npm - motion-master-client - Versions diffs - 0.0.196 → 0.0.198 - Mend

motion-master-client 0.0.196 → 0.0.198

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (15) hide show

package/package.json +1 -1
package/src/index.d.ts +1 -0
package/src/index.js +1 -0
package/src/index.js.map +1 -1
package/src/lib/device.d.ts +0 -28
package/src/lib/device.js +1 -108
package/src/lib/device.js.map +1 -1
package/src/lib/integro-encoder-calibration.js +7 -7
package/src/lib/integro-encoder-calibration.js.map +1 -1
package/src/lib/units.d.ts +101 -0
package/src/lib/units.js +406 -0
package/src/lib/units.js.map +1 -0
package/src/lib/util.d.ts +9 -0
package/src/lib/util.js +31 -1
package/src/lib/util.js.map +1 -1

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.196",
+  "version": "0.0.198",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/index.d.ts CHANGED Viewed

@@ -33,6 +33,7 @@ export * from './lib/request-status-resolver';
 export * from './lib/sii';
 export * from './lib/system-log-line';
 export * from './lib/types';
+export * from './lib/units';
 export * from './lib/urls';
 export * from './lib/util';
 export * from './lib/web-socket-connection-close-codes';

package/src/index.js CHANGED Viewed

@@ -36,6 +36,7 @@ tslib_1.__exportStar(require("./lib/request-status-resolver"), exports);
 tslib_1.__exportStar(require("./lib/sii"), exports);
 tslib_1.__exportStar(require("./lib/system-log-line"), exports);
 tslib_1.__exportStar(require("./lib/types"), exports);
+tslib_1.__exportStar(require("./lib/units"), exports);
 tslib_1.__exportStar(require("./lib/urls"), exports);
 tslib_1.__exportStar(require("./lib/util"), exports);
 tslib_1.__exportStar(require("./lib/web-socket-connection-close-codes"), exports);

package/src/index.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,4DAAkC;AAClC,gEAAsC;AACtC,uDAA6B;AAC7B,gEAAsC;AACtC,iEAAuC;AACvC,wDAA8B;AAC9B,yDAA+B;AAC/B,yDAA+B;AAC/B,yDAA+B;AAC/B,qEAA2C;AAC3C,uDAA6B;AAC7B,gEAAsC;AACtC,4EAAkD;AAClD,kEAAwC;AACxC,iEAAuC;AACvC,gEAAsC;AACtC,qEAA2C;AAC3C,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,0DAAgC;AAChC,wDAA8B;AAC9B,2DAAiC;AACjC,0DAAgC;AAChC,wDAA8B;AAC9B,wEAA8C;AAC9C,oDAA0B;AAC1B,gEAAsC;AACtC,sDAA4B;AAC5B,qDAA2B;AAC3B,qDAA2B;AAC3B,kFAAwD"}
1	+ {"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,uDAA6B;AAC7B,4DAAkC;AAClC,gEAAsC;AACtC,uDAA6B;AAC7B,gEAAsC;AACtC,iEAAuC;AACvC,wDAA8B;AAC9B,yDAA+B;AAC/B,yDAA+B;AAC/B,yDAA+B;AAC/B,qEAA2C;AAC3C,uDAA6B;AAC7B,gEAAsC;AACtC,4EAAkD;AAClD,kEAAwC;AACxC,iEAAuC;AACvC,gEAAsC;AACtC,qEAA2C;AAC3C,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,0DAAgC;AAChC,wDAA8B;AAC9B,2DAAiC;AACjC,0DAAgC;AAChC,wDAA8B;AAC9B,wEAA8C;AAC9C,oDAA0B;AAC1B,gEAAsC;AACtC,sDAA4B;AAC5B,sDAA4B;AAC5B,qDAA2B;AAC3B,qDAA2B;AAC3B,kFAAwD"}

package/src/lib/device.d.ts CHANGED Viewed

@@ -59,34 +59,6 @@ export declare function isValidDeviceRef(deviceRef?: DeviceRef): boolean;
 export declare function isValidDeviceRefObj(obj: DeviceRefObj): boolean;
 export declare function parseDeviceLog(line: string): DeviceLogLine | undefined;
 export declare function parseDeviceLogContent(content: string): DeviceLogLine[];
-export interface SiUnitVelocityScale {
-    scale: number;
-    unit: 'RPM' | 'dRPM' | 'cRPM' | 'mRPM' | 'RPS' | 'dRPS' | 'cRPS' | 'mRPS';
-    type: 'minute' | 'second';
-}
-/**
- * These are the user-defined velocity units and scales.
- * For more information, see the description of 0x60A9:00 SI unit velocity object.
- */
-export declare const siUnitVelocityScales: {
-    [key: string]: SiUnitVelocityScale;
-};
-/**
- * Use this function when SI unit velocity changes to update the affected parameters.
- * @example When changing from RPM to mRPM, a value of 2,500 will convert to 2,500,000.
- */
-export declare function convertSiUnitVelocityAffectedValue(value: number, oldSiUnitVelocity: number, newSiUnitVelocity: number): number;
-/**
- * Use this function when the Feed constant changes to update the position affected parameters.
- * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
- */
-export declare function convertFeedConstantAffectedPositionValue(value: number, oldFeedConstant: number, newFeedConstant: number, resolution: number): number;
-/**
- * Use this function when the Feed constant changes to update the velocity affected parameters.
- * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
- */
-export declare function convertFeedConstantAffectedVelocityValue(value: number, oldFeedConstant: number, newFeedConstant: number): number;
-export declare function convertVelocityAffectedValue(value: number, oldSiUnitVelocity: number, newSiUnitVelocity: number, oldFeedConstant: number, newFeedConstant: number): number;
 export declare function computeZeroHomeOffsetFromPosition(homeOffset: number, position: number): number;
 /**
  * The FoE read command with the filename "fs-stackunlock=DD1317" enables writing or deleting protected files (i.e., files that begin with a dot ".").

package/src/lib/device.js CHANGED Viewed

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.factoryResetDefaultFilesToKeep = exports.isFilenamePart = exports.emptyAppBase64 = exports.stackUnlockFilename = exports.computeZeroHomeOffsetFromPosition = exports.convertVelocityAffectedValue = exports.convertFeedConstantAffectedVelocityValue = exports.convertFeedConstantAffectedPositionValue = exports.convertSiUnitVelocityAffectedValue = exports.siUnitVelocityScales = exports.parseDeviceLogContent = exports.parseDeviceLog = exports.isValidDeviceRefObj = exports.isValidDeviceRef = exports.isDeviceRef = exports.makeDeviceRefObj = exports.ensureDeviceRef = exports.getDeviceRefFromDeviceRefObj = exports.filenamePartRegExp = void 0;
+exports.factoryResetDefaultFilesToKeep = exports.isFilenamePart = exports.emptyAppBase64 = exports.stackUnlockFilename = exports.computeZeroHomeOffsetFromPosition = exports.parseDeviceLogContent = exports.parseDeviceLog = exports.isValidDeviceRefObj = exports.isValidDeviceRef = exports.isDeviceRef = exports.makeDeviceRefObj = exports.ensureDeviceRef = exports.getDeviceRefFromDeviceRefObj = exports.filenamePartRegExp = void 0;
 exports.filenamePartRegExp = /^(.*?)(?:\.zip(?:\.part\d+)?)$/;
 function getDeviceRefFromDeviceRefObj(deviceRefObj) {
     for (const [_, value] of Object.entries(deviceRefObj)) {
@@ -64,113 +64,6 @@ function parseDeviceLogContent(content) {
         .filter((l) => l !== undefined);
 }
 exports.parseDeviceLogContent = parseDeviceLogContent;
-/**
- * These are the user-defined velocity units and scales.
- * For more information, see the description of 0x60A9:00 SI unit velocity object.
- */
-exports.siUnitVelocityScales = {
-    0x00B44700: {
-        scale: 1,
-        unit: 'RPM',
-        type: 'minute',
-    },
-    0xFFB44700: {
-        scale: 0.1,
-        unit: 'dRPM',
-        type: 'minute',
-    },
-    0xFEB44700: {
-        scale: 0.01,
-        unit: 'cRPM',
-        type: 'minute',
-    },
-    0xFDB44700: {
-        scale: 0.001,
-        unit: 'mRPM',
-        type: 'minute',
-    },
-    0x00B40300: {
-        scale: 1,
-        unit: 'RPS',
-        type: 'second',
-    },
-    0xFFB40300: {
-        scale: 0.1,
-        unit: 'dRPS',
-        type: 'second',
-    },
-    0xFEB40300: {
-        scale: 0.01,
-        unit: 'cRPS',
-        type: 'second',
-    },
-    0xFDB40300: {
-        scale: 0.001,
-        unit: 'mRPS',
-        type: 'second',
-    },
-};
-/**
- * Use this function when SI unit velocity changes to update the affected parameters.
- * @example When changing from RPM to mRPM, a value of 2,500 will convert to 2,500,000.
- */
-function convertSiUnitVelocityAffectedValue(value, oldSiUnitVelocity, newSiUnitVelocity) {
-    const oldScale = exports.siUnitVelocityScales[oldSiUnitVelocity];
-    const newScale = exports.siUnitVelocityScales[newSiUnitVelocity];
-    if (oldScale.type === newScale.type) {
-        return Math.round(oldScale.scale / newScale.scale * value);
-    }
-    else if (oldScale.type === 'minute' && newScale.type === 'second') {
-        return Math.round(oldScale.scale / newScale.scale * value / 60);
-    }
-    else if (oldScale.type === 'second' && newScale.type === 'minute') {
-        return Math.round(oldScale.scale / newScale.scale * value * 60);
-    }
-    return value;
-}
-exports.convertSiUnitVelocityAffectedValue = convertSiUnitVelocityAffectedValue;
-/**
- * Use this function when the Feed constant changes to update the position affected parameters.
- * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
- */
-function convertFeedConstantAffectedPositionValue(value, oldFeedConstant, newFeedConstant, resolution) {
-    let out = value;
-    if (oldFeedConstant === 0xFFFFFFFF && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // conversion
-        out = Math.round(value * newFeedConstant / resolution);
-    }
-    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // scaling
-        out = Math.round(newFeedConstant / oldFeedConstant * value);
-    }
-    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && newFeedConstant === 0xFFFFFFFF) { // inversion
-        out = Math.round(value / oldFeedConstant * resolution);
-    }
-    return out;
-}
-exports.convertFeedConstantAffectedPositionValue = convertFeedConstantAffectedPositionValue;
-/**
- * Use this function when the Feed constant changes to update the velocity affected parameters.
- * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
- */
-function convertFeedConstantAffectedVelocityValue(value, oldFeedConstant, newFeedConstant) {
-    let out = value;
-    if (oldFeedConstant === 0xFFFFFFFF && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // conversion
-        out = Math.round(value * newFeedConstant);
-    }
-    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // scaling
-        out = Math.round(newFeedConstant / oldFeedConstant * value);
-    }
-    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && newFeedConstant === 0xFFFFFFFF) { // inversion
-        out = Math.round(value / oldFeedConstant);
-    }
-    return out;
-}
-exports.convertFeedConstantAffectedVelocityValue = convertFeedConstantAffectedVelocityValue;
-function convertVelocityAffectedValue(value, oldSiUnitVelocity, newSiUnitVelocity, oldFeedConstant, newFeedConstant) {
-    value = convertSiUnitVelocityAffectedValue(value, oldSiUnitVelocity, newSiUnitVelocity);
-    value = convertFeedConstantAffectedVelocityValue(value, oldFeedConstant, newFeedConstant);
-    return value;
-}
-exports.convertVelocityAffectedValue = convertVelocityAffectedValue;
 function computeZeroHomeOffsetFromPosition(homeOffset, position) {
     return homeOffset - position;
 }

package/src/lib/device.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"device.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/device.ts"],"names":[],"mappings":";;;AAKa,QAAA,kBAAkB,GAAG,gCAAgC,CAAC;AA0DnE,SAAgB,4BAA4B,CAAC,YAA0B;IACrE,KAAK,MAAM,CAAC,CAAC,EAAE,KAAK,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,YAAY,CAAC,EAAE;QACrD,IAAI,KAAK,KAAK,SAAS,EAAE;YACvB,OAAO,KAAK,CAAC;SACd;KACF;IACD,OAAO,IAAI,CAAC;AACd,CAAC;AAPD,oEAOC;AAED,SAAgB,eAAe,CAAC,SAAoB;IAClD,MAAM,CAAC,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC5B,OAAO,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC;AAClC,CAAC;AAHD,0CAGC;AAED,SAAgB,gBAAgB,CAAC,SAAoB;IACnD,SAAS,GAAG,eAAe,CAAC,SAAS,CAAC,CAAC;IACvC,IAAI,OAAO,SAAS,KAAK,QAAQ,EAAE;QACjC,IAAI,SAAS,IAAI,MAAM,EAAE;YACvB,OAAO,EAAE,cAAc,EAAE,SAAS,EAAE,CAAC;SACtC;aAAM;YACL,OAAO,EAAE,aAAa,EAAE,SAAS,EAAE,CAAC;SACrC;KACF;SAAM;QACL,OAAO,EAAE,kBAAkB,EAAE,SAAS,EAAE,CAAC;KAC1C;AACH,CAAC;AAXD,4CAWC;AAED,SAAgB,WAAW,CAAC,SAAc;IACxC,OAAO,CAAC,OAAO,SAAS,KAAK,QAAQ,IAAI,SAAS,IAAI,CAAC,CAAC,IAAI,OAAO,SAAS,KAAK,QAAQ,CAAC;AAC5F,CAAC;AAFD,kCAEC;AAED,SAAgB,gBAAgB,CAAC,SAAqB;IACpD,OAAO,SAAS,KAAK,SAAS,IAAI,WAAW,CAAC,SAAS,CAAC,CAAC;AAC3D,CAAC;AAFD,4CAEC;AAED,SAAgB,mBAAmB,CAAC,GAAiB;IACnD,OAAO,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,GAAG,CAAC,aAAa,CAAC,CAAC;WAC5C,CAAC,OAAO,GAAG,CAAC,cAAc,KAAK,QAAQ,IAAI,GAAG,CAAC,cAAc,IAAI,CAAC,CAAC;WACnE,OAAO,GAAG,CAAC,kBAAkB,KAAK,QAAQ,CAAC;AAClD,CAAC;AAJD,kDAIC;AAED,SAAgB,cAAc,CAAC,IAAY;IACzC,MAAM,EAAE,GAAG,0CAA0C,CAAC;IACtD,MAAM,MAAM,GAAG,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC7B,IAAI,MAAM,EAAE;QACV,OAAO;YACL,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACtB,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACvB,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;SAC1B,CAAC;KACH;IACD,OAAO;AACT,CAAC;AAXD,wCAWC;AAED,SAAgB,qBAAqB,CAAC,OAAe;IACnD,OAAO,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC;SACvB,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC;SAC7B,MAAM,CAAC,CAAC,CAAC,EAAsB,EAAE,CAAC,CAAC,KAAK,SAAS,CAAC,CAAC;AACxD,CAAC;AAJD,sDAIC;AAQD;;;GAGG;AACU,QAAA,oBAAoB,GAA2C;IAC1E,UAAU,EAAE;QACV,KAAK,EAAE,CAAC;QACR,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,QAAQ;KACf;IACD,UAAU,EAAE;QACV,KAAK,EAAE,GAAG;QACV,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,UAAU,EAAE;QACV,KAAK,EAAE,IAAI;QACX,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,UAAU,EAAE;QACV,KAAK,EAAE,KAAK;QACZ,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,UAAU,EAAE;QACV,KAAK,EAAE,CAAC;QACR,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,QAAQ;KACf;IACD,UAAU,EAAE;QACV,KAAK,EAAE,GAAG;QACV,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,UAAU,EAAE;QACV,KAAK,EAAE,IAAI;QACX,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,UAAU,EAAE;QACV,KAAK,EAAE,KAAK;QACZ,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;CACF,CAAC;AAEF;;;GAGG;AACH,SAAgB,kCAAkC,CAAC,KAAa,EAAE,iBAAyB,EAAE,iBAAyB;IACpH,MAAM,QAAQ,GAAG,4BAAoB,CAAC,iBAAiB,CAAC,CAAC;IACzD,MAAM,QAAQ,GAAG,4BAAoB,CAAC,iBAAiB,CAAC,CAAC;IAEzD,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,CAAC,IAAI,EAAE;QACnC,OAAO,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,KAAK,CAAC,CAAC;KAC5D;SAAM,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,EAAE;QACnE,OAAO,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,KAAK,GAAG,EAAE,CAAC,CAAC;KACjE;SAAM,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,EAAE;QACnE,OAAO,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,KAAK,GAAG,EAAE,CAAC,CAAC;KACjE;IAED,OAAO,KAAK,CAAC;AACf,CAAC;AAbD,gFAaC;AAED~~;;;GAGG;AACH~~,SAAgB,wCAAwC,CAAC,KAAa,EAAE,eAAuB,EAAE,eAAuB,EAAE,UAAkB;IAC1I,IAAI,GAAG,GAAG,KAAK,CAAC;IAChB,IAAI,eAAe,KAAK,UAAU,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,aAAa;QAC1G,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,GAAG,UAAU,CAAC,CAAC;KACxD;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,UAAU;QACrI,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,eAAe,GAAG,eAAe,GAAG,KAAK,CAAC,CAAC;KAC7D;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,eAAe,KAAK,UAAU,EAAE,EAAE,YAAY;QAChH,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,GAAG,UAAU,CAAC,CAAC;KACxD;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAVD,4FAUC;AAED;;;GAGG;AACH,SAAgB,wCAAwC,CAAC,KAAa,EAAE,eAAuB,EAAE,eAAuB;IACtH,IAAI,GAAG,GAAG,KAAK,CAAC;IAChB,IAAI,eAAe,KAAK,UAAU,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,aAAa;QAC1G,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,CAAC,CAAC;KAC3C;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,UAAU;QACrI,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,eAAe,GAAG,eAAe,GAAG,KAAK,CAAC,CAAC;KAC7D;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,eAAe,KAAK,UAAU,EAAE,EAAE,YAAY;QAChH,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,CAAC,CAAC;KAC3C;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAVD,4FAUC;AAED,SAAgB,4BAA4B,CAAC,KAAa,EAAE,iBAAyB,EAAE,iBAAyB,EAAE,eAAuB,EAAE,eAAuB;IAChK,KAAK,GAAG,kCAAkC,CAAC,KAAK,EAAE,iBAAiB,EAAE,iBAAiB,CAAC,CAAC;IACxF,KAAK,GAAG,wCAAwC,CAAC,KAAK,EAAE,eAAe,EAAE,eAAe,CAAC,CAAC;IAC1F,OAAO,KAAK,CAAC;AACf,CAAC;AAJD,oEAIC;AAED,SAAgB,iCAAiC,CAAC,UAAkB,EAAE,QAAgB;IACpF,OAAO,UAAU,GAAG,QAAQ,CAAC;AAC/B,CAAC;AAFD,8EAEC;AAED;;GAEG;AACU,QAAA,mBAAmB,GAAG,uBAAuB,CAAC;AAE3D;;GAEG;AACU,QAAA,cAAc,GAAG,sRAAsR,CAAC;AAErT,SAAgB,cAAc,CAAC,QAAgB;IAC7C,OAAO,0BAAkB,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC3C,CAAC;AAFD,wCAEC;AAEY,QAAA,8BAA8B,GAAG;IAC5C,kBAAkB;IAClB,iBAAiB;IACjB,uBAAuB;IACvB,UAAU;IACV,iBAAiB;CAClB,CAAC"}
1	+ {"version":3,"file":"device.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/device.ts"],"names":[],"mappings":";;;AAKa,QAAA,kBAAkB,GAAG,gCAAgC,CAAC;AA0DnE,SAAgB,4BAA4B,CAAC,YAA0B;IACrE,KAAK,MAAM,CAAC,CAAC,EAAE,KAAK,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,YAAY,CAAC,EAAE;QACrD,IAAI,KAAK,KAAK,SAAS,EAAE;YACvB,OAAO,KAAK,CAAC;SACd;KACF;IACD,OAAO,IAAI,CAAC;AACd,CAAC;AAPD,oEAOC;AAED,SAAgB,eAAe,CAAC,SAAoB;IAClD,MAAM,CAAC,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC5B,OAAO,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC;AAClC,CAAC;AAHD,0CAGC;AAED,SAAgB,gBAAgB,CAAC,SAAoB;IACnD,SAAS,GAAG,eAAe,CAAC,SAAS,CAAC,CAAC;IACvC,IAAI,OAAO,SAAS,KAAK,QAAQ,EAAE;QACjC,IAAI,SAAS,IAAI,MAAM,EAAE;YACvB,OAAO,EAAE,cAAc,EAAE,SAAS,EAAE,CAAC;SACtC;aAAM;YACL,OAAO,EAAE,aAAa,EAAE,SAAS,EAAE,CAAC;SACrC;KACF;SAAM;QACL,OAAO,EAAE,kBAAkB,EAAE,SAAS,EAAE,CAAC;KAC1C;AACH,CAAC;AAXD,4CAWC;AAED,SAAgB,WAAW,CAAC,SAAc;IACxC,OAAO,CAAC,OAAO,SAAS,KAAK,QAAQ,IAAI,SAAS,IAAI,CAAC,CAAC,IAAI,OAAO,SAAS,KAAK,QAAQ,CAAC;AAC5F,CAAC;AAFD,kCAEC;AAED,SAAgB,gBAAgB,CAAC,SAAqB;IACpD,OAAO,SAAS,KAAK,SAAS,IAAI,WAAW,CAAC,SAAS,CAAC,CAAC;AAC3D,CAAC;AAFD,4CAEC;AAED,SAAgB,mBAAmB,CAAC,GAAiB;IACnD,OAAO,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,GAAG,CAAC,aAAa,CAAC,CAAC;WAC5C,CAAC,OAAO,GAAG,CAAC,cAAc,KAAK,QAAQ,IAAI,GAAG,CAAC,cAAc,IAAI,CAAC,CAAC;WACnE,OAAO,GAAG,CAAC,kBAAkB,KAAK,QAAQ,CAAC;AAClD,CAAC;AAJD,kDAIC;AAED,SAAgB,cAAc,CAAC,IAAY;IACzC,MAAM,EAAE,GAAG,0CAA0C,CAAC;IACtD,MAAM,MAAM,GAAG,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC7B,IAAI,MAAM,EAAE;QACV,OAAO;YACL,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACtB,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACvB,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;SAC1B,CAAC;KACH;IACD,OAAO;AACT,CAAC;AAXD,wCAWC;AAED,SAAgB,qBAAqB,CAAC,OAAe;IACnD,OAAO,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC;SACvB,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC;SAC7B,MAAM,CAAC,CAAC,CAAC,EAAsB,EAAE,CAAC,CAAC,KAAK,SAAS,CAAC,CAAC;AACxD,CAAC;AAJD,sDAIC;AAED,SAAgB,iCAAiC,CAAC,UAAkB,EAAE,QAAgB;IACpF,OAAO,UAAU,GAAG,QAAQ,CAAC;AAC/B,CAAC;AAFD,8EAEC;AAED;;GAEG;AACU,QAAA,mBAAmB,GAAG,uBAAuB,CAAC;AAE3D;;GAEG;AACU,QAAA,cAAc,GAAG,sRAAsR,CAAC;AAErT,SAAgB,cAAc,CAAC,QAAgB;IAC7C,OAAO,0BAAkB,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;AAC3C,CAAC;AAFD,wCAEC;AAEY,QAAA,8BAA8B,GAAG;IAC5C,kBAAkB;IAClB,iBAAiB;IACjB,uBAAuB;IACvB,UAAU;IACV,iBAAiB;CAClB,CAAC"}

package/src/lib/integro-encoder-calibration.js CHANGED Viewed

@@ -3,7 +3,7 @@ Object.defineProperty(exports, "__esModule", { value: true });
 exports.IntegroEncoderCalibration = exports.parseIntegroEncoderFirmwareVersion = void 0;
 const tslib_1 = require("tslib");
 const rxjs_1 = require("rxjs");
-const device_1 = require("./device");
+const units_1 = require("./units");
 const cia402_1 = require("./cia402");
 const os_command_1 = require("./os-command");
 const util_1 = require("./util");
@@ -297,9 +297,9 @@ class IntegroEncoderCalibration {
                 config.deceleration = Math.abs(config.target) * accelerationConstant;
             }
             // Convert the velocity profile values using the user-configured SI unit velocity and Feed constant.
-            config.target = (0, device_1.convertVelocityAffectedValue)(config.target, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
-            config.acceleration = (0, device_1.convertVelocityAffectedValue)(config.acceleration, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
-            config.deceleration = (0, device_1.convertVelocityAffectedValue)(config.deceleration, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
+            config.target = (0, units_1.convertVelocityAffectedValue)(config.target, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
+            config.acceleration = (0, units_1.convertVelocityAffectedValue)(config.acceleration, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
+            config.deceleration = (0, units_1.convertVelocityAffectedValue)(config.deceleration, 0x00B44700, this.siUnitVelocity, 0xFFFFFFFF, this.feedConstantFeed);
             // Update the velocity target, and profile acceleration and deceleration values.
             this.notifications$.next(`Setting velocity target value (0x60FF:00) to ${config.target}, with the velocity profile acceleration (0x6083:00) set to ${config.acceleration} and deceleration (0x6084:00) set to ${config.deceleration}.`);
             yield (0, rxjs_1.lastValueFrom)(this.client.request.setParameterValues([
@@ -362,7 +362,7 @@ class IntegroEncoderCalibration {
             this.originalFeedConstantShaftRevolutions = yield this.client.request.upload(this.deviceRef, 0x6092, 2);
             this.originalFeedConstant = this.originalFeedConstantFeed / this.originalFeedConstantShaftRevolutions;
             this.originalSiUnitVelocity = yield this.client.request.upload(this.deviceRef, 0x60A9, 0);
-            let velocityWindow = (0, device_1.convertVelocityAffectedValue)(120, 0x00B44700, this.originalSiUnitVelocity, 0xFFFFFFFF, this.originalFeedConstantFeed);
+            let velocityWindow = (0, units_1.convertVelocityAffectedValue)(120, 0x00B44700, this.originalSiUnitVelocity, 0xFFFFFFFF, this.originalFeedConstantFeed);
             const velocityWindowTime = 500;
             const switchToRpm = velocityWindow > 65535;
             if (switchToRpm) {
@@ -372,10 +372,10 @@ class IntegroEncoderCalibration {
                 this.feedConstantFeed = 0xFFFFFFFF;
                 this.feedConstantShaftRevolutions = 1;
                 this.feedConstant = this.feedConstantFeed / this.feedConstantShaftRevolutions;
-                this.maxMotorSpeed = (0, device_1.convertVelocityAffectedValue)(this.originalMaxMotorSpeed, this.originalSiUnitVelocity, this.siUnitVelocity, this.originalFeedConstant, this.feedConstant);
+                this.maxMotorSpeed = (0, units_1.convertVelocityAffectedValue)(this.originalMaxMotorSpeed, this.originalSiUnitVelocity, this.siUnitVelocity, this.originalFeedConstant, this.feedConstant);
                 this.notifications$.next(`Setting the Max motor speed (0x6080:00) to ${this.maxMotorSpeed}.`);
                 yield this.client.request.download(this.deviceRef, 0x6080, 0, this.maxMotorSpeed);
-                this.quickStopDeceleration = (0, device_1.convertVelocityAffectedValue)(this.originalQuickStopDeceleration, this.originalSiUnitVelocity, this.siUnitVelocity, this.originalFeedConstant, this.feedConstant);
+                this.quickStopDeceleration = (0, units_1.convertVelocityAffectedValue)(this.originalQuickStopDeceleration, this.originalSiUnitVelocity, this.siUnitVelocity, this.originalFeedConstant, this.feedConstant);
                 this.notifications$.next(`Setting the Quick stop deceleration (0x6085:00) to ${this.quickStopDeceleration}.`);
                 yield this.client.request.download(this.deviceRef, 0x6085, 0, this.quickStopDeceleration);
             }

package/src/lib/integro-encoder-calibration.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"integro-encoder-calibration.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/integro-encoder-calibration.ts"],"names":[],"mappings":";;;;AAAA,+BAAwE;AAExE,qCAAwD;AAExD,qCAAyD;AACzD,6CAAiE;AACjE,iCAAsC;AACtC,uCAAsD;AACtD,2CAA8C;AAE9C,SAAS,GAAG,CAAC,KAAa;IACxB,OAAO,KAAK,KAAK,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC,WAAW,EAAE,EAAE,CAAC;AACjD,CAAC;AAED,SAAgB,kCAAkC,CAAC,KAAa;IAC9D,MAAM,GAAG,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,QAAQ,CAAC,EAAE,EAAE,GAAG,CAAC,CAAC;IAC5C,MAAM,KAAK,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9B,MAAM,KAAK,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9B,MAAM,SAAS,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC;IAC/B,MAAM,IAAI,GAAG,SAAS,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnC,MAAM,KAAK,GAAG,SAAS,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACpC,MAAM,GAAG,GAAG,SAAS,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAClC,OAAO,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,SAAS,EAAE,IAAI,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC;AAC9D,CAAC;AATD,gFASC;AAED,MAAa,yBAAyB;IAsCpC,YACU,MAA0B,EAClB,SAAoB;QAD5B,WAAM,GAAN,MAAM,CAAoB;QAClB,cAAS,GAAT,SAAS,CAAW;QAtCtB,mBAAc,GAAG,IAAI,cAAO,EAAU,CAAC;QAE/C,2BAAsB,GAAW,CAAC,CAAC,CAAC,YAAY;QAEhD,+BAA0B,GAAW,CAAC,CAAC,CAAC,YAAY;QAEpD,kBAAa,GAAW,CAAC,CAAC;QAC1B,0BAAqB,GAAW,CAAC,CAAC,CAAC,YAAY;QAE/C,0BAAqB,GAAW,CAAC,CAAC;QAClC,kCAA6B,GAAW,CAAC,CAAC,CAAC,YAAY;QAEvD,qBAAgB,GAAW,CAAC,CAAC;QAC7B,6BAAwB,GAAW,CAAC,CAAC,CAAC,YAAY;QAElD,iCAA4B,GAAW,CAAC,CAAC;QACzC,yCAAoC,GAAW,CAAC,CAAC,CAAC,YAAY;QAE9D,iBAAY,GAAW,CAAC,CAAC;QACzB,yBAAoB,GAAW,CAAC,CAAC,CAAC,2BAA2B;QAE7D,mBAAc,GAAW,CAAC,CAAC;QAC3B,2BAAsB,GAAW,CAAC,CAAC,CAAC,YAAY;QAEvC,uBAAkB,GAA0B;YAC3D,MAAM,EAAE,IAAI;YACZ,YAAY,EAAE,IAAI;YAClB,YAAY,EAAE,IAAI,EAAE,QAAQ;SAC7B,CAAC;QAEe,sBAAiB,GAA0B;YAC1D,MAAM,EAAE,CAAC,IAAI;YACb,YAAY,EAAE,IAAI;YAClB,YAAY,EAAE,IAAI,EAAE,QAAQ;SAC7B,CAAC;IAKE,CAAC;IAEC,KAAK,CAAC,KAAK,GAAG,KAAK;;YACvB,yJAAyJ;YACzJ,yDAAyD;YACzD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,0BAA0B,IAAI,CAAC,SAAS,oDAAoD,CAAC,CAAC;YACvH,MAAM,IAAI,CAAC,cAAc,EAAE,CAAC;YAE5B,MAAM,IAAI,CAAC,6BAA6B,EAAE,CAAC;YAE3C,wDAAwD;YACxD,IAAI,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACnK,MAAM,sBAAsB,GAAG,kCAAkC,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,CAAC;YACzG,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,yEAAyE,sBAAsB,CAAC,KAAK,WAAW,sBAAsB,CAAC,KAAK,UAAU,sBAAsB,CAAC,SAAS,WAAW,sBAAsB,CAAC,KAAK,GAAG,CAAC,CAAC;YAE3P,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,UAAU,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;aACtD;YAAC,WAAM,GAAG,CAAC,SAAS;YAErB,+DAA+D;YAC/D,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACpG,MAAM,yBAAyB,GAAG,+BAA+B,KAAK,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC;YAE1F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gEAAgE,GAAG,CAAC,yBAAyB,CAAC,WAAW,CAAC,CAAC;YACpI,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,yBAAyB,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC;YACrF,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAExE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,4EAA4E,CAAC,CAAC;YACvG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,sCAAsC,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACvH,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,6EAA6E;YAC7E,IAAI,eAAe,GAAG,MAAM,IAAI,CAAC,kBAAkB,CAAC,IAAI,CAAC,kBAAkB,EAAE,CAAC,CAAC,CAAC;YAEhF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,0GAA0G,CAAC,CAAA;YACpI,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,mBAAmB,CAAC,IAAI,CAAC,SAAS,EAAE,yBAAgB,CAAC,qBAAqB,CAAC,CAAC,CAAC;YACrH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,uBAAuB,CAAC,IAAI,CAAC,SAAS,EAAE,oBAAW,CAAC,iBAAiB,CAAC,CAAC;YAEjG,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,IAAI,CAAC,SAAS,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;gBAC/D,MAAM,IAAI,CAAC,oBAAoB,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,CAAC,wBAAwB;gBACpE,4DAA4D;gBAC5D,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+EAA+E,CAAC,CAAC;gBAC1G,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;gBACpE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;aACzB;YAAC,OAAO,IAAa,EAAE;gBACtB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mBAAmB,eAAe,CAAC,MAAM,wDAAwD,CAAC,CAAC;gBAC5H,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+FAA+F,CAAC,CAAC;YAE1H,0GAA0G;YAC1G,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACrC,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,CACpI,IAAA,aAAM,EAAC,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC,EACjC,IAAA,gBAAS,EAAC,iBAAiB,CAAC,EAAE;gBAC5B,IAAI,KAAK,EAAE;oBACT,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;iBACzH;gBACD,OAAO,CAAA,iBAAiB,aAAjB,iBAAiB,uBAAjB,iBAAiB,CAAE,mBAAmB,MAAK,IAAI,CAAC;YACzD,CAAC,EAAE,IAAI,CAAC,CACT,CAAC,CACH,CAAC;YAEF,IAAI,iBAAiB,CAAC,OAAO,KAAK,QAAQ,EAAE;gBAC1C,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,iBAAiB,CAAC,SAAS,KAAK,iBAAiB,CAAC,SAAS,MAAM,iBAAiB,CAAC,gBAAgB,EAAE,CAAC,CAAC;aAC/K;iBAAM,IAAI,iBAAiB,CAAC,OAAO,KAAK,WAAW,EAAE;gBACpD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,iBAAiB,CAAC,mBAAmB,KAAK,8CAAiC,CAAC,IAAI,CAAC,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,EAAE,CAAC,CAAC;aACxM;YAED,IAAI,iBAAiB,CAAC,mBAAmB,KAAK,IAAI,EAAE;gBAClD,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+EAA+E,CAAC,CAAC;gBAC1G,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,yBAAyB;YAEzB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,yDAAyD,CAAC,CAAC;YAEpF,oDAAoD;YAEpD,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,IAAI,CAAC,SAAS,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;gBAC/D,MAAM,IAAI,CAAC,oBAAoB,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,CAAC,wBAAwB;gBACpE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,CAAC,CAAC;gBACzE,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBACzE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;aACzB;YAAC,OAAO,IAAa,EAAE;gBACtB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mBAAmB,eAAe,CAAC,MAAM,wDAAwD,CAAC,CAAC;gBAC5H,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,0JAA0J;YAC1J,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACrC,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,CACpI,IAAA,aAAM,EAAC,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC,EACjC,IAAA,gBAAS,EAAC,iBAAiB,CAAC,EAAE;gBAC5B,IAAI,KAAK,EAAE;oBACT,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;iBACzH;gBACD,OAAO,CAAC,CAAA,iBAAiB,aAAjB,iBAAiB,uBAAjB,iBAAiB,CAAE,mBAAmB,IAAG,WAAW,CAAC,KAAK,IAAI,CAAC;YACzE,CAAC,EAAE,IAAI,CAAC,CACT,CAAC,CACH,CAAC;YAEF,IAAI,iBAAiB,CAAC,OAAO,KAAK,QAAQ,EAAE;gBAC1C,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,iBAAiB,CAAC,SAAS,KAAK,iBAAiB,CAAC,SAAS,MAAM,iBAAiB,CAAC,gBAAgB,EAAE,CAAC,CAAC;aAC/K;iBAAM,IAAI,iBAAiB,CAAC,OAAO,KAAK,WAAW,EAAE;gBACpD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,EAAE,CAAC,CAAC;aAC1H;YAED,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;YACjE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mCAAmC,CAAC,CAAC;YAE9D,kCAAkC;YAElC,IAAI;gBACF,MAAM,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,MAAM,IAAI,CAAC,yCAAyC,EAAE,CAAC;gBAC1E,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,EAAE;oBACtE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,qFAAqF,CAAC,CAAC;oBAChH,IAAI,CAAC,6BAA6B,EAAE,CAAC;oBACrC,OAAO;iBACR;aACF;YAAC,OAAO,GAAG,EAAE;gBACZ,IAAI,GAAG,YAAY,KAAK,EAAE;oBACxB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+CAA+C,GAAG,CAAC,OAAO,EAAE,CAAC,CAAC;iBACxF;aACF;YAED,MAAM,YAAY,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAE7F,IAAI,CAAC,YAAY,IAAI,QAAQ,CAAC,sBAAsB,CAAC,SAAS,CAAC,IAAI,MAAM,EAAE;gBACzE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,wHAAwH,CAAC,CAAC;aACpJ;YAED,eAAe,GAAG,MAAM,IAAI,CAAC,kBAAkB,CAAC,IAAI,CAAC,iBAAiB,EAAE,CAAC,CAAC,CAAC;YAE3E,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,IAAI,CAAC,SAAS,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;gBAC/D,MAAM,IAAI,CAAC,oBAAoB,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,CAAC,wBAAwB;gBACpE,4DAA4D;gBAC5D,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,CAAC,CAAC;gBACzE,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBACzE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;aACzB;YAAC,OAAO,IAAa,EAAE;gBACtB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mBAAmB,eAAe,CAAC,MAAM,wDAAwD,CAAC,CAAC;gBAC5H,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,0JAA0J;YAC1J,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACrC,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,CACpI,IAAA,aAAM,EAAC,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC,EACjC,IAAA,gBAAS,EAAC,iBAAiB,CAAC,EAAE;gBAC5B,IAAI,KAAK,EAAE;oBACT,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;iBACzH;gBACD,OAAO,CAAC,CAAA,iBAAiB,aAAjB,iBAAiB,uBAAjB,iBAAiB,CAAE,mBAAmB,IAAG,WAAW,CAAC,KAAK,IAAI,CAAC;YACzE,CAAC,EAAE,IAAI,CAAC,CACT,CAAC,CACH,CAAC;YAEF,IAAI,iBAAiB,CAAC,OAAO,KAAK,QAAQ,EAAE;gBAC1C,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,iBAAiB,CAAC,SAAS,KAAK,iBAAiB,CAAC,SAAS,MAAM,iBAAiB,CAAC,gBAAgB,EAAE,CAAC,CAAC;aAC/K;iBAAM,IAAI,iBAAiB,CAAC,OAAO,KAAK,WAAW,EAAE;gBACpD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,EAAE,CAAC,CAAC;aAC1H;YAED,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;YACjE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI;gBACF,MAAM,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,MAAM,IAAI,CAAC,yCAAyC,EAAE,CAAC;gBAC1E,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,EAAE;oBACtE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,qFAAqF,CAAC,CAAC;oBAChH,IAAI,CAAC,6BAA6B,EAAE,CAAC;oBACrC,OAAO;iBACR;gBACD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,6EAA6E,CAAC,CAAC;gBACxG,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;aAC1E;YAAC,OAAO,GAAG,EAAE;gBACZ,IAAI,GAAG,YAAY,KAAK,EAAE;oBACxB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+CAA+C,GAAG,CAAC,OAAO,EAAE,CAAC,CAAC;iBACxF;aACF;YAED,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,oCAAoC,CAAC,CAAC;YAC/D,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;YACtD,IAAI,CAAC,6BAA6B,EAAE,CAAC;QACvC,CAAC;KAAA;IAED;;OAEG;IACG,cAAc;;;YAClB,MAAM,MAAM,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,aAAa,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;YAEtF,yBAAyB;YACzB,IAAI,CAAC,MAAM,EAAE;gBACX,MAAM,IAAI,KAAK,CAAC,oEAAoE,CAAC,CAAC;aACvF;YAED,8BAA8B;YAC9B,MAAM,SAAS,GAAG,MAAA,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,0CAAE,EAAE,CAAC;YACzD,IAAI,CAAC,IAAA,mCAAyB,EAAC,SAAS,EAAE,SAAS,CAAC,EAAE;gBACpD,MAAM,IAAI,KAAK,CAAC,4DAA4D,CAAC,CAAC;aAC/E;YAGD,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE;gBACnB,MAAM,IAAI,KAAK,CAAC,2EAA2E,CAAC,CAAC;aAC9F;YAED,gGAAgG;YAChG,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACpG,IAAI,aAAa,GAAG,CAAC,CAAC;YACtB,IAAI,+BAA+B,KAAK,CAAC,EAAE;gBACzC,MAAM,yBAAyB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBAC9F,IAAI,yBAAyB,KAAK,CAAC,EAAE;oBACnC,MAAM,IAAI,KAAK,CAAC,6FAA6F,CAAC,CAAC;iBAChH;aACF;iBAAM;gBACL,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBACpG,IAAI,+BAA+B,KAAK,CAAC,EAAE;oBACzC,MAAM,yBAAyB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;oBAC9F,IAAI,yBAAyB,KAAK,CAAC,EAAE;wBACnC,MAAM,IAAI,KAAK,CAAC,6FAA6F,CAAC,CAAC;qBAChH;oBACD,aAAa,GAAG,CAAC,CAAC;iBACnB;qBAAM;oBACL,MAAM,IAAI,KAAK,CAAC,iDAAiD,CAAC,CAAC;iBACpE;aACF;YAED,yDAAyD;YACzD,MAAM,6BAA6B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,EAAE,CAAC,CAAC;YACnG,IAAI,6BAA6B,KAAK,aAAa,EAAE;gBACnD,MAAM,IAAI,KAAK,CAAC,sEAAsE,CAAC,CAAC;aACzF;YAED,sDAAsD;YACtD,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACpG,IAAI,+BAA+B,KAAK,aAAa,EAAE;gBACrD,MAAM,IAAI,KAAK,CAAC,mEAAmE,CAAC,CAAC;aACtF;YAED,sCAAsC;YACtC,MAAM,sBAAsB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC3F,IAAI,sBAAsB,KAAK,CAAC,EAAE;gBAChC,MAAM,IAAI,KAAK,CAAC,6FAA6F,CAAC,CAAC;aAChH;YAED,yCAAyC;YACzC,MAAM,oBAAoB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACzF,IAAI,oBAAoB,IAAI,CAAC,EAAE;gBAC7B,MAAM,IAAI,KAAK,CAAC,oFAAoF,CAAC,CAAC;aACvG;;KACF;IAED;;OAEG;IACG,kBAAkB,CAAC,qBAA4C,EAAE,oBAAoB,GAAG,CAAC;;YAC7F,MAAM,MAAM,qBAA+B,qBAAqB,CAAE,CAAC,CAAC,cAAc;YAElF,uEAAuE;YACvE,8IAA8I;YAC9I,IAAI,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,GAAG,IAAI,CAAC,aAAa,EAAE;gBAChD,MAAM,GAAG,GAAG,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBACvC,MAAM,CAAC,MAAM,GAAG,GAAG,GAAG,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC;gBAChD,MAAM,CAAC,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,GAAG,oBAAoB,CAAC;gBACrE,MAAM,CAAC,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,GAAG,oBAAoB,CAAC;aACtE;YAED,oGAAoG;YACpG,MAAM,CAAC,MAAM,GAAG,IAAA,qCAA4B,EAAC,MAAM,CAAC,MAAM,EAAE,UAAU,EAAE,IAAI,CAAC,cAAc,EAAE,UAAU,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;YAChI,MAAM,CAAC,YAAY,GAAG,IAAA,qCAA4B,EAAC,MAAM,CAAC,YAAY,EAAE,UAAU,EAAE,IAAI,CAAC,cAAc,EAAE,UAAU,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;YAC5I,MAAM,CAAC,YAAY,GAAG,IAAA,qCAA4B,EAAC,MAAM,CAAC,YAAY,EAAE,UAAU,EAAE,IAAI,CAAC,cAAc,EAAE,UAAU,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;YAE5I,gFAAgF;YAChF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,MAAM,CAAC,MAAM,+DAA+D,MAAM,CAAC,YAAY,wCAAwC,MAAM,CAAC,YAAY,GAAG,CAAC,CAAC;YACxO,MAAM,IAAA,oBAAa,EACjB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,kBAAkB,CAAC;gBACrC,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC,YAAY,CAAC;gBAChD,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC,YAAY,CAAC;gBAChD,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC;gBAC9B,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC,MAAM,CAAC,EAAE,0BAA0B;aACvE,CAAC,CACH,CAAC;YAEF,OAAO,MAAM,CAAC;QAChB,CAAC;KAAA;IAED;;OAEG;IACG,4CAA4C,CAAC,OAAe,EAAE,KAAa,EAAE,SAAiB,CAAC;;YACnG,IAAI,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACzC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAClI,CAAC;YAEF,IAAI,iBAAiB,CAAC,mBAAmB,KAAK,KAAK,EAAE;gBACnD,MAAM,IAAI,KAAK,CAAC,sCAAsC,GAAG,CAAC,OAAO,CAAC,aAAa,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;aAC/F;QACH,CAAC;KAAA;IAEK,oBAAoB,CAAC,KAAa,EAAE,QAAgB;;YACxD,MAAM,EAAE,GAAG,IAAA,2BAAe,EAAC,KAAK,EAAE,QAAQ,CAAC,CAAC;YAC5C,MAAM,KAAK,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,KAAK,EAAE,QAAQ,CAAC,CAAC;YAChF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,YAAY,EAAE,OAAO,KAAK,GAAG,CAAC,CAAC;QAC1D,CAAC;KAAA;IAEK,yCAAyC;;YAC7C,MAAM,WAAW,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACrK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,WAAW,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAElH,MAAM,WAAW,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACrK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,WAAW,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAElH,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,yEAAyE,CAAC,CAAC;YACpG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YAEpJ,OAAO,CAAC,WAAW,CAAC,mBAAmB,EAAE,WAAW,CAAC,mBAAmB,CAAC,CAAC;QAC5E,CAAC;KAAA;IAEK,mBAAmB;;YACvB,MAAM,aAAa,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACvK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mDAAmD,GAAG,CAAC,aAAa,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAEvH,MAAM,WAAW,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACrK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,iDAAiD,GAAG,CAAC,WAAW,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAEnH,MAAM,YAAY,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACtK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,YAAY,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAErH,MAAM,UAAU,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACpK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,UAAU,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;QACnH,CAAC;KAAA;IAEK,6BAA6B;;YACjC,IAAI,CAAC,sBAAsB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC1F,IAAI,CAAC,0BAA0B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC9F,IAAI,CAAC,qBAAqB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACzF,IAAI,CAAC,6BAA6B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACjG,IAAI,CAAC,wBAAwB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC5F,IAAI,CAAC,oCAAoC,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACxG,IAAI,CAAC,oBAAoB,GAAG,IAAI,CAAC,wBAAwB,GAAG,IAAI,CAAC,oCAAoC,CAAC;YACtG,IAAI,CAAC,sBAAsB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAE1F,IAAI,cAAc,GAAG,IAAA,qCAA4B,EAAC,GAAG,EAAE,UAAU,EAAE,IAAI,CAAC,sBAAsB,EAAE,UAAU,EAAE,IAAI,CAAC,wBAAwB,CAAC,CAAC;YAC3I,MAAM,kBAAkB,GAAG,GAAG,CAAC;YAC/B,MAAM,WAAW,GAAG,cAAc,GAAG,KAAK,CAAC;YAE3C,IAAI,WAAW,EAAE;gBACf,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,sJAAsJ,CAAC,CAAC;gBAEjL,cAAc,GAAG,GAAG,CAAC;gBAErB,IAAI,CAAC,cAAc,GAAG,UAAU,CAAC;gBACjC,IAAI,CAAC,gBAAgB,GAAG,UAAU,CAAC;gBACnC,IAAI,CAAC,4BAA4B,GAAG,CAAC,CAAC;gBACtC,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,4BAA4B,CAAC;gBAE9E,IAAI,CAAC,aAAa,GAAG,IAAA,qCAA4B,EAAC,IAAI,CAAC,qBAAqB,EAAE,IAAI,CAAC,sBAAsB,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,oBAAoB,EAAE,IAAI,CAAC,YAAY,CAAC,CAAC;gBAC9K,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,IAAI,CAAC,aAAa,GAAG,CAAC,CAAC;gBAC9F,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,aAAa,CAAC,CAAC;gBAElF,IAAI,CAAC,qBAAqB,GAAG,IAAA,qCAA4B,EAAC,IAAI,CAAC,6BAA6B,EAAE,IAAI,CAAC,sBAAsB,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,oBAAoB,EAAE,IAAI,CAAC,YAAY,CAAC,CAAC;gBAC9L,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,sDAAsD,IAAI,CAAC,qBAAqB,GAAG,CAAC,CAAC;gBAC9G,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,qBAAqB,CAAC,CAAC;aAC3F;iBAAM,EAAE,mCAAmC;gBAC1C,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC,sBAAsB,CAAC;gBAClD,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,wBAAwB,CAAC;gBACtD,IAAI,CAAC,4BAA4B,GAAG,IAAI,CAAC,oCAAoC,CAAC;gBAC9E,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,oBAAoB,CAAC;gBAC9C,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,qBAAqB,CAAC;gBAChD,IAAI,CAAC,qBAAqB,GAAG,IAAI,CAAC,6BAA6B,CAAC;aACjE;YAED,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,cAAc,GAAG,CAAC,CAAC;YAC1F,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,cAAc,CAAC,CAAC;YAE9E,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mDAAmD,kBAAkB,GAAG,CAAC,CAAC;YACnG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,kBAAkB,CAAC,CAAC;YAElF,IAAI,WAAW,EAAE;gBACf,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+CAA+C,GAAG,CAAC,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC;gBACrG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,cAAc,CAAC,CAAC;gBAEnF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,iDAAiD,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;gBACpG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;gBAErF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8DAA8D,IAAI,CAAC,4BAA4B,GAAG,CAAC,CAAC;gBAC7H,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,4BAA4B,CAAC,CAAC;gBAEjG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;aACzE;QACH,CAAC;KAAA;IAEK,6BAA6B;;YACjC,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,IAAI,CAAC,sBAAsB,CAAC,GAAG,CAAC,CAAC;YAChH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,sBAAsB,CAAC,CAAC;YAE3F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mDAAmD,IAAI,CAAC,wBAAwB,GAAG,CAAC,CAAC;YAC9G,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,wBAAwB,CAAC,CAAC;YAE7F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gEAAgE,IAAI,CAAC,oCAAoC,GAAG,CAAC,CAAC;YACvI,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,oCAAoC,CAAC,CAAC;YAEzG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAExE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,IAAI,CAAC,qBAAqB,GAAG,CAAC,CAAC;YACxG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,qBAAqB,CAAC,CAAC;YAE1F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,wDAAwD,IAAI,CAAC,6BAA6B,GAAG,CAAC,CAAC;YACxH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,6BAA6B,CAAC,CAAC;YAElG,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,IAAI,CAAC,sBAAsB,GAAG,CAAC,CAAC;YACzG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,sBAAsB,CAAC,CAAC;YAE3F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,qDAAqD,IAAI,CAAC,0BAA0B,GAAG,CAAC,CAAC;YAClH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,0BAA0B,CAAC,CAAC;QACjG,CAAC;KAAA;CAEF;AAleD,8DAkeC"}
1	+ {"version":3,"file":"integro-encoder-calibration.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/integro-encoder-calibration.ts"],"names":[],"mappings":";;;;AAAA,+BAAwE;AAExE,mCAAuD;AAEvD,qCAAyD;AACzD,6CAAiE;AACjE,iCAAsC;AACtC,uCAAsD;AACtD,2CAA8C;AAE9C,SAAS,GAAG,CAAC,KAAa;IACxB,OAAO,KAAK,KAAK,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC,WAAW,EAAE,EAAE,CAAC;AACjD,CAAC;AAED,SAAgB,kCAAkC,CAAC,KAAa;IAC9D,MAAM,GAAG,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,QAAQ,CAAC,EAAE,EAAE,GAAG,CAAC,CAAC;IAC5C,MAAM,KAAK,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9B,MAAM,KAAK,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9B,MAAM,SAAS,GAAG,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC;IAC/B,MAAM,IAAI,GAAG,SAAS,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnC,MAAM,KAAK,GAAG,SAAS,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACpC,MAAM,GAAG,GAAG,SAAS,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAClC,OAAO,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,SAAS,EAAE,IAAI,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC;AAC9D,CAAC;AATD,gFASC;AAED,MAAa,yBAAyB;IAsCpC,YACU,MAA0B,EAClB,SAAoB;QAD5B,WAAM,GAAN,MAAM,CAAoB;QAClB,cAAS,GAAT,SAAS,CAAW;QAtCtB,mBAAc,GAAG,IAAI,cAAO,EAAU,CAAC;QAE/C,2BAAsB,GAAW,CAAC,CAAC,CAAC,YAAY;QAEhD,+BAA0B,GAAW,CAAC,CAAC,CAAC,YAAY;QAEpD,kBAAa,GAAW,CAAC,CAAC;QAC1B,0BAAqB,GAAW,CAAC,CAAC,CAAC,YAAY;QAE/C,0BAAqB,GAAW,CAAC,CAAC;QAClC,kCAA6B,GAAW,CAAC,CAAC,CAAC,YAAY;QAEvD,qBAAgB,GAAW,CAAC,CAAC;QAC7B,6BAAwB,GAAW,CAAC,CAAC,CAAC,YAAY;QAElD,iCAA4B,GAAW,CAAC,CAAC;QACzC,yCAAoC,GAAW,CAAC,CAAC,CAAC,YAAY;QAE9D,iBAAY,GAAW,CAAC,CAAC;QACzB,yBAAoB,GAAW,CAAC,CAAC,CAAC,2BAA2B;QAE7D,mBAAc,GAAW,CAAC,CAAC;QAC3B,2BAAsB,GAAW,CAAC,CAAC,CAAC,YAAY;QAEvC,uBAAkB,GAA0B;YAC3D,MAAM,EAAE,IAAI;YACZ,YAAY,EAAE,IAAI;YAClB,YAAY,EAAE,IAAI,EAAE,QAAQ;SAC7B,CAAC;QAEe,sBAAiB,GAA0B;YAC1D,MAAM,EAAE,CAAC,IAAI;YACb,YAAY,EAAE,IAAI;YAClB,YAAY,EAAE,IAAI,EAAE,QAAQ;SAC7B,CAAC;IAKE,CAAC;IAEC,KAAK,CAAC,KAAK,GAAG,KAAK;;YACvB,yJAAyJ;YACzJ,yDAAyD;YACzD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,0BAA0B,IAAI,CAAC,SAAS,oDAAoD,CAAC,CAAC;YACvH,MAAM,IAAI,CAAC,cAAc,EAAE,CAAC;YAE5B,MAAM,IAAI,CAAC,6BAA6B,EAAE,CAAC;YAE3C,wDAAwD;YACxD,IAAI,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACnK,MAAM,sBAAsB,GAAG,kCAAkC,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,CAAC;YACzG,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,yEAAyE,sBAAsB,CAAC,KAAK,WAAW,sBAAsB,CAAC,KAAK,UAAU,sBAAsB,CAAC,SAAS,WAAW,sBAAsB,CAAC,KAAK,GAAG,CAAC,CAAC;YAE3P,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,UAAU,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;aACtD;YAAC,WAAM,GAAG,CAAC,SAAS;YAErB,+DAA+D;YAC/D,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACpG,MAAM,yBAAyB,GAAG,+BAA+B,KAAK,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC;YAE1F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gEAAgE,GAAG,CAAC,yBAAyB,CAAC,WAAW,CAAC,CAAC;YACpI,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,yBAAyB,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC;YACrF,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAExE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,4EAA4E,CAAC,CAAC;YACvG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,sCAAsC,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACvH,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,6EAA6E;YAC7E,IAAI,eAAe,GAAG,MAAM,IAAI,CAAC,kBAAkB,CAAC,IAAI,CAAC,kBAAkB,EAAE,CAAC,CAAC,CAAC;YAEhF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,0GAA0G,CAAC,CAAA;YACpI,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,mBAAmB,CAAC,IAAI,CAAC,SAAS,EAAE,yBAAgB,CAAC,qBAAqB,CAAC,CAAC,CAAC;YACrH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,uBAAuB,CAAC,IAAI,CAAC,SAAS,EAAE,oBAAW,CAAC,iBAAiB,CAAC,CAAC;YAEjG,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,IAAI,CAAC,SAAS,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;gBAC/D,MAAM,IAAI,CAAC,oBAAoB,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,CAAC,wBAAwB;gBACpE,4DAA4D;gBAC5D,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+EAA+E,CAAC,CAAC;gBAC1G,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;gBACpE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;aACzB;YAAC,OAAO,IAAa,EAAE;gBACtB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mBAAmB,eAAe,CAAC,MAAM,wDAAwD,CAAC,CAAC;gBAC5H,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+FAA+F,CAAC,CAAC;YAE1H,0GAA0G;YAC1G,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACrC,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,CACpI,IAAA,aAAM,EAAC,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC,EACjC,IAAA,gBAAS,EAAC,iBAAiB,CAAC,EAAE;gBAC5B,IAAI,KAAK,EAAE;oBACT,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;iBACzH;gBACD,OAAO,CAAA,iBAAiB,aAAjB,iBAAiB,uBAAjB,iBAAiB,CAAE,mBAAmB,MAAK,IAAI,CAAC;YACzD,CAAC,EAAE,IAAI,CAAC,CACT,CAAC,CACH,CAAC;YAEF,IAAI,iBAAiB,CAAC,OAAO,KAAK,QAAQ,EAAE;gBAC1C,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,iBAAiB,CAAC,SAAS,KAAK,iBAAiB,CAAC,SAAS,MAAM,iBAAiB,CAAC,gBAAgB,EAAE,CAAC,CAAC;aAC/K;iBAAM,IAAI,iBAAiB,CAAC,OAAO,KAAK,WAAW,EAAE;gBACpD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,iBAAiB,CAAC,mBAAmB,KAAK,8CAAiC,CAAC,IAAI,CAAC,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,EAAE,CAAC,CAAC;aACxM;YAED,IAAI,iBAAiB,CAAC,mBAAmB,KAAK,IAAI,EAAE;gBAClD,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+EAA+E,CAAC,CAAC;gBAC1G,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,yBAAyB;YAEzB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,yDAAyD,CAAC,CAAC;YAEpF,oDAAoD;YAEpD,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,IAAI,CAAC,SAAS,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;gBAC/D,MAAM,IAAI,CAAC,oBAAoB,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,CAAC,wBAAwB;gBACpE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,CAAC,CAAC;gBACzE,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBACzE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;aACzB;YAAC,OAAO,IAAa,EAAE;gBACtB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mBAAmB,eAAe,CAAC,MAAM,wDAAwD,CAAC,CAAC;gBAC5H,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,0JAA0J;YAC1J,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACrC,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,CACpI,IAAA,aAAM,EAAC,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC,EACjC,IAAA,gBAAS,EAAC,iBAAiB,CAAC,EAAE;gBAC5B,IAAI,KAAK,EAAE;oBACT,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;iBACzH;gBACD,OAAO,CAAC,CAAA,iBAAiB,aAAjB,iBAAiB,uBAAjB,iBAAiB,CAAE,mBAAmB,IAAG,WAAW,CAAC,KAAK,IAAI,CAAC;YACzE,CAAC,EAAE,IAAI,CAAC,CACT,CAAC,CACH,CAAC;YAEF,IAAI,iBAAiB,CAAC,OAAO,KAAK,QAAQ,EAAE;gBAC1C,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,iBAAiB,CAAC,SAAS,KAAK,iBAAiB,CAAC,SAAS,MAAM,iBAAiB,CAAC,gBAAgB,EAAE,CAAC,CAAC;aAC/K;iBAAM,IAAI,iBAAiB,CAAC,OAAO,KAAK,WAAW,EAAE;gBACpD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,EAAE,CAAC,CAAC;aAC1H;YAED,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;YACjE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mCAAmC,CAAC,CAAC;YAE9D,kCAAkC;YAElC,IAAI;gBACF,MAAM,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,MAAM,IAAI,CAAC,yCAAyC,EAAE,CAAC;gBAC1E,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,EAAE;oBACtE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,qFAAqF,CAAC,CAAC;oBAChH,IAAI,CAAC,6BAA6B,EAAE,CAAC;oBACrC,OAAO;iBACR;aACF;YAAC,OAAO,GAAG,EAAE;gBACZ,IAAI,GAAG,YAAY,KAAK,EAAE;oBACxB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+CAA+C,GAAG,CAAC,OAAO,EAAE,CAAC,CAAC;iBACxF;aACF;YAED,MAAM,YAAY,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAE7F,IAAI,CAAC,YAAY,IAAI,QAAQ,CAAC,sBAAsB,CAAC,SAAS,CAAC,IAAI,MAAM,EAAE;gBACzE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,wHAAwH,CAAC,CAAC;aACpJ;YAED,eAAe,GAAG,MAAM,IAAI,CAAC,kBAAkB,CAAC,IAAI,CAAC,iBAAiB,EAAE,CAAC,CAAC,CAAC;YAE3E,IAAI;gBACF,MAAM,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,IAAI,CAAC,SAAS,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;gBAC/D,MAAM,IAAI,CAAC,oBAAoB,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,CAAC,wBAAwB;gBACpE,4DAA4D;gBAC5D,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,CAAC,CAAC;gBACzE,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBACzE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;aACzB;YAAC,OAAO,IAAa,EAAE;gBACtB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;gBACtD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mBAAmB,eAAe,CAAC,MAAM,wDAAwD,CAAC,CAAC;gBAC5H,IAAI,CAAC,6BAA6B,EAAE,CAAC;gBACrC,OAAO;aACR;YAED,0JAA0J;YAC1J,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACrC,IAAA,YAAK,EAAC,GAAG,EAAE,CAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,CACpI,IAAA,aAAM,EAAC,EAAE,KAAK,EAAE,EAAE,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC,EACjC,IAAA,gBAAS,EAAC,iBAAiB,CAAC,EAAE;gBAC5B,IAAI,KAAK,EAAE;oBACT,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;iBACzH;gBACD,OAAO,CAAC,CAAA,iBAAiB,aAAjB,iBAAiB,uBAAjB,iBAAiB,CAAE,mBAAmB,IAAG,WAAW,CAAC,KAAK,IAAI,CAAC;YACzE,CAAC,EAAE,IAAI,CAAC,CACT,CAAC,CACH,CAAC;YAEF,IAAI,iBAAiB,CAAC,OAAO,KAAK,QAAQ,EAAE;gBAC1C,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,iBAAiB,CAAC,SAAS,KAAK,iBAAiB,CAAC,SAAS,MAAM,iBAAiB,CAAC,gBAAgB,EAAE,CAAC,CAAC;aAC/K;iBAAM,IAAI,iBAAiB,CAAC,OAAO,KAAK,WAAW,EAAE;gBACpD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,iBAAiB,CAAC,mBAAmB,CAAC,EAAE,CAAC,CAAC;aAC1H;YAED,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;YACjE,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI;gBACF,MAAM,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,MAAM,IAAI,CAAC,yCAAyC,EAAE,CAAC;gBAC1E,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,IAAI,CAAC,EAAE;oBACtE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,qFAAqF,CAAC,CAAC;oBAChH,IAAI,CAAC,6BAA6B,EAAE,CAAC;oBACrC,OAAO;iBACR;gBACD,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,6EAA6E,CAAC,CAAC;gBACxG,MAAM,IAAI,CAAC,4CAA4C,CAAC,IAAI,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;aAC1E;YAAC,OAAO,GAAG,EAAE;gBACZ,IAAI,GAAG,YAAY,KAAK,EAAE;oBACxB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+CAA+C,GAAG,CAAC,OAAO,EAAE,CAAC,CAAC;iBACxF;aACF;YAED,MAAM,IAAA,mBAAY,EAAC,GAAG,CAAC,CAAC;YAExB,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,oCAAoC,CAAC,CAAC;YAC/D,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,KAAK,EAAE,CAAC;YACtD,IAAI,CAAC,6BAA6B,EAAE,CAAC;QACvC,CAAC;KAAA;IAED;;OAEG;IACG,cAAc;;;YAClB,MAAM,MAAM,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,aAAa,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;YAEtF,yBAAyB;YACzB,IAAI,CAAC,MAAM,EAAE;gBACX,MAAM,IAAI,KAAK,CAAC,oEAAoE,CAAC,CAAC;aACvF;YAED,8BAA8B;YAC9B,MAAM,SAAS,GAAG,MAAA,MAAA,MAAM,CAAC,mBAAmB,0CAAE,MAAM,0CAAE,EAAE,CAAC;YACzD,IAAI,CAAC,IAAA,mCAAyB,EAAC,SAAS,EAAE,SAAS,CAAC,EAAE;gBACpD,MAAM,IAAI,KAAK,CAAC,4DAA4D,CAAC,CAAC;aAC/E;YAGD,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE;gBACnB,MAAM,IAAI,KAAK,CAAC,2EAA2E,CAAC,CAAC;aAC9F;YAED,gGAAgG;YAChG,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACpG,IAAI,aAAa,GAAG,CAAC,CAAC;YACtB,IAAI,+BAA+B,KAAK,CAAC,EAAE;gBACzC,MAAM,yBAAyB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBAC9F,IAAI,yBAAyB,KAAK,CAAC,EAAE;oBACnC,MAAM,IAAI,KAAK,CAAC,6FAA6F,CAAC,CAAC;iBAChH;aACF;iBAAM;gBACL,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;gBACpG,IAAI,+BAA+B,KAAK,CAAC,EAAE;oBACzC,MAAM,yBAAyB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;oBAC9F,IAAI,yBAAyB,KAAK,CAAC,EAAE;wBACnC,MAAM,IAAI,KAAK,CAAC,6FAA6F,CAAC,CAAC;qBAChH;oBACD,aAAa,GAAG,CAAC,CAAC;iBACnB;qBAAM;oBACL,MAAM,IAAI,KAAK,CAAC,iDAAiD,CAAC,CAAC;iBACpE;aACF;YAED,yDAAyD;YACzD,MAAM,6BAA6B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,EAAE,CAAC,CAAC;YACnG,IAAI,6BAA6B,KAAK,aAAa,EAAE;gBACnD,MAAM,IAAI,KAAK,CAAC,sEAAsE,CAAC,CAAC;aACzF;YAED,sDAAsD;YACtD,MAAM,+BAA+B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACpG,IAAI,+BAA+B,KAAK,aAAa,EAAE;gBACrD,MAAM,IAAI,KAAK,CAAC,mEAAmE,CAAC,CAAC;aACtF;YAED,sCAAsC;YACtC,MAAM,sBAAsB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC3F,IAAI,sBAAsB,KAAK,CAAC,EAAE;gBAChC,MAAM,IAAI,KAAK,CAAC,6FAA6F,CAAC,CAAC;aAChH;YAED,yCAAyC;YACzC,MAAM,oBAAoB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACzF,IAAI,oBAAoB,IAAI,CAAC,EAAE;gBAC7B,MAAM,IAAI,KAAK,CAAC,oFAAoF,CAAC,CAAC;aACvG;;KACF;IAED;;OAEG;IACG,kBAAkB,CAAC,qBAA4C,EAAE,oBAAoB,GAAG,CAAC;;YAC7F,MAAM,MAAM,qBAA+B,qBAAqB,CAAE,CAAC,CAAC,cAAc;YAElF,uEAAuE;YACvE,8IAA8I;YAC9I,IAAI,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,GAAG,IAAI,CAAC,aAAa,EAAE;gBAChD,MAAM,GAAG,GAAG,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBACvC,MAAM,CAAC,MAAM,GAAG,GAAG,GAAG,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC;gBAChD,MAAM,CAAC,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,GAAG,oBAAoB,CAAC;gBACrE,MAAM,CAAC,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,MAAM,CAAC,MAAM,CAAC,GAAG,oBAAoB,CAAC;aACtE;YAED,oGAAoG;YACpG,MAAM,CAAC,MAAM,GAAG,IAAA,oCAA4B,EAAC,MAAM,CAAC,MAAM,EAAE,UAAU,EAAE,IAAI,CAAC,cAAc,EAAE,UAAU,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;YAChI,MAAM,CAAC,YAAY,GAAG,IAAA,oCAA4B,EAAC,MAAM,CAAC,YAAY,EAAE,UAAU,EAAE,IAAI,CAAC,cAAc,EAAE,UAAU,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;YAC5I,MAAM,CAAC,YAAY,GAAG,IAAA,oCAA4B,EAAC,MAAM,CAAC,YAAY,EAAE,UAAU,EAAE,IAAI,CAAC,cAAc,EAAE,UAAU,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;YAE5I,gFAAgF;YAChF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,MAAM,CAAC,MAAM,+DAA+D,MAAM,CAAC,YAAY,wCAAwC,MAAM,CAAC,YAAY,GAAG,CAAC,CAAC;YACxO,MAAM,IAAA,oBAAa,EACjB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,kBAAkB,CAAC;gBACrC,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC,YAAY,CAAC;gBAChD,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC,YAAY,CAAC;gBAChD,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC;gBAC9B,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC,MAAM,CAAC,EAAE,0BAA0B;aACvE,CAAC,CACH,CAAC;YAEF,OAAO,MAAM,CAAC;QAChB,CAAC;KAAA;IAED;;OAEG;IACG,4CAA4C,CAAC,OAAe,EAAE,KAAa,EAAE,SAAiB,CAAC;;YACnG,IAAI,iBAAiB,GAAG,MAAM,IAAA,oBAAa,EACzC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAClI,CAAC;YAEF,IAAI,iBAAiB,CAAC,mBAAmB,KAAK,KAAK,EAAE;gBACnD,MAAM,IAAI,KAAK,CAAC,sCAAsC,GAAG,CAAC,OAAO,CAAC,aAAa,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;aAC/F;QACH,CAAC;KAAA;IAEK,oBAAoB,CAAC,KAAa,EAAE,QAAgB;;YACxD,MAAM,EAAE,GAAG,IAAA,2BAAe,EAAC,KAAK,EAAE,QAAQ,CAAC,CAAC;YAC5C,MAAM,KAAK,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,KAAK,EAAE,QAAQ,CAAC,CAAC;YAChF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,YAAY,EAAE,OAAO,KAAK,GAAG,CAAC,CAAC;QAC1D,CAAC;KAAA;IAEK,yCAAyC;;YAC7C,MAAM,WAAW,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACrK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,WAAW,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAElH,MAAM,WAAW,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACrK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,WAAW,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAElH,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,yEAAyE,CAAC,CAAC;YACpG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YAEpJ,OAAO,CAAC,WAAW,CAAC,mBAAmB,EAAE,WAAW,CAAC,mBAAmB,CAAC,CAAC;QAC5E,CAAC;KAAA;IAEK,mBAAmB;;YACvB,MAAM,aAAa,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACvK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mDAAmD,GAAG,CAAC,aAAa,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAEvH,MAAM,WAAW,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACrK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,iDAAiD,GAAG,CAAC,WAAW,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAEnH,MAAM,YAAY,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACtK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,YAAY,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;YAErH,MAAM,UAAU,GAAG,MAAM,IAAA,oBAAa,EAAC,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,8CAA8C,CAAC,IAAI,CAAC,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;YACpK,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,GAAG,CAAC,UAAU,CAAC,mBAAmB,CAAC,GAAG,CAAC,CAAC;QACnH,CAAC;KAAA;IAEK,6BAA6B;;YACjC,IAAI,CAAC,sBAAsB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC1F,IAAI,CAAC,0BAA0B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC9F,IAAI,CAAC,qBAAqB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACzF,IAAI,CAAC,6BAA6B,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACjG,IAAI,CAAC,wBAAwB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAC5F,IAAI,CAAC,oCAAoC,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YACxG,IAAI,CAAC,oBAAoB,GAAG,IAAI,CAAC,wBAAwB,GAAG,IAAI,CAAC,oCAAoC,CAAC;YACtG,IAAI,CAAC,sBAAsB,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,CAAC,CAAC;YAE1F,IAAI,cAAc,GAAG,IAAA,oCAA4B,EAAC,GAAG,EAAE,UAAU,EAAE,IAAI,CAAC,sBAAsB,EAAE,UAAU,EAAE,IAAI,CAAC,wBAAwB,CAAC,CAAC;YAC3I,MAAM,kBAAkB,GAAG,GAAG,CAAC;YAC/B,MAAM,WAAW,GAAG,cAAc,GAAG,KAAK,CAAC;YAE3C,IAAI,WAAW,EAAE;gBACf,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,sJAAsJ,CAAC,CAAC;gBAEjL,cAAc,GAAG,GAAG,CAAC;gBAErB,IAAI,CAAC,cAAc,GAAG,UAAU,CAAC;gBACjC,IAAI,CAAC,gBAAgB,GAAG,UAAU,CAAC;gBACnC,IAAI,CAAC,4BAA4B,GAAG,CAAC,CAAC;gBACtC,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,4BAA4B,CAAC;gBAE9E,IAAI,CAAC,aAAa,GAAG,IAAA,oCAA4B,EAAC,IAAI,CAAC,qBAAqB,EAAE,IAAI,CAAC,sBAAsB,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,oBAAoB,EAAE,IAAI,CAAC,YAAY,CAAC,CAAC;gBAC9K,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,IAAI,CAAC,aAAa,GAAG,CAAC,CAAC;gBAC9F,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,aAAa,CAAC,CAAC;gBAElF,IAAI,CAAC,qBAAqB,GAAG,IAAA,oCAA4B,EAAC,IAAI,CAAC,6BAA6B,EAAE,IAAI,CAAC,sBAAsB,EAAE,IAAI,CAAC,cAAc,EAAE,IAAI,CAAC,oBAAoB,EAAE,IAAI,CAAC,YAAY,CAAC,CAAC;gBAC9L,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,sDAAsD,IAAI,CAAC,qBAAqB,GAAG,CAAC,CAAC;gBAC9G,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,qBAAqB,CAAC,CAAC;aAC3F;iBAAM,EAAE,mCAAmC;gBAC1C,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC,sBAAsB,CAAC;gBAClD,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,wBAAwB,CAAC;gBACtD,IAAI,CAAC,4BAA4B,GAAG,IAAI,CAAC,oCAAoC,CAAC;gBAC9E,IAAI,CAAC,YAAY,GAAG,IAAI,CAAC,oBAAoB,CAAC;gBAC9C,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC,qBAAqB,CAAC;gBAChD,IAAI,CAAC,qBAAqB,GAAG,IAAI,CAAC,6BAA6B,CAAC;aACjE;YAED,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8CAA8C,cAAc,GAAG,CAAC,CAAC;YAC1F,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,cAAc,CAAC,CAAC;YAE9E,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mDAAmD,kBAAkB,GAAG,CAAC,CAAC;YACnG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,kBAAkB,CAAC,CAAC;YAElF,IAAI,WAAW,EAAE;gBACf,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,+CAA+C,GAAG,CAAC,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC;gBACrG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,cAAc,CAAC,CAAC;gBAEnF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,iDAAiD,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;gBACpG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,gBAAgB,CAAC,CAAC;gBAErF,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,8DAA8D,IAAI,CAAC,4BAA4B,GAAG,CAAC,CAAC;gBAC7H,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,4BAA4B,CAAC,CAAC;gBAEjG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;aACzE;QACH,CAAC;KAAA;IAEK,6BAA6B;;YACjC,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,kDAAkD,GAAG,CAAC,IAAI,CAAC,sBAAsB,CAAC,GAAG,CAAC,CAAC;YAChH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,sBAAsB,CAAC,CAAC;YAE3F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,mDAAmD,IAAI,CAAC,wBAAwB,GAAG,CAAC,CAAC;YAC9G,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,wBAAwB,CAAC,CAAC;YAE7F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gEAAgE,IAAI,CAAC,oCAAoC,GAAG,CAAC,CAAC;YACvI,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,oCAAoC,CAAC,CAAC;YAEzG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,6BAA6B,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAExE,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,IAAI,CAAC,qBAAqB,GAAG,CAAC,CAAC;YACxG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,qBAAqB,CAAC,CAAC;YAE1F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,wDAAwD,IAAI,CAAC,6BAA6B,GAAG,CAAC,CAAC;YACxH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,6BAA6B,CAAC,CAAC;YAElG,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,gDAAgD,IAAI,CAAC,sBAAsB,GAAG,CAAC,CAAC;YACzG,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,sBAAsB,CAAC,CAAC;YAE3F,IAAI,CAAC,cAAc,CAAC,IAAI,CAAC,qDAAqD,IAAI,CAAC,0BAA0B,GAAG,CAAC,CAAC;YAClH,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,CAAC,0BAA0B,CAAC,CAAC;QACjG,CAAC;KAAA;CAEF;AAleD,8DAkeC"}

package/src/lib/units.d.ts ADDED Viewed

@@ -0,0 +1,101 @@
+/**
+ * These are the SI unit velocity values as defined in the 0x60A9:00 SI unit velocity object.
+ * The key is the unit name, and the value is the SI unit velocity value.
+ */
+export declare const siUnitVelocityValue: {
+    RPM: number;
+    dRPM: number;
+    cRPM: number;
+    mRPM: number;
+    RPS: number;
+    dRPS: number;
+    cRPS: number;
+    mRPS: number;
+};
+export type SiUnitVelocityName = keyof typeof siUnitVelocityValue;
+export interface SiUnitVelocityScale {
+    scale: number;
+    unit: SiUnitVelocityName;
+    type: 'minute' | 'second';
+}
+/**
+ * These are the user-defined velocity units and scales.
+ * For more information, see the description of 0x60A9:00 SI unit velocity object.
+ */
+export declare const siUnitVelocityScales: {
+    [key: string]: SiUnitVelocityScale;
+};
+/**
+ * Use this function when SI unit velocity changes to update the affected parameters.
+ * @example When changing from RPM to mRPM, a value of 2,500 will convert to 2,500,000.
+ */
+export declare function convertSiUnitVelocityAffectedValue(value: number, oldSiUnitVelocity: number, newSiUnitVelocity: number, round?: boolean): number;
+/**
+ * Use this function when the Feed constant changes to update the position affected parameters.
+ * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
+ */
+export declare function convertFeedConstantAffectedPositionValue(value: number, oldFeedConstant: number, newFeedConstant: number, resolution: number): number;
+/**
+ * Use this function when the Feed constant changes to update the velocity affected parameters.
+ * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
+ */
+export declare function convertFeedConstantAffectedVelocityValue(value: number, oldFeedConstant: number, newFeedConstant: number): number;
+/**
+ * Use this function when the velocity and/or feed constant changes to update the affected parameters.
+ */
+export declare function convertVelocityAffectedValue(value: number, oldSiUnitVelocity: number, newSiUnitVelocity: number, oldFeedConstant: number, newFeedConstant: number): number;
+/**
+ * Represents a unit conversion object with formatting, parsing, and unit options.
+ */
+export interface UnitConverter<T> {
+    id: keyof UnitConverters;
+    formatter: (unit: string, value: number, data: T) => string;
+    options: {
+        value: string;
+        text: string;
+    }[];
+    parser: (unit: string, value: number | string, data: T) => number;
+}
+/**
+ * A collection of unit converters for different unit types.
+ */
+export interface UnitConverters {
+    current: UnitConverter<{
+        motorRatedCurrent: number;
+    }>;
+    friction: UnitConverter<unknown>;
+    inertia: UnitConverter<unknown>;
+    position: UnitConverter<{
+        resolution: number;
+        feed?: number;
+    }>;
+    torque: UnitConverter<{
+        motorRatedTorque: number;
+    }>;
+    velocity: UnitConverter<{
+        siUnitVelocity: number;
+        feed?: number;
+    }>;
+}
+/**
+ * A type representing the keys of the UnitConverters interface.
+ * This allows referencing specific unit converter types (e.g., 'current', 'friction').
+ */
+export type UnitConverterId = keyof UnitConverters;
+/**
+ * Represents an instance of a unit converters.
+ * Each unit type has dedicated formatter and parser functions:
+ * - Formatter: Converts the original value to the desired unit, used for display purposes.
+ * - Parser: Converts the value back to the original unit, used for transmitting values to devices in their original unit (e.g., position increments).
+ *
+ * Options allow selection of the desired unit.
+ * Some formatter functions may require additional data, such as motor rated current, for accurate conversion.
+ */
+export declare const unitConverters: UnitConverters;
+export declare const unitConverterParameters: {
+    [key in keyof UnitConverters]: [number, number][];
+};
+/**
+ * Get the unit type for a given parameter index and subindex.
+ */
+export declare function getUnitConverterForParameter(index: number, subindex: number): UnitConverter<any> | undefined;

package/src/lib/units.js ADDED Viewed

@@ -0,0 +1,406 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.getUnitConverterForParameter = exports.unitConverterParameters = exports.unitConverters = exports.convertVelocityAffectedValue = exports.convertFeedConstantAffectedVelocityValue = exports.convertFeedConstantAffectedPositionValue = exports.convertSiUnitVelocityAffectedValue = exports.siUnitVelocityScales = exports.siUnitVelocityValue = void 0;
+const util_1 = require("./util");
+/**
+ * These are the SI unit velocity values as defined in the 0x60A9:00 SI unit velocity object.
+ * The key is the unit name, and the value is the SI unit velocity value.
+ */
+exports.siUnitVelocityValue = {
+    RPM: 0x00B44700,
+    dRPM: 0xFFB44700,
+    cRPM: 0xFEB44700,
+    mRPM: 0xFDB44700,
+    RPS: 0x00B40300,
+    dRPS: 0xFFB40300,
+    cRPS: 0xFEB40300,
+    mRPS: 0xFDB40300,
+};
+/**
+ * These are the user-defined velocity units and scales.
+ * For more information, see the description of 0x60A9:00 SI unit velocity object.
+ */
+exports.siUnitVelocityScales = {
+    [exports.siUnitVelocityValue.RPM]: {
+        scale: 1,
+        unit: 'RPM',
+        type: 'minute',
+    },
+    [exports.siUnitVelocityValue.dRPM]: {
+        scale: 0.1,
+        unit: 'dRPM',
+        type: 'minute',
+    },
+    [exports.siUnitVelocityValue.cRPM]: {
+        scale: 0.01,
+        unit: 'cRPM',
+        type: 'minute',
+    },
+    [exports.siUnitVelocityValue.mRPM]: {
+        scale: 0.001,
+        unit: 'mRPM',
+        type: 'minute',
+    },
+    [exports.siUnitVelocityValue.RPS]: {
+        scale: 1,
+        unit: 'RPS',
+        type: 'second',
+    },
+    [exports.siUnitVelocityValue.dRPS]: {
+        scale: 0.1,
+        unit: 'dRPS',
+        type: 'second',
+    },
+    [exports.siUnitVelocityValue.cRPS]: {
+        scale: 0.01,
+        unit: 'cRPS',
+        type: 'second',
+    },
+    [exports.siUnitVelocityValue.mRPS]: {
+        scale: 0.001,
+        unit: 'mRPS',
+        type: 'second',
+    },
+};
+/**
+ * Use this function when SI unit velocity changes to update the affected parameters.
+ * @example When changing from RPM to mRPM, a value of 2,500 will convert to 2,500,000.
+ */
+function convertSiUnitVelocityAffectedValue(value, oldSiUnitVelocity, newSiUnitVelocity, round = true) {
+    const oldScale = exports.siUnitVelocityScales[oldSiUnitVelocity];
+    const newScale = exports.siUnitVelocityScales[newSiUnitVelocity];
+    if (oldScale.type === newScale.type) {
+        value = oldScale.scale / newScale.scale * value;
+    }
+    else if (oldScale.type === 'minute' && newScale.type === 'second') {
+        value = oldScale.scale / newScale.scale * value / 60;
+    }
+    else if (oldScale.type === 'second' && newScale.type === 'minute') {
+        value = oldScale.scale / newScale.scale * value * 60;
+    }
+    return round ? Math.round(value) : value;
+}
+exports.convertSiUnitVelocityAffectedValue = convertSiUnitVelocityAffectedValue;
+/**
+ * Use this function when the Feed constant changes to update the position affected parameters.
+ * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
+ */
+function convertFeedConstantAffectedPositionValue(value, oldFeedConstant, newFeedConstant, resolution) {
+    let out = value;
+    if (oldFeedConstant === 0xFFFFFFFF && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // conversion
+        out = Math.round(value * newFeedConstant / resolution);
+    }
+    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // scaling
+        out = Math.round(newFeedConstant / oldFeedConstant * value);
+    }
+    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && newFeedConstant === 0xFFFFFFFF) { // inversion
+        out = Math.round(value / oldFeedConstant * resolution);
+    }
+    return out;
+}
+exports.convertFeedConstantAffectedPositionValue = convertFeedConstantAffectedPositionValue;
+/**
+ * Use this function when the Feed constant changes to update the velocity affected parameters.
+ * Depending on whether the Feed constant gets disabled, enabled, or its value changes, the function will perform conversion, inversion, or scaling.
+ */
+function convertFeedConstantAffectedVelocityValue(value, oldFeedConstant, newFeedConstant) {
+    let out = value;
+    if (oldFeedConstant === 0xFFFFFFFF && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // conversion
+        out = Math.round(value * newFeedConstant);
+    }
+    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && (newFeedConstant > 0 && newFeedConstant < 0xFFFFFFFF)) { // scaling
+        out = Math.round(newFeedConstant / oldFeedConstant * value);
+    }
+    else if ((oldFeedConstant > 0 && oldFeedConstant < 0xFFFFFFFF) && newFeedConstant === 0xFFFFFFFF) { // inversion
+        out = Math.round(value / oldFeedConstant);
+    }
+    return out;
+}
+exports.convertFeedConstantAffectedVelocityValue = convertFeedConstantAffectedVelocityValue;
+/**
+ * Use this function when the velocity and/or feed constant changes to update the affected parameters.
+ */
+function convertVelocityAffectedValue(value, oldSiUnitVelocity, newSiUnitVelocity, oldFeedConstant, newFeedConstant) {
+    value = convertSiUnitVelocityAffectedValue(value, oldSiUnitVelocity, newSiUnitVelocity);
+    value = convertFeedConstantAffectedVelocityValue(value, oldFeedConstant, newFeedConstant);
+    return value;
+}
+exports.convertVelocityAffectedValue = convertVelocityAffectedValue;
+/**
+ * Represents an instance of a unit converters.
+ * Each unit type has dedicated formatter and parser functions:
+ * - Formatter: Converts the original value to the desired unit, used for display purposes.
+ * - Parser: Converts the value back to the original unit, used for transmitting values to devices in their original unit (e.g., position increments).
+ *
+ * Options allow selection of the desired unit.
+ * Some formatter functions may require additional data, such as motor rated current, for accurate conversion.
+ */
+exports.unitConverters = {
+    current: {
+        id: 'current',
+        formatter: (unit, value, data) => {
+            if (unit === 'mA') {
+                return (0, util_1.toFixedFormat)(Math.round((value / 1000) * data.motorRatedCurrent));
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: '‰', text: 'Per mille (native)' },
+            { value: 'mA', text: 'Milliampere' },
+        ],
+        parser: (unit, value, data) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'mA') {
+                return (value / data.motorRatedCurrent) * 1000;
+            }
+            else {
+                return value;
+            }
+        },
+    },
+    friction: {
+        id: 'friction',
+        formatter: (unit, value) => {
+            if (unit === 'Nm/kRPM') {
+                return (0, util_1.toFixedFormat)(value * 104.71975511965977); // (2 * Math.PI * 1000 / 60)
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: 'Nm/(rad/s)', text: 'Nm/(rad/s)' },
+            { value: 'Nm/kRPM', text: 'Nm/kRPM' },
+        ],
+        parser: (unit, value) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'Nm/kRPM') {
+                return value / 104.71975511965977; // (2 * Math.PI * 1000 / 60)
+            }
+            else {
+                return value;
+            }
+        },
+    },
+    inertia: {
+        id: 'inertia',
+        formatter: (unit, value) => {
+            if (unit === 'g cm²') {
+                return (0, util_1.toFixedFormat)(value * 1e7);
+            }
+            else if (unit === 'kg cm²') {
+                return (0, util_1.toFixedFormat)(value * 1e4);
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: 'kg m²', text: 'kg m²' },
+            { value: 'g cm²', text: 'g cm²' },
+            { value: 'kg cm²', text: 'kg cm²' },
+        ],
+        parser: (unit, value) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'g cm²') {
+                return value / 1e7;
+            }
+            else if (unit === 'kg cm²') {
+                return value / 1e4;
+            }
+            else {
+                return value;
+            }
+        },
+    },
+    position: {
+        id: 'position',
+        formatter: (unit, value, data) => {
+            let feed = data.feed;
+            if (!feed) {
+                if (unit === 'deg') {
+                    feed = 360;
+                }
+                else if (unit === 'rev') {
+                    feed = 1;
+                }
+            }
+            if (!feed) {
+                return (0, util_1.toFixedFormat)(value);
+            }
+            return (0, util_1.toFixedFormat)((value / data.resolution) * feed);
+        },
+        options: [
+            { value: 'inc', text: 'Increments (native)' },
+            { value: 'deg', text: 'Degrees' },
+            { value: 'rev', text: 'Revolutions' },
+        ],
+        parser: (unit, value, data) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            let feed = data.feed;
+            if (!feed) {
+                if (unit === 'deg') {
+                    feed = 360;
+                }
+                else if (unit === 'rev') {
+                    feed = 1;
+                }
+            }
+            if (!feed) {
+                return value;
+            }
+            return Math.round((value / feed) * data.resolution);
+        },
+    },
+    torque: {
+        id: 'torque',
+        formatter: (unit, value, data) => {
+            if (unit === 'mNm') {
+                return (0, util_1.toFixedFormat)(Math.round((value / 1000) * data.motorRatedTorque));
+            }
+            else {
+                return (0, util_1.toFixedFormat)(value);
+            }
+        },
+        options: [
+            { value: '‰', text: 'Per mille (native)' },
+            { value: 'mNm', text: 'Millinewton meter' },
+        ],
+        parser: (unit, value, data) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            if (unit === 'mNm') {
+                return (value / data.motorRatedTorque) * 1000;
+            }
+            else {
+                return value;
+            }
+        },
+    },
+    velocity: {
+        id: 'velocity',
+        formatter: (unit, value, data) => {
+            let feed = data.feed;
+            if (!feed) {
+                if (unit === 'deg/s') {
+                    feed = 360;
+                }
+                else if (unit === 'rev/s') {
+                    feed = 1;
+                }
+            }
+            if (!feed) {
+                return (0, util_1.toFixedFormat)(value);
+            }
+            if ([exports.siUnitVelocityValue.RPM, exports.siUnitVelocityValue.dRPM, exports.siUnitVelocityValue.cRPM, exports.siUnitVelocityValue.mRPM].includes(data.siUnitVelocity)) {
+                return (0, util_1.toFixedFormat)(value * (feed / 60) * exports.siUnitVelocityScales[data.siUnitVelocity].scale);
+            }
+            else if ([exports.siUnitVelocityValue.RPS, exports.siUnitVelocityValue.dRPS, exports.siUnitVelocityValue.cRPS, exports.siUnitVelocityValue.mRPS].includes(data.siUnitVelocity)) {
+                return (0, util_1.toFixedFormat)(value * feed * exports.siUnitVelocityScales[data.siUnitVelocity].scale);
+            }
+            return (0, util_1.toFixedFormat)(value);
+        },
+        options: [
+            // The 'RPM' unit should be updated in the UI to reflect the appropriate SI unit for velocity.
+            { value: 'RPM', text: 'Rounds per minute (native)' },
+            { value: 'deg/s', text: 'Degrees per second' },
+            { value: 'rev/s', text: 'Revolutions per second' },
+        ],
+        parser: (unit, value, data) => {
+            value = typeof value === 'string' ? parseFloat(value) : value;
+            let feed = data.feed;
+            if (!feed) {
+                if (unit === 'deg/s') {
+                    feed = 360;
+                }
+                else if (unit === 'rev/s') {
+                    feed = 1;
+                }
+            }
+            if (!feed) {
+                return value;
+            }
+            if ([exports.siUnitVelocityValue.RPM, exports.siUnitVelocityValue.dRPM, exports.siUnitVelocityValue.cRPM, exports.siUnitVelocityValue.mRPM].includes(data.siUnitVelocity)) {
+                return Math.round(value / (feed / 60) * (1 / exports.siUnitVelocityScales[data.siUnitVelocity].scale));
+            }
+            else if ([exports.siUnitVelocityValue.RPS, exports.siUnitVelocityValue.dRPS, exports.siUnitVelocityValue.cRPS, exports.siUnitVelocityValue.mRPS].includes(data.siUnitVelocity)) {
+                return Math.round(value / feed * (1 / exports.siUnitVelocityScales[data.siUnitVelocity].scale));
+            }
+            return Math.round(value);
+        },
+    },
+};
+exports.unitConverterParameters = {
+    current: [
+        [0x6073, 0],
+    ],
+    friction: [],
+    inertia: [],
+    position: [
+        [0x2004, 8],
+        [0x2005, 1],
+        [0x2005, 4],
+        [0x2111, 1],
+        [0x2111, 2],
+        [0x2113, 1],
+        [0x2113, 2],
+        [0x2213, 1],
+        [0x6062, 0],
+        [0x6064, 0],
+        [0x6065, 0],
+        [0x6067, 0],
+        [0x607A, 0],
+        [0x607B, 1],
+        [0x607B, 2],
+        [0x607C, 0],
+        [0x607D, 1],
+        [0x607D, 2],
+        [0x60F4, 0],
+        [0x60FC, 0],
+    ],
+    torque: [
+        [0x6071, 0],
+        [0x6072, 0],
+        [0x6074, 0],
+        [0x6077, 0],
+        [0x60B2, 0],
+    ],
+    velocity: [
+        [0x2010, 6],
+        [0x2010, 7],
+        [0x2012, 4],
+        [0x2013, 2],
+        [0x2013, 11],
+        [0x2013, 15],
+        [0x2013, 15],
+        [0x2018, 1],
+        [0x2018, 3],
+        [0x2111, 3],
+        [0x2113, 3],
+        [0x606B, 0],
+        [0x606C, 0],
+        [0x606D, 0],
+        [0x606F, 2],
+        [0x6081, 0],
+        [0x6099, 1],
+        [0x6099, 2],
+        [0x60B1, 0],
+        [0x60FF, 0],
+    ],
+};
+/**
+ * Get the unit type for a given parameter index and subindex.
+ */
+function getUnitConverterForParameter(index, subindex) {
+    for (const [key, values] of Object.entries(exports.unitConverterParameters)) {
+        for (const [i, s] of values) {
+            if (i === index && s === subindex) {
+                return exports.unitConverters[key];
+            }
+        }
+    }
+    return;
+}
+exports.getUnitConverterForParameter = getUnitConverterForParameter;
+//# sourceMappingURL=units.js.map

package/src/lib/units.js.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"units.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/units.ts"],"names":[],"mappings":";;;AAAA,iCAAuC;AAEvC;;;GAGG;AACU,QAAA,mBAAmB,GAAG;IACjC,GAAG,EAAE,UAAU;IACf,IAAI,EAAE,UAAU;IAChB,IAAI,EAAE,UAAU;IAChB,IAAI,EAAE,UAAU;IAChB,GAAG,EAAE,UAAU;IACf,IAAI,EAAE,UAAU;IAChB,IAAI,EAAE,UAAU;IAChB,IAAI,EAAE,UAAU;CACjB,CAAC;AAUF;;;GAGG;AACU,QAAA,oBAAoB,GAA2C;IAC1E,CAAC,2BAAmB,CAAC,GAAG,CAAC,EAAE;QACzB,KAAK,EAAE,CAAC;QACR,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,QAAQ;KACf;IACD,CAAC,2BAAmB,CAAC,IAAI,CAAC,EAAE;QAC1B,KAAK,EAAE,GAAG;QACV,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,CAAC,2BAAmB,CAAC,IAAI,CAAC,EAAE;QAC1B,KAAK,EAAE,IAAI;QACX,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,CAAC,2BAAmB,CAAC,IAAI,CAAC,EAAE;QAC1B,KAAK,EAAE,KAAK;QACZ,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,CAAC,2BAAmB,CAAC,GAAG,CAAC,EAAE;QACzB,KAAK,EAAE,CAAC;QACR,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,QAAQ;KACf;IACD,CAAC,2BAAmB,CAAC,IAAI,CAAC,EAAE;QAC1B,KAAK,EAAE,GAAG;QACV,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,CAAC,2BAAmB,CAAC,IAAI,CAAC,EAAE;QAC1B,KAAK,EAAE,IAAI;QACX,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;IACD,CAAC,2BAAmB,CAAC,IAAI,CAAC,EAAE;QAC1B,KAAK,EAAE,KAAK;QACZ,IAAI,EAAE,MAAM;QACZ,IAAI,EAAE,QAAQ;KACf;CACF,CAAC;AAEF;;;GAGG;AACH,SAAgB,kCAAkC,CAAC,KAAa,EAAE,iBAAyB,EAAE,iBAAyB,EAAE,KAAK,GAAG,IAAI;IAClI,MAAM,QAAQ,GAAG,4BAAoB,CAAC,iBAAiB,CAAC,CAAC;IACzD,MAAM,QAAQ,GAAG,4BAAoB,CAAC,iBAAiB,CAAC,CAAC;IAEzD,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,CAAC,IAAI,EAAE;QACnC,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,KAAK,CAAC;KACjD;SAAM,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,EAAE;QACnE,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,KAAK,GAAG,EAAE,CAAC;KACtD;SAAM,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,IAAI,QAAQ,CAAC,IAAI,KAAK,QAAQ,EAAE;QACnE,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,QAAQ,CAAC,KAAK,GAAG,KAAK,GAAG,EAAE,CAAC;KACtD;IAED,OAAO,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;AAC3C,CAAC;AAbD,gFAaC;AAED;;;GAGG;AACH,SAAgB,wCAAwC,CAAC,KAAa,EAAE,eAAuB,EAAE,eAAuB,EAAE,UAAkB;IAC1I,IAAI,GAAG,GAAG,KAAK,CAAC;IAChB,IAAI,eAAe,KAAK,UAAU,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,aAAa;QAC1G,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,GAAG,UAAU,CAAC,CAAC;KACxD;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,UAAU;QACrI,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,eAAe,GAAG,eAAe,GAAG,KAAK,CAAC,CAAC;KAC7D;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,eAAe,KAAK,UAAU,EAAE,EAAE,YAAY;QAChH,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,GAAG,UAAU,CAAC,CAAC;KACxD;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAVD,4FAUC;AAED;;;GAGG;AACH,SAAgB,wCAAwC,CAAC,KAAa,EAAE,eAAuB,EAAE,eAAuB;IACtH,IAAI,GAAG,GAAG,KAAK,CAAC;IAChB,IAAI,eAAe,KAAK,UAAU,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,aAAa;QAC1G,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,CAAC,CAAC;KAC3C;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,EAAE,EAAE,UAAU;QACrI,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,eAAe,GAAG,eAAe,GAAG,KAAK,CAAC,CAAC;KAC7D;SAAM,IAAI,CAAC,eAAe,GAAG,CAAC,IAAI,eAAe,GAAG,UAAU,CAAC,IAAI,eAAe,KAAK,UAAU,EAAE,EAAE,YAAY;QAChH,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,eAAe,CAAC,CAAC;KAC3C;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAVD,4FAUC;AAED;;GAEG;AACH,SAAgB,4BAA4B,CAAC,KAAa,EAAE,iBAAyB,EAAE,iBAAyB,EAAE,eAAuB,EAAE,eAAuB;IAChK,KAAK,GAAG,kCAAkC,CAAC,KAAK,EAAE,iBAAiB,EAAE,iBAAiB,CAAC,CAAC;IACxF,KAAK,GAAG,wCAAwC,CAAC,KAAK,EAAE,eAAe,EAAE,eAAe,CAAC,CAAC;IAC1F,OAAO,KAAK,CAAC;AACf,CAAC;AAJD,oEAIC;AA8BD;;;;;;;;GAQG;AACU,QAAA,cAAc,GAAmB;IAC5C,OAAO,EAAE;QACP,EAAE,EAAE,SAAS;QACb,SAAS,EAAE,CAAC,IAAY,EAAE,KAAa,EAAE,IAAmC,EAAE,EAAE;YAC9E,IAAI,IAAI,KAAK,IAAI,EAAE;gBACjB,OAAO,IAAA,oBAAa,EAAC,IAAI,CAAC,KAAK,CAAC,CAAC,KAAK,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,iBAAiB,CAAC,CAAC,CAAC;aAC3E;iBAAM;gBACL,OAAO,IAAA,oBAAa,EAAC,KAAK,CAAC,CAAC;aAC7B;QACH,CAAC;QACD,OAAO,EAAE;YACP,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,oBAAoB,EAAE;YAC1C,EAAE,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,aAAa,EAAE;SACrC;QACD,MAAM,EAAE,CAAC,IAAY,EAAE,KAAsB,EAAE,IAAmC,EAAE,EAAE;YACpF,KAAK,GAAG,OAAO,KAAK,KAAK,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;YAC9D,IAAI,IAAI,KAAK,IAAI,EAAE;gBACjB,OAAO,CAAC,KAAK,GAAG,IAAI,CAAC,iBAAiB,CAAC,GAAG,IAAI,CAAC;aAChD;iBAAM;gBACL,OAAO,KAAK,CAAC;aACd;QACH,CAAC;KACF;IACD,QAAQ,EAAE;QACR,EAAE,EAAE,UAAU;QACd,SAAS,EAAE,CAAC,IAAY,EAAE,KAAa,EAAE,EAAE;YACzC,IAAI,IAAI,KAAK,SAAS,EAAE;gBACtB,OAAO,IAAA,oBAAa,EAAC,KAAK,GAAG,kBAAkB,CAAC,CAAC,CAAC,4BAA4B;aAC/E;iBAAM;gBACL,OAAO,IAAA,oBAAa,EAAC,KAAK,CAAC,CAAC;aAC7B;QACH,CAAC;QACD,OAAO,EAAE;YACP,EAAE,KAAK,EAAE,YAAY,EAAE,IAAI,EAAE,YAAY,EAAE;YAC3C,EAAE,KAAK,EAAE,SAAS,EAAE,IAAI,EAAE,SAAS,EAAE;SACtC;QACD,MAAM,EAAE,CAAC,IAAY,EAAE,KAAsB,EAAE,EAAE;YAC/C,KAAK,GAAG,OAAO,KAAK,KAAK,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;YAC9D,IAAI,IAAI,KAAK,SAAS,EAAE;gBACtB,OAAO,KAAK,GAAG,kBAAkB,CAAC,CAAC,4BAA4B;aAChE;iBAAM;gBACL,OAAO,KAAK,CAAC;aACd;QACH,CAAC;KACF;IACD,OAAO,EAAE;QACP,EAAE,EAAE,SAAS;QACb,SAAS,EAAE,CAAC,IAAY,EAAE,KAAa,EAAE,EAAE;YACzC,IAAI,IAAI,KAAK,OAAO,EAAE;gBACpB,OAAO,IAAA,oBAAa,EAAC,KAAK,GAAG,GAAG,CAAC,CAAC;aACnC;iBAAM,IAAI,IAAI,KAAK,QAAQ,EAAE;gBAC5B,OAAO,IAAA,oBAAa,EAAC,KAAK,GAAG,GAAG,CAAC,CAAC;aACnC;iBAAM;gBACL,OAAO,IAAA,oBAAa,EAAC,KAAK,CAAC,CAAC;aAC7B;QACH,CAAC;QACD,OAAO,EAAE;YACP,EAAE,KAAK,EAAE,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE;YACjC,EAAE,KAAK,EAAE,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE;YACjC,EAAE,KAAK,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE;SACpC;QACD,MAAM,EAAE,CAAC,IAAY,EAAE,KAAsB,EAAE,EAAE;YAC/C,KAAK,GAAG,OAAO,KAAK,KAAK,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;YAC9D,IAAI,IAAI,KAAK,OAAO,EAAE;gBACpB,OAAO,KAAK,GAAG,GAAG,CAAC;aACpB;iBAAM,IAAI,IAAI,KAAK,QAAQ,EAAE;gBAC5B,OAAO,KAAK,GAAG,GAAG,CAAC;aACpB;iBAAM;gBACL,OAAO,KAAK,CAAC;aACd;QACH,CAAC;KACF;IACD,QAAQ,EAAE;QACR,EAAE,EAAE,UAAU;QACd,SAAS,EAAE,CAAC,IAAY,EAAE,KAAa,EAAE,IAA2C,EAAE,EAAE;YACtF,IAAI,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC;YAErB,IAAI,CAAC,IAAI,EAAE;gBACT,IAAI,IAAI,KAAK,KAAK,EAAE;oBAClB,IAAI,GAAG,GAAG,CAAC;iBACZ;qBAAM,IAAI,IAAI,KAAK,KAAK,EAAE;oBACzB,IAAI,GAAG,CAAC,CAAC;iBACV;aACF;YAED,IAAI,CAAC,IAAI,EAAE;gBACT,OAAO,IAAA,oBAAa,EAAC,KAAK,CAAC,CAAC;aAC7B;YAED,OAAO,IAAA,oBAAa,EAAC,CAAC,KAAK,GAAG,IAAI,CAAC,UAAU,CAAC,GAAG,IAAI,CAAC,CAAC;QACzD,CAAC;QACD,OAAO,EAAE;YACP,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,qBAAqB,EAAE;YAC7C,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,SAAS,EAAE;YACjC,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,aAAa,EAAE;SACtC;QACD,MAAM,EAAE,CAAC,IAAY,EAAE,KAAsB,EAAE,IAA2C,EAAE,EAAE;YAC5F,KAAK,GAAG,OAAO,KAAK,KAAK,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;YAE9D,IAAI,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC;YAErB,IAAI,CAAC,IAAI,EAAE;gBACT,IAAI,IAAI,KAAK,KAAK,EAAE;oBAClB,IAAI,GAAG,GAAG,CAAC;iBACZ;qBAAM,IAAI,IAAI,KAAK,KAAK,EAAE;oBACzB,IAAI,GAAG,CAAC,CAAC;iBACV;aACF;YAED,IAAI,CAAC,IAAI,EAAE;gBACT,OAAO,KAAK,CAAC;aACd;YAED,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,KAAK,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,UAAU,CAAC,CAAC;QACtD,CAAC;KACF;IACD,MAAM,EAAE;QACN,EAAE,EAAE,QAAQ;QACZ,SAAS,EAAE,CAAC,IAAY,EAAE,KAAa,EAAE,IAAkC,EAAE,EAAE;YAC7E,IAAI,IAAI,KAAK,KAAK,EAAE;gBAClB,OAAO,IAAA,oBAAa,EAAC,IAAI,CAAC,KAAK,CAAC,CAAC,KAAK,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC,CAAC,CAAC;aAC1E;iBAAM;gBACL,OAAO,IAAA,oBAAa,EAAC,KAAK,CAAC,CAAC;aAC7B;QACH,CAAC;QACD,OAAO,EAAE;YACP,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,oBAAoB,EAAE;YAC1C,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,mBAAmB,EAAE;SAC5C;QACD,MAAM,EAAE,CAAC,IAAY,EAAE,KAAsB,EAAE,IAAkC,EAAE,EAAE;YACnF,KAAK,GAAG,OAAO,KAAK,KAAK,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;YAC9D,IAAI,IAAI,KAAK,KAAK,EAAE;gBAClB,OAAO,CAAC,KAAK,GAAG,IAAI,CAAC,gBAAgB,CAAC,GAAG,IAAI,CAAC;aAC/C;iBAAM;gBACL,OAAO,KAAK,CAAC;aACd;QACH,CAAC;KACF;IACD,QAAQ,EAAE;QACR,EAAE,EAAE,UAAU;QACd,SAAS,EAAE,CAAC,IAAY,EAAE,KAAa,EAAE,IAA+C,EAAE,EAAE;YAC1F,IAAI,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC;YAErB,IAAI,CAAC,IAAI,EAAE;gBACT,IAAI,IAAI,KAAK,OAAO,EAAE;oBACpB,IAAI,GAAG,GAAG,CAAC;iBACZ;qBAAM,IAAI,IAAI,KAAK,OAAO,EAAE;oBAC3B,IAAI,GAAG,CAAC,CAAC;iBACV;aACF;YAED,IAAI,CAAC,IAAI,EAAE;gBACT,OAAO,IAAA,oBAAa,EAAC,KAAK,CAAC,CAAC;aAC7B;YAED,IAAI,CAAC,2BAAmB,CAAC,GAAG,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,cAAc,CAAC,EAAE;gBACzI,OAAO,IAAA,oBAAa,EAAC,KAAK,GAAG,CAAC,IAAI,GAAG,EAAE,CAAC,GAAG,4BAAoB,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC,KAAK,CAAC,CAAC;aAC7F;iBAAM,IAAI,CAAC,2BAAmB,CAAC,GAAG,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,cAAc,CAAC,EAAE;gBAChJ,OAAO,IAAA,oBAAa,EAAC,KAAK,GAAG,IAAI,GAAG,4BAAoB,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC,KAAK,CAAC,CAAC;aACtF;YAED,OAAO,IAAA,oBAAa,EAAC,KAAK,CAAC,CAAC;QAC9B,CAAC;QACD,OAAO,EAAE;YACP,8FAA8F;YAC9F,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,4BAA4B,EAAE;YACpD,EAAE,KAAK,EAAE,OAAO,EAAE,IAAI,EAAE,oBAAoB,EAAE;YAC9C,EAAE,KAAK,EAAE,OAAO,EAAE,IAAI,EAAE,wBAAwB,EAAE;SACnD;QACD,MAAM,EAAE,CAAC,IAAY,EAAE,KAAsB,EAAE,IAA+C,EAAE,EAAE;YAChG,KAAK,GAAG,OAAO,KAAK,KAAK,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;YAE9D,IAAI,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC;YAErB,IAAI,CAAC,IAAI,EAAE;gBACT,IAAI,IAAI,KAAK,OAAO,EAAE;oBACpB,IAAI,GAAG,GAAG,CAAC;iBACZ;qBAAM,IAAI,IAAI,KAAK,OAAO,EAAE;oBAC3B,IAAI,GAAG,CAAC,CAAC;iBACV;aACF;YAED,IAAI,CAAC,IAAI,EAAE;gBACT,OAAO,KAAK,CAAC;aACd;YAED,IAAI,CAAC,2BAAmB,CAAC,GAAG,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,cAAc,CAAC,EAAE;gBACzI,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,CAAC,IAAI,GAAG,EAAE,CAAC,GAAG,CAAC,CAAC,GAAG,4BAAoB,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;aAChG;iBAAM,IAAI,CAAC,2BAAmB,CAAC,GAAG,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,EAAE,2BAAmB,CAAC,IAAI,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,cAAc,CAAC,EAAE;gBAChJ,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,IAAI,GAAG,CAAC,CAAC,GAAG,4BAAoB,CAAC,IAAI,CAAC,cAAc,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC;aACzF;YAED,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;QAC3B,CAAC;KACF;CACF,CAAC;AAEW,QAAA,uBAAuB,GAA0D;IAC5F,OAAO,EAAE;QACP,CAAC,MAAM,EAAE,CAAC,CAAC;KACZ;IACD,QAAQ,EAAE,EAAE;IACZ,OAAO,EAAE,EAAE;IACX,QAAQ,EAAE;QACR,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;KACZ;IACD,MAAM,EAAE;QACN,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;KACZ;IACD,QAAQ,EAAE;QACR,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,EAAE,CAAC;QACZ,CAAC,MAAM,EAAE,EAAE,CAAC;QACZ,CAAC,MAAM,EAAE,EAAE,CAAC;QACZ,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;QACX,CAAC,MAAM,EAAE,CAAC,CAAC;KACZ;CACF,CAAC;AAEF;;GAEG;AACH,SAAgB,4BAA4B,CAAC,KAAa,EAAE,QAAgB;IAC1E,KAAK,MAAM,CAAC,GAAG,EAAE,MAAM,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,+BAAuB,CAAC,EAAE;QACnE,KAAK,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,IAAI,MAAM,EAAE;YAC3B,IAAI,CAAC,KAAK,KAAK,IAAI,CAAC,KAAK,QAAQ,EAAE;gBACjC,OAAO,sBAAc,CAAC,GAAsB,CAAC,CAAC;aAC/C;SACF;KACF;IACD,OAAO;AACT,CAAC;AATD,oEASC"}

package/src/lib/util.d.ts CHANGED Viewed

@@ -35,3 +35,12 @@ export declare function setBitLow(value: number, position: number): number;
  * @returns {number} The modified number with the specified bit set to 1.
  */
 export declare function setBitHigh(value: number, position: number): number;
+/**
+ * Converts a number (or string) to a fixed-point format with specified precision.
+ *
+ * @param x - The number or string to be formatted.
+ * @param n - The number of digits after the decimal point (default is 6).
+ * @param rightTrimZero - Flag to indicate if trailing zeros after the decimal point should be removed (default is true).
+ * @returns The formatted number as a string.
+ */
+export declare function toFixedFormat(x: number | string, n?: number, rightTrimZero?: boolean): string;

package/src/lib/util.js CHANGED Viewed

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.setBitHigh = exports.setBitLow = exports.camelCaseToWords = exports.findDuplicates = exports.getMapKeyByValue = exports.createRandomColor = exports.convertRgbToLedColor = exports.resolveAfter = exports.decodeTextContent = exports.convertMotionMasterMessageToLoggerContext = exports.createPlainObjectFromMotionMasterMessage = exports.diffSystemLogContents = exports.parseSystemLogContent = exports.parseSystemLogLine = void 0;
+exports.toFixedFormat = exports.setBitHigh = exports.setBitLow = exports.camelCaseToWords = exports.findDuplicates = exports.getMapKeyByValue = exports.createRandomColor = exports.convertRgbToLedColor = exports.resolveAfter = exports.decodeTextContent = exports.convertMotionMasterMessageToLoggerContext = exports.createPlainObjectFromMotionMasterMessage = exports.diffSystemLogContents = exports.parseSystemLogContent = exports.parseSystemLogLine = void 0;
 const types_1 = require("./types");
 function parseSystemLogLine(line) {
     const re = /(\d{4}-\d{2}-\d{2}\s\d{2}:\d{2}:\d{2}\.\d{1,3})\s\((.+)\)\s(?:\[(.+)\])?(.+:\d+)(.+?)\|(.*)/s;
@@ -151,4 +151,34 @@ function setBitHigh(value, position) {
     return value | (1 << position);
 }
 exports.setBitHigh = setBitHigh;
+/**
+ * Converts a number (or string) to a fixed-point format with specified precision.
+ *
+ * @param x - The number or string to be formatted.
+ * @param n - The number of digits after the decimal point (default is 6).
+ * @param rightTrimZero - Flag to indicate if trailing zeros after the decimal point should be removed (default is true).
+ * @returns The formatted number as a string.
+ */
+function toFixedFormat(x, n = 6, rightTrimZero = true) {
+    if (typeof x === 'string') {
+        x = parseFloat(x);
+    }
+    if (isNaN(x) || x === null || x === undefined) {
+        return '';
+    }
+    if (Number.isInteger(x)) {
+        return x.toFixed();
+    }
+    const f = x.toFixed(20);
+    const p = f.indexOf('.');
+    let i = p;
+    // eslint-disable-next-line no-empty
+    while (i++ < f.length && f[i] === '0') { }
+    let v = x.toFixed(i - p + n - 1);
+    if (rightTrimZero) {
+        v = v.replace(/0+$/, '');
+    }
+    return v;
+}
+exports.toFixedFormat = toFixedFormat;
 //# sourceMappingURL=util.js.map

package/src/lib/util.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"util.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/util.ts"],"names":[],"mappings":";;;AACA,mCAGiB;AAEjB,SAAgB,kBAAkB,CAAC,IAAY;IAC7C,MAAM,EAAE,GAAG,8FAA8F,CAAC;IAC1G,MAAM,MAAM,GAAG,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC7B,IAAI,MAAM,EAAE;QACV,OAAO;YACL,IAAI;YACJ,IAAI,EAAE,IAAI,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YACzB,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACxB,EAAE,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,EAAE;YACrC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACtB,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACvB,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;SAC1B,CAAC;KACH;IACD,OAAO;AACT,CAAC;AAfD,gDAeC;AAED,SAAgB,qBAAqB,CAAC,OAAe;IACnD,MAAM,EAAE,GAAG,yGAAyG,CAAC;IACrH,OAAO,OAAO,CAAC,KAAK,CAAC,EAAE,CAAC;SACrB,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,KAAK,EAAE,CAAC;SACvB,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,kBAAkB,CAAC,CAAC,CAAC,CAAC;SACjC,MAAM,CAAC,CAAC,CAAC,EAAsB,EAAE,CAAC,CAAC,KAAK,SAAS,CAAC,CAAC;AACxD,CAAC;AAND,sDAMC;AAED,SAAgB,qBAAqB,CAAC,UAAkB,EAAE,UAAkB,EAAE,aAAa,GAAG,IAAI,EAAE,aAAa,GAAG,CAAC,CAAC;IACpH,MAAM,QAAQ,GAAG,UAAU,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC;IACjD,MAAM,WAAW,GAAG,QAAQ,CAAC,EAAE,CAAC,aAAa,CAAC,CAAC;IAE/C,IAAI,WAAW,EAAE;QACf,MAAM,QAAQ,GAAG,UAAU,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC;QACjD,IAAI,CAAC,GAAG,QAAQ,CAAC,MAAM,GAAG,CAAC,CAAC;QAE5B,OAAO,CAAC,IAAI,CAAC,EAAE;YACb,IAAI,QAAQ,CAAC,CAAC,CAAC,KAAK,WAAW,EAAE;gBAC/B,MAAM;aACP;YACD,CAAC,EAAE,CAAC;SACL;QAED,IAAI,CAAC,IAAI,CAAC,EAAE;YACV,OAAO,QAAQ,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;SAClD;KACF;IAED,OAAO,UAAU,CAAC;AACpB,CAAC;AArBD,sDAqBC;AAED,6FAA6F;AAC7F,SAAgB,wCAAwC,CAAC,mBAAwC;IAC/F,OAAO,2BAAmB,CAAC,QAAQ,CAAC,mBAAmB,EAAE;QACvD,KAAK,EAAE,KAAK;QACZ,QAAQ,EAAE,IAAI;QACd,MAAM,EAAE,IAAI;QACZ,OAAO,EAAE,IAAI;QACb,MAAM,EAAE,IAAI;QACZ,IAAI,EAAE,IAAI,EAAE,uFAAuF;KACpG,CAAC,CAAC;AACL,CAAC;AATD,4FASC;AAED,SAAgB,yCAAyC,CAAC,mBAAyC,EAAE,SAAS,GAAG,eAAe;IAC9H,IAAI,IAAI,CAAC;IACT,IAAI,IAAI,CAAC;IAET,IAAI,mBAAmB,CAAC,OAAO,EAAE;QAC/B,IAAI,GAAG,SAAS,CAAC;QACjB,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,mBAAmB,CAAC,OAAO,CAAC,CAAC,IAAI,EAAE,CAAC;KACxD;SAAM,IAAI,mBAAmB,CAAC,MAAM,EAAE;QACrC,IAAI,GAAG,QAAQ,CAAC;QAChB,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,mBAAmB,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,CAAC;KACvD;IAED,OAAO,EAAE,SAAS,EAAE,mBAAmB,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC;AACxD,CAAC;AAbD,8FAaC;AAED,SAAgB,iBAAiB,CAAC,OAAmB;IACnD,MAAM,OAAO,GAAG,IAAI,WAAW,EAAE,CAAC;IAClC,MAAM,MAAM,GAAG,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACxC,OAAO,OAAO,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;AAChC,CAAC;AAJD,8CAIC;AAED,SAAgB,YAAY,CAAC,EAAU,EAAE,KAAe;IACtD,OAAO,IAAI,OAAO,CAAC,UAAU,OAAO;QAClC,UAAU,CAAC,OAAO,CAAC,IAAI,CAAC,IAAI,EAAE,KAAK,CAAC,EAAE,EAAE,CAAC,CAAC;IAC5C,CAAC,CAAC,CAAC;AACL,CAAC;AAJD,oCAIC;AAED,SAAgB,oBAAoB,CAAC,KAAa;IAChD,MAAM,CAAC,GAAG,CAAC,KAAK,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC;IAC/B,MAAM,CAAC,GAAG,CAAC,KAAK,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC;IAC9B,MAAM,CAAC,GAAG,KAAK,GAAG,IAAI,CAAC;IACvB,MAAM,aAAa,GAAG,CAAC,CAAC,IAAI,EAAE,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IAC/C,OAAO,aAAa,CAAC;AACvB,CAAC;AAND,oDAMC;AAED,SAAgB,iBAAiB,CAAC,UAAkB;IAClD,SAAS,aAAa,CAAC,UAAkB;QACvC,MAAM,CAAC,GAAG,GAAG,GAAG,UAAU,CAAC;QAC3B,MAAM,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC;QACjD,MAAM,CAAC,GAAG,CAAC,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC;QACzB,OAAO,CAAC,CAAC,CAAC,MAAM,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACvC,CAAC;IACD,OAAO,GAAG,GAAG,aAAa,CAAC,UAAU,CAAC,GAAG,aAAa,CAAC,UAAU,CAAC,GAAG,aAAa,CAAC,UAAU,CAAC,CAAC;AACjG,CAAC;AARD,8CAQC;AAED,SAAgB,gBAAgB,CAAO,GAAc,EAAE,WAAc;IACnE,KAAK,IAAI,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,GAAG,CAAC,OAAO,EAAE,EAAE;QACtC,IAAI,KAAK,KAAK,WAAW,EAAE;YACzB,OAAO,GAAG,CAAC;SACZ;KACF;IACD,OAAO;AACT,CAAC;AAPD,4CAOC;AAED,SAAgB,cAAc,CAAI,GAAQ;IACxC,MAAM,cAAc,GAAG,IAAI,GAAG,EAAK,CAAC;IACpC,MAAM,UAAU,GAAG,IAAI,GAAG,EAAK,CAAC;IAEhC,KAAK,MAAM,IAAI,IAAI,GAAG,EAAE;QACtB,IAAI,cAAc,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE;YAC5B,UAAU,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;SACtB;aAAM;YACL,cAAc,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;SAC1B;KACF;IAED,OAAO,KAAK,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;AAChC,CAAC;AAbD,wCAaC;AAED,SAAgB,gBAAgB,CAAC,GAAW;IAC1C,OAAO,GAAG,CAAC,OAAO,CAAC,UAAU,EAAE,KAAK,CAAC,CAAC,WAAW,EAAE,CAAC;AACtD,CAAC;AAFD,4CAEC;AAED;;;;;;GAMG;AACH,SAAgB,SAAS,CAAC,KAAa,EAAE,QAAgB;IACvD,OAAO,KAAK,GAAG,CAAC,CAAC,CAAC,IAAI,QAAQ,CAAC,CAAC;AAClC,CAAC;AAFD,8BAEC;AAED;;;;;;GAMG;AACH,SAAgB,UAAU,CAAC,KAAa,EAAE,QAAgB;IACxD,OAAO,KAAK,GAAG,CAAC,CAAC,IAAI,QAAQ,CAAC,CAAC;AACjC,CAAC;AAFD,gCAEC"}
1	+ {"version":3,"file":"util.js","sourceRoot":"","sources":["../../../../../libs/motion-master-client/src/lib/util.ts"],"names":[],"mappings":";;;AACA,mCAGiB;AAEjB,SAAgB,kBAAkB,CAAC,IAAY;IAC7C,MAAM,EAAE,GAAG,8FAA8F,CAAC;IAC1G,MAAM,MAAM,GAAG,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAC7B,IAAI,MAAM,EAAE;QACV,OAAO;YACL,IAAI;YACJ,IAAI,EAAE,IAAI,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YACzB,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACxB,EAAE,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,EAAE;YACrC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACtB,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;YACvB,OAAO,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE;SAC1B,CAAC;KACH;IACD,OAAO;AACT,CAAC;AAfD,gDAeC;AAED,SAAgB,qBAAqB,CAAC,OAAe;IACnD,MAAM,EAAE,GAAG,yGAAyG,CAAC;IACrH,OAAO,OAAO,CAAC,KAAK,CAAC,EAAE,CAAC;SACrB,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,KAAK,EAAE,CAAC;SACvB,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,kBAAkB,CAAC,CAAC,CAAC,CAAC;SACjC,MAAM,CAAC,CAAC,CAAC,EAAsB,EAAE,CAAC,CAAC,KAAK,SAAS,CAAC,CAAC;AACxD,CAAC;AAND,sDAMC;AAED,SAAgB,qBAAqB,CAAC,UAAkB,EAAE,UAAkB,EAAE,aAAa,GAAG,IAAI,EAAE,aAAa,GAAG,CAAC,CAAC;IACpH,MAAM,QAAQ,GAAG,UAAU,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC;IACjD,MAAM,WAAW,GAAG,QAAQ,CAAC,EAAE,CAAC,aAAa,CAAC,CAAC;IAE/C,IAAI,WAAW,EAAE;QACf,MAAM,QAAQ,GAAG,UAAU,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC;QACjD,IAAI,CAAC,GAAG,QAAQ,CAAC,MAAM,GAAG,CAAC,CAAC;QAE5B,OAAO,CAAC,IAAI,CAAC,EAAE;YACb,IAAI,QAAQ,CAAC,CAAC,CAAC,KAAK,WAAW,EAAE;gBAC/B,MAAM;aACP;YACD,CAAC,EAAE,CAAC;SACL;QAED,IAAI,CAAC,IAAI,CAAC,EAAE;YACV,OAAO,QAAQ,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;SAClD;KACF;IAED,OAAO,UAAU,CAAC;AACpB,CAAC;AArBD,sDAqBC;AAED,6FAA6F;AAC7F,SAAgB,wCAAwC,CAAC,mBAAwC;IAC/F,OAAO,2BAAmB,CAAC,QAAQ,CAAC,mBAAmB,EAAE;QACvD,KAAK,EAAE,KAAK;QACZ,QAAQ,EAAE,IAAI;QACd,MAAM,EAAE,IAAI;QACZ,OAAO,EAAE,IAAI;QACb,MAAM,EAAE,IAAI;QACZ,IAAI,EAAE,IAAI,EAAE,uFAAuF;KACpG,CAAC,CAAC;AACL,CAAC;AATD,4FASC;AAED,SAAgB,yCAAyC,CAAC,mBAAyC,EAAE,SAAS,GAAG,eAAe;IAC9H,IAAI,IAAI,CAAC;IACT,IAAI,IAAI,CAAC;IAET,IAAI,mBAAmB,CAAC,OAAO,EAAE;QAC/B,IAAI,GAAG,SAAS,CAAC;QACjB,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,mBAAmB,CAAC,OAAO,CAAC,CAAC,IAAI,EAAE,CAAC;KACxD;SAAM,IAAI,mBAAmB,CAAC,MAAM,EAAE;QACrC,IAAI,GAAG,QAAQ,CAAC;QAChB,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,mBAAmB,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,CAAC;KACvD;IAED,OAAO,EAAE,SAAS,EAAE,mBAAmB,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC;AACxD,CAAC;AAbD,8FAaC;AAED,SAAgB,iBAAiB,CAAC,OAAmB;IACnD,MAAM,OAAO,GAAG,IAAI,WAAW,EAAE,CAAC;IAClC,MAAM,MAAM,GAAG,UAAU,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;IACxC,OAAO,OAAO,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;AAChC,CAAC;AAJD,8CAIC;AAED,SAAgB,YAAY,CAAC,EAAU,EAAE,KAAe;IACtD,OAAO,IAAI,OAAO,CAAC,UAAU,OAAO;QAClC,UAAU,CAAC,OAAO,CAAC,IAAI,CAAC,IAAI,EAAE,KAAK,CAAC,EAAE,EAAE,CAAC,CAAC;IAC5C,CAAC,CAAC,CAAC;AACL,CAAC;AAJD,oCAIC;AAED,SAAgB,oBAAoB,CAAC,KAAa;IAChD,MAAM,CAAC,GAAG,CAAC,KAAK,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC;IAC/B,MAAM,CAAC,GAAG,CAAC,KAAK,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC;IAC9B,MAAM,CAAC,GAAG,KAAK,GAAG,IAAI,CAAC;IACvB,MAAM,aAAa,GAAG,CAAC,CAAC,IAAI,EAAE,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IAC/C,OAAO,aAAa,CAAC;AACvB,CAAC;AAND,oDAMC;AAED,SAAgB,iBAAiB,CAAC,UAAkB;IAClD,SAAS,aAAa,CAAC,UAAkB;QACvC,MAAM,CAAC,GAAG,GAAG,GAAG,UAAU,CAAC;QAC3B,MAAM,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC;QACjD,MAAM,CAAC,GAAG,CAAC,CAAC,QAAQ,CAAC,EAAE,CAAC,CAAC;QACzB,OAAO,CAAC,CAAC,CAAC,MAAM,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACvC,CAAC;IACD,OAAO,GAAG,GAAG,aAAa,CAAC,UAAU,CAAC,GAAG,aAAa,CAAC,UAAU,CAAC,GAAG,aAAa,CAAC,UAAU,CAAC,CAAC;AACjG,CAAC;AARD,8CAQC;AAED,SAAgB,gBAAgB,CAAO,GAAc,EAAE,WAAc;IACnE,KAAK,IAAI,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,GAAG,CAAC,OAAO,EAAE,EAAE;QACtC,IAAI,KAAK,KAAK,WAAW,EAAE;YACzB,OAAO,GAAG,CAAC;SACZ;KACF;IACD,OAAO;AACT,CAAC;AAPD,4CAOC;AAED,SAAgB,cAAc,CAAI,GAAQ;IACxC,MAAM,cAAc,GAAG,IAAI,GAAG,EAAK,CAAC;IACpC,MAAM,UAAU,GAAG,IAAI,GAAG,EAAK,CAAC;IAEhC,KAAK,MAAM,IAAI,IAAI,GAAG,EAAE;QACtB,IAAI,cAAc,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE;YAC5B,UAAU,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;SACtB;aAAM;YACL,cAAc,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;SAC1B;KACF;IAED,OAAO,KAAK,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;AAChC,CAAC;AAbD,wCAaC;AAED,SAAgB,gBAAgB,CAAC,GAAW;IAC1C,OAAO,GAAG,CAAC,OAAO,CAAC,UAAU,EAAE,KAAK,CAAC,CAAC,WAAW,EAAE,CAAC;AACtD,CAAC;AAFD,4CAEC;AAED;;;;;;GAMG;AACH,SAAgB,SAAS,CAAC,KAAa,EAAE,QAAgB;IACvD,OAAO,KAAK,GAAG,CAAC,CAAC,CAAC,IAAI,QAAQ,CAAC,CAAC;AAClC,CAAC;AAFD,8BAEC;AAED;;;;;;GAMG;AACH,SAAgB,UAAU,CAAC,KAAa,EAAE,QAAgB;IACxD,OAAO,KAAK,GAAG,CAAC,CAAC,IAAI,QAAQ,CAAC,CAAC;AACjC,CAAC;AAFD,gCAEC;AAED;;;;;;;GAOG;AACH,SAAgB,aAAa,CAAC,CAAkB,EAAE,CAAC,GAAG,CAAC,EAAE,aAAa,GAAG,IAAI;IAC3E,IAAI,OAAO,CAAC,KAAK,QAAQ,EAAE;QACzB,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;KACnB;IAED,IAAI,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,IAAI,IAAI,CAAC,KAAK,SAAS,EAAE;QAC7C,OAAO,EAAE,CAAC;KACX;IAED,IAAI,MAAM,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE;QACvB,OAAO,CAAC,CAAC,OAAO,EAAE,CAAC;KACpB;IAED,MAAM,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,EAAE,CAAC,CAAC;IACxB,MAAM,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC;IACzB,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,oCAAoC;IACpC,OAAO,CAAC,EAAE,GAAG,CAAC,CAAC,MAAM,IAAI,CAAC,CAAC,CAAC,CAAC,KAAK,GAAG,EAAE,GAAG;IAC1C,IAAI,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;IACjC,IAAI,aAAa,EAAE;QACjB,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC;KAC1B;IACD,OAAO,CAAC,CAAC;AACX,CAAC;AAvBD,sCAuBC"}