tassello 0.4.0 → 0.5.0

package/CHANGELOG.md

@@ -81,6 +81,8 @@ change the plugin API (`tassello/sdk`, `tassello/server`, `tassello/vite`), as n
 - Plugins: `connection.subscribeNetwork`, `networkAction`, the `Network*`, `WifiNetwork`,
   `WifiSecurity` and `ConnectionKind` types, and the `NetworkIcon`, `WifiIcon`, `WifiOffIcon`,
   `EthernetIcon`, `HotspotIcon` and `ShieldIcon` icons.
+- Plugins: a `select` property's options can be known at run time, e.g. the robot's: `useOptions`,
+  a hook the properties panel calls. Its values are not checked against the options.
 
 ## 0.1.0
 

package/dist/types/client/widgets/types.d.ts

@@ -36,6 +36,10 @@ type PropertyKind<V> = [V] extends [boolean] ? {
         value: V;
         label: string;
     }[];
+    useOptions?: () => {
+        value: V;
+        label: string;
+    }[];
 } | {
     kind: 'image';
     default: V;
@@ -86,6 +90,10 @@ export type Property = PropertyBase<Config, string> & (PropertyKind<boolean> | P
         value: string;
         label: string;
     }[];
+    useOptions?: () => {
+        value: string;
+        label: string;
+    }[];
 } | {
     kind: 'image' | 'behavior-tree';
     default: string;

package/dist/www/assets/index.js

@@ -66,4 +66,4 @@ package://my_robot_bt/nodes.xml`,help:`XML files of TreeNodesModel (as Groot exp
 `),l=c<0?0:e.msg.split(`
 `).length-1;return(0,J.jsxs)(`div`,{role:`option`,"aria-selected":n,className:`log-row ${o}${n?` selected`:``}`,style:{top:t},onClick:()=>a(n?null:e.seq),children:[r!==`none`&&(0,J.jsx)(`time`,{className:`log-time`,children:r===`clock`?oa(e.stamp):aa(e.stamp)}),(0,J.jsx)(`span`,{className:`log-level`,children:s}),i&&(0,J.jsx)(`span`,{className:`log-node`,children:e.name}),(0,J.jsx)(`span`,{className:`log-msg`,children:c<0?e.msg:e.msg.slice(0,c)}),l>0&&(0,J.jsxs)(`span`,{className:`log-more`,title:`${l} more line${l===1?``:`s`}`,children:[`+`,l]})]})});function vl({entries:e,version:t,selected:n,follow:r,time:i,showNode:a,nodeWidth:o,compact:s,empty:c,onSelect:l,onFollow:u}){let d=s?hl:ml,f=(0,q.useRef)(null),[p,m]=(0,q.useState)({top:0,height:0}),h=(0,q.useRef)(null),g=(0,q.useRef)({entries:e,follow:r,rowPx:d});g.current={entries:e,follow:r,rowPx:d};let _=()=>{let e=f.current;if(!e)return;let{entries:t,follow:n,rowPx:r}=g.current;n?e.scrollTop=e.scrollHeight:h.current&&(e.scrollTop=ea(t,h.current.seq)*r+Math.min(h.current.offset,r-1)),m({top:e.scrollTop,height:e.clientHeight})};(0,q.useEffect)(()=>{h.current=null},[t]),(0,q.useLayoutEffect)(_,[e,r,d]),(0,q.useLayoutEffect)(()=>{let e=f.current;if(!e)return;let t=new ResizeObserver(_);return t.observe(e),()=>t.disconnect()},[]);let v=()=>{let t=f.current;if(!t)return;let n=t.scrollTop,i=Math.min(e.length-1,Math.floor(n/d));h.current=i>=0?{seq:e[i].seq,offset:n-i*d}:null;let a=t.scrollHeight-n-t.clientHeight<d/2;a!==r&&u(a),m({top:n,height:t.clientHeight})},y=e=>{let t=f.current;if(!t)return;let n=e*d;n<t.scrollTop?t.scrollTop=n:n+d>t.scrollTop+t.clientHeight&&(t.scrollTop=n+d-t.clientHeight)},b=t=>{if(e.length===0)return;let r=Math.max(1,Math.floor(p.height/d)-1),i=n===null?-1:ea(e,n),a;switch(t.key){case`ArrowDown`:a=i<0?e.length-1:i+1;break;case`ArrowUp`:a=i<0?e.length-1:i-1;break;case`PageDown`:a=i+r;break;case`PageUp`:a=i-r;break;case`Home`:a=0;break;case`End`:a=e.length-1;break;default:return}t.preventDefault(),a=Math.min(e.length-1,Math.max(0,a)),l(e[a].seq),y(a)},x=Math.max(0,Math.floor(p.top/d)-gl),S=Math.min(e.length,Math.ceil((p.top+p.height)/d)+gl),C=[];for(let t=x;t<S;t++){let r=e[t];C.push((0,J.jsx)(_l,{entry:r,top:t*d,selected:r.seq===n,time:i,showNode:a,onSelect:l},r.seq))}return(0,J.jsx)(`div`,{ref:f,className:`logs-list${s?` compact`:``}`,role:`listbox`,"aria-label":`Messages`,tabIndex:0,style:{"--log-row":`${d}px`,"--log-node":`${o}ch`},onScroll:v,onKeyDown:b,children:e.length>0?(0,J.jsx)(`div`,{className:`logs-rows`,style:{height:e.length*d},children:C}):(0,J.jsx)(`p`,{className:`logs-empty`,children:c})})}var yl=560,bl=420,xl=300,Sl={min:6,max:22};async function Cl(e){if(navigator.clipboard&&window.isSecureContext)return navigator.clipboard.writeText(e);let t=document.createElement(`textarea`);t.value=e,t.setAttribute(`readonly`,``),t.style.position=`fixed`,t.style.opacity=`0`,document.body.append(t),t.select();let n=document.execCommand(`copy`);if(t.remove(),!n)throw Error(`the browser does not allow it`)}function wl(e,t){let n=URL.createObjectURL(new Blob([t],{type:`text/plain`})),r=document.createElement(`a`);r.href=n,r.download=e,r.click(),setTimeout(()=>URL.revokeObjectURL(n),1e3)}function Tl(){let e=new Date,t=e=>String(e).padStart(2,`0`),n=`${e.getFullYear()}${t(e.getMonth()+1)}${t(e.getDate())}`,r=`${t(e.getHours())}${t(e.getMinutes())}${t(e.getSeconds())}`;return`rosout_${b.hostname||`robot`}_${n}_${r}.log`}function El(e){return`${e.toLocaleString()} message${e===1?``:`s`}`}function Dl({nodes:e,chosen:t,overlay:n,onToggle:r,onAll:i,onClose:a}){return(0,J.jsxs)(`aside`,{className:`logs-nodes${n?` overlay`:``}`,"aria-label":`Nodes`,children:[(0,J.jsxs)(`header`,{className:`logs-nodes-header`,children:[(0,J.jsx)(`span`,{children:`Nodes`}),(0,J.jsx)(`button`,{type:`button`,className:`link-button`,disabled:t.size===0,onClick:i,children:`Show all`}),n&&(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-label":`Close`,onClick:a,children:(0,J.jsx)(H,{width:15,height:15})})]}),e.length===0?(0,J.jsx)(`p`,{className:`logs-nodes-empty`,children:`No node yet`}):(0,J.jsx)(`ul`,{children:e.map(e=>{let n=t.has(e.name),i=e.counts[3]+e.counts[4],a=e.counts[2];return(0,J.jsx)(`li`,{children:(0,J.jsxs)(`button`,{type:`button`,className:`logs-node${e.node?``:` gone`}`,"aria-pressed":n,title:`${e.node??`${e.name}: not running`} · ${El(e.total)}`,onClick:()=>r(e.name),children:[(0,J.jsx)(`span`,{className:`logs-node-dot`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`logs-node-name`,children:e.name}),i>0&&(0,J.jsx)(`span`,{className:`logs-node-badge error`,children:ca(i)}),a>0&&(0,J.jsx)(`span`,{className:`logs-node-badge warn`,children:ca(a)}),(0,J.jsx)(`span`,{className:`logs-node-count`,children:ca(e.total)})]})},e.name)})})]})}function Ol({entry:e,running:t,onOnly:n,onClose:r}){let{level:a,tag:o}=Gi[Ki(e.level)],s=Xi(e.name,t),c=()=>Cl(sa(e)).then(()=>G(`Copied the message`),e=>G(`Could not copy the message: ${e instanceof Error?e.message:e}`,`error`));return(0,J.jsxs)(`section`,{className:`logs-details ${a}`,"aria-label":`The message`,children:[(0,J.jsxs)(`header`,{className:`logs-details-header`,children:[(0,J.jsx)(`span`,{className:`logs-pill`,children:o}),(0,J.jsx)(`strong`,{className:`logs-details-node`,title:s??`${e.name}: not running`,children:e.name}),(0,J.jsx)(`span`,{className:`logs-toolbar-end`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Only this node’s messages`,"aria-label":`Only this node’s messages`,onClick:n,children:(0,J.jsx)(i,{width:16,height:16})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Copy`,"aria-label":`Copy`,onClick:()=>void c(),children:(0,J.jsx)(z,{width:16,height:16})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Close (Esc)`,"aria-label":`Close`,onClick:r,children:(0,J.jsx)(H,{width:16,height:16})})]}),(0,J.jsx)(`pre`,{className:`logs-details-msg`,children:e.msg}),(0,J.jsxs)(`dl`,{className:`logs-details-facts`,children:[(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Time`}),(0,J.jsxs)(`dd`,{children:[oa(e.stamp),` · `,aa(e.stamp)]})]}),e.file&&(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Where`}),(0,J.jsxs)(`dd`,{children:[e.file,`:`,e.line,e.function&&` · ${e.function}`]})]}),(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Node`}),(0,J.jsx)(`dd`,{children:s??`Not running`})]})]})]})}function kl({config:e}){let[t,n]=(0,q.useReducer)($i,Ji),[r,i]=(0,q.useState)({state:`waiting`,message:`Connecting…`}),[a,o]=(0,q.useState)(()=>qi(e.level)),[s,c]=(0,q.useState)(e.include),[l,u]=(0,q.useState)(e.exclude),[d,f]=(0,q.useState)(e.regex),[p,m]=(0,q.useState)(new Set),[h,g]=(0,q.useState)(!0),[_,v]=(0,q.useState)(null),[y,x]=(0,q.useState)(null),[S,C]=(0,q.useState)({width:0,height:0}),w=(0,q.useRef)(null);(0,q.useEffect)(()=>o(qi(e.level)),[e.level]),(0,q.useEffect)(()=>c(e.include),[e.include]),(0,q.useEffect)(()=>u(e.exclude),[e.exclude]),(0,q.useEffect)(()=>f(e.regex),[e.regex]);let T=e.topic.trim();(0,q.useEffect)(()=>{if(n({type:`reset`}),!T)i({state:`error`,message:`No log topic: set one in edit mode`});else return i({state:`waiting`,message:`Connecting…`}),b.subscribeRosout({topic:T},{status:(e,t)=>i({state:e,message:t}),update:e=>n({type:`update`,update:e})})},[T]),(0,q.useEffect)(()=>{v(null),g(!0)},[t.version]),(0,q.useEffect)(()=>{let e=w.current;if(!e)return;let t=new ResizeObserver(([e])=>C({width:e.contentRect.width,height:e.contentRect.height}));return t.observe(e),()=>t.disconnect()},[]);let D=(0,q.useDeferredValue)(s),O=(0,q.useDeferredValue)(l),k=(0,q.useMemo)(()=>na(e.nodes),[e.nodes]),A=(0,q.useMemo)(()=>ta(D,d),[D,d]),j=(0,q.useMemo)(()=>ta(O,d),[O,d]),N=(0,q.useMemo)(()=>ra(t.entries,t.running,{scope:k,nodes:p,levels:a,include:A.test,exclude:j.test}),[t.entries,t.running,k,p,a,A,j]),P=(e,t)=>o(n=>{if(t)return new Set([e]);let r=new Set(n);return r.delete(e)||r.add(e),r}),F=(0,q.useCallback)(e=>m(t=>{let n=new Set(t);return n.delete(e)||n.add(e),n}),[]),I=_===null?void 0:t.entries[ea(t.entries,_)],L=I?.seq===_?I:void 0,{width:R,height:ee}=S,te=R>=yl,z=y??te,ie=N.nodes.filter(e=>e.total>0),ae=Math.min(Sl.max,Math.max(Sl.min,...ie.map(e=>e.name.length))),oe=`No message matches the filters`;t.received?t.entries.length===0?oe=t.cleared?`Cleared: the new messages will show here`:`No message yet`:N.total===0&&(oe=`No message of ${e.nodes.trim()} yet`):oe=r.state===`error`?r.message:`Reading the log…`;let se;if(r.state===`error`)se={text:r.message,tone:`error`};else if(!t.received)se={text:r.message,tone:`idle`};else{let e=[N.shown.length===N.total?El(N.total):`${N.shown.length.toLocaleString()} of ${El(N.total)}`];p.size>0&&e.push(p.size===1?`of ${[...p][0]}`:`of ${p.size} nodes`),t.skipped>0&&e.push(`${t.skipped.toLocaleString()} skipped: too many at once`),t.paused&&e.push(t.pending.length>0?`paused, ${El(t.pending.length)} waiting`:`paused`),se={text:e.join(` · `),tone:t.paused?`paused`:r.state}}return(0,J.jsxs)(`div`,{ref:w,className:`logs${L&&ee>0&&ee<xl?` cramped`:``}`,onKeyDown:e=>{e.key===`Escape`&&_!==null&&v(null)},children:[(0,J.jsxs)(`div`,{className:`logs-toolbar`,role:`toolbar`,"aria-label":`Logs`,children:[(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":z,title:`The nodes`,"aria-label":`The nodes`,onClick:()=>x(!z),children:(0,J.jsx)(Ne,{width:17,height:17})}),(0,J.jsx)(`div`,{className:`logs-levels`,role:`group`,"aria-label":`Levels`,children:Gi.map(({level:e,label:t,letter:n},r)=>(0,J.jsxs)(`button`,{type:`button`,className:`logs-level ${e}`,"aria-pressed":a.has(e),"aria-label":`${t}: ${N.levels[r]}`,title:`${t}: ${El(N.levels[r])}. Shift+click: this level only`,onClick:t=>P(e,t.shiftKey),children:[(0,J.jsx)(`span`,{className:`logs-level-dot`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`logs-level-name`,children:t}),(0,J.jsx)(`span`,{className:`logs-level-letter`,"aria-hidden":`true`,children:n}),(0,J.jsx)(`span`,{className:`logs-level-count`,children:ca(N.levels[r])})]},e))}),(0,J.jsxs)(`div`,{className:`logs-tools`,children:[(0,J.jsxs)(`label`,{className:`logs-search${A.error?` invalid`:``}`,title:A.error??`Only the messages containing any of these, separated by ;`,children:[(0,J.jsx)(ne,{width:14,height:14}),(0,J.jsx)(`input`,{type:`search`,value:s,placeholder:`Include…`,"aria-label":`Only the messages containing`,spellCheck:!1,onChange:e=>c(e.target.value)})]}),(0,J.jsxs)(`label`,{className:`logs-search${j.error?` invalid`:``}`,title:j.error??`Not the messages containing any of these, separated by ;`,children:[(0,J.jsx)(be,{width:14,height:14}),(0,J.jsx)(`input`,{type:`search`,value:l,placeholder:`Exclude…`,"aria-label":`Not the messages containing`,spellCheck:!1,onChange:e=>u(e.target.value)})]}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button logs-regex`,"aria-pressed":d,title:`As regular expressions`,"aria-label":`As regular expressions`,onClick:()=>f(e=>!e),children:`.*`}),(0,J.jsx)(`span`,{className:`overlay-separator`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":t.paused,title:t.paused?`Resume`:`Pause: the new messages wait`,"aria-label":t.paused?`Resume`:`Pause`,onClick:()=>n({type:t.paused?`resume`:`pause`}),children:(0,J.jsx)(Ae,{width:17,height:17})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":h,title:`Follow the newest`,"aria-label":`Follow the newest`,onClick:()=>g(e=>!e),children:(0,J.jsx)(re,{width:17,height:17})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Download the messages shown`,"aria-label":`Download the messages shown`,disabled:N.shown.length===0,onClick:()=>wl(Tl(),N.shown.map(sa).join(`
 `)+`
-`),children:(0,J.jsx)(M,{width:17,height:17})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Clear the messages`,"aria-label":`Clear the messages`,disabled:t.entries.length===0&&t.pending.length===0,onClick:()=>{v(null),n({type:`clear`})},children:(0,J.jsx)(E,{width:17,height:17})})]})]}),(0,J.jsxs)(`div`,{className:`logs-main`,children:[z&&(0,J.jsx)(Dl,{nodes:N.nodes,chosen:p,overlay:!te,onToggle:F,onAll:()=>m(new Set),onClose:()=>x(!1)}),(0,J.jsx)(vl,{entries:N.shown,version:t.version,selected:_,follow:h,time:e.time,showNode:p.size!==1&&ie.length!==1,nodeWidth:ae,compact:R>0&&R<bl,empty:oe,onSelect:v,onFollow:g})]}),L&&(0,J.jsx)(Ol,{entry:L,running:t.running,onOnly:()=>m(new Set([L.name])),onClose:()=>v(null)}),(0,J.jsxs)(`div`,{className:`logs-status ${se.tone}`,title:se.text,children:[(0,J.jsx)(`span`,{className:`logs-dot`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`logs-status-text`,children:se.text})]})]})}var Al=Ye({type:`logs`,name:`Logs`,description:`The ROS log of every node (/rosout), coloured by level, filtered by node, level and text.`,icon:_,defaultSize:{w:10,h:6},minSize:{w:4,h:3},component:kl,properties:[{key:`topic`,label:`Log topic`,kind:`topic`,default:`/rosout`,topicTypes:[`rcl_interfaces/msg/Log`],help:`rcl_interfaces/Log: every node’s logger publishes on /rosout`},{key:`nodes`,label:`Nodes`,kind:`string`,default:``,placeholder:`amcl, *_server`,help:`Only these nodes, with their child loggers: names or globs (*), separated by commas or spaces. All if empty`},{key:`level`,label:`Levels shown`,kind:`select`,default:`debug`,options:[{value:`debug`,label:`All`},{value:`info`,label:`Info and above`},{value:`warn`,label:`Warnings and above`},{value:`error`,label:`Errors and above`}],help:`When the panel opens: its toolbar shows and hides each level`},{key:`include`,label:`Include`,kind:`string`,default:``,placeholder:`goal; path`,help:`Only the messages containing any of these, separated by ;. The toolbar changes it`},{key:`exclude`,label:`Exclude`,kind:`string`,default:``,placeholder:`Publishing`,help:`Not the messages containing any of these, separated by ;. The toolbar changes it`},{key:`regex`,label:`Filters as regular expressions`,kind:`boolean`,default:!1},{key:`time`,label:`Time`,kind:`select`,default:`clock`,options:[{value:`clock`,label:`Clock time, 14:03:27.512`},{value:`stamp`,label:`ROS stamp, in seconds`},{value:`none`,label:`Hidden`}],help:`Of the messages’ stamps, on their nodes’ clocks: seconds on sim time`}]}),jl=[`map`,`global`,`local`],Ml=2,Nl=2e3,Pl=.25,Fl=8,Il=34,Ll=6,Rl=2e3,zl=.25,Bl={robot:`#4f8cff`,stale:`#8b95a7`,goal:`#2fbf71`,plan:`#2fbf71`,pose:`#f0a020`},Vl=e=>e*180/Math.PI;function Hl(e){return`x ${e.x.toFixed(2)}  y ${e.y.toFixed(2)}  θ ${Math.round(Vl(e.yaw))}°`}function Ul(e,t,n){return new DOMMatrix().translate(t/2,n/2).scale(e.scale,-e.scale).translate(-e.x,-e.y)}function Wl(e){return new DOMMatrix().translate(e.x,e.y).rotate(Vl(e.yaw))}function Gl(e,t){return Wl(t).translate(e.originX,e.originY).rotate(Vl(e.originYaw)).scale(e.resolution,e.resolution)}function Kl(e,t,n,r){let i=t.transformPoint({x:n.x,y:n.y}),a=-n.yaw;e.save(),e.translate(i.x,i.y),e.rotate(a),e.strokeStyle=r,e.fillStyle=r,e.lineWidth=3,e.lineCap=`round`,e.beginPath(),e.moveTo(0,0),e.lineTo(26,0),e.stroke(),e.beginPath(),e.moveTo(Il,0),e.lineTo(23,-7),e.lineTo(23,7),e.closePath(),e.fill(),e.beginPath(),e.arc(0,0,5,0,2*Math.PI),e.fill(),e.lineWidth=2,e.strokeStyle=`#fff`,e.stroke(),e.restore()}function ql(e,t,n,r,i){let a=t.transformPoint({x:n.x,y:n.y}),o=Math.max(Fl,Pl*r),s=i?Bl.stale:Bl.robot;e.save(),e.translate(a.x,a.y),e.rotate(-n.yaw),e.beginPath(),e.arc(0,0,o,0,2*Math.PI),e.fillStyle=`${s}55`,e.fill(),e.lineWidth=2,e.strokeStyle=s,e.stroke(),e.beginPath(),e.moveTo(o+6,0),e.lineTo(-o*.35,-o*.55),e.lineTo(-o*.1,0),e.lineTo(-o*.35,o*.55),e.closePath(),e.fillStyle=s,e.fill(),e.lineWidth=1.5,e.strokeStyle=`#fff`,e.stroke(),e.restore()}function Jl(e,t,n){if(!(n.length<4)){e.save(),e.beginPath();for(let r=0;r<n.length;r+=2){let i=t.transformPoint({x:n[r],y:n[r+1]});r===0?e.moveTo(i.x,i.y):e.lineTo(i.x,i.y)}e.lineCap=`round`,e.lineJoin=`round`,e.strokeStyle=`rgb(0 0 0 / 35%)`,e.lineWidth=6,e.stroke(),e.strokeStyle=Bl.plan,e.lineWidth=3,e.stroke(),e.restore()}}function Yl(e,t,n){let r=window.devicePixelRatio||1,i=e.clientWidth,a=e.clientHeight;(e.width!==Math.round(i*r)||e.height!==Math.round(a*r))&&(e.width=Math.round(i*r),e.height=Math.round(a*r));let o=e.getContext(`2d`);if(!o||(o.setTransform(1,0,0,1,0,0),o.clearRect(0,0,e.width,e.height),!t))return;let s=Ul(t,i,a),c=new DOMMatrix().scale(r,r).multiply(s);for(let e of jl){let i=n.layers[e],a=n.placements[e];i&&a&&(o.imageSmoothingEnabled=i.info.resolution*t.scale*r<1,o.setTransform(c.multiply(Gl(i.info,a))),o.drawImage(i.image,0,0))}o.setTransform(r,0,0,r,0,0),n.plan&&Jl(o,s.multiply(Wl(n.plan.placement)),n.plan.points),n.goal&&Kl(o,s,n.goal,Bl.goal),n.robot?.transform&&ql(o,s,n.robot.transform,t.scale,n.robot.ageMs>Rl),n.preview&&Kl(o,s,n.preview.pose,Bl[n.preview.tool])}function Xl(e,t,n,r){let i=Gl(e.info,t),a=e.info.known??{x:0,y:0,width:e.info.width,height:e.info.height},o=[[a.x,a.y],[a.x+a.width,a.y],[a.x,a.y+a.height],[a.x+a.width,a.y+a.height]].map(([e,t])=>i.transformPoint({x:e,y:t})),s=o.map(e=>e.x),c=o.map(e=>e.y),[l,u,d,f]=[Math.min(...s),Math.max(...s),Math.min(...c),Math.max(...c)],p=.94*Math.min(n/(u-l||1),r/(f-d||1));return{x:(l+u)/2,y:(d+f)/2,scale:Math.min(Nl,Math.max(Ml,p))}}function Zl({config:e,editing:t}){let n=(0,q.useRef)(null),i=(0,q.useRef)(null),a=(0,q.useRef)(null),o=(0,q.useRef)({}),[c,l]=(0,q.useState)({map:``,global:``,local:``}),[u,d]=(0,q.useState)({state:`waiting`,message:`Connecting…`}),[f,p]=(0,q.useState)(null),[m,h]=(0,q.useState)(!1),g=(0,q.useRef)(null),_=(0,q.useRef)(null),[y,S]=(0,q.useState)(``),C=(0,q.useRef)(null),w=(0,q.useRef)(new Map),T=(0,q.useRef)(null),E=e.mapFrame.trim(),D=s(E,e.robotFrame),O=e=>c[e]&&c[e]!==E?c[e]:``,k={map:s(E,O(`map`)),global:s(E,O(`global`)),local:s(E,O(`local`))},A={};for(let e of jl)A[e]=O(e)?k[e]?.transform??null:{x:0,y:0,yaw:0};let j=s(E,y&&y!==E?y:``),M=y&&y!==E?j?.transform??null:{x:0,y:0,yaw:0},N=(0,q.useRef)({layers:o.current,placements:A,planPlacement:M,robot:D});N.current={layers:o.current,placements:A,planPlacement:M,robot:D};let P=(0,q.useRef)(0),F=(0,q.useCallback)(()=>{P.current||=requestAnimationFrame(()=>{P.current=0;let e=n.current,{planPlacement:t,...r}=N.current;e&&Yl(e,i.current,{...r,plan:_.current&&t?{points:_.current.points,placement:t}:null,goal:g.current,preview:C.current})})},[]);(0,q.useEffect)(F),(0,q.useEffect)(()=>()=>cancelAnimationFrame(P.current),[]);let I=()=>({width:n.current?.clientWidth??1,height:n.current?.clientHeight??1}),L=(0,q.useCallback)(()=>{let{width:e,height:t}=I();for(let n of jl){let r=o.current[n],s=N.current.placements[n];if(r&&s)return i.current=Xl(r,s,e,t),a.current=n===`map`?`map`:`costmap`,F(),!0}let n=N.current.robot?.transform;return n?(i.current={x:n.x,y:n.y,scale:50},a.current=`robot`,F(),!0):!1},[F]),R=(0,q.useCallback)((e,t,n,r)=>{let i=!0,s=b.subscribeGrid({topic:t,style:n,maxFps:r},{status:(t,n)=>e===`map`&&d({state:t,message:n}),frame:async(t,{meta:n})=>{let r=await createImageBitmap(t);if(!i){r.close();return}let s=n;o.current[e]?.image.close(),o.current[e]={image:r,info:s},l(t=>t[e]===s.frameId?t:{...t,[e]:s.frameId});let c=a.current;(e===`map`?c!==`map`&&c!==`user`:c===null||c===`robot`)&&L(),F()}});return()=>{i=!1,s(),o.current[e]?.image.close(),delete o.current[e],F()}},[L,F]),ee=e.mapTopic.trim();(0,q.useEffect)(()=>{if(!ee)d({state:`error`,message:`No map topic: set one in edit mode`});else return d({state:`waiting`,message:`Connecting…`}),R(`map`,ee,`map`,1)},[ee,R]);let z=e.showGlobalCostmap?e.globalCostmapTopic.trim():``;(0,q.useEffect)(()=>z?R(`global`,z,`costmap`,1):void 0,[z,R]);let ne=e.showLocalCostmap?e.localCostmapTopic.trim():``;(0,q.useEffect)(()=>ne?R(`local`,ne,`costmap`,4):void 0,[ne,R]);let re=e.showPlan?e.planTopic.trim():``;(0,q.useEffect)(()=>{if(!re)return;let e=b.subscribePath({topic:re},e=>{_.current=e,S(e.frameId),F()});return()=>{e(),_.current=null,S(``),F()}},[re,F]),(0,q.useEffect)(()=>{let e=D?.transform;e&&g.current&&Math.hypot(e.x-g.current.x,e.y-g.current.y)<zl&&(g.current=null),m&&e&&i.current?i.current={...i.current,x:e.x,y:e.y}:!i.current&&e&&L()},[D,m,L]),(0,q.useEffect)(()=>{let e=n.current;if(!e)return;let t=new ResizeObserver(F);return t.observe(e),()=>t.disconnect()},[F]);let ie=(0,q.useCallback)((e,t)=>{let n=i.current;if(!n)return;let{width:r,height:o}=I(),s=Math.min(Nl,Math.max(Ml,n.scale*t));a.current=`user`;let c=Ul(n,r,o).inverse().transformPoint(e);i.current={scale:s,x:c.x-(e.x-r/2)/s,y:c.y+(e.y-o/2)/s},F()},[F]);(0,q.useEffect)(()=>{let e=n.current;if(!e)return;let t=t=>{t.preventDefault();let n=e.getBoundingClientRect();ie({x:t.clientX-n.left,y:t.clientY-n.top},Math.exp(-t.deltaY*.0015))};return e.addEventListener(`wheel`,t,{passive:!1}),()=>e.removeEventListener(`wheel`,t)},[ie]),(0,q.useEffect)(()=>{if(!f)return;let e=e=>e.key===`Escape`&&p(null);return window.addEventListener(`keydown`,e),()=>window.removeEventListener(`keydown`,e)},[f]);let ae=e=>{let t=n.current.getBoundingClientRect();return{x:e.clientX-t.left,y:e.clientY-t.top}},oe=e=>{let{width:t,height:n}=I(),{x:r,y:a}=Ul(i.current,t,n).inverse().transformPoint(e);return{x:r,y:a}},se=()=>{let[e,t]=[...w.current.values()];return{distance:Math.hypot(e.x-t.x,e.y-t.y),center:{x:(e.x+t.x)/2,y:(e.y+t.y)/2}}},ce=(t,n)=>{b.send({type:`pose`,topic:t===`goal`?e.goalTopic.trim():e.poseTopic.trim(),covariance:t===`pose`,frameId:E,...n})?(t===`goal`&&(g.current=n),G(`${t===`goal`?`Goal`:`Pose estimate`} sent: ${Hl(n)}`)):G(`Not connected to the robot`,`error`)},B=e=>{if(!i.current||e.pointerType===`mouse`&&e.button!==0)return;e.currentTarget.setPointerCapture(e.pointerId);let t=ae(e);if(w.current.set(e.pointerId,t),w.current.size===2)C.current=null,T.current={kind:`pinch`,...se()};else if(w.current.size===1&&f){let n=oe(t);T.current={kind:`place`,tool:f,pointerId:e.pointerId,anchor:n,start:t},C.current={tool:f,pose:{x:n.x,y:n.y,yaw:0}}}else w.current.size===1&&(T.current={kind:`pan`});F()},le=e=>{let t=w.current.get(e.pointerId),n=i.current;if(!t||!n)return;let r=ae(e);w.current.set(e.pointerId,r);let o=T.current;if(o?.kind===`place`){let e=oe(r),t=Math.hypot(r.x-o.start.x,r.y-o.start.y)>Ll;C.current={tool:o.tool,pose:{...o.anchor,yaw:t?Math.atan2(e.y-o.anchor.y,e.x-o.anchor.x):0}}}else if(o?.kind===`pan`)a.current=`user`,i.current={...n,x:n.x-(r.x-t.x)/n.scale,y:n.y+(r.y-t.y)/n.scale},h(!1);else if(o?.kind===`pinch`&&w.current.size===2){let e=se();i.current={...n,x:n.x-(e.center.x-o.center.x)/n.scale,y:n.y+(e.center.y-o.center.y)/n.scale},ie(e.center,e.distance/(o.distance||1)),T.current={kind:`pinch`,...e}}F()},ue=e=>{if(!w.current.delete(e.pointerId))return;let t=T.current;if(t?.kind===`place`&&t.pointerId===e.pointerId){let n=C.current;C.current=null,T.current=null,e.type===`pointerup`&&n&&(ce(t.tool,n.pose),p(null))}else w.current.size===1?T.current={kind:`pan`}:w.current.size===0&&(T.current=null);F()},de=D?.transform,V;if(!E||!e.robotFrame.trim())V={text:`Set the TF frames in edit mode`,className:`error`};else if(de){let e=D.ageMs>Rl;V={text:`${Hl(de)}${e?`  (stale)`:``}`,className:e?`stale`:``}}else V={text:D?.error??`Locating the robot…`,className:`error`};let fe=(e,t,n)=>(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":f===e,title:t,"aria-label":t,onClick:()=>p(t=>t===e?null:e),children:(0,J.jsx)(n,{width:17,height:17})});return(0,J.jsxs)(`div`,{className:`navigation`,children:[(0,J.jsx)(`canvas`,{ref:n,className:f?`placing`:void 0,onPointerDown:B,onPointerMove:le,onPointerUp:ue,onPointerCancel:ue}),u.state!==`streaming`&&(0,J.jsxs)(`div`,{className:`nav-overlay ${u.state}`,children:[(0,J.jsx)(te,{width:28,height:28}),(0,J.jsx)(`span`,{children:u.message})]}),(0,J.jsxs)(`div`,{className:`overlay-toolbar`,children:[fe(`pose`,`Set the pose estimate`,v),fe(`goal`,`Send a navigation goal`,x),(0,J.jsx)(`span`,{className:`overlay-separator`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Fit the map`,"aria-label":`Fit the map`,onClick:()=>{h(!1),L()},children:(0,J.jsx)(ge,{width:17,height:17})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":m,title:`Follow the robot`,"aria-label":`Follow the robot`,disabled:!de,onClick:()=>h(e=>!e),children:(0,J.jsx)(r,{width:17,height:17})})]}),f&&!t&&(0,J.jsx)(`div`,{className:`nav-hint`,children:f===`goal`?`Press where the robot should go, drag towards where it should face`:`Press where the robot is, drag towards where it faces`}),(0,J.jsx)(`div`,{className:`nav-readout ${V.className}`,children:V.text})]})}var Ql=Ye({type:`navigation`,name:`Navigation`,description:`The map, the costmaps and the robot on them; set its pose and send it goals.`,icon:te,defaultSize:{w:8,h:6},minSize:{w:3,h:3},component:Zl,properties:[{key:`mapTopic`,label:`Map topic`,kind:`topic`,default:`/map`,topicTypes:[`nav_msgs/msg/OccupancyGrid`]},{key:`showGlobalCostmap`,label:`Show the global costmap`,kind:`boolean`,default:!1},{key:`globalCostmapTopic`,label:`Global costmap topic`,kind:`topic`,default:`/global_costmap/costmap`,topicTypes:[`nav_msgs/msg/OccupancyGrid`],visible:e=>e.showGlobalCostmap},{key:`showLocalCostmap`,label:`Show the local costmap`,kind:`boolean`,default:!0},{key:`localCostmapTopic`,label:`Local costmap topic`,kind:`topic`,default:`/local_costmap/costmap`,topicTypes:[`nav_msgs/msg/OccupancyGrid`],visible:e=>e.showLocalCostmap},{key:`showPlan`,label:`Show the planned path`,kind:`boolean`,default:!0},{key:`planTopic`,label:`Plan topic`,kind:`topic`,default:`/plan`,topicTypes:[`nav_msgs/msg/Path`],help:`nav_msgs/Path: Nav2’s planner publishes its plan on /plan`,visible:e=>e.showPlan},{key:`goalTopic`,label:`Goal topic`,kind:`topic`,default:`/goal_pose`,topicTypes:[`geometry_msgs/msg/PoseStamped`],help:`geometry_msgs/PoseStamped, which Nav2’s bt_navigator follows`},{key:`poseTopic`,label:`Pose estimate topic`,kind:`topic`,default:`/initialpose`,topicTypes:[`geometry_msgs/msg/PoseWithCovarianceStamped`],help:`geometry_msgs/PoseWithCovarianceStamped, which AMCL starts from`},{key:`mapFrame`,label:`Map frame`,kind:`string`,default:`map`,help:`The frame the map is drawn in, and the goals and poses are set in`},{key:`robotFrame`,label:`Robot frame`,kind:`string`,default:`base_footprint`,help:`Where the robot is, from TF`}]}),$l={open:`None (open)`,owe:`Enhanced Open (OWE)`,wep:`WEP`,"wpa-psk":`WPA/WPA2 Personal`,sae:`WPA3 Personal`,"wpa-eap":`WPA/WPA2 Enterprise`};function eu(e){return e!==`open`&&e!==`owe`}var tu=/^[\w.@-]{1,15}$/,nu=Array.from({length:14},(e,t)=>t+1),ru=[36,40,44,48,52,56,60,64,100,104,108,112,116,120,124,128,132,136,140,144,149,153,157,161,165,169,173,177];function iu(e){return tu.test(e)}function au(e){let t=e.split(`.`);return t.length===4&&t.every(e=>/^(0|[1-9]\d{0,2})$/.test(e)&&Number(e)<=255)}function ou(e){if(!/^[0-9a-f:.]+$/i.test(e)||!e.includes(`:`))return!1;let t=e.split(`::`);if(t.length>2)return!1;let n=t.flatMap(e=>e?e.split(`:`):[]),r=n.at(-1)??``,i=r.includes(`.`);if(i&&!au(r))return!1;let a=i?n.slice(0,-1):n;if(!a.every(e=>/^[0-9a-f]{1,4}$/i.test(e)))return!1;let o=a.length+(i?2:0);return t.length===2?o<8:o===8}function su(e){let[t,n,...r]=e.trim().split(`/`);return r.length>0||!au(t)?`“${e.trim()}” is not an IPv4 address`:n===void 0?`Give its network's size: ${t}/24`:!/^\d{1,2}$/.test(n)||Number(n)<1||Number(n)>32?`/${n} is not a network's size: /1 to /32 (/24: 255.255.255.0)`:null}function cu(e){return e.split(/[\s,;]+/).map(e=>e.trim()).filter(Boolean)}function lu(e){return new TextEncoder().encode(e).length}function uu(e,t,n=!1){switch(e){case`open`:case`owe`:return null;case`wpa-psk`:return/^[0-9a-f]{64}$/i.test(t)?null:/^[\x20-\x7e]*$/.test(t)?t.length<8||t.length>63?n?`8 to 63 characters`:`WPA passwords have 8 to 63 characters`:null:`Letters, digits and symbols of the keyboard only: no accents`;case`sae`:return t.length===0?`The network’s password`:t.length>128?`At most 128 characters`:null;case`wep`:return/^([\x20-\x7e]{5}|[\x20-\x7e]{13}|[0-9a-f]{10}|[0-9a-f]{26})$/i.test(t)?null:`WEP keys have 5 or 13 characters, or 10 or 26 hexadecimal digits`;case`wpa-eap`:return t.length===0?`Your password on the network`:null}}function du(e,t){let n={},{kind:r}=e,i=e.name.trim();if(i?(i.length>255||/[\x00-\x1f]/.test(i))&&(n.name=`At most 255 characters, on one line`):n.name=`A name for the connection`,e.interface&&!iu(e.interface)?n.interface=`“${e.interface}” is not an interface's name`:r===`hotspot`&&!e.interface&&(n.interface=`The Wi-Fi interface of the access point`),(!Number.isInteger(e.priority)||e.priority<-999||e.priority>999)&&(n.priority=`A whole number, from -999 to 999`),r!==`ethernet`){let i=lu(e.ssid);if(i===0?n.ssid=r===`hotspot`?`The name the access point shows`:`The network’s name`:i>32?n.ssid=`At most 32 bytes (fewer with accents and symbols)`:/[\x00-\x1f]/.test(e.ssid)&&(n.ssid=`No control characters`),r===`hotspot`&&e.security!==`open`&&e.security!==`wpa-psk`&&(n.security=`An access point is open, or secured by a WPA2 password`),e.security===`wpa-eap`&&(e.identity.trim()?/[\x00-\x1f]/.test(e.identity)&&(n.identity=`No control characters`):n.identity=`Your user name on the network`),e.password!==null){let t=uu(e.security,e.password,r===`hotspot`);t&&(n.password=t)}else t&&eu(e.security)&&(n.password=`The network’s password`);if(r===`hotspot`){let t=e.band===`a`?ru:e.band===`bg`?nu:[];e.channel!==0&&!t.includes(e.channel)&&(n.channel=e.band?`Not a channel of ${e.band===`a`?`5`:`2.4`} GHz`:`Choose the band of the channel`)}}(r===`hotspot`?[`shared`]:[`auto`,`manual`,`shared`,`disabled`]).includes(e.ipv4)||(n.ipv4=r===`hotspot`?`An access point gives the addresses (shared)`:`Not a way to get an address`);let a=e.addresses.map(su).find(e=>e!==null);a?n.addresses=a:e.ipv4===`manual`&&e.addresses.length===0?n.addresses=`The robot’s address on this network: 192.168.1.20/24`:e.ipv4===`shared`&&e.addresses.length>1&&(n.addresses=`One address: the robot’s, on the network it gives`),e.gateway&&!au(e.gateway)&&(n.gateway=`“${e.gateway}” is not an IPv4 address`);let o=e.dns.find(e=>!au(e)&&!ou(e));return o!==void 0&&(n.dns=`“${o}” is not an IP address`),n}function fu(e){let t=e.kind;return t!==`wifi`&&t!==`hotspot`&&t!==`ethernet`?null:{kind:t,name:e.name,interface:e.interface,autoconnect:e.autoconnect,priority:e.priority,ssid:e.ssid,hidden:e.hidden,security:e.security??`open`,password:null,identity:e.identity,band:e.band,channel:e.channel,ipv4:[`auto`,`manual`,`shared`,`disabled`].includes(e.ipv4Method)?e.ipv4Method:`auto`,addresses:e.addresses,gateway:e.gateway,dns:e.dns}}function pu(e){return{kind:e,name:``,interface:``,autoconnect:!0,priority:0,ssid:``,hidden:!1,security:e===`ethernet`?`open`:`wpa-psk`,password:e===`ethernet`?null:``,identity:``,band:``,channel:0,ipv4:e===`hotspot`?`shared`:`auto`,addresses:[],gateway:``,dns:[]}}function mu(e){return e>=70?4:e>=50?3:e>=30?2:1}function hu(e){return e<=0?``:e<3e3?`2.4 GHz`:e<5925?`5 GHz`:`6 GHz`}function gu(e){let t=e.split(/[\s,]+/).filter(Boolean).map(e=>RegExp(`^${e.replace(/[.+^${}()|[\]\\]/g,`\\$&`).replace(/\*/g,`.*`).replace(/\?/g,`.`)}$`));return t.length===0?()=>!0:e=>t.some(t=>t.test(e))}function _u(e,t,n){return e.filter(e=>t(e.name)&&(n||e.type!==`loopback`&&e.type!==`wifi-p2p`&&!e.external&&!(e.software&&e.state===10)))}var vu=[[/need auth/,`Waiting for the password…`],[/getting IP/i,`Getting an address…`],[/checking IP/i,`Checking the connection…`]];function yu(e,t){let{state:n}=e;if(n===100)return e.external?{text:`Configured by another program`,tone:`on`}:{text:e.connectionName?`Connected to ${e.connectionName}`:`Connected`,tone:`on`};if(n>30&&n<100){let t=vu.find(([t])=>t.test(e.stateText));return{text:t?t[1]:`Connecting…`,tone:`busy`}}return n===110?{text:`Disconnecting…`,tone:`busy`}:n===120?{text:e.reason?`Failed: ${e.reason}`:`Failed`,tone:`failed`}:n===20?e.carrier===!1?{text:`Cable unplugged`,tone:`off`}:e.type===`wifi`&&!t?{text:`Wi-Fi is off`,tone:`off`}:{text:`Unavailable`,tone:`off`}:n===10?{text:`Not managed by NetworkManager`,tone:`off`}:{text:`Disconnected`,tone:`off`}}function bu(e){switch(e.type){case`wifi`:return`Wi-Fi`;case`ethernet`:return`Ethernet`;case`gsm`:case`cdma`:return`Mobile broadband`;case`bt`:return`Bluetooth`;case`loopback`:return`Loopback`;default:return e.type.charAt(0).toUpperCase()+e.type.slice(1)}}var xu={openvpn:`OpenVPN`,vpnc:`Cisco VPN`,openconnect:`OpenConnect`,l2tp:`L2TP`,pptp:`PPTP`,strongswan:`IPsec`,libreswan:`IPsec`,fortisslvpn:`Fortinet`};function Su(e){switch(e.kind){case`wifi`:return`Wi-Fi network`;case`hotspot`:return`Access point`;case`ethernet`:return`Wired`;case`vpn`:return e.type===`wireguard`?`WireGuard`:`VPN${e.vpnService?` (${xu[e.vpnService]??e.vpnService})`:``}`;default:return e.type}}var Cu=[{kind:`wifi`,title:`Wi-Fi networks`},{kind:`hotspot`,title:`Access points`},{kind:`ethernet`,title:`Wired`},{kind:`vpn`,title:`VPN`},{kind:`other`,title:`Other`}];function wu(e,t){return Number(t.activeState!==null)-Number(e.activeState!==null)||(t.lastUsed??0)-(e.lastUsed??0)||e.name.localeCompare(t.name)}function Tu(e,t){let n=t.trim().toLowerCase();return!n||[e.name,e.ssid,e.interface,e.device??``].some(e=>e.toLowerCase().includes(n))}function Eu(e,t){if(e.device)return t.some(t=>t.name===e.device);if(e.interface)return t.some(t=>t.name===e.interface);let n=e.kind===`wifi`||e.kind===`hotspot`?`wifi`:e.kind===`ethernet`?`ethernet`:null;return n===null||t.some(e=>e.type===n)}function Du(e,t,n,r){let i=e.filter(e=>(r||!e.external)&&Eu(e,t)&&Tu(e,n));return Cu.map(({kind:e,title:t})=>({kind:e,title:t,connections:i.filter(t=>t.kind===e).sort(wu)})).filter(e=>e.connections.length>0)}function Ou(e,t,n){let r=e.filter(e=>e.kind===`wifi`&&e.ssid===t&&(!e.interface||e.interface===n)).sort(wu);return r.find(e=>e.device===n)??r.find(e=>e.device===null)??null}function ku(e,t,n){let r=n.trim().toLowerCase();return e.networks.filter(e=>e.device===t&&(!r||e.ssid.toLowerCase().includes(r))).map(n=>({network:n,saved:Ou(e.connections,n.ssid,t)})).sort((e,t)=>Number(t.network.active)-Number(e.network.active)||Number(t.saved!==null)-Number(e.saved!==null)||t.network.signal-e.network.signal)}function Au(e,t){return e.filter(e=>e.kind===`hotspot`&&(!e.interface||e.interface===t)).sort(wu)}function ju(e,t){return t.uuid&&e.uuid===t.uuid?!0:!!t.ssid&&e.ssid===t.ssid&&(!t.device||!e.device||e.device===t.device)}function Mu(e,t,n){let r=e.filter(e=>e.action!==`rescan`&&e.action!==`wifi`&&ju(e,t)),i=r.find(e=>e.finished===null)??null,a=r.find(e=>e.finished!==null);return{running:i,failed:!i&&a?.error&&n-(a.finished??0)<12e4?a:null}}function Nu(e,t,n,r){if(n||r)return n||r;let i=e.devices.find(t=>t.name===e.via),a=t===`wifi`||t===`hotspot`?`wifi`:t===`ethernet`?`ethernet`:null;return i&&i.type===a?i.name:null}function Pu(e,t){let{via:n}=e;if(!n)return null;let r=`This page reaches the robot through ${n}`,i=`uuid`in t?e.connections.find(e=>e.uuid===t.uuid):void 0,a=i?.device===n;switch(t.action){case`connect`:return!i||a||Nu(e,i.kind,t.device,i.interface)!==n?null:i.kind===`hotspot`?`${r}: starting the access point disconnects it from its network, and this page loses the robot. Join ${i.ssid||i.name} to reach it again.`:`${r}: connecting it to ${i.ssid||i.name} moves the robot to that network, and this page loses it unless it is on that network too.`;case`create`:{if(!t.connect)return null;let{settings:i}=t;return Nu(e,i.kind,t.device,i.interface)===n?i.kind===`hotspot`?`${r}: starting the access point disconnects it from its network, and this page loses the robot. Join ${i.ssid} to reach it again.`:`${r}: connecting it to ${i.ssid||i.name} moves the robot to that network, and this page loses it unless it is on that network too.`:null}case`disconnect`:return a?`${r}: disconnecting ${i.name} cuts this page off from the robot.`:null;case`delete`:return a?`${r}: forgetting ${i.name} disconnects it, and cuts this page off.`:null;case`modify`:return a?`${r}: saving reconnects ${i.name}, and if its address changes this page loses the robot.`:null;case`wifi`:{let i=e.devices.find(e=>e.name===n);return!t.enabled&&i?.type===`wifi`?`${r}, a Wi-Fi interface: turning Wi-Fi off cuts this page off from the robot.`:null}default:return null}}function Fu(e,t){if(e===null)return`Never used`;let n=Math.max(0,Math.round((t-e)/1e3));if(n<60)return`Used just now`;if(n<3600)return`Used ${Math.floor(n/60)} min ago`;if(n<86400)return`Used ${Math.floor(n/3600)} h ago`;let r=Math.floor(n/86400);return r<30?`Used ${r} day${r===1?``:`s`} ago`:`Used on ${new Date(e).toLocaleDateString()}`}function Iu(e,t){let n=new Set(t.map(e=>e.name));if(!n.has(e))return e;let r=2;for(;n.has(`${e} (${r})`);)r++;return`${e} (${r})`}function Lu(e,t,n,r,i,a){return{...pu(`wifi`),name:Iu(e.ssid,a),ssid:e.ssid,security:e.security,password:t,identity:n,autoconnect:r,hidden:i}}function Ru(e){let t=e.filter(e=>e.state===100&&!e.external);return t.find(e=>e.gateway)??t[0]??null}function zu(e,t){if(e.error)return{text:e.error,tone:`failed`};let n=e.activity.find(e=>e.finished===null);if(n)return{text:`${n.label}…`,tone:`busy`};let r=e.activity[0];if(r?.error&&t-(r.finished??0)<6e4)return{text:`${r.label}: ${r.error}`,tone:`failed`};let i=[],a;switch(e.connectivity){case`full`:i.push(`Online`),a=`on`;break;case`limited`:i.push(`No internet`),a=`warn`;break;case`portal`:i.push(`Behind a login page`),a=`warn`;break;default:i.push(e.state.startsWith(`connected`)?`Local network only`:`Disconnected`),a=e.state.startsWith(`connected`)?`warn`:`off`}let o=Ru(e.devices);if(o){let e=o.ipv4[0]?.split(`/`)[0];i.push(`${o.name}: ${o.connectionName}${e?` (${e})`:``}`)}return e.via&&i.push(`this page through ${e.via}`),{text:i.join(` · `),tone:a}}function Bu(e,t){return t?`This widget is read-only`:e.canChange?!e.permissions.control&&!e.permissions.modify?`The server’s user may not change the robot’s networks (see the README: a polkit rule)`:null:`The networks are changed from the dashboard’s own pages only`}var Vu=[[10,[16]],[16,[28]],[26,[44]],[18,[32,32]],[24,[43,43]],[16,[27,27,27,27]],[18,[31,31,31,31]],[22,[38,38,39,39]],[22,[36,36,36,37,37]],[26,[43,43,43,43,44]],[30,[50,51,51,51,51]],[22,[36,36,36,36,36,36,37,37]],[22,[37,37,37,37,37,37,37,37,38]]],Hu=[[],[6,18],[6,22],[6,26],[6,30],[6,34],[6,22,38],[6,24,42],[6,26,46],[6,28,50],[6,30,54],[6,32,58],[6,34,62]];function Uu(e,t){let n=0;for(let r=7;r>=0;r--)n=n<<1^(n>>>7)*285,n^=(t>>>r&1)*e;return n}function Wu(e){let t=Array(e).fill(0);t[e-1]=1;let n=1;for(let r=0;r<e;r++){for(let r=0;r<e;r++)t[r]=Uu(t[r],n),r+1<e&&(t[r]^=t[r+1]);n=Uu(n,2)}return t}function Gu(e,t){let n=t.map(()=>0);for(let r of e){let e=r^(n.shift()??0);n.push(0),t.forEach((t,r)=>{n[r]^=Uu(t,e)})}return n}var Ku=[(e,t)=>(e+t)%2==0,(e,t)=>t%2==0,e=>e%3==0,(e,t)=>(e+t)%3==0,(e,t)=>(Math.floor(e/3)+Math.floor(t/2))%2==0,(e,t)=>e*t%2+e*t%3==0,(e,t)=>(e*t%2+e*t%3)%2==0,(e,t)=>((e+t)%2+e*t%3)%2==0];function qu(e,t){let[n,r]=Vu[t-1],i=r.reduce((e,t)=>e+t,0)*8,a=[],o=(e,t)=>{for(let n=t-1;n>=0;n--)a.push(e>>>n&1)};o(4,4),o(e.length,t<10?8:16),e.forEach(e=>o(e,8)),o(0,Math.min(4,i-a.length)),o(0,(8-a.length%8)%8);for(let e=236;a.length<i;e^=253)o(e,8);let s=[];for(let e=0;e<a.length;e+=8)s.push(a.slice(e,e+8).reduce((e,t)=>e<<1|t,0));let c=Wu(n),l=[],u=0;for(let e of r){let t=s.slice(u,u+e);l.push({data:t,ec:Gu(t,c)}),u+=e}let d=[];for(let e=0;e<Math.max(...r);e++)l.forEach(t=>e<t.data.length&&d.push(t.data[e]));for(let e=0;e<n;e++)l.forEach(t=>d.push(t.ec[e]));return d}var Ju=class{size;dark;fixed;constructor(e){this.size=e,this.dark=Array.from({length:e},()=>Array(e).fill(!1)),this.fixed=Array.from({length:e},()=>Array(e).fill(!1))}set(e,t,n){this.dark[t][e]=n,this.fixed[t][e]=!0}};function Yu(e,t){let{size:n}=e;for(let t=0;t<n;t++)e.set(6,t,t%2==0),e.set(t,6,t%2==0);for(let[t,r]of[[3,3],[n-4,3],[3,n-4]])for(let i=-4;i<=4;i++)for(let a=-4;a<=4;a++){let o=t+a,s=r+i;if(o>=0&&o<n&&s>=0&&s<n){let t=Math.max(Math.abs(a),Math.abs(i));e.set(o,s,t!==2&&t!==4)}}let r=Hu[t-1],i=r.length-1;if(r.forEach((t,n)=>r.forEach((r,a)=>{if(!(n===0&&a===0||n===0&&a===i||n===i&&a===0))for(let n=-2;n<=2;n++)for(let i=-2;i<=2;i++)e.set(t+i,r+n,Math.max(Math.abs(i),Math.abs(n))!==1)})),Xu(e,0),t>=7){let r=t;for(let e=0;e<12;e++)r=r<<1^(r>>>11)*7973;let i=t<<12|r;for(let t=0;t<18;t++){let r=(i>>>t&1)==1,a=n-11+t%3,o=Math.floor(t/3);e.set(a,o,r),e.set(o,a,r)}}}function Xu(e,t){let{size:n}=e,r=0|t,i=r;for(let e=0;e<10;e++)i=i<<1^(i>>>9)*1335;let a=(r<<10|i)^21522,o=e=>(a>>>e&1)==1;for(let t=0;t<=5;t++)e.set(8,t,o(t));e.set(8,7,o(6)),e.set(8,8,o(7)),e.set(7,8,o(8));for(let t=9;t<15;t++)e.set(14-t,8,o(t));for(let t=0;t<8;t++)e.set(n-1-t,8,o(t));for(let t=8;t<15;t++)e.set(8,n-15+t,o(t));e.set(8,n-8,!0)}function Zu(e,t){let{size:n}=e,r=0;for(let i=n-1;i>=1;i-=2){i===6&&(i=5);for(let a=0;a<n;a++)for(let o=0;o<2;o++){let s=i-o,c=i+1&2?a:n-1-a;!e.fixed[c][s]&&r<t.length*8&&(e.dark[c][s]=(t[r>>>3]>>>7-(r&7)&1)==1,r++)}}}function Qu(e,t){let n=Ku[t];for(let t=0;t<e.size;t++)for(let r=0;r<e.size;r++)!e.fixed[t][r]&&n(r,t)&&(e.dark[t][r]=!e.dark[t][r])}function $u(e){let t=e.length,n=0,r=[...e,...Array.from({length:t},(t,n)=>e.map(e=>e[n]))];for(let e of r){let r=1;for(let i=1;i<=t;i++)i<t&&e[i]===e[i-1]?r++:(r>=5&&(n+=3+(r-5)),r=1);let i=n=>n>=0&&n<t&&e[n];for(let e=0;e+7<=t;e++){if(!(i(e)&&!i(e+1)&&i(e+2)&&i(e+3)&&i(e+4)&&!i(e+5)&&i(e+6)))continue;let t=[1,2,3,4].every(t=>!i(e-t)),r=[7,8,9,10].every(t=>!i(e+t));(t||r)&&(n+=40)}}for(let r=0;r+1<t;r++)for(let i=0;i+1<t;i++){let t=e[r][i];t===e[r][i+1]&&t===e[r+1][i]&&t===e[r+1][i+1]&&(n+=3)}let i=e.reduce((e,t)=>e+t.filter(Boolean).length,0),a=t*t;return n+=(Math.ceil(Math.abs(i*20-a*10)/a)-1)*10,n}function ed(e,t){let n=new TextEncoder().encode(e),r=0;for(let e=1;e<=Vu.length&&r===0;e++){let t=Vu[e-1][1].reduce((e,t)=>e+t,0)*8;4+(e<10?8:16)+n.length*8<=t&&(r=e)}if(r===0)return null;let i=qu(n,r),a=null;for(let e of t===void 0?[0,1,2,3,4,5,6,7]:[t]){let t=new Ju(17+4*r);Yu(t,r),Zu(t,i),Qu(t,e),Xu(t,e);let n=$u(t.dark);(!a||n<a.score)&&(a={score:n,dark:t.dark})}return a.dark}function td(e,t,n,r){let i=e=>e.replace(/([\\;,:"])/g,`\\$1`),a=n===`nopass`?``:`P:${i(t)};`;return`WIFI:T:${n};S:${i(e)};${a}${r?`H:true;`:``};`}function nd({signal:e,size:t=18}){let n=mu(e),r=e=>n>=e?void 0:.22;return(0,J.jsxs)(`svg`,{viewBox:`0 0 24 24`,width:t,height:t,fill:`none`,stroke:`currentColor`,strokeWidth:`2`,strokeLinecap:`round`,"aria-hidden":`true`,className:`net-signal`,children:[(0,J.jsx)(`path`,{d:`M2.5 9a14 14 0 0 1 19 0`,opacity:r(4)}),(0,J.jsx)(`path`,{d:`M5.5 12.5a9.5 9.5 0 0 1 13 0`,opacity:r(3)}),(0,J.jsx)(`path`,{d:`M8.6 15.9a5 5 0 0 1 6.8 0`,opacity:r(2)}),(0,J.jsx)(`circle`,{cx:`12`,cy:`19.3`,r:`1.3`,fill:`currentColor`,stroke:`none`})]})}function rd({kind:e,size:t=18}){let n={width:t,height:t};switch(e){case`wifi`:return(0,J.jsx)(O,{...n});case`hotspot`:return(0,J.jsx)(o,{...n});case`ethernet`:return(0,J.jsx)(c,{...n});case`vpn`:return(0,J.jsx)(He,{...n});default:return(0,J.jsx)(ue,{...n})}}function id({device:e,size:t=18}){return(0,J.jsx)(rd,{kind:e.type===`wifi`?`wifi`:e.type===`ethernet`?`ethernet`:e.type===`tun`||e.type===`wireguard`?`vpn`:`other`,size:t})}function ad({tone:e}){return(0,J.jsx)(`span`,{className:`net-dot ${e}`,"aria-hidden":`true`})}function od({label:e,help:t,error:n,children:r}){let i=(0,q.useId)();return(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsx)(`label`,{className:`field-label`,htmlFor:i,children:e}),r(i),n?(0,J.jsx)(`p`,{className:`field-help error`,children:n}):t&&(0,J.jsx)(`p`,{className:`field-help`,children:t})]})}function sd({label:e,help:t,checked:n,onChange:r}){return(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsxs)(`label`,{className:`toggle`,children:[(0,J.jsx)(`input`,{type:`checkbox`,checked:n,onChange:e=>r(e.target.checked)}),(0,J.jsx)(`span`,{className:`toggle-switch`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`field-label`,children:e})]}),t&&(0,J.jsx)(`p`,{className:`field-help`,children:t})]})}function cd({id:e,value:t,placeholder:n,autoFocus:r=!1,initiallyShown:i=!1,onChange:a}){let[o,s]=(0,q.useState)(i);return(0,J.jsxs)(`div`,{className:`net-password`,children:[(0,J.jsx)(`input`,{id:e,type:o?`text`:`password`,value:t,placeholder:n,autoComplete:`new-password`,autoCapitalize:`off`,spellCheck:!1,autoFocus:r,onChange:e=>a(e.target.value)}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:o?`Hide the password`:`Show the password`,"aria-label":o?`Hide the password`:`Show the password`,"aria-pressed":o,onClick:()=>s(e=>!e),children:o?(0,J.jsx)(P,{width:16,height:16}):(0,J.jsx)(Le,{width:16,height:16})})]})}function ld({text:e,label:t}){let n=(0,q.useMemo)(()=>{let t=ed(e);if(!t)return null;let n=``;return t.forEach((e,t)=>{for(let r=0;r<e.length;r++){if(!e[r])continue;let i=1;for(;r+i<e.length&&e[r+i];)i++;n+=`M${r+4} ${t+4}h${i}v1h-${i}z`,r+=i-1}}),{d:n,size:t.length+8}},[e]);return n?(0,J.jsxs)(`svg`,{className:`net-qr`,viewBox:`0 0 ${n.size} ${n.size}`,shapeRendering:`crispEdges`,role:`img`,"aria-label":t,children:[(0,J.jsx)(`rect`,{width:n.size,height:n.size,fill:`#fff`}),(0,J.jsx)(`path`,{d:n.d,fill:`#000`})]}):null}function ud(){let e=crypto.getRandomValues(new Uint32Array(12));return Array.from(e,e=>`abcdefghjkmnpqrstuvwxyzABCDEFGHJKLMNPQRSTUVWXYZ23456789`[e%55]).join(``)}function dd(e){return/Disconnected from the robot|No answer from the robot/.test(rs(e))}async function fd(e,t,n){try{let n=await b.networkAction(e);n.message?G(n.message,`error`):t&&G(t)}catch(e){if(n&&dd(e)){G(`This page lost the robot: it moved to another network, where it is to be reached now`);return}throw e}}function pd({risk:e,error:t}){return(0,J.jsxs)(J.Fragment,{children:[e&&(0,J.jsx)(`p`,{className:`net-warning`,children:e}),t&&(0,J.jsx)(`p`,{className:`net-error`,role:`alert`,children:t})]})}function md({state:e,request:t,onClose:n}){let r=t.kind===`password`?t.connection:null,i=t.kind===`join`?t.network:e.networks.find(e=>e.ssid===r.ssid&&(!t.device||e.device===t.device)),a=r?.ssid||r?.name||i?.ssid||``,o=r?.security??i?.security??`wpa-psk`,[s,c]=(0,q.useState)(``),[l,u]=(0,q.useState)(r?.identity??``),[d,f]=(0,q.useState)(!0),[p,m]=(0,q.useState)(!1),[h,g]=(0,q.useState)(!1),[_,v]=(0,q.useState)(t.kind===`password`?t.error:null),y=o===`wpa-eap`,b=uu(o,s)??(y&&!l.trim()?`Your user name on the network`:null),x=r?{action:`connect`,uuid:r.uuid,device:t.kind===`password`?t.device:null,password:s}:{action:`create`,settings:Lu(i,s,l.trim(),d,!1,e.connections),connect:!0,device:i.device},S=Pu(e,x),C=async e=>{if(e.preventDefault(),m(!0),!b){g(!0),v(null);try{await fd(x,`Connected to ${a}`,S!==null),n()}catch(e){v(rs(e)),g(!1)}}};return(0,J.jsx)($e,{title:r?`The password of ${a}`:`Join ${a}`,onClose:n,children:(0,J.jsxs)(`form`,{className:`modal-body`,onSubmit:e=>void C(e),children:[i&&(0,J.jsxs)(`p`,{className:`net-dialog-meta`,children:[(0,J.jsx)(nd,{signal:i.signal,size:16}),[$l[o],hu(i.frequency),`${i.signal}%`].filter(Boolean).join(` · `)]}),y&&(0,J.jsx)(od,{label:`User name`,error:p&&!l.trim()?`Your user name on the network`:null,children:e=>(0,J.jsx)(`input`,{id:e,value:l,autoComplete:`off`,autoCapitalize:`off`,spellCheck:!1,autoFocus:!0,onChange:e=>u(e.target.value)})}),(0,J.jsx)(od,{label:`Password`,error:p?uu(o,s):null,help:y?`PEAP with MSCHAPv2, the server’s certificate not checked`:void 0,children:e=>(0,J.jsx)(cd,{id:e,value:s,autoFocus:!y,onChange:c})}),!r&&(0,J.jsx)(sd,{label:`Connect automatically`,help:`Whenever the robot is in its range`,checked:d,onChange:f}),(0,J.jsx)(pd,{risk:S,error:_}),(0,J.jsxs)(`div`,{className:`modal-actions`,children:[(0,J.jsx)(`button`,{type:`button`,className:`button`,onClick:n,children:`Cancel`}),(0,J.jsx)(`button`,{type:`submit`,className:`button ${S?`danger`:`primary`}`,disabled:h,children:h?`Connecting…`:r?`Connect`:`Join`})]})]})})}var hd={wifi:[{value:`auto`,label:`Automatic (DHCP)`},{value:`manual`,label:`Manual`},{value:`disabled`,label:`Disabled`}],hotspot:[{value:`shared`,label:`The robot gives them`}],ethernet:[{value:`auto`,label:`Automatic (DHCP)`},{value:`manual`,label:`Manual`},{value:`shared`,label:`Shared: the robot gives them, and its internet`},{value:`disabled`,label:`Disabled`}]},gd={bg:[1,2,3,4,5,6,7,8,9,10,11,12,13],a:[36,40,44,48,149,153,157,161,165]},_d=[`wpa-psk`,`sae`,`wpa-eap`,`open`,`owe`,`wep`];function vd(e,t){if(t.kind===`edit`)return fu(t.connection);let n=t.settings,r=pu(n);if(n===`hotspot`){let n=e.devices.filter(e=>e.type===`wifi`&&e.accessPoint),i=n.find(e=>e.name===t.device)??n.find(t=>t.name!==e.via)??n[0],a=(b.hostname||`robot`).slice(0,32);return{...r,interface:i?.name??``,ssid:a,name:Iu(a,e.connections),password:ud(),autoconnect:!1}}return n===`ethernet`?{...r,interface:t.device??``,name:Iu(`Wired connection`,e.connections)}:{...r,hidden:!0,interface:t.device??``}}function yd({state:e,request:t,onClose:n}){let r=t.kind===`edit`?t.connection:null,[i,a]=(0,q.useState)(()=>vd(e,t)),[o,s]=(0,q.useState)(i.addresses.join(`, `)),[c,l]=(0,q.useState)(i.dns.join(`, `)),[u,d]=(0,q.useState)(r!==null),[f,p]=(0,q.useState)(!0),[m,h]=(0,q.useState)(!1),[g,_]=(0,q.useState)(!1),[v,y]=(0,q.useState)(null),{kind:b}=i,x=b!==`ethernet`,S=t=>a(n=>{let i={...n,...t};return!u&&t.ssid!==void 0&&i.ssid&&(i.name=Iu(i.ssid,e.connections.filter(e=>e.uuid!==r?.uuid))),i}),C=du(i,!r);r&&x&&i.security!==(r.security??`open`)&&eu(i.security)&&i.password===null&&(C.password=`The network’s password, for its new security`);let w=e=>m?C[e]??null:null,T=r?{action:`modify`,uuid:r.uuid,settings:i}:{action:`create`,settings:i,connect:f,device:null},E=Pu(e,T),D=async e=>{if(e.preventDefault(),h(!0),Object.keys(C).length>0)return;_(!0),y(null);let t=`Saved ${i.name}`;!r&&f&&(t=b===`hotspot`?`The access point ${i.ssid} is on`:`Connected to ${i.ssid||i.name}`);try{await fd(T,t,E!==null),n()}catch(e){y(rs(e)),_(!1)}},O=e.devices.filter(e=>e.type===`wifi`&&(b!==`hotspot`||e.accessPoint)),k=e.devices.filter(e=>e.type===`ethernet`),A=e.devices.find(e=>e.name===i.interface),j;j=r?`Edit ${r.name}`:b===`hotspot`?`New access point`:b===`ethernet`?`New wired connection`:`Join a hidden network`;let M=`Save`;!r&&f&&(M=b===`hotspot`?`Start`:b===`wifi`?`Join`:`Connect`);let N=b===`ethernet`||O.length>1||i.interface||b===`hotspot`?(0,J.jsx)(od,{label:`Interface`,error:w(`interface`),help:b===`hotspot`?void 0:`Bound to it, the connection is not used by other interfaces: for a sensor’s cable, say`,children:t=>(0,J.jsxs)(`select`,{id:t,value:i.interface,onChange:e=>S({interface:e.target.value}),children:[b!==`hotspot`&&(0,J.jsx)(`option`,{value:``,children:x?`Any Wi-Fi interface`:`Any wired interface`}),b===`hotspot`&&!i.interface&&(0,J.jsx)(`option`,{value:``,children:`Choose one`}),(x?O:k).map(t=>(0,J.jsxs)(`option`,{value:t.name,children:[t.name,t.product||t.vendor?` (${t.product||t.vendor})`:``,t.name===e.via?` · this page`:``]},t.name)),i.interface&&!e.devices.some(e=>e.name===i.interface)&&(0,J.jsxs)(`option`,{value:i.interface,children:[i.interface,` (not here)`]})]})}):null,P=r&&i.password===null?`Unchanged: type a new one to change it`:void 0;return(0,J.jsx)($e,{title:j,onClose:n,wide:!0,children:(0,J.jsxs)(`form`,{className:`modal-body net-form`,onSubmit:e=>void D(e),children:[b===`hotspot`&&N,x&&(0,J.jsx)(od,{label:`Network name (SSID)`,error:w(`ssid`),help:b===`hotspot`?`What phones and laptops list`:void 0,children:e=>(0,J.jsx)(`input`,{id:e,value:i.ssid,autoComplete:`off`,autoCapitalize:`off`,spellCheck:!1,autoFocus:!r,onChange:e=>S({ssid:e.target.value})})}),x&&(0,J.jsxs)(`div`,{className:`net-form-row`,children:[(0,J.jsx)(od,{label:`Security`,error:w(`security`),children:e=>(0,J.jsx)(`select`,{id:e,value:i.security,onChange:e=>{let t=e.target.value;S({security:t,password:eu(t)?i.password??(r?null:``):null})},children:(b===`hotspot`?[`wpa-psk`,`open`]:_d).map(e=>(0,J.jsx)(`option`,{value:e,children:b===`hotspot`&&e===`wpa-psk`?`WPA2 Personal`:$l[e]},e))})}),i.security===`wpa-eap`&&(0,J.jsx)(od,{label:`User name`,error:w(`identity`),children:e=>(0,J.jsx)(`input`,{id:e,value:i.identity,autoComplete:`off`,autoCapitalize:`off`,spellCheck:!1,onChange:e=>S({identity:e.target.value})})})]}),x&&eu(i.security)&&(0,J.jsx)(od,{label:`Password`,error:w(`password`),help:P??(b===`hotspot`?`8 to 63 characters: give it to who joins, or share the access point’s QR code`:i.security===`wpa-eap`?`PEAP with MSCHAPv2, the server’s certificate not checked`:void 0),children:e=>(0,J.jsxs)(`div`,{className:`net-password-row`,children:[(0,J.jsx)(cd,{id:e,value:i.password??``,placeholder:r&&i.password===null?`Unchanged`:void 0,initiallyShown:b===`hotspot`&&!r,onChange:e=>S({password:e===``&&r?null:e})}),b===`hotspot`&&(0,J.jsx)(`button`,{type:`button`,className:`button`,onClick:()=>S({password:ud()}),children:`New one`})]})}),b===`hotspot`&&i.security===`open`&&(0,J.jsx)(`p`,{className:`net-warning`,children:`Open: anyone in range may join the robot’s network, and reach the dashboard.`}),b===`hotspot`&&(0,J.jsxs)(`div`,{className:`net-form-row`,children:[(0,J.jsx)(od,{label:`Band`,children:e=>(0,J.jsxs)(`select`,{id:e,value:i.band,onChange:e=>S({band:e.target.value,channel:0}),children:[(0,J.jsx)(`option`,{value:``,children:`Automatic`}),(0,J.jsx)(`option`,{value:`bg`,disabled:A&&!A.band24,children:`2.4 GHz: farther, every device`}),(0,J.jsx)(`option`,{value:`a`,disabled:A&&!A.band5,children:`5 GHz: faster`})]})}),(0,J.jsx)(od,{label:`Channel`,error:w(`channel`),children:e=>(0,J.jsxs)(`select`,{id:e,value:i.channel,disabled:!i.band,onChange:e=>S({channel:Number(e.target.value)}),children:[(0,J.jsx)(`option`,{value:0,children:`Automatic`}),(i.band?gd[i.band]:[]).map(e=>(0,J.jsx)(`option`,{value:e,children:e},e)),i.band&&i.channel!==0&&!gd[i.band].includes(i.channel)&&(0,J.jsx)(`option`,{value:i.channel,children:i.channel})]})})]}),b===`wifi`&&(0,J.jsx)(sd,{label:`Hidden network`,help:`It does not show its name: the robot looks for it by name`,checked:i.hidden,onChange:e=>S({hidden:e})}),b!==`hotspot`&&N,(0,J.jsx)(od,{label:`Connection name`,error:w(`name`),help:`How the robot’s lists name it`,children:e=>(0,J.jsx)(`input`,{id:e,value:i.name,autoComplete:`off`,onChange:e=>{d(!0),S({name:e.target.value})}})}),(0,J.jsx)(`h3`,{className:`net-form-heading`,children:`Addresses`}),b!==`hotspot`&&(0,J.jsx)(od,{label:`IPv4`,error:w(`ipv4`),children:e=>(0,J.jsx)(`select`,{id:e,value:i.ipv4,onChange:e=>S({ipv4:e.target.value}),children:hd[b].map(e=>(0,J.jsx)(`option`,{value:e.value,children:e.label},e.value))})}),(i.ipv4===`manual`||i.ipv4===`shared`)&&(0,J.jsx)(od,{label:i.ipv4===`manual`?`The robot’s address`:`The robot’s address on the network it gives`,error:w(`addresses`),help:i.ipv4===`manual`?`With its network’s size: 192.168.1.20/24. Several: separated by commas`:`Optional: 10.42.0.1/24 if empty. The others get addresses of its network`,children:e=>(0,J.jsx)(`input`,{id:e,value:o,placeholder:i.ipv4===`manual`?`192.168.1.20/24`:`10.42.0.1/24`,inputMode:`decimal`,autoComplete:`off`,spellCheck:!1,onChange:e=>{s(e.target.value),S({addresses:cu(e.target.value)})}})}),i.ipv4!==`disabled`&&b!==`hotspot`&&(0,J.jsxs)(`div`,{className:`net-form-row`,children:[i.ipv4===`manual`&&(0,J.jsx)(od,{label:`Gateway`,error:w(`gateway`),help:`Optional: the way to other networks`,children:e=>(0,J.jsx)(`input`,{id:e,value:i.gateway,placeholder:`192.168.1.1`,inputMode:`decimal`,autoComplete:`off`,spellCheck:!1,onChange:e=>S({gateway:e.target.value.trim()})})}),(0,J.jsx)(od,{label:`DNS servers`,error:w(`dns`),help:i.ipv4===`manual`?`Optional, separated by commas`:`Optional: besides the network’s`,children:e=>(0,J.jsx)(`input`,{id:e,value:c,placeholder:`1.1.1.1, 8.8.8.8`,inputMode:`decimal`,autoComplete:`off`,spellCheck:!1,onChange:e=>{l(e.target.value),S({dns:cu(e.target.value)})}})})]}),(0,J.jsx)(`h3`,{className:`net-form-heading`,children:`When`}),(0,J.jsx)(sd,{label:b===`hotspot`?`Start automatically`:`Connect automatically`,help:b===`hotspot`?`When the robot starts: it is then the robot’s network wherever it goes`:b===`wifi`?`Whenever the robot is in its range`:`Whenever a cable is plugged in`,checked:i.autoconnect,onChange:e=>S({autoconnect:e})}),i.autoconnect&&(0,J.jsx)(od,{label:`Priority`,error:w(`priority`),help:`Of the connections that connect automatically, the highest first`,children:e=>(0,J.jsx)(`input`,{id:e,type:`number`,min:-999,max:999,step:1,value:Number.isFinite(i.priority)?i.priority:``,onChange:e=>S({priority:e.target.value===``?0:Number(e.target.value)})})}),!r&&(0,J.jsx)(sd,{label:b===`hotspot`?`Start it now`:`Connect now`,checked:f,onChange:p}),(0,J.jsx)(pd,{risk:E,error:v}),(0,J.jsxs)(`div`,{className:`modal-actions`,children:[(0,J.jsx)(`button`,{type:`button`,className:`button`,onClick:n,children:`Cancel`}),(0,J.jsx)(`button`,{type:`submit`,className:`button ${E?`danger`:`primary`}`,disabled:g,children:g?f&&!r?`Connecting…`:`Saving…`:M})]})]})})}function bd({text:e,what:t}){return(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Copy the ${t}`,"aria-label":`Copy the ${t}`,onClick:()=>ts(e).then(()=>G(`Copied the ${t}`),e=>G(`Could not copy the ${t}: ${rs(e)}`,`error`)),children:(0,J.jsx)(z,{width:15,height:15})})}function xd({connection:e,onClose:t}){let[n,r]=(0,q.useState)(null),[i,a]=(0,q.useState)(null),[o,s]=(0,q.useState)(!1);(0,q.useEffect)(()=>{let t=!0;return b.networkAction({action:`secrets`,uuid:e.uuid}).then(e=>t&&r(e),e=>t&&a(rs(e))),()=>{t=!1}},[e.uuid]);let c=n?.ssid??e.ssid,l=n?.security??e.security??`open`,u=!eu(l),d=u||!!n?.password,f=n&&d&&l!==`wpa-eap`?td(c,n.password,u?`nopass`:l===`wep`?`WEP`:`WPA`,n.hidden):null,p;return p=i?(0,J.jsx)(`p`,{className:`net-error`,children:i}):n?(0,J.jsxs)(J.Fragment,{children:[f&&(0,J.jsxs)(`div`,{className:`net-share-code`,children:[(0,J.jsx)(ld,{text:f,label:`QR code to join ${c}`}),(0,J.jsxs)(`p`,{className:`net-muted`,children:[`Point a phone’s camera at it to join `,c]})]}),(0,J.jsxs)(`dl`,{className:`net-facts net-share-facts`,children:[(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Network`}),(0,J.jsxs)(`dd`,{children:[(0,J.jsx)(`span`,{children:c}),(0,J.jsx)(bd,{text:c,what:`network’s name`})]})]}),(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Security`}),(0,J.jsx)(`dd`,{children:$l[l]})]}),!u&&(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Password`}),(0,J.jsx)(`dd`,{children:d?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`span`,{className:`net-secret`,children:o?n.password:`•`.repeat(Math.min(16,n.password.length))}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:o?`Hide the password`:`Show the password`,"aria-label":o?`Hide the password`:`Show the password`,"aria-pressed":o,onClick:()=>s(e=>!e),children:o?`Hide`:`Show`}),(0,J.jsx)(bd,{text:n.password,what:`password`})]}):(0,J.jsx)(`span`,{className:`net-muted`,children:`Not readable: the server’s user may not read NetworkManager’s secrets, or they are kept by a desktop’s keyring`})})]})]})]}):(0,J.jsx)(`p`,{className:`net-muted`,children:`Reading the password…`}),(0,J.jsx)($e,{title:`Share ${c||e.name}`,onClose:t,children:(0,J.jsxs)(`div`,{className:`modal-body`,children:[p,(0,J.jsx)(`div`,{className:`modal-actions`,children:(0,J.jsx)(`button`,{type:`button`,className:`button primary`,onClick:t,autoFocus:!0,children:`Done`})})]})})}function Sd({request:e,state:t,onClose:n}){switch(e.kind){case`join`:case`password`:return(0,J.jsx)(md,{state:t,request:e,onClose:n});case`create`:case`edit`:return(0,J.jsx)(yd,{state:t,request:e,onClose:n});case`share`:return(0,J.jsx)(xd,{connection:e.connection,onClose:n})}}var Cd={auto:`Automatic (DHCP)`,manual:`Manual`,shared:`Shared: the robot gives the addresses`,disabled:`Disabled`,"link-local":`Link-local only`};function $({label:e,children:t}){return(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:e}),(0,J.jsx)(`dd`,{children:t})]})}function wd({icon:e,name:t,title:n,children:r,footer:i,onClose:a}){return(0,J.jsxs)(`section`,{className:`net-details`,"aria-label":`${t}: details`,children:[(0,J.jsxs)(`header`,{className:`net-details-header`,children:[(0,J.jsx)(`span`,{className:`net-details-icon`,children:e}),(0,J.jsx)(`strong`,{className:`net-details-name`,title:n??t,children:t}),(0,J.jsx)(`span`,{className:`net-spacer`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Close (Esc)`,"aria-label":`Close`,onClick:a,children:(0,J.jsx)(H,{width:16,height:16})})]}),(0,J.jsx)(`div`,{className:`net-details-body`,children:r}),i&&(0,J.jsx)(`footer`,{className:`net-details-actions`,children:i})]})}function Td({label:e,actions:t,danger:n=!1,primary:r=!1,disabled:i,onClick:a}){let o=t.blocked??i??null;return(0,J.jsx)(`button`,{type:`button`,className:`button${n?` danger`:r?` primary`:``}`,disabled:o!==null,title:o??void 0,onClick:a,children:e})}function Ed({list:e}){return e.length>0?(0,J.jsx)(J.Fragment,{children:e.map(e=>(0,J.jsx)(`span`,{className:`net-fact-line`,children:e},e))}):(0,J.jsx)(`span`,{className:`net-muted`,children:`None`})}function Dd(e){return/\/netplan-[^/]*$/.test(e)?`From netplan (/etc/netplan)`:e.startsWith(`/run/`)?`In memory: lost at reboot`:null}function Od({state:e,connection:t,now:n,signal:r=!0}){let i=e.devices.find(e=>e.name===t.device),a=t.kind===`wifi`||t.kind===`hotspot`,o=r&&t.kind===`wifi`?e.networks.find(e=>e.ssid===t.ssid):void 0,s=Dd(t.file),c=i?.state===100,l;return l=t.activeState===`activated`?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(ad,{tone:`on`}),` `,t.kind===`hotspot`?`On`:`Connected`,`, on `,t.device]}):t.activeState?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(ad,{tone:`busy`}),` `,i?yu(i,e.wifi).text:t.activeState]}):`Not connected`,(0,J.jsxs)(`dl`,{className:`net-facts`,children:[(0,J.jsx)($,{label:`Status`,children:l}),(0,J.jsx)($,{label:`Kind`,children:Su(t)}),a&&t.ssid&&t.ssid!==t.name&&(0,J.jsx)($,{label:`Network`,children:t.ssid}),a&&t.security&&(0,J.jsx)($,{label:`Security`,children:$l[t.security]}),t.security===`wpa-eap`&&t.identity&&(0,J.jsx)($,{label:`User name`,children:t.identity}),t.kind===`hotspot`&&(0,J.jsxs)($,{label:`Band`,children:[t.band?t.band===`a`?`5 GHz`:`2.4 GHz`:`Automatic`,t.channel>0&&`, channel ${t.channel}`]}),o&&(0,J.jsxs)($,{label:`Signal`,children:[o.signal,`% · `,hu(o.frequency),`, channel `,o.channel]}),t.hidden&&(0,J.jsx)($,{label:`Hidden`,children:`Its name is not shown: looked for by name`}),(t.kind===`wifi`||t.kind===`hotspot`||t.kind===`ethernet`)&&(0,J.jsx)($,{label:`Interface`,children:t.interface||`Any`}),t.ipv4Method&&(0,J.jsx)($,{label:`IPv4`,children:Cd[t.ipv4Method]??t.ipv4Method}),(c||t.addresses.length>0)&&(0,J.jsx)($,{label:`Address`,children:(0,J.jsx)(Ed,{list:c?i.ipv4:t.addresses})}),(c?i.gateway:t.gateway)&&(0,J.jsx)($,{label:`Gateway`,children:c?i.gateway:t.gateway}),(c?i.dns:t.dns).length>0&&(0,J.jsx)($,{label:`DNS`,children:(0,J.jsx)(Ed,{list:c?i.dns:t.dns})}),(0,J.jsx)($,{label:`Automatic`,children:t.autoconnect?`Yes${t.priority===0?``:`, priority ${t.priority}`}`:`No: only when asked`}),(0,J.jsx)($,{label:`Last used`,children:(0,J.jsx)(`span`,{title:t.lastUsed?new Date(t.lastUsed).toLocaleString():void 0,children:Fu(t.lastUsed,n).replace(/^Used (on )?/,``).replace(/^Never used$/,`Never`)})}),t.file&&(0,J.jsxs)($,{label:`File`,children:[(0,J.jsx)(`span`,{className:`net-fact-line`,children:t.file}),s&&(0,J.jsx)(`span`,{className:`net-fact-line net-muted`,children:s})]}),(0,J.jsx)($,{label:`UUID`,children:(0,J.jsx)(`span`,{className:`net-mono`,children:t.uuid})})]})}function kd({connection:e,actions:t}){if(t.readOnly||e.external)return null;let n=e.kind===`hotspot`,r=e.kind===`wifi`||n||e.kind===`ethernet`,i=e.readOnly?`NetworkManager has it read-only`:null;return(0,J.jsxs)(J.Fragment,{children:[e.activeState?(0,J.jsx)(Td,{label:n?`Stop`:`Disconnect`,actions:t,onClick:()=>t.disconnect(e)}):(0,J.jsx)(Td,{label:n?`Start`:`Connect`,primary:!0,actions:t,onClick:()=>t.connect(e,null)}),r&&(0,J.jsx)(Td,{label:`Edit…`,actions:t,disabled:i,onClick:()=>t.edit(e)}),(e.kind===`wifi`||n)&&(0,J.jsx)(Td,{label:`Share…`,actions:t,onClick:()=>t.share(e)}),(0,J.jsx)(Td,{label:`Forget…`,danger:!0,actions:t,disabled:i,onClick:()=>t.forget(e)})]})}function Ad({state:e,connection:t,actions:n,now:r,onClose:i}){let{failed:a}=Mu(e.activity,{uuid:t.uuid},r);return(0,J.jsxs)(wd,{icon:(0,J.jsx)(rd,{kind:t.kind,size:16}),name:t.name,onClose:i,footer:(0,J.jsx)(kd,{connection:t,actions:n}),children:[a&&(0,J.jsx)(`p`,{className:`net-error`,children:`${a.label}: ${a.error}`}),t.external&&(0,J.jsx)(`p`,{className:`net-muted`,children:`NetworkManager made it for an interface another program configures (docker, a VPN client…): it is not changed here.`}),(0,J.jsx)(Od,{state:e,connection:t,now:r})]})}function jd({state:e,network:t,actions:n,now:r,onClose:i}){let a=Ou(e.connections,t.ssid,t.device),{failed:o}=Mu(e.activity,{uuid:a?.uuid??null,ssid:t.ssid,device:t.device},r),s=a?(0,J.jsx)(kd,{connection:a,actions:n}):n.readOnly?null:(0,J.jsx)(Td,{label:`Join…`,primary:!0,actions:n,onClick:()=>n.join(t)});return(0,J.jsxs)(wd,{icon:(0,J.jsx)(nd,{signal:t.signal,size:16}),name:t.ssid,onClose:i,footer:s,children:[o&&(0,J.jsx)(`p`,{className:`net-error`,children:`${o.label}: ${o.error}`}),(0,J.jsxs)(`dl`,{className:`net-facts`,children:[(0,J.jsxs)($,{label:`Signal`,children:[t.signal,`%`]}),(0,J.jsxs)($,{label:`Security`,children:[$l[t.security],t.securityText&&` (${t.securityText})`]}),(0,J.jsxs)($,{label:`Band`,children:[hu(t.frequency),`, channel `,t.channel,` (`,t.frequency,` MHz)`]}),t.rate&&(0,J.jsx)($,{label:`Rate`,children:t.rate}),(0,J.jsxs)($,{label:`Access point`,children:[(0,J.jsx)(`span`,{className:`net-mono`,children:t.bssid}),t.points>1&&(0,J.jsxs)(`span`,{className:`net-fact-line net-muted`,children:[`The strongest of `,t.points]})]}),t.mode!==`Infra`&&(0,J.jsx)($,{label:`Mode`,children:t.mode}),(0,J.jsx)($,{label:`Seen by`,children:t.device})]}),a&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsxs)(`h3`,{children:[`Saved as `,a.name]}),(0,J.jsx)(Od,{state:e,connection:a,now:r,signal:!1})]})]})}function Md({state:e,device:t,actions:n,onClose:r}){let i=yu(t,e.wifi),a=t.connection?e.connections.find(e=>e.uuid===t.connection):void 0,o=t.type===`wifi`?`wifi`:t.type===`ethernet`?`ethernet`:null,s=o?e.connections.filter(n=>!n.activeState&&(n.kind===o||o===`wifi`&&n.kind===`hotspot`)&&Eu(n,[t])&&(n.kind!==`wifi`||e.networks.some(e=>e.device===t.name&&e.ssid===n.ssid))):[],c=[t.band24&&`2.4 GHz`,t.band5&&`5 GHz`].filter(Boolean).join(` and `);return(0,J.jsxs)(wd,{icon:(0,J.jsx)(id,{device:t,size:16}),name:t.name,onClose:r,footer:a&&!t.external&&!n.readOnly?(0,J.jsx)(Td,{label:a.kind===`hotspot`?`Stop the access point`:`Disconnect`,actions:n,onClick:()=>n.disconnect(a)}):null,children:[(0,J.jsxs)(`dl`,{className:`net-facts`,children:[(0,J.jsxs)($,{label:`Status`,children:[(0,J.jsx)(ad,{tone:i.tone}),` `,i.text]}),t.reason&&t.state!==100&&(0,J.jsx)($,{label:`Why`,children:t.reason}),(0,J.jsx)($,{label:`Kind`,children:bu(t)}),(t.vendor||t.product)&&(0,J.jsx)($,{label:`Hardware`,children:[t.vendor,t.product].filter(Boolean).join(` `)}),t.driver&&(0,J.jsx)($,{label:`Driver`,children:t.driver}),t.hwaddr&&(0,J.jsx)($,{label:`MAC address`,children:(0,J.jsx)(`span`,{className:`net-mono`,children:t.hwaddr})}),t.speed&&(0,J.jsx)($,{label:`Speed`,children:t.speed}),t.mtu&&(0,J.jsx)($,{label:`MTU`,children:t.mtu}),t.type===`wifi`&&(0,J.jsx)($,{label:`Access point`,children:t.accessPoint?`It can be one${c?`, on ${c}`:``}`:`Not supported`}),(0,J.jsx)($,{label:`IPv4`,children:(0,J.jsx)(Ed,{list:t.ipv4})}),t.ipv6.length>0&&(0,J.jsx)($,{label:`IPv6`,children:(0,J.jsx)(Ed,{list:t.ipv6})}),t.gateway&&(0,J.jsx)($,{label:`Gateway`,children:t.gateway}),t.dns.length>0&&(0,J.jsx)($,{label:`DNS`,children:(0,J.jsx)(Ed,{list:t.dns})})]}),s.length>0&&!n.readOnly&&!t.external&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`h3`,{children:`Connect with`}),(0,J.jsx)(`ul`,{className:`net-choices`,children:s.map(e=>(0,J.jsxs)(`li`,{children:[(0,J.jsx)(rd,{kind:e.kind,size:15}),(0,J.jsx)(`span`,{className:`net-choice-name`,children:e.name}),(0,J.jsx)(Td,{label:e.kind===`hotspot`?`Start`:`Connect`,actions:n,onClick:()=>n.connect(e,t.name)})]},e.uuid))})]})]})}function Nd({selection:e,state:t,actions:n,now:r,onClose:i}){switch(e.type){case`network`:{let a=t.networks.find(t=>t.device===e.device&&t.ssid===e.ssid);return a?(0,J.jsx)(jd,{state:t,network:a,actions:n,now:r,onClose:i}):null}case`connection`:{let a=t.connections.find(t=>t.uuid===e.uuid);return a?(0,J.jsx)(Ad,{state:t,connection:a,actions:n,now:r,onClose:i}):null}case`device`:{let r=t.devices.find(t=>t.name===e.name);return r?(0,J.jsx)(Md,{state:t,device:r,actions:n,onClose:i}):null}}}function Pd(e,t){return JSON.stringify(e)===JSON.stringify(t)}function Fd({label:e,busy:t,primary:n=!1,actions:r,onClick:i}){return r.readOnly?null:(0,J.jsx)(`button`,{type:`button`,className:`net-action${n?` primary`:``}`,disabled:!!t||r.blocked!==null,title:r.blocked??void 0,onClick:i,children:t??e})}function Id({selected:e,icon:t,name:n,tags:r,sub:i,tone:a,action:o,onSelect:s}){return(0,J.jsxs)(`li`,{className:`net-row${e?` selected`:``}`,children:[(0,J.jsxs)(`button`,{type:`button`,className:`net-row-main`,"aria-pressed":e,onClick:s,children:[(0,J.jsx)(`span`,{className:`net-row-icon ${a}`,children:t}),(0,J.jsxs)(`span`,{className:`net-row-text`,children:[(0,J.jsxs)(`span`,{className:`net-row-name`,children:[(0,J.jsx)(`span`,{className:`net-row-label`,title:n,children:n}),r]}),(0,J.jsxs)(`span`,{className:`net-row-sub ${a}`,title:i,children:[(a===`busy`||a===`failed`)&&(0,J.jsx)(ad,{tone:a}),(0,J.jsx)(`span`,{className:`net-row-sub-text`,children:i})]})]})]}),o&&(0,J.jsx)(`div`,{className:`net-row-actions`,children:o})]})}function Ld({state:e,device:t}){return t&&t===e.via?(0,J.jsx)(`span`,{className:`net-tag accent`,title:`This page reaches the robot through it`,children:`this page`}):null}function Rd(e){return e?.ipv4[0]?.split(`/`)[0]??``}function zd({connection:e,...t}){let{state:n,actions:r,selection:i,onSelect:a,now:o}=t,s=n.devices.find(t=>t.name===e.device),{running:c,failed:l}=Mu(n.activity,{uuid:e.uuid,ssid:e.ssid||null,device:e.device},o),u=e.kind===`hotspot`,d,f=``;c?(d=`${c.label}…`,f=`busy`):e.activeState===`activated`?(d=[u?`On, on ${e.device}`:`Connected on ${e.device}`,Rd(s)].filter(Boolean).join(` · `),f=`on`):e.activeState===`activating`?(d=s?yu(s,n.wifi).text:`Connecting…`,f=`busy`):e.activeState===`deactivating`?(d=`Disconnecting…`,f=`busy`):l?(d=l.error??``,f=`failed`):d=[e.kind===`ethernet`&&e.ipv4Method===`manual`?e.addresses.join(`, `):u&&e.ssid!==e.name?e.ssid:``,Fu(e.lastUsed,o),e.autoconnect?``:`not automatic`].filter(Boolean).join(` · `);let p=e.activeState!==null,m={type:`connection`,uuid:e.uuid},h=n.devices.find(t=>t.name===e.interface),g=h&&n.devices.filter(e=>e.type===h.type).length>1;return(0,J.jsx)(Id,{selected:Pd(i,m),icon:(0,J.jsx)(rd,{kind:e.kind}),name:e.name,tags:(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Ld,{state:n,device:e.device}),g&&(0,J.jsx)(`span`,{className:`net-tag`,children:e.interface})]}),sub:d,tone:f,onSelect:()=>a(m),action:e.external?null:p?(0,J.jsx)(Fd,{label:u?`Stop`:`Disconnect`,busy:c?`…`:null,actions:r,onClick:()=>r.disconnect(e)}):(0,J.jsx)(Fd,{label:u?`Start`:`Connect`,busy:c?`…`:null,primary:!0,actions:r,onClick:()=>r.connect(e,null)})})}function Bd({network:e,saved:t,device:n,...r}){let{state:i,actions:a,selection:o,onSelect:s,now:c}=r,{running:l,failed:u}=Mu(i.activity,{uuid:t?.uuid??null,ssid:e.ssid,device:n.name},c),d=e.active&&n.connection!==null,f=d?i.connections.find(e=>e.uuid===n.connection):void 0,p=hu(e.frequency),m,h=``;if(l)m=`${l.label}…`,h=`busy`;else if(d){let e=yu(n,i.wifi);m=n.state===100?[`Connected`,Rd(n),p].filter(Boolean).join(` · `):e.text,h=e.tone}else u?(m=u.error??``,h=`failed`):m=[t?`Saved`:``,e.securityText||`Open`,p].filter(Boolean).join(` · `);let g={type:`network`,device:n.name,ssid:e.ssid},_;return d&&f?_=(0,J.jsx)(Fd,{label:`Disconnect`,actions:a,onClick:()=>a.disconnect(f)}):d||(_=(0,J.jsx)(Fd,{label:t?`Connect`:`Join`,busy:l?`…`:null,primary:!0,actions:a,onClick:()=>t?a.connect(t,n.name):a.join(e)})),(0,J.jsx)(Id,{selected:Pd(o,g),icon:(0,J.jsx)(nd,{signal:e.signal}),name:e.ssid,tags:(0,J.jsxs)(J.Fragment,{children:[e.security!==`open`&&e.security!==`owe`&&(0,J.jsx)(Oe,{className:`net-lock`,width:12,height:12}),d&&(0,J.jsx)(Ld,{state:i,device:n.name})]}),sub:m,tone:d&&h===``?`on`:h,action:_,onSelect:()=>s(g)})}function Vd({icon:e,label:t,disabled:n,onClick:r}){return(0,J.jsx)(`li`,{className:`net-row`,children:(0,J.jsxs)(`button`,{type:`button`,className:`net-row-main net-add`,disabled:n!==null,title:n??void 0,onClick:r,children:[(0,J.jsx)(`span`,{className:`net-row-icon`,children:e}),(0,J.jsx)(`span`,{className:`net-row-label`,children:t})]})})}function Hd({device:e,many:t,...n}){let{state:r,text:i,actions:a}=n,s=r.connections.find(t=>t.device===e.name&&(t.kind===`wifi`||t.kind===`hotspot`)),c=ku(r,e.name,i),l=s?.kind===`wifi`&&!c.some(e=>e.network.active)?s:null,u=e.accessPoint?Au(r.connections,e.name).filter(e=>e.uuid!==s?.uuid):[],d=null;c.length===0&&(d=i.trim()?`No network matches “${i.trim()}”`:s?.kind===`hotspot`?`An access point does not look for networks: stop it to join one`:r.scanning?`Looking for networks…`:`No network in range`);let f=a.blocked;return(0,J.jsxs)(`section`,{className:`net-section`,"aria-label":`Wi-Fi of ${e.name}`,children:[t&&(0,J.jsxs)(`h3`,{className:`net-heading`,children:[e.name,(e.product||e.vendor)&&(0,J.jsx)(`span`,{className:`net-heading-detail`,children:e.product||e.vendor})]}),(0,J.jsxs)(`ul`,{className:`net-list`,children:[s?.kind===`hotspot`&&(0,J.jsx)(zd,{...n,connection:s}),l&&(0,J.jsx)(zd,{...n,connection:l}),c.map(t=>(0,J.jsx)(Bd,{...n,network:t.network,saved:t.saved,device:e},t.network.ssid))]}),d&&(0,J.jsx)(`p`,{className:`net-note`,children:d}),!i.trim()&&(0,J.jsxs)(`ul`,{className:`net-list net-extra`,children:[u.map(e=>(0,J.jsx)(zd,{...n,connection:e},e.uuid)),!a.readOnly&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Vd,{icon:(0,J.jsx)(ce,{width:16,height:16}),label:`Join a hidden network…`,disabled:f,onClick:()=>a.create(`wifi`,e.name)}),e.accessPoint&&(0,J.jsx)(Vd,{icon:(0,J.jsx)(o,{width:16,height:16}),label:`New access point…`,disabled:f,onClick:()=>a.create(`hotspot`,e.name)})]})]})]})}function Ud(e){let{state:t,devices:n,actions:r}=e,i=n.filter(e=>e.type===`wifi`);return t.wifi?i.length===0?(0,J.jsxs)(`div`,{className:`net-empty`,children:[(0,J.jsx)(f,{width:28,height:28}),(0,J.jsx)(`p`,{children:`No Wi-Fi interface`})]}):(0,J.jsx)(`div`,{className:`net-scroll`,children:i.map(t=>(0,J.jsx)(Hd,{...e,device:t,many:i.length>1},t.name))}):(0,J.jsxs)(`div`,{className:`net-empty`,children:[(0,J.jsx)(f,{width:28,height:28}),(0,J.jsx)(`p`,{children:t.wifiHardware?`Wi-Fi is off`:`Wi-Fi is off by its hardware switch`}),t.wifiHardware&&!r.readOnly&&(0,J.jsx)(`button`,{type:`button`,className:`button primary`,disabled:r.blocked!==null,title:r.blocked??void 0,onClick:()=>r.setWifi(!0),children:`Turn Wi-Fi on`})]})}function Wd(e){let{state:t,devices:n,text:r,all:i,actions:a}=e,o=Du(t.connections,n,r,i);return(0,J.jsxs)(`div`,{className:`net-scroll`,children:[o.length===0&&(0,J.jsx)(`p`,{className:`net-note`,children:r.trim()?`No connection matches “${r.trim()}”`:`No connection saved`}),o.map(t=>(0,J.jsxs)(`section`,{className:`net-section`,"aria-label":t.title,children:[(0,J.jsxs)(`h3`,{className:`net-heading`,children:[t.title,(0,J.jsx)(`span`,{className:`net-heading-detail`,children:t.connections.length})]}),(0,J.jsx)(`ul`,{className:`net-list`,children:t.connections.map(t=>(0,J.jsx)(zd,{...e,connection:t},t.uuid))})]},t.kind)),!r.trim()&&!a.readOnly&&(0,J.jsx)(`ul`,{className:`net-list net-extra`,children:(0,J.jsx)(Vd,{icon:(0,J.jsx)(ce,{width:16,height:16}),label:`New wired connection…`,disabled:a.blocked,onClick:()=>a.create(`ethernet`,null)})})]})}function Gd(e){let{state:t,devices:n,selection:r,onSelect:i,actions:a}=e;return n.length===0?(0,J.jsx)(`p`,{className:`net-note`,children:`No interface`}):(0,J.jsx)(`div`,{className:`net-scroll`,children:(0,J.jsx)(`ul`,{className:`net-list`,children:n.map(e=>{let n=yu(e,t.wifi),o=e.connection?t.connections.find(t=>t.uuid===e.connection):void 0,s={type:`device`,name:e.name};return(0,J.jsx)(Id,{selected:Pd(r,s),icon:(0,J.jsx)(id,{device:e}),name:e.name,tags:(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Ld,{state:t,device:e.name}),(0,J.jsx)(`span`,{className:`net-row-detail`,children:e.product||e.vendor||bu(e)})]}),sub:[n.text,Rd(e)].filter(Boolean).join(` · `),tone:n.tone,onSelect:()=>i(s),action:o&&!e.external&&e.state===100?(0,J.jsx)(Fd,{label:o.kind===`hotspot`?`Stop`:`Disconnect`,actions:a,onClick:()=>a.disconnect(o)}):null},e.name)})})})}var Kd=620,qd=300,Jd=[{view:`wifi`,label:`Wi-Fi`,title:`The Wi-Fi networks in range`,Icon:O},{view:`saved`,label:`Saved`,title:`The connections saved`,Icon:B},{view:`devices`,label:`Interfaces`,title:`The interfaces, their addresses`,Icon:ue}];function Yd(e){let[t,n]=(0,q.useState)(()=>b.serverNow());return(0,q.useEffect)(()=>{let t=setInterval(()=>n(b.serverNow()),e);return()=>clearInterval(t)},[e]),t}function Xd({config:e}){let t=et(),[n,r]=(0,q.useState)(null),[i,a]=(0,q.useState)(e.view),[o,s]=(0,q.useState)(``),[c,l]=(0,q.useState)(null),[u,d]=(0,q.useState)(null),[p,m]=(0,q.useState)(null),[h,g]=(0,q.useState)({width:0,height:0}),_=(0,q.useRef)(null),v=Yd(5e3);(0,q.useEffect)(()=>a(e.view),[e.view]),(0,q.useEffect)(()=>b.subscribeNetwork(r),[]),(0,q.useEffect)(()=>{let e=_.current;if(!e)return;let t=new ResizeObserver(([e])=>g({width:e.contentRect.width,height:e.contentRect.height}));return t.observe(e),()=>t.disconnect()},[n!==null]);let y=(0,q.useMemo)(()=>gu(e.interfaces),[e.interfaces]),x=(0,q.useMemo)(()=>n?_u(n.devices,y,e.allInterfaces):[],[n,y,e.allInterfaces]),S=x.some(e=>e.type===`wifi`),C=i===`wifi`&&!S&&n&&x.length>0?`saved`:i,w=n?Bu(n,e.readOnly):null,T=(e,t)=>fd(e,t,n?Pu(n,e)!==null:!1).then(()=>null,e=>rs(e)),E=async(e,r)=>{let i=n?Pu(n,e):null;return!i&&!r.always||t.confirm({title:r.title,message:(0,J.jsxs)(J.Fragment,{children:[r.message,i&&(0,J.jsx)(`p`,{className:`net-warning`,children:i})]}),confirmLabel:r.confirmLabel,danger:i!==null||r.danger})},D=e=>e.kind===`wifi`&&e.ssid?e.ssid:e.name,k={blocked:w,readOnly:e.readOnly,connect:async(e,t)=>{let n={action:`connect`,uuid:e.uuid,device:t,password:null},r=e.kind===`hotspot`,i={title:r?`Start ${e.name}?`:`Switch to ${D(e)}?`,confirmLabel:r?`Start`:`Switch`,always:!1};if(!await E(n,i))return;let a=await T(n,r?`The access point ${D(e)} is on`:`Connected to ${D(e)}`);a&&(a===`Wrong password, or none given`&&e.security&&eu(e.security)?d({kind:`password`,connection:e,device:t,error:a}):G(`Could not ${r?`start`:`connect to`} ${D(e)}: ${a}`,`error`))},disconnect:async t=>{let n={action:`disconnect`,uuid:t.uuid},r=t.kind===`hotspot`,i={title:r?`Stop ${t.name}?`:`Disconnect from ${D(t)}?`,message:r?`Whoever joined the robot’s network loses it.`:t.autoconnect?`It does not connect by itself again until asked, or until the robot restarts.`:`It stays saved.`,confirmLabel:r?`Stop`:`Disconnect`,danger:!0,always:e.confirm};if(!await E(n,i))return;let a=await T(n,null);a&&G(`Could not ${r?`stop`:`disconnect from`} ${D(t)}: ${a}`,`error`)},forget:async e=>{let t={action:`delete`,uuid:e.uuid},n={title:`Forget ${e.name}?`,message:e.kind===`wifi`?`Its password is deleted with it: joining the network again asks for it.`:`Its settings are deleted with it.`,confirmLabel:`Forget`,danger:!0,always:!0};if(!await E(t,n))return;c?.type===`connection`&&c.uuid===e.uuid&&l(null);let r=await T(t,`Forgot ${e.name}`);r&&G(`Could not forget ${e.name}: ${r}`,`error`)},join:async e=>{if(eu(e.security)){d({kind:`join`,network:e});return}let t={action:`create`,settings:Lu(e,null,``,!0,!1,n?.connections??[]),connect:!0,device:e.device},r={title:`Join ${e.ssid}?`,message:e.security===`open`?`It is open: others on it may see what the robot sends.`:`It is open, its traffic encrypted (OWE).`,confirmLabel:`Join`,always:e.security===`open`};if(!await E(t,r))return;let i=await T(t,`Connected to ${e.ssid}`);i&&G(`Could not join ${e.ssid}: ${i}`,`error`)},create:(e,t)=>d({kind:`create`,settings:e,device:t}),edit:e=>d({kind:`edit`,connection:e}),share:e=>d({kind:`share`,connection:e}),setWifi:async t=>{let n={action:`wifi`,enabled:t},r={title:t?`Turn Wi-Fi on?`:`Turn Wi-Fi off?`,message:t?``:`Every Wi-Fi interface disconnects, access points stop.`,confirmLabel:t?`Turn on`:`Turn off`,danger:!t,always:!t&&e.confirm};if(!await E(n,r))return;let i=await T(n,null);i&&G(`Could not turn Wi-Fi ${t?`on`:`off`}: ${i}`,`error`)}},A=()=>void b.networkAction({action:`rescan`,device:null}).catch(e=>G(`Could not scan: ${rs(e)}`,`error`)),j=e=>{let t=e.currentTarget.getBoundingClientRect(),r=x.filter(e=>e.type===`wifi`),i=w;m({x:t.right-200,y:t.bottom+4,items:[{label:`Join a hidden network…`,disabled:i!==null||r.length===0||!n?.wifi,run:()=>k.create(`wifi`,null)},{label:`New access point…`,disabled:i!==null||!r.some(e=>e.accessPoint)||!n?.wifi,run:()=>k.create(`hotspot`,null)},{label:`New wired connection…`,disabled:i!==null,run:()=>k.create(`ethernet`,null)}]})};if((0,q.useEffect)(()=>{n&&c&&((c.type===`network`?n.networks.some(e=>e.device===c.device&&e.ssid===c.ssid):c.type===`connection`?n.connections.some(e=>e.uuid===c.uuid):n.devices.some(e=>e.name===c.name))||l(null))},[n,c]),!n)return(0,J.jsx)(`div`,{className:`widget-message`,children:`Reading the networks…`});let M={wifi:n.networks.filter(e=>x.some(t=>t.name===e.device)).length,saved:Du(n.connections,x,``,e.allInterfaces).reduce((e,t)=>e+t.connections.length,0),devices:x.length},N={state:n,devices:x,text:o,all:e.allInterfaces,selection:c,onSelect:e=>l(t=>JSON.stringify(t)===JSON.stringify(e)?null:e),actions:k,now:v},P=zu(n,v),{width:F,height:I}=h,L=F>=Kd,R=c&&(0,J.jsx)(Nd,{selection:c,state:n,actions:k,now:v,onClose:()=>l(null)}),ee;ee=n.error?(0,J.jsx)(`p`,{className:`net-note error`,children:n.error}):C===`wifi`?(0,J.jsx)(Ud,{...N}):C===`saved`?(0,J.jsx)(Wd,{...N}):(0,J.jsx)(Gd,{...N});let te=!e.readOnly&&!n.error&&w?(0,J.jsx)(`p`,{className:`net-banner`,role:`note`,children:w}):null;return(0,J.jsxs)(`div`,{ref:_,className:`net${R&&!L&&I>0&&I<qd?` cramped`:``}`,onKeyDown:e=>{e.key===`Escape`&&c&&l(null)},children:[(0,J.jsxs)(`div`,{className:`net-toolbar`,role:`toolbar`,"aria-label":`Networking`,children:[(0,J.jsx)(`div`,{className:`net-views`,role:`group`,"aria-label":`View`,children:Jd.filter(({view:e})=>e!==`wifi`||S).map(({view:e,label:t,title:n,Icon:r})=>(0,J.jsxs)(`button`,{type:`button`,className:`net-view`,"aria-pressed":C===e,title:n,onClick:()=>{a(e),l(null)},children:[(0,J.jsx)(r,{width:14,height:14}),(0,J.jsx)(`span`,{className:`net-view-name`,children:t}),(0,J.jsx)(`span`,{className:`net-view-count`,children:M[e]})]},e))}),C!==`devices`&&(0,J.jsxs)(`label`,{className:`net-search`,title:`Only those whose name contains`,children:[(0,J.jsx)(ne,{width:14,height:14}),(0,J.jsx)(`input`,{type:`search`,value:o,placeholder:`Filter…`,"aria-label":`Only those whose name contains`,spellCheck:!1,onChange:e=>s(e.target.value)})]}),(0,J.jsxs)(`div`,{className:`net-tools`,children:[C===`wifi`&&(0,J.jsx)(`button`,{type:`button`,className:`overlay-button${n.scanning?` net-spinning`:``}`,title:n.scanning?`Looking for networks…`:`Look for networks again`,"aria-label":`Look for networks again`,disabled:!n.wifi||n.scanning||n.error!==null,onClick:A,children:(0,J.jsx)(xe,{width:17,height:17})}),S&&!e.readOnly&&(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":n.wifi,title:n.wifiHardware?w??(n.wifi?`Wi-Fi is on: turn it off`:`Wi-Fi is off: turn it on`):`Wi-Fi is off by its hardware switch`,"aria-label":n.wifi?`Turn Wi-Fi off`:`Turn Wi-Fi on`,disabled:w!==null||!n.wifiHardware||n.error!==null,onClick:()=>k.setWifi(!n.wifi),children:n.wifi?(0,J.jsx)(O,{width:17,height:17}):(0,J.jsx)(f,{width:17,height:17})}),!e.readOnly&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`span`,{className:`overlay-separator`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:w??`A new connection: a hidden network, an access point, a cable’s`,"aria-label":`New connection`,"aria-haspopup":`menu`,disabled:w!==null||n.error!==null,onClick:j,children:(0,J.jsx)(ce,{width:17,height:17})})]})]})]}),te,(0,J.jsxs)(`div`,{className:`net-body${L?` beside`:``}`,children:[(0,J.jsx)(`div`,{className:`net-main`,children:ee}),R]}),(0,J.jsxs)(`div`,{className:`net-status ${P.tone}`,title:P.text,children:[(0,J.jsx)(ad,{tone:P.tone}),(0,J.jsx)(`span`,{className:`net-status-text`,children:P.text})]}),u&&(0,J.jsx)(Sd,{request:u,state:n,onClose:()=>d(null)}),p&&(0,J.jsx)(os,{x:Math.max(4,p.x),y:p.y,items:p.items,onClose:()=>m(null)})]})}var Zd=Ye({type:`networking`,name:`Networking`,description:`The robot’s networks: join Wi-Fi networks, switch between those saved, set addresses, make it an access point.`,icon:ue,defaultSize:{w:6,h:7},minSize:{w:3,h:3},component:Xd,properties:[{key:`view`,label:`View`,kind:`select`,default:`wifi`,options:[{value:`wifi`,label:`Wi-Fi networks in range`},{value:`saved`,label:`Saved connections`},{value:`devices`,label:`Interfaces`}],help:`When the panel opens: its toolbar changes it`},{key:`interfaces`,label:`Interfaces`,kind:`string`,default:``,placeholder:`wlan0, eth*`,help:`Only these, and their connections: names or globs (*), separated by commas. All if empty`},{key:`allInterfaces`,label:`Show every interface`,kind:`boolean`,default:!1,help:`Also those other programs configure (docker’s bridges, VPN clients’ tunnels), the loopback, Wi-Fi P2P`},{key:`confirm`,label:`Ask before disconnecting`,kind:`boolean`,default:!0,help:`And before turning Wi-Fi off. A change that would cut this page off from the robot is always asked about`},{key:`readOnly`,label:`Read-only`,kind:`boolean`,default:!1,help:`The networks are shown, not changed: e.g. on a panel for operators`}]}),Qd=`modulepreload`,$d=function(e){return`/`+e},ef={},tf=function(e){return e.pathname.endsWith(`.css`)},nf=function(e,t,n){if(t in e)return e[t];let r=n();if(!r){e[t]=void 0;return}let i=r.then(()=>{e[t]=void 0},n=>{throw e[t]=void 0,n});return e[t]=i,i},rf=function(e,t,n){let r=Promise.resolve();if(t&&t.length>0){let e,i=document.querySelector(`meta[property=csp-nonce]`),a=i?.nonce||i?.getAttribute(`nonce`);function o(e){return Promise.all(e.map(e=>Promise.resolve(e).then(e=>({status:`fulfilled`,value:e}),e=>({status:`rejected`,reason:e}))))}function s(e){return import.meta.resolve?new URL(import.meta.resolve(e)):new URL(e,import.meta.url)}r=o(t.map(t=>{t=$d(t,n);let r=s(t),i=tf(r);return nf(ef,r.href,()=>{if(e===void 0){e={all:new Set,styles:new Set};let t=document.getElementsByTagName(`link`);for(let n=t.length-1;n>=0;n--){let r=t[n];e.all.add(r.href),r.rel===`stylesheet`&&e.styles.add(r.href)}}if((i?e.styles:e.all).has(r.href))return;let t=document.createElement(`link`);if(t.rel=i?`stylesheet`:Qd,i||(t.as=`script`),t.crossOrigin=``,t.href=r.href,a&&t.setAttribute(`nonce`,a),document.head.appendChild(t),i)return new Promise((e,n)=>{t.addEventListener(`load`,e),t.addEventListener(`error`,()=>n(Error(`Unable to preload CSS for ${r}`)))})})}).filter(e=>e!==void 0))}function i(e){let t=new Event(`vite:preloadError`,{cancelable:!0});if(t.payload=e,window.dispatchEvent(t),!t.defaultPrevented)throw e}return r.then(t=>{for(let e of t||[])e.status===`rejected`&&i(e.reason);return e().catch(i)})},af=(0,q.lazy)(()=>rf(()=>import(`./RobotModelView.js`),__vite__mapDeps([0,1,2,3,4])));function of({config:e}){return(0,J.jsx)(q.Suspense,{fallback:(0,J.jsx)(`div`,{className:`widget-message`,children:`Loading the 3D view…`}),children:(0,J.jsx)(af,{config:e})})}var sf=Ye({type:`robot-model`,name:`Robot Model`,description:`The robot in 3D, its moving joints highlighted, and its TF frames.`,icon:Fe,defaultSize:{w:6,h:5},minSize:{w:3,h:3},component:of,properties:[{key:`descriptionTopic`,label:`Robot description topic`,kind:`topic`,default:`/robot_description`,topicTypes:[`std_msgs/msg/String`],help:`The URDF, as robot_state_publisher publishes it. Its package:// meshes come from the robot`},{key:`jointStatesTopic`,label:`Joint states topic`,kind:`topic`,default:`/joint_states`,topicTypes:[`sensor_msgs/msg/JointState`],help:`Where the joints are, and how they move`},{key:`showFrames`,label:`Show the TF frames`,kind:`boolean`,default:!1},{key:`highlightMotion`,label:`Highlight the moving joints`,kind:`boolean`,default:!0,help:`Their links take another colour, with an arrow in the direction of the motion`}]}),cf={x:0,y:0,z:0};function lf(e){return e.x===0&&e.y===0&&e.z===0}function uf(e,t){b.send({type:`twist`,topic:e.topic,stamped:e.stamped,frameId:e.frameId,linear:{x:t.x*e.maxLinear,y:t.y*e.maxLinear},angular:{z:t.z*e.maxAngular}})}function df({config:e,editing:t}){let n=We()===`open`,[r,i]=(0,q.useState)(cf),a=(0,q.useRef)(cf),o=(0,q.useRef)(e);o.current=e;let s=(0,q.useRef)(!1),c=(0,q.useCallback)(e=>{let t={...a.current,...e};a.current=t,i(t),!lf(t)&&!s.current?(s.current=!0,uf(o.current,t)):lf(t)&&s.current&&(s.current=!1,uf(o.current,cf))},[]);(0,q.useEffect)(()=>{let t=setInterval(()=>s.current&&uf(o.current,a.current),1e3/Math.min(50,Math.max(1,e.rate)));return()=>clearInterval(t)},[e.rate]);let{topic:l,stamped:u}=e;(0,q.useEffect)(()=>()=>{s.current&&(s.current=!1,uf({...o.current,topic:l,stamped:u},cf))},[l,u]);let d=t||!n,{maxLinear:f,maxAngular:p}=e;return(0,J.jsxs)(`div`,{className:`teleop`,children:[(0,J.jsx)(`div`,{className:`teleop-pads${e.omnidirectional?` two`:``}`,children:e.omnidirectional?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Ze,{axes:`xy`,label:`x · y`,disabled:d,onMove:(e,t)=>c({x:t,y:-e})}),(0,J.jsx)(Ze,{axes:`x`,label:`z`,disabled:d,onMove:e=>c({z:-e})})]}):(0,J.jsx)(Ze,{axes:`xy`,label:`x · z`,disabled:d,onMove:(e,t)=>c({x:t,y:0,z:-e})})}),(0,J.jsx)(`div`,{className:`teleop-readout`,children:n||t?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsxs)(`span`,{children:[`x `,(r.x*f).toFixed(3)]}),e.omnidirectional&&(0,J.jsxs)(`span`,{children:[`y `,(r.y*f).toFixed(3)]}),(0,J.jsxs)(`span`,{children:[`z `,(r.z*p).toFixed(3)]}),(0,J.jsx)(`span`,{className:`teleop-topic`,children:e.topic})]}):(0,J.jsx)(`span`,{className:`offline`,children:`Disconnected`})})]})}var ff=Ye({type:`teleop`,name:`Teleop`,description:`Drive the robot with on-screen pads, publishing velocity commands.`,icon:h,defaultSize:{w:6,h:4},minSize:{w:3,h:3},component:df,properties:[{key:`topic`,label:`Topic`,kind:`topic`,default:`cmd_vel`,topicTypes:[`geometry_msgs/msg/Twist`,`geometry_msgs/msg/TwistStamped`],help:`With twist_mux, one of its inputs, above autonomous navigation and below the joysticks`},{key:`omnidirectional`,label:`Omnidirectional`,kind:`boolean`,default:!1,help:`Two pads: x and y, and z. Otherwise one: x and z`},{key:`stamped`,label:`TwistStamped`,kind:`boolean`,default:!1,help:`Publish geometry_msgs/TwistStamped instead of Twist`},{key:`frameId`,label:`Frame id`,kind:`string`,default:`base_link`,visible:e=>e.stamped},{key:`maxLinear`,label:`Max linear speed (m/s)`,kind:`number`,default:.2,min:0,step:.01},{key:`maxAngular`,label:`Max angular speed (rad/s)`,kind:`number`,default:.5,min:0,step:.01},{key:`rate`,label:`Rate (Hz)`,kind:`number`,default:10,min:1,max:50,step:1,help:`How often the command is published while a pad is held`}]}),pf=(0,q.lazy)(()=>rf(()=>import(`./TerminalView.js`),__vite__mapDeps([5,1,2,3,4,6,7,8])));function mf({config:e,instance:t,panelId:n,editing:r}){return(0,J.jsx)(q.Suspense,{fallback:(0,J.jsx)(`div`,{className:`widget-message`,children:`Loading the terminal…`}),children:(0,J.jsx)(pf,{config:e,panelId:n,widgetId:t.id,editing:r})})}var hf=Ye({type:`terminal`,name:`Terminal`,description:`A shell on the robot, or a command. On touch screens, the keys phones lack: Esc, Tab, Ctrl, Alt, arrows.`,icon:Ie,defaultSize:{w:8,h:6},minSize:{w:3,h:3},component:mf,properties:[{key:`command`,label:`Command`,kind:`text`,default:``,placeholder:`htop`,help:`Run instead of a shell, by the login shell: e.g. htop, or tmux new -A -s robot for one session that every page shares. Empty: the shell`},{key:`folder`,label:`Folder`,kind:`string`,default:`~`,placeholder:`~/ros2_ws`,help:`Where it starts: /…, ~/… or package://<package>/…`},{key:`fontSize`,label:`Text size`,kind:`number`,default:13,min:7,max:32,step:1,help:`In pixels. Each device changes it with the toolbar, or by pinching`},{key:`theme`,label:`Colours`,kind:`select`,default:`auto`,options:[{value:`auto`,label:`The page’s, dark or light`},{value:`dark`,label:`Dark`},{value:`light`,label:`Light`}]},{key:`extraKeys`,label:`Extra keys`,kind:`select`,default:`touch`,options:[{value:`touch`,label:`On touch screens`},{value:`always`,label:`Always`},{value:`never`,label:`Never`}],help:`Keys the on-screen keyboard lacks, under the terminal. Ctrl, Alt and Shift apply to the next key, of the row or of the keyboard: tap twice, or hold, to keep them. Swiping up on a key types what its corner shows`},{key:`keys`,label:`Extra keys’ layout`,kind:`text`,default:nt,help:`A line per row, keys separated by spaces: ESC TAB CTRL ALT SHIFT HOME END PGUP PGDN UP DOWN LEFT RIGHT INS DEL BKSP ENTER SPACE F1…F12 KEYBOARD PASTE, or what to type (~, |, ros2). What swiping up types follows a colon: -:|`,visible:e=>e.extraKeys!==`never`},{key:`fullScreenTyping`,label:`Full screen while typing`,kind:`boolean`,default:!0,help:`On touch screens: while the on-screen keyboard is open, the terminal fills the screen above it, the extra keys right above it`}]});function gf(e,t){return typeof t==typeof e.default&&(e.kind!==`select`||e.options.some(e=>e.value===t))&&(typeof t!=`number`||Number.isFinite(t))}var _f=class{registered;defaults=new Map;current;constructor(e){this.registered=e.map(e=>({definition:e,plugin:null})),this.current=this.registered}registerPlugin(e,t){let n=[];for(let r of t.widgets??[]){let t=this.registered.find(e=>e.definition.type===r.type);t?n.push(`its widget type "${r.type}" is already ${t.plugin?`${t.plugin}'s`:`Tassello's`}`):this.registered=[...this.registered,{definition:r,plugin:e}]}for(let[e,r]of Object.entries(t.defaults??{})){let t=this.defaults.get(e)??new Map;for(let[i,a]of Object.entries(r)){t.set(i,a);let r=this.registered.find(t=>t.definition.type===e)?.definition,o=r?.properties.find(e=>e.key===i);r&&(!o||!gf(o,a))&&n.push(`its default of ${e}.${i} is not one of the property's values`)}this.defaults.set(e,t)}return this.current=this.registered.map(e=>({...e,definition:this.withDefaults(e.definition)})),n}entries(){return this.current}definition(e){return this.current.find(t=>t.definition.type===e)?.definition}withDefaults(e){let t=this.defaults.get(e.type);return t?{...e,properties:e.properties.map(e=>t.has(e.key)&&gf(e,t.get(e.key))?{...e,default:t.get(e.key)}:e)}:e}};function vf(e,t){let n={};for(let r of e.properties){let e=t[r.key];n[r.key]=gf(r,e)?e:r.default}return n}var yf=new _f([ff,Ql,sf,vt,Wi,pl,zi,lt,Ni,Si,Al,eo,dl,hf,Zd]);function bf(e,t){return yf.registerPlugin(e,t)}function xf(){return yf.entries()}function Sf(e){return yf.definition(e)}function Cf(e,t){return e.x<t.x+t.w&&t.x<e.x+e.w&&e.y<t.y+t.h&&t.y<e.y+e.h}function wf(e,t,n){return e.x>=0&&e.y>=0&&!t.some(t=>t.id!==n&&Cf(e,t))}function Tf(e){return{cols:Math.max(0,...e.map(e=>e.x+e.w)),rows:Math.max(0,...e.map(e=>e.y+e.h))}}function Ef(e,t,n){let{rows:r}=Tf(e);for(let i=0;i<=r;i++)for(let r=0;r+t.w<=Math.max(n,t.w);r++){let n={x:r,y:i,...t};if(wf(n,e))return n}return{x:0,y:r,...t}}function Df(e,t=64){return{left:e.x*t+4,top:e.y*t+4,width:e.w*t-8,height:e.h*t-8}}var Of={desktop:{label:`Desktop`,columns:null,previewWidth:null},tablet:{label:`Tablet`,columns:12,previewWidth:820},phone:{label:`Phone`,columns:6,previewWidth:390}};function kf(e){return e<640?`phone`:e<1100?`tablet`:`desktop`}function Af(e,t){return e.x<t.x+t.w&&t.x<e.x+e.w&&e.y<t.y+t.h&&t.y<e.y+e.h}function jf(e,t,n,r){if(e.x<0||e.y<0||n!==null&&e.x+e.w>n)return!1;for(let[n,i]of t.rects)if(n!==r&&Af(e,i))return!1;return!0}function Mf(e,t,n,r,i){for(let a=i;;a++)for(let i=0;i+t<=r;i++){let r={x:i,y:a,w:t,h:n};if(![...e.values()].some(e=>Af(r,e)))return r}}function Nf(e,t,n){let r=Of[t].columns;if(r===null)return{rects:new Map(e.widgets.map(e=>[e.id,{x:e.x,y:e.y,w:e.w,h:e.h}])),hidden:[],custom:!0};let i=e.layouts?.[t],a=new Set(i?.hidden??[]),o=new Map;for(let t of e.widgets){let e=i?.rects[t.id];if(e&&!a.has(t.id)){let n=Math.min(e.w,r);o.set(t.id,{x:Math.min(e.x,r-n),y:e.y,w:n,h:e.h})}}let s=Math.max(0,...[...o.values()].map(e=>e.y+e.h)),c=e.widgets.filter(e=>!a.has(e.id)&&!o.has(e.id)).sort((e,t)=>e.y-t.y||e.x-t.x);for(let e of c){let t=Mf(o,Math.min(e.w,r),e.w>r?Math.max(n(e.type).h,Math.round(e.h*r/e.w)):e.h,r,s);o.set(e.id,t),s=t.y}return{rects:o,hidden:[...a],custom:Object.keys(i?.rects??{}).length>0}}function Pf(e,t,n){return{...e,layouts:{...e.layouts,[t]:n}}}function Ff(e,t,n,r,i){if(t===`desktop`)return{...e,widgets:e.widgets.map(e=>e.id===r?{...e,...i}:e)};let a=Object.fromEntries(n.rects);return a[r]=i,Pf(e,t,{rects:a,hidden:n.hidden})}function If(e,t,n,r,i){return Pf(e,t,{rects:n.custom?Object.fromEntries([...n.rects].filter(([e])=>e!==r)):{},hidden:i?[...new Set([...n.hidden,r])]:n.hidden.filter(e=>e!==r)})}function Lf(e,t){let{[t]:n,...r}=e.layouts??{},{layouts:i,...a}=e;return Object.keys(r).length>0?{...a,layouts:r}:a}var Rf=4,zf=4,Bf=100,Vf=32;function Hf(e){let[t,n]=(0,q.useState)({width:0,height:0});return(0,q.useEffect)(()=>{let t=e.current;if(!t)return;let r=new ResizeObserver(()=>n({width:t.clientWidth,height:t.clientHeight}));return r.observe(t),()=>r.disconnect()},[e]),t}function Uf({panel:e,device:t,layout:n,previewWidth:r,editing:i,selectedId:a,onSelect:o,onPlace:s,onRemove:c,onHide:l,onVisibleColumns:u}){let d=(0,q.useRef)(null),f=Hf(d),[p,m]=(0,q.useState)(null),h=Of[t].columns,g=(r??f.width)-32,_=h===null?64:Math.max(Vf,Math.floor(g/h)),v=h??Math.max(1,Math.floor(g/_)),y=Math.max(1,Math.floor((f.height-32)/_));(0,q.useEffect)(()=>u?.(v),[v,u]);let b=[...n.rects.values()],x=Tf(p?[...b,p.rect]:b),S=h??(i?Math.max(x.cols+Rf,v):x.cols),C=i?Math.max(x.rows+Rf,y):x.rows,w=(e,t,r)=>{let a=n.rects.get(t.id);if(!i||e.button!==0||p||!a)return;e.stopPropagation(),e.currentTarget.setPointerCapture(e.pointerId);let s=d.current;m({id:t.id,kind:r,pointerId:e.pointerId,startX:e.clientX,startY:e.clientY,startScrollLeft:s.scrollLeft,startScrollTop:s.scrollTop,origin:a,rect:a,dx:0,dy:0,moved:!1}),o(t.id)},T=t=>{if(!p||t.pointerId!==p.pointerId)return;let n=d.current,r=t.clientX-p.startX+n.scrollLeft-p.startScrollLeft,i=t.clientY-p.startY+n.scrollTop-p.startScrollTop,{origin:a}=p,o;if(p.kind===`move`){let e=Math.max(0,a.x+Math.round(r/_));o={...a,x:h===null?e:Math.min(h-a.w,e),y:Math.max(0,a.y+Math.round(i/_))}}else{let t=Sf(e.widgets.find(e=>e.id===p.id)?.type??``)?.minSize,n=h===null?Bf:h-a.x;o={...a,w:Math.min(n,Math.max(Math.min(t?.w??1,n),a.w+Math.round(r/_))),h:Math.min(Bf,Math.max(t?.h??1,a.h+Math.round(i/_)))}}m({...p,dx:r,dy:i,rect:o,moved:p.moved||Math.hypot(r,i)>zf})},D=e=>{if(!p||e.pointerId!==p.pointerId)return;let{id:t,rect:r,origin:i,moved:a}=p;m(null);let o=r.x!==i.x||r.y!==i.y||r.w!==i.w||r.h!==i.h;a&&o&&jf(r,n,h,t)&&s(t,r)},O=!p||jf(p.rect,n,h,p.id);return(0,J.jsx)(`div`,{ref:d,className:`board-scroll${h===null?``:` columns`}`,onPointerDown:e=>{i&&!e.target.closest(`.widget`)&&o(null)},children:(0,J.jsxs)(`div`,{className:`board${i?` editing`:``}${r?` preview`:``}`,style:{width:S*_,height:C*_,"--cell":`${_}px`},children:[p?.moved&&(0,J.jsx)(`div`,{className:`drop-target${O?``:` invalid`}`,style:Df(p.rect,_)}),e.widgets.map(r=>{let o=n.rects.get(r.id);if(!o)return null;let s=p?.id===r.id&&p.moved?p:null,u=Df(o,_);s?.kind===`move`?u.transform=`translate(${s.dx}px, ${s.dy}px)`:s?.kind===`resize`&&(u.width=Math.max(_-8,o.w*_-8+s.dx),u.height=Math.max(_-8,o.h*_-8+s.dy));let d=Sf(r.type),f=d?.icon??Pe;return(0,J.jsxs)(`div`,{className:[`widget`,i&&`editing`,a===r.id&&`selected`,s&&`dragging`].filter(Boolean).join(` `),style:u,onPointerDown:e=>w(e,r,`move`),onPointerMove:T,onPointerUp:D,onPointerCancel:D,children:[(0,J.jsx)(Wf,{instance:r,panelId:e.id,editing:i}),i&&(0,J.jsxs)(`div`,{className:`widget-chrome`,children:[(0,J.jsxs)(`span`,{className:`widget-tag`,children:[(0,J.jsx)(f,{width:14,height:14}),d?.name??r.type]}),(0,J.jsxs)(`div`,{className:`widget-buttons`,children:[l&&(0,J.jsx)(`button`,{type:`button`,className:`widget-button`,title:`Hide on ${Of[t].label.toLowerCase()}s`,"aria-label":`Hide on ${Of[t].label.toLowerCase()}s`,onPointerDown:e=>e.stopPropagation(),onClick:()=>l(r.id),children:(0,J.jsx)(P,{width:14,height:14})}),(0,J.jsx)(`button`,{type:`button`,className:`widget-button remove`,title:`Remove widget`,"aria-label":`Remove widget`,onPointerDown:e=>e.stopPropagation(),onClick:()=>c(r.id),children:(0,J.jsx)(E,{width:14,height:14})})]}),(0,J.jsx)(`div`,{className:`resize-handle`,title:`Resize`,onPointerDown:e=>w(e,r,`resize`)})]})]},r.id)})]})})}var Wf=(0,q.memo)(function({instance:e,panelId:t,editing:n}){let r=Sf(e.type),i=(0,q.useMemo)(()=>r?vf(r,e.config):{},[r,e.config]);return(0,J.jsxs)(`div`,{className:`widget-card`,children:[e.title&&(0,J.jsx)(`div`,{className:`widget-title`,children:e.title}),(0,J.jsx)(`div`,{className:`widget-body`,children:r?(0,J.jsx)(Gf,{resetKey:i,children:(0,J.jsx)(r.component,{config:i,instance:e,panelId:t,editing:n})}):(0,J.jsxs)(`div`,{className:`widget-message`,children:[`Unknown widget type “`,e.type,`”: is the plugin that adds it installed?`]})})]})}),Gf=class extends q.Component{state={error:null};static getDerivedStateFromError(e){return{error:e}}componentDidUpdate(e){this.state.error&&e.resetKey!==this.props.resetKey&&this.setState({error:null})}render(){return this.state.error?(0,J.jsxs)(`div`,{className:`widget-message error`,children:[`This widget failed: `,this.state.error.message]}):this.props.children}};function Kf({widget:e,onChange:t,onDuplicate:n,onRemove:r,onClose:i}){let a=Sf(e.type),o=a?vf(a,e.config):e.config,s=a?.icon??Pe,c=(n,r)=>t({...e,config:{...e.config,[n]:r}});return(0,J.jsxs)(`aside`,{className:`properties`,"aria-label":`Widget properties`,children:[(0,J.jsxs)(`header`,{className:`properties-header`,children:[(0,J.jsx)(s,{}),(0,J.jsx)(`h2`,{children:a?.name??e.type}),(0,J.jsx)(`button`,{type:`button`,className:`icon-button`,"aria-label":`Close`,onClick:i,children:(0,J.jsx)(H,{})})]}),(0,J.jsxs)(`div`,{className:`properties-body`,children:[(0,J.jsx)(qf,{label:`Title`,help:`Shown above the widget, if set`,children:n=>(0,J.jsx)(Yf,{id:n,value:e.title,onCommit:n=>t({...e,title:n})})}),a?.properties.filter(e=>!e.visible||e.visible(o)).map(e=>(0,J.jsx)(Jf,{property:e,value:o[e.key],onChange:t=>c(e.key,t)},e.key)),(0,J.jsxs)(`p`,{className:`properties-meta`,children:[e.w,`×`,e.h,` cells at column `,e.x+1,`, row `,e.y+1]})]}),(0,J.jsxs)(`footer`,{className:`properties-footer`,children:[(0,J.jsxs)(`button`,{type:`button`,className:`button`,onClick:n,children:[(0,J.jsx)(z,{}),` Duplicate`]}),(0,J.jsxs)(`button`,{type:`button`,className:`button danger`,onClick:r,children:[(0,J.jsx)(E,{}),` Remove`]})]})]})}function qf({label:e,help:t,children:n}){let r=(0,q.useId)();return(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsx)(`label`,{className:`field-label`,htmlFor:r,children:e}),n(r),t&&(0,J.jsx)(`p`,{className:`field-help`,children:t})]})}function Jf({property:e,value:t,onChange:n}){return e.kind===`boolean`?(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsxs)(`label`,{className:`toggle`,children:[(0,J.jsx)(`input`,{type:`checkbox`,checked:t===!0,onChange:e=>n(e.target.checked)}),(0,J.jsx)(`span`,{className:`toggle-switch`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`field-label`,children:e.label})]}),e.help&&(0,J.jsx)(`p`,{className:`field-help`,children:e.help})]}):(0,J.jsx)(qf,{label:e.label,help:e.help,children:r=>{switch(e.kind){case`number`:return(0,J.jsx)(Yf,{id:r,type:`number`,min:e.min,max:e.max,step:e.step??`any`,value:String(t),onCommit:t=>{let r=Number(t);t.trim()&&Number.isFinite(r)&&n(Math.min(e.max??1/0,Math.max(e.min??-1/0,r)))}});case`select`:return(0,J.jsx)(`select`,{id:r,value:String(t),onChange:e=>n(e.target.value),children:e.options.map(e=>(0,J.jsx)(`option`,{value:e.value,children:e.label},e.value))});case`color`:return(0,J.jsxs)(`div`,{className:`color-field`,children:[(0,J.jsx)(`input`,{id:r,type:`color`,value:String(t),onChange:e=>n(e.target.value)}),(0,J.jsx)(`code`,{children:String(t)})]});case`text`:return(0,J.jsx)(Yf,{id:r,multiline:!0,value:String(t),placeholder:e.placeholder,onCommit:n});case`image`:case`behavior-tree`:return(0,J.jsx)(Mt,{id:r,kind:e.kind,value:String(t),placeholder:e.placeholder,onCommit:n,children:e=>(0,J.jsx)(Yf,{...e})});case`topic`:return(0,J.jsx)(Xf,{id:r,value:String(t),types:e.topicTypes,placeholder:e.placeholder,onCommit:n});default:return(0,J.jsx)(Yf,{id:r,value:String(t),placeholder:e.placeholder,onCommit:n})}}})}function Yf({value:e,onCommit:t,multiline:n=!1,...r}){let[i,a]=(0,q.useState)(e);(0,q.useEffect)(()=>a(e),[e]);let o=()=>i!==e&&t(i),s={...r,value:i,spellCheck:!1,onBlur:o,onChange:e=>a(e.target.value)};return n?(0,J.jsx)(`textarea`,{...s,rows:4,onKeyDown:t=>{t.key===`Enter`&&(t.ctrlKey||t.metaKey)?o():t.key===`Escape`&&a(e)}}):(0,J.jsx)(`input`,{...s,onKeyDown:t=>{t.key===`Enter`?o():t.key===`Escape`&&a(e)}})}function Xf({id:e,value:t,types:n,placeholder:r,onCommit:i}){let[a,o]=(0,q.useState)([]),s=`${e}-topics`,c=()=>Xe.listTopics().then(o).catch(()=>o([])),l=a.filter(e=>e.types.some(e=>n.includes(e)));return(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Yf,{id:e,value:t,placeholder:r,list:s,onFocus:c,onCommit:i}),(0,J.jsx)(`datalist`,{id:s,children:l.map(e=>(0,J.jsx)(`option`,{value:e.name,children:e.types.join(`, `)},e.name))})]})}function Zf(){let e=new Map;for(let t of xf())e.set(t.plugin,[...e.get(t.plugin)??[],t]);return[...e].map(([e,t])=>({plugin:e,entries:t}))}function Qf({onAdd:e,onClose:t}){let n=Zf();return(0,J.jsx)($e,{title:`Add a widget`,onClose:t,wide:!0,children:(0,J.jsx)(`div`,{className:`palette-scroll`,children:n.map(({plugin:t,entries:r})=>(0,J.jsxs)(`section`,{children:[n.length>1&&(0,J.jsx)(`h3`,{className:`palette-heading`,children:t??`Tassello`}),(0,J.jsx)(`div`,{className:`palette`,children:r.map(({definition:t})=>(0,J.jsxs)(`button`,{type:`button`,className:`palette-item`,onClick:()=>e(t),children:[(0,J.jsx)(`span`,{className:`palette-icon`,children:(0,J.jsx)(t.icon,{width:24,height:24})}),(0,J.jsxs)(`span`,{className:`palette-text`,children:[(0,J.jsx)(`strong`,{children:t.name}),(0,J.jsx)(`span`,{children:t.description})]})]},t.type))})]},t??``))})})}var $f=500,ep=18,tp={desktop:Ve,tablet:l,phone:ie},np=e=>Sf(e)?.minSize??{w:1,h:1};function rp(){let[e,t]=(0,q.useState)(()=>kf(window.innerWidth));return(0,q.useEffect)(()=>{let e=()=>t(kf(window.innerWidth));return window.addEventListener(`resize`,e),()=>window.removeEventListener(`resize`,e)},[]),e}function ip(){return decodeURIComponent(location.hash.replace(/^#\/?/,``))}function ap(e,t=!1){let n=`#/${encodeURIComponent(e)}`;t?(history.replaceState(null,``,n),window.dispatchEvent(new HashChangeEvent(`hashchange`))):location.hash=n}function op(e){return`${e.replace(/[^A-Za-z0-9_-]+/g,`-`).slice(-48)}-${Math.random().toString(36).slice(2,8)}`}function sp(e){return e instanceof Error?e.message:String(e)}function cp(){let[e,t]=(0,q.useState)(`saved`),n=(0,q.useRef)(null),r=(0,q.useRef)(null),i=(0,q.useRef)(Promise.resolve()),a=(0,q.useCallback)(()=>{r.current&&=(clearTimeout(r.current),null);let e=n.current;return n.current=null,e&&(i.current=i.current.then(()=>Xe.savePanel(e).then(()=>{n.current||t(`saved`)},n=>{t(`failed`),G(`Could not save “${e.name}”: ${sp(n)}`,`error`)}))),i.current},[]),o=(0,q.useCallback)(e=>{n.current=e,t(`saving`),r.current&&clearTimeout(r.current),r.current=setTimeout(a,$f)},[a]);return(0,q.useEffect)(()=>{let e=()=>{let e=n.current;e&&(n.current=null,fetch(`/api/panels/${encodeURIComponent(e.id)}`,{method:`PUT`,headers:{"Content-Type":`application/json`},body:JSON.stringify(e),keepalive:!0}))};return window.addEventListener(`pagehide`,e),()=>window.removeEventListener(`pagehide`,e)},[]),[e,(0,q.useMemo)(()=>({schedule:o,flush:a,isPending:()=>n.current!==null}),[o,a])]}function lp(){let e=We(),t=et(),[n,r]=cp(),[i,a]=(0,q.useState)(null),[o,s]=(0,q.useState)(ip),c=(0,q.useRef)(o);c.current=o;let[l,u]=(0,q.useState)(null),d=(0,q.useRef)(null),[f,p]=(0,q.useState)(null),[m,h]=(0,q.useState)(`view`),[g,_]=(0,q.useState)(null),[v,y]=(0,q.useState)(!1),[x,S]=(0,q.useState)(!1),C=(0,q.useRef)([]),[w,T]=(0,q.useState)(!1),E=(0,q.useRef)(12),D=(0,q.useCallback)(e=>{E.current=e},[]),O=m===`edit`,A=rp(),[j,M]=(0,q.useState)(null),N=O?j??A:A,P=(0,q.useRef)(N);P.current=N;let F=(0,q.useMemo)(()=>l?Nf(l,N,np):null,[l,N]),I=(0,q.useCallback)(e=>{d.current=e,u(e)},[]),L=(0,q.useCallback)(async()=>{try{a(await Xe.listPanels())}catch(e){G(`Could not list the panels: ${sp(e)}`,`error`)}},[]),R=(0,q.useCallback)(e=>{let t=d.current;if(!t)return;let n=e(t);C.current=[...C.current.slice(-49),t],T(!0),I(n),r.schedule(n)},[r,I]),ee=(0,q.useCallback)(()=>{let e=C.current.pop();T(C.current.length>0),e&&(I(e),r.schedule(e),_(t=>t&&e.widgets.some(e=>e.id===t)?t:null))},[r,I]);(0,q.useEffect)(()=>{let e=()=>s(ip());return window.addEventListener(`hashchange`,e),()=>window.removeEventListener(`hashchange`,e)},[]),(0,q.useEffect)(()=>{e!==`closed`&&L()},[L,e]),(0,q.useEffect)(()=>{i&&i.length>0&&!i.some(e=>e.id===o)&&ap(i[0].id,!0)},[i,o]);let te=(0,q.useCallback)(async e=>{try{let t=await Xe.getPanel(e);e===c.current&&(I(t),p(null))}catch(t){e===c.current&&p(sp(t))}},[I]),z=i?.some(e=>e.id===o)??!1;(0,q.useEffect)(()=>{if(!z)return;let e=!0;return r.flush().then(()=>{e&&(C.current=[],T(!1),_(null),te(o))}),()=>{e=!1}},[o,z,te,r]),(0,q.useEffect)(()=>b.onServerMessage(e=>{e.type===`error`&&G(e.message,`error`),e.type===`panels.changed`&&e.origin!==b.clientId&&(L(),e.id===d.current?.id&&!e.deleted&&!r.isPending()&&te(e.id))}),[L,te,r]);let ne=async e=>{e===`view`&&(_(null),M(null),await r.flush()),h(e),S(!1)},re=e=>{y(!1);let t=d.current;if(!t)return;let n=P.current===`desktop`?E.current:ep,r=Ef(t.widgets,e.defaultSize,n),i={id:op(e.type),type:e.type,title:``,...r,config:{}};R(e=>({...e,widgets:[...e.widgets,i]})),_(i.id)},ie=(0,q.useCallback)((e,t)=>R(n=>Ff(n,P.current,Nf(n,P.current,np),e,t)),[R]),ae=(0,q.useCallback)((e,t=!0)=>{let n=P.current;n!==`desktop`&&(R(r=>If(r,n,Nf(r,n,np),e,t)),_(t=>t===e?null:t))},[R]),oe=(0,q.useCallback)(e=>{let t=d.current?.widgets.find(t=>t.id===e);if(R(t=>({...t,widgets:t.widgets.filter(t=>t.id!==e)})),_(t=>t===e?null:t),t){let e=t.title||Sf(t.type)?.name||t.type;G(`Removed “${e}”`,`info`,{label:`Undo`,run:ee})}},[R,ee]),se=e=>{let t=d.current,n=t?.widgets.find(t=>t.id===e);if(!t||!n)return;let r=P.current===`desktop`?E.current:ep,i=Ef(t.widgets,{w:n.w,h:n.h},r),a={...n,...i,id:op(n.type),config:structuredClone(n.config)};R(e=>({...e,widgets:[...e.widgets,a]})),_(a.id)},B=async()=>{S(!1);let e=await t.prompt({title:`New panel`,label:`Name`,confirmLabel:`Create`});if(e)try{let t=await Xe.createPanel({name:e,widgets:[]});await L(),ap(t.id),h(`edit`)}catch(e){G(`Could not create the panel: ${sp(e)}`,`error`)}},le=async()=>{S(!1);let e=d.current;if(!e)return;let n=await t.prompt({title:`Rename panel`,label:`Name`,initial:e.name,confirmLabel:`Rename`});n&&n!==e.name&&(R(e=>({...e,name:n})),await r.flush(),await L())},ue=async()=>{S(!1);let e=d.current;if(e)try{await r.flush();let t=await Xe.createPanel({name:`${e.name} (copy)`,widgets:e.widgets});await L(),ap(t.id)}catch(e){G(`Could not duplicate the panel: ${sp(e)}`,`error`)}},de=async()=>{S(!1);let e=d.current;if(e&&await t.confirm({title:`Delete “${e.name}”?`,message:`The panel and its widgets are deleted for good.`,confirmLabel:`Delete`,danger:!0}))try{await r.flush(),await Xe.deletePanel(e.id),I(null),await L()}catch(e){G(`Could not delete the panel: ${sp(e)}`,`error`)}};(0,q.useEffect)(()=>{if(!O)return;let e=e=>{if(e.target.closest(`input, textarea, select, [role="dialog"]`))return;if(e.key===`z`&&(e.ctrlKey||e.metaKey)&&!e.shiftKey){e.preventDefault(),ee();return}let t=d.current?.widgets.find(e=>e.id===g);if(!t)return;if(e.key===`Delete`||e.key===`Backspace`){e.preventDefault(),oe(t.id);return}let n={ArrowLeft:[-1,0],ArrowRight:[1,0],ArrowUp:[0,-1],ArrowDown:[0,1]}[e.key],r=Nf(d.current,P.current,np),i=r.rects.get(t.id);if(n&&i){e.preventDefault();let a={...i,x:i.x+n[0],y:i.y+n[1]};jf(a,r,Of[P.current].columns,t.id)&&ie(t.id,a)}};return window.addEventListener(`keydown`,e),()=>window.removeEventListener(`keydown`,e)},[O,g,ee,oe,ie]);let V=O?l?.widgets.find(e=>e.id===g):void 0,fe={connecting:`Connecting…`,open:`Connected to ${b.hostname}`,closed:`Disconnected, reconnecting…`}[e];return(0,J.jsxs)(`div`,{className:`app${O?` editing`:``}`,children:[(0,J.jsxs)(`header`,{className:`topbar`,children:[(0,J.jsxs)(`div`,{className:`brand`,title:fe,children:[(0,J.jsx)(Re,{width:22,height:22}),(0,J.jsx)(`span`,{className:`brand-name`,children:b.hostname||`Tassello`}),(0,J.jsx)(`span`,{className:`connection-dot ${e}`,"aria-label":fe})]}),i&&i.length>0&&(0,J.jsx)(`select`,{className:`panel-select`,"aria-label":`Panel`,value:o,onChange:e=>ap(e.target.value),children:i.map(e=>(0,J.jsx)(`option`,{value:e.id,children:e.name},e.id))}),(0,J.jsx)(`div`,{className:`topbar-spacer`}),O&&l&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`span`,{className:`save-state ${n}`,children:{saved:`Saved`,saving:`Saving…`,failed:`Not saved`}[n]}),(0,J.jsx)(`button`,{type:`button`,className:`icon-button`,title:`Undo (Ctrl+Z)`,"aria-label":`Undo`,disabled:!w,onClick:ee,children:(0,J.jsx)(_e,{})}),(0,J.jsxs)(`button`,{type:`button`,className:`button primary`,"aria-label":`Add widget`,onClick:()=>y(!0),children:[(0,J.jsx)(ce,{}),` `,(0,J.jsx)(`span`,{className:`hide-narrow`,children:`Add widget`})]})]}),O&&(0,J.jsx)(`div`,{className:`mode-switch device-switch`,role:`group`,"aria-label":`Layout of`,children:Object.keys(Of).map(e=>{let t=tp[e];return(0,J.jsx)(`button`,{type:`button`,"aria-pressed":N===e,title:`The ${Of[e].label.toLowerCase()} layout`,"aria-label":`${Of[e].label} layout`,onClick:()=>{M(e),_(null)},children:(0,J.jsx)(t,{})},e)})}),O&&(0,J.jsxs)(`div`,{className:`menu`,children:[(0,J.jsx)(`button`,{type:`button`,className:`icon-button`,"aria-label":`Panel actions`,"aria-expanded":x,onClick:()=>S(e=>!e),children:(0,J.jsx)(k,{})}),x&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`div`,{className:`menu-backdrop`,onPointerDown:()=>S(!1)}),(0,J.jsxs)(`div`,{className:`menu-list`,role:`menu`,children:[(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,onClick:B,children:`New panel…`}),l&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,onClick:le,children:`Rename panel…`}),(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,onClick:ue,children:`Duplicate panel`}),(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,className:`danger`,onClick:de,children:`Delete panel…`})]})]})]})]}),(0,J.jsxs)(`div`,{className:`mode-switch`,role:`group`,"aria-label":`Mode`,children:[(0,J.jsxs)(`button`,{type:`button`,"aria-label":`View`,title:`View`,"aria-pressed":!O,onClick:()=>ne(`view`),children:[(0,J.jsx)(Le,{}),` `,(0,J.jsx)(`span`,{className:`hide-narrow`,children:`View`})]}),(0,J.jsxs)(`button`,{type:`button`,"aria-label":`Edit`,title:`Edit`,"aria-pressed":O,onClick:()=>ne(`edit`),children:[(0,J.jsx)(he,{}),` `,(0,J.jsx)(`span`,{className:`hide-narrow`,children:`Edit`})]})]})]}),(0,J.jsx)(`main`,{className:`workspace`,children:i===null?(0,J.jsx)(`div`,{className:`empty-state`,children:`Loading…`}):i.length===0?(0,J.jsxs)(`div`,{className:`empty-state`,children:[(0,J.jsx)(`h1`,{children:`No panels yet`}),(0,J.jsx)(`p`,{children:`A panel is a board of widgets: create one for each task, e.g. teleoperation or navigation.`}),(0,J.jsxs)(`button`,{type:`button`,className:`button primary`,onClick:B,children:[(0,J.jsx)(ce,{}),` Create a panel`]})]}):f?(0,J.jsxs)(`div`,{className:`empty-state`,children:[(0,J.jsx)(`h1`,{children:`Cannot open this panel`}),(0,J.jsx)(`p`,{children:f})]}):l?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsxs)(`div`,{className:`board-column`,children:[O&&N!==`desktop`&&F&&(0,J.jsxs)(`div`,{className:`layout-bar`,children:[(0,J.jsxs)(`span`,{children:[(0,J.jsxs)(`strong`,{children:[Of[N].label,` layout`]}),F.custom?` · arranged for this device`:` · automatic, from the desktop’s: moving a widget arranges it for this device`]}),F.hidden.length>0&&(0,J.jsxs)(`span`,{className:`layout-hidden`,children:[`Hidden:`,F.hidden.map(e=>{let t=l.widgets.find(t=>t.id===e);return(0,J.jsxs)(`button`,{type:`button`,className:`layout-chip`,title:`Show it again`,onClick:()=>ae(e,!1),children:[t?.title||Sf(t?.type??``)?.name||e,` ＋`]},e)})]}),(F.custom||F.hidden.length>0)&&(0,J.jsx)(`button`,{type:`button`,className:`link-button`,onClick:()=>R(e=>Lf(e,N)),children:`Back to automatic`})]}),F&&(0,J.jsx)(Uf,{panel:l,device:N,layout:F,previewWidth:N===A?null:Of[N].previewWidth,editing:O,selectedId:g,onSelect:_,onPlace:ie,onRemove:oe,onHide:N===`desktop`?void 0:ae,onVisibleColumns:D},N)]}),l.widgets.length===0&&(0,J.jsx)(`div`,{className:`board-hint`,children:O?(0,J.jsxs)(J.Fragment,{children:[`This panel is empty: add widgets with `,(0,J.jsx)(`strong`,{children:`Add widget`}),`.`]}):(0,J.jsxs)(J.Fragment,{children:[`This panel is empty: switch to `,(0,J.jsx)(`strong`,{children:`Edit`}),` to add widgets.`]})}),V&&(0,J.jsx)(Kf,{widget:V,onChange:e=>R(t=>({...t,widgets:t.widgets.map(t=>t.id===e.id?e:t)})),onDuplicate:()=>se(V.id),onRemove:()=>oe(V.id),onClose:()=>_(null)},V.id)]}):null}),v&&(0,J.jsx)(Qf,{onAdd:re,onClose:()=>y(!1)}),(0,J.jsx)(Ke,{})]})}var up=[];function dp(e){return e instanceof Error?e.message:String(e)}async function fp(){try{up=await Xe.listPlugins()}catch(e){return[`The plugins could not be listed: ${dp(e)}`]}let e=up.flatMap(e=>e.error?[`Plugin ${e.name}: its server side did not start: ${e.error}`]:[]);for(let e of up)for(let t of e.styles){let e=document.createElement(`link`);e.rel=`stylesheet`,e.href=t,document.head.append(e)}return(await Promise.allSettled(up.map(e=>e.client?rf(()=>import(e.client),[]):Promise.resolve(null)))).forEach((t,n)=>{let{name:r}=up[n];if(t.status===`rejected`){e.push(`Plugin ${r} did not load: ${dp(t.reason)}`);return}if(t.value===null)return;let i=t.value.default;if(typeof i!=`object`||!i)e.push(`Plugin ${r}: its client module has no default export (definePlugin({ widgets }))`);else for(let t of bf(r,i))e.push(`Plugin ${r}: ${t}`)}),e}b.connect();var pp=await fp();(0,K.createRoot)(document.getElementById(`root`)).render((0,J.jsx)(q.StrictMode,{children:(0,J.jsx)(tt,{children:(0,J.jsx)(lp,{})})}));for(let e of pp)console.error(e),G(e,`error`);
+`),children:(0,J.jsx)(M,{width:17,height:17})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Clear the messages`,"aria-label":`Clear the messages`,disabled:t.entries.length===0&&t.pending.length===0,onClick:()=>{v(null),n({type:`clear`})},children:(0,J.jsx)(E,{width:17,height:17})})]})]}),(0,J.jsxs)(`div`,{className:`logs-main`,children:[z&&(0,J.jsx)(Dl,{nodes:N.nodes,chosen:p,overlay:!te,onToggle:F,onAll:()=>m(new Set),onClose:()=>x(!1)}),(0,J.jsx)(vl,{entries:N.shown,version:t.version,selected:_,follow:h,time:e.time,showNode:p.size!==1&&ie.length!==1,nodeWidth:ae,compact:R>0&&R<bl,empty:oe,onSelect:v,onFollow:g})]}),L&&(0,J.jsx)(Ol,{entry:L,running:t.running,onOnly:()=>m(new Set([L.name])),onClose:()=>v(null)}),(0,J.jsxs)(`div`,{className:`logs-status ${se.tone}`,title:se.text,children:[(0,J.jsx)(`span`,{className:`logs-dot`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`logs-status-text`,children:se.text})]})]})}var Al=Ye({type:`logs`,name:`Logs`,description:`The ROS log of every node (/rosout), coloured by level, filtered by node, level and text.`,icon:_,defaultSize:{w:10,h:6},minSize:{w:4,h:3},component:kl,properties:[{key:`topic`,label:`Log topic`,kind:`topic`,default:`/rosout`,topicTypes:[`rcl_interfaces/msg/Log`],help:`rcl_interfaces/Log: every node’s logger publishes on /rosout`},{key:`nodes`,label:`Nodes`,kind:`string`,default:``,placeholder:`amcl, *_server`,help:`Only these nodes, with their child loggers: names or globs (*), separated by commas or spaces. All if empty`},{key:`level`,label:`Levels shown`,kind:`select`,default:`debug`,options:[{value:`debug`,label:`All`},{value:`info`,label:`Info and above`},{value:`warn`,label:`Warnings and above`},{value:`error`,label:`Errors and above`}],help:`When the panel opens: its toolbar shows and hides each level`},{key:`include`,label:`Include`,kind:`string`,default:``,placeholder:`goal; path`,help:`Only the messages containing any of these, separated by ;. The toolbar changes it`},{key:`exclude`,label:`Exclude`,kind:`string`,default:``,placeholder:`Publishing`,help:`Not the messages containing any of these, separated by ;. The toolbar changes it`},{key:`regex`,label:`Filters as regular expressions`,kind:`boolean`,default:!1},{key:`time`,label:`Time`,kind:`select`,default:`clock`,options:[{value:`clock`,label:`Clock time, 14:03:27.512`},{value:`stamp`,label:`ROS stamp, in seconds`},{value:`none`,label:`Hidden`}],help:`Of the messages’ stamps, on their nodes’ clocks: seconds on sim time`}]}),jl=[`map`,`global`,`local`],Ml=2,Nl=2e3,Pl=.25,Fl=8,Il=34,Ll=6,Rl=2e3,zl=.25,Bl={robot:`#4f8cff`,stale:`#8b95a7`,goal:`#2fbf71`,plan:`#2fbf71`,pose:`#f0a020`},Vl=e=>e*180/Math.PI;function Hl(e){return`x ${e.x.toFixed(2)}  y ${e.y.toFixed(2)}  θ ${Math.round(Vl(e.yaw))}°`}function Ul(e,t,n){return new DOMMatrix().translate(t/2,n/2).scale(e.scale,-e.scale).translate(-e.x,-e.y)}function Wl(e){return new DOMMatrix().translate(e.x,e.y).rotate(Vl(e.yaw))}function Gl(e,t){return Wl(t).translate(e.originX,e.originY).rotate(Vl(e.originYaw)).scale(e.resolution,e.resolution)}function Kl(e,t,n,r){let i=t.transformPoint({x:n.x,y:n.y}),a=-n.yaw;e.save(),e.translate(i.x,i.y),e.rotate(a),e.strokeStyle=r,e.fillStyle=r,e.lineWidth=3,e.lineCap=`round`,e.beginPath(),e.moveTo(0,0),e.lineTo(26,0),e.stroke(),e.beginPath(),e.moveTo(Il,0),e.lineTo(23,-7),e.lineTo(23,7),e.closePath(),e.fill(),e.beginPath(),e.arc(0,0,5,0,2*Math.PI),e.fill(),e.lineWidth=2,e.strokeStyle=`#fff`,e.stroke(),e.restore()}function ql(e,t,n,r,i){let a=t.transformPoint({x:n.x,y:n.y}),o=Math.max(Fl,Pl*r),s=i?Bl.stale:Bl.robot;e.save(),e.translate(a.x,a.y),e.rotate(-n.yaw),e.beginPath(),e.arc(0,0,o,0,2*Math.PI),e.fillStyle=`${s}55`,e.fill(),e.lineWidth=2,e.strokeStyle=s,e.stroke(),e.beginPath(),e.moveTo(o+6,0),e.lineTo(-o*.35,-o*.55),e.lineTo(-o*.1,0),e.lineTo(-o*.35,o*.55),e.closePath(),e.fillStyle=s,e.fill(),e.lineWidth=1.5,e.strokeStyle=`#fff`,e.stroke(),e.restore()}function Jl(e,t,n){if(!(n.length<4)){e.save(),e.beginPath();for(let r=0;r<n.length;r+=2){let i=t.transformPoint({x:n[r],y:n[r+1]});r===0?e.moveTo(i.x,i.y):e.lineTo(i.x,i.y)}e.lineCap=`round`,e.lineJoin=`round`,e.strokeStyle=`rgb(0 0 0 / 35%)`,e.lineWidth=6,e.stroke(),e.strokeStyle=Bl.plan,e.lineWidth=3,e.stroke(),e.restore()}}function Yl(e,t,n){let r=window.devicePixelRatio||1,i=e.clientWidth,a=e.clientHeight;(e.width!==Math.round(i*r)||e.height!==Math.round(a*r))&&(e.width=Math.round(i*r),e.height=Math.round(a*r));let o=e.getContext(`2d`);if(!o||(o.setTransform(1,0,0,1,0,0),o.clearRect(0,0,e.width,e.height),!t))return;let s=Ul(t,i,a),c=new DOMMatrix().scale(r,r).multiply(s);for(let e of jl){let i=n.layers[e],a=n.placements[e];i&&a&&(o.imageSmoothingEnabled=i.info.resolution*t.scale*r<1,o.setTransform(c.multiply(Gl(i.info,a))),o.drawImage(i.image,0,0))}o.setTransform(r,0,0,r,0,0),n.plan&&Jl(o,s.multiply(Wl(n.plan.placement)),n.plan.points),n.goal&&Kl(o,s,n.goal,Bl.goal),n.robot?.transform&&ql(o,s,n.robot.transform,t.scale,n.robot.ageMs>Rl),n.preview&&Kl(o,s,n.preview.pose,Bl[n.preview.tool])}function Xl(e,t,n,r){let i=Gl(e.info,t),a=e.info.known??{x:0,y:0,width:e.info.width,height:e.info.height},o=[[a.x,a.y],[a.x+a.width,a.y],[a.x,a.y+a.height],[a.x+a.width,a.y+a.height]].map(([e,t])=>i.transformPoint({x:e,y:t})),s=o.map(e=>e.x),c=o.map(e=>e.y),[l,u,d,f]=[Math.min(...s),Math.max(...s),Math.min(...c),Math.max(...c)],p=.94*Math.min(n/(u-l||1),r/(f-d||1));return{x:(l+u)/2,y:(d+f)/2,scale:Math.min(Nl,Math.max(Ml,p))}}function Zl({config:e,editing:t}){let n=(0,q.useRef)(null),i=(0,q.useRef)(null),a=(0,q.useRef)(null),o=(0,q.useRef)({}),[c,l]=(0,q.useState)({map:``,global:``,local:``}),[u,d]=(0,q.useState)({state:`waiting`,message:`Connecting…`}),[f,p]=(0,q.useState)(null),[m,h]=(0,q.useState)(!1),g=(0,q.useRef)(null),_=(0,q.useRef)(null),[y,S]=(0,q.useState)(``),C=(0,q.useRef)(null),w=(0,q.useRef)(new Map),T=(0,q.useRef)(null),E=e.mapFrame.trim(),D=s(E,e.robotFrame),O=e=>c[e]&&c[e]!==E?c[e]:``,k={map:s(E,O(`map`)),global:s(E,O(`global`)),local:s(E,O(`local`))},A={};for(let e of jl)A[e]=O(e)?k[e]?.transform??null:{x:0,y:0,yaw:0};let j=s(E,y&&y!==E?y:``),M=y&&y!==E?j?.transform??null:{x:0,y:0,yaw:0},N=(0,q.useRef)({layers:o.current,placements:A,planPlacement:M,robot:D});N.current={layers:o.current,placements:A,planPlacement:M,robot:D};let P=(0,q.useRef)(0),F=(0,q.useCallback)(()=>{P.current||=requestAnimationFrame(()=>{P.current=0;let e=n.current,{planPlacement:t,...r}=N.current;e&&Yl(e,i.current,{...r,plan:_.current&&t?{points:_.current.points,placement:t}:null,goal:g.current,preview:C.current})})},[]);(0,q.useEffect)(F),(0,q.useEffect)(()=>()=>cancelAnimationFrame(P.current),[]);let I=()=>({width:n.current?.clientWidth??1,height:n.current?.clientHeight??1}),L=(0,q.useCallback)(()=>{let{width:e,height:t}=I();for(let n of jl){let r=o.current[n],s=N.current.placements[n];if(r&&s)return i.current=Xl(r,s,e,t),a.current=n===`map`?`map`:`costmap`,F(),!0}let n=N.current.robot?.transform;return n?(i.current={x:n.x,y:n.y,scale:50},a.current=`robot`,F(),!0):!1},[F]),R=(0,q.useCallback)((e,t,n,r)=>{let i=!0,s=b.subscribeGrid({topic:t,style:n,maxFps:r},{status:(t,n)=>e===`map`&&d({state:t,message:n}),frame:async(t,{meta:n})=>{let r=await createImageBitmap(t);if(!i){r.close();return}let s=n;o.current[e]?.image.close(),o.current[e]={image:r,info:s},l(t=>t[e]===s.frameId?t:{...t,[e]:s.frameId});let c=a.current;(e===`map`?c!==`map`&&c!==`user`:c===null||c===`robot`)&&L(),F()}});return()=>{i=!1,s(),o.current[e]?.image.close(),delete o.current[e],F()}},[L,F]),ee=e.mapTopic.trim();(0,q.useEffect)(()=>{if(!ee)d({state:`error`,message:`No map topic: set one in edit mode`});else return d({state:`waiting`,message:`Connecting…`}),R(`map`,ee,`map`,1)},[ee,R]);let z=e.showGlobalCostmap?e.globalCostmapTopic.trim():``;(0,q.useEffect)(()=>z?R(`global`,z,`costmap`,1):void 0,[z,R]);let ne=e.showLocalCostmap?e.localCostmapTopic.trim():``;(0,q.useEffect)(()=>ne?R(`local`,ne,`costmap`,4):void 0,[ne,R]);let re=e.showPlan?e.planTopic.trim():``;(0,q.useEffect)(()=>{if(!re)return;let e=b.subscribePath({topic:re},e=>{_.current=e,S(e.frameId),F()});return()=>{e(),_.current=null,S(``),F()}},[re,F]),(0,q.useEffect)(()=>{let e=D?.transform;e&&g.current&&Math.hypot(e.x-g.current.x,e.y-g.current.y)<zl&&(g.current=null),m&&e&&i.current?i.current={...i.current,x:e.x,y:e.y}:!i.current&&e&&L()},[D,m,L]),(0,q.useEffect)(()=>{let e=n.current;if(!e)return;let t=new ResizeObserver(F);return t.observe(e),()=>t.disconnect()},[F]);let ie=(0,q.useCallback)((e,t)=>{let n=i.current;if(!n)return;let{width:r,height:o}=I(),s=Math.min(Nl,Math.max(Ml,n.scale*t));a.current=`user`;let c=Ul(n,r,o).inverse().transformPoint(e);i.current={scale:s,x:c.x-(e.x-r/2)/s,y:c.y+(e.y-o/2)/s},F()},[F]);(0,q.useEffect)(()=>{let e=n.current;if(!e)return;let t=t=>{t.preventDefault();let n=e.getBoundingClientRect();ie({x:t.clientX-n.left,y:t.clientY-n.top},Math.exp(-t.deltaY*.0015))};return e.addEventListener(`wheel`,t,{passive:!1}),()=>e.removeEventListener(`wheel`,t)},[ie]),(0,q.useEffect)(()=>{if(!f)return;let e=e=>e.key===`Escape`&&p(null);return window.addEventListener(`keydown`,e),()=>window.removeEventListener(`keydown`,e)},[f]);let ae=e=>{let t=n.current.getBoundingClientRect();return{x:e.clientX-t.left,y:e.clientY-t.top}},oe=e=>{let{width:t,height:n}=I(),{x:r,y:a}=Ul(i.current,t,n).inverse().transformPoint(e);return{x:r,y:a}},se=()=>{let[e,t]=[...w.current.values()];return{distance:Math.hypot(e.x-t.x,e.y-t.y),center:{x:(e.x+t.x)/2,y:(e.y+t.y)/2}}},ce=(t,n)=>{b.send({type:`pose`,topic:t===`goal`?e.goalTopic.trim():e.poseTopic.trim(),covariance:t===`pose`,frameId:E,...n})?(t===`goal`&&(g.current=n),G(`${t===`goal`?`Goal`:`Pose estimate`} sent: ${Hl(n)}`)):G(`Not connected to the robot`,`error`)},B=e=>{if(!i.current||e.pointerType===`mouse`&&e.button!==0)return;e.currentTarget.setPointerCapture(e.pointerId);let t=ae(e);if(w.current.set(e.pointerId,t),w.current.size===2)C.current=null,T.current={kind:`pinch`,...se()};else if(w.current.size===1&&f){let n=oe(t);T.current={kind:`place`,tool:f,pointerId:e.pointerId,anchor:n,start:t},C.current={tool:f,pose:{x:n.x,y:n.y,yaw:0}}}else w.current.size===1&&(T.current={kind:`pan`});F()},le=e=>{let t=w.current.get(e.pointerId),n=i.current;if(!t||!n)return;let r=ae(e);w.current.set(e.pointerId,r);let o=T.current;if(o?.kind===`place`){let e=oe(r),t=Math.hypot(r.x-o.start.x,r.y-o.start.y)>Ll;C.current={tool:o.tool,pose:{...o.anchor,yaw:t?Math.atan2(e.y-o.anchor.y,e.x-o.anchor.x):0}}}else if(o?.kind===`pan`)a.current=`user`,i.current={...n,x:n.x-(r.x-t.x)/n.scale,y:n.y+(r.y-t.y)/n.scale},h(!1);else if(o?.kind===`pinch`&&w.current.size===2){let e=se();i.current={...n,x:n.x-(e.center.x-o.center.x)/n.scale,y:n.y+(e.center.y-o.center.y)/n.scale},ie(e.center,e.distance/(o.distance||1)),T.current={kind:`pinch`,...e}}F()},ue=e=>{if(!w.current.delete(e.pointerId))return;let t=T.current;if(t?.kind===`place`&&t.pointerId===e.pointerId){let n=C.current;C.current=null,T.current=null,e.type===`pointerup`&&n&&(ce(t.tool,n.pose),p(null))}else w.current.size===1?T.current={kind:`pan`}:w.current.size===0&&(T.current=null);F()},de=D?.transform,V;if(!E||!e.robotFrame.trim())V={text:`Set the TF frames in edit mode`,className:`error`};else if(de){let e=D.ageMs>Rl;V={text:`${Hl(de)}${e?`  (stale)`:``}`,className:e?`stale`:``}}else V={text:D?.error??`Locating the robot…`,className:`error`};let fe=(e,t,n)=>(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":f===e,title:t,"aria-label":t,onClick:()=>p(t=>t===e?null:e),children:(0,J.jsx)(n,{width:17,height:17})});return(0,J.jsxs)(`div`,{className:`navigation`,children:[(0,J.jsx)(`canvas`,{ref:n,className:f?`placing`:void 0,onPointerDown:B,onPointerMove:le,onPointerUp:ue,onPointerCancel:ue}),u.state!==`streaming`&&(0,J.jsxs)(`div`,{className:`nav-overlay ${u.state}`,children:[(0,J.jsx)(te,{width:28,height:28}),(0,J.jsx)(`span`,{children:u.message})]}),(0,J.jsxs)(`div`,{className:`overlay-toolbar`,children:[fe(`pose`,`Set the pose estimate`,v),fe(`goal`,`Send a navigation goal`,x),(0,J.jsx)(`span`,{className:`overlay-separator`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Fit the map`,"aria-label":`Fit the map`,onClick:()=>{h(!1),L()},children:(0,J.jsx)(ge,{width:17,height:17})}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":m,title:`Follow the robot`,"aria-label":`Follow the robot`,disabled:!de,onClick:()=>h(e=>!e),children:(0,J.jsx)(r,{width:17,height:17})})]}),f&&!t&&(0,J.jsx)(`div`,{className:`nav-hint`,children:f===`goal`?`Press where the robot should go, drag towards where it should face`:`Press where the robot is, drag towards where it faces`}),(0,J.jsx)(`div`,{className:`nav-readout ${V.className}`,children:V.text})]})}var Ql=Ye({type:`navigation`,name:`Navigation`,description:`The map, the costmaps and the robot on them; set its pose and send it goals.`,icon:te,defaultSize:{w:8,h:6},minSize:{w:3,h:3},component:Zl,properties:[{key:`mapTopic`,label:`Map topic`,kind:`topic`,default:`/map`,topicTypes:[`nav_msgs/msg/OccupancyGrid`]},{key:`showGlobalCostmap`,label:`Show the global costmap`,kind:`boolean`,default:!1},{key:`globalCostmapTopic`,label:`Global costmap topic`,kind:`topic`,default:`/global_costmap/costmap`,topicTypes:[`nav_msgs/msg/OccupancyGrid`],visible:e=>e.showGlobalCostmap},{key:`showLocalCostmap`,label:`Show the local costmap`,kind:`boolean`,default:!0},{key:`localCostmapTopic`,label:`Local costmap topic`,kind:`topic`,default:`/local_costmap/costmap`,topicTypes:[`nav_msgs/msg/OccupancyGrid`],visible:e=>e.showLocalCostmap},{key:`showPlan`,label:`Show the planned path`,kind:`boolean`,default:!0},{key:`planTopic`,label:`Plan topic`,kind:`topic`,default:`/plan`,topicTypes:[`nav_msgs/msg/Path`],help:`nav_msgs/Path: Nav2’s planner publishes its plan on /plan`,visible:e=>e.showPlan},{key:`goalTopic`,label:`Goal topic`,kind:`topic`,default:`/goal_pose`,topicTypes:[`geometry_msgs/msg/PoseStamped`],help:`geometry_msgs/PoseStamped, which Nav2’s bt_navigator follows`},{key:`poseTopic`,label:`Pose estimate topic`,kind:`topic`,default:`/initialpose`,topicTypes:[`geometry_msgs/msg/PoseWithCovarianceStamped`],help:`geometry_msgs/PoseWithCovarianceStamped, which AMCL starts from`},{key:`mapFrame`,label:`Map frame`,kind:`string`,default:`map`,help:`The frame the map is drawn in, and the goals and poses are set in`},{key:`robotFrame`,label:`Robot frame`,kind:`string`,default:`base_footprint`,help:`Where the robot is, from TF`}]}),$l={open:`None (open)`,owe:`Enhanced Open (OWE)`,wep:`WEP`,"wpa-psk":`WPA/WPA2 Personal`,sae:`WPA3 Personal`,"wpa-eap":`WPA/WPA2 Enterprise`};function eu(e){return e!==`open`&&e!==`owe`}var tu=/^[\w.@-]{1,15}$/,nu=Array.from({length:14},(e,t)=>t+1),ru=[36,40,44,48,52,56,60,64,100,104,108,112,116,120,124,128,132,136,140,144,149,153,157,161,165,169,173,177];function iu(e){return tu.test(e)}function au(e){let t=e.split(`.`);return t.length===4&&t.every(e=>/^(0|[1-9]\d{0,2})$/.test(e)&&Number(e)<=255)}function ou(e){if(!/^[0-9a-f:.]+$/i.test(e)||!e.includes(`:`))return!1;let t=e.split(`::`);if(t.length>2)return!1;let n=t.flatMap(e=>e?e.split(`:`):[]),r=n.at(-1)??``,i=r.includes(`.`);if(i&&!au(r))return!1;let a=i?n.slice(0,-1):n;if(!a.every(e=>/^[0-9a-f]{1,4}$/i.test(e)))return!1;let o=a.length+(i?2:0);return t.length===2?o<8:o===8}function su(e){let[t,n,...r]=e.trim().split(`/`);return r.length>0||!au(t)?`“${e.trim()}” is not an IPv4 address`:n===void 0?`Give its network's size: ${t}/24`:!/^\d{1,2}$/.test(n)||Number(n)<1||Number(n)>32?`/${n} is not a network's size: /1 to /32 (/24: 255.255.255.0)`:null}function cu(e){return e.split(/[\s,;]+/).map(e=>e.trim()).filter(Boolean)}function lu(e){return new TextEncoder().encode(e).length}function uu(e,t,n=!1){switch(e){case`open`:case`owe`:return null;case`wpa-psk`:return/^[0-9a-f]{64}$/i.test(t)?null:/^[\x20-\x7e]*$/.test(t)?t.length<8||t.length>63?n?`8 to 63 characters`:`WPA passwords have 8 to 63 characters`:null:`Letters, digits and symbols of the keyboard only: no accents`;case`sae`:return t.length===0?`The network’s password`:t.length>128?`At most 128 characters`:null;case`wep`:return/^([\x20-\x7e]{5}|[\x20-\x7e]{13}|[0-9a-f]{10}|[0-9a-f]{26})$/i.test(t)?null:`WEP keys have 5 or 13 characters, or 10 or 26 hexadecimal digits`;case`wpa-eap`:return t.length===0?`Your password on the network`:null}}function du(e,t){let n={},{kind:r}=e,i=e.name.trim();if(i?(i.length>255||/[\x00-\x1f]/.test(i))&&(n.name=`At most 255 characters, on one line`):n.name=`A name for the connection`,e.interface&&!iu(e.interface)?n.interface=`“${e.interface}” is not an interface's name`:r===`hotspot`&&!e.interface&&(n.interface=`The Wi-Fi interface of the access point`),(!Number.isInteger(e.priority)||e.priority<-999||e.priority>999)&&(n.priority=`A whole number, from -999 to 999`),r!==`ethernet`){let i=lu(e.ssid);if(i===0?n.ssid=r===`hotspot`?`The name the access point shows`:`The network’s name`:i>32?n.ssid=`At most 32 bytes (fewer with accents and symbols)`:/[\x00-\x1f]/.test(e.ssid)&&(n.ssid=`No control characters`),r===`hotspot`&&e.security!==`open`&&e.security!==`wpa-psk`&&(n.security=`An access point is open, or secured by a WPA2 password`),e.security===`wpa-eap`&&(e.identity.trim()?/[\x00-\x1f]/.test(e.identity)&&(n.identity=`No control characters`):n.identity=`Your user name on the network`),e.password!==null){let t=uu(e.security,e.password,r===`hotspot`);t&&(n.password=t)}else t&&eu(e.security)&&(n.password=`The network’s password`);if(r===`hotspot`){let t=e.band===`a`?ru:e.band===`bg`?nu:[];e.channel!==0&&!t.includes(e.channel)&&(n.channel=e.band?`Not a channel of ${e.band===`a`?`5`:`2.4`} GHz`:`Choose the band of the channel`)}}(r===`hotspot`?[`shared`]:[`auto`,`manual`,`shared`,`disabled`]).includes(e.ipv4)||(n.ipv4=r===`hotspot`?`An access point gives the addresses (shared)`:`Not a way to get an address`);let a=e.addresses.map(su).find(e=>e!==null);a?n.addresses=a:e.ipv4===`manual`&&e.addresses.length===0?n.addresses=`The robot’s address on this network: 192.168.1.20/24`:e.ipv4===`shared`&&e.addresses.length>1&&(n.addresses=`One address: the robot’s, on the network it gives`),e.gateway&&!au(e.gateway)&&(n.gateway=`“${e.gateway}” is not an IPv4 address`);let o=e.dns.find(e=>!au(e)&&!ou(e));return o!==void 0&&(n.dns=`“${o}” is not an IP address`),n}function fu(e){let t=e.kind;return t!==`wifi`&&t!==`hotspot`&&t!==`ethernet`?null:{kind:t,name:e.name,interface:e.interface,autoconnect:e.autoconnect,priority:e.priority,ssid:e.ssid,hidden:e.hidden,security:e.security??`open`,password:null,identity:e.identity,band:e.band,channel:e.channel,ipv4:[`auto`,`manual`,`shared`,`disabled`].includes(e.ipv4Method)?e.ipv4Method:`auto`,addresses:e.addresses,gateway:e.gateway,dns:e.dns}}function pu(e){return{kind:e,name:``,interface:``,autoconnect:!0,priority:0,ssid:``,hidden:!1,security:e===`ethernet`?`open`:`wpa-psk`,password:e===`ethernet`?null:``,identity:``,band:``,channel:0,ipv4:e===`hotspot`?`shared`:`auto`,addresses:[],gateway:``,dns:[]}}function mu(e){return e>=70?4:e>=50?3:e>=30?2:1}function hu(e){return e<=0?``:e<3e3?`2.4 GHz`:e<5925?`5 GHz`:`6 GHz`}function gu(e){let t=e.split(/[\s,]+/).filter(Boolean).map(e=>RegExp(`^${e.replace(/[.+^${}()|[\]\\]/g,`\\$&`).replace(/\*/g,`.*`).replace(/\?/g,`.`)}$`));return t.length===0?()=>!0:e=>t.some(t=>t.test(e))}function _u(e,t,n){return e.filter(e=>t(e.name)&&(n||e.type!==`loopback`&&e.type!==`wifi-p2p`&&!e.external&&!(e.software&&e.state===10)))}var vu=[[/need auth/,`Waiting for the password…`],[/getting IP/i,`Getting an address…`],[/checking IP/i,`Checking the connection…`]];function yu(e,t){let{state:n}=e;if(n===100)return e.external?{text:`Configured by another program`,tone:`on`}:{text:e.connectionName?`Connected to ${e.connectionName}`:`Connected`,tone:`on`};if(n>30&&n<100){let t=vu.find(([t])=>t.test(e.stateText));return{text:t?t[1]:`Connecting…`,tone:`busy`}}return n===110?{text:`Disconnecting…`,tone:`busy`}:n===120?{text:e.reason?`Failed: ${e.reason}`:`Failed`,tone:`failed`}:n===20?e.carrier===!1?{text:`Cable unplugged`,tone:`off`}:e.type===`wifi`&&!t?{text:`Wi-Fi is off`,tone:`off`}:{text:`Unavailable`,tone:`off`}:n===10?{text:`Not managed by NetworkManager`,tone:`off`}:{text:`Disconnected`,tone:`off`}}function bu(e){switch(e.type){case`wifi`:return`Wi-Fi`;case`ethernet`:return`Ethernet`;case`gsm`:case`cdma`:return`Mobile broadband`;case`bt`:return`Bluetooth`;case`loopback`:return`Loopback`;default:return e.type.charAt(0).toUpperCase()+e.type.slice(1)}}var xu={openvpn:`OpenVPN`,vpnc:`Cisco VPN`,openconnect:`OpenConnect`,l2tp:`L2TP`,pptp:`PPTP`,strongswan:`IPsec`,libreswan:`IPsec`,fortisslvpn:`Fortinet`};function Su(e){switch(e.kind){case`wifi`:return`Wi-Fi network`;case`hotspot`:return`Access point`;case`ethernet`:return`Wired`;case`vpn`:return e.type===`wireguard`?`WireGuard`:`VPN${e.vpnService?` (${xu[e.vpnService]??e.vpnService})`:``}`;default:return e.type}}var Cu=[{kind:`wifi`,title:`Wi-Fi networks`},{kind:`hotspot`,title:`Access points`},{kind:`ethernet`,title:`Wired`},{kind:`vpn`,title:`VPN`},{kind:`other`,title:`Other`}];function wu(e,t){return Number(t.activeState!==null)-Number(e.activeState!==null)||(t.lastUsed??0)-(e.lastUsed??0)||e.name.localeCompare(t.name)}function Tu(e,t){let n=t.trim().toLowerCase();return!n||[e.name,e.ssid,e.interface,e.device??``].some(e=>e.toLowerCase().includes(n))}function Eu(e,t){if(e.device)return t.some(t=>t.name===e.device);if(e.interface)return t.some(t=>t.name===e.interface);let n=e.kind===`wifi`||e.kind===`hotspot`?`wifi`:e.kind===`ethernet`?`ethernet`:null;return n===null||t.some(e=>e.type===n)}function Du(e,t,n,r){let i=e.filter(e=>(r||!e.external)&&Eu(e,t)&&Tu(e,n));return Cu.map(({kind:e,title:t})=>({kind:e,title:t,connections:i.filter(t=>t.kind===e).sort(wu)})).filter(e=>e.connections.length>0)}function Ou(e,t,n){let r=e.filter(e=>e.kind===`wifi`&&e.ssid===t&&(!e.interface||e.interface===n)).sort(wu);return r.find(e=>e.device===n)??r.find(e=>e.device===null)??null}function ku(e,t,n){let r=n.trim().toLowerCase();return e.networks.filter(e=>e.device===t&&(!r||e.ssid.toLowerCase().includes(r))).map(n=>({network:n,saved:Ou(e.connections,n.ssid,t)})).sort((e,t)=>Number(t.network.active)-Number(e.network.active)||Number(t.saved!==null)-Number(e.saved!==null)||t.network.signal-e.network.signal)}function Au(e,t){return e.filter(e=>e.kind===`hotspot`&&(!e.interface||e.interface===t)).sort(wu)}function ju(e,t){return t.uuid&&e.uuid===t.uuid?!0:!!t.ssid&&e.ssid===t.ssid&&(!t.device||!e.device||e.device===t.device)}function Mu(e,t,n){let r=e.filter(e=>e.action!==`rescan`&&e.action!==`wifi`&&ju(e,t)),i=r.find(e=>e.finished===null)??null,a=r.find(e=>e.finished!==null);return{running:i,failed:!i&&a?.error&&n-(a.finished??0)<12e4?a:null}}function Nu(e,t,n,r){if(n||r)return n||r;let i=e.devices.find(t=>t.name===e.via),a=t===`wifi`||t===`hotspot`?`wifi`:t===`ethernet`?`ethernet`:null;return i&&i.type===a?i.name:null}function Pu(e,t){let{via:n}=e;if(!n)return null;let r=`This page reaches the robot through ${n}`,i=`uuid`in t?e.connections.find(e=>e.uuid===t.uuid):void 0,a=i?.device===n;switch(t.action){case`connect`:return!i||a||Nu(e,i.kind,t.device,i.interface)!==n?null:i.kind===`hotspot`?`${r}: starting the access point disconnects it from its network, and this page loses the robot. Join ${i.ssid||i.name} to reach it again.`:`${r}: connecting it to ${i.ssid||i.name} moves the robot to that network, and this page loses it unless it is on that network too.`;case`create`:{if(!t.connect)return null;let{settings:i}=t;return Nu(e,i.kind,t.device,i.interface)===n?i.kind===`hotspot`?`${r}: starting the access point disconnects it from its network, and this page loses the robot. Join ${i.ssid} to reach it again.`:`${r}: connecting it to ${i.ssid||i.name} moves the robot to that network, and this page loses it unless it is on that network too.`:null}case`disconnect`:return a?`${r}: disconnecting ${i.name} cuts this page off from the robot.`:null;case`delete`:return a?`${r}: forgetting ${i.name} disconnects it, and cuts this page off.`:null;case`modify`:return a?`${r}: saving reconnects ${i.name}, and if its address changes this page loses the robot.`:null;case`wifi`:{let i=e.devices.find(e=>e.name===n);return!t.enabled&&i?.type===`wifi`?`${r}, a Wi-Fi interface: turning Wi-Fi off cuts this page off from the robot.`:null}default:return null}}function Fu(e,t){if(e===null)return`Never used`;let n=Math.max(0,Math.round((t-e)/1e3));if(n<60)return`Used just now`;if(n<3600)return`Used ${Math.floor(n/60)} min ago`;if(n<86400)return`Used ${Math.floor(n/3600)} h ago`;let r=Math.floor(n/86400);return r<30?`Used ${r} day${r===1?``:`s`} ago`:`Used on ${new Date(e).toLocaleDateString()}`}function Iu(e,t){let n=new Set(t.map(e=>e.name));if(!n.has(e))return e;let r=2;for(;n.has(`${e} (${r})`);)r++;return`${e} (${r})`}function Lu(e,t,n,r,i,a){return{...pu(`wifi`),name:Iu(e.ssid,a),ssid:e.ssid,security:e.security,password:t,identity:n,autoconnect:r,hidden:i}}function Ru(e){let t=e.filter(e=>e.state===100&&!e.external);return t.find(e=>e.gateway)??t[0]??null}function zu(e,t){if(e.error)return{text:e.error,tone:`failed`};let n=e.activity.find(e=>e.finished===null);if(n)return{text:`${n.label}…`,tone:`busy`};let r=e.activity[0];if(r?.error&&t-(r.finished??0)<6e4)return{text:`${r.label}: ${r.error}`,tone:`failed`};let i=[],a;switch(e.connectivity){case`full`:i.push(`Online`),a=`on`;break;case`limited`:i.push(`No internet`),a=`warn`;break;case`portal`:i.push(`Behind a login page`),a=`warn`;break;default:i.push(e.state.startsWith(`connected`)?`Local network only`:`Disconnected`),a=e.state.startsWith(`connected`)?`warn`:`off`}let o=Ru(e.devices);if(o){let e=o.ipv4[0]?.split(`/`)[0];i.push(`${o.name}: ${o.connectionName}${e?` (${e})`:``}`)}return e.via&&i.push(`this page through ${e.via}`),{text:i.join(` · `),tone:a}}function Bu(e,t){return t?`This widget is read-only`:e.canChange?!e.permissions.control&&!e.permissions.modify?`The server’s user may not change the robot’s networks (see the README: a polkit rule)`:null:`The networks are changed from the dashboard’s own pages only`}var Vu=[[10,[16]],[16,[28]],[26,[44]],[18,[32,32]],[24,[43,43]],[16,[27,27,27,27]],[18,[31,31,31,31]],[22,[38,38,39,39]],[22,[36,36,36,37,37]],[26,[43,43,43,43,44]],[30,[50,51,51,51,51]],[22,[36,36,36,36,36,36,37,37]],[22,[37,37,37,37,37,37,37,37,38]]],Hu=[[],[6,18],[6,22],[6,26],[6,30],[6,34],[6,22,38],[6,24,42],[6,26,46],[6,28,50],[6,30,54],[6,32,58],[6,34,62]];function Uu(e,t){let n=0;for(let r=7;r>=0;r--)n=n<<1^(n>>>7)*285,n^=(t>>>r&1)*e;return n}function Wu(e){let t=Array(e).fill(0);t[e-1]=1;let n=1;for(let r=0;r<e;r++){for(let r=0;r<e;r++)t[r]=Uu(t[r],n),r+1<e&&(t[r]^=t[r+1]);n=Uu(n,2)}return t}function Gu(e,t){let n=t.map(()=>0);for(let r of e){let e=r^(n.shift()??0);n.push(0),t.forEach((t,r)=>{n[r]^=Uu(t,e)})}return n}var Ku=[(e,t)=>(e+t)%2==0,(e,t)=>t%2==0,e=>e%3==0,(e,t)=>(e+t)%3==0,(e,t)=>(Math.floor(e/3)+Math.floor(t/2))%2==0,(e,t)=>e*t%2+e*t%3==0,(e,t)=>(e*t%2+e*t%3)%2==0,(e,t)=>((e+t)%2+e*t%3)%2==0];function qu(e,t){let[n,r]=Vu[t-1],i=r.reduce((e,t)=>e+t,0)*8,a=[],o=(e,t)=>{for(let n=t-1;n>=0;n--)a.push(e>>>n&1)};o(4,4),o(e.length,t<10?8:16),e.forEach(e=>o(e,8)),o(0,Math.min(4,i-a.length)),o(0,(8-a.length%8)%8);for(let e=236;a.length<i;e^=253)o(e,8);let s=[];for(let e=0;e<a.length;e+=8)s.push(a.slice(e,e+8).reduce((e,t)=>e<<1|t,0));let c=Wu(n),l=[],u=0;for(let e of r){let t=s.slice(u,u+e);l.push({data:t,ec:Gu(t,c)}),u+=e}let d=[];for(let e=0;e<Math.max(...r);e++)l.forEach(t=>e<t.data.length&&d.push(t.data[e]));for(let e=0;e<n;e++)l.forEach(t=>d.push(t.ec[e]));return d}var Ju=class{size;dark;fixed;constructor(e){this.size=e,this.dark=Array.from({length:e},()=>Array(e).fill(!1)),this.fixed=Array.from({length:e},()=>Array(e).fill(!1))}set(e,t,n){this.dark[t][e]=n,this.fixed[t][e]=!0}};function Yu(e,t){let{size:n}=e;for(let t=0;t<n;t++)e.set(6,t,t%2==0),e.set(t,6,t%2==0);for(let[t,r]of[[3,3],[n-4,3],[3,n-4]])for(let i=-4;i<=4;i++)for(let a=-4;a<=4;a++){let o=t+a,s=r+i;if(o>=0&&o<n&&s>=0&&s<n){let t=Math.max(Math.abs(a),Math.abs(i));e.set(o,s,t!==2&&t!==4)}}let r=Hu[t-1],i=r.length-1;if(r.forEach((t,n)=>r.forEach((r,a)=>{if(!(n===0&&a===0||n===0&&a===i||n===i&&a===0))for(let n=-2;n<=2;n++)for(let i=-2;i<=2;i++)e.set(t+i,r+n,Math.max(Math.abs(i),Math.abs(n))!==1)})),Xu(e,0),t>=7){let r=t;for(let e=0;e<12;e++)r=r<<1^(r>>>11)*7973;let i=t<<12|r;for(let t=0;t<18;t++){let r=(i>>>t&1)==1,a=n-11+t%3,o=Math.floor(t/3);e.set(a,o,r),e.set(o,a,r)}}}function Xu(e,t){let{size:n}=e,r=0|t,i=r;for(let e=0;e<10;e++)i=i<<1^(i>>>9)*1335;let a=(r<<10|i)^21522,o=e=>(a>>>e&1)==1;for(let t=0;t<=5;t++)e.set(8,t,o(t));e.set(8,7,o(6)),e.set(8,8,o(7)),e.set(7,8,o(8));for(let t=9;t<15;t++)e.set(14-t,8,o(t));for(let t=0;t<8;t++)e.set(n-1-t,8,o(t));for(let t=8;t<15;t++)e.set(8,n-15+t,o(t));e.set(8,n-8,!0)}function Zu(e,t){let{size:n}=e,r=0;for(let i=n-1;i>=1;i-=2){i===6&&(i=5);for(let a=0;a<n;a++)for(let o=0;o<2;o++){let s=i-o,c=i+1&2?a:n-1-a;!e.fixed[c][s]&&r<t.length*8&&(e.dark[c][s]=(t[r>>>3]>>>7-(r&7)&1)==1,r++)}}}function Qu(e,t){let n=Ku[t];for(let t=0;t<e.size;t++)for(let r=0;r<e.size;r++)!e.fixed[t][r]&&n(r,t)&&(e.dark[t][r]=!e.dark[t][r])}function $u(e){let t=e.length,n=0,r=[...e,...Array.from({length:t},(t,n)=>e.map(e=>e[n]))];for(let e of r){let r=1;for(let i=1;i<=t;i++)i<t&&e[i]===e[i-1]?r++:(r>=5&&(n+=3+(r-5)),r=1);let i=n=>n>=0&&n<t&&e[n];for(let e=0;e+7<=t;e++){if(!(i(e)&&!i(e+1)&&i(e+2)&&i(e+3)&&i(e+4)&&!i(e+5)&&i(e+6)))continue;let t=[1,2,3,4].every(t=>!i(e-t)),r=[7,8,9,10].every(t=>!i(e+t));(t||r)&&(n+=40)}}for(let r=0;r+1<t;r++)for(let i=0;i+1<t;i++){let t=e[r][i];t===e[r][i+1]&&t===e[r+1][i]&&t===e[r+1][i+1]&&(n+=3)}let i=e.reduce((e,t)=>e+t.filter(Boolean).length,0),a=t*t;return n+=(Math.ceil(Math.abs(i*20-a*10)/a)-1)*10,n}function ed(e,t){let n=new TextEncoder().encode(e),r=0;for(let e=1;e<=Vu.length&&r===0;e++){let t=Vu[e-1][1].reduce((e,t)=>e+t,0)*8;4+(e<10?8:16)+n.length*8<=t&&(r=e)}if(r===0)return null;let i=qu(n,r),a=null;for(let e of t===void 0?[0,1,2,3,4,5,6,7]:[t]){let t=new Ju(17+4*r);Yu(t,r),Zu(t,i),Qu(t,e),Xu(t,e);let n=$u(t.dark);(!a||n<a.score)&&(a={score:n,dark:t.dark})}return a.dark}function td(e,t,n,r){let i=e=>e.replace(/([\\;,:"])/g,`\\$1`),a=n===`nopass`?``:`P:${i(t)};`;return`WIFI:T:${n};S:${i(e)};${a}${r?`H:true;`:``};`}function nd({signal:e,size:t=18}){let n=mu(e),r=e=>n>=e?void 0:.22;return(0,J.jsxs)(`svg`,{viewBox:`0 0 24 24`,width:t,height:t,fill:`none`,stroke:`currentColor`,strokeWidth:`2`,strokeLinecap:`round`,"aria-hidden":`true`,className:`net-signal`,children:[(0,J.jsx)(`path`,{d:`M2.5 9a14 14 0 0 1 19 0`,opacity:r(4)}),(0,J.jsx)(`path`,{d:`M5.5 12.5a9.5 9.5 0 0 1 13 0`,opacity:r(3)}),(0,J.jsx)(`path`,{d:`M8.6 15.9a5 5 0 0 1 6.8 0`,opacity:r(2)}),(0,J.jsx)(`circle`,{cx:`12`,cy:`19.3`,r:`1.3`,fill:`currentColor`,stroke:`none`})]})}function rd({kind:e,size:t=18}){let n={width:t,height:t};switch(e){case`wifi`:return(0,J.jsx)(O,{...n});case`hotspot`:return(0,J.jsx)(o,{...n});case`ethernet`:return(0,J.jsx)(c,{...n});case`vpn`:return(0,J.jsx)(He,{...n});default:return(0,J.jsx)(ue,{...n})}}function id({device:e,size:t=18}){return(0,J.jsx)(rd,{kind:e.type===`wifi`?`wifi`:e.type===`ethernet`?`ethernet`:e.type===`tun`||e.type===`wireguard`?`vpn`:`other`,size:t})}function ad({tone:e}){return(0,J.jsx)(`span`,{className:`net-dot ${e}`,"aria-hidden":`true`})}function od({label:e,help:t,error:n,children:r}){let i=(0,q.useId)();return(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsx)(`label`,{className:`field-label`,htmlFor:i,children:e}),r(i),n?(0,J.jsx)(`p`,{className:`field-help error`,children:n}):t&&(0,J.jsx)(`p`,{className:`field-help`,children:t})]})}function sd({label:e,help:t,checked:n,onChange:r}){return(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsxs)(`label`,{className:`toggle`,children:[(0,J.jsx)(`input`,{type:`checkbox`,checked:n,onChange:e=>r(e.target.checked)}),(0,J.jsx)(`span`,{className:`toggle-switch`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`field-label`,children:e})]}),t&&(0,J.jsx)(`p`,{className:`field-help`,children:t})]})}function cd({id:e,value:t,placeholder:n,autoFocus:r=!1,initiallyShown:i=!1,onChange:a}){let[o,s]=(0,q.useState)(i);return(0,J.jsxs)(`div`,{className:`net-password`,children:[(0,J.jsx)(`input`,{id:e,type:o?`text`:`password`,value:t,placeholder:n,autoComplete:`new-password`,autoCapitalize:`off`,spellCheck:!1,autoFocus:r,onChange:e=>a(e.target.value)}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:o?`Hide the password`:`Show the password`,"aria-label":o?`Hide the password`:`Show the password`,"aria-pressed":o,onClick:()=>s(e=>!e),children:o?(0,J.jsx)(P,{width:16,height:16}):(0,J.jsx)(Le,{width:16,height:16})})]})}function ld({text:e,label:t}){let n=(0,q.useMemo)(()=>{let t=ed(e);if(!t)return null;let n=``;return t.forEach((e,t)=>{for(let r=0;r<e.length;r++){if(!e[r])continue;let i=1;for(;r+i<e.length&&e[r+i];)i++;n+=`M${r+4} ${t+4}h${i}v1h-${i}z`,r+=i-1}}),{d:n,size:t.length+8}},[e]);return n?(0,J.jsxs)(`svg`,{className:`net-qr`,viewBox:`0 0 ${n.size} ${n.size}`,shapeRendering:`crispEdges`,role:`img`,"aria-label":t,children:[(0,J.jsx)(`rect`,{width:n.size,height:n.size,fill:`#fff`}),(0,J.jsx)(`path`,{d:n.d,fill:`#000`})]}):null}function ud(){let e=crypto.getRandomValues(new Uint32Array(12));return Array.from(e,e=>`abcdefghjkmnpqrstuvwxyzABCDEFGHJKLMNPQRSTUVWXYZ23456789`[e%55]).join(``)}function dd(e){return/Disconnected from the robot|No answer from the robot/.test(rs(e))}async function fd(e,t,n){try{let n=await b.networkAction(e);n.message?G(n.message,`error`):t&&G(t)}catch(e){if(n&&dd(e)){G(`This page lost the robot: it moved to another network, where it is to be reached now`);return}throw e}}function pd({risk:e,error:t}){return(0,J.jsxs)(J.Fragment,{children:[e&&(0,J.jsx)(`p`,{className:`net-warning`,children:e}),t&&(0,J.jsx)(`p`,{className:`net-error`,role:`alert`,children:t})]})}function md({state:e,request:t,onClose:n}){let r=t.kind===`password`?t.connection:null,i=t.kind===`join`?t.network:e.networks.find(e=>e.ssid===r.ssid&&(!t.device||e.device===t.device)),a=r?.ssid||r?.name||i?.ssid||``,o=r?.security??i?.security??`wpa-psk`,[s,c]=(0,q.useState)(``),[l,u]=(0,q.useState)(r?.identity??``),[d,f]=(0,q.useState)(!0),[p,m]=(0,q.useState)(!1),[h,g]=(0,q.useState)(!1),[_,v]=(0,q.useState)(t.kind===`password`?t.error:null),y=o===`wpa-eap`,b=uu(o,s)??(y&&!l.trim()?`Your user name on the network`:null),x=r?{action:`connect`,uuid:r.uuid,device:t.kind===`password`?t.device:null,password:s}:{action:`create`,settings:Lu(i,s,l.trim(),d,!1,e.connections),connect:!0,device:i.device},S=Pu(e,x),C=async e=>{if(e.preventDefault(),m(!0),!b){g(!0),v(null);try{await fd(x,`Connected to ${a}`,S!==null),n()}catch(e){v(rs(e)),g(!1)}}};return(0,J.jsx)($e,{title:r?`The password of ${a}`:`Join ${a}`,onClose:n,children:(0,J.jsxs)(`form`,{className:`modal-body`,onSubmit:e=>void C(e),children:[i&&(0,J.jsxs)(`p`,{className:`net-dialog-meta`,children:[(0,J.jsx)(nd,{signal:i.signal,size:16}),[$l[o],hu(i.frequency),`${i.signal}%`].filter(Boolean).join(` · `)]}),y&&(0,J.jsx)(od,{label:`User name`,error:p&&!l.trim()?`Your user name on the network`:null,children:e=>(0,J.jsx)(`input`,{id:e,value:l,autoComplete:`off`,autoCapitalize:`off`,spellCheck:!1,autoFocus:!0,onChange:e=>u(e.target.value)})}),(0,J.jsx)(od,{label:`Password`,error:p?uu(o,s):null,help:y?`PEAP with MSCHAPv2, the server’s certificate not checked`:void 0,children:e=>(0,J.jsx)(cd,{id:e,value:s,autoFocus:!y,onChange:c})}),!r&&(0,J.jsx)(sd,{label:`Connect automatically`,help:`Whenever the robot is in its range`,checked:d,onChange:f}),(0,J.jsx)(pd,{risk:S,error:_}),(0,J.jsxs)(`div`,{className:`modal-actions`,children:[(0,J.jsx)(`button`,{type:`button`,className:`button`,onClick:n,children:`Cancel`}),(0,J.jsx)(`button`,{type:`submit`,className:`button ${S?`danger`:`primary`}`,disabled:h,children:h?`Connecting…`:r?`Connect`:`Join`})]})]})})}var hd={wifi:[{value:`auto`,label:`Automatic (DHCP)`},{value:`manual`,label:`Manual`},{value:`disabled`,label:`Disabled`}],hotspot:[{value:`shared`,label:`The robot gives them`}],ethernet:[{value:`auto`,label:`Automatic (DHCP)`},{value:`manual`,label:`Manual`},{value:`shared`,label:`Shared: the robot gives them, and its internet`},{value:`disabled`,label:`Disabled`}]},gd={bg:[1,2,3,4,5,6,7,8,9,10,11,12,13],a:[36,40,44,48,149,153,157,161,165]},_d=[`wpa-psk`,`sae`,`wpa-eap`,`open`,`owe`,`wep`];function vd(e,t){if(t.kind===`edit`)return fu(t.connection);let n=t.settings,r=pu(n);if(n===`hotspot`){let n=e.devices.filter(e=>e.type===`wifi`&&e.accessPoint),i=n.find(e=>e.name===t.device)??n.find(t=>t.name!==e.via)??n[0],a=(b.hostname||`robot`).slice(0,32);return{...r,interface:i?.name??``,ssid:a,name:Iu(a,e.connections),password:ud(),autoconnect:!1}}return n===`ethernet`?{...r,interface:t.device??``,name:Iu(`Wired connection`,e.connections)}:{...r,hidden:!0,interface:t.device??``}}function yd({state:e,request:t,onClose:n}){let r=t.kind===`edit`?t.connection:null,[i,a]=(0,q.useState)(()=>vd(e,t)),[o,s]=(0,q.useState)(i.addresses.join(`, `)),[c,l]=(0,q.useState)(i.dns.join(`, `)),[u,d]=(0,q.useState)(r!==null),[f,p]=(0,q.useState)(!0),[m,h]=(0,q.useState)(!1),[g,_]=(0,q.useState)(!1),[v,y]=(0,q.useState)(null),{kind:b}=i,x=b!==`ethernet`,S=t=>a(n=>{let i={...n,...t};return!u&&t.ssid!==void 0&&i.ssid&&(i.name=Iu(i.ssid,e.connections.filter(e=>e.uuid!==r?.uuid))),i}),C=du(i,!r);r&&x&&i.security!==(r.security??`open`)&&eu(i.security)&&i.password===null&&(C.password=`The network’s password, for its new security`);let w=e=>m?C[e]??null:null,T=r?{action:`modify`,uuid:r.uuid,settings:i}:{action:`create`,settings:i,connect:f,device:null},E=Pu(e,T),D=async e=>{if(e.preventDefault(),h(!0),Object.keys(C).length>0)return;_(!0),y(null);let t=`Saved ${i.name}`;!r&&f&&(t=b===`hotspot`?`The access point ${i.ssid} is on`:`Connected to ${i.ssid||i.name}`);try{await fd(T,t,E!==null),n()}catch(e){y(rs(e)),_(!1)}},O=e.devices.filter(e=>e.type===`wifi`&&(b!==`hotspot`||e.accessPoint)),k=e.devices.filter(e=>e.type===`ethernet`),A=e.devices.find(e=>e.name===i.interface),j;j=r?`Edit ${r.name}`:b===`hotspot`?`New access point`:b===`ethernet`?`New wired connection`:`Join a hidden network`;let M=`Save`;!r&&f&&(M=b===`hotspot`?`Start`:b===`wifi`?`Join`:`Connect`);let N=b===`ethernet`||O.length>1||i.interface||b===`hotspot`?(0,J.jsx)(od,{label:`Interface`,error:w(`interface`),help:b===`hotspot`?void 0:`Bound to it, the connection is not used by other interfaces: for a sensor’s cable, say`,children:t=>(0,J.jsxs)(`select`,{id:t,value:i.interface,onChange:e=>S({interface:e.target.value}),children:[b!==`hotspot`&&(0,J.jsx)(`option`,{value:``,children:x?`Any Wi-Fi interface`:`Any wired interface`}),b===`hotspot`&&!i.interface&&(0,J.jsx)(`option`,{value:``,children:`Choose one`}),(x?O:k).map(t=>(0,J.jsxs)(`option`,{value:t.name,children:[t.name,t.product||t.vendor?` (${t.product||t.vendor})`:``,t.name===e.via?` · this page`:``]},t.name)),i.interface&&!e.devices.some(e=>e.name===i.interface)&&(0,J.jsxs)(`option`,{value:i.interface,children:[i.interface,` (not here)`]})]})}):null,P=r&&i.password===null?`Unchanged: type a new one to change it`:void 0;return(0,J.jsx)($e,{title:j,onClose:n,wide:!0,children:(0,J.jsxs)(`form`,{className:`modal-body net-form`,onSubmit:e=>void D(e),children:[b===`hotspot`&&N,x&&(0,J.jsx)(od,{label:`Network name (SSID)`,error:w(`ssid`),help:b===`hotspot`?`What phones and laptops list`:void 0,children:e=>(0,J.jsx)(`input`,{id:e,value:i.ssid,autoComplete:`off`,autoCapitalize:`off`,spellCheck:!1,autoFocus:!r,onChange:e=>S({ssid:e.target.value})})}),x&&(0,J.jsxs)(`div`,{className:`net-form-row`,children:[(0,J.jsx)(od,{label:`Security`,error:w(`security`),children:e=>(0,J.jsx)(`select`,{id:e,value:i.security,onChange:e=>{let t=e.target.value;S({security:t,password:eu(t)?i.password??(r?null:``):null})},children:(b===`hotspot`?[`wpa-psk`,`open`]:_d).map(e=>(0,J.jsx)(`option`,{value:e,children:b===`hotspot`&&e===`wpa-psk`?`WPA2 Personal`:$l[e]},e))})}),i.security===`wpa-eap`&&(0,J.jsx)(od,{label:`User name`,error:w(`identity`),children:e=>(0,J.jsx)(`input`,{id:e,value:i.identity,autoComplete:`off`,autoCapitalize:`off`,spellCheck:!1,onChange:e=>S({identity:e.target.value})})})]}),x&&eu(i.security)&&(0,J.jsx)(od,{label:`Password`,error:w(`password`),help:P??(b===`hotspot`?`8 to 63 characters: give it to who joins, or share the access point’s QR code`:i.security===`wpa-eap`?`PEAP with MSCHAPv2, the server’s certificate not checked`:void 0),children:e=>(0,J.jsxs)(`div`,{className:`net-password-row`,children:[(0,J.jsx)(cd,{id:e,value:i.password??``,placeholder:r&&i.password===null?`Unchanged`:void 0,initiallyShown:b===`hotspot`&&!r,onChange:e=>S({password:e===``&&r?null:e})}),b===`hotspot`&&(0,J.jsx)(`button`,{type:`button`,className:`button`,onClick:()=>S({password:ud()}),children:`New one`})]})}),b===`hotspot`&&i.security===`open`&&(0,J.jsx)(`p`,{className:`net-warning`,children:`Open: anyone in range may join the robot’s network, and reach the dashboard.`}),b===`hotspot`&&(0,J.jsxs)(`div`,{className:`net-form-row`,children:[(0,J.jsx)(od,{label:`Band`,children:e=>(0,J.jsxs)(`select`,{id:e,value:i.band,onChange:e=>S({band:e.target.value,channel:0}),children:[(0,J.jsx)(`option`,{value:``,children:`Automatic`}),(0,J.jsx)(`option`,{value:`bg`,disabled:A&&!A.band24,children:`2.4 GHz: farther, every device`}),(0,J.jsx)(`option`,{value:`a`,disabled:A&&!A.band5,children:`5 GHz: faster`})]})}),(0,J.jsx)(od,{label:`Channel`,error:w(`channel`),children:e=>(0,J.jsxs)(`select`,{id:e,value:i.channel,disabled:!i.band,onChange:e=>S({channel:Number(e.target.value)}),children:[(0,J.jsx)(`option`,{value:0,children:`Automatic`}),(i.band?gd[i.band]:[]).map(e=>(0,J.jsx)(`option`,{value:e,children:e},e)),i.band&&i.channel!==0&&!gd[i.band].includes(i.channel)&&(0,J.jsx)(`option`,{value:i.channel,children:i.channel})]})})]}),b===`wifi`&&(0,J.jsx)(sd,{label:`Hidden network`,help:`It does not show its name: the robot looks for it by name`,checked:i.hidden,onChange:e=>S({hidden:e})}),b!==`hotspot`&&N,(0,J.jsx)(od,{label:`Connection name`,error:w(`name`),help:`How the robot’s lists name it`,children:e=>(0,J.jsx)(`input`,{id:e,value:i.name,autoComplete:`off`,onChange:e=>{d(!0),S({name:e.target.value})}})}),(0,J.jsx)(`h3`,{className:`net-form-heading`,children:`Addresses`}),b!==`hotspot`&&(0,J.jsx)(od,{label:`IPv4`,error:w(`ipv4`),children:e=>(0,J.jsx)(`select`,{id:e,value:i.ipv4,onChange:e=>S({ipv4:e.target.value}),children:hd[b].map(e=>(0,J.jsx)(`option`,{value:e.value,children:e.label},e.value))})}),(i.ipv4===`manual`||i.ipv4===`shared`)&&(0,J.jsx)(od,{label:i.ipv4===`manual`?`The robot’s address`:`The robot’s address on the network it gives`,error:w(`addresses`),help:i.ipv4===`manual`?`With its network’s size: 192.168.1.20/24. Several: separated by commas`:`Optional: 10.42.0.1/24 if empty. The others get addresses of its network`,children:e=>(0,J.jsx)(`input`,{id:e,value:o,placeholder:i.ipv4===`manual`?`192.168.1.20/24`:`10.42.0.1/24`,inputMode:`decimal`,autoComplete:`off`,spellCheck:!1,onChange:e=>{s(e.target.value),S({addresses:cu(e.target.value)})}})}),i.ipv4!==`disabled`&&b!==`hotspot`&&(0,J.jsxs)(`div`,{className:`net-form-row`,children:[i.ipv4===`manual`&&(0,J.jsx)(od,{label:`Gateway`,error:w(`gateway`),help:`Optional: the way to other networks`,children:e=>(0,J.jsx)(`input`,{id:e,value:i.gateway,placeholder:`192.168.1.1`,inputMode:`decimal`,autoComplete:`off`,spellCheck:!1,onChange:e=>S({gateway:e.target.value.trim()})})}),(0,J.jsx)(od,{label:`DNS servers`,error:w(`dns`),help:i.ipv4===`manual`?`Optional, separated by commas`:`Optional: besides the network’s`,children:e=>(0,J.jsx)(`input`,{id:e,value:c,placeholder:`1.1.1.1, 8.8.8.8`,inputMode:`decimal`,autoComplete:`off`,spellCheck:!1,onChange:e=>{l(e.target.value),S({dns:cu(e.target.value)})}})})]}),(0,J.jsx)(`h3`,{className:`net-form-heading`,children:`When`}),(0,J.jsx)(sd,{label:b===`hotspot`?`Start automatically`:`Connect automatically`,help:b===`hotspot`?`When the robot starts: it is then the robot’s network wherever it goes`:b===`wifi`?`Whenever the robot is in its range`:`Whenever a cable is plugged in`,checked:i.autoconnect,onChange:e=>S({autoconnect:e})}),i.autoconnect&&(0,J.jsx)(od,{label:`Priority`,error:w(`priority`),help:`Of the connections that connect automatically, the highest first`,children:e=>(0,J.jsx)(`input`,{id:e,type:`number`,min:-999,max:999,step:1,value:Number.isFinite(i.priority)?i.priority:``,onChange:e=>S({priority:e.target.value===``?0:Number(e.target.value)})})}),!r&&(0,J.jsx)(sd,{label:b===`hotspot`?`Start it now`:`Connect now`,checked:f,onChange:p}),(0,J.jsx)(pd,{risk:E,error:v}),(0,J.jsxs)(`div`,{className:`modal-actions`,children:[(0,J.jsx)(`button`,{type:`button`,className:`button`,onClick:n,children:`Cancel`}),(0,J.jsx)(`button`,{type:`submit`,className:`button ${E?`danger`:`primary`}`,disabled:g,children:g?f&&!r?`Connecting…`:`Saving…`:M})]})]})})}function bd({text:e,what:t}){return(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Copy the ${t}`,"aria-label":`Copy the ${t}`,onClick:()=>ts(e).then(()=>G(`Copied the ${t}`),e=>G(`Could not copy the ${t}: ${rs(e)}`,`error`)),children:(0,J.jsx)(z,{width:15,height:15})})}function xd({connection:e,onClose:t}){let[n,r]=(0,q.useState)(null),[i,a]=(0,q.useState)(null),[o,s]=(0,q.useState)(!1);(0,q.useEffect)(()=>{let t=!0;return b.networkAction({action:`secrets`,uuid:e.uuid}).then(e=>t&&r(e),e=>t&&a(rs(e))),()=>{t=!1}},[e.uuid]);let c=n?.ssid??e.ssid,l=n?.security??e.security??`open`,u=!eu(l),d=u||!!n?.password,f=n&&d&&l!==`wpa-eap`?td(c,n.password,u?`nopass`:l===`wep`?`WEP`:`WPA`,n.hidden):null,p;return p=i?(0,J.jsx)(`p`,{className:`net-error`,children:i}):n?(0,J.jsxs)(J.Fragment,{children:[f&&(0,J.jsxs)(`div`,{className:`net-share-code`,children:[(0,J.jsx)(ld,{text:f,label:`QR code to join ${c}`}),(0,J.jsxs)(`p`,{className:`net-muted`,children:[`Point a phone’s camera at it to join `,c]})]}),(0,J.jsxs)(`dl`,{className:`net-facts net-share-facts`,children:[(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Network`}),(0,J.jsxs)(`dd`,{children:[(0,J.jsx)(`span`,{children:c}),(0,J.jsx)(bd,{text:c,what:`network’s name`})]})]}),(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Security`}),(0,J.jsx)(`dd`,{children:$l[l]})]}),!u&&(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:`Password`}),(0,J.jsx)(`dd`,{children:d?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`span`,{className:`net-secret`,children:o?n.password:`•`.repeat(Math.min(16,n.password.length))}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:o?`Hide the password`:`Show the password`,"aria-label":o?`Hide the password`:`Show the password`,"aria-pressed":o,onClick:()=>s(e=>!e),children:o?`Hide`:`Show`}),(0,J.jsx)(bd,{text:n.password,what:`password`})]}):(0,J.jsx)(`span`,{className:`net-muted`,children:`Not readable: the server’s user may not read NetworkManager’s secrets, or they are kept by a desktop’s keyring`})})]})]})]}):(0,J.jsx)(`p`,{className:`net-muted`,children:`Reading the password…`}),(0,J.jsx)($e,{title:`Share ${c||e.name}`,onClose:t,children:(0,J.jsxs)(`div`,{className:`modal-body`,children:[p,(0,J.jsx)(`div`,{className:`modal-actions`,children:(0,J.jsx)(`button`,{type:`button`,className:`button primary`,onClick:t,autoFocus:!0,children:`Done`})})]})})}function Sd({request:e,state:t,onClose:n}){switch(e.kind){case`join`:case`password`:return(0,J.jsx)(md,{state:t,request:e,onClose:n});case`create`:case`edit`:return(0,J.jsx)(yd,{state:t,request:e,onClose:n});case`share`:return(0,J.jsx)(xd,{connection:e.connection,onClose:n})}}var Cd={auto:`Automatic (DHCP)`,manual:`Manual`,shared:`Shared: the robot gives the addresses`,disabled:`Disabled`,"link-local":`Link-local only`};function $({label:e,children:t}){return(0,J.jsxs)(`div`,{children:[(0,J.jsx)(`dt`,{children:e}),(0,J.jsx)(`dd`,{children:t})]})}function wd({icon:e,name:t,title:n,children:r,footer:i,onClose:a}){return(0,J.jsxs)(`section`,{className:`net-details`,"aria-label":`${t}: details`,children:[(0,J.jsxs)(`header`,{className:`net-details-header`,children:[(0,J.jsx)(`span`,{className:`net-details-icon`,children:e}),(0,J.jsx)(`strong`,{className:`net-details-name`,title:n??t,children:t}),(0,J.jsx)(`span`,{className:`net-spacer`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:`Close (Esc)`,"aria-label":`Close`,onClick:a,children:(0,J.jsx)(H,{width:16,height:16})})]}),(0,J.jsx)(`div`,{className:`net-details-body`,children:r}),i&&(0,J.jsx)(`footer`,{className:`net-details-actions`,children:i})]})}function Td({label:e,actions:t,danger:n=!1,primary:r=!1,disabled:i,onClick:a}){let o=t.blocked??i??null;return(0,J.jsx)(`button`,{type:`button`,className:`button${n?` danger`:r?` primary`:``}`,disabled:o!==null,title:o??void 0,onClick:a,children:e})}function Ed({list:e}){return e.length>0?(0,J.jsx)(J.Fragment,{children:e.map(e=>(0,J.jsx)(`span`,{className:`net-fact-line`,children:e},e))}):(0,J.jsx)(`span`,{className:`net-muted`,children:`None`})}function Dd(e){return/\/netplan-[^/]*$/.test(e)?`From netplan (/etc/netplan)`:e.startsWith(`/run/`)?`In memory: lost at reboot`:null}function Od({state:e,connection:t,now:n,signal:r=!0}){let i=e.devices.find(e=>e.name===t.device),a=t.kind===`wifi`||t.kind===`hotspot`,o=r&&t.kind===`wifi`?e.networks.find(e=>e.ssid===t.ssid):void 0,s=Dd(t.file),c=i?.state===100,l;return l=t.activeState===`activated`?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(ad,{tone:`on`}),` `,t.kind===`hotspot`?`On`:`Connected`,`, on `,t.device]}):t.activeState?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(ad,{tone:`busy`}),` `,i?yu(i,e.wifi).text:t.activeState]}):`Not connected`,(0,J.jsxs)(`dl`,{className:`net-facts`,children:[(0,J.jsx)($,{label:`Status`,children:l}),(0,J.jsx)($,{label:`Kind`,children:Su(t)}),a&&t.ssid&&t.ssid!==t.name&&(0,J.jsx)($,{label:`Network`,children:t.ssid}),a&&t.security&&(0,J.jsx)($,{label:`Security`,children:$l[t.security]}),t.security===`wpa-eap`&&t.identity&&(0,J.jsx)($,{label:`User name`,children:t.identity}),t.kind===`hotspot`&&(0,J.jsxs)($,{label:`Band`,children:[t.band?t.band===`a`?`5 GHz`:`2.4 GHz`:`Automatic`,t.channel>0&&`, channel ${t.channel}`]}),o&&(0,J.jsxs)($,{label:`Signal`,children:[o.signal,`% · `,hu(o.frequency),`, channel `,o.channel]}),t.hidden&&(0,J.jsx)($,{label:`Hidden`,children:`Its name is not shown: looked for by name`}),(t.kind===`wifi`||t.kind===`hotspot`||t.kind===`ethernet`)&&(0,J.jsx)($,{label:`Interface`,children:t.interface||`Any`}),t.ipv4Method&&(0,J.jsx)($,{label:`IPv4`,children:Cd[t.ipv4Method]??t.ipv4Method}),(c||t.addresses.length>0)&&(0,J.jsx)($,{label:`Address`,children:(0,J.jsx)(Ed,{list:c?i.ipv4:t.addresses})}),(c?i.gateway:t.gateway)&&(0,J.jsx)($,{label:`Gateway`,children:c?i.gateway:t.gateway}),(c?i.dns:t.dns).length>0&&(0,J.jsx)($,{label:`DNS`,children:(0,J.jsx)(Ed,{list:c?i.dns:t.dns})}),(0,J.jsx)($,{label:`Automatic`,children:t.autoconnect?`Yes${t.priority===0?``:`, priority ${t.priority}`}`:`No: only when asked`}),(0,J.jsx)($,{label:`Last used`,children:(0,J.jsx)(`span`,{title:t.lastUsed?new Date(t.lastUsed).toLocaleString():void 0,children:Fu(t.lastUsed,n).replace(/^Used (on )?/,``).replace(/^Never used$/,`Never`)})}),t.file&&(0,J.jsxs)($,{label:`File`,children:[(0,J.jsx)(`span`,{className:`net-fact-line`,children:t.file}),s&&(0,J.jsx)(`span`,{className:`net-fact-line net-muted`,children:s})]}),(0,J.jsx)($,{label:`UUID`,children:(0,J.jsx)(`span`,{className:`net-mono`,children:t.uuid})})]})}function kd({connection:e,actions:t}){if(t.readOnly||e.external)return null;let n=e.kind===`hotspot`,r=e.kind===`wifi`||n||e.kind===`ethernet`,i=e.readOnly?`NetworkManager has it read-only`:null;return(0,J.jsxs)(J.Fragment,{children:[e.activeState?(0,J.jsx)(Td,{label:n?`Stop`:`Disconnect`,actions:t,onClick:()=>t.disconnect(e)}):(0,J.jsx)(Td,{label:n?`Start`:`Connect`,primary:!0,actions:t,onClick:()=>t.connect(e,null)}),r&&(0,J.jsx)(Td,{label:`Edit…`,actions:t,disabled:i,onClick:()=>t.edit(e)}),(e.kind===`wifi`||n)&&(0,J.jsx)(Td,{label:`Share…`,actions:t,onClick:()=>t.share(e)}),(0,J.jsx)(Td,{label:`Forget…`,danger:!0,actions:t,disabled:i,onClick:()=>t.forget(e)})]})}function Ad({state:e,connection:t,actions:n,now:r,onClose:i}){let{failed:a}=Mu(e.activity,{uuid:t.uuid},r);return(0,J.jsxs)(wd,{icon:(0,J.jsx)(rd,{kind:t.kind,size:16}),name:t.name,onClose:i,footer:(0,J.jsx)(kd,{connection:t,actions:n}),children:[a&&(0,J.jsx)(`p`,{className:`net-error`,children:`${a.label}: ${a.error}`}),t.external&&(0,J.jsx)(`p`,{className:`net-muted`,children:`NetworkManager made it for an interface another program configures (docker, a VPN client…): it is not changed here.`}),(0,J.jsx)(Od,{state:e,connection:t,now:r})]})}function jd({state:e,network:t,actions:n,now:r,onClose:i}){let a=Ou(e.connections,t.ssid,t.device),{failed:o}=Mu(e.activity,{uuid:a?.uuid??null,ssid:t.ssid,device:t.device},r),s=a?(0,J.jsx)(kd,{connection:a,actions:n}):n.readOnly?null:(0,J.jsx)(Td,{label:`Join…`,primary:!0,actions:n,onClick:()=>n.join(t)});return(0,J.jsxs)(wd,{icon:(0,J.jsx)(nd,{signal:t.signal,size:16}),name:t.ssid,onClose:i,footer:s,children:[o&&(0,J.jsx)(`p`,{className:`net-error`,children:`${o.label}: ${o.error}`}),(0,J.jsxs)(`dl`,{className:`net-facts`,children:[(0,J.jsxs)($,{label:`Signal`,children:[t.signal,`%`]}),(0,J.jsxs)($,{label:`Security`,children:[$l[t.security],t.securityText&&` (${t.securityText})`]}),(0,J.jsxs)($,{label:`Band`,children:[hu(t.frequency),`, channel `,t.channel,` (`,t.frequency,` MHz)`]}),t.rate&&(0,J.jsx)($,{label:`Rate`,children:t.rate}),(0,J.jsxs)($,{label:`Access point`,children:[(0,J.jsx)(`span`,{className:`net-mono`,children:t.bssid}),t.points>1&&(0,J.jsxs)(`span`,{className:`net-fact-line net-muted`,children:[`The strongest of `,t.points]})]}),t.mode!==`Infra`&&(0,J.jsx)($,{label:`Mode`,children:t.mode}),(0,J.jsx)($,{label:`Seen by`,children:t.device})]}),a&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsxs)(`h3`,{children:[`Saved as `,a.name]}),(0,J.jsx)(Od,{state:e,connection:a,now:r,signal:!1})]})]})}function Md({state:e,device:t,actions:n,onClose:r}){let i=yu(t,e.wifi),a=t.connection?e.connections.find(e=>e.uuid===t.connection):void 0,o=t.type===`wifi`?`wifi`:t.type===`ethernet`?`ethernet`:null,s=o?e.connections.filter(n=>!n.activeState&&(n.kind===o||o===`wifi`&&n.kind===`hotspot`)&&Eu(n,[t])&&(n.kind!==`wifi`||e.networks.some(e=>e.device===t.name&&e.ssid===n.ssid))):[],c=[t.band24&&`2.4 GHz`,t.band5&&`5 GHz`].filter(Boolean).join(` and `);return(0,J.jsxs)(wd,{icon:(0,J.jsx)(id,{device:t,size:16}),name:t.name,onClose:r,footer:a&&!t.external&&!n.readOnly?(0,J.jsx)(Td,{label:a.kind===`hotspot`?`Stop the access point`:`Disconnect`,actions:n,onClick:()=>n.disconnect(a)}):null,children:[(0,J.jsxs)(`dl`,{className:`net-facts`,children:[(0,J.jsxs)($,{label:`Status`,children:[(0,J.jsx)(ad,{tone:i.tone}),` `,i.text]}),t.reason&&t.state!==100&&(0,J.jsx)($,{label:`Why`,children:t.reason}),(0,J.jsx)($,{label:`Kind`,children:bu(t)}),(t.vendor||t.product)&&(0,J.jsx)($,{label:`Hardware`,children:[t.vendor,t.product].filter(Boolean).join(` `)}),t.driver&&(0,J.jsx)($,{label:`Driver`,children:t.driver}),t.hwaddr&&(0,J.jsx)($,{label:`MAC address`,children:(0,J.jsx)(`span`,{className:`net-mono`,children:t.hwaddr})}),t.speed&&(0,J.jsx)($,{label:`Speed`,children:t.speed}),t.mtu&&(0,J.jsx)($,{label:`MTU`,children:t.mtu}),t.type===`wifi`&&(0,J.jsx)($,{label:`Access point`,children:t.accessPoint?`It can be one${c?`, on ${c}`:``}`:`Not supported`}),(0,J.jsx)($,{label:`IPv4`,children:(0,J.jsx)(Ed,{list:t.ipv4})}),t.ipv6.length>0&&(0,J.jsx)($,{label:`IPv6`,children:(0,J.jsx)(Ed,{list:t.ipv6})}),t.gateway&&(0,J.jsx)($,{label:`Gateway`,children:t.gateway}),t.dns.length>0&&(0,J.jsx)($,{label:`DNS`,children:(0,J.jsx)(Ed,{list:t.dns})})]}),s.length>0&&!n.readOnly&&!t.external&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`h3`,{children:`Connect with`}),(0,J.jsx)(`ul`,{className:`net-choices`,children:s.map(e=>(0,J.jsxs)(`li`,{children:[(0,J.jsx)(rd,{kind:e.kind,size:15}),(0,J.jsx)(`span`,{className:`net-choice-name`,children:e.name}),(0,J.jsx)(Td,{label:e.kind===`hotspot`?`Start`:`Connect`,actions:n,onClick:()=>n.connect(e,t.name)})]},e.uuid))})]})]})}function Nd({selection:e,state:t,actions:n,now:r,onClose:i}){switch(e.type){case`network`:{let a=t.networks.find(t=>t.device===e.device&&t.ssid===e.ssid);return a?(0,J.jsx)(jd,{state:t,network:a,actions:n,now:r,onClose:i}):null}case`connection`:{let a=t.connections.find(t=>t.uuid===e.uuid);return a?(0,J.jsx)(Ad,{state:t,connection:a,actions:n,now:r,onClose:i}):null}case`device`:{let r=t.devices.find(t=>t.name===e.name);return r?(0,J.jsx)(Md,{state:t,device:r,actions:n,onClose:i}):null}}}function Pd(e,t){return JSON.stringify(e)===JSON.stringify(t)}function Fd({label:e,busy:t,primary:n=!1,actions:r,onClick:i}){return r.readOnly?null:(0,J.jsx)(`button`,{type:`button`,className:`net-action${n?` primary`:``}`,disabled:!!t||r.blocked!==null,title:r.blocked??void 0,onClick:i,children:t??e})}function Id({selected:e,icon:t,name:n,tags:r,sub:i,tone:a,action:o,onSelect:s}){return(0,J.jsxs)(`li`,{className:`net-row${e?` selected`:``}`,children:[(0,J.jsxs)(`button`,{type:`button`,className:`net-row-main`,"aria-pressed":e,onClick:s,children:[(0,J.jsx)(`span`,{className:`net-row-icon ${a}`,children:t}),(0,J.jsxs)(`span`,{className:`net-row-text`,children:[(0,J.jsxs)(`span`,{className:`net-row-name`,children:[(0,J.jsx)(`span`,{className:`net-row-label`,title:n,children:n}),r]}),(0,J.jsxs)(`span`,{className:`net-row-sub ${a}`,title:i,children:[(a===`busy`||a===`failed`)&&(0,J.jsx)(ad,{tone:a}),(0,J.jsx)(`span`,{className:`net-row-sub-text`,children:i})]})]})]}),o&&(0,J.jsx)(`div`,{className:`net-row-actions`,children:o})]})}function Ld({state:e,device:t}){return t&&t===e.via?(0,J.jsx)(`span`,{className:`net-tag accent`,title:`This page reaches the robot through it`,children:`this page`}):null}function Rd(e){return e?.ipv4[0]?.split(`/`)[0]??``}function zd({connection:e,...t}){let{state:n,actions:r,selection:i,onSelect:a,now:o}=t,s=n.devices.find(t=>t.name===e.device),{running:c,failed:l}=Mu(n.activity,{uuid:e.uuid,ssid:e.ssid||null,device:e.device},o),u=e.kind===`hotspot`,d,f=``;c?(d=`${c.label}…`,f=`busy`):e.activeState===`activated`?(d=[u?`On, on ${e.device}`:`Connected on ${e.device}`,Rd(s)].filter(Boolean).join(` · `),f=`on`):e.activeState===`activating`?(d=s?yu(s,n.wifi).text:`Connecting…`,f=`busy`):e.activeState===`deactivating`?(d=`Disconnecting…`,f=`busy`):l?(d=l.error??``,f=`failed`):d=[e.kind===`ethernet`&&e.ipv4Method===`manual`?e.addresses.join(`, `):u&&e.ssid!==e.name?e.ssid:``,Fu(e.lastUsed,o),e.autoconnect?``:`not automatic`].filter(Boolean).join(` · `);let p=e.activeState!==null,m={type:`connection`,uuid:e.uuid},h=n.devices.find(t=>t.name===e.interface),g=h&&n.devices.filter(e=>e.type===h.type).length>1;return(0,J.jsx)(Id,{selected:Pd(i,m),icon:(0,J.jsx)(rd,{kind:e.kind}),name:e.name,tags:(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Ld,{state:n,device:e.device}),g&&(0,J.jsx)(`span`,{className:`net-tag`,children:e.interface})]}),sub:d,tone:f,onSelect:()=>a(m),action:e.external?null:p?(0,J.jsx)(Fd,{label:u?`Stop`:`Disconnect`,busy:c?`…`:null,actions:r,onClick:()=>r.disconnect(e)}):(0,J.jsx)(Fd,{label:u?`Start`:`Connect`,busy:c?`…`:null,primary:!0,actions:r,onClick:()=>r.connect(e,null)})})}function Bd({network:e,saved:t,device:n,...r}){let{state:i,actions:a,selection:o,onSelect:s,now:c}=r,{running:l,failed:u}=Mu(i.activity,{uuid:t?.uuid??null,ssid:e.ssid,device:n.name},c),d=e.active&&n.connection!==null,f=d?i.connections.find(e=>e.uuid===n.connection):void 0,p=hu(e.frequency),m,h=``;if(l)m=`${l.label}…`,h=`busy`;else if(d){let e=yu(n,i.wifi);m=n.state===100?[`Connected`,Rd(n),p].filter(Boolean).join(` · `):e.text,h=e.tone}else u?(m=u.error??``,h=`failed`):m=[t?`Saved`:``,e.securityText||`Open`,p].filter(Boolean).join(` · `);let g={type:`network`,device:n.name,ssid:e.ssid},_;return d&&f?_=(0,J.jsx)(Fd,{label:`Disconnect`,actions:a,onClick:()=>a.disconnect(f)}):d||(_=(0,J.jsx)(Fd,{label:t?`Connect`:`Join`,busy:l?`…`:null,primary:!0,actions:a,onClick:()=>t?a.connect(t,n.name):a.join(e)})),(0,J.jsx)(Id,{selected:Pd(o,g),icon:(0,J.jsx)(nd,{signal:e.signal}),name:e.ssid,tags:(0,J.jsxs)(J.Fragment,{children:[e.security!==`open`&&e.security!==`owe`&&(0,J.jsx)(Oe,{className:`net-lock`,width:12,height:12}),d&&(0,J.jsx)(Ld,{state:i,device:n.name})]}),sub:m,tone:d&&h===``?`on`:h,action:_,onSelect:()=>s(g)})}function Vd({icon:e,label:t,disabled:n,onClick:r}){return(0,J.jsx)(`li`,{className:`net-row`,children:(0,J.jsxs)(`button`,{type:`button`,className:`net-row-main net-add`,disabled:n!==null,title:n??void 0,onClick:r,children:[(0,J.jsx)(`span`,{className:`net-row-icon`,children:e}),(0,J.jsx)(`span`,{className:`net-row-label`,children:t})]})})}function Hd({device:e,many:t,...n}){let{state:r,text:i,actions:a}=n,s=r.connections.find(t=>t.device===e.name&&(t.kind===`wifi`||t.kind===`hotspot`)),c=ku(r,e.name,i),l=s?.kind===`wifi`&&!c.some(e=>e.network.active)?s:null,u=e.accessPoint?Au(r.connections,e.name).filter(e=>e.uuid!==s?.uuid):[],d=null;c.length===0&&(d=i.trim()?`No network matches “${i.trim()}”`:s?.kind===`hotspot`?`An access point does not look for networks: stop it to join one`:r.scanning?`Looking for networks…`:`No network in range`);let f=a.blocked;return(0,J.jsxs)(`section`,{className:`net-section`,"aria-label":`Wi-Fi of ${e.name}`,children:[t&&(0,J.jsxs)(`h3`,{className:`net-heading`,children:[e.name,(e.product||e.vendor)&&(0,J.jsx)(`span`,{className:`net-heading-detail`,children:e.product||e.vendor})]}),(0,J.jsxs)(`ul`,{className:`net-list`,children:[s?.kind===`hotspot`&&(0,J.jsx)(zd,{...n,connection:s}),l&&(0,J.jsx)(zd,{...n,connection:l}),c.map(t=>(0,J.jsx)(Bd,{...n,network:t.network,saved:t.saved,device:e},t.network.ssid))]}),d&&(0,J.jsx)(`p`,{className:`net-note`,children:d}),!i.trim()&&(0,J.jsxs)(`ul`,{className:`net-list net-extra`,children:[u.map(e=>(0,J.jsx)(zd,{...n,connection:e},e.uuid)),!a.readOnly&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Vd,{icon:(0,J.jsx)(ce,{width:16,height:16}),label:`Join a hidden network…`,disabled:f,onClick:()=>a.create(`wifi`,e.name)}),e.accessPoint&&(0,J.jsx)(Vd,{icon:(0,J.jsx)(o,{width:16,height:16}),label:`New access point…`,disabled:f,onClick:()=>a.create(`hotspot`,e.name)})]})]})]})}function Ud(e){let{state:t,devices:n,actions:r}=e,i=n.filter(e=>e.type===`wifi`);return t.wifi?i.length===0?(0,J.jsxs)(`div`,{className:`net-empty`,children:[(0,J.jsx)(f,{width:28,height:28}),(0,J.jsx)(`p`,{children:`No Wi-Fi interface`})]}):(0,J.jsx)(`div`,{className:`net-scroll`,children:i.map(t=>(0,J.jsx)(Hd,{...e,device:t,many:i.length>1},t.name))}):(0,J.jsxs)(`div`,{className:`net-empty`,children:[(0,J.jsx)(f,{width:28,height:28}),(0,J.jsx)(`p`,{children:t.wifiHardware?`Wi-Fi is off`:`Wi-Fi is off by its hardware switch`}),t.wifiHardware&&!r.readOnly&&(0,J.jsx)(`button`,{type:`button`,className:`button primary`,disabled:r.blocked!==null,title:r.blocked??void 0,onClick:()=>r.setWifi(!0),children:`Turn Wi-Fi on`})]})}function Wd(e){let{state:t,devices:n,text:r,all:i,actions:a}=e,o=Du(t.connections,n,r,i);return(0,J.jsxs)(`div`,{className:`net-scroll`,children:[o.length===0&&(0,J.jsx)(`p`,{className:`net-note`,children:r.trim()?`No connection matches “${r.trim()}”`:`No connection saved`}),o.map(t=>(0,J.jsxs)(`section`,{className:`net-section`,"aria-label":t.title,children:[(0,J.jsxs)(`h3`,{className:`net-heading`,children:[t.title,(0,J.jsx)(`span`,{className:`net-heading-detail`,children:t.connections.length})]}),(0,J.jsx)(`ul`,{className:`net-list`,children:t.connections.map(t=>(0,J.jsx)(zd,{...e,connection:t},t.uuid))})]},t.kind)),!r.trim()&&!a.readOnly&&(0,J.jsx)(`ul`,{className:`net-list net-extra`,children:(0,J.jsx)(Vd,{icon:(0,J.jsx)(ce,{width:16,height:16}),label:`New wired connection…`,disabled:a.blocked,onClick:()=>a.create(`ethernet`,null)})})]})}function Gd(e){let{state:t,devices:n,selection:r,onSelect:i,actions:a}=e;return n.length===0?(0,J.jsx)(`p`,{className:`net-note`,children:`No interface`}):(0,J.jsx)(`div`,{className:`net-scroll`,children:(0,J.jsx)(`ul`,{className:`net-list`,children:n.map(e=>{let n=yu(e,t.wifi),o=e.connection?t.connections.find(t=>t.uuid===e.connection):void 0,s={type:`device`,name:e.name};return(0,J.jsx)(Id,{selected:Pd(r,s),icon:(0,J.jsx)(id,{device:e}),name:e.name,tags:(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Ld,{state:t,device:e.name}),(0,J.jsx)(`span`,{className:`net-row-detail`,children:e.product||e.vendor||bu(e)})]}),sub:[n.text,Rd(e)].filter(Boolean).join(` · `),tone:n.tone,onSelect:()=>i(s),action:o&&!e.external&&e.state===100?(0,J.jsx)(Fd,{label:o.kind===`hotspot`?`Stop`:`Disconnect`,actions:a,onClick:()=>a.disconnect(o)}):null},e.name)})})})}var Kd=620,qd=300,Jd=[{view:`wifi`,label:`Wi-Fi`,title:`The Wi-Fi networks in range`,Icon:O},{view:`saved`,label:`Saved`,title:`The connections saved`,Icon:B},{view:`devices`,label:`Interfaces`,title:`The interfaces, their addresses`,Icon:ue}];function Yd(e){let[t,n]=(0,q.useState)(()=>b.serverNow());return(0,q.useEffect)(()=>{let t=setInterval(()=>n(b.serverNow()),e);return()=>clearInterval(t)},[e]),t}function Xd({config:e}){let t=et(),[n,r]=(0,q.useState)(null),[i,a]=(0,q.useState)(e.view),[o,s]=(0,q.useState)(``),[c,l]=(0,q.useState)(null),[u,d]=(0,q.useState)(null),[p,m]=(0,q.useState)(null),[h,g]=(0,q.useState)({width:0,height:0}),_=(0,q.useRef)(null),v=Yd(5e3);(0,q.useEffect)(()=>a(e.view),[e.view]),(0,q.useEffect)(()=>b.subscribeNetwork(r),[]),(0,q.useEffect)(()=>{let e=_.current;if(!e)return;let t=new ResizeObserver(([e])=>g({width:e.contentRect.width,height:e.contentRect.height}));return t.observe(e),()=>t.disconnect()},[n!==null]);let y=(0,q.useMemo)(()=>gu(e.interfaces),[e.interfaces]),x=(0,q.useMemo)(()=>n?_u(n.devices,y,e.allInterfaces):[],[n,y,e.allInterfaces]),S=x.some(e=>e.type===`wifi`),C=i===`wifi`&&!S&&n&&x.length>0?`saved`:i,w=n?Bu(n,e.readOnly):null,T=(e,t)=>fd(e,t,n?Pu(n,e)!==null:!1).then(()=>null,e=>rs(e)),E=async(e,r)=>{let i=n?Pu(n,e):null;return!i&&!r.always||t.confirm({title:r.title,message:(0,J.jsxs)(J.Fragment,{children:[r.message,i&&(0,J.jsx)(`p`,{className:`net-warning`,children:i})]}),confirmLabel:r.confirmLabel,danger:i!==null||r.danger})},D=e=>e.kind===`wifi`&&e.ssid?e.ssid:e.name,k={blocked:w,readOnly:e.readOnly,connect:async(e,t)=>{let n={action:`connect`,uuid:e.uuid,device:t,password:null},r=e.kind===`hotspot`,i={title:r?`Start ${e.name}?`:`Switch to ${D(e)}?`,confirmLabel:r?`Start`:`Switch`,always:!1};if(!await E(n,i))return;let a=await T(n,r?`The access point ${D(e)} is on`:`Connected to ${D(e)}`);a&&(a===`Wrong password, or none given`&&e.security&&eu(e.security)?d({kind:`password`,connection:e,device:t,error:a}):G(`Could not ${r?`start`:`connect to`} ${D(e)}: ${a}`,`error`))},disconnect:async t=>{let n={action:`disconnect`,uuid:t.uuid},r=t.kind===`hotspot`,i={title:r?`Stop ${t.name}?`:`Disconnect from ${D(t)}?`,message:r?`Whoever joined the robot’s network loses it.`:t.autoconnect?`It does not connect by itself again until asked, or until the robot restarts.`:`It stays saved.`,confirmLabel:r?`Stop`:`Disconnect`,danger:!0,always:e.confirm};if(!await E(n,i))return;let a=await T(n,null);a&&G(`Could not ${r?`stop`:`disconnect from`} ${D(t)}: ${a}`,`error`)},forget:async e=>{let t={action:`delete`,uuid:e.uuid},n={title:`Forget ${e.name}?`,message:e.kind===`wifi`?`Its password is deleted with it: joining the network again asks for it.`:`Its settings are deleted with it.`,confirmLabel:`Forget`,danger:!0,always:!0};if(!await E(t,n))return;c?.type===`connection`&&c.uuid===e.uuid&&l(null);let r=await T(t,`Forgot ${e.name}`);r&&G(`Could not forget ${e.name}: ${r}`,`error`)},join:async e=>{if(eu(e.security)){d({kind:`join`,network:e});return}let t={action:`create`,settings:Lu(e,null,``,!0,!1,n?.connections??[]),connect:!0,device:e.device},r={title:`Join ${e.ssid}?`,message:e.security===`open`?`It is open: others on it may see what the robot sends.`:`It is open, its traffic encrypted (OWE).`,confirmLabel:`Join`,always:e.security===`open`};if(!await E(t,r))return;let i=await T(t,`Connected to ${e.ssid}`);i&&G(`Could not join ${e.ssid}: ${i}`,`error`)},create:(e,t)=>d({kind:`create`,settings:e,device:t}),edit:e=>d({kind:`edit`,connection:e}),share:e=>d({kind:`share`,connection:e}),setWifi:async t=>{let n={action:`wifi`,enabled:t},r={title:t?`Turn Wi-Fi on?`:`Turn Wi-Fi off?`,message:t?``:`Every Wi-Fi interface disconnects, access points stop.`,confirmLabel:t?`Turn on`:`Turn off`,danger:!t,always:!t&&e.confirm};if(!await E(n,r))return;let i=await T(n,null);i&&G(`Could not turn Wi-Fi ${t?`on`:`off`}: ${i}`,`error`)}},A=()=>void b.networkAction({action:`rescan`,device:null}).catch(e=>G(`Could not scan: ${rs(e)}`,`error`)),j=e=>{let t=e.currentTarget.getBoundingClientRect(),r=x.filter(e=>e.type===`wifi`),i=w;m({x:t.right-200,y:t.bottom+4,items:[{label:`Join a hidden network…`,disabled:i!==null||r.length===0||!n?.wifi,run:()=>k.create(`wifi`,null)},{label:`New access point…`,disabled:i!==null||!r.some(e=>e.accessPoint)||!n?.wifi,run:()=>k.create(`hotspot`,null)},{label:`New wired connection…`,disabled:i!==null,run:()=>k.create(`ethernet`,null)}]})};if((0,q.useEffect)(()=>{n&&c&&((c.type===`network`?n.networks.some(e=>e.device===c.device&&e.ssid===c.ssid):c.type===`connection`?n.connections.some(e=>e.uuid===c.uuid):n.devices.some(e=>e.name===c.name))||l(null))},[n,c]),!n)return(0,J.jsx)(`div`,{className:`widget-message`,children:`Reading the networks…`});let M={wifi:n.networks.filter(e=>x.some(t=>t.name===e.device)).length,saved:Du(n.connections,x,``,e.allInterfaces).reduce((e,t)=>e+t.connections.length,0),devices:x.length},N={state:n,devices:x,text:o,all:e.allInterfaces,selection:c,onSelect:e=>l(t=>JSON.stringify(t)===JSON.stringify(e)?null:e),actions:k,now:v},P=zu(n,v),{width:F,height:I}=h,L=F>=Kd,R=c&&(0,J.jsx)(Nd,{selection:c,state:n,actions:k,now:v,onClose:()=>l(null)}),ee;ee=n.error?(0,J.jsx)(`p`,{className:`net-note error`,children:n.error}):C===`wifi`?(0,J.jsx)(Ud,{...N}):C===`saved`?(0,J.jsx)(Wd,{...N}):(0,J.jsx)(Gd,{...N});let te=!e.readOnly&&!n.error&&w?(0,J.jsx)(`p`,{className:`net-banner`,role:`note`,children:w}):null;return(0,J.jsxs)(`div`,{ref:_,className:`net${R&&!L&&I>0&&I<qd?` cramped`:``}`,onKeyDown:e=>{e.key===`Escape`&&c&&l(null)},children:[(0,J.jsxs)(`div`,{className:`net-toolbar`,role:`toolbar`,"aria-label":`Networking`,children:[(0,J.jsx)(`div`,{className:`net-views`,role:`group`,"aria-label":`View`,children:Jd.filter(({view:e})=>e!==`wifi`||S).map(({view:e,label:t,title:n,Icon:r})=>(0,J.jsxs)(`button`,{type:`button`,className:`net-view`,"aria-pressed":C===e,title:n,onClick:()=>{a(e),l(null)},children:[(0,J.jsx)(r,{width:14,height:14}),(0,J.jsx)(`span`,{className:`net-view-name`,children:t}),(0,J.jsx)(`span`,{className:`net-view-count`,children:M[e]})]},e))}),C!==`devices`&&(0,J.jsxs)(`label`,{className:`net-search`,title:`Only those whose name contains`,children:[(0,J.jsx)(ne,{width:14,height:14}),(0,J.jsx)(`input`,{type:`search`,value:o,placeholder:`Filter…`,"aria-label":`Only those whose name contains`,spellCheck:!1,onChange:e=>s(e.target.value)})]}),(0,J.jsxs)(`div`,{className:`net-tools`,children:[C===`wifi`&&(0,J.jsx)(`button`,{type:`button`,className:`overlay-button${n.scanning?` net-spinning`:``}`,title:n.scanning?`Looking for networks…`:`Look for networks again`,"aria-label":`Look for networks again`,disabled:!n.wifi||n.scanning||n.error!==null,onClick:A,children:(0,J.jsx)(xe,{width:17,height:17})}),S&&!e.readOnly&&(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,"aria-pressed":n.wifi,title:n.wifiHardware?w??(n.wifi?`Wi-Fi is on: turn it off`:`Wi-Fi is off: turn it on`):`Wi-Fi is off by its hardware switch`,"aria-label":n.wifi?`Turn Wi-Fi off`:`Turn Wi-Fi on`,disabled:w!==null||!n.wifiHardware||n.error!==null,onClick:()=>k.setWifi(!n.wifi),children:n.wifi?(0,J.jsx)(O,{width:17,height:17}):(0,J.jsx)(f,{width:17,height:17})}),!e.readOnly&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`span`,{className:`overlay-separator`}),(0,J.jsx)(`button`,{type:`button`,className:`overlay-button`,title:w??`A new connection: a hidden network, an access point, a cable’s`,"aria-label":`New connection`,"aria-haspopup":`menu`,disabled:w!==null||n.error!==null,onClick:j,children:(0,J.jsx)(ce,{width:17,height:17})})]})]})]}),te,(0,J.jsxs)(`div`,{className:`net-body${L?` beside`:``}`,children:[(0,J.jsx)(`div`,{className:`net-main`,children:ee}),R]}),(0,J.jsxs)(`div`,{className:`net-status ${P.tone}`,title:P.text,children:[(0,J.jsx)(ad,{tone:P.tone}),(0,J.jsx)(`span`,{className:`net-status-text`,children:P.text})]}),u&&(0,J.jsx)(Sd,{request:u,state:n,onClose:()=>d(null)}),p&&(0,J.jsx)(os,{x:Math.max(4,p.x),y:p.y,items:p.items,onClose:()=>m(null)})]})}var Zd=Ye({type:`networking`,name:`Networking`,description:`The robot’s networks: join Wi-Fi networks, switch between those saved, set addresses, make it an access point.`,icon:ue,defaultSize:{w:6,h:7},minSize:{w:3,h:3},component:Xd,properties:[{key:`view`,label:`View`,kind:`select`,default:`wifi`,options:[{value:`wifi`,label:`Wi-Fi networks in range`},{value:`saved`,label:`Saved connections`},{value:`devices`,label:`Interfaces`}],help:`When the panel opens: its toolbar changes it`},{key:`interfaces`,label:`Interfaces`,kind:`string`,default:``,placeholder:`wlan0, eth*`,help:`Only these, and their connections: names or globs (*), separated by commas. All if empty`},{key:`allInterfaces`,label:`Show every interface`,kind:`boolean`,default:!1,help:`Also those other programs configure (docker’s bridges, VPN clients’ tunnels), the loopback, Wi-Fi P2P`},{key:`confirm`,label:`Ask before disconnecting`,kind:`boolean`,default:!0,help:`And before turning Wi-Fi off. A change that would cut this page off from the robot is always asked about`},{key:`readOnly`,label:`Read-only`,kind:`boolean`,default:!1,help:`The networks are shown, not changed: e.g. on a panel for operators`}]}),Qd=`modulepreload`,$d=function(e){return`/`+e},ef={},tf=function(e){return e.pathname.endsWith(`.css`)},nf=function(e,t,n){if(t in e)return e[t];let r=n();if(!r){e[t]=void 0;return}let i=r.then(()=>{e[t]=void 0},n=>{throw e[t]=void 0,n});return e[t]=i,i},rf=function(e,t,n){let r=Promise.resolve();if(t&&t.length>0){let e,i=document.querySelector(`meta[property=csp-nonce]`),a=i?.nonce||i?.getAttribute(`nonce`);function o(e){return Promise.all(e.map(e=>Promise.resolve(e).then(e=>({status:`fulfilled`,value:e}),e=>({status:`rejected`,reason:e}))))}function s(e){return import.meta.resolve?new URL(import.meta.resolve(e)):new URL(e,import.meta.url)}r=o(t.map(t=>{t=$d(t,n);let r=s(t),i=tf(r);return nf(ef,r.href,()=>{if(e===void 0){e={all:new Set,styles:new Set};let t=document.getElementsByTagName(`link`);for(let n=t.length-1;n>=0;n--){let r=t[n];e.all.add(r.href),r.rel===`stylesheet`&&e.styles.add(r.href)}}if((i?e.styles:e.all).has(r.href))return;let t=document.createElement(`link`);if(t.rel=i?`stylesheet`:Qd,i||(t.as=`script`),t.crossOrigin=``,t.href=r.href,a&&t.setAttribute(`nonce`,a),document.head.appendChild(t),i)return new Promise((e,n)=>{t.addEventListener(`load`,e),t.addEventListener(`error`,()=>n(Error(`Unable to preload CSS for ${r}`)))})})}).filter(e=>e!==void 0))}function i(e){let t=new Event(`vite:preloadError`,{cancelable:!0});if(t.payload=e,window.dispatchEvent(t),!t.defaultPrevented)throw e}return r.then(t=>{for(let e of t||[])e.status===`rejected`&&i(e.reason);return e().catch(i)})},af=(0,q.lazy)(()=>rf(()=>import(`./RobotModelView.js`),__vite__mapDeps([0,1,2,3,4])));function of({config:e}){return(0,J.jsx)(q.Suspense,{fallback:(0,J.jsx)(`div`,{className:`widget-message`,children:`Loading the 3D view…`}),children:(0,J.jsx)(af,{config:e})})}var sf=Ye({type:`robot-model`,name:`Robot Model`,description:`The robot in 3D, its moving joints highlighted, and its TF frames.`,icon:Fe,defaultSize:{w:6,h:5},minSize:{w:3,h:3},component:of,properties:[{key:`descriptionTopic`,label:`Robot description topic`,kind:`topic`,default:`/robot_description`,topicTypes:[`std_msgs/msg/String`],help:`The URDF, as robot_state_publisher publishes it. Its package:// meshes come from the robot`},{key:`jointStatesTopic`,label:`Joint states topic`,kind:`topic`,default:`/joint_states`,topicTypes:[`sensor_msgs/msg/JointState`],help:`Where the joints are, and how they move`},{key:`showFrames`,label:`Show the TF frames`,kind:`boolean`,default:!1},{key:`highlightMotion`,label:`Highlight the moving joints`,kind:`boolean`,default:!0,help:`Their links take another colour, with an arrow in the direction of the motion`}]}),cf={x:0,y:0,z:0};function lf(e){return e.x===0&&e.y===0&&e.z===0}function uf(e,t){b.send({type:`twist`,topic:e.topic,stamped:e.stamped,frameId:e.frameId,linear:{x:t.x*e.maxLinear,y:t.y*e.maxLinear},angular:{z:t.z*e.maxAngular}})}function df({config:e,editing:t}){let n=We()===`open`,[r,i]=(0,q.useState)(cf),a=(0,q.useRef)(cf),o=(0,q.useRef)(e);o.current=e;let s=(0,q.useRef)(!1),c=(0,q.useCallback)(e=>{let t={...a.current,...e};a.current=t,i(t),!lf(t)&&!s.current?(s.current=!0,uf(o.current,t)):lf(t)&&s.current&&(s.current=!1,uf(o.current,cf))},[]);(0,q.useEffect)(()=>{let t=setInterval(()=>s.current&&uf(o.current,a.current),1e3/Math.min(50,Math.max(1,e.rate)));return()=>clearInterval(t)},[e.rate]);let{topic:l,stamped:u}=e;(0,q.useEffect)(()=>()=>{s.current&&(s.current=!1,uf({...o.current,topic:l,stamped:u},cf))},[l,u]);let d=t||!n,{maxLinear:f,maxAngular:p}=e;return(0,J.jsxs)(`div`,{className:`teleop`,children:[(0,J.jsx)(`div`,{className:`teleop-pads${e.omnidirectional?` two`:``}`,children:e.omnidirectional?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Ze,{axes:`xy`,label:`x · y`,disabled:d,onMove:(e,t)=>c({x:t,y:-e})}),(0,J.jsx)(Ze,{axes:`x`,label:`z`,disabled:d,onMove:e=>c({z:-e})})]}):(0,J.jsx)(Ze,{axes:`xy`,label:`x · z`,disabled:d,onMove:(e,t)=>c({x:t,y:0,z:-e})})}),(0,J.jsx)(`div`,{className:`teleop-readout`,children:n||t?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsxs)(`span`,{children:[`x `,(r.x*f).toFixed(3)]}),e.omnidirectional&&(0,J.jsxs)(`span`,{children:[`y `,(r.y*f).toFixed(3)]}),(0,J.jsxs)(`span`,{children:[`z `,(r.z*p).toFixed(3)]}),(0,J.jsx)(`span`,{className:`teleop-topic`,children:e.topic})]}):(0,J.jsx)(`span`,{className:`offline`,children:`Disconnected`})})]})}var ff=Ye({type:`teleop`,name:`Teleop`,description:`Drive the robot with on-screen pads, publishing velocity commands.`,icon:h,defaultSize:{w:6,h:4},minSize:{w:3,h:3},component:df,properties:[{key:`topic`,label:`Topic`,kind:`topic`,default:`cmd_vel`,topicTypes:[`geometry_msgs/msg/Twist`,`geometry_msgs/msg/TwistStamped`],help:`With twist_mux, one of its inputs, above autonomous navigation and below the joysticks`},{key:`omnidirectional`,label:`Omnidirectional`,kind:`boolean`,default:!1,help:`Two pads: x and y, and z. Otherwise one: x and z`},{key:`stamped`,label:`TwistStamped`,kind:`boolean`,default:!1,help:`Publish geometry_msgs/TwistStamped instead of Twist`},{key:`frameId`,label:`Frame id`,kind:`string`,default:`base_link`,visible:e=>e.stamped},{key:`maxLinear`,label:`Max linear speed (m/s)`,kind:`number`,default:.2,min:0,step:.01},{key:`maxAngular`,label:`Max angular speed (rad/s)`,kind:`number`,default:.5,min:0,step:.01},{key:`rate`,label:`Rate (Hz)`,kind:`number`,default:10,min:1,max:50,step:1,help:`How often the command is published while a pad is held`}]}),pf=(0,q.lazy)(()=>rf(()=>import(`./TerminalView.js`),__vite__mapDeps([5,1,2,3,4,6,7,8])));function mf({config:e,instance:t,panelId:n,editing:r}){return(0,J.jsx)(q.Suspense,{fallback:(0,J.jsx)(`div`,{className:`widget-message`,children:`Loading the terminal…`}),children:(0,J.jsx)(pf,{config:e,panelId:n,widgetId:t.id,editing:r})})}var hf=Ye({type:`terminal`,name:`Terminal`,description:`A shell on the robot, or a command. On touch screens, the keys phones lack: Esc, Tab, Ctrl, Alt, arrows.`,icon:Ie,defaultSize:{w:8,h:6},minSize:{w:3,h:3},component:mf,properties:[{key:`command`,label:`Command`,kind:`text`,default:``,placeholder:`htop`,help:`Run instead of a shell, by the login shell: e.g. htop, or tmux new -A -s robot for one session that every page shares. Empty: the shell`},{key:`folder`,label:`Folder`,kind:`string`,default:`~`,placeholder:`~/ros2_ws`,help:`Where it starts: /…, ~/… or package://<package>/…`},{key:`fontSize`,label:`Text size`,kind:`number`,default:13,min:7,max:32,step:1,help:`In pixels. Each device changes it with the toolbar, or by pinching`},{key:`theme`,label:`Colours`,kind:`select`,default:`auto`,options:[{value:`auto`,label:`The page’s, dark or light`},{value:`dark`,label:`Dark`},{value:`light`,label:`Light`}]},{key:`extraKeys`,label:`Extra keys`,kind:`select`,default:`touch`,options:[{value:`touch`,label:`On touch screens`},{value:`always`,label:`Always`},{value:`never`,label:`Never`}],help:`Keys the on-screen keyboard lacks, under the terminal. Ctrl, Alt and Shift apply to the next key, of the row or of the keyboard: tap twice, or hold, to keep them. Swiping up on a key types what its corner shows`},{key:`keys`,label:`Extra keys’ layout`,kind:`text`,default:nt,help:`A line per row, keys separated by spaces: ESC TAB CTRL ALT SHIFT HOME END PGUP PGDN UP DOWN LEFT RIGHT INS DEL BKSP ENTER SPACE F1…F12 KEYBOARD PASTE, or what to type (~, |, ros2). What swiping up types follows a colon: -:|`,visible:e=>e.extraKeys!==`never`},{key:`fullScreenTyping`,label:`Full screen while typing`,kind:`boolean`,default:!0,help:`On touch screens: while the on-screen keyboard is open, the terminal fills the screen above it, the extra keys right above it`}]});function gf(e,t){return typeof t==typeof e.default&&(e.kind!==`select`||!!e.useOptions||e.options.some(e=>e.value===t))&&(typeof t!=`number`||Number.isFinite(t))}var _f=class{registered;defaults=new Map;current;constructor(e){this.registered=e.map(e=>({definition:e,plugin:null})),this.current=this.registered}registerPlugin(e,t){let n=[];for(let r of t.widgets??[]){let t=this.registered.find(e=>e.definition.type===r.type);t?n.push(`its widget type "${r.type}" is already ${t.plugin?`${t.plugin}'s`:`Tassello's`}`):this.registered=[...this.registered,{definition:r,plugin:e}]}for(let[e,r]of Object.entries(t.defaults??{})){let t=this.defaults.get(e)??new Map;for(let[i,a]of Object.entries(r)){t.set(i,a);let r=this.registered.find(t=>t.definition.type===e)?.definition,o=r?.properties.find(e=>e.key===i);r&&(!o||!gf(o,a))&&n.push(`its default of ${e}.${i} is not one of the property's values`)}this.defaults.set(e,t)}return this.current=this.registered.map(e=>({...e,definition:this.withDefaults(e.definition)})),n}entries(){return this.current}definition(e){return this.current.find(t=>t.definition.type===e)?.definition}withDefaults(e){let t=this.defaults.get(e.type);return t?{...e,properties:e.properties.map(e=>t.has(e.key)&&gf(e,t.get(e.key))?{...e,default:t.get(e.key)}:e)}:e}};function vf(e,t){let n={};for(let r of e.properties){let e=t[r.key];n[r.key]=gf(r,e)?e:r.default}return n}var yf=new _f([ff,Ql,sf,vt,Wi,pl,zi,lt,Ni,Si,Al,eo,dl,hf,Zd]);function bf(e,t){return yf.registerPlugin(e,t)}function xf(){return yf.entries()}function Sf(e){return yf.definition(e)}function Cf(e,t){return e.x<t.x+t.w&&t.x<e.x+e.w&&e.y<t.y+t.h&&t.y<e.y+e.h}function wf(e,t,n){return e.x>=0&&e.y>=0&&!t.some(t=>t.id!==n&&Cf(e,t))}function Tf(e){return{cols:Math.max(0,...e.map(e=>e.x+e.w)),rows:Math.max(0,...e.map(e=>e.y+e.h))}}function Ef(e,t,n){let{rows:r}=Tf(e);for(let i=0;i<=r;i++)for(let r=0;r+t.w<=Math.max(n,t.w);r++){let n={x:r,y:i,...t};if(wf(n,e))return n}return{x:0,y:r,...t}}function Df(e,t=64){return{left:e.x*t+4,top:e.y*t+4,width:e.w*t-8,height:e.h*t-8}}var Of={desktop:{label:`Desktop`,columns:null,previewWidth:null},tablet:{label:`Tablet`,columns:12,previewWidth:820},phone:{label:`Phone`,columns:6,previewWidth:390}};function kf(e){return e<640?`phone`:e<1100?`tablet`:`desktop`}function Af(e,t){return e.x<t.x+t.w&&t.x<e.x+e.w&&e.y<t.y+t.h&&t.y<e.y+e.h}function jf(e,t,n,r){if(e.x<0||e.y<0||n!==null&&e.x+e.w>n)return!1;for(let[n,i]of t.rects)if(n!==r&&Af(e,i))return!1;return!0}function Mf(e,t,n,r,i){for(let a=i;;a++)for(let i=0;i+t<=r;i++){let r={x:i,y:a,w:t,h:n};if(![...e.values()].some(e=>Af(r,e)))return r}}function Nf(e,t,n){let r=Of[t].columns;if(r===null)return{rects:new Map(e.widgets.map(e=>[e.id,{x:e.x,y:e.y,w:e.w,h:e.h}])),hidden:[],custom:!0};let i=e.layouts?.[t],a=new Set(i?.hidden??[]),o=new Map;for(let t of e.widgets){let e=i?.rects[t.id];if(e&&!a.has(t.id)){let n=Math.min(e.w,r);o.set(t.id,{x:Math.min(e.x,r-n),y:e.y,w:n,h:e.h})}}let s=Math.max(0,...[...o.values()].map(e=>e.y+e.h)),c=e.widgets.filter(e=>!a.has(e.id)&&!o.has(e.id)).sort((e,t)=>e.y-t.y||e.x-t.x);for(let e of c){let t=Mf(o,Math.min(e.w,r),e.w>r?Math.max(n(e.type).h,Math.round(e.h*r/e.w)):e.h,r,s);o.set(e.id,t),s=t.y}return{rects:o,hidden:[...a],custom:Object.keys(i?.rects??{}).length>0}}function Pf(e,t,n){return{...e,layouts:{...e.layouts,[t]:n}}}function Ff(e,t,n,r,i){if(t===`desktop`)return{...e,widgets:e.widgets.map(e=>e.id===r?{...e,...i}:e)};let a=Object.fromEntries(n.rects);return a[r]=i,Pf(e,t,{rects:a,hidden:n.hidden})}function If(e,t,n,r,i){return Pf(e,t,{rects:n.custom?Object.fromEntries([...n.rects].filter(([e])=>e!==r)):{},hidden:i?[...new Set([...n.hidden,r])]:n.hidden.filter(e=>e!==r)})}function Lf(e,t){let{[t]:n,...r}=e.layouts??{},{layouts:i,...a}=e;return Object.keys(r).length>0?{...a,layouts:r}:a}var Rf=4,zf=4,Bf=100,Vf=32;function Hf(e){let[t,n]=(0,q.useState)({width:0,height:0});return(0,q.useEffect)(()=>{let t=e.current;if(!t)return;let r=new ResizeObserver(()=>n({width:t.clientWidth,height:t.clientHeight}));return r.observe(t),()=>r.disconnect()},[e]),t}function Uf({panel:e,device:t,layout:n,previewWidth:r,editing:i,selectedId:a,onSelect:o,onPlace:s,onRemove:c,onHide:l,onVisibleColumns:u}){let d=(0,q.useRef)(null),f=Hf(d),[p,m]=(0,q.useState)(null),h=Of[t].columns,g=(r??f.width)-32,_=h===null?64:Math.max(Vf,Math.floor(g/h)),v=h??Math.max(1,Math.floor(g/_)),y=Math.max(1,Math.floor((f.height-32)/_));(0,q.useEffect)(()=>u?.(v),[v,u]);let b=[...n.rects.values()],x=Tf(p?[...b,p.rect]:b),S=h??(i?Math.max(x.cols+Rf,v):x.cols),C=i?Math.max(x.rows+Rf,y):x.rows,w=(e,t,r)=>{let a=n.rects.get(t.id);if(!i||e.button!==0||p||!a)return;e.stopPropagation(),e.currentTarget.setPointerCapture(e.pointerId);let s=d.current;m({id:t.id,kind:r,pointerId:e.pointerId,startX:e.clientX,startY:e.clientY,startScrollLeft:s.scrollLeft,startScrollTop:s.scrollTop,origin:a,rect:a,dx:0,dy:0,moved:!1}),o(t.id)},T=t=>{if(!p||t.pointerId!==p.pointerId)return;let n=d.current,r=t.clientX-p.startX+n.scrollLeft-p.startScrollLeft,i=t.clientY-p.startY+n.scrollTop-p.startScrollTop,{origin:a}=p,o;if(p.kind===`move`){let e=Math.max(0,a.x+Math.round(r/_));o={...a,x:h===null?e:Math.min(h-a.w,e),y:Math.max(0,a.y+Math.round(i/_))}}else{let t=Sf(e.widgets.find(e=>e.id===p.id)?.type??``)?.minSize,n=h===null?Bf:h-a.x;o={...a,w:Math.min(n,Math.max(Math.min(t?.w??1,n),a.w+Math.round(r/_))),h:Math.min(Bf,Math.max(t?.h??1,a.h+Math.round(i/_)))}}m({...p,dx:r,dy:i,rect:o,moved:p.moved||Math.hypot(r,i)>zf})},D=e=>{if(!p||e.pointerId!==p.pointerId)return;let{id:t,rect:r,origin:i,moved:a}=p;m(null);let o=r.x!==i.x||r.y!==i.y||r.w!==i.w||r.h!==i.h;a&&o&&jf(r,n,h,t)&&s(t,r)},O=!p||jf(p.rect,n,h,p.id);return(0,J.jsx)(`div`,{ref:d,className:`board-scroll${h===null?``:` columns`}`,onPointerDown:e=>{i&&!e.target.closest(`.widget`)&&o(null)},children:(0,J.jsxs)(`div`,{className:`board${i?` editing`:``}${r?` preview`:``}`,style:{width:S*_,height:C*_,"--cell":`${_}px`},children:[p?.moved&&(0,J.jsx)(`div`,{className:`drop-target${O?``:` invalid`}`,style:Df(p.rect,_)}),e.widgets.map(r=>{let o=n.rects.get(r.id);if(!o)return null;let s=p?.id===r.id&&p.moved?p:null,u=Df(o,_);s?.kind===`move`?u.transform=`translate(${s.dx}px, ${s.dy}px)`:s?.kind===`resize`&&(u.width=Math.max(_-8,o.w*_-8+s.dx),u.height=Math.max(_-8,o.h*_-8+s.dy));let d=Sf(r.type),f=d?.icon??Pe;return(0,J.jsxs)(`div`,{className:[`widget`,i&&`editing`,a===r.id&&`selected`,s&&`dragging`].filter(Boolean).join(` `),style:u,onPointerDown:e=>w(e,r,`move`),onPointerMove:T,onPointerUp:D,onPointerCancel:D,children:[(0,J.jsx)(Wf,{instance:r,panelId:e.id,editing:i}),i&&(0,J.jsxs)(`div`,{className:`widget-chrome`,children:[(0,J.jsxs)(`span`,{className:`widget-tag`,children:[(0,J.jsx)(f,{width:14,height:14}),d?.name??r.type]}),(0,J.jsxs)(`div`,{className:`widget-buttons`,children:[l&&(0,J.jsx)(`button`,{type:`button`,className:`widget-button`,title:`Hide on ${Of[t].label.toLowerCase()}s`,"aria-label":`Hide on ${Of[t].label.toLowerCase()}s`,onPointerDown:e=>e.stopPropagation(),onClick:()=>l(r.id),children:(0,J.jsx)(P,{width:14,height:14})}),(0,J.jsx)(`button`,{type:`button`,className:`widget-button remove`,title:`Remove widget`,"aria-label":`Remove widget`,onPointerDown:e=>e.stopPropagation(),onClick:()=>c(r.id),children:(0,J.jsx)(E,{width:14,height:14})})]}),(0,J.jsx)(`div`,{className:`resize-handle`,title:`Resize`,onPointerDown:e=>w(e,r,`resize`)})]})]},r.id)})]})})}var Wf=(0,q.memo)(function({instance:e,panelId:t,editing:n}){let r=Sf(e.type),i=(0,q.useMemo)(()=>r?vf(r,e.config):{},[r,e.config]);return(0,J.jsxs)(`div`,{className:`widget-card`,children:[e.title&&(0,J.jsx)(`div`,{className:`widget-title`,children:e.title}),(0,J.jsx)(`div`,{className:`widget-body`,children:r?(0,J.jsx)(Gf,{resetKey:i,children:(0,J.jsx)(r.component,{config:i,instance:e,panelId:t,editing:n})}):(0,J.jsxs)(`div`,{className:`widget-message`,children:[`Unknown widget type “`,e.type,`”: is the plugin that adds it installed?`]})})]})}),Gf=class extends q.Component{state={error:null};static getDerivedStateFromError(e){return{error:e}}componentDidUpdate(e){this.state.error&&e.resetKey!==this.props.resetKey&&this.setState({error:null})}render(){return this.state.error?(0,J.jsxs)(`div`,{className:`widget-message error`,children:[`This widget failed: `,this.state.error.message]}):this.props.children}};function Kf({widget:e,onChange:t,onDuplicate:n,onRemove:r,onClose:i}){let a=Sf(e.type),o=a?vf(a,e.config):e.config,s=a?.icon??Pe,c=(n,r)=>t({...e,config:{...e.config,[n]:r}});return(0,J.jsxs)(`aside`,{className:`properties`,"aria-label":`Widget properties`,children:[(0,J.jsxs)(`header`,{className:`properties-header`,children:[(0,J.jsx)(s,{}),(0,J.jsx)(`h2`,{children:a?.name??e.type}),(0,J.jsx)(`button`,{type:`button`,className:`icon-button`,"aria-label":`Close`,onClick:i,children:(0,J.jsx)(H,{})})]}),(0,J.jsxs)(`div`,{className:`properties-body`,children:[(0,J.jsx)(qf,{label:`Title`,help:`Shown above the widget, if set`,children:n=>(0,J.jsx)(Yf,{id:n,value:e.title,onCommit:n=>t({...e,title:n})})}),a?.properties.filter(e=>!e.visible||e.visible(o)).map(e=>(0,J.jsx)(Jf,{property:e,value:o[e.key],onChange:t=>c(e.key,t)},e.key)),(0,J.jsxs)(`p`,{className:`properties-meta`,children:[e.w,`×`,e.h,` cells at column `,e.x+1,`, row `,e.y+1]})]}),(0,J.jsxs)(`footer`,{className:`properties-footer`,children:[(0,J.jsxs)(`button`,{type:`button`,className:`button`,onClick:n,children:[(0,J.jsx)(z,{}),` Duplicate`]}),(0,J.jsxs)(`button`,{type:`button`,className:`button danger`,onClick:r,children:[(0,J.jsx)(E,{}),` Remove`]})]})]})}function qf({label:e,help:t,children:n}){let r=(0,q.useId)();return(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsx)(`label`,{className:`field-label`,htmlFor:r,children:e}),n(r),t&&(0,J.jsx)(`p`,{className:`field-help`,children:t})]})}function Jf({property:e,value:t,onChange:n}){return e.kind===`boolean`?(0,J.jsxs)(`div`,{className:`field`,children:[(0,J.jsxs)(`label`,{className:`toggle`,children:[(0,J.jsx)(`input`,{type:`checkbox`,checked:t===!0,onChange:e=>n(e.target.checked)}),(0,J.jsx)(`span`,{className:`toggle-switch`,"aria-hidden":`true`}),(0,J.jsx)(`span`,{className:`field-label`,children:e.label})]}),e.help&&(0,J.jsx)(`p`,{className:`field-help`,children:e.help})]}):(0,J.jsx)(qf,{label:e.label,help:e.help,children:r=>{switch(e.kind){case`number`:return(0,J.jsx)(Yf,{id:r,type:`number`,min:e.min,max:e.max,step:e.step??`any`,value:String(t),onCommit:t=>{let r=Number(t);t.trim()&&Number.isFinite(r)&&n(Math.min(e.max??1/0,Math.max(e.min??-1/0,r)))}});case`select`:return e.useOptions?(0,J.jsx)(Xf,{id:r,value:String(t),options:e.options,useOptions:e.useOptions,onChange:n}):(0,J.jsx)(`select`,{id:r,value:String(t),onChange:e=>n(e.target.value),children:e.options.map(e=>(0,J.jsx)(`option`,{value:e.value,children:e.label},e.value))});case`color`:return(0,J.jsxs)(`div`,{className:`color-field`,children:[(0,J.jsx)(`input`,{id:r,type:`color`,value:String(t),onChange:e=>n(e.target.value)}),(0,J.jsx)(`code`,{children:String(t)})]});case`text`:return(0,J.jsx)(Yf,{id:r,multiline:!0,value:String(t),placeholder:e.placeholder,onCommit:n});case`image`:case`behavior-tree`:return(0,J.jsx)(Mt,{id:r,kind:e.kind,value:String(t),placeholder:e.placeholder,onCommit:n,children:e=>(0,J.jsx)(Yf,{...e})});case`topic`:return(0,J.jsx)(Zf,{id:r,value:String(t),types:e.topicTypes,placeholder:e.placeholder,onCommit:n});default:return(0,J.jsx)(Yf,{id:r,value:String(t),placeholder:e.placeholder,onCommit:n})}}})}function Yf({value:e,onCommit:t,multiline:n=!1,...r}){let[i,a]=(0,q.useState)(e);(0,q.useEffect)(()=>a(e),[e]);let o=()=>i!==e&&t(i),s={...r,value:i,spellCheck:!1,onBlur:o,onChange:e=>a(e.target.value)};return n?(0,J.jsx)(`textarea`,{...s,rows:4,onKeyDown:t=>{t.key===`Enter`&&(t.ctrlKey||t.metaKey)?o():t.key===`Escape`&&a(e)}}):(0,J.jsx)(`input`,{...s,onKeyDown:t=>{t.key===`Enter`?o():t.key===`Escape`&&a(e)}})}function Xf({id:e,value:t,options:n,useOptions:r,onChange:i}){let a=r(),o=[...n,...a.filter(e=>!n.some(t=>t.value===e.value))];return(0,J.jsxs)(`select`,{id:e,value:t,onChange:e=>i(e.target.value),children:[!o.some(e=>e.value===t)&&(0,J.jsx)(`option`,{value:t,children:t}),o.map(e=>(0,J.jsx)(`option`,{value:e.value,children:e.label},e.value))]})}function Zf({id:e,value:t,types:n,placeholder:r,onCommit:i}){let[a,o]=(0,q.useState)([]),s=`${e}-topics`,c=()=>Xe.listTopics().then(o).catch(()=>o([])),l=a.filter(e=>e.types.some(e=>n.includes(e)));return(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(Yf,{id:e,value:t,placeholder:r,list:s,onFocus:c,onCommit:i}),(0,J.jsx)(`datalist`,{id:s,children:l.map(e=>(0,J.jsx)(`option`,{value:e.name,children:e.types.join(`, `)},e.name))})]})}function Qf(){let e=new Map;for(let t of xf())e.set(t.plugin,[...e.get(t.plugin)??[],t]);return[...e].map(([e,t])=>({plugin:e,entries:t}))}function $f({onAdd:e,onClose:t}){let n=Qf();return(0,J.jsx)($e,{title:`Add a widget`,onClose:t,wide:!0,children:(0,J.jsx)(`div`,{className:`palette-scroll`,children:n.map(({plugin:t,entries:r})=>(0,J.jsxs)(`section`,{children:[n.length>1&&(0,J.jsx)(`h3`,{className:`palette-heading`,children:t??`Tassello`}),(0,J.jsx)(`div`,{className:`palette`,children:r.map(({definition:t})=>(0,J.jsxs)(`button`,{type:`button`,className:`palette-item`,onClick:()=>e(t),children:[(0,J.jsx)(`span`,{className:`palette-icon`,children:(0,J.jsx)(t.icon,{width:24,height:24})}),(0,J.jsxs)(`span`,{className:`palette-text`,children:[(0,J.jsx)(`strong`,{children:t.name}),(0,J.jsx)(`span`,{children:t.description})]})]},t.type))})]},t??``))})})}var ep=500,tp=18,np={desktop:Ve,tablet:l,phone:ie},rp=e=>Sf(e)?.minSize??{w:1,h:1};function ip(){let[e,t]=(0,q.useState)(()=>kf(window.innerWidth));return(0,q.useEffect)(()=>{let e=()=>t(kf(window.innerWidth));return window.addEventListener(`resize`,e),()=>window.removeEventListener(`resize`,e)},[]),e}function ap(){return decodeURIComponent(location.hash.replace(/^#\/?/,``))}function op(e,t=!1){let n=`#/${encodeURIComponent(e)}`;t?(history.replaceState(null,``,n),window.dispatchEvent(new HashChangeEvent(`hashchange`))):location.hash=n}function sp(e){return`${e.replace(/[^A-Za-z0-9_-]+/g,`-`).slice(-48)}-${Math.random().toString(36).slice(2,8)}`}function cp(e){return e instanceof Error?e.message:String(e)}function lp(){let[e,t]=(0,q.useState)(`saved`),n=(0,q.useRef)(null),r=(0,q.useRef)(null),i=(0,q.useRef)(Promise.resolve()),a=(0,q.useCallback)(()=>{r.current&&=(clearTimeout(r.current),null);let e=n.current;return n.current=null,e&&(i.current=i.current.then(()=>Xe.savePanel(e).then(()=>{n.current||t(`saved`)},n=>{t(`failed`),G(`Could not save “${e.name}”: ${cp(n)}`,`error`)}))),i.current},[]),o=(0,q.useCallback)(e=>{n.current=e,t(`saving`),r.current&&clearTimeout(r.current),r.current=setTimeout(a,ep)},[a]);return(0,q.useEffect)(()=>{let e=()=>{let e=n.current;e&&(n.current=null,fetch(`/api/panels/${encodeURIComponent(e.id)}`,{method:`PUT`,headers:{"Content-Type":`application/json`},body:JSON.stringify(e),keepalive:!0}))};return window.addEventListener(`pagehide`,e),()=>window.removeEventListener(`pagehide`,e)},[]),[e,(0,q.useMemo)(()=>({schedule:o,flush:a,isPending:()=>n.current!==null}),[o,a])]}function up(){let e=We(),t=et(),[n,r]=lp(),[i,a]=(0,q.useState)(null),[o,s]=(0,q.useState)(ap),c=(0,q.useRef)(o);c.current=o;let[l,u]=(0,q.useState)(null),d=(0,q.useRef)(null),[f,p]=(0,q.useState)(null),[m,h]=(0,q.useState)(`view`),[g,_]=(0,q.useState)(null),[v,y]=(0,q.useState)(!1),[x,S]=(0,q.useState)(!1),C=(0,q.useRef)([]),[w,T]=(0,q.useState)(!1),E=(0,q.useRef)(12),D=(0,q.useCallback)(e=>{E.current=e},[]),O=m===`edit`,A=ip(),[j,M]=(0,q.useState)(null),N=O?j??A:A,P=(0,q.useRef)(N);P.current=N;let F=(0,q.useMemo)(()=>l?Nf(l,N,rp):null,[l,N]),I=(0,q.useCallback)(e=>{d.current=e,u(e)},[]),L=(0,q.useCallback)(async()=>{try{a(await Xe.listPanels())}catch(e){G(`Could not list the panels: ${cp(e)}`,`error`)}},[]),R=(0,q.useCallback)(e=>{let t=d.current;if(!t)return;let n=e(t);C.current=[...C.current.slice(-49),t],T(!0),I(n),r.schedule(n)},[r,I]),ee=(0,q.useCallback)(()=>{let e=C.current.pop();T(C.current.length>0),e&&(I(e),r.schedule(e),_(t=>t&&e.widgets.some(e=>e.id===t)?t:null))},[r,I]);(0,q.useEffect)(()=>{let e=()=>s(ap());return window.addEventListener(`hashchange`,e),()=>window.removeEventListener(`hashchange`,e)},[]),(0,q.useEffect)(()=>{e!==`closed`&&L()},[L,e]),(0,q.useEffect)(()=>{i&&i.length>0&&!i.some(e=>e.id===o)&&op(i[0].id,!0)},[i,o]);let te=(0,q.useCallback)(async e=>{try{let t=await Xe.getPanel(e);e===c.current&&(I(t),p(null))}catch(t){e===c.current&&p(cp(t))}},[I]),z=i?.some(e=>e.id===o)??!1;(0,q.useEffect)(()=>{if(!z)return;let e=!0;return r.flush().then(()=>{e&&(C.current=[],T(!1),_(null),te(o))}),()=>{e=!1}},[o,z,te,r]),(0,q.useEffect)(()=>b.onServerMessage(e=>{e.type===`error`&&G(e.message,`error`),e.type===`panels.changed`&&e.origin!==b.clientId&&(L(),e.id===d.current?.id&&!e.deleted&&!r.isPending()&&te(e.id))}),[L,te,r]);let ne=async e=>{e===`view`&&(_(null),M(null),await r.flush()),h(e),S(!1)},re=e=>{y(!1);let t=d.current;if(!t)return;let n=P.current===`desktop`?E.current:tp,r=Ef(t.widgets,e.defaultSize,n),i={id:sp(e.type),type:e.type,title:``,...r,config:{}};R(e=>({...e,widgets:[...e.widgets,i]})),_(i.id)},ie=(0,q.useCallback)((e,t)=>R(n=>Ff(n,P.current,Nf(n,P.current,rp),e,t)),[R]),ae=(0,q.useCallback)((e,t=!0)=>{let n=P.current;n!==`desktop`&&(R(r=>If(r,n,Nf(r,n,rp),e,t)),_(t=>t===e?null:t))},[R]),oe=(0,q.useCallback)(e=>{let t=d.current?.widgets.find(t=>t.id===e);if(R(t=>({...t,widgets:t.widgets.filter(t=>t.id!==e)})),_(t=>t===e?null:t),t){let e=t.title||Sf(t.type)?.name||t.type;G(`Removed “${e}”`,`info`,{label:`Undo`,run:ee})}},[R,ee]),se=e=>{let t=d.current,n=t?.widgets.find(t=>t.id===e);if(!t||!n)return;let r=P.current===`desktop`?E.current:tp,i=Ef(t.widgets,{w:n.w,h:n.h},r),a={...n,...i,id:sp(n.type),config:structuredClone(n.config)};R(e=>({...e,widgets:[...e.widgets,a]})),_(a.id)},B=async()=>{S(!1);let e=await t.prompt({title:`New panel`,label:`Name`,confirmLabel:`Create`});if(e)try{let t=await Xe.createPanel({name:e,widgets:[]});await L(),op(t.id),h(`edit`)}catch(e){G(`Could not create the panel: ${cp(e)}`,`error`)}},le=async()=>{S(!1);let e=d.current;if(!e)return;let n=await t.prompt({title:`Rename panel`,label:`Name`,initial:e.name,confirmLabel:`Rename`});n&&n!==e.name&&(R(e=>({...e,name:n})),await r.flush(),await L())},ue=async()=>{S(!1);let e=d.current;if(e)try{await r.flush();let t=await Xe.createPanel({name:`${e.name} (copy)`,widgets:e.widgets});await L(),op(t.id)}catch(e){G(`Could not duplicate the panel: ${cp(e)}`,`error`)}},de=async()=>{S(!1);let e=d.current;if(e&&await t.confirm({title:`Delete “${e.name}”?`,message:`The panel and its widgets are deleted for good.`,confirmLabel:`Delete`,danger:!0}))try{await r.flush(),await Xe.deletePanel(e.id),I(null),await L()}catch(e){G(`Could not delete the panel: ${cp(e)}`,`error`)}};(0,q.useEffect)(()=>{if(!O)return;let e=e=>{if(e.target.closest(`input, textarea, select, [role="dialog"]`))return;if(e.key===`z`&&(e.ctrlKey||e.metaKey)&&!e.shiftKey){e.preventDefault(),ee();return}let t=d.current?.widgets.find(e=>e.id===g);if(!t)return;if(e.key===`Delete`||e.key===`Backspace`){e.preventDefault(),oe(t.id);return}let n={ArrowLeft:[-1,0],ArrowRight:[1,0],ArrowUp:[0,-1],ArrowDown:[0,1]}[e.key],r=Nf(d.current,P.current,rp),i=r.rects.get(t.id);if(n&&i){e.preventDefault();let a={...i,x:i.x+n[0],y:i.y+n[1]};jf(a,r,Of[P.current].columns,t.id)&&ie(t.id,a)}};return window.addEventListener(`keydown`,e),()=>window.removeEventListener(`keydown`,e)},[O,g,ee,oe,ie]);let V=O?l?.widgets.find(e=>e.id===g):void 0,fe={connecting:`Connecting…`,open:`Connected to ${b.hostname}`,closed:`Disconnected, reconnecting…`}[e];return(0,J.jsxs)(`div`,{className:`app${O?` editing`:``}`,children:[(0,J.jsxs)(`header`,{className:`topbar`,children:[(0,J.jsxs)(`div`,{className:`brand`,title:fe,children:[(0,J.jsx)(Re,{width:22,height:22}),(0,J.jsx)(`span`,{className:`brand-name`,children:b.hostname||`Tassello`}),(0,J.jsx)(`span`,{className:`connection-dot ${e}`,"aria-label":fe})]}),i&&i.length>0&&(0,J.jsx)(`select`,{className:`panel-select`,"aria-label":`Panel`,value:o,onChange:e=>op(e.target.value),children:i.map(e=>(0,J.jsx)(`option`,{value:e.id,children:e.name},e.id))}),(0,J.jsx)(`div`,{className:`topbar-spacer`}),O&&l&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`span`,{className:`save-state ${n}`,children:{saved:`Saved`,saving:`Saving…`,failed:`Not saved`}[n]}),(0,J.jsx)(`button`,{type:`button`,className:`icon-button`,title:`Undo (Ctrl+Z)`,"aria-label":`Undo`,disabled:!w,onClick:ee,children:(0,J.jsx)(_e,{})}),(0,J.jsxs)(`button`,{type:`button`,className:`button primary`,"aria-label":`Add widget`,onClick:()=>y(!0),children:[(0,J.jsx)(ce,{}),` `,(0,J.jsx)(`span`,{className:`hide-narrow`,children:`Add widget`})]})]}),O&&(0,J.jsx)(`div`,{className:`mode-switch device-switch`,role:`group`,"aria-label":`Layout of`,children:Object.keys(Of).map(e=>{let t=np[e];return(0,J.jsx)(`button`,{type:`button`,"aria-pressed":N===e,title:`The ${Of[e].label.toLowerCase()} layout`,"aria-label":`${Of[e].label} layout`,onClick:()=>{M(e),_(null)},children:(0,J.jsx)(t,{})},e)})}),O&&(0,J.jsxs)(`div`,{className:`menu`,children:[(0,J.jsx)(`button`,{type:`button`,className:`icon-button`,"aria-label":`Panel actions`,"aria-expanded":x,onClick:()=>S(e=>!e),children:(0,J.jsx)(k,{})}),x&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`div`,{className:`menu-backdrop`,onPointerDown:()=>S(!1)}),(0,J.jsxs)(`div`,{className:`menu-list`,role:`menu`,children:[(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,onClick:B,children:`New panel…`}),l&&(0,J.jsxs)(J.Fragment,{children:[(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,onClick:le,children:`Rename panel…`}),(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,onClick:ue,children:`Duplicate panel`}),(0,J.jsx)(`button`,{type:`button`,role:`menuitem`,className:`danger`,onClick:de,children:`Delete panel…`})]})]})]})]}),(0,J.jsxs)(`div`,{className:`mode-switch`,role:`group`,"aria-label":`Mode`,children:[(0,J.jsxs)(`button`,{type:`button`,"aria-label":`View`,title:`View`,"aria-pressed":!O,onClick:()=>ne(`view`),children:[(0,J.jsx)(Le,{}),` `,(0,J.jsx)(`span`,{className:`hide-narrow`,children:`View`})]}),(0,J.jsxs)(`button`,{type:`button`,"aria-label":`Edit`,title:`Edit`,"aria-pressed":O,onClick:()=>ne(`edit`),children:[(0,J.jsx)(he,{}),` `,(0,J.jsx)(`span`,{className:`hide-narrow`,children:`Edit`})]})]})]}),(0,J.jsx)(`main`,{className:`workspace`,children:i===null?(0,J.jsx)(`div`,{className:`empty-state`,children:`Loading…`}):i.length===0?(0,J.jsxs)(`div`,{className:`empty-state`,children:[(0,J.jsx)(`h1`,{children:`No panels yet`}),(0,J.jsx)(`p`,{children:`A panel is a board of widgets: create one for each task, e.g. teleoperation or navigation.`}),(0,J.jsxs)(`button`,{type:`button`,className:`button primary`,onClick:B,children:[(0,J.jsx)(ce,{}),` Create a panel`]})]}):f?(0,J.jsxs)(`div`,{className:`empty-state`,children:[(0,J.jsx)(`h1`,{children:`Cannot open this panel`}),(0,J.jsx)(`p`,{children:f})]}):l?(0,J.jsxs)(J.Fragment,{children:[(0,J.jsxs)(`div`,{className:`board-column`,children:[O&&N!==`desktop`&&F&&(0,J.jsxs)(`div`,{className:`layout-bar`,children:[(0,J.jsxs)(`span`,{children:[(0,J.jsxs)(`strong`,{children:[Of[N].label,` layout`]}),F.custom?` · arranged for this device`:` · automatic, from the desktop’s: moving a widget arranges it for this device`]}),F.hidden.length>0&&(0,J.jsxs)(`span`,{className:`layout-hidden`,children:[`Hidden:`,F.hidden.map(e=>{let t=l.widgets.find(t=>t.id===e);return(0,J.jsxs)(`button`,{type:`button`,className:`layout-chip`,title:`Show it again`,onClick:()=>ae(e,!1),children:[t?.title||Sf(t?.type??``)?.name||e,` ＋`]},e)})]}),(F.custom||F.hidden.length>0)&&(0,J.jsx)(`button`,{type:`button`,className:`link-button`,onClick:()=>R(e=>Lf(e,N)),children:`Back to automatic`})]}),F&&(0,J.jsx)(Uf,{panel:l,device:N,layout:F,previewWidth:N===A?null:Of[N].previewWidth,editing:O,selectedId:g,onSelect:_,onPlace:ie,onRemove:oe,onHide:N===`desktop`?void 0:ae,onVisibleColumns:D},N)]}),l.widgets.length===0&&(0,J.jsx)(`div`,{className:`board-hint`,children:O?(0,J.jsxs)(J.Fragment,{children:[`This panel is empty: add widgets with `,(0,J.jsx)(`strong`,{children:`Add widget`}),`.`]}):(0,J.jsxs)(J.Fragment,{children:[`This panel is empty: switch to `,(0,J.jsx)(`strong`,{children:`Edit`}),` to add widgets.`]})}),V&&(0,J.jsx)(Kf,{widget:V,onChange:e=>R(t=>({...t,widgets:t.widgets.map(t=>t.id===e.id?e:t)})),onDuplicate:()=>se(V.id),onRemove:()=>oe(V.id),onClose:()=>_(null)},V.id)]}):null}),v&&(0,J.jsx)($f,{onAdd:re,onClose:()=>y(!1)}),(0,J.jsx)(Ke,{})]})}var dp=[];function fp(e){return e instanceof Error?e.message:String(e)}async function pp(){try{dp=await Xe.listPlugins()}catch(e){return[`The plugins could not be listed: ${fp(e)}`]}let e=dp.flatMap(e=>e.error?[`Plugin ${e.name}: its server side did not start: ${e.error}`]:[]);for(let e of dp)for(let t of e.styles){let e=document.createElement(`link`);e.rel=`stylesheet`,e.href=t,document.head.append(e)}return(await Promise.allSettled(dp.map(e=>e.client?rf(()=>import(e.client),[]):Promise.resolve(null)))).forEach((t,n)=>{let{name:r}=dp[n];if(t.status===`rejected`){e.push(`Plugin ${r} did not load: ${fp(t.reason)}`);return}if(t.value===null)return;let i=t.value.default;if(typeof i!=`object`||!i)e.push(`Plugin ${r}: its client module has no default export (definePlugin({ widgets }))`);else for(let t of bf(r,i))e.push(`Plugin ${r}: ${t}`)}),e}b.connect();var mp=await pp();(0,K.createRoot)(document.getElementById(`root`)).render((0,J.jsx)(q.StrictMode,{children:(0,J.jsx)(tt,{children:(0,J.jsx)(up,{})})}));for(let e of mp)console.error(e),G(e,`error`);

package/docs/plugins.md

@@ -140,6 +140,20 @@ mistyped values, so properties can be added without touching the saved panels),
 | `image` | `string`, an image of the robot or uploaded (see `imageUrl`) | `placeholder` |
 | `behavior-tree` | `string`, a behavior tree's XML (BT.CPP's) of the robot, or uploaded | `placeholder` |
 
+A `select`'s options can also be known only at run time, e.g. the robot's: `useOptions`, a hook
+the properties panel calls, gives those, shown after `options`. Its values are then not checked
+against the options, and a value among neither is kept (it may be one later, e.g. once fetched):
+
+```ts
+function useArms() {
+  const [arms, setArms] = useState<{ value: string; label: string }[]>([]);
+  useEffect(() => connection.subscribePlugin('my-robot', 'arms', {}, { data: (data) => setArms(data as typeof arms) }), []);
+  return arms;
+}
+
+{ key: 'arm', label: 'Arm', kind: 'select', default: '', options: [{ value: '', label: 'None' }], useOptions: useArms }
+```
+
 ### The robot
 
 `connection`, the page's connection to the server:

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "tassello",
-  "version": "0.4.0",
+  "version": "0.5.0",
   "description": "Web dashboard for ROS 2 robots: panels of widgets arranged in the browser, on any device, extensible with plugins",
   "keywords": [
     "ros",