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o=t.memoizedState;if(l=o.cache,bn(t,Be,l),l!==c.cache&&Os(t,[Be],n,!0),ba(),l=o.element,c.isDehydrated)if(c={element:l,isDehydrated:!1,cache:o.cache},t.updateQueue.baseState=c,t.memoizedState=c,t.flags&256){t=Sd(e,t,l,n);break e}else if(l!==u){u=St(Error(r(424)),t),ha(u),t=Sd(e,t,l,n);break e}else{switch(e=t.stateNode.containerInfo,e.nodeType){case 9:e=e.body;break;default:e=e.nodeName==="HTML"?e.ownerDocument.body:e}for(Ne=Ct(e.firstChild),Ze=t,de=!0,gn=null,_t=!0,n=yf(t,null,l,n),t.child=n;n;)n.flags=n.flags&-3|4096,n=n.sibling}else{if($n(),l===u){t=Pt(e,t,n);break e}Je(e,t,l,n)}t=t.child}return t;case 26:return Yi(e,t),e===null?(n=Bh(t.type,null,t.pendingProps,null))?t.memoizedState=n:de||(n=t.type,e=t.pendingProps,l=au(ie.current).createElement(n),l[Qe]=t,l[tt]=e,$e(l,n,e),Xe(l),t.stateNode=l):t.memoizedState=Bh(t.type,e.memoizedProps,t.pendingProps,e.memoizedState),null;case 27:return 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t.pendingProps}throw Error(r(156,t.tag))}function en(e){e.flags|=4}function yc(e,t,n,l,u){if((t=(e.mode&32)!==0)&&(t=!1),t){if(e.flags|=16777216,(u&335544128)===u)if(e.stateNode.complete)e.flags|=8192;else if(Id())e.flags|=8192;else throw el=Ci,js}else e.flags&=-16777217}function Cd(e,t){if(t.type!=="stylesheet"||(t.state.loading&4)!==0)e.flags&=-16777217;else if(e.flags|=16777216,!Yh(t))if(Id())e.flags|=8192;else throw el=Ci,js}function Xi(e,t){t!==null&&(e.flags|=4),e.flags&16384&&(t=e.tag!==22?lo():536870912,e.lanes|=t,Hl|=t)}function Ca(e,t){if(!de)switch(e.tailMode){case"hidden":t=e.tail;for(var n=null;t!==null;)t.alternate!==null&&(n=t),t=t.sibling;n===null?e.tail=null:n.sibling=null;break;case"collapsed":n=e.tail;for(var l=null;n!==null;)n.alternate!==null&&(l=n),n=n.sibling;l===null?t||e.tail===null?e.tail=null:e.tail.sibling=null:l.sibling=null}}function Re(e){var t=e.alternate!==null&&e.alternate.child===e.child,n=0,l=0;if(t)for(var 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a=this._xhr.responseText;a!==null&&(this.emitReserved("data",a),this.emitReserved("success"),this._cleanup())}abort(){this._cleanup()}}kt.requestsCount=0;kt.requests={};if(typeof document<"u"){if(typeof attachEvent=="function")attachEvent("onunload",xm);else if(typeof addEventListener=="function"){const i="onpagehide"in Rt?"pagehide":"unload";addEventListener(i,xm,!1)}}function xm(){for(let i in kt.requests)kt.requests.hasOwnProperty(i)&&kt.requests[i].abort()}const Kv=(function(){const i=ap({xdomain:!1});return i&&i.responseType!==null})();class Jv extends Zv{constructor(a){super(a);const s=a&&a.forceBase64;this.supportsBinary=Kv&&!s}request(a={}){return Object.assign(a,{xd:this.xd},this.opts),new kt(ap,this.uri(),a)}}function ap(i){const a=i.xdomain;try{if(typeof XMLHttpRequest<"u"&&(!a||Gv))return new XMLHttpRequest}catch{}if(!a)try{return new Rt[["Active"].concat("Object").join("X")]("Microsoft.XMLHTTP")}catch{}}const ip=typeof navigator<"u"&&typeof navigator.product=="string"&&navigator.product.toLowerCase()==="reactnative";class $v extends Vr{get name(){return"websocket"}doOpen(){const a=this.uri(),s=this.opts.protocols,r=ip?{}:tp(this.opts,"agent","perMessageDeflate","pfx","key","passphrase","cert","ca","ciphers","rejectUnauthorized","localAddress","protocolVersion","origin","maxPayload","family","checkServerIdentity");this.opts.extraHeaders&&(r.headers=this.opts.extraHeaders);try{this.ws=this.createSocket(a,s,r)}catch(f){return this.emitReserved("error",f)}this.ws.binaryType=this.socket.binaryType,this.addEventListeners()}addEventListeners(){this.ws.onopen=()=>{this.opts.autoUnref&&this.ws._socket.unref(),this.onOpen()},this.ws.onclose=a=>this.onClose({description:"websocket connection closed",context:a}),this.ws.onmessage=a=>this.onData(a.data),this.ws.onerror=a=>this.onError("websocket error",a)}write(a){this.writable=!1;for(let s=0;s<a.length;s++){const r=a[s],f=s===a.length-1;kr(r,this.supportsBinary,d=>{try{this.doWrite(r,d)}catch{}f&&Uu(()=>{this.writable=!0,this.emitReserved("drain")},this.setTimeoutFn)})}}doClose(){typeof this.ws<"u"&&(this.ws.onerror=()=>{},this.ws.close(),this.ws=null)}uri(){const a=this.opts.secure?"wss":"ws",s=this.query||{};return this.opts.timestampRequests&&(s[this.opts.timestampParam]=np()),this.supportsBinary||(s.b64=1),this.createUri(a,s)}}const mr=Rt.WebSocket||Rt.MozWebSocket;class Fv extends $v{createSocket(a,s,r){return ip?new mr(a,s,r):s?new mr(a,s):new mr(a)}doWrite(a,s){this.ws.send(s)}}class Wv extends Vr{get name(){return"webtransport"}doOpen(){try{this._transport=new WebTransport(this.createUri("https"),this.opts.transportOptions[this.name])}catch(a){return this.emitReserved("error",a)}this._transport.closed.then(()=>{this.onClose()}).catch(a=>{this.onError("webtransport error",a)}),this._transport.ready.then(()=>{this._transport.createBidirectionalStream().then(a=>{const s=Dv(Number.MAX_SAFE_INTEGER,this.socket.binaryType),r=a.readable.pipeThrough(s).getReader(),f=zv();f.readable.pipeTo(a.writable),this._writer=f.writable.getWriter();const d=()=>{r.read().then(({done:b,value:p})=>{b||(this.onPacket(p),d())}).catch(b=>{})};d();const y={type:"open"};this.query.sid&&(y.data=`{"sid":"${this.query.sid}"}`),this._writer.write(y).then(()=>this.onOpen())})})}write(a){this.writable=!1;for(let s=0;s<a.length;s++){const r=a[s],f=s===a.length-1;this._writer.write(r).then(()=>{f&&Uu(()=>{this.writable=!0,this.emitReserved("drain")},this.setTimeoutFn)})}}doClose(){var a;(a=this._transport)===null||a===void 0||a.close()}}const Iv={websocket:Fv,webtransport:Wv,polling:Jv},Pv=/^(?:(?![^:@\/?#]+:[^:@\/]*@)(http|https|ws|wss):\/\/)?((?:(([^:@\/?#]*)(?::([^:@\/?#]*))?)?@)?((?:[a-f0-9]{0,4}:){2,7}[a-f0-9]{0,4}|[^:\/?#]*)(?::(\d*))?)(((\/(?:[^?#](?![^?#\/]*\.[^?#\/.]+(?:[?#]|$)))*\/?)?([^?#\/]*))(?:\?([^#]*))?(?:#(.*))?)/,eb=["source","protocol","authority","userInfo","user","password","host","port","relative","path","directory","file","query","anchor"];function Cr(i){if(i.length>8e3)throw"URI too long";const a=i,s=i.indexOf("["),r=i.indexOf("]");s!=-1&&r!=-1&&(i=i.substring(0,s)+i.substring(s,r).replace(/:/g,";")+i.substring(r,i.length));let f=Pv.exec(i||""),d={},y=14;for(;y--;)d[eb[y]]=f[y]||"";return s!=-1&&r!=-1&&(d.source=a,d.host=d.host.substring(1,d.host.length-1).replace(/;/g,":"),d.authority=d.authority.replace("[","").replace("]","").replace(/;/g,":"),d.ipv6uri=!0),d.pathNames=tb(d,d.path),d.queryKey=nb(d,d.query),d}function tb(i,a){const s=/\/{2,9}/g,r=a.replace(s,"/").split("/");return(a.slice(0,1)=="/"||a.length===0)&&r.splice(0,1),a.slice(-1)=="/"&&r.splice(r.length-1,1),r}function nb(i,a){const s={};return a.replace(/(?:^|&)([^&=]*)=?([^&]*)/g,function(r,f,d){f&&(s[f]=d)}),s}const Nr=typeof addEventListener=="function"&&typeof removeEventListener=="function",Ou=[];Nr&&addEventListener("offline",()=>{Ou.forEach(i=>i())},!1);class Hn extends ke{constructor(a,s){if(super(),this.binaryType=wv,this.writeBuffer=[],this._prevBufferLen=0,this._pingInterval=-1,this._pingTimeout=-1,this._maxPayload=-1,this._pingTimeoutTime=1/0,a&&typeof a=="object"&&(s=a,a=null),a){const r=Cr(a);s.hostname=r.host,s.secure=r.protocol==="https"||r.protocol==="wss",s.port=r.port,r.query&&(s.query=r.query)}else s.host&&(s.hostname=Cr(s.host).host);Bu(this,s),this.secure=s.secure!=null?s.secure:typeof location<"u"&&location.protocol==="https:",s.hostname&&!s.port&&(s.port=this.secure?"443":"80"),this.hostname=s.hostname||(typeof location<"u"?location.hostname:"localhost"),this.port=s.port||(typeof location<"u"&&location.port?location.port:this.secure?"443":"80"),this.transports=[],this._transportsByName={},s.transports.forEach(r=>{const f=r.prototype.name;this.transports.push(f),this._transportsByName[f]=r}),this.opts=Object.assign({path:"/engine.io",agent:!1,withCredentials:!1,upgrade:!0,timestampParam:"t",rememberUpgrade:!1,addTrailingSlash:!0,rejectUnauthorized:!0,perMessageDeflate:{threshold:1024},transportOptions:{},closeOnBeforeunload:!1},s),this.opts.path=this.opts.path.replace(/\/$/,"")+(this.opts.addTrailingSlash?"/":""),typeof this.opts.query=="string"&&(this.opts.query=Yv(this.opts.query)),Nr&&(this.opts.closeOnBeforeunload&&(this._beforeunloadEventListener=()=>{this.transport&&(this.transport.removeAllListeners(),this.transport.close())},addEventListener("beforeunload",this._beforeunloadEventListener,!1)),this.hostname!=="localhost"&&(this._offlineEventListener=()=>{this._onClose("transport close",{description:"network connection lost"})},Ou.push(this._offlineEventListener))),this.opts.withCredentials&&(this._cookieJar=void 0),this._open()}createTransport(a){const s=Object.assign({},this.opts.query);s.EIO=ep,s.transport=a,this.id&&(s.sid=this.id);const r=Object.assign({},this.opts,{query:s,socket:this,hostname:this.hostname,secure:this.secure,port:this.port},this.opts.transportOptions[a]);return new this._transportsByName[a](r)}_open(){if(this.transports.length===0){this.setTimeoutFn(()=>{this.emitReserved("error","No transports available")},0);return}const a=this.opts.rememberUpgrade&&Hn.priorWebsocketSuccess&&this.transports.indexOf("websocket")!==-1?"websocket":this.transports[0];this.readyState="opening";const s=this.createTransport(a);s.open(),this.setTransport(s)}setTransport(a){this.transport&&this.transport.removeAllListeners(),this.transport=a,a.on("drain",this._onDrain.bind(this)).on("packet",this._onPacket.bind(this)).on("error",this._onError.bind(this)).on("close",s=>this._onClose("transport close",s))}onOpen(){this.readyState="open",Hn.priorWebsocketSuccess=this.transport.name==="websocket",this.emitReserved("open"),this.flush()}_onPacket(a){if(this.readyState==="opening"||this.readyState==="open"||this.readyState==="closing")switch(this.emitReserved("packet",a),this.emitReserved("heartbeat"),a.type){case"open":this.onHandshake(JSON.parse(a.data));break;case"ping":this._sendPacket("pong"),this.emitReserved("ping"),this.emitReserved("pong"),this._resetPingTimeout();break;case"error":const s=new Error("server error");s.code=a.data,this._onError(s);break;case"message":this.emitReserved("data",a.data),this.emitReserved("message",a.data);break}}onHandshake(a){this.emitReserved("handshake",a),this.id=a.sid,this.transport.query.sid=a.sid,this._pingInterval=a.pingInterval,this._pingTimeout=a.pingTimeout,this._maxPayload=a.maxPayload,this.onOpen(),this.readyState!=="closed"&&this._resetPingTimeout()}_resetPingTimeout(){this.clearTimeoutFn(this._pingTimeoutTimer);const a=this._pingInterval+this._pingTimeout;this._pingTimeoutTime=Date.now()+a,this._pingTimeoutTimer=this.setTimeoutFn(()=>{this._onClose("ping timeout")},a),this.opts.autoUnref&&this._pingTimeoutTimer.unref()}_onDrain(){this.writeBuffer.splice(0,this._prevBufferLen),this._prevBufferLen=0,this.writeBuffer.length===0?this.emitReserved("drain"):this.flush()}flush(){if(this.readyState!=="closed"&&this.transport.writable&&!this.upgrading&&this.writeBuffer.length){const a=this._getWritablePackets();this.transport.send(a),this._prevBufferLen=a.length,this.emitReserved("flush")}}_getWritablePackets(){if(!(this._maxPayload&&this.transport.name==="polling"&&this.writeBuffer.length>1))return this.writeBuffer;let s=1;for(let r=0;r<this.writeBuffer.length;r++){const f=this.writeBuffer[r].data;if(f&&(s+=Hv(f)),r>0&&s>this._maxPayload)return this.writeBuffer.slice(0,r);s+=2}return this.writeBuffer}_hasPingExpired(){if(!this._pingTimeoutTime)return!0;const a=Date.now()>this._pingTimeoutTime;return a&&(this._pingTimeoutTime=0,Uu(()=>{this._onClose("ping timeout")},this.setTimeoutFn)),a}write(a,s,r){return this._sendPacket("message",a,s,r),this}send(a,s,r){return this._sendPacket("message",a,s,r),this}_sendPacket(a,s,r,f){if(typeof s=="function"&&(f=s,s=void 0),typeof r=="function"&&(f=r,r=null),this.readyState==="closing"||this.readyState==="closed")return;r=r||{},r.compress=r.compress!==!1;const d={type:a,data:s,options:r};this.emitReserved("packetCreate",d),this.writeBuffer.push(d),f&&this.once("flush",f),this.flush()}close(){const a=()=>{this._onClose("forced close"),this.transport.close()},s=()=>{this.off("upgrade",s),this.off("upgradeError",s),a()},r=()=>{this.once("upgrade",s),this.once("upgradeError",s)};return(this.readyState==="opening"||this.readyState==="open")&&(this.readyState="closing",this.writeBuffer.length?this.once("drain",()=>{this.upgrading?r():a()}):this.upgrading?r():a()),this}_onError(a){if(Hn.priorWebsocketSuccess=!1,this.opts.tryAllTransports&&this.transports.length>1&&this.readyState==="opening")return this.transports.shift(),this._open();this.emitReserved("error",a),this._onClose("transport error",a)}_onClose(a,s){if(this.readyState==="opening"||this.readyState==="open"||this.readyState==="closing"){if(this.clearTimeoutFn(this._pingTimeoutTimer),this.transport.removeAllListeners("close"),this.transport.close(),this.transport.removeAllListeners(),Nr&&(this._beforeunloadEventListener&&removeEventListener("beforeunload",this._beforeunloadEventListener,!1),this._offlineEventListener)){const r=Ou.indexOf(this._offlineEventListener);r!==-1&&Ou.splice(r,1)}this.readyState="closed",this.id=null,this.emitReserved("close",a,s),this.writeBuffer=[],this._prevBufferLen=0}}}Hn.protocol=ep;class lb extends Hn{constructor(){super(...arguments),this._upgrades=[]}onOpen(){if(super.onOpen(),this.readyState==="open"&&this.opts.upgrade)for(let a=0;a<this._upgrades.length;a++)this._probe(this._upgrades[a])}_probe(a){let s=this.createTransport(a),r=!1;Hn.priorWebsocketSuccess=!1;const f=()=>{r||(s.send([{type:"ping",data:"probe"}]),s.once("packet",_=>{if(!r)if(_.type==="pong"&&_.data==="probe"){if(this.upgrading=!0,this.emitReserved("upgrading",s),!s)return;Hn.priorWebsocketSuccess=s.name==="websocket",this.transport.pause(()=>{r||this.readyState!=="closed"&&(T(),this.setTransport(s),s.send([{type:"upgrade"}]),this.emitReserved("upgrade",s),s=null,this.upgrading=!1,this.flush())})}else{const D=new Error("probe error");D.transport=s.name,this.emitReserved("upgradeError",D)}}))};function d(){r||(r=!0,T(),s.close(),s=null)}const y=_=>{const D=new Error("probe error: "+_);D.transport=s.name,d(),this.emitReserved("upgradeError",D)};function b(){y("transport closed")}function p(){y("socket closed")}function g(_){s&&_.name!==s.name&&d()}const T=()=>{s.removeListener("open",f),s.removeListener("error",y),s.removeListener("close",b),this.off("close",p),this.off("upgrading",g)};s.once("open",f),s.once("error",y),s.once("close",b),this.once("close",p),this.once("upgrading",g),this._upgrades.indexOf("webtransport")!==-1&&a!=="webtransport"?this.setTimeoutFn(()=>{r||s.open()},200):s.open()}onHandshake(a){this._upgrades=this._filterUpgrades(a.upgrades),super.onHandshake(a)}_filterUpgrades(a){const s=[];for(let r=0;r<a.length;r++)~this.transports.indexOf(a[r])&&s.push(a[r]);return s}}let ab=class extends lb{constructor(a,s={}){const r=typeof a=="object"?a:s;(!r.transports||r.transports&&typeof r.transports[0]=="string")&&(r.transports=(r.transports||["polling","websocket","webtransport"]).map(f=>Iv[f]).filter(f=>!!f)),super(a,r)}};function ib(i,a="",s){let r=i;s=s||typeof location<"u"&&location,i==null&&(i=s.protocol+"//"+s.host),typeof i=="string"&&(i.charAt(0)==="/"&&(i.charAt(1)==="/"?i=s.protocol+i:i=s.host+i),/^(https?|wss?):\/\//.test(i)||(typeof s<"u"?i=s.protocol+"//"+i:i="https://"+i),r=Cr(i)),r.port||(/^(http|ws)$/.test(r.protocol)?r.port="80":/^(http|ws)s$/.test(r.protocol)&&(r.port="443")),r.path=r.path||"/";const d=r.host.indexOf(":")!==-1?"["+r.host+"]":r.host;return r.id=r.protocol+"://"+d+":"+r.port+a,r.href=r.protocol+"://"+d+(s&&s.port===r.port?"":":"+r.port),r}const ub=typeof ArrayBuffer=="function",sb=i=>typeof ArrayBuffer.isView=="function"?ArrayBuffer.isView(i):i.buffer instanceof ArrayBuffer,up=Object.prototype.toString,cb=typeof Blob=="function"||typeof Blob<"u"&&up.call(Blob)==="[object BlobConstructor]",rb=typeof File=="function"||typeof File<"u"&&up.call(File)==="[object FileConstructor]";function Xr(i){return ub&&(i instanceof ArrayBuffer||sb(i))||cb&&i instanceof Blob||rb&&i instanceof File}function Mu(i,a){if(!i||typeof i!="object")return!1;if(Array.isArray(i)){for(let s=0,r=i.length;s<r;s++)if(Mu(i[s]))return!0;return!1}if(Xr(i))return!0;if(i.toJSON&&typeof i.toJSON=="function"&&arguments.length===1)return Mu(i.toJSON(),!0);for(const s in i)if(Object.prototype.hasOwnProperty.call(i,s)&&Mu(i[s]))return!0;return!1}function ob(i){const a=[],s=i.data,r=i;return r.data=Rr(s,a),r.attachments=a.length,{packet:r,buffers:a}}function Rr(i,a){if(!i)return i;if(Xr(i)){const s={_placeholder:!0,num:a.length};return a.push(i),s}else if(Array.isArray(i)){const s=new Array(i.length);for(let r=0;r<i.length;r++)s[r]=Rr(i[r],a);return s}else if(typeof i=="object"&&!(i instanceof Date)){const s={};for(const r in i)Object.prototype.hasOwnProperty.call(i,r)&&(s[r]=Rr(i[r],a));return s}return i}function fb(i,a){return i.data=Or(i.data,a),delete i.attachments,i}function Or(i,a){if(!i)return i;if(i&&i._placeholder===!0){if(typeof i.num=="number"&&i.num>=0&&i.num<a.length)return a[i.num];throw new Error("illegal attachments")}else if(Array.isArray(i))for(let s=0;s<i.length;s++)i[s]=Or(i[s],a);else if(typeof i=="object")for(const s in i)Object.prototype.hasOwnProperty.call(i,s)&&(i[s]=Or(i[s],a));return i}const db=["connect","connect_error","disconnect","disconnecting","newListener","removeListener"],hb=5;var he;(function(i){i[i.CONNECT=0]="CONNECT",i[i.DISCONNECT=1]="DISCONNECT",i[i.EVENT=2]="EVENT",i[i.ACK=3]="ACK",i[i.CONNECT_ERROR=4]="CONNECT_ERROR",i[i.BINARY_EVENT=5]="BINARY_EVENT",i[i.BINARY_ACK=6]="BINARY_ACK"})(he||(he={}));class mb{constructor(a){this.replacer=a}encode(a){return(a.type===he.EVENT||a.type===he.ACK)&&Mu(a)?this.encodeAsBinary({type:a.type===he.EVENT?he.BINARY_EVENT:he.BINARY_ACK,nsp:a.nsp,data:a.data,id:a.id}):[this.encodeAsString(a)]}encodeAsString(a){let s=""+a.type;return(a.type===he.BINARY_EVENT||a.type===he.BINARY_ACK)&&(s+=a.attachments+"-"),a.nsp&&a.nsp!=="/"&&(s+=a.nsp+","),a.id!=null&&(s+=a.id),a.data!=null&&(s+=JSON.stringify(a.data,this.replacer)),s}encodeAsBinary(a){const s=ob(a),r=this.encodeAsString(s.packet),f=s.buffers;return f.unshift(r),f}}function Sm(i){return Object.prototype.toString.call(i)==="[object Object]"}class Gr extends ke{constructor(a){super(),this.reviver=a}add(a){let s;if(typeof a=="string"){if(this.reconstructor)throw new Error("got plaintext data when reconstructing a packet");s=this.decodeString(a);const r=s.type===he.BINARY_EVENT;r||s.type===he.BINARY_ACK?(s.type=r?he.EVENT:he.ACK,this.reconstructor=new pb(s),s.attachments===0&&super.emitReserved("decoded",s)):super.emitReserved("decoded",s)}else if(Xr(a)||a.base64)if(this.reconstructor)s=this.reconstructor.takeBinaryData(a),s&&(this.reconstructor=null,super.emitReserved("decoded",s));else throw new Error("got binary data when not reconstructing a packet");else throw new Error("Unknown type: "+a)}decodeString(a){let s=0;const r={type:Number(a.charAt(0))};if(he[r.type]===void 0)throw new Error("unknown packet type "+r.type);if(r.type===he.BINARY_EVENT||r.type===he.BINARY_ACK){const d=s+1;for(;a.charAt(++s)!=="-"&&s!=a.length;);const y=a.substring(d,s);if(y!=Number(y)||a.charAt(s)!=="-")throw new Error("Illegal attachments");r.attachments=Number(y)}if(a.charAt(s+1)==="/"){const d=s+1;for(;++s&&!(a.charAt(s)===","||s===a.length););r.nsp=a.substring(d,s)}else r.nsp="/";const f=a.charAt(s+1);if(f!==""&&Number(f)==f){const d=s+1;for(;++s;){const y=a.charAt(s);if(y==null||Number(y)!=y){--s;break}if(s===a.length)break}r.id=Number(a.substring(d,s+1))}if(a.charAt(++s)){const d=this.tryParse(a.substr(s));if(Gr.isPayloadValid(r.type,d))r.data=d;else throw new Error("invalid payload")}return r}tryParse(a){try{return JSON.parse(a,this.reviver)}catch{return!1}}static isPayloadValid(a,s){switch(a){case he.CONNECT:return Sm(s);case he.DISCONNECT:return s===void 0;case he.CONNECT_ERROR:return typeof s=="string"||Sm(s);case he.EVENT:case he.BINARY_EVENT:return Array.isArray(s)&&(typeof s[0]=="number"||typeof s[0]=="string"&&db.indexOf(s[0])===-1);case he.ACK:case he.BINARY_ACK:return Array.isArray(s)}}destroy(){this.reconstructor&&(this.reconstructor.finishedReconstruction(),this.reconstructor=null)}}class pb{constructor(a){this.packet=a,this.buffers=[],this.reconPack=a}takeBinaryData(a){if(this.buffers.push(a),this.buffers.length===this.reconPack.attachments){const s=fb(this.reconPack,this.buffers);return this.finishedReconstruction(),s}return null}finishedReconstruction(){this.reconPack=null,this.buffers=[]}}const yb=Object.freeze(Object.defineProperty({__proto__:null,Decoder:Gr,Encoder:mb,get PacketType(){return he},protocol:hb},Symbol.toStringTag,{value:"Module"}));function jt(i,a,s){return i.on(a,s),function(){i.off(a,s)}}const gb=Object.freeze({connect:1,connect_error:1,disconnect:1,disconnecting:1,newListener:1,removeListener:1});class sp extends ke{constructor(a,s,r){super(),this.connected=!1,this.recovered=!1,this.receiveBuffer=[],this.sendBuffer=[],this._queue=[],this._queueSeq=0,this.ids=0,this.acks={},this.flags={},this.io=a,this.nsp=s,r&&r.auth&&(this.auth=r.auth),this._opts=Object.assign({},r),this.io._autoConnect&&this.open()}get disconnected(){return!this.connected}subEvents(){if(this.subs)return;const a=this.io;this.subs=[jt(a,"open",this.onopen.bind(this)),jt(a,"packet",this.onpacket.bind(this)),jt(a,"error",this.onerror.bind(this)),jt(a,"close",this.onclose.bind(this))]}get active(){return!!this.subs}connect(){return this.connected?this:(this.subEvents(),this.io._reconnecting||this.io.open(),this.io._readyState==="open"&&this.onopen(),this)}open(){return this.connect()}send(...a){return a.unshift("message"),this.emit.apply(this,a),this}emit(a,...s){var r,f,d;if(gb.hasOwnProperty(a))throw new Error('"'+a.toString()+'" is a reserved event name');if(s.unshift(a),this._opts.retries&&!this.flags.fromQueue&&!this.flags.volatile)return this._addToQueue(s),this;const y={type:he.EVENT,data:s};if(y.options={},y.options.compress=this.flags.compress!==!1,typeof s[s.length-1]=="function"){const T=this.ids++,_=s.pop();this._registerAckCallback(T,_),y.id=T}const b=(f=(r=this.io.engine)===null||r===void 0?void 0:r.transport)===null||f===void 0?void 0:f.writable,p=this.connected&&!(!((d=this.io.engine)===null||d===void 0)&&d._hasPingExpired());return this.flags.volatile&&!b||(p?(this.notifyOutgoingListeners(y),this.packet(y)):this.sendBuffer.push(y)),this.flags={},this}_registerAckCallback(a,s){var r;const f=(r=this.flags.timeout)!==null&&r!==void 0?r:this._opts.ackTimeout;if(f===void 0){this.acks[a]=s;return}const d=this.io.setTimeoutFn(()=>{delete this.acks[a];for(let b=0;b<this.sendBuffer.length;b++)this.sendBuffer[b].id===a&&this.sendBuffer.splice(b,1);s.call(this,new Error("operation has timed out"))},f),y=(...b)=>{this.io.clearTimeoutFn(d),s.apply(this,b)};y.withError=!0,this.acks[a]=y}emitWithAck(a,...s){return new Promise((r,f)=>{const d=(y,b)=>y?f(y):r(b);d.withError=!0,s.push(d),this.emit(a,...s)})}_addToQueue(a){let s;typeof a[a.length-1]=="function"&&(s=a.pop());const r={id:this._queueSeq++,tryCount:0,pending:!1,args:a,flags:Object.assign({fromQueue:!0},this.flags)};a.push((f,...d)=>r!==this._queue[0]?void 0:(f!==null?r.tryCount>this._opts.retries&&(this._queue.shift(),s&&s(f)):(this._queue.shift(),s&&s(null,...d)),r.pending=!1,this._drainQueue())),this._queue.push(r),this._drainQueue()}_drainQueue(a=!1){if(!this.connected||this._queue.length===0)return;const s=this._queue[0];s.pending&&!a||(s.pending=!0,s.tryCount++,this.flags=s.flags,this.emit.apply(this,s.args))}packet(a){a.nsp=this.nsp,this.io._packet(a)}onopen(){typeof this.auth=="function"?this.auth(a=>{this._sendConnectPacket(a)}):this._sendConnectPacket(this.auth)}_sendConnectPacket(a){this.packet({type:he.CONNECT,data:this._pid?Object.assign({pid:this._pid,offset:this._lastOffset},a):a})}onerror(a){this.connected||this.emitReserved("connect_error",a)}onclose(a,s){this.connected=!1,delete this.id,this.emitReserved("disconnect",a,s),this._clearAcks()}_clearAcks(){Object.keys(this.acks).forEach(a=>{if(!this.sendBuffer.some(r=>String(r.id)===a)){const r=this.acks[a];delete this.acks[a],r.withError&&r.call(this,new Error("socket has been disconnected"))}})}onpacket(a){if(a.nsp===this.nsp)switch(a.type){case he.CONNECT:a.data&&a.data.sid?this.onconnect(a.data.sid,a.data.pid):this.emitReserved("connect_error",new Error("It seems you are trying to reach a Socket.IO server in v2.x with a v3.x client, but they are not compatible (more information here: https://socket.io/docs/v3/migrating-from-2-x-to-3-0/)"));break;case he.EVENT:case he.BINARY_EVENT:this.onevent(a);break;case he.ACK:case he.BINARY_ACK:this.onack(a);break;case he.DISCONNECT:this.ondisconnect();break;case he.CONNECT_ERROR:this.destroy();const r=new Error(a.data.message);r.data=a.data.data,this.emitReserved("connect_error",r);break}}onevent(a){const s=a.data||[];a.id!=null&&s.push(this.ack(a.id)),this.connected?this.emitEvent(s):this.receiveBuffer.push(Object.freeze(s))}emitEvent(a){if(this._anyListeners&&this._anyListeners.length){const s=this._anyListeners.slice();for(const r of s)r.apply(this,a)}super.emit.apply(this,a),this._pid&&a.length&&typeof a[a.length-1]=="string"&&(this._lastOffset=a[a.length-1])}ack(a){const s=this;let r=!1;return function(...f){r||(r=!0,s.packet({type:he.ACK,id:a,data:f}))}}onack(a){const s=this.acks[a.id];typeof s=="function"&&(delete this.acks[a.id],s.withError&&a.data.unshift(null),s.apply(this,a.data))}onconnect(a,s){this.id=a,this.recovered=s&&this._pid===s,this._pid=s,this.connected=!0,this.emitBuffered(),this.emitReserved("connect"),this._drainQueue(!0)}emitBuffered(){this.receiveBuffer.forEach(a=>this.emitEvent(a)),this.receiveBuffer=[],this.sendBuffer.forEach(a=>{this.notifyOutgoingListeners(a),this.packet(a)}),this.sendBuffer=[]}ondisconnect(){this.destroy(),this.onclose("io server disconnect")}destroy(){this.subs&&(this.subs.forEach(a=>a()),this.subs=void 0),this.io._destroy(this)}disconnect(){return this.connected&&this.packet({type:he.DISCONNECT}),this.destroy(),this.connected&&this.onclose("io client disconnect"),this}close(){return this.disconnect()}compress(a){return this.flags.compress=a,this}get volatile(){return this.flags.volatile=!0,this}timeout(a){return this.flags.timeout=a,this}onAny(a){return this._anyListeners=this._anyListeners||[],this._anyListeners.push(a),this}prependAny(a){return this._anyListeners=this._anyListeners||[],this._anyListeners.unshift(a),this}offAny(a){if(!this._anyListeners)return this;if(a){const s=this._anyListeners;for(let r=0;r<s.length;r++)if(a===s[r])return s.splice(r,1),this}else this._anyListeners=[];return this}listenersAny(){return this._anyListeners||[]}onAnyOutgoing(a){return this._anyOutgoingListeners=this._anyOutgoingListeners||[],this._anyOutgoingListeners.push(a),this}prependAnyOutgoing(a){return this._anyOutgoingListeners=this._anyOutgoingListeners||[],this._anyOutgoingListeners.unshift(a),this}offAnyOutgoing(a){if(!this._anyOutgoingListeners)return this;if(a){const s=this._anyOutgoingListeners;for(let r=0;r<s.length;r++)if(a===s[r])return s.splice(r,1),this}else this._anyOutgoingListeners=[];return this}listenersAnyOutgoing(){return this._anyOutgoingListeners||[]}notifyOutgoingListeners(a){if(this._anyOutgoingListeners&&this._anyOutgoingListeners.length){const s=this._anyOutgoingListeners.slice();for(const r of s)r.apply(this,a.data)}}}function Fl(i){i=i||{},this.ms=i.min||100,this.max=i.max||1e4,this.factor=i.factor||2,this.jitter=i.jitter>0&&i.jitter<=1?i.jitter:0,this.attempts=0}Fl.prototype.duration=function(){var i=this.ms*Math.pow(this.factor,this.attempts++);if(this.jitter){var a=Math.random(),s=Math.floor(a*this.jitter*i);i=(Math.floor(a*10)&1)==0?i-s:i+s}return Math.min(i,this.max)|0};Fl.prototype.reset=function(){this.attempts=0};Fl.prototype.setMin=function(i){this.ms=i};Fl.prototype.setMax=function(i){this.max=i};Fl.prototype.setJitter=function(i){this.jitter=i};class Mr extends ke{constructor(a,s){var r;super(),this.nsps={},this.subs=[],a&&typeof a=="object"&&(s=a,a=void 0),s=s||{},s.path=s.path||"/socket.io",this.opts=s,Bu(this,s),this.reconnection(s.reconnection!==!1),this.reconnectionAttempts(s.reconnectionAttempts||1/0),this.reconnectionDelay(s.reconnectionDelay||1e3),this.reconnectionDelayMax(s.reconnectionDelayMax||5e3),this.randomizationFactor((r=s.randomizationFactor)!==null&&r!==void 0?r:.5),this.backoff=new Fl({min:this.reconnectionDelay(),max:this.reconnectionDelayMax(),jitter:this.randomizationFactor()}),this.timeout(s.timeout==null?2e4:s.timeout),this._readyState="closed",this.uri=a;const f=s.parser||yb;this.encoder=new f.Encoder,this.decoder=new f.Decoder,this._autoConnect=s.autoConnect!==!1,this._autoConnect&&this.open()}reconnection(a){return arguments.length?(this._reconnection=!!a,a||(this.skipReconnect=!0),this):this._reconnection}reconnectionAttempts(a){return a===void 0?this._reconnectionAttempts:(this._reconnectionAttempts=a,this)}reconnectionDelay(a){var s;return a===void 0?this._reconnectionDelay:(this._reconnectionDelay=a,(s=this.backoff)===null||s===void 0||s.setMin(a),this)}randomizationFactor(a){var s;return a===void 0?this._randomizationFactor:(this._randomizationFactor=a,(s=this.backoff)===null||s===void 0||s.setJitter(a),this)}reconnectionDelayMax(a){var s;return a===void 0?this._reconnectionDelayMax:(this._reconnectionDelayMax=a,(s=this.backoff)===null||s===void 0||s.setMax(a),this)}timeout(a){return arguments.length?(this._timeout=a,this):this._timeout}maybeReconnectOnOpen(){!this._reconnecting&&this._reconnection&&this.backoff.attempts===0&&this.reconnect()}open(a){if(~this._readyState.indexOf("open"))return this;this.engine=new ab(this.uri,this.opts);const s=this.engine,r=this;this._readyState="opening",this.skipReconnect=!1;const f=jt(s,"open",function(){r.onopen(),a&&a()}),d=b=>{this.cleanup(),this._readyState="closed",this.emitReserved("error",b),a?a(b):this.maybeReconnectOnOpen()},y=jt(s,"error",d);if(this._timeout!==!1){const b=this._timeout,p=this.setTimeoutFn(()=>{f(),d(new Error("timeout")),s.close()},b);this.opts.autoUnref&&p.unref(),this.subs.push(()=>{this.clearTimeoutFn(p)})}return this.subs.push(f),this.subs.push(y),this}connect(a){return this.open(a)}onopen(){this.cleanup(),this._readyState="open",this.emitReserved("open");const a=this.engine;this.subs.push(jt(a,"ping",this.onping.bind(this)),jt(a,"data",this.ondata.bind(this)),jt(a,"error",this.onerror.bind(this)),jt(a,"close",this.onclose.bind(this)),jt(this.decoder,"decoded",this.ondecoded.bind(this)))}onping(){this.emitReserved("ping")}ondata(a){try{this.decoder.add(a)}catch(s){this.onclose("parse error",s)}}ondecoded(a){Uu(()=>{this.emitReserved("packet",a)},this.setTimeoutFn)}onerror(a){this.emitReserved("error",a)}socket(a,s){let r=this.nsps[a];return r?this._autoConnect&&!r.active&&r.connect():(r=new sp(this,a,s),this.nsps[a]=r),r}_destroy(a){const s=Object.keys(this.nsps);for(const r of s)if(this.nsps[r].active)return;this._close()}_packet(a){const s=this.encoder.encode(a);for(let r=0;r<s.length;r++)this.engine.write(s[r],a.options)}cleanup(){this.subs.forEach(a=>a()),this.subs.length=0,this.decoder.destroy()}_close(){this.skipReconnect=!0,this._reconnecting=!1,this.onclose("forced close")}disconnect(){return this._close()}onclose(a,s){var r;this.cleanup(),(r=this.engine)===null||r===void 0||r.close(),this.backoff.reset(),this._readyState="closed",this.emitReserved("close",a,s),this._reconnection&&!this.skipReconnect&&this.reconnect()}reconnect(){if(this._reconnecting||this.skipReconnect)return this;const a=this;if(this.backoff.attempts>=this._reconnectionAttempts)this.backoff.reset(),this.emitReserved("reconnect_failed"),this._reconnecting=!1;else{const s=this.backoff.duration();this._reconnecting=!0;const r=this.setTimeoutFn(()=>{a.skipReconnect||(this.emitReserved("reconnect_attempt",a.backoff.attempts),!a.skipReconnect&&a.open(f=>{f?(a._reconnecting=!1,a.reconnect(),this.emitReserved("reconnect_error",f)):a.onreconnect()}))},s);this.opts.autoUnref&&r.unref(),this.subs.push(()=>{this.clearTimeoutFn(r)})}}onreconnect(){const a=this.backoff.attempts;this._reconnecting=!1,this.backoff.reset(),this.emitReserved("reconnect",a)}}const Ka={};function zu(i,a){typeof i=="object"&&(a=i,i=void 0),a=a||{};const s=ib(i,a.path||"/socket.io"),r=s.source,f=s.id,d=s.path,y=Ka[f]&&d in Ka[f].nsps,b=a.forceNew||a["force new connection"]||a.multiplex===!1||y;let p;return b?p=new Mr(r,a):(Ka[f]||(Ka[f]=new Mr(r,a)),p=Ka[f]),s.query&&!a.query&&(a.query=s.queryKey),p.socket(s.path,a)}Object.assign(zu,{Manager:Mr,Socket:sp,io:zu,connect:zu});const cp=window.location.origin;console.info("[socket] connecting to",cp);const Qr=zu(cp,{transports:["polling","websocket"],timeout:15e3});Qr.on("connect_error",i=>console.error("connect_error",i.code,i.message,i.data));const rp=v.createContext(Qr),vb=({children:i})=>m.jsx(rp.Provider,{value:Qr,children:i}),Lu=()=>v.useContext(rp),op=v.createContext({connected:!1,session:null,logs:[],login:async()=>{},setRole:async()=>{},requestControl:async()=>{},releaseControl:async()=>{},subscribeAll:async()=>{}});function bb(i){return v.useCallback((a,s={})=>new Promise((r,f)=>{i.emit(a,s,(d={})=>{d.error?f(new Error(d.error)):r(d)})}),[i])}function xb({children:i}){const a=Lu(),s=bb(a),[r,f]=v.useState(null),[d,y]=v.useState([]),[b,p]=v.useState([]),[g,T]=v.useState(a.connected);v.useEffect(()=>{const R=()=>T(!0),M=()=>T(!1);return a.on("connect",R),a.on("disconnect",M),()=>{a.off("connect",R),a.off("disconnect",M)}},[a]),v.useEffect(()=>{function R(q){f(q)}function M(q=[]){y(q)}function Y(q){y(k=>[...k.slice(-199),q])}return 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pr={main:[-127,127],side:[-127,127],vacuum:[0,127]},yr={maxSpeed:500,baseSpeed:250,boostSpeed:400},zr=200,Eb={start:[128],safe:[131],full:[132],passive:[128],dock:[143]},Ab={driveForward:["w"],driveBackward:["s"],driveLeft:["a"],driveRight:["d"],boostModifier:["\\"],slowModifier:["shift"],auxMainForward:["i"],auxMainReverse:["k"],auxSideForward:["o"],auxSideReverse:["l"],auxVacuumFast:["p"],auxVacuumSlow:[";"],auxAllForward:[","],cameraUp:["u"],cameraDown:["j"],driveMacro:["f"],dockMacro:["g"]},_b=[{id:"drive-sequence",label:"Drive",description:"Start, dock, and full command sequence used by the drive button.",steps:[{type:"oi",command:"start"},{type:"pause",duration:zr},{type:"oi",command:"dock"},{type:"pause",duration:zr},{type:"oi",command:"full"}]},{id:"seek-dock",label:"Dock",description:"Send the seek dock command.",steps:[{type:"oi",command:"dock"}]}],hp="roverControlSettings",Tb=3600*24*365;function Dr(){return{vector:{x:0,y:0,boost:!1},speeds:{left:0,right:0},source:null,lastUpdatedAt:0}}function jr(){return{main:0,side:0,vacuum:0}}function Cb(){return{enabled:!1,angle:null,config:null}}const Em={roverId:null,mode:"drive",drive:Dr(),aux:jr(),camera:Cb(),macros:_b,keymap:Ab,inputs:{},settings:{status:"idle",error:null,lastLoadedAt:null,lastSavedAt:null,data:null}};function Nb(i,a){const s={status:"ready",error:null,lastLoadedAt:Date.now(),lastSavedAt:i.settings.lastSavedAt,data:a??i.settings.data},r={...i,settings:s};return a?.keymap&&(r.keymap={...i.keymap,...a.keymap}),a?.macros&&(r.macros=a.macros),r}function Rb(i,a){switch(a.type){case"control/set-rover":return{...i,roverId:a.payload??null,drive:a.payload?i.drive:Dr(),aux:a.payload?i.aux:jr()};case"control/set-mode":return i.mode===a.payload?i:{...i,mode:a.payload==="dock"?"dock":"drive"};case"control/update-drive":{const{vector:s,speeds:r,source:f}=a.payload;return{...i,drive:{vector:s??i.drive.vector,speeds:r??i.drive.speeds,source:f??i.drive.source,lastUpdatedAt:Date.now()}}}case"control/set-aux-motors":return{...i,aux:{...i.aux,...a.payload}};case"control/set-camera-config":return{...i,camera:{...i.camera,enabled:!!a.payload?.config,config:a.payload?.config??null,angle:typeof a.payload?.angle=="number"?a.payload.angle:a.payload?.config?a.payload.config.homeAngle??i.camera.angle:null}};case"control/set-camera-angle":return{...i,camera:{...i.camera,angle:a.payload}};case"control/register-input-state":{const s=a.payload?.source||"unknown";return{...i,inputs:{...i.inputs,[s]:{...i.inputs[s]??{},...a.payload?.state,updatedAt:Date.now()}}}}case"control/settings/loading":return{...i,settings:{...i.settings,status:"loading",error:null}};case"control/settings/loaded":return Nb(i,a.payload);case"control/settings/error":return{...i,settings:{...i.settings,status:"error",error:a.payload}};case"control/set-keymap":return{...i,keymap:{...i.keymap,...a.payload??{}}};case"control/set-macros":return{...i,macros:Array.isArray(a.payload)?a.payload:i.macros};case"control/reset":return{...i,drive:Dr(),aux:jr()};default:return i}}function Kl(i,a,s){return typeof i!="number"||Number.isNaN(i)?a:Math.max(a,Math.min(s,i))}function on(i){return typeof i!="number"||Number.isNaN(i)?0:Math.max(-1,Math.min(1,i))}function Ja(i,a){return!Array.isArray(a)||a.length!==2?i:Kl(i,a[0],a[1])}function Ob(i={}){const a=on(i.x??0),s=on(i.y??0);return{x:a,y:s,boost:!!i.boost}}function Mb(i={},a={}){const s=Ob(i),r=typeof a.maxSpeed=="number"?a.maxSpeed:yr.maxSpeed,f=typeof a.baseSpeed=="number"?a.baseSpeed:yr.baseSpeed,d=typeof 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console.debug("[pipeline] sendDriveDirect",R),d({type:"drive",data:{driveDirect:R}}),R},[d,s]),p=v.useCallback(({main:D=0,side:R=0,vacuum:M=0}={})=>{if(!s)return null;const Y={main:Ja(D,pr.main),side:Ja(R,pr.side),vacuum:Ja(M,pr.vacuum)};return console.debug("[pipeline] sendAuxMotors",Y),d({type:"motors",data:{motorPwm:Y}}),Y},[d,s]),g=v.useCallback(D=>!s||!f?null:(d({type:"servo",data:{servo:{angle:D}}}),D),[d,s,f]),T=v.useCallback(D=>{if(!s)return!1;const R=Array.isArray(D)?D:typeof D=="string"?Eb[D]:null;return R?(d({type:"raw",data:{raw:zb(R)}}),y(),!0):!1},[d,y,s]),_=v.useCallback(async D=>{if(!(!D||!Array.isArray(D.steps)||!s))for(const R of D.steps){if(!s)break;switch(R.type){case"oi":T(R.command);break;case"drive":b(R.speeds??{left:0,right:0});break;case"motors":p(R.values??{});break;case"servo":g(R.angle);break;case"pause":await Am(R.duration??zr);break}if(R.delay||R.delayMs){const M=R.delayMs??R.delay;typeof M=="number"&&M>0&&await Am(M)}}},[s,T,b,p,g]);return v.useMemo(()=>({roverId:s,rosterEntry:r,servoConfig:f,emitCommand:d,enableSensorStream:y,sendDriveDirect:b,sendAuxMotors:p,sendServoAngle:g,sendOiCommand:T,runMacroSteps:_}),[s,r,f,d,y,b,p,g,T,_])}function jb(i){try{const a=decodeURIComponent(i??"");return JSON.parse(a)}catch(a){return console.warn("Failed to parse control settings cookie",a),null}}function _m(){if(typeof document>"u")return null;const i=`${hp}=`,a=document.cookie.split(";").map(r=>r.trim()).find(r=>r.startsWith(i));if(!a)return null;const s=a.substring(i.length);return jb(s)}function wb(i){if(typeof document>"u")return!1;try{const a=encodeURIComponent(JSON.stringify(i??{})),s=`${hp}=${a}; path=/; max-age=${Tb}; samesite=strict`;return document.cookie=s,!0}catch(a){return console.warn("Failed to write control settings cookie",a),!1}}const mp=v.createContext(null);function Ub(i,a){if(!i)return a;const s=typeof i.minAngle=="number"?i.minAngle:-45,r=typeof i.maxAngle=="number"?i.maxAngle:45;return Kl(a,s,r)}function Bb({children:i}){const a=Db(),[s,r]=v.useReducer(Rb,Em),f=v.useRef(Em.camera.angle);v.useEffect(()=>{r({type:"control/set-rover",payload:a.roverId})},[a.roverId]),v.useEffect(()=>{r({type:"control/settings/loading"});const j=_m();r({type:"control/settings/loaded",payload:j})},[]),v.useEffect(()=>{const j=a.servoConfig;if(!j){r({type:"control/set-camera-config",payload:{config:null}}),f.current=null;return}const V=typeof j.minAngle=="number"?j.minAngle:-45,Z=typeof j.maxAngle=="number"?j.maxAngle:45,I=typeof j.homeAngle=="number"?j.homeAngle:(V+Z)/2;r({type:"control/set-camera-config",payload:{config:j,angle:Kl(I,V,Z)}}),f.current=Kl(I,V,Z)},[a.servoConfig]),v.useEffect(()=>{f.current=typeof s.camera.angle=="number"?s.camera.angle:f.current},[s.camera.angle]),v.useEffect(()=>{a.roverId&&a.enableSensorStream()},[a.roverId,a.enableSensorStream]);const d=v.useCallback(j=>{r({type:"control/set-mode",payload:j})},[]),y=v.useCallback((j,V={})=>{console.debug("[control] setDriveVector",j,V);const Z=Mb(j);r({type:"control/update-drive",payload:{...Z,source:V.source??null}}),a.sendDriveDirect(Z.speeds)},[a]),b=v.useCallback((j={})=>{console.debug("[control] setAuxMotors",j);const V=a.sendAuxMotors(j)??j;r({type:"control/set-aux-motors",payload:V})},[a]),p=v.useCallback(j=>{if(!a.servoConfig)return;const V=Ub(a.servoConfig,j);r({type:"control/set-camera-angle",payload:V}),a.sendServoAngle(V),f.current=V},[a]),g=v.useCallback((j=0)=>{const V=a.servoConfig;if(!V)return;const Z=typeof j=="number"&&j!==0?j:V.nudgeDegrees||1,I=typeof f.current=="number"?f.current:typeof V.homeAngle=="number"?V.homeAngle:0;p(I+Z)},[a.servoConfig,p]),T=v.useCallback(()=>{const j=a.servoConfig;if(!j)return;const V=typeof j.homeAngle=="number"?j.homeAngle:typeof j.minAngle=="number"&&typeof j.maxAngle=="number"?(j.minAngle+j.maxAngle)/2:0;p(V)},[a.servoConfig,p]),_=v.useCallback(async j=>{const V=s.macros.find(Z=>Z.id===j)||null;V&&await a.runMacroSteps(V)},[a,s.macros]),D=v.useCallback(()=>{r({type:"control/update-drive",payload:{vector:{x:0,y:0,boost:!1},speeds:{left:0,right:0},source:"system-stop"}}),a.sendDriveDirect({left:0,right:0}),a.sendAuxMotors({main:0,side:0,vacuum:0})},[a]),R=v.useCallback(j=>{a.sendOiCommand(j)},[a]),M=v.useCallback(j=>{a.roverId&&a.emitCommand({type:"sensorStream",data:{sensorStream:{enable:j}}})},[a]),Y=v.useCallback((j,V)=>{r({type:"control/register-input-state",payload:{source:j,state:V}})},[]),q=v.useCallback(()=>{r({type:"control/settings/loading"});const j=_m();r({type:"control/settings/loaded",payload:j})},[]),k=v.useCallback(j=>{const V={...s.settings.data??{},...j??{}},Z=wb(V);return r(Z?{type:"control/settings/loaded",payload:V}:{type:"control/settings/error",payload:new Error("Failed to save control settings")}),Z},[s.settings.data]),X=v.useMemo(()=>({state:s,dispatch:r,pipeline:a,actions:{setMode:d,setDriveVector:y,setAuxMotors:b,setServoAngle:p,nudgeServo:g,goServoHome:T,runMacro:_,stopAllMotion:D,sendOiCommand:R,setSensorStream:M,registerInputState:Y,reloadSettings:q,persistSettings:k}}),[s,a,d,y,b,p,g,T,_,D,R,M,Y,q,k]);return m.jsx(mp.Provider,{value:X,children:i})}function qn(){const i=v.useContext(mp);if(!i)throw new Error("useControlSystem must be used within ControlSystemProvider");return i}const gr="keyboard",vr={x:0,y:0,boost:!1},br={main:0,side:0,vacuum:0},Lb=110,Hb={"{":"[","}":"]",":":";",'"':"'","<":",",">":".","?":"/","|":"\\",_:"-","+":"="},Tm={"[":"BracketLeft","]":"BracketRight","\\":"Backslash",";":"Semicolon","'":"Quote",",":"Comma",".":"Period","/":"Slash","-":"Minus","=":"Equal","`":"Backquote"},pp="code:",qb="key:";function kb(i){const a=i.target;if(!a)return!1;const s=a.tagName;return s==="INPUT"||s==="TEXTAREA"||a.isContentEditable||s==="SELECT"}function yp(i){if(typeof i!="string")return"";const a=i.toLowerCase();return Hb[a]??a}function Yb(i){if(!i)return null;if(Tm[i])return Tm[i];if(i.length===1){if(/[a-z]/.test(i))return`Key${i.toUpperCase()}`;if(/[0-9]/.test(i))return`Digit${i}`}return null}function gp(i){const a=yp(i);return a?`${qb}${a}`:null}function Vb(i){const a=yp(i),s=Yb(a);return s?`${pp}${s}`:null}function Cm(i){const a=new Set,s=gp(i?.key??"");s&&a.add(s);const r=i?.code;return r&&a.add(`${pp}${r}`),Array.from(a)}function Xb(i={}){const a=Object.entries(i).map(([s,r])=>{const f=Array.isArray(r)?r:[r],d=new Set;return f.forEach(y=>{const b=gp(String(y));b&&d.add(b);const p=Vb(String(y));p&&d.add(p)}),[s,d]});return Object.fromEntries(a)}function et(i,a){if(!i||i.size===0)return!1;for(const s of a)if(i.has(s))return!0;return!1}function Gb(i,a){const s=et(a.driveForward,i),r=et(a.driveBackward,i),f=et(a.driveLeft,i),d=et(a.driveRight,i),y=et(a.boostModifier,i),b=et(a.slowModifier,i);let p=0;s&&!r?p=1:r&&!s&&(p=-1);let g=0;f&&!d?g=-1:d&&!f&&(g=1);const T=b?.4:1;return{x:g*T,y:p*T,boost:y&&!b}}function Qb(i,a){if(et(a.auxAllForward,i))return{main:127,side:127,vacuum:127};const r=et(a.auxMainForward,i)?127:et(a.auxMainReverse,i)?-127:0,f=et(a.auxSideForward,i)?127:et(a.auxSideReverse,i)?-70:0,d=et(a.auxVacuumFast,i)?127:et(a.auxVacuumSlow,i)?50:0;return{main:r,side:f,vacuum:d}}function Zb(){const{state:i,actions:{setMode:a,setDriveVector:s,setAuxMotors:r,nudgeServo:f,runMacro:d,stopAllMotion:y,registerInputState:b}}=qn(),p=v.useMemo(()=>Xb(i.keymap),[i.keymap]),g=v.useMemo(()=>{const V=new Set;return Object.values(p).forEach(Z=>{Z&&Z.forEach(I=>V.add(I))}),V},[p]),T=v.useMemo(()=>Math.abs(i.camera?.config?.nudgeDegrees||1),[i.camera?.config?.nudgeDegrees]),_=v.useRef(new Set),D=v.useRef(vr),R=v.useRef(br),M=v.useRef(null),Y=v.useCallback(()=>{const V=new Set(_.current),Z=Gb(V,p),I=Qb(V,p);(Z.x!==D.current.x||Z.y!==D.current.y||Z.boost!==D.current.boost)&&(console.debug("[keyboard] drive vector",Array.from(V),Z),D.current=Z,s(Z,{source:gr})),(I.main!==R.current.main||I.side!==R.current.side||I.vacuum!==R.current.vacuum)&&(console.debug("[keyboard] aux state",Array.from(V),I),R.current=I,r(I)),b(gr,{keys:Array.from(V),vector:Z,aux:I})},[p,b,r,s]),q=v.useCallback(()=>{M.current&&(clearTimeout(M.current),M.current=null)},[]),k=v.useCallback(()=>{const V=new Set(_.current),Z=et(p.cameraUp,V),I=et(p.cameraDown,V);return(Z?1:0)-(I?1:0)},[p]),X=v.useCallback(()=>{const V=k();if(V===0){M.current&&console.debug("[keyboard] servo loop stop"),q();return}if(M.current)return;console.debug("[keyboard] servo loop start",V);const Z=()=>{const I=k();if(I===0){q();return}console.debug("[keyboard] servo tick",I),f(I*T),M.current=setTimeout(Z,Lb)};M.current=setTimeout(Z,0)},[k,f,T,q]),j=v.useCallback(()=>{_.current.clear(),D.current=vr,R.current=br,q(),y(),b(gr,{keys:[],vector:vr,aux:br})},[b,y,q]);return v.useEffect(()=>{function V(K){if(kb(K))return;const ce=Cm(K);if(ce.length===0)return;ce.some(me=>g.has(me))&&K.preventDefault(),console.debug("[keyboard] keydown",{key:K.key,code:K.code,tokens:ce});const re=ce.filter(me=>!_.current.has(me));re.forEach(me=>_.current.add(me)),re.length>0&&(re.some(me=>p.driveMacro?.has(me))?(a("drive"),d("drive-sequence")):re.some(me=>p.dockMacro?.has(me))&&(a("dock"),d("seek-dock"))),X(),Y()}function Z(K){const ce=Cm(K);console.debug("[keyboard] keyup",{key:K.key,code:K.code,tokens:ce}),ce.forEach(re=>_.current.delete(re)),X(),Y()}function I(){j()}return window.addEventListener("keydown",V),window.addEventListener("keyup",Z),window.addEventListener("blur",I),()=>{window.removeEventListener("keydown",V),window.removeEventListener("keyup",Z),window.removeEventListener("blur",I)}},[g,Y,X,p.dockMacro,p.driveMacro,j,d,a]),v.useEffect(()=>{j()},[i.roverId,j]),v.useEffect(()=>()=>{q()},[q]),null}const Eu="gamepad",Kb=.2;function xr(i){return Math.abs(i)<Kb?0:i}function Nm(i,a,s=127,r=1){if(!i)return 0;const f=typeof i.value=="number"?i.value:i.pressed?1:0;if(f<.05)return 0;const d=a?.pressed?-1:1;return Math.round(f*s*d*r)}function Rm(i,a){return i&&a&&i.x===a.x&&i.y===a.y&&i.boost===a.boost}function Om(i,a){return i&&a&&i.main===a.main&&i.side===a.side&&i.vacuum===a.vacuum}function Jb(){const{actions:{setMode:i,setDriveVector:a,setAuxMotors:s,nudgeServo:r,runMacro:f,registerInputState:d}}=qn(),y=v.useRef(null),b=v.useRef({x:0,y:0,boost:!1}),p=v.useRef({main:0,side:0,vacuum:0}),g=v.useRef(new Map),T=v.useRef(0),_=v.useCallback((R,M)=>{const Y=g.current.get(R)||!1;return g.current.set(R,M),M&&!Y},[]),D=v.useCallback(()=>{if(typeof navigator>"u"||!navigator.getGamepads)return;const R=navigator.getGamepads(),M=R&&Array.from(R).find(Boolean);if(!M){Rm(b.current,{x:0,y:0,boost:!1})||(b.current={x:0,y:0,boost:!1},a({x:0,y:0,boost:!1},{source:Eu})),Om(p.current,{main:0,side:0,vacuum:0})||(p.current={main:0,side:0,vacuum:0},s({main:0,side:0,vacuum:0})),d(Eu,{connected:!1});return}const Y=on(xr(M.axes?.[0]??0)),q=on(xr(-(M.axes?.[1]??0))),k={x:Y,y:q,boost:!1};Rm(k,b.current)||(b.current=k,a(k,{source:Eu}));const X=Nm(M.buttons?.[7],M.buttons?.[5]),j=Nm(M.buttons?.[6],M.buttons?.[4],127,.55),V=M.buttons?.[1]?.pressed?127:0;let Z={main:X,side:j,vacuum:V};M.buttons?.[0]?.pressed&&(Z={main:127,side:127,vacuum:127}),Om(Z,p.current)||(p.current=Z,s(Z));const I=on(xr(-(M.axes?.[3]??0))),K=performance.now();Math.abs(I)>.25&&K-T.current>120&&(T.current=K,r(I>0?2:-2)),_(14,M.buttons?.[14]?.pressed)&&(i("drive"),f("drive-sequence")),_(15,M.buttons?.[15]?.pressed)&&(i("dock"),f("seek-dock")),d(Eu,{connected:!0,id:M.id,index:M.index,axes:[Y,q,I],buttons:{a:M.buttons?.[0]?.pressed||!1,b:M.buttons?.[1]?.pressed||!1,lb:M.buttons?.[4]?.pressed||!1,rb:M.buttons?.[5]?.pressed||!1}})},[_,r,d,f,s,a,i]);return v.useEffect(()=>{function R(){D(),y.current=requestAnimationFrame(R)}return y.current=requestAnimationFrame(R),()=>{y.current&&cancelAnimationFrame(y.current)}},[D]),null}function Kr(){const{state:{roverId:i},actions:a}=qn(),r=Hu(i)?.sensors||{},f=(r.oiMode?.label||"").toLowerCase()==="full",d=!!r.chargingSources?.homeBase,y=!!(r.chargingState?.label&&r.chargingState.label.toLowerCase()!=="not charging"),b=()=>{i&&(a.setMode("drive"),a.runMacro("drive-sequence"))},p=()=>{i&&(a.setMode("dock"),a.runMacro("seek-dock"))};return m.jsxs("section",{className:"rounded-sm bg-[#242a32] p-1 text-base text-slate-100",children:[m.jsxs("div",{className:"flex items-center justify-between text-sm text-slate-300",children:[m.jsx("span",{children:"Drive control"}),m.jsx("span",{children:i?`Rover ${i}`:"unassigned"})]}),m.jsxs("div",{className:"mt-1 space-y-1",children:[m.jsx(Mm,{title:"Start Driving",description:"Press to enable driving mode, then start moving. 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m.jsxs("div",{className:`pointer-events-auto rounded-sm px-1 py-1 text-[0.75rem] shadow-lg shadow-black/60 ${a}`,children:[m.jsx("p",{className:"text-[0.65rem] text-slate-300",children:i.title||"Alert"}),m.jsx("p",{className:"text-sm text-white",children:i.message})]})}const Pb=[{key:"open",label:"Open"},{key:"turns",label:"Turns"},{key:"admin",label:"Admin"},{key:"lockdown",label:"Lockdown"}];function Jr(){const{session:i,lockRover:a,setMode:s,requestControl:r}=Ut(),f=v.useMemo(()=>i?.roster??[],[i?.roster]),[d,y]=v.useState({}),b=i?.role==="admin"||i?.role==="lockdown"||i?.role==="lockdown-admin",p=i?.mode??"open",g=async(R,M)=>{try{await a(R,M),y(Y=>({...Y,[R]:M}))}catch(Y){alert(Y.message)}},T=async R=>{const M=R.target.value;try{await s(M)}catch(Y){alert(Y.message)}},_=async R=>{try{await r(R,{force:!0})}catch(M){alert(M.message)}},D=v.useMemo(()=>{const R={};return f.forEach(M=>{R[M.id]=d[M.id]??M.locked}),R},[f,d]);return b?m.jsxs("section",{className:"rounded-sm bg-[#242a32] p-1 text-base text-slate-100",children:[m.jsxs("div",{className:"flex items-center justify-between gap-1 text-sm",children:[m.jsx("span",{children:"Admin controls"}),m.jsx("select",{value:p,onChange:T,className:"rounded-sm bg-black/40 px-1 py-1 text-sm text-slate-100",children:Pb.map(R=>m.jsx("option",{value:R.key,children:R.label},R.key))})]}),m.jsx("div",{className:"mt-1 space-y-1 text-sm",children:f.map(R=>m.jsxs("div",{className:"flex flex-wrap items-center justify-between gap-1 rounded-sm bg-black/30 px-1 py-1",children:[m.jsxs("div",{children:[m.jsx("p",{className:"text-slate-100",children:R.name}),m.jsx("p",{className:"text-xs text-slate-400",children:D[R.id]?"locked":"unlocked"})]}),m.jsxs("div",{className:"flex flex-wrap gap-1 text-xs",children:[m.jsx("button",{type:"button",onClick:()=>g(R.id,!D[R.id]),className:"rounded-sm bg-black/50 px-1 py-1 text-slate-100",children:D[R.id]?"Unlock":"Lock"}),m.jsx("button",{type:"button",onClick:()=>_(R.id),className:"rounded-sm bg-black/50 px-1 py-1 text-slate-100",children:"Force"})]})]},R.id))})]}):null}function e1({size:i="default"}){const{state:{roverId:a},actions:s}=qn(),[r,f]=v.useState(null),d=!a||r!==null,b=Hu(a)?.sensors?.oiMode?.label||"Unknown",g=b.toLowerCase()==="full",T=g?"Drive Ready":`OI Mode: ${b}`,_=async()=>{if(a){f("drive");try{s.setMode("drive"),await s.runMacro("drive-sequence")}finally{f(null)}}},D=async()=>{if(a){f("dock");try{s.setMode("dock"),await s.runMacro("seek-dock")}finally{f(null)}}},R=i==="compact"?"text-xs px-1 py-0.5":"text-sm px-1.5 py-0.5";return m.jsxs("div",{className:"rounded-sm bg-black/30 p-1 text-slate-100",children:[m.jsxs("div",{className:"flex items-center justify-between",children:[m.jsx("span",{className:`rounded-full ${g?"bg-emerald-700":"bg-indigo-700"} ${R}`,children:T}),m.jsxs("span",{className:"text-[0.65rem] text-slate-400",children:["Rover ",a??"—"]})]}),m.jsxs("div",{className:"mt-1 grid grid-cols-2 gap-1 text-xs",children:[m.jsx("button",{type:"button",onClick:_,disabled:d,className:`rounded-sm bg-emerald-600 px-1 py-1 font-semibold uppercase tracking-wide text-emerald-50 disabled:opacity-40 ${i==="compact"?"text-xs":"text-sm"}`,children:"Drive"}),m.jsx("button",{type:"button",onClick:D,disabled:d,className:`rounded-sm bg-indigo-600 px-1 py-1 font-semibold uppercase tracking-wide text-indigo-50 disabled:opacity-40 ${i==="compact"?"text-xs":"text-sm"}`,children:"Dock"})]})]})}const Au="mobile-joystick",Sr=80,t1=[{id:"main-forward",label:"Main +",values:{main:127},hold:!0,color:"bg-emerald-600"},{id:"main-reverse",label:"Main -",values:{main:-127},hold:!0,color:"bg-emerald-800"},{id:"side-forward",label:"Side +",values:{side:127},hold:!0,color:"bg-cyan-600"},{id:"side-reverse",label:"Side -",values:{side:-70},hold:!0,color:"bg-cyan-800"},{id:"vacuum-fast",label:"Vacuum Max",values:{vacuum:127},hold:!0,color:"bg-amber-500 text-amber-950"},{id:"vacuum-slow",label:"Vacuum Low",values:{vacuum:50},hold:!0,color:"bg-amber-700"},{id:"all-forward",label:"All +",values:{main:127,side:127,vacuum:127},hold:!0,color:"bg-fuchsia-600"},{id:"stop-all",label:"Stop",values:{main:0,side:0,vacuum:0},hold:!1,color:"bg-slate-900"}];function n1({disabled:i,layout:a,onMove:s,onStop:r}){const f=v.useRef(null),d=v.useRef(null),y=v.useRef({x:0,y:0}),[b,p]=v.useState({active:!1,base:{x:0,y:0},knob:{x:0,y:0}}),g=v.useCallback(()=>{d.current=null,p({active:!1,base:{x:0,y:0},knob:{x:0,y:0}}),r?.()},[r]),T=v.useCallback(M=>{if(i||d.current!==null)return;M.preventDefault();const Y=f.current;if(!Y)return;const q=Y.getBoundingClientRect(),k=M.clientX-q.left,X=M.clientY-q.top;y.current={x:k,y:X},d.current=M.pointerId,Y.setPointerCapture?.(M.pointerId),p({active:!0,base:{x:k,y:X},knob:{x:0,y:0}})},[i]),_=v.useCallback(M=>{if(i||d.current!==M.pointerId)return;M.preventDefault();const Y=f.current;if(!Y)return;const q=Y.getBoundingClientRect(),k=M.clientX-q.left,X=M.clientY-q.top,j=k-y.current.x,V=X-y.current.y,Z=Math.min(Math.hypot(j,V),Sr),I=Math.atan2(V,j),K=Math.cos(I)*Z,ce=Math.sin(I)*Z,re={x:on(K/Sr),y:on(-ce/Sr),boost:!1};p(me=>({...me,knob:{x:K,y:ce}})),s?.(re)},[i,s]),D=v.useCallback(M=>{if(d.current!==M.pointerId)return;M.preventDefault(),f.current?.releasePointerCapture?.(M.pointerId),g()},[g]);v.useEffect(()=>{i&&g()},[i,g]);const R=a==="landscape"?"h-[260px]":"h-[220px]";return m.jsxs("div",{ref:f,role:"presentation",className:`relative w-full ${R} select-none overflow-hidden rounded-lg border border-slate-800 bg-slate-900/70`,style:{touchAction:"none"},onPointerDown:T,onPointerMove:_,onPointerUp:D,onPointerLeave:D,onPointerCancel:D,onContextMenu:M=>M.preventDefault(),children:[!b.active&&m.jsxs("div",{className:"absolute inset-0 flex flex-col items-center justify-center text-center text-xs text-slate-400",children:[m.jsx("p",{children:"Touch and hold 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k={x:on(q.x??0),y:on(q.y??0),boost:!!q.boost};r(k,{source:Au}),f(Au,{vector:k,lastEvent:"move"})},[b,f,r]),M=v.useCallback(()=>{if(b)return;const q={x:0,y:0,boost:!1};r(q,{source:Au}),f(Au,{vector:q,lastEvent:"stop"})},[b,f,r]),Y=q=>{if(!g)return;const k=Number(q.target.value);Number.isNaN(k)||y(k)};return m.jsxs("div",{className:"flex flex-col gap-1 text-slate-100",children:[m.jsx(e1,{size:"compact"}),m.jsx(n1,{disabled:b,layout:i,onMove:R,onStop:M}),m.jsx("button",{type:"button",onClick:d,disabled:b,className:"rounded bg-red-600 px-2 py-2 text-xs font-semibold uppercase tracking-wide text-red-100 disabled:opacity-40",children:"Panic Stop"}),g&&m.jsxs("div",{className:"rounded-lg bg-slate-900/70 p-2 text-xs",children:[m.jsxs("div",{className:"flex items-center justify-between text-[0.7rem] uppercase tracking-wide text-slate-400",children:[m.jsx("span",{children:"Camera Tilt"}),m.jsxs("span",{className:"font-mono 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