roslib-ts 1.0.0-beta.5 → 1.0.0-beta.7

package/dist/index.cjs.js

@@ -835,6 +835,175 @@ class Param {
     }
 }
 
+class ActionClient extends EventEmitter {
+    constructor(options) {
+        super();
+        this.receivedStatus = false;
+        this.ros = options.ros;
+        this.serverName = options.serverName;
+        this.actionName = options.actionName;
+        this.timeout = options.timeout;
+        this.omitFeedback = options.omitFeedback;
+        this.omitStatus = options.omitStatus;
+        this.omitResult = options.omitResult;
+        this.goals = {};
+        // create the topics associated with actionlib
+        this.feedbackListener = new Topic({
+            ros: this.ros,
+            name: this.serverName + '/feedback',
+            messageType: this.actionName + 'Feedback'
+        });
+        this.statusListener = new Topic({
+            ros: this.ros,
+            name: this.serverName + '/status',
+            messageType: 'actionlib_msgs/GoalStatusArray'
+        });
+        this.resultListener = new Topic({
+            ros: this.ros,
+            name: this.serverName + '/result',
+            messageType: this.actionName + 'Result'
+        });
+        this.goalTopic = new Topic({
+            ros: this.ros,
+            name: this.serverName + '/goal',
+            messageType: this.actionName + 'Goal'
+        });
+        this.cancelTopic = new Topic({
+            ros: this.ros,
+            name: this.serverName + '/cancel',
+            messageType: 'actionlib_msgs/GoalID'
+        });
+        // advertise the goal and cancel topics
+        this.goalTopic.advertise();
+        this.cancelTopic.advertise();
+        // subscribe to the status topic
+        if (!this.omitStatus) {
+            this.statusListener.subscribe((statusMessage) => {
+                this.receivedStatus = true;
+                if (statusMessage.status_list) {
+                    statusMessage.status_list.forEach((status) => {
+                        const goal = this.goals[status.goal_id.id];
+                        if (goal) {
+                            goal.emit('status', status);
+                        }
+                    });
+                }
+            });
+        }
+        // subscribe the the feedback topic
+        if (!this.omitFeedback) {
+            this.feedbackListener.subscribe((feedbackMessage) => {
+                const goal = this.goals[feedbackMessage.status.goal_id.id];
+                if (goal) {
+                    goal.emit('status', feedbackMessage.status);
+                    goal.emit('feedback', feedbackMessage.feedback);
+                }
+            });
+        }
+        // subscribe to the result topic
+        if (!this.omitResult) {
+            this.resultListener.subscribe((resultMessage) => {
+                const goal = this.goals[resultMessage.status.goal_id.id];
+                if (goal) {
+                    goal.emit('status', resultMessage.status);
+                    goal.emit('result', resultMessage.result);
+                }
+            });
+        }
+        // If timeout specified, emit a 'timeout' event if the action server does not respond
+        if (this.timeout) {
+            setTimeout(() => {
+                if (!this.receivedStatus) {
+                    this.emit('timeout');
+                }
+            }, this.timeout);
+        }
+    }
+    /**
+     * Cancel all goals associated with this ActionClient.
+     */
+    cancel() {
+        const cancelMessage = {};
+        this.cancelTopic.publish(cancelMessage);
+    }
+    /**
+     * Unsubscribe and unadvertise all topics associated with this ActionClient.
+     */
+    dispose() {
+        this.goalTopic.unadvertise();
+        this.cancelTopic.unadvertise();
+        if (!this.omitStatus) {
+            this.statusListener.unsubscribe();
+        }
+        if (!this.omitFeedback) {
+            this.feedbackListener.unsubscribe();
+        }
+        if (!this.omitResult) {
+            this.resultListener.unsubscribe();
+        }
+    }
+}
+
+class Goal extends EventEmitter {
+    constructor(options) {
+        super();
+        this.isFinished = false;
+        this.actionClient = options.actionClient;
+        this.goalMessage = options.goalMessage;
+        // Used to create random IDs
+        const date = new Date();
+        // Create a random ID
+        this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
+        // Fill in the goal message
+        this.goalMessage = {
+            goal_id: {
+                stamp: {
+                    secs: 0,
+                    nsecs: 0
+                },
+                id: this.goalID
+            },
+            goal: this.goalMessage
+        };
+        this.on('status', (status) => {
+            this.status = status;
+        });
+        this.on('result', (result) => {
+            this.isFinished = true;
+            this.result = result;
+        });
+        this.on('feedback', (feedback) => {
+            this.feedback = feedback;
+        });
+        // Add the goal
+        this.actionClient.goals[this.goalID] = this;
+    }
+    /**
+     * Send the goal to the action server.
+     *
+     * @param timeout - A timeout length for the goal's result.
+     */
+    send(timeout) {
+        this.actionClient.goalTopic.publish(this.goalMessage);
+        if (timeout) {
+            setTimeout(() => {
+                if (!this.isFinished) {
+                    this.emit('timeout');
+                }
+            }, timeout);
+        }
+    }
+    /**
+     * Cancel the current goal.
+     */
+    cancel() {
+        const cancelMessage = {
+            id: this.goalID
+        };
+        this.actionClient.cancelTopic.publish(cancelMessage);
+    }
+}
+
 class TopicManager {
     constructor(ros) {
         this.topics = new Map();
@@ -846,8 +1015,9 @@ class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param callback 回调函数，当收到消息时调用
+     * @param config 订阅配置选项（可选）
      */
-    subscribe(name, messageType, callback) {
+    subscribe(name, messageType, callback, config) {
         if (!this.ros) {
             throw new Error("ros instance is not initialized");
         }
@@ -861,13 +1031,13 @@ class TopicManager {
             return;
         }
         // 创建新 topic
-        const topic = new Topic({ ros: this.ros, name, messageType });
+        const topic = new Topic(Object.assign({ ros: this.ros, name, messageType }, config));
         const callbacks = new Set();
         callbacks.add(callback);
         topic.subscribe((msg) => {
             callbacks.forEach((cb) => cb(msg));
         });
-        this.topics.set(name, { topic, callbacks, messageType });
+        this.topics.set(name, { topic, callbacks, messageType, config });
     }
     unsubscribe(name, callback) {
         const managed = this.topics.get(name);
@@ -895,7 +1065,7 @@ class TopicManager {
     }
     resubscribeAll(ros) {
         this.topics.forEach((managed, name) => {
-            const topic = new Topic({ ros, name, messageType: managed.messageType });
+            const topic = new Topic(Object.assign({ ros, name, messageType: managed.messageType }, managed.config));
             managed.topic = topic;
             topic.subscribe((msg) => {
                 managed.callbacks.forEach((cb) => cb(msg));
@@ -907,10 +1077,11 @@ class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param data 要发布的数据
+     * @param config 发布配置选项（可选）
      * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
      * @returns Promise，成功时解析为 undefined，失败时拒绝
      */
-    publish(name, messageType, data, queueWhenOffline = false) {
+    publish(name, messageType, data, config, queueWhenOffline = false) {
         return new Promise((resolve, reject) => {
             if (!this.ros) {
                 reject(new Error("ros instance is not initialized"));
@@ -930,11 +1101,8 @@ class TopicManager {
                 resolve(undefined);
                 return;
             }
-            const chatter = new Topic({
-                ros: this.ros,
-                name,
-                messageType,
-            });
+            const chatter = new Topic(Object.assign({ ros: this.ros, name,
+                messageType }, config));
             this.pubTopics.set(name, {
                 topic: chatter,
                 messageType,
@@ -1091,8 +1259,10 @@ class ParamManager {
     }
 }
 
+exports.ActionClient = ActionClient;
 exports.EnhancedRos = EnhancedRos;
 exports.EventEmitter = EventEmitter;
+exports.Goal = Goal;
 exports.Param = Param;
 exports.ParamManager = ParamManager;
 exports.Ros = Ros;

package/dist/index.cjs.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.cjs.js","sources":["../src/EventEmitter.ts","../src/Ros.ts","../src/EnhancedRos.ts","../src/Topic.ts","../src/ServiceRequest.ts","../src/Service.ts","../src/Param.ts","../src/RosManagers.ts"],"sourcesContent":[null,null,null,null,null,null,null,null],"names":["EnhancedRosState"],"mappings":";;AAAA;AACc,MAAO,YAAY,CAAA;AAAjC,IAAA,WAAA,GAAA;QACU,IAAA,CAAA,MAAM,GAAkC,EAAE;IA2DpD;IAzDE,EAAE,CAAC,KAAa,EAAE,QAAkB,EAAA;QAClC,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,EAAE;AACvB,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,GAAG,EAAE;QACzB;QACA,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC;AACjC,QAAA,OAAO,IAAI;IACb;IAEA,IAAI,CAAC,KAAa,EAAE,QAAkB,EAAA;AACpC,QAAA,MAAM,WAAW,GAAG,CAAC,GAAG,IAAW,KAAI;AACrC,YAAA,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,WAAW,CAAC;AAC5B,YAAA,QAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,IAAI,CAAC;AAC5B,QAAA,CAAC;AACD,QAAA,IAAI,CAAC,EAAE,CAAC,KAAK,EAAE,WAAW,CAAC;AAC3B,QAAA,OAAO,IAAI;IACb;IAEA,GAAG,CAAC,KAAa,EAAE,QAAmB,EAAA;AACpC,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;AAAE,YAAA,OAAO,IAAI;QAEpC,IAAI,CAAC,QAAQ,EAAE;AACb,YAAA,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;AACzB,YAAA,OAAO,IAAI;QACb;AAEA,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,QAAQ,CAAC;AAClD,QAAA,IAAI,KAAK,GAAG,EAAE,EAAE;AACd,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC,CAAC;QACrC;AACA,QAAA,OAAO,IAAI;IACb;AAEA,IAAA,IAAI,CAAC,KAAa,EAAE,GAAG,IAAW,EAAA;AAChC,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;AAAE,YAAA,OAAO,KAAK;QAErC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,QAAQ,IAAG;AACpC,YAAA,IAAI;AACF,gBAAA,QAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,IAAI,CAAC;YAC5B;YAAE,OAAO,KAAK,EAAE;AACd,gBAAA,OAAO,CAAC,KAAK,CAAC,0BAA0B,EAAE,KAAK,CAAC;YAClD;AACF,QAAA,CAAC,CAAC;AACF,QAAA,OAAO,IAAI;IACb;AAEA,IAAA,kBAAkB,CAAC,KAAc,EAAA;QAC/B,IAAI,KAAK,EAAE;AACT,YAAA,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;QAC3B;aAAO;AACL,YAAA,IAAI,CAAC,MAAM,GAAG,EAAE;QAClB;AACA,QAAA,OAAO,IAAI;IACb;AAEA,IAAA,aAAa,CAAC,KAAa,EAAA;QACzB,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,MAAM,GAAG,CAAC;IAC3D;AACD;;AC5Ca,MAAO,GAAI,SAAQ,YAAY,CAAA;AAM3C,IAAA,WAAA,CAAY,UAAsB,EAAE,EAAA;AAClC,QAAA,KAAK,EAAE;QAND,IAAA,CAAA,MAAM,GAAqB,IAAI;QAC/B,IAAA,CAAA,YAAY,GAAG,KAAK;QACpB,IAAA,CAAA,SAAS,GAAG,CAAC;AAKnB,QAAA,IAAI,CAAC,OAAO,GAAG,OAAO;AAEtB,QAAA,IAAI,OAAO,CAAC,GAAG,EAAE;AACf,YAAA,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,GAAG,CAAC;QAC3B;IACF;AAEA,IAAA,IAAI,WAAW,GAAA;QACb,OAAO,IAAI,CAAC,YAAY;IAC1B;AAEA,IAAA,OAAO,CAAC,GAAW,EAAA;;QACjB,IAAI,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,IAAI,IAAI,CAAC,MAAM,CAAC,GAAG,KAAK,GAAG,EAAE;YACvF;QACF;AAEA,QAAA,IAAI,IAAI,CAAC,MAAM,EAAE;YACf,IAAI,CAAC,KAAK,EAAE;QACd;AAEA,QAAA,IAAI;YACF,MAAM,EAAE,GAAG,CAAA,EAAA,GAAA,CAAA,EAAA,GAAA,IAAI,CAAC,OAAO,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,KAAA,CAAA,GAAA,EAAA,CAAE,SAAS,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,EAAA,GAAI,SAAS;YAC/C,IAAI,CAAC,MAAM,GAAG,IAAI,EAAE,CAAC,GAAG,CAAC;AAEzB,YAAA,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,MAAK;AACxB,gBAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,gBAAA,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC;AACzB,YAAA,CAAC;AAED,YAAA,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,MAAK;AACzB,gBAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AACzB,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC;AACpB,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,CAAC,KAAK,KAAI;AAC9B,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;AAC3B,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,SAAS,GAAG,CAAC,KAAK,KAAI;AAChC,gBAAA,IAAI,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,CAAC;AAChC,YAAA,CAAC;QAEH;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;QAC3B;IACF;IAEA,KAAK,GAAA;AACH,QAAA,IAAI,IAAI,CAAC,MAAM,EAAE;AACf,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE;AACnB,YAAA,IAAI,CAAC,MAAM,GAAG,IAAI;QACpB;AACA,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;IAC3B;AAEQ,IAAA,aAAa,CAAC,IAAY,EAAA;AAChC,QAAA,IAAI;YACF,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC;AAEhC,YAAA,IAAI,OAAO,CAAC,EAAE,KAAK,SAAS,EAAE;;gBAE5B,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,GAAG,CAAC;YACvC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,kBAAkB,EAAE;;gBAE5C,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;YAChC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,QAAQ,EAAE;;AAElC,gBAAA,IAAI,OAAO,CAAC,EAAE,EAAE;oBACd,IAAI,CAAC,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;gBAC5C;qBAAO;AACL,oBAAA,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,OAAO,CAAC;gBAC9B;YACF;QACF;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,OAAO,CAAC,KAAK,CAAC,wBAAwB,EAAE,KAAK,CAAC;QAChD;IACF;AAEA,IAAA,gBAAgB,CAAC,OAAY,EAAA;QAC3B,MAAM,UAAU,GAAG,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC;QAE1C,IAAI,IAAI,CAAC,YAAY,IAAI,IAAI,CAAC,MAAM,EAAE;AACpC,YAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;QAC9B;aAAO;;AAEL,YAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE,MAAK;AAC3B,gBAAA,IAAI,IAAI,CAAC,MAAM,EAAE;AACf,oBAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;gBAC9B;AACF,YAAA,CAAC,CAAC;QACJ;IACF;IAEA,SAAS,GAAA;QACP,OAAO,CAAC,EAAE,IAAI,CAAC,SAAS,EAAE,QAAQ,EAAE;IACtC;AACD;;ACzHD;;AAEG;AAOH;;AAEG;AACSA;AAAZ,CAAA,UAAY,gBAAgB,EAAA;;AAE1B,IAAA,gBAAA,CAAA,MAAA,CAAA,GAAA,MAAa;;AAEb,IAAA,gBAAA,CAAA,YAAA,CAAA,GAAA,YAAyB;;AAEzB,IAAA,gBAAA,CAAA,WAAA,CAAA,GAAA,WAAuB;;AAEvB,IAAA,gBAAA,CAAA,cAAA,CAAA,GAAA,cAA6B;;AAE7B,IAAA,gBAAA,CAAA,QAAA,CAAA,GAAA,QAAiB;;AAEjB,IAAA,gBAAA,CAAA,OAAA,CAAA,GAAA,OAAe;AACjB,CAAC,EAbWA,wBAAgB,KAAhBA,wBAAgB,GAAA,EAAA,CAAA,CAAA;AAiC5B;;;AAGG;AACW,MAAO,WAAY,SAAQ,YAAY,CAAA;AAsCnD;;;AAGG;AACH,IAAA,WAAA,CAAY,UAA8B,EAAE,EAAA;;AAC1C,QAAA,KAAK,EAAE;;QAzCD,IAAA,CAAA,MAAM,GAAqB,IAAI;;QAE/B,IAAA,CAAA,SAAS,GAAG,CAAC;;AAKb,QAAA,IAAA,CAAA,MAAM,GAAqBA,wBAAgB,CAAC,IAAI;;QAEjD,IAAA,CAAA,UAAU,GAAkB,IAAI;;QAG/B,IAAA,CAAA,YAAY,GAAU,EAAE;;QAExB,IAAA,CAAA,cAAc,GAAyC,IAAI;;QAS3D,IAAA,CAAA,cAAc,GAA0C,IAAI;;QAM5D,IAAA,CAAA,qBAAqB,GAAkB,IAAI;;QAG3C,IAAA,CAAA,WAAW,GAAG,KAAK;;QAEnB,IAAA,CAAA,iBAAiB,GAAG,CAAC;AAQ3B,QAAA,IAAI,CAAC,OAAO,GAAG,OAAO;;QAGtB,IAAI,CAAC,mBAAmB,GAAG,CAAA,EAAA,GAAA,OAAO,CAAC,mBAAmB,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,IAAI;QAC9D,IAAI,CAAC,mBAAmB,GAAG,CAAA,EAAA,GAAA,OAAO,CAAC,mBAAmB,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,KAAK;AAC/D,QAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB;;QAGhD,IAAI,CAAC,mBAAmB,GAAG,CAAA,EAAA,GAAA,OAAO,CAAC,qBAAqB,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,CAAC;AAC7D,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,YAAY;;AAGvC,QAAA,IAAI,OAAO,CAAC,GAAG,EAAE;AACf,YAAA,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,GAAG,CAAC;QAC3B;IACF;;AAGA,IAAA,IAAI,KAAK,GAAA;QACP,OAAO,IAAI,CAAC,MAAM;IACpB;;AAGA,IAAA,IAAI,WAAW,GAAA;AACb,QAAA,OAAO,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS;IACnD;AAEA;;;AAGG;AACH,IAAA,OAAO,CAAC,GAAW,EAAA;;AAEjB,QAAA,IACE,IAAI,CAAC,UAAU,KAAK,GAAG;AACvB,aAAC,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,UAAU,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS,CAAC,EAC3F;YACA;QACF;;AAGA,QAAA,IAAI,CAAC,iBAAiB,IAAI,CAAC;QAC3B,IAAI,CAAC,iBAAiB,EAAE;AACxB,QAAA,IAAI,CAAC,UAAU,GAAG,GAAG;AACrB,QAAA,IAAI,CAAC,WAAW,GAAG,KAAK;AACxB,QAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,IAAI,CAAC;AACpC,QAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,UAAU,CAAC;AAC1C,QAAA,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC;IACtB;AAEA;;AAEG;IACH,KAAK,GAAA;AACH,QAAA,IAAI,CAAC,iBAAiB,IAAI,CAAC;AAC3B,QAAA,IAAI,CAAC,WAAW,GAAG,IAAI;QACvB,IAAI,CAAC,mBAAmB,EAAE;QAC1B,IAAI,CAAC,aAAa,EAAE;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,EAAE;AACtB,QAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,MAAM,CAAC;QACtC,IAAI,CAAC,WAAW,EAAE;IACpB;AAEA;;;AAGG;AACH,IAAA,gBAAgB,CAAC,OAAY,EAAA;QAC3B,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;AAC3G,YAAA,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,OAAO,CAAC;YAC/B;QACF;AAEA,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC;IACpB;AAEA;;AAEG;IACH,SAAS,GAAA;QACP,OAAO,CAAC,EAAE,IAAI,CAAC,SAAS,EAAE,QAAQ,EAAE;IACtC;;;AAKQ,IAAA,QAAQ,CAAC,IAAsB,EAAA;AACrC,QAAA,IAAI,IAAI,CAAC,MAAM,KAAK,IAAI;YAAE;AAC1B,QAAA,IAAI,CAAC,MAAM,GAAG,IAAI;AAClB,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC;IAC1B;;IAGQ,iBAAiB,GAAA;QACvB,IAAI,CAAC,mBAAmB,EAAE;QAC1B,IAAI,CAAC,aAAa,EAAE;QACpB,IAAI,CAAC,WAAW,EAAE;AAClB,QAAA,IAAI,CAAC,YAAY,GAAG,EAAE;AACtB,QAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB;AAChD,QAAA,IAAI,CAAC,qBAAqB,GAAG,IAAI;IACnC;;IAGQ,mBAAmB,GAAA;QACzB,IAAI,CAAC,IAAI,CAAC,cAAc;YAAE;AAC1B,QAAA,YAAY,CAAC,IAAI,CAAC,cAAc,CAAC;AACjC,QAAA,IAAI,CAAC,cAAc,GAAG,IAAI;IAC5B;;AAGQ,IAAA,UAAU,CAAC,GAAW,EAAA;;AAC5B,QAAA,IAAI;YACF,MAAM,EAAE,GAAG,CAAA,EAAA,GAAA,CAAA,EAAA,GAAA,IAAI,CAAC,OAAO,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,KAAA,CAAA,GAAA,EAAA,CAAE,SAAS,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,EAAA,GAAI,SAAS;YAC/C,IAAI,CAAC,MAAM,GAAG,IAAI,EAAE,CAAC,GAAG,CAAC;AACzB,YAAA,MAAM,UAAU,GAAG,IAAI,CAAC,iBAAiB,CAAC;AAE1C,YAAA,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,MAAK;;AAExB,gBAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB;AAChD,gBAAA,IAAI,CAAC,qBAAqB,GAAG,IAAI,CAAC,GAAG,EAAE;AACvC,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,SAAS,CAAC;AACzC,gBAAA,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC;gBACvB,IAAI,CAAC,cAAc,EAAE;gBACrB,IAAI,CAAC,UAAU,EAAE;AACnB,YAAA,CAAC;AAED,YAAA,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,MAAK;AACzB,gBAAA,IAAI,UAAU,KAAK,IAAI,CAAC,iBAAiB;oBAAE;gBAC3C,IAAI,CAAC,aAAa,EAAE;AACpB,gBAAA,IAAI,CAAC,MAAM,GAAG,IAAI;AAClB,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC;AAElB,gBAAA,IAAI,IAAI,CAAC,WAAW,EAAE;;AAEpB,oBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,MAAM,CAAC;oBACtC;gBACF;;AAGA,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,YAAY,CAAC;gBAC5C,IAAI,CAAC,iBAAiB,EAAE;AAC1B,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,CAAC,KAAK,KAAI;AAC9B,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;AACzB,gBAAA,IAAI,CAAC,IAAI,CAAC,WAAW,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,UAAU,EAAE;;AAEpE,oBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,YAAY,CAAC;gBAC9C;AACF,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,SAAS,GAAG,CAAC,KAAK,KAAI;AAChC,gBAAA,IAAI,CAAC,qBAAqB,GAAG,IAAI,CAAC,GAAG,EAAE;AACvC,gBAAA,IAAI,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,CAAC;AAChC,YAAA,CAAC;QACH;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;AACzB,YAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,KAAK,CAAC;QACvC;IACF;;IAGQ,WAAW,GAAA;QACjB,IAAI,CAAC,IAAI,CAAC,MAAM;YAAE;AAClB,QAAA,IAAI;AACF,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE;QACrB;gBAAU;AACR,YAAA,IAAI,CAAC,MAAM,GAAG,IAAI;QACpB;IACF;;IAGQ,iBAAiB,GAAA;AACvB,QAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;AACpB,YAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,KAAK,CAAC;YACrC;QACF;AAEA,QAAA,MAAM,UAAU,GAAG,IAAI,CAAC,iBAAiB;AACzC,QAAA,MAAM,OAAO,GAAG,IAAI,CAAC,gBAAgB;QACrC,IAAI,CAAC,mBAAmB,EAAE;AAE1B,QAAA,IAAI,CAAC,cAAc,GAAG,UAAU,CAAC,MAAK;YACpC,IAAI,IAAI,CAAC,WAAW;gBAAE;AACtB,YAAA,IAAI,UAAU,KAAK,IAAI,CAAC,iBAAiB;AAAE,gBAAA,OAAO;AAClD,YAAA,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,YAAY;gBAAE;AACnD,YAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;AACpB,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,KAAK,CAAC;gBACrC;YACF;;;;;;;AAQA,YAAA,IAAI,CAAC,iBAAiB,IAAI,CAAC;AAC3B,YAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,UAAU,CAAC;AAC1C,YAAA,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,UAAU,CAAC;;YAEhC,IAAI,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB,EAAE;AACpD,gBAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,mBAAmB,EAAE,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;YACvF;;QAEF,CAAC,EAAE,OAAO,CAAC;IACb;;IAGQ,cAAc,GAAA;QACpB,IAAI,CAAC,aAAa,EAAE;AACpB,QAAA,IAAI,IAAI,CAAC,mBAAmB,IAAI,CAAC;YAAE;AAEnC,QAAA,IAAI,CAAC,cAAc,GAAG,WAAW,CAAC,MAAK;AACrC,YAAA,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS;gBAAE;AAChD,YAAA,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI;gBAAE;AAE/D,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,EAAE;AACtB,YAAA,MAAM,IAAI,GAAG,IAAI,CAAC,qBAAqB;;AAEvC,YAAA,IAAI,IAAI,IAAI,GAAG,GAAG,IAAI,GAAG,IAAI,CAAC,mBAAmB,GAAG,CAAC,EAAE;AACrD,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,YAAY,CAAC;AAC5C,gBAAA,IAAI;oBACF,IAAI,CAAC,WAAW,EAAE;gBACpB;gBAAE,OAAA,EAAA,EAAM,EAAC;;;;gBAIT;YACF;;AAGA,YAAA,IAAG,IAAI,CAAC,WAAW,EAAE;gBACnB,IAAI,CAAC,WAAW,EAAE;YACpB;iBAAO;;AAEL,gBAAA,IAAI,CAAC,IAAI,CAAC,EAAC,EAAE,EAAE,cAAc,EAAE,EAAE,EAAE,IAAI,CAAC,SAAS,EAAE,EAAE,OAAO,EAAE,kBAAkB,EAAE,IAAI,EAAE,gBAAgB,EAAE,IAAI,EAAE,EAAE,EAAC,CAAC;YACtH;AACF,QAAA,CAAC,EAAE,IAAI,CAAC,mBAAmB,CAAC;IAC9B;;IAGQ,aAAa,GAAA;QACnB,IAAI,CAAC,IAAI,CAAC,cAAc;YAAE;AAC1B,QAAA,aAAa,CAAC,IAAI,CAAC,cAAc,CAAC;AAClC,QAAA,IAAI,CAAC,cAAc,GAAG,IAAI;IAC5B;;IAGQ,UAAU,GAAA;QAChB,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;YAC3G;QACF;AACA,QAAA,IAAI,IAAI,CAAC,YAAY,CAAC,MAAM,KAAK,CAAC;YAAE;AAEpC,QAAA,MAAM,OAAO,GAAG,IAAI,CAAC,YAAY;AACjC,QAAA,IAAI,CAAC,YAAY,GAAG,EAAE;AACtB,QAAA,KAAK,MAAM,GAAG,IAAI,OAAO,EAAE;AACzB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC;QAChB;IACF;;AAGQ,IAAA,IAAI,CAAC,OAAY,EAAA;AACvB,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;;AAE7D,YAAA,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,OAAO,CAAC;YAC/B;QACF;QACA,MAAM,UAAU,GAAG,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC;AAC1C,QAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;IAC9B;AAEO,IAAA,IAAI,CAAC,OAAY,EAAA;AACtB,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;YAC7D;QACF;QACA,MAAM,UAAU,GAAG,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC;AAC1C,QAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;IAC9B;;AAGQ,IAAA,aAAa,CAAC,IAAY,EAAA;AAChC,QAAA,IAAI;YACF,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC;AAEhC,YAAA,IAAI,OAAO,CAAC,EAAE,KAAK,SAAS,EAAE;;gBAE5B,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,GAAG,CAAC;YACvC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,kBAAkB,EAAE;;gBAE5C,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;YAChC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,QAAQ,EAAE;;AAElC,gBAAA,IAAI,OAAO,CAAC,EAAE,EAAE;oBACd,IAAI,CAAC,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;gBAC5C;qBAAO;AACL,oBAAA,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,OAAO,CAAC;gBAC9B;YACF;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,iBAAiB,EAAE;;gBAE3C,IAAI,CAAC,IAAI,CAAC,kBAAkB,GAAG,OAAO,CAAC,OAAO,EAAE,OAAO,CAAC;YAC1D;QACF;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,OAAO,CAAC,KAAK,CAAC,wBAAwB,EAAE,KAAK,CAAC;QAChD;IACF;AACD;;AClYa,MAAO,KAAM,SAAQ,YAAY,CAAA;AAoB7C,IAAA,WAAA,CAAY,OAAqB,EAAA;AAC/B,QAAA,KAAK,EAAE;QAPD,IAAA,CAAA,YAAY,GAAG,KAAK;QACpB,IAAA,CAAA,YAAY,GAAG,KAAK;;QAyJpB,IAAA,CAAA,YAAY,GAAG,MAAK;AAC1B,YAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AACzB,YAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AAC3B,QAAA,CAAC;AApJC,QAAA,IAAI,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG;AACtB,QAAA,IAAI,CAAC,IAAI,GAAG,OAAO,CAAC,IAAI;AACxB,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW;AACtC,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW;AACtC,QAAA,IAAI,CAAC,aAAa,GAAG,OAAO,CAAC,aAAa;AAC1C,QAAA,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU;AACpC,QAAA,IAAI,CAAC,KAAK,GAAG,OAAO,CAAC,KAAK;AAC1B,QAAA,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,YAAY;;AAGxC,QAAA,IAAI,CAAC,iBAAiB,GAAG,MAAK;AAC5B,YAAA,IAAI,IAAI,CAAC,YAAY,EAAE;gBACrB,IAAI,CAAC,cAAc,EAAE;YACvB;AACA,YAAA,IAAI,IAAI,CAAC,YAAY,EAAE;gBACrB,IAAI,CAAC,cAAc,EAAE;YACvB;AACF,QAAA,CAAC;IACH;;IAGQ,cAAc,GAAA;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,QAAA,MAAM,gBAAgB,GAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,EACpB,EAAE,EAAE,WAAW,EACf,EAAE,EAAE,YAAY,GAAG,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,EACzD,KAAK,EAAE,IAAI,CAAC,IAAI,EAChB,IAAI,EAAE,IAAI,CAAC,WAAW,EAAA,GAClB,IAAI,CAAC,WAAW,IAAI,EAAE,WAAW,EAAE,IAAI,CAAC,WAAW,EAAE,EAAC,GACtD,IAAI,CAAC,aAAa,IAAI,EAAE,aAAa,EAAE,IAAI,CAAC,aAAa,EAAE,EAAC,GAC5D,IAAI,CAAC,YAAY,IAAI,EAAE,YAAY,EAAE,IAAI,CAAC,YAAY,EAAE,EAC7D;AACD,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,gBAAgB,CAAC;IAC7C;;IAGQ,cAAc,GAAA;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,QAAA,IAAI,CAAC,WAAW,GAAG,YAAY,GAAG,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE;QACxE,MAAM,gBAAgB,GAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,EACpB,EAAE,EAAE,WAAW,EACf,EAAE,EAAE,IAAI,CAAC,WAAW,EACpB,KAAK,EAAE,IAAI,CAAC,IAAI,EAChB,IAAI,EAAE,IAAI,CAAC,WAAW,EAAA,GAClB,IAAI,CAAC,KAAK,IAAI,EAAE,KAAK,EAAE,IAAI,CAAC,KAAK,EAAE,EAAC,GACpC,IAAI,CAAC,UAAU,IAAI,EAAE,UAAU,EAAE,IAAI,CAAC,UAAU,EAAE,EACvD;AACD,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,gBAAgB,CAAC;IAC7C;AAEA;;;AAGG;AACH,IAAA,SAAS,CAAC,QAAiC,EAAA;QACzC,IAAI,IAAI,CAAC,YAAY;YAAE;;QAGvB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;;QAGxC,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QACjD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;;QAGvC,IAAI,CAAC,cAAc,EAAE;;AAGrB,QAAA,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC,OAAY,KAAI;AACtC,YAAA,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE,OAAO,CAAC;AAC7B,YAAA,IAAI,QAAQ;gBAAE,QAAQ,CAAC,OAAO,CAAC;AACjC,QAAA,CAAC,CAAC;IACJ;;IAGA,WAAW,GAAA;QACT,IAAI,CAAC,IAAI,CAAC,YAAY;YAAE;AAExB,QAAA,MAAM,kBAAkB,GAAG;AACzB,YAAA,EAAE,EAAE,aAAa;YACjB,KAAK,EAAE,IAAI,CAAC,IAAI;SACjB;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,kBAAkB,CAAC;AAC7C,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;;QAIzB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC;AACvB,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;YACtB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;YAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QAC1C;IACF;;IAGA,SAAS,GAAA;QACP,IAAI,IAAI,CAAC,YAAY;YAAE;QAEvB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QACjD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QAEvC,IAAI,CAAC,cAAc,EAAE;IACvB;;IAGA,WAAW,GAAA;QACT,IAAI,CAAC,IAAI,CAAC,YAAY;YAAE;AAExB,QAAA,MAAM,kBAAkB,GAAG;AACzB,YAAA,EAAE,EAAE,aAAa;YACjB,EAAE,EAAE,IAAI,CAAC,WAAY;YACrB,KAAK,EAAE,IAAI,CAAC,IAAI;SACjB;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,kBAAkB,CAAC;AAC7C,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;;AAGzB,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;YACtB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;YAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QAC1C;IACF;;AAGA,IAAA,OAAO,CAAC,OAAY,EAAA;AAClB,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;YACtB,IAAI,CAAC,SAAS,EAAE;QAClB;AAEA,QAAA,MAAM,cAAc,GAAG;AACrB,YAAA,EAAE,EAAE,SAAS;AACb,YAAA,EAAE,EAAE,UAAU,GAAG,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE;YACvD,KAAK,EAAE,IAAI,CAAC,IAAI;AAChB,YAAA,GAAG,EAAE,OAAO;YACZ,KAAK,EAAE,IAAI,CAAC,KAAK;SAClB;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,cAAc,CAAC;IAC3C;AAOD;;AC1La,MAAO,cAAc,CAAA;AAGjC,IAAA,WAAA,CAAY,MAA+B,EAAA;QACzC,IAAI,MAAM,EAAE;AACV,YAAA,MAAM,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC;QAC7B;IACF;AACD;MAEY,eAAe,CAAA;AAG1B,IAAA,WAAA,CAAY,MAA+B,EAAA;QACzC,IAAI,MAAM,EAAE;AACV,YAAA,MAAM,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC;QAC7B;IACF;AACD;;ACRa,MAAO,OAAQ,SAAQ,YAAY,CAAA;AAU/C,IAAA,WAAA,CAAY,OAAuB,EAAA;AACjC,QAAA,KAAK,EAAE;QAPD,IAAA,CAAA,YAAY,GAAG,KAAK;;QAKpB,IAAA,CAAA,uBAAuB,GAAyE,IAAI;;QAiJpG,IAAA,CAAA,YAAY,GAAG,MAAK;AAC1B,YAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AAC3B,QAAA,CAAC;AA/IC,QAAA,IAAI,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG;AACtB,QAAA,IAAI,CAAC,IAAI,GAAG,OAAO,CAAC,IAAI;AACxB,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW;;AAEtC,QAAA,IAAI,CAAC,iBAAiB,GAAG,MAAK;YAC5B,IAAI,IAAI,CAAC,YAAY,IAAI,IAAI,CAAC,uBAAuB,EAAE;gBACrD,IAAI,CAAC,cAAc,EAAE;YACvB;AACF,QAAA,CAAC;IACH;AAEA,IAAA,WAAW,CAAC,OAAuB,EAAE,QAA8C,EAAE,cAAqC,EAAA;QACxH,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;YACrC,MAAM,SAAS,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE;AAEtC,YAAA,MAAM,cAAc,GAAG;AACrB,gBAAA,EAAE,EAAE,cAAc;AAClB,gBAAA,EAAE,EAAE,SAAS;gBACb,OAAO,EAAE,IAAI,CAAC,IAAI;gBAClB,IAAI,EAAE,IAAI,CAAC,WAAW;AACtB,gBAAA,IAAI,EAAE;aACP;;AAGD,YAAA,MAAM,eAAe,GAAG,CAAC,OAAY,KAAI;;AACvC,gBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,SAAS,EAAE;oBAC5B,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,SAAS,EAAE,eAAe,CAAC;;AAGxC,oBAAA,IAAI,OAAO,CAAC,MAAM,KAAK,KAAK,EAAE;AAC5B,wBAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CACrB,OAAO,CAAC,KAAK,IAAI,WAAW,IAAI,CAAC,IAAI,CAAA,YAAA,CAAc,CACpD;AACD,wBAAA,cAAc,aAAd,cAAc,KAAA,MAAA,GAAA,MAAA,GAAd,cAAc,CAAG,KAAK,CAAC;wBACvB,MAAM,CAAC,KAAK,CAAC;wBACb;oBACF;;AAGA,oBAAA,IAAI,OAAO,CAAC,MAAM,KAAK,SAAS,EAAE;AAChC,wBAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,0BAA0B,CAAC;AACnD,wBAAA,cAAc,aAAd,cAAc,KAAA,MAAA,GAAA,MAAA,GAAd,cAAc,CAAG,KAAK,CAAC;wBACvB,MAAM,CAAC,KAAK,CAAC;wBACb;oBACF;;AAGA,oBAAA,MAAM,QAAQ,GAAG,IAAI,eAAe,CAAC,CAAA,EAAA,GAAA,OAAO,CAAC,MAAM,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,EAAE,CAAC;AAC1D,oBAAA,QAAQ,aAAR,QAAQ,KAAA,MAAA,GAAA,MAAA,GAAR,QAAQ,CAAG,QAAQ,CAAC;oBACpB,OAAO,CAAC,QAAQ,CAAC;gBACnB;AACF,YAAA,CAAC;YAED,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,SAAS,EAAE,eAAe,CAAC;AACvC,YAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,cAAc,CAAC;AAC3C,QAAA,CAAC,CAAC;IACJ;;IAEQ,cAAc,GAAA;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,QAAA,MAAM,gBAAgB,GAAG;AACvB,YAAA,EAAE,EAAE,mBAAmB;YACvB,IAAI,EAAE,IAAI,CAAC,WAAW;YACtB,OAAO,EAAE,IAAI,CAAC;SACf;AACD,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,gBAAgB,CAAC;IAC7C;AACA;;;AAGG;AACH,IAAA,SAAS,CAAC,QAAqE,EAAA;QAC7E,IAAI,IAAI,CAAC,YAAY;YAAE;AAEvB,QAAA,IAAI,CAAC,uBAAuB,GAAG,QAAQ;;QAGvC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QACxC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,CAAC;;QAG5C,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QACjD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;;AAGvC,QAAA,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC,OAAY,KAAI;YAC3D,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC,OAAO,CAAC,IAAI,CAAC;AAChD,YAAA,MAAM,QAAQ,GAAG,IAAI,eAAe,EAAE;AAEtC,YAAA,IAAI;gBACF,MAAM,MAAM,GAAG,QAAQ,CAAC,OAAO,EAAE,QAAQ,CAAC;AAE1C,gBAAA,MAAM,eAAe,GAAG;AACtB,oBAAA,EAAE,EAAE,kBAAkB;oBACtB,OAAO,EAAE,IAAI,CAAC,IAAI;oBAClB,EAAE,EAAE,OAAO,CAAC,EAAE;AACd,oBAAA,MAAM,EAAE,QAAQ;oBAChB,MAAM,EAAE,MAAM,KAAK;iBACpB;AAED,gBAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,eAAe,CAAC;YAC5C;YAAE,OAAO,KAAK,EAAE;AACd,gBAAA,MAAM,YAAY,GAAG;AACnB,oBAAA,EAAE,EAAE,kBAAkB;oBACtB,OAAO,EAAE,IAAI,CAAC,IAAI;oBAClB,EAAE,EAAE,OAAO,CAAC,EAAE;AACd,oBAAA,MAAM,EAAE,KAAK;AACb,oBAAA,KAAK,EAAE,KAAK,YAAY,KAAK,GAAG,KAAK,CAAC,OAAO,GAAG;iBACjD;AAED,gBAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,YAAY,CAAC;YACzC;AACF,QAAA,CAAC,CAAC;;QAGF,IAAI,CAAC,cAAc,EAAE;IACvB;AAEA;;AAEG;IACH,WAAW,GAAA;QACT,IAAI,CAAC,IAAI,CAAC,YAAY;YAAE;AAExB,QAAA,MAAM,kBAAkB,GAAG;AACzB,YAAA,EAAE,EAAE,qBAAqB;YACzB,OAAO,EAAE,IAAI,CAAC;SACf;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,kBAAkB,CAAC;AAC7C,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AACzB,QAAA,IAAI,CAAC,uBAAuB,GAAG,IAAI;;QAGnC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,CAAC;QAC5C,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;IAC1C;AAMD;;AC9Ja,MAAO,KAAK,CAAA;AAIxB,IAAA,WAAA,CAAY,OAAqB,EAAA;AAC/B,QAAA,IAAI,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG;AACtB,QAAA,IAAI,CAAC,IAAI,GAAG,OAAO,CAAC,IAAI;IAC1B;AAEA,IAAA,GAAG,CAAC,QAA+B,EAAA;QACjC,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;gBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,gBAAA,IAAI,EAAE,mBAAmB;AACzB,gBAAA,WAAW,EAAE;AACd,aAAA,CAAC;AAEF,YAAA,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC;gBACjC,IAAI,EAAE,IAAI,CAAC,IAAI;AACf,gBAAA,OAAO,EAAE;AACV,aAAA,CAAC;YAEF,OAAO,CAAC,WAAW,CAAC,OAAO,EAAE,CAAC,QAAa,KAAI;AAC7C,gBAAA,IAAI,QAAQ;AAAE,oBAAA,QAAQ,CAAC,QAAQ,CAAC,KAAK,CAAC;AACtC,gBAAA,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAC;AACzB,YAAA,CAAC,EAAE,CAAC,KAAU,KAAI;gBAChB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;IAEA,GAAG,CAAC,KAAU,EAAE,QAAqB,EAAA;QACnC,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;gBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,gBAAA,IAAI,EAAE,mBAAmB;AACzB,gBAAA,WAAW,EAAE;AACd,aAAA,CAAC;AAEF,YAAA,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC;gBACjC,IAAI,EAAE,IAAI,CAAC,IAAI;AACf,gBAAA,KAAK,EAAE,IAAI,CAAC,SAAS,CAAC,KAAK;AAC5B,aAAA,CAAC;AAEF,YAAA,OAAO,CAAC,WAAW,CAAC,OAAO,EAAE,MAAK;AAChC,gBAAA,IAAI,QAAQ;AAAE,oBAAA,QAAQ,EAAE;AACxB,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC,EAAE,CAAC,KAAU,KAAI;gBAChB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;AAEA,IAAA,MAAM,CAAC,QAAqB,EAAA;QAC1B,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;gBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,gBAAA,IAAI,EAAE,sBAAsB;AAC5B,gBAAA,WAAW,EAAE;AACd,aAAA,CAAC;AAEF,YAAA,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC;gBACjC,IAAI,EAAE,IAAI,CAAC;AACZ,aAAA,CAAC;AAEF,YAAA,OAAO,CAAC,WAAW,CAAC,OAAO,EAAE,MAAK;AAChC,gBAAA,IAAI,QAAQ;AAAE,oBAAA,QAAQ,EAAE;AACxB,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC,EAAE,CAAC,KAAU,KAAI;gBAChB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;AACD;;MCpEY,YAAY,CAAA;AAKvB,IAAA,WAAA,CAAY,GAAgB,EAAA;AAJpB,QAAA,IAAA,CAAA,MAAM,GAA8B,IAAI,GAAG,EAAE;AAC7C,QAAA,IAAA,CAAA,SAAS,GAAkD,IAAI,GAAG,EAAE;AAI1E,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG;IAChB;AACA;;;;;AAKG;AACH,IAAA,SAAS,CAAC,IAAY,EAAE,WAAmB,EAAE,QAAkB,EAAA;AAC7D,QAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;AACb,YAAA,MAAM,IAAI,KAAK,CAAC,iCAAiC,CAAC;QACpD;AACA,QAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;YACzB,OAAO,CAAC,IAAI,CACV,CAAA,uCAAA,EAA0C,IAAI,CAAA,EAAA,EAAK,IAAI,CAAA,qCAAA,CAAuC,CAC/F;QACH;;QAGA,IAAI,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE;YACzB,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,CAAE;AACtC,YAAA,OAAO,CAAC,SAAS,CAAC,GAAG,CAAC,QAAQ,CAAC;YAC/B;QACF;;AAGA,QAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,GAAG,EAAE,IAAI,EAAE,WAAW,EAAE,CAAC;AAC7D,QAAA,MAAM,SAAS,GAAG,IAAI,GAAG,EAAY;AACrC,QAAA,SAAS,CAAC,GAAG,CAAC,QAAQ,CAAC;AAEvB,QAAA,KAAK,CAAC,SAAS,CAAC,CAAC,GAAG,KAAI;AACtB,YAAA,SAAS,CAAC,OAAO,CAAC,CAAC,EAAE,KAAK,EAAE,CAAC,GAAG,CAAC,CAAC;AACpC,QAAA,CAAC,CAAC;AAEF,QAAA,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,EAAE,EAAE,KAAK,EAAE,SAAS,EAAE,WAAW,EAAE,CAAC;IAC1D;IAEA,WAAW,CAAC,IAAY,EAAE,QAAmB,EAAA;QAC3C,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,CAAC;AACrC,QAAA,IAAI,CAAC,OAAO;YAAE;QAEd,IAAI,QAAQ,EAAE;AACZ,YAAA,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,QAAQ,CAAC;;YAElC,IAAI,OAAO,CAAC,SAAS,CAAC,IAAI,KAAK,CAAC,EAAE;AAChC,gBAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC3B,gBAAA,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC;YAC1B;QACF;aAAO;;AAEL,YAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC3B,YAAA,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC;QAC1B;IACF;IAEA,QAAQ,GAAA;QACN,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,KAAI;AAC9B,YAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC7B,QAAA,CAAC,CAAC;AACF,QAAA,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE;IACrB;AAEA,IAAA,cAAc,CAAC,GAAQ,EAAA;QACrB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,EAAE,IAAI,KAAI;AACpC,YAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,EAAE,WAAW,EAAE,OAAO,CAAC,WAAW,EAAE,CAAC;AACxE,YAAA,OAAO,CAAC,KAAK,GAAG,KAAK;AAErB,YAAA,KAAK,CAAC,SAAS,CAAC,CAAC,GAAG,KAAI;AACtB,gBAAA,OAAO,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,EAAE,KAAK,EAAE,CAAC,GAAG,CAAC,CAAC;AAC5C,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;AACA;;;;;;;AAOG;IACH,OAAO,CACL,IAAY,EACZ,WAAmB,EACnB,IAAS,EACT,gBAAgB,GAAG,KAAK,EAAA;QAExB,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;AACb,gBAAA,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;gBACpD;YACF;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,IAAI,CAAC,gBAAgB,EAAE;oBACrB,MAAM,CAAC,IAAI,KAAK,CAAC,wCAAwC,IAAI,CAAA,CAAE,CAAC,CAAC;oBACjE;gBACF;gBACA,OAAO,CAAC,IAAI,CACV,CAAA,qCAAA,EAAwC,IAAI,CAAA,EAAA,EAAK,IAAI,CAAA,qCAAA,CAAuC,CAC7F;YACH;;YAEA,IAAI,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE;gBAC5B,MAAM,OAAO,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,CAAE;AACzC,gBAAA,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC;gBAC3B,OAAO,CAAC,SAAS,CAAC;gBAClB;YACF;AACA,YAAA,MAAM,OAAO,GAAG,IAAI,KAAK,CAAC;gBACxB,GAAG,EAAE,IAAI,CAAC,GAAG;gBACb,IAAI;gBACJ,WAAW;AACZ,aAAA,CAAC;AACF,YAAA,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,EAAE;AACvB,gBAAA,KAAK,EAAE,OAAO;gBACd,WAAW;AACZ,aAAA,CAAC;AACF,YAAA,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC;YACrB,OAAO,CAAC,SAAS,CAAC;AACpB,QAAA,CAAC,CAAC;IACJ;AAEA,IAAA,WAAW,CAAC,IAAY,EAAA;QACtB,MAAM,OAAO,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,CAAC;AACxC,QAAA,IAAI,CAAC,OAAO;YAAE;AACd,QAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC3B,QAAA,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC;IAC7B;IAEA,cAAc,GAAA;QACZ,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,OAAO,KAAI;AACjC,YAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC7B,QAAA,CAAC,CAAC;AACF,QAAA,IAAI,CAAC,SAAS,CAAC,KAAK,EAAE;IACxB;AACD;MACY,cAAc,CAAA;AAIzB,IAAA,WAAA,CAAY,GAAgB,EAAE,OAAO,GAAG,KAAK,EAAA;AAF5B,QAAA,IAAA,CAAA,cAAc,GAAW,KAAK,CAAC;AAG9C,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG;AACd,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO;IAC/B;AAEA;;;;;;;AAOG;IACH,IAAI,CACF,IAAY,EACZ,WAAmB,EACnB,OAAa,EACb,OAAO,GAAG,IAAI,CAAC,cAAc,EAAA;QAE7B,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CACX,IAAI,KAAK,CAAC,0CAA0C,IAAI,CAAA,CAAE,CAAC,CAC5D;YACH;YAEA,IAAI,KAAK,GAAyC,IAAI;YAEtD,MAAM,OAAO,GAAG,MAAK;gBACnB,IAAI,KAAK,EAAE;oBACT,YAAY,CAAC,KAAK,CAAC;oBACnB,KAAK,GAAG,IAAI;gBACd;AACF,YAAA,CAAC;AAED,YAAA,KAAK,GAAG,UAAU,CAAC,MAAK;AACtB,gBAAA,OAAO,EAAE;gBACT,MAAM,CAAC,IAAI,KAAK,CAAC,CAAA,aAAA,EAAgB,IAAI,CAAA,eAAA,EAAkB,OAAO,CAAA,EAAA,CAAI,CAAC,CAAC;YACtE,CAAC,EAAE,OAAO,CAAC;AAEX,YAAA,IAAI;AACF,gBAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;oBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;oBACb,IAAI;oBACJ,WAAW;AACZ,iBAAA,CAAC;AACF,gBAAA,MAAM,cAAc,GAAG,IAAI,cAAc,CAAC,OAAO,CAAC;gBAElD,OAAO,CAAC,WAAW,CACjB,cAAc,EACd,CAAC,MAAM,KAAI;AACT,oBAAA,OAAO,EAAE;oBACT,OAAO,CAAC,MAAM,CAAC;AACjB,gBAAA,CAAC,EACD,CAAC,KAAK,KAAI;AACR,oBAAA,OAAO,EAAE;oBACT,MAAM,CAAC,KAAK,CAAC;AACf,gBAAA,CAAC,CACF;YACH;YAAE,OAAO,KAAK,EAAE;AACd,gBAAA,OAAO,EAAE;gBACT,MAAM,CAAC,KAAK,CAAC;YACf;AACF,QAAA,CAAC,CAAC;IACJ;AACD;MAEY,YAAY,CAAA;AAIvB,IAAA,WAAA,CAAY,GAAgB,EAAE,OAAO,GAAG,KAAK,EAAA;AAF5B,QAAA,IAAA,CAAA,cAAc,GAAW,KAAK,CAAC;AAG9C,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG;AACd,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO;IAC/B;AACA;;AAEG;AACH,IAAA,GAAG,CAAC,IAAY,EAAE,OAAA,GAAkB,IAAI,CAAC,cAAc,EAAA;QACrD,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG;AAEpB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,uCAAuC,IAAI,CAAA,CAAE,CAAC,CAAC;YACzE;YAEA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,EAAE,CAAC;AAEtC,YAAA,MAAM,KAAK,GAAG,UAAU,CAAC,MAAK;gBAC5B,MAAM,CAAC,IAAI,KAAK,CAAC,aAAa,IAAI,CAAA,QAAA,CAAU,CAAC,CAAC;YAChD,CAAC,EAAE,OAAO,CAAC;YAEX;AACG,iBAAA,GAAG,CAAC,CAAC,KAAK,KAAI;gBACb,YAAY,CAAC,KAAK,CAAC;gBACnB,OAAO,CAAC,KAAK,CAAC;AAChB,YAAA,CAAC;AACA,iBAAA,KAAK,CAAC,CAAC,KAAK,KAAI;gBACf,YAAY,CAAC,KAAK,CAAC;gBACnB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACN,QAAA,CAAC,CAAC;IACJ;AAEA;;AAEG;IACH,GAAG,CAAC,IAAY,EAAE,KAAU,EAAA;QAC1B,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG;AAEpB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,uCAAuC,IAAI,CAAA,CAAE,CAAC,CAAC;YACzE;YAEA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,EAAE,CAAC;YACtC;AACG,iBAAA,GAAG,CAAC,KAAK,EAAE,MAAK;AACf,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC;AACA,iBAAA,KAAK,CAAC,CAAC,KAAK,KAAI;gBACf,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACN,QAAA,CAAC,CAAC;IACJ;AAEA;;AAEG;AACH,IAAA,MAAM,CAAC,IAAY,EAAA;QACjB,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG;AACpB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CACX,IAAI,KAAK,CAAC,0CAA0C,IAAI,CAAA,CAAE,CAAC,CAC5D;YACH;YAEA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,EAAE,CAAC;YACtC;iBACG,MAAM,CAAC,MAAK;AACX,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC;AACA,iBAAA,KAAK,CAAC,CAAC,KAAK,KAAI;gBACf,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACN,QAAA,CAAC,CAAC;IACJ;AACD;;;;;;;;;;;;;;"}
+{"version":3,"file":"index.cjs.js","sources":["../src/EventEmitter.ts","../src/Ros.ts","../src/EnhancedRos.ts","../src/Topic.ts","../src/ServiceRequest.ts","../src/Service.ts","../src/Param.ts","../src/ActionClient.ts","../src/Goal.ts","../src/RosManagers.ts"],"sourcesContent":[null,null,null,null,null,null,null,null,null,null],"names":["EnhancedRosState"],"mappings":";;AAAA;AACc,MAAO,YAAY,CAAA;AAAjC,IAAA,WAAA,GAAA;QACU,IAAA,CAAA,MAAM,GAAkC,EAAE;IA2DpD;IAzDE,EAAE,CAAC,KAAa,EAAE,QAAkB,EAAA;QAClC,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,EAAE;AACvB,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,GAAG,EAAE;QACzB;QACA,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC;AACjC,QAAA,OAAO,IAAI;IACb;IAEA,IAAI,CAAC,KAAa,EAAE,QAAkB,EAAA;AACpC,QAAA,MAAM,WAAW,GAAG,CAAC,GAAG,IAAW,KAAI;AACrC,YAAA,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,WAAW,CAAC;AAC5B,YAAA,QAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,IAAI,CAAC;AAC5B,QAAA,CAAC;AACD,QAAA,IAAI,CAAC,EAAE,CAAC,KAAK,EAAE,WAAW,CAAC;AAC3B,QAAA,OAAO,IAAI;IACb;IAEA,GAAG,CAAC,KAAa,EAAE,QAAmB,EAAA;AACpC,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;AAAE,YAAA,OAAO,IAAI;QAEpC,IAAI,CAAC,QAAQ,EAAE;AACb,YAAA,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;AACzB,YAAA,OAAO,IAAI;QACb;AAEA,QAAA,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,QAAQ,CAAC;AAClD,QAAA,IAAI,KAAK,GAAG,EAAE,EAAE;AACd,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC,CAAC;QACrC;AACA,QAAA,OAAO,IAAI;IACb;AAEA,IAAA,IAAI,CAAC,KAAa,EAAE,GAAG,IAAW,EAAA;AAChC,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;AAAE,YAAA,OAAO,KAAK;QAErC,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,QAAQ,IAAG;AACpC,YAAA,IAAI;AACF,gBAAA,QAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,IAAI,CAAC;YAC5B;YAAE,OAAO,KAAK,EAAE;AACd,gBAAA,OAAO,CAAC,KAAK,CAAC,0BAA0B,EAAE,KAAK,CAAC;YAClD;AACF,QAAA,CAAC,CAAC;AACF,QAAA,OAAO,IAAI;IACb;AAEA,IAAA,kBAAkB,CAAC,KAAc,EAAA;QAC/B,IAAI,KAAK,EAAE;AACT,YAAA,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC;QAC3B;aAAO;AACL,YAAA,IAAI,CAAC,MAAM,GAAG,EAAE;QAClB;AACA,QAAA,OAAO,IAAI;IACb;AAEA,IAAA,aAAa,CAAC,KAAa,EAAA;QACzB,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,MAAM,GAAG,CAAC;IAC3D;AACD;;AC5Ca,MAAO,GAAI,SAAQ,YAAY,CAAA;AAM3C,IAAA,WAAA,CAAY,UAAsB,EAAE,EAAA;AAClC,QAAA,KAAK,EAAE;QAND,IAAA,CAAA,MAAM,GAAqB,IAAI;QAC/B,IAAA,CAAA,YAAY,GAAG,KAAK;QACpB,IAAA,CAAA,SAAS,GAAG,CAAC;AAKnB,QAAA,IAAI,CAAC,OAAO,GAAG,OAAO;AAEtB,QAAA,IAAI,OAAO,CAAC,GAAG,EAAE;AACf,YAAA,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,GAAG,CAAC;QAC3B;IACF;AAEA,IAAA,IAAI,WAAW,GAAA;QACb,OAAO,IAAI,CAAC,YAAY;IAC1B;AAEA,IAAA,OAAO,CAAC,GAAW,EAAA;;QACjB,IAAI,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,IAAI,IAAI,CAAC,MAAM,CAAC,GAAG,KAAK,GAAG,EAAE;YACvF;QACF;AAEA,QAAA,IAAI,IAAI,CAAC,MAAM,EAAE;YACf,IAAI,CAAC,KAAK,EAAE;QACd;AAEA,QAAA,IAAI;YACF,MAAM,EAAE,GAAG,CAAA,EAAA,GAAA,CAAA,EAAA,GAAA,IAAI,CAAC,OAAO,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,KAAA,CAAA,GAAA,EAAA,CAAE,SAAS,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,EAAA,GAAI,SAAS;YAC/C,IAAI,CAAC,MAAM,GAAG,IAAI,EAAE,CAAC,GAAG,CAAC;AAEzB,YAAA,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,MAAK;AACxB,gBAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,gBAAA,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC;AACzB,YAAA,CAAC;AAED,YAAA,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,MAAK;AACzB,gBAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AACzB,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC;AACpB,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,CAAC,KAAK,KAAI;AAC9B,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;AAC3B,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,SAAS,GAAG,CAAC,KAAK,KAAI;AAChC,gBAAA,IAAI,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,CAAC;AAChC,YAAA,CAAC;QAEH;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;QAC3B;IACF;IAEA,KAAK,GAAA;AACH,QAAA,IAAI,IAAI,CAAC,MAAM,EAAE;AACf,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE;AACnB,YAAA,IAAI,CAAC,MAAM,GAAG,IAAI;QACpB;AACA,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;IAC3B;AAEQ,IAAA,aAAa,CAAC,IAAY,EAAA;AAChC,QAAA,IAAI;YACF,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC;AAEhC,YAAA,IAAI,OAAO,CAAC,EAAE,KAAK,SAAS,EAAE;;gBAE5B,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,GAAG,CAAC;YACvC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,kBAAkB,EAAE;;gBAE5C,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;YAChC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,QAAQ,EAAE;;AAElC,gBAAA,IAAI,OAAO,CAAC,EAAE,EAAE;oBACd,IAAI,CAAC,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;gBAC5C;qBAAO;AACL,oBAAA,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,OAAO,CAAC;gBAC9B;YACF;QACF;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,OAAO,CAAC,KAAK,CAAC,wBAAwB,EAAE,KAAK,CAAC;QAChD;IACF;AAEA,IAAA,gBAAgB,CAAC,OAAY,EAAA;QAC3B,MAAM,UAAU,GAAG,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC;QAE1C,IAAI,IAAI,CAAC,YAAY,IAAI,IAAI,CAAC,MAAM,EAAE;AACpC,YAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;QAC9B;aAAO;;AAEL,YAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE,MAAK;AAC3B,gBAAA,IAAI,IAAI,CAAC,MAAM,EAAE;AACf,oBAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;gBAC9B;AACF,YAAA,CAAC,CAAC;QACJ;IACF;IAEA,SAAS,GAAA;QACP,OAAO,CAAC,EAAE,IAAI,CAAC,SAAS,EAAE,QAAQ,EAAE;IACtC;AACD;;ACzHD;;AAEG;AAOH;;AAEG;AACSA;AAAZ,CAAA,UAAY,gBAAgB,EAAA;;AAE1B,IAAA,gBAAA,CAAA,MAAA,CAAA,GAAA,MAAa;;AAEb,IAAA,gBAAA,CAAA,YAAA,CAAA,GAAA,YAAyB;;AAEzB,IAAA,gBAAA,CAAA,WAAA,CAAA,GAAA,WAAuB;;AAEvB,IAAA,gBAAA,CAAA,cAAA,CAAA,GAAA,cAA6B;;AAE7B,IAAA,gBAAA,CAAA,QAAA,CAAA,GAAA,QAAiB;;AAEjB,IAAA,gBAAA,CAAA,OAAA,CAAA,GAAA,OAAe;AACjB,CAAC,EAbWA,wBAAgB,KAAhBA,wBAAgB,GAAA,EAAA,CAAA,CAAA;AAiC5B;;;AAGG;AACW,MAAO,WAAY,SAAQ,YAAY,CAAA;AAsCnD;;;AAGG;AACH,IAAA,WAAA,CAAY,UAA8B,EAAE,EAAA;;AAC1C,QAAA,KAAK,EAAE;;QAzCD,IAAA,CAAA,MAAM,GAAqB,IAAI;;QAE/B,IAAA,CAAA,SAAS,GAAG,CAAC;;AAKb,QAAA,IAAA,CAAA,MAAM,GAAqBA,wBAAgB,CAAC,IAAI;;QAEjD,IAAA,CAAA,UAAU,GAAkB,IAAI;;QAG/B,IAAA,CAAA,YAAY,GAAU,EAAE;;QAExB,IAAA,CAAA,cAAc,GAAyC,IAAI;;QAS3D,IAAA,CAAA,cAAc,GAA0C,IAAI;;QAM5D,IAAA,CAAA,qBAAqB,GAAkB,IAAI;;QAG3C,IAAA,CAAA,WAAW,GAAG,KAAK;;QAEnB,IAAA,CAAA,iBAAiB,GAAG,CAAC;AAQ3B,QAAA,IAAI,CAAC,OAAO,GAAG,OAAO;;QAGtB,IAAI,CAAC,mBAAmB,GAAG,CAAA,EAAA,GAAA,OAAO,CAAC,mBAAmB,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,IAAI;QAC9D,IAAI,CAAC,mBAAmB,GAAG,CAAA,EAAA,GAAA,OAAO,CAAC,mBAAmB,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,KAAK;AAC/D,QAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB;;QAGhD,IAAI,CAAC,mBAAmB,GAAG,CAAA,EAAA,GAAA,OAAO,CAAC,qBAAqB,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,CAAC;AAC7D,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,YAAY;;AAGvC,QAAA,IAAI,OAAO,CAAC,GAAG,EAAE;AACf,YAAA,IAAI,CAAC,OAAO,CAAC,OAAO,CAAC,GAAG,CAAC;QAC3B;IACF;;AAGA,IAAA,IAAI,KAAK,GAAA;QACP,OAAO,IAAI,CAAC,MAAM;IACpB;;AAGA,IAAA,IAAI,WAAW,GAAA;AACb,QAAA,OAAO,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS;IACnD;AAEA;;;AAGG;AACH,IAAA,OAAO,CAAC,GAAW,EAAA;;AAEjB,QAAA,IACE,IAAI,CAAC,UAAU,KAAK,GAAG;AACvB,aAAC,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,UAAU,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS,CAAC,EAC3F;YACA;QACF;;AAGA,QAAA,IAAI,CAAC,iBAAiB,IAAI,CAAC;QAC3B,IAAI,CAAC,iBAAiB,EAAE;AACxB,QAAA,IAAI,CAAC,UAAU,GAAG,GAAG;AACrB,QAAA,IAAI,CAAC,WAAW,GAAG,KAAK;AACxB,QAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,IAAI,CAAC;AACpC,QAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,UAAU,CAAC;AAC1C,QAAA,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC;IACtB;AAEA;;AAEG;IACH,KAAK,GAAA;AACH,QAAA,IAAI,CAAC,iBAAiB,IAAI,CAAC;AAC3B,QAAA,IAAI,CAAC,WAAW,GAAG,IAAI;QACvB,IAAI,CAAC,mBAAmB,EAAE;QAC1B,IAAI,CAAC,aAAa,EAAE;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,EAAE;AACtB,QAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,MAAM,CAAC;QACtC,IAAI,CAAC,WAAW,EAAE;IACpB;AAEA;;;AAGG;AACH,IAAA,gBAAgB,CAAC,OAAY,EAAA;QAC3B,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;AAC3G,YAAA,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,OAAO,CAAC;YAC/B;QACF;AAEA,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC;IACpB;AAEA;;AAEG;IACH,SAAS,GAAA;QACP,OAAO,CAAC,EAAE,IAAI,CAAC,SAAS,EAAE,QAAQ,EAAE;IACtC;;;AAKQ,IAAA,QAAQ,CAAC,IAAsB,EAAA;AACrC,QAAA,IAAI,IAAI,CAAC,MAAM,KAAK,IAAI;YAAE;AAC1B,QAAA,IAAI,CAAC,MAAM,GAAG,IAAI;AAClB,QAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC;IAC1B;;IAGQ,iBAAiB,GAAA;QACvB,IAAI,CAAC,mBAAmB,EAAE;QAC1B,IAAI,CAAC,aAAa,EAAE;QACpB,IAAI,CAAC,WAAW,EAAE;AAClB,QAAA,IAAI,CAAC,YAAY,GAAG,EAAE;AACtB,QAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB;AAChD,QAAA,IAAI,CAAC,qBAAqB,GAAG,IAAI;IACnC;;IAGQ,mBAAmB,GAAA;QACzB,IAAI,CAAC,IAAI,CAAC,cAAc;YAAE;AAC1B,QAAA,YAAY,CAAC,IAAI,CAAC,cAAc,CAAC;AACjC,QAAA,IAAI,CAAC,cAAc,GAAG,IAAI;IAC5B;;AAGQ,IAAA,UAAU,CAAC,GAAW,EAAA;;AAC5B,QAAA,IAAI;YACF,MAAM,EAAE,GAAG,CAAA,EAAA,GAAA,CAAA,EAAA,GAAA,IAAI,CAAC,OAAO,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,KAAA,CAAA,GAAA,EAAA,CAAE,SAAS,MAAA,IAAA,IAAA,EAAA,KAAA,KAAA,CAAA,GAAA,EAAA,GAAI,SAAS;YAC/C,IAAI,CAAC,MAAM,GAAG,IAAI,EAAE,CAAC,GAAG,CAAC;AACzB,YAAA,MAAM,UAAU,GAAG,IAAI,CAAC,iBAAiB,CAAC;AAE1C,YAAA,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,MAAK;;AAExB,gBAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB;AAChD,gBAAA,IAAI,CAAC,qBAAqB,GAAG,IAAI,CAAC,GAAG,EAAE;AACvC,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,SAAS,CAAC;AACzC,gBAAA,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC;gBACvB,IAAI,CAAC,cAAc,EAAE;gBACrB,IAAI,CAAC,UAAU,EAAE;AACnB,YAAA,CAAC;AAED,YAAA,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,MAAK;AACzB,gBAAA,IAAI,UAAU,KAAK,IAAI,CAAC,iBAAiB;oBAAE;gBAC3C,IAAI,CAAC,aAAa,EAAE;AACpB,gBAAA,IAAI,CAAC,MAAM,GAAG,IAAI;AAClB,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC;AAElB,gBAAA,IAAI,IAAI,CAAC,WAAW,EAAE;;AAEpB,oBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,MAAM,CAAC;oBACtC;gBACF;;AAGA,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,YAAY,CAAC;gBAC5C,IAAI,CAAC,iBAAiB,EAAE;AAC1B,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,OAAO,GAAG,CAAC,KAAK,KAAI;AAC9B,gBAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;AACzB,gBAAA,IAAI,CAAC,IAAI,CAAC,WAAW,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,UAAU,EAAE;;AAEpE,oBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,YAAY,CAAC;gBAC9C;AACF,YAAA,CAAC;YAED,IAAI,CAAC,MAAM,CAAC,SAAS,GAAG,CAAC,KAAK,KAAI;AAChC,gBAAA,IAAI,CAAC,qBAAqB,GAAG,IAAI,CAAC,GAAG,EAAE;AACvC,gBAAA,IAAI,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,CAAC;AAChC,YAAA,CAAC;QACH;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,IAAI,CAAC,IAAI,CAAC,OAAO,EAAE,KAAK,CAAC;AACzB,YAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,KAAK,CAAC;QACvC;IACF;;IAGQ,WAAW,GAAA;QACjB,IAAI,CAAC,IAAI,CAAC,MAAM;YAAE;AAClB,QAAA,IAAI;AACF,YAAA,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE;QACrB;gBAAU;AACR,YAAA,IAAI,CAAC,MAAM,GAAG,IAAI;QACpB;IACF;;IAGQ,iBAAiB,GAAA;AACvB,QAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;AACpB,YAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,KAAK,CAAC;YACrC;QACF;AAEA,QAAA,MAAM,UAAU,GAAG,IAAI,CAAC,iBAAiB;AACzC,QAAA,MAAM,OAAO,GAAG,IAAI,CAAC,gBAAgB;QACrC,IAAI,CAAC,mBAAmB,EAAE;AAE1B,QAAA,IAAI,CAAC,cAAc,GAAG,UAAU,CAAC,MAAK;YACpC,IAAI,IAAI,CAAC,WAAW;gBAAE;AACtB,YAAA,IAAI,UAAU,KAAK,IAAI,CAAC,iBAAiB;AAAE,gBAAA,OAAO;AAClD,YAAA,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,YAAY;gBAAE;AACnD,YAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;AACpB,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,KAAK,CAAC;gBACrC;YACF;;;;;;;AAQA,YAAA,IAAI,CAAC,iBAAiB,IAAI,CAAC;AAC3B,YAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,UAAU,CAAC;AAC1C,YAAA,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,UAAU,CAAC;;YAEhC,IAAI,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,mBAAmB,EAAE;AACpD,gBAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,mBAAmB,EAAE,IAAI,CAAC,gBAAgB,GAAG,CAAC,CAAC;YACvF;;QAEF,CAAC,EAAE,OAAO,CAAC;IACb;;IAGQ,cAAc,GAAA;QACpB,IAAI,CAAC,aAAa,EAAE;AACpB,QAAA,IAAI,IAAI,CAAC,mBAAmB,IAAI,CAAC;YAAE;AAEnC,QAAA,IAAI,CAAC,cAAc,GAAG,WAAW,CAAC,MAAK;AACrC,YAAA,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS;gBAAE;AAChD,YAAA,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI;gBAAE;AAE/D,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,EAAE;AACtB,YAAA,MAAM,IAAI,GAAG,IAAI,CAAC,qBAAqB;;AAEvC,YAAA,IAAI,IAAI,IAAI,GAAG,GAAG,IAAI,GAAG,IAAI,CAAC,mBAAmB,GAAG,CAAC,EAAE;AACrD,gBAAA,IAAI,CAAC,QAAQ,CAACA,wBAAgB,CAAC,YAAY,CAAC;AAC5C,gBAAA,IAAI;oBACF,IAAI,CAAC,WAAW,EAAE;gBACpB;gBAAE,OAAA,EAAA,EAAM,EAAC;;;;gBAIT;YACF;;AAGA,YAAA,IAAG,IAAI,CAAC,WAAW,EAAE;gBACnB,IAAI,CAAC,WAAW,EAAE;YACpB;iBAAO;;AAEL,gBAAA,IAAI,CAAC,IAAI,CAAC,EAAC,EAAE,EAAE,cAAc,EAAE,EAAE,EAAE,IAAI,CAAC,SAAS,EAAE,EAAE,OAAO,EAAE,kBAAkB,EAAE,IAAI,EAAE,gBAAgB,EAAE,IAAI,EAAE,EAAE,EAAC,CAAC;YACtH;AACF,QAAA,CAAC,EAAE,IAAI,CAAC,mBAAmB,CAAC;IAC9B;;IAGQ,aAAa,GAAA;QACnB,IAAI,CAAC,IAAI,CAAC,cAAc;YAAE;AAC1B,QAAA,aAAa,CAAC,IAAI,CAAC,cAAc,CAAC;AAClC,QAAA,IAAI,CAAC,cAAc,GAAG,IAAI;IAC5B;;IAGQ,UAAU,GAAA;QAChB,IAAI,IAAI,CAAC,MAAM,KAAKA,wBAAgB,CAAC,SAAS,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;YAC3G;QACF;AACA,QAAA,IAAI,IAAI,CAAC,YAAY,CAAC,MAAM,KAAK,CAAC;YAAE;AAEpC,QAAA,MAAM,OAAO,GAAG,IAAI,CAAC,YAAY;AACjC,QAAA,IAAI,CAAC,YAAY,GAAG,EAAE;AACtB,QAAA,KAAK,MAAM,GAAG,IAAI,OAAO,EAAE;AACzB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC;QAChB;IACF;;AAGQ,IAAA,IAAI,CAAC,OAAY,EAAA;AACvB,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;;AAE7D,YAAA,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,OAAO,CAAC;YAC/B;QACF;QACA,MAAM,UAAU,GAAG,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC;AAC1C,QAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;IAC9B;AAEO,IAAA,IAAI,CAAC,OAAY,EAAA;AACtB,QAAA,IAAI,CAAC,IAAI,CAAC,MAAM,IAAI,IAAI,CAAC,MAAM,CAAC,UAAU,KAAK,SAAS,CAAC,IAAI,EAAE;YAC7D;QACF;QACA,MAAM,UAAU,GAAG,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC;AAC1C,QAAA,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,UAAU,CAAC;IAC9B;;AAGQ,IAAA,aAAa,CAAC,IAAY,EAAA;AAChC,QAAA,IAAI;YACF,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC;AAEhC,YAAA,IAAI,OAAO,CAAC,EAAE,KAAK,SAAS,EAAE;;gBAE5B,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,KAAK,EAAE,OAAO,CAAC,GAAG,CAAC;YACvC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,kBAAkB,EAAE;;gBAE5C,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;YAChC;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,QAAQ,EAAE;;AAElC,gBAAA,IAAI,OAAO,CAAC,EAAE,EAAE;oBACd,IAAI,CAAC,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC,EAAE,EAAE,OAAO,CAAC;gBAC5C;qBAAO;AACL,oBAAA,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,OAAO,CAAC;gBAC9B;YACF;AAAO,iBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,iBAAiB,EAAE;;gBAE3C,IAAI,CAAC,IAAI,CAAC,kBAAkB,GAAG,OAAO,CAAC,OAAO,EAAE,OAAO,CAAC;YAC1D;QACF;QAAE,OAAO,KAAK,EAAE;AACd,YAAA,OAAO,CAAC,KAAK,CAAC,wBAAwB,EAAE,KAAK,CAAC;QAChD;IACF;AACD;;AClYa,MAAO,KAAM,SAAQ,YAAY,CAAA;AAoB7C,IAAA,WAAA,CAAY,OAAqB,EAAA;AAC/B,QAAA,KAAK,EAAE;QAPD,IAAA,CAAA,YAAY,GAAG,KAAK;QACpB,IAAA,CAAA,YAAY,GAAG,KAAK;;QAyJpB,IAAA,CAAA,YAAY,GAAG,MAAK;AAC1B,YAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AACzB,YAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AAC3B,QAAA,CAAC;AApJC,QAAA,IAAI,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG;AACtB,QAAA,IAAI,CAAC,IAAI,GAAG,OAAO,CAAC,IAAI;AACxB,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW;AACtC,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW;AACtC,QAAA,IAAI,CAAC,aAAa,GAAG,OAAO,CAAC,aAAa;AAC1C,QAAA,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU;AACpC,QAAA,IAAI,CAAC,KAAK,GAAG,OAAO,CAAC,KAAK;AAC1B,QAAA,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,YAAY;;AAGxC,QAAA,IAAI,CAAC,iBAAiB,GAAG,MAAK;AAC5B,YAAA,IAAI,IAAI,CAAC,YAAY,EAAE;gBACrB,IAAI,CAAC,cAAc,EAAE;YACvB;AACA,YAAA,IAAI,IAAI,CAAC,YAAY,EAAE;gBACrB,IAAI,CAAC,cAAc,EAAE;YACvB;AACF,QAAA,CAAC;IACH;;IAGQ,cAAc,GAAA;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,QAAA,MAAM,gBAAgB,GAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,EACpB,EAAE,EAAE,WAAW,EACf,EAAE,EAAE,YAAY,GAAG,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE,EACzD,KAAK,EAAE,IAAI,CAAC,IAAI,EAChB,IAAI,EAAE,IAAI,CAAC,WAAW,EAAA,GAClB,IAAI,CAAC,WAAW,IAAI,EAAE,WAAW,EAAE,IAAI,CAAC,WAAW,EAAE,EAAC,GACtD,IAAI,CAAC,aAAa,IAAI,EAAE,aAAa,EAAE,IAAI,CAAC,aAAa,EAAE,EAAC,GAC5D,IAAI,CAAC,YAAY,IAAI,EAAE,YAAY,EAAE,IAAI,CAAC,YAAY,EAAE,EAC7D;AACD,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,gBAAgB,CAAC;IAC7C;;IAGQ,cAAc,GAAA;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,QAAA,IAAI,CAAC,WAAW,GAAG,YAAY,GAAG,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE;QACxE,MAAM,gBAAgB,GAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,MAAA,CAAA,EACpB,EAAE,EAAE,WAAW,EACf,EAAE,EAAE,IAAI,CAAC,WAAW,EACpB,KAAK,EAAE,IAAI,CAAC,IAAI,EAChB,IAAI,EAAE,IAAI,CAAC,WAAW,EAAA,GAClB,IAAI,CAAC,KAAK,IAAI,EAAE,KAAK,EAAE,IAAI,CAAC,KAAK,EAAE,EAAC,GACpC,IAAI,CAAC,UAAU,IAAI,EAAE,UAAU,EAAE,IAAI,CAAC,UAAU,EAAE,EACvD;AACD,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,gBAAgB,CAAC;IAC7C;AAEA;;;AAGG;AACH,IAAA,SAAS,CAAC,QAAiC,EAAA;QACzC,IAAI,IAAI,CAAC,YAAY;YAAE;;QAGvB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;;QAGxC,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QACjD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;;QAGvC,IAAI,CAAC,cAAc,EAAE;;AAGrB,QAAA,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC,OAAY,KAAI;AACtC,YAAA,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE,OAAO,CAAC;AAC7B,YAAA,IAAI,QAAQ;gBAAE,QAAQ,CAAC,OAAO,CAAC;AACjC,QAAA,CAAC,CAAC;IACJ;;IAGA,WAAW,GAAA;QACT,IAAI,CAAC,IAAI,CAAC,YAAY;YAAE;AAExB,QAAA,MAAM,kBAAkB,GAAG;AACzB,YAAA,EAAE,EAAE,aAAa;YACjB,KAAK,EAAE,IAAI,CAAC,IAAI;SACjB;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,kBAAkB,CAAC;AAC7C,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;;QAIzB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC;AACvB,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;YACtB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;YAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QAC1C;IACF;;IAGA,SAAS,GAAA;QACP,IAAI,IAAI,CAAC,YAAY;YAAE;QAEvB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QACjD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QAEvC,IAAI,CAAC,cAAc,EAAE;IACvB;;IAGA,WAAW,GAAA;QACT,IAAI,CAAC,IAAI,CAAC,YAAY;YAAE;AAExB,QAAA,MAAM,kBAAkB,GAAG;AACzB,YAAA,EAAE,EAAE,aAAa;YACjB,EAAE,EAAE,IAAI,CAAC,WAAY;YACrB,KAAK,EAAE,IAAI,CAAC,IAAI;SACjB;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,kBAAkB,CAAC;AAC7C,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;;AAGzB,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;YACtB,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;YAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QAC1C;IACF;;AAGA,IAAA,OAAO,CAAC,OAAY,EAAA;AAClB,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;YACtB,IAAI,CAAC,SAAS,EAAE;QAClB;AAEA,QAAA,MAAM,cAAc,GAAG;AACrB,YAAA,EAAE,EAAE,SAAS;AACb,YAAA,EAAE,EAAE,UAAU,GAAG,IAAI,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE;YACvD,KAAK,EAAE,IAAI,CAAC,IAAI;AAChB,YAAA,GAAG,EAAE,OAAO;YACZ,KAAK,EAAE,IAAI,CAAC,KAAK;SAClB;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,cAAc,CAAC;IAC3C;AAOD;;AC1La,MAAO,cAAc,CAAA;AAGjC,IAAA,WAAA,CAAY,MAA+B,EAAA;QACzC,IAAI,MAAM,EAAE;AACV,YAAA,MAAM,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC;QAC7B;IACF;AACD;MAEY,eAAe,CAAA;AAG1B,IAAA,WAAA,CAAY,MAA+B,EAAA;QACzC,IAAI,MAAM,EAAE;AACV,YAAA,MAAM,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC;QAC7B;IACF;AACD;;ACRa,MAAO,OAAQ,SAAQ,YAAY,CAAA;AAU/C,IAAA,WAAA,CAAY,OAAuB,EAAA;AACjC,QAAA,KAAK,EAAE;QAPD,IAAA,CAAA,YAAY,GAAG,KAAK;;QAKpB,IAAA,CAAA,uBAAuB,GAAyE,IAAI;;QAiJpG,IAAA,CAAA,YAAY,GAAG,MAAK;AAC1B,YAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AAC3B,QAAA,CAAC;AA/IC,QAAA,IAAI,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG;AACtB,QAAA,IAAI,CAAC,IAAI,GAAG,OAAO,CAAC,IAAI;AACxB,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW;;AAEtC,QAAA,IAAI,CAAC,iBAAiB,GAAG,MAAK;YAC5B,IAAI,IAAI,CAAC,YAAY,IAAI,IAAI,CAAC,uBAAuB,EAAE;gBACrD,IAAI,CAAC,cAAc,EAAE;YACvB;AACF,QAAA,CAAC;IACH;AAEA,IAAA,WAAW,CAAC,OAAuB,EAAE,QAA8C,EAAE,cAAqC,EAAA;QACxH,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;YACrC,MAAM,SAAS,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,EAAE;AAEtC,YAAA,MAAM,cAAc,GAAG;AACrB,gBAAA,EAAE,EAAE,cAAc;AAClB,gBAAA,EAAE,EAAE,SAAS;gBACb,OAAO,EAAE,IAAI,CAAC,IAAI;gBAClB,IAAI,EAAE,IAAI,CAAC,WAAW;AACtB,gBAAA,IAAI,EAAE;aACP;;AAGD,YAAA,MAAM,eAAe,GAAG,CAAC,OAAY,KAAI;;AACvC,gBAAA,IAAI,OAAO,CAAC,EAAE,KAAK,SAAS,EAAE;oBAC5B,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,SAAS,EAAE,eAAe,CAAC;;AAGxC,oBAAA,IAAI,OAAO,CAAC,MAAM,KAAK,KAAK,EAAE;AAC5B,wBAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CACrB,OAAO,CAAC,KAAK,IAAI,WAAW,IAAI,CAAC,IAAI,CAAA,YAAA,CAAc,CACpD;AACD,wBAAA,cAAc,aAAd,cAAc,KAAA,MAAA,GAAA,MAAA,GAAd,cAAc,CAAG,KAAK,CAAC;wBACvB,MAAM,CAAC,KAAK,CAAC;wBACb;oBACF;;AAGA,oBAAA,IAAI,OAAO,CAAC,MAAM,KAAK,SAAS,EAAE;AAChC,wBAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,0BAA0B,CAAC;AACnD,wBAAA,cAAc,aAAd,cAAc,KAAA,MAAA,GAAA,MAAA,GAAd,cAAc,CAAG,KAAK,CAAC;wBACvB,MAAM,CAAC,KAAK,CAAC;wBACb;oBACF;;AAGA,oBAAA,MAAM,QAAQ,GAAG,IAAI,eAAe,CAAC,CAAA,EAAA,GAAA,OAAO,CAAC,MAAM,MAAA,IAAA,IAAA,EAAA,KAAA,MAAA,GAAA,EAAA,GAAI,EAAE,CAAC;AAC1D,oBAAA,QAAQ,aAAR,QAAQ,KAAA,MAAA,GAAA,MAAA,GAAR,QAAQ,CAAG,QAAQ,CAAC;oBACpB,OAAO,CAAC,QAAQ,CAAC;gBACnB;AACF,YAAA,CAAC;YAED,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,SAAS,EAAE,eAAe,CAAC;AACvC,YAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,cAAc,CAAC;AAC3C,QAAA,CAAC,CAAC;IACJ;;IAEQ,cAAc,GAAA;AACpB,QAAA,IAAI,CAAC,YAAY,GAAG,IAAI;AACxB,QAAA,MAAM,gBAAgB,GAAG;AACvB,YAAA,EAAE,EAAE,mBAAmB;YACvB,IAAI,EAAE,IAAI,CAAC,WAAW;YACtB,OAAO,EAAE,IAAI,CAAC;SACf;AACD,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,gBAAgB,CAAC;IAC7C;AACA;;;AAGG;AACH,IAAA,SAAS,CAAC,QAAqE,EAAA;QAC7E,IAAI,IAAI,CAAC,YAAY;YAAE;AAEvB,QAAA,IAAI,CAAC,uBAAuB,GAAG,QAAQ;;QAGvC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;QACxC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,CAAC;;QAG5C,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QACjD,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;;AAGvC,QAAA,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,EAAE,CAAC,OAAY,KAAI;YAC3D,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC,OAAO,CAAC,IAAI,CAAC;AAChD,YAAA,MAAM,QAAQ,GAAG,IAAI,eAAe,EAAE;AAEtC,YAAA,IAAI;gBACF,MAAM,MAAM,GAAG,QAAQ,CAAC,OAAO,EAAE,QAAQ,CAAC;AAE1C,gBAAA,MAAM,eAAe,GAAG;AACtB,oBAAA,EAAE,EAAE,kBAAkB;oBACtB,OAAO,EAAE,IAAI,CAAC,IAAI;oBAClB,EAAE,EAAE,OAAO,CAAC,EAAE;AACd,oBAAA,MAAM,EAAE,QAAQ;oBAChB,MAAM,EAAE,MAAM,KAAK;iBACpB;AAED,gBAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,eAAe,CAAC;YAC5C;YAAE,OAAO,KAAK,EAAE;AACd,gBAAA,MAAM,YAAY,GAAG;AACnB,oBAAA,EAAE,EAAE,kBAAkB;oBACtB,OAAO,EAAE,IAAI,CAAC,IAAI;oBAClB,EAAE,EAAE,OAAO,CAAC,EAAE;AACd,oBAAA,MAAM,EAAE,KAAK;AACb,oBAAA,KAAK,EAAE,KAAK,YAAY,KAAK,GAAG,KAAK,CAAC,OAAO,GAAG;iBACjD;AAED,gBAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,YAAY,CAAC;YACzC;AACF,QAAA,CAAC,CAAC;;QAGF,IAAI,CAAC,cAAc,EAAE;IACvB;AAEA;;AAEG;IACH,WAAW,GAAA;QACT,IAAI,CAAC,IAAI,CAAC,YAAY;YAAE;AAExB,QAAA,MAAM,kBAAkB,GAAG;AACzB,YAAA,EAAE,EAAE,qBAAqB;YACzB,OAAO,EAAE,IAAI,CAAC;SACf;AAED,QAAA,IAAI,CAAC,GAAG,CAAC,gBAAgB,CAAC,kBAAkB,CAAC;AAC7C,QAAA,IAAI,CAAC,YAAY,GAAG,KAAK;AACzB,QAAA,IAAI,CAAC,uBAAuB,GAAG,IAAI;;QAGnC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,CAAC;QAC5C,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,YAAY,EAAE,IAAI,CAAC,iBAAiB,CAAC;QAClD,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,YAAY,CAAC;IAC1C;AAMD;;AC9Ja,MAAO,KAAK,CAAA;AAIxB,IAAA,WAAA,CAAY,OAAqB,EAAA;AAC/B,QAAA,IAAI,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG;AACtB,QAAA,IAAI,CAAC,IAAI,GAAG,OAAO,CAAC,IAAI;IAC1B;AAEA,IAAA,GAAG,CAAC,QAA+B,EAAA;QACjC,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;gBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,gBAAA,IAAI,EAAE,mBAAmB;AACzB,gBAAA,WAAW,EAAE;AACd,aAAA,CAAC;AAEF,YAAA,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC;gBACjC,IAAI,EAAE,IAAI,CAAC,IAAI;AACf,gBAAA,OAAO,EAAE;AACV,aAAA,CAAC;YAEF,OAAO,CAAC,WAAW,CAAC,OAAO,EAAE,CAAC,QAAa,KAAI;AAC7C,gBAAA,IAAI,QAAQ;AAAE,oBAAA,QAAQ,CAAC,QAAQ,CAAC,KAAK,CAAC;AACtC,gBAAA,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAC;AACzB,YAAA,CAAC,EAAE,CAAC,KAAU,KAAI;gBAChB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;IAEA,GAAG,CAAC,KAAU,EAAE,QAAqB,EAAA;QACnC,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;gBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,gBAAA,IAAI,EAAE,mBAAmB;AACzB,gBAAA,WAAW,EAAE;AACd,aAAA,CAAC;AAEF,YAAA,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC;gBACjC,IAAI,EAAE,IAAI,CAAC,IAAI;AACf,gBAAA,KAAK,EAAE,IAAI,CAAC,SAAS,CAAC,KAAK;AAC5B,aAAA,CAAC;AAEF,YAAA,OAAO,CAAC,WAAW,CAAC,OAAO,EAAE,MAAK;AAChC,gBAAA,IAAI,QAAQ;AAAE,oBAAA,QAAQ,EAAE;AACxB,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC,EAAE,CAAC,KAAU,KAAI;gBAChB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;AAEA,IAAA,MAAM,CAAC,QAAqB,EAAA;QAC1B,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;gBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,gBAAA,IAAI,EAAE,sBAAsB;AAC5B,gBAAA,WAAW,EAAE;AACd,aAAA,CAAC;AAEF,YAAA,MAAM,OAAO,GAAG,IAAI,cAAc,CAAC;gBACjC,IAAI,EAAE,IAAI,CAAC;AACZ,aAAA,CAAC;AAEF,YAAA,OAAO,CAAC,WAAW,CAAC,OAAO,EAAE,MAAK;AAChC,gBAAA,IAAI,QAAQ;AAAE,oBAAA,QAAQ,EAAE;AACxB,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC,EAAE,CAAC,KAAU,KAAI;gBAChB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;AACD;;ACpEa,MAAO,YAAa,SAAQ,YAAY,CAAA;AAkBpD,IAAA,WAAA,CAAY,OAA4B,EAAA;AACtC,QAAA,KAAK,EAAE;QAHD,IAAA,CAAA,cAAc,GAAY,KAAK;AAIrC,QAAA,IAAI,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG;AACtB,QAAA,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU;AACpC,QAAA,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU;AACpC,QAAA,IAAI,CAAC,OAAO,GAAG,OAAO,CAAC,OAAO;AAC9B,QAAA,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,YAAY;AACxC,QAAA,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU;AACpC,QAAA,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU;AACpC,QAAA,IAAI,CAAC,KAAK,GAAG,EAAE;;AAGf,QAAA,IAAI,CAAC,gBAAgB,GAAG,IAAI,KAAK,CAAC;YAChC,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,YAAA,IAAI,EAAE,IAAI,CAAC,UAAU,GAAG,WAAW;AACnC,YAAA,WAAW,EAAE,IAAI,CAAC,UAAU,GAAG;AAChC,SAAA,CAAC;AAEF,QAAA,IAAI,CAAC,cAAc,GAAG,IAAI,KAAK,CAAC;YAC9B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,YAAA,IAAI,EAAE,IAAI,CAAC,UAAU,GAAG,SAAS;AACjC,YAAA,WAAW,EAAE;AACd,SAAA,CAAC;AAEF,QAAA,IAAI,CAAC,cAAc,GAAG,IAAI,KAAK,CAAC;YAC9B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,YAAA,IAAI,EAAE,IAAI,CAAC,UAAU,GAAG,SAAS;AACjC,YAAA,WAAW,EAAE,IAAI,CAAC,UAAU,GAAG;AAChC,SAAA,CAAC;AAEF,QAAA,IAAI,CAAC,SAAS,GAAG,IAAI,KAAK,CAAC;YACzB,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,YAAA,IAAI,EAAE,IAAI,CAAC,UAAU,GAAG,OAAO;AAC/B,YAAA,WAAW,EAAE,IAAI,CAAC,UAAU,GAAG;AAChC,SAAA,CAAC;AAEF,QAAA,IAAI,CAAC,WAAW,GAAG,IAAI,KAAK,CAAC;YAC3B,GAAG,EAAE,IAAI,CAAC,GAAG;AACb,YAAA,IAAI,EAAE,IAAI,CAAC,UAAU,GAAG,SAAS;AACjC,YAAA,WAAW,EAAE;AACd,SAAA,CAAC;;AAGF,QAAA,IAAI,CAAC,SAAS,CAAC,SAAS,EAAE;AAC1B,QAAA,IAAI,CAAC,WAAW,CAAC,SAAS,EAAE;;AAG5B,QAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;YACpB,IAAI,CAAC,cAAc,CAAC,SAAS,CAAC,CAAC,aAAkB,KAAI;AACnD,gBAAA,IAAI,CAAC,cAAc,GAAG,IAAI;AAC1B,gBAAA,IAAI,aAAa,CAAC,WAAW,EAAE;oBAC7B,aAAa,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,MAAW,KAAI;AAChD,wBAAA,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,OAAO,CAAC,EAAE,CAAC;wBAC1C,IAAI,IAAI,EAAE;AACR,4BAAA,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,MAAM,CAAC;wBAC7B;AACF,oBAAA,CAAC,CAAC;gBACJ;AACF,YAAA,CAAC,CAAC;QACJ;;AAGA,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;YACtB,IAAI,CAAC,gBAAgB,CAAC,SAAS,CAAC,CAAC,eAAoB,KAAI;AACvD,gBAAA,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,eAAe,CAAC,MAAM,CAAC,OAAO,CAAC,EAAE,CAAC;gBAC1D,IAAI,IAAI,EAAE;oBACR,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,eAAe,CAAC,MAAM,CAAC;oBAC3C,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE,eAAe,CAAC,QAAQ,CAAC;gBACjD;AACF,YAAA,CAAC,CAAC;QACJ;;AAGA,QAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;YACpB,IAAI,CAAC,cAAc,CAAC,SAAS,CAAC,CAAC,aAAkB,KAAI;AACnD,gBAAA,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,aAAa,CAAC,MAAM,CAAC,OAAO,CAAC,EAAE,CAAC;gBACxD,IAAI,IAAI,EAAE;oBACR,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,aAAa,CAAC,MAAM,CAAC;oBACzC,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,aAAa,CAAC,MAAM,CAAC;gBAC3C;AACF,YAAA,CAAC,CAAC;QACJ;;AAGA,QAAA,IAAI,IAAI,CAAC,OAAO,EAAE;YAChB,UAAU,CAAC,MAAK;AACd,gBAAA,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE;AACxB,oBAAA,IAAI,CAAC,IAAI,CAAC,SAAS,CAAC;gBACtB;AACF,YAAA,CAAC,EAAE,IAAI,CAAC,OAAO,CAAC;QAClB;IACF;AAEA;;AAEG;IACH,MAAM,GAAA;QACJ,MAAM,aAAa,GAAG,EAAE;AACxB,QAAA,IAAI,CAAC,WAAW,CAAC,OAAO,CAAC,aAAa,CAAC;IACzC;AAEA;;AAEG;IACH,OAAO,GAAA;AACL,QAAA,IAAI,CAAC,SAAS,CAAC,WAAW,EAAE;AAC5B,QAAA,IAAI,CAAC,WAAW,CAAC,WAAW,EAAE;AAC9B,QAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;AACpB,YAAA,IAAI,CAAC,cAAc,CAAC,WAAW,EAAE;QACnC;AACA,QAAA,IAAI,CAAC,IAAI,CAAC,YAAY,EAAE;AACtB,YAAA,IAAI,CAAC,gBAAgB,CAAC,WAAW,EAAE;QACrC;AACA,QAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;AACpB,YAAA,IAAI,CAAC,cAAc,CAAC,WAAW,EAAE;QACnC;IACF;AACD;;AC7Ia,MAAO,IAAK,SAAQ,YAAY,CAAA;AAS5C,IAAA,WAAA,CAAY,OAAoB,EAAA;AAC9B,QAAA,KAAK,EAAE;QAPF,IAAA,CAAA,UAAU,GAAY,KAAK;AAQhC,QAAA,IAAI,CAAC,YAAY,GAAG,OAAO,CAAC,YAAY;AACxC,QAAA,IAAI,CAAC,WAAW,GAAG,OAAO,CAAC,WAAW;;AAGtC,QAAA,MAAM,IAAI,GAAG,IAAI,IAAI,EAAE;;AAGvB,QAAA,IAAI,CAAC,MAAM,GAAG,OAAO,GAAG,IAAI,CAAC,MAAM,EAAE,GAAG,GAAG,GAAG,IAAI,CAAC,OAAO,EAAE;;QAG5D,IAAI,CAAC,WAAW,GAAG;AACjB,YAAA,OAAO,EAAG;AACR,gBAAA,KAAK,EAAG;AACN,oBAAA,IAAI,EAAG,CAAC;AACR,oBAAA,KAAK,EAAG;AACT,iBAAA;gBACD,EAAE,EAAG,IAAI,CAAC;AACX,aAAA;YACD,IAAI,EAAG,IAAI,CAAC;SACb;QAED,IAAI,CAAC,EAAE,CAAC,QAAQ,EAAE,CAAC,MAAW,KAAI;AAChC,YAAA,IAAI,CAAC,MAAM,GAAG,MAAM;AACtB,QAAA,CAAC,CAAC;QAEF,IAAI,CAAC,EAAE,CAAC,QAAQ,EAAE,CAAC,MAAW,KAAI;AAChC,YAAA,IAAI,CAAC,UAAU,GAAG,IAAI;AACtB,YAAA,IAAI,CAAC,MAAM,GAAG,MAAM;AACtB,QAAA,CAAC,CAAC;QAEF,IAAI,CAAC,EAAE,CAAC,UAAU,EAAE,CAAC,QAAa,KAAI;AACpC,YAAA,IAAI,CAAC,QAAQ,GAAG,QAAQ;AAC1B,QAAA,CAAC,CAAC;;QAGF,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,GAAG,IAAI;IAC7C;AAEA;;;;AAIG;AACH,IAAA,IAAI,CAAC,OAAgB,EAAA;QACnB,IAAI,CAAC,YAAY,CAAC,SAAS,CAAC,OAAO,CAAC,IAAI,CAAC,WAAW,CAAC;QACrD,IAAI,OAAO,EAAE;YACX,UAAU,CAAC,MAAK;AACd,gBAAA,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE;AACpB,oBAAA,IAAI,CAAC,IAAI,CAAC,SAAS,CAAC;gBACtB;YACF,CAAC,EAAE,OAAO,CAAC;QACb;IACF;AAEA;;AAEG;IACH,MAAM,GAAA;AACJ,QAAA,MAAM,aAAa,GAAG;YACpB,EAAE,EAAG,IAAI,CAAC;SACX;QACD,IAAI,CAAC,YAAY,CAAC,WAAW,CAAC,OAAO,CAAC,aAAa,CAAC;IACtD;AACD;;MClEY,YAAY,CAAA;AAKvB,IAAA,WAAA,CAAY,GAAgB,EAAA;AAJpB,QAAA,IAAA,CAAA,MAAM,GAA8B,IAAI,GAAG,EAAE;AAC7C,QAAA,IAAA,CAAA,SAAS,GAAkD,IAAI,GAAG,EAAE;AAI1E,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG;IAChB;AACA;;;;;;AAMG;AACH,IAAA,SAAS,CAAC,IAAY,EAAE,WAAmB,EAAE,QAAkB,EAAE,MAA2B,EAAA;AAC1F,QAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;AACb,YAAA,MAAM,IAAI,KAAK,CAAC,iCAAiC,CAAC;QACpD;AACA,QAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;YACzB,OAAO,CAAC,IAAI,CACV,CAAA,uCAAA,EAA0C,IAAI,CAAA,EAAA,EAAK,IAAI,CAAA,qCAAA,CAAuC,CAC/F;QACH;;QAGA,IAAI,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE;YACzB,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,CAAE;AACtC,YAAA,OAAO,CAAC,SAAS,CAAC,GAAG,CAAC,QAAQ,CAAC;YAC/B;QACF;;AAGA,QAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAA,MAAA,CAAA,MAAA,CAAA,EAAG,GAAG,EAAE,IAAI,CAAC,GAAG,EAAE,IAAI,EAAE,WAAW,EAAA,EAAK,MAAM,EAAG;AACxE,QAAA,MAAM,SAAS,GAAG,IAAI,GAAG,EAAY;AACrC,QAAA,SAAS,CAAC,GAAG,CAAC,QAAQ,CAAC;AAEvB,QAAA,KAAK,CAAC,SAAS,CAAC,CAAC,GAAG,KAAI;AACtB,YAAA,SAAS,CAAC,OAAO,CAAC,CAAC,EAAE,KAAK,EAAE,CAAC,GAAG,CAAC,CAAC;AACpC,QAAA,CAAC,CAAC;AAEF,QAAA,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,EAAE,EAAE,KAAK,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,EAAE,CAAC;IAClE;IAEA,WAAW,CAAC,IAAY,EAAE,QAAmB,EAAA;QAC3C,MAAM,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,IAAI,CAAC;AACrC,QAAA,IAAI,CAAC,OAAO;YAAE;QAEd,IAAI,QAAQ,EAAE;AACZ,YAAA,OAAO,CAAC,SAAS,CAAC,MAAM,CAAC,QAAQ,CAAC;;YAElC,IAAI,OAAO,CAAC,SAAS,CAAC,IAAI,KAAK,CAAC,EAAE;AAChC,gBAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC3B,gBAAA,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC;YAC1B;QACF;aAAO;;AAEL,YAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC3B,YAAA,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC;QAC1B;IACF;IAEA,QAAQ,GAAA;QACN,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,KAAI;AAC9B,YAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC7B,QAAA,CAAC,CAAC;AACF,QAAA,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE;IACrB;AAEA,IAAA,cAAc,CAAC,GAAQ,EAAA;QACrB,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,OAAO,EAAE,IAAI,KAAI;AACpC,YAAA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAA,MAAA,CAAA,MAAA,CAAA,EAAG,GAAG,EAAE,IAAI,EAAE,WAAW,EAAE,OAAO,CAAC,WAAW,EAAA,EAAK,OAAO,CAAC,MAAM,EAAG;AAC3F,YAAA,OAAO,CAAC,KAAK,GAAG,KAAK;AAErB,YAAA,KAAK,CAAC,SAAS,CAAC,CAAC,GAAG,KAAI;AACtB,gBAAA,OAAO,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,EAAE,KAAK,EAAE,CAAC,GAAG,CAAC,CAAC;AAC5C,YAAA,CAAC,CAAC;AACJ,QAAA,CAAC,CAAC;IACJ;AACA;;;;;;;;AAQG;IACH,OAAO,CACL,IAAY,EACZ,WAAmB,EACnB,IAAS,EACT,MAA2B,EAC3B,gBAAgB,GAAG,KAAK,EAAA;QAExB,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;AACb,gBAAA,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;gBACpD;YACF;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,IAAI,CAAC,gBAAgB,EAAE;oBACrB,MAAM,CAAC,IAAI,KAAK,CAAC,wCAAwC,IAAI,CAAA,CAAE,CAAC,CAAC;oBACjE;gBACF;gBACA,OAAO,CAAC,IAAI,CACV,CAAA,qCAAA,EAAwC,IAAI,CAAA,EAAA,EAAK,IAAI,CAAA,qCAAA,CAAuC,CAC7F;YACH;;YAEA,IAAI,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE;gBAC5B,MAAM,OAAO,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,CAAE;AACzC,gBAAA,OAAO,CAAC,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC;gBAC3B,OAAO,CAAC,SAAS,CAAC;gBAClB;YACF;YACA,MAAM,OAAO,GAAG,IAAI,KAAK,CAAA,MAAA,CAAA,MAAA,CAAA,EACvB,GAAG,EAAE,IAAI,CAAC,GAAG,EACb,IAAI;gBACJ,WAAW,EAAA,EACR,MAAM,CAAA,CACT;AACF,YAAA,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,EAAE;AACvB,gBAAA,KAAK,EAAE,OAAO;gBACd,WAAW;AACZ,aAAA,CAAC;AACF,YAAA,OAAO,CAAC,OAAO,CAAC,IAAI,CAAC;YACrB,OAAO,CAAC,SAAS,CAAC;AACpB,QAAA,CAAC,CAAC;IACJ;AAEA,IAAA,WAAW,CAAC,IAAY,EAAA;QACtB,MAAM,OAAO,GAAG,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,IAAI,CAAC;AACxC,QAAA,IAAI,CAAC,OAAO;YAAE;AACd,QAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC3B,QAAA,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,IAAI,CAAC;IAC7B;IAEA,cAAc,GAAA;QACZ,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,OAAO,KAAI;AACjC,YAAA,OAAO,CAAC,KAAK,CAAC,WAAW,EAAE;AAC7B,QAAA,CAAC,CAAC;AACF,QAAA,IAAI,CAAC,SAAS,CAAC,KAAK,EAAE;IACxB;AACD;MACY,cAAc,CAAA;AAIzB,IAAA,WAAA,CAAY,GAAgB,EAAE,OAAO,GAAG,KAAK,EAAA;AAF5B,QAAA,IAAA,CAAA,cAAc,GAAW,KAAK,CAAC;AAG9C,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG;AACd,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO;IAC/B;AAEA;;;;;;;AAOG;IACH,IAAI,CACF,IAAY,EACZ,WAAmB,EACnB,OAAa,EACb,OAAO,GAAG,IAAI,CAAC,cAAc,EAAA;QAE7B,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CACX,IAAI,KAAK,CAAC,0CAA0C,IAAI,CAAA,CAAE,CAAC,CAC5D;YACH;YAEA,IAAI,KAAK,GAAyC,IAAI;YAEtD,MAAM,OAAO,GAAG,MAAK;gBACnB,IAAI,KAAK,EAAE;oBACT,YAAY,CAAC,KAAK,CAAC;oBACnB,KAAK,GAAG,IAAI;gBACd;AACF,YAAA,CAAC;AAED,YAAA,KAAK,GAAG,UAAU,CAAC,MAAK;AACtB,gBAAA,OAAO,EAAE;gBACT,MAAM,CAAC,IAAI,KAAK,CAAC,CAAA,aAAA,EAAgB,IAAI,CAAA,eAAA,EAAkB,OAAO,CAAA,EAAA,CAAI,CAAC,CAAC;YACtE,CAAC,EAAE,OAAO,CAAC;AAEX,YAAA,IAAI;AACF,gBAAA,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC;oBAC1B,GAAG,EAAE,IAAI,CAAC,GAAG;oBACb,IAAI;oBACJ,WAAW;AACZ,iBAAA,CAAC;AACF,gBAAA,MAAM,cAAc,GAAG,IAAI,cAAc,CAAC,OAAO,CAAC;gBAElD,OAAO,CAAC,WAAW,CACjB,cAAc,EACd,CAAC,MAAM,KAAI;AACT,oBAAA,OAAO,EAAE;oBACT,OAAO,CAAC,MAAM,CAAC;AACjB,gBAAA,CAAC,EACD,CAAC,KAAK,KAAI;AACR,oBAAA,OAAO,EAAE;oBACT,MAAM,CAAC,KAAK,CAAC;AACf,gBAAA,CAAC,CACF;YACH;YAAE,OAAO,KAAK,EAAE;AACd,gBAAA,OAAO,EAAE;gBACT,MAAM,CAAC,KAAK,CAAC;YACf;AACF,QAAA,CAAC,CAAC;IACJ;AACD;MAEY,YAAY,CAAA;AAIvB,IAAA,WAAA,CAAY,GAAgB,EAAE,OAAO,GAAG,KAAK,EAAA;AAF5B,QAAA,IAAA,CAAA,cAAc,GAAW,KAAK,CAAC;AAG9C,QAAA,IAAI,CAAC,GAAG,GAAG,GAAG;AACd,QAAA,IAAI,CAAC,cAAc,GAAG,OAAO;IAC/B;AACA;;AAEG;AACH,IAAA,GAAG,CAAC,IAAY,EAAE,OAAA,GAAkB,IAAI,CAAC,cAAc,EAAA;QACrD,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG;AAEpB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,uCAAuC,IAAI,CAAA,CAAE,CAAC,CAAC;YACzE;YAEA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,EAAE,CAAC;AAEtC,YAAA,MAAM,KAAK,GAAG,UAAU,CAAC,MAAK;gBAC5B,MAAM,CAAC,IAAI,KAAK,CAAC,aAAa,IAAI,CAAA,QAAA,CAAU,CAAC,CAAC;YAChD,CAAC,EAAE,OAAO,CAAC;YAEX;AACG,iBAAA,GAAG,CAAC,CAAC,KAAK,KAAI;gBACb,YAAY,CAAC,KAAK,CAAC;gBACnB,OAAO,CAAC,KAAK,CAAC;AAChB,YAAA,CAAC;AACA,iBAAA,KAAK,CAAC,CAAC,KAAK,KAAI;gBACf,YAAY,CAAC,KAAK,CAAC;gBACnB,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACN,QAAA,CAAC,CAAC;IACJ;AAEA;;AAEG;IACH,GAAG,CAAC,IAAY,EAAE,KAAU,EAAA;QAC1B,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG;AAEpB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,uCAAuC,IAAI,CAAA,CAAE,CAAC,CAAC;YACzE;YAEA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,EAAE,CAAC;YACtC;AACG,iBAAA,GAAG,CAAC,KAAK,EAAE,MAAK;AACf,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC;AACA,iBAAA,KAAK,CAAC,CAAC,KAAK,KAAI;gBACf,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACN,QAAA,CAAC,CAAC;IACJ;AAEA;;AAEG;AACH,IAAA,MAAM,CAAC,IAAY,EAAA;QACjB,OAAO,IAAI,OAAO,CAAC,CAAC,OAAO,EAAE,MAAM,KAAI;AACrC,YAAA,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG;AACpB,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE;gBACb,OAAO,MAAM,CAAC,IAAI,KAAK,CAAC,iCAAiC,CAAC,CAAC;YAC7D;AACA,YAAA,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE;gBACzB,OAAO,MAAM,CACX,IAAI,KAAK,CAAC,0CAA0C,IAAI,CAAA,CAAE,CAAC,CAC5D;YACH;YAEA,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,EAAE,GAAG,EAAE,IAAI,EAAE,CAAC;YACtC;iBACG,MAAM,CAAC,MAAK;AACX,gBAAA,OAAO,EAAE;AACX,YAAA,CAAC;AACA,iBAAA,KAAK,CAAC,CAAC,KAAK,KAAI;gBACf,MAAM,CAAC,KAAK,CAAC;AACf,YAAA,CAAC,CAAC;AACN,QAAA,CAAC,CAAC;IACJ;AACD;;;;;;;;;;;;;;;;"}

package/dist/index.d.ts

@@ -265,7 +265,70 @@ declare class Param {
     delete(callback?: () => void): Promise<void>;
 }
 
+interface ActionClientOptions {
+    ros: RosLike;
+    serverName: string;
+    actionName: string;
+    timeout?: number;
+    omitFeedback?: boolean;
+    omitStatus?: boolean;
+    omitResult?: boolean;
+}
+declare class ActionClient extends EventEmitter {
+    ros: RosLike;
+    serverName: string;
+    actionName: string;
+    timeout?: number;
+    omitFeedback?: boolean;
+    omitStatus?: boolean;
+    omitResult?: boolean;
+    goals: {
+        [key: string]: EventEmitter;
+    };
+    feedbackListener: Topic;
+    statusListener: Topic;
+    resultListener: Topic;
+    goalTopic: Topic;
+    cancelTopic: Topic;
+    private receivedStatus;
+    constructor(options: ActionClientOptions);
+    /**
+     * Cancel all goals associated with this ActionClient.
+     */
+    cancel(): void;
+    /**
+     * Unsubscribe and unadvertise all topics associated with this ActionClient.
+     */
+    dispose(): void;
+}
+
+interface GoalOptions {
+    actionClient: ActionClient;
+    goalMessage: any;
+}
+declare class Goal extends EventEmitter {
+    actionClient: ActionClient;
+    goalMessage: any;
+    isFinished: boolean;
+    goalID: string;
+    status: any;
+    result: any;
+    feedback: any;
+    constructor(options: GoalOptions);
+    /**
+     * Send the goal to the action server.
+     *
+     * @param timeout - A timeout length for the goal's result.
+     */
+    send(timeout?: number): void;
+    /**
+     * Cancel the current goal.
+     */
+    cancel(): void;
+}
+
 type Callback = (msg: any) => void;
+type TopicConfigOptions = Omit<TopicOptions, 'ros' | 'name' | 'messageType'>;
 declare class TopicManager {
     private topics;
     private pubTopics;
@@ -276,8 +339,9 @@ declare class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param callback 回调函数，当收到消息时调用
+     * @param config 订阅配置选项（可选）
      */
-    subscribe(name: string, messageType: string, callback: Callback): void;
+    subscribe(name: string, messageType: string, callback: Callback, config?: TopicConfigOptions): void;
     unsubscribe(name: string, callback?: Callback): void;
     clearAll(): void;
     resubscribeAll(ros: any): void;
@@ -286,10 +350,11 @@ declare class TopicManager {
      * @param name 主题名称
      * @param messageType 消息类型
      * @param data 要发布的数据
+     * @param config 发布配置选项（可选）
      * @param queueWhenOffline 是否在 ROS 连接时队列消息（默认 false）
      * @returns Promise，成功时解析为 undefined，失败时拒绝
      */
-    publish(name: string, messageType: string, data: any, queueWhenOffline?: boolean): Promise<unknown>;
+    publish(name: string, messageType: string, data: any, config?: TopicConfigOptions, queueWhenOffline?: boolean): Promise<unknown>;
     unadvertise(name: string): void;
     unadvertiseAll(): void;
 }
@@ -325,4 +390,4 @@ declare class ParamManager {
     delete(name: string): Promise<void>;
 }
 
-export { EnhancedRos, EnhancedRosState, EventEmitter, Param, ParamManager, Ros, Service, ServiceManager, ServiceRequest, ServiceResponse, Topic, TopicManager };
+export { ActionClient, EnhancedRos, EnhancedRosState, EventEmitter, Goal, Param, ParamManager, Ros, Service, ServiceManager, ServiceRequest, ServiceResponse, Topic, TopicManager };