arg2) {
+    const ret = Reflect.set(getObject(arg0), getObject(arg1), getObject(arg2));
+    return ret;
+}, arguments) };
+
+export function __wbindgen_bigint_get_as_i64(arg0, arg1) {
+    const v = getObject(arg1);
+    const ret = typeof(v) === 'bigint' ? v : undefined;
+    getBigInt64Memory0()[arg0 / 8 + 1] = isLikeNone(ret) ? BigInt(0) : ret;
+    getInt32Memory0()[arg0 / 4 + 0] = !isLikeNone(ret);
+};
+
+export function __wbindgen_debug_string(arg0, arg1) {
+    const ret = debugString(getObject(arg1));
+    const ptr1 = passStringToWasm0(ret, wasm.__wbindgen_malloc, wasm.__wbindgen_realloc);
+    const len1 = WASM_VECTOR_LEN;
+    getInt32Memory0()[arg0 / 4 + 1] = len1;
+    getInt32Memory0()[arg0 / 4 + 0] = ptr1;
+};
+
+export function __wbindgen_throw(arg0, arg1) {
+    throw new Error(getStringFromWasm0(arg0, arg1));
+};
+
+export function __wbindgen_memory() {
+    const ret = wasm.memory;
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_closure_wrapper1758(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 739, __wbg_adapter_50);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_closure_wrapper1760(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 739, __wbg_adapter_53);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_closure_wrapper1762(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 739, __wbg_adapter_53);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_closure_wrapper1764(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 739, __wbg_adapter_53);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_closure_wrapper2423(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 849, __wbg_adapter_60);
+    return addHeapObject(ret);
+};
+
+export function __wbindgen_closure_wrapper2463(arg0, arg1, arg2) {
+    const ret = makeMutClosure(arg0, arg1, 866, __wbg_adapter_63);
+    return addHeapObject(ret);
+};
+