mirror of
https://github.com/legop3/MultiRoombaRover.git
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12 lines
330 KiB
JavaScript
12 lines
330 KiB
JavaScript
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a=this._xhr.responseText;a!==null&&(this.emitReserved("data",a),this.emitReserved("success"),this._cleanup())}abort(){this._cleanup()}}Vt.requestsCount=0;Vt.requests={};if(typeof document<"u"){if(typeof attachEvent=="function")attachEvent("onunload",Mm);else if(typeof addEventListener=="function"){const i="onpagehide"in jt?"pagehide":"unload";addEventListener(i,Mm,!1)}}function Mm(){for(let i in Vt.requests)Vt.requests.hasOwnProperty(i)&&Vt.requests[i].abort()}const cb=(function(){const i=mp({xdomain:!1});return i&&i.responseType!==null})();class ob extends rb{constructor(a){super(a);const s=a&&a.forceBase64;this.supportsBinary=cb&&!s}request(a={}){return Object.assign(a,{xd:this.xd},this.opts),new Vt(mp,this.uri(),a)}}function mp(i){const a=i.xdomain;try{if(typeof XMLHttpRequest<"u"&&(!a||ub))return new XMLHttpRequest}catch{}if(!a)try{return new jt[["Active"].concat("Object").join("X")]("Microsoft.XMLHTTP")}catch{}}const pp=typeof navigator<"u"&&typeof navigator.product=="string"&&navigator.product.toLowerCase()==="reactnative";class fb extends Fc{get name(){return"websocket"}doOpen(){const a=this.uri(),s=this.opts.protocols,c=pp?{}:fp(this.opts,"agent","perMessageDeflate","pfx","key","passphrase","cert","ca","ciphers","rejectUnauthorized","localAddress","protocolVersion","origin","maxPayload","family","checkServerIdentity");this.opts.extraHeaders&&(c.headers=this.opts.extraHeaders);try{this.ws=this.createSocket(a,s,c)}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 c=a[s],f=s===a.length-1;Jc(c,this.supportsBinary,d=>{try{this.doWrite(c,d)}catch{}f&&Gu(()=>{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]=dp()),this.supportsBinary||(s.b64=1),this.createUri(a,s)}}const Ec=jt.WebSocket||jt.MozWebSocket;class db extends fb{createSocket(a,s,c){return pp?new Ec(a,s,c):s?new Ec(a,s):new Ec(a)}doWrite(a,s){this.ws.send(s)}}class hb extends Fc{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=Jg(Number.MAX_SAFE_INTEGER,this.socket.binaryType),c=a.readable.pipeThrough(s).getReader(),f=Kg();f.readable.pipeTo(a.writable),this._writer=f.writable.getWriter();const d=()=>{c.read().then(({done:v,value:p})=>{v||(this.onPacket(p),d())}).catch(v=>{})};d();const y={type:"open"};this.query.sid&&(y.data=`{"sid":"${this.query.sid}"}`),this._writer.write(y).then(()=>this.onOpen())})})}write(a){this.writable=!1;for(let s=0;s<a.length;s++){const c=a[s],f=s===a.length-1;this._writer.write(c).then(()=>{f&&Gu(()=>{this.writable=!0,this.emitReserved("drain")},this.setTimeoutFn)})}}doClose(){var a;(a=this._transport)===null||a===void 0||a.close()}}const mb={websocket:db,webtransport:hb,polling:ob},pb=/^(?:(?![^:@\/?#]+:[^:@\/]*@)(http|https|ws|wss):\/\/)?((?:(([^:@\/?#]*)(?::([^:@\/?#]*))?)?@)?((?:[a-f0-9]{0,4}:){2,7}[a-f0-9]{0,4}|[^:\/?#]*)(?::(\d*))?)(((\/(?:[^?#](?![^?#\/]*\.[^?#\/.]+(?:[?#]|$)))*\/?)?([^?#\/]*))(?:\?([^#]*))?(?:#(.*))?)/,yb=["source","protocol","authority","userInfo","user","password","host","port","relative","path","directory","file","query","anchor"];function Dc(i){if(i.length>8e3)throw"URI too long";const a=i,s=i.indexOf("["),c=i.indexOf("]");s!=-1&&c!=-1&&(i=i.substring(0,s)+i.substring(s,c).replace(/:/g,";")+i.substring(c,i.length));let f=pb.exec(i||""),d={},y=14;for(;y--;)d[yb[y]]=f[y]||"";return s!=-1&&c!=-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=vb(d,d.path),d.queryKey=gb(d,d.query),d}function vb(i,a){const s=/\/{2,9}/g,c=a.replace(s,"/").split("/");return(a.slice(0,1)=="/"||a.length===0)&&c.splice(0,1),a.slice(-1)=="/"&&c.splice(c.length-1,1),c}function gb(i,a){const s={};return a.replace(/(?:^|&)([^&=]*)=?([^&]*)/g,function(c,f,d){f&&(s[f]=d)}),s}const Bc=typeof addEventListener=="function"&&typeof removeEventListener=="function",Bu=[];Bc&&addEventListener("offline",()=>{Bu.forEach(i=>i())},!1);class kn extends Ve{constructor(a,s){if(super(),this.binaryType=Fg,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 c=Dc(a);s.hostname=c.host,s.secure=c.protocol==="https"||c.protocol==="wss",s.port=c.port,c.query&&(s.query=c.query)}else s.host&&(s.hostname=Dc(s.host).host);Xu(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(c=>{const f=c.prototype.name;this.transports.push(f),this._transportsByName[f]=c}),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=lb(this.opts.query)),Bc&&(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"})},Bu.push(this._offlineEventListener))),this.opts.withCredentials&&(this._cookieJar=void 0),this._open()}createTransport(a){const s=Object.assign({},this.opts.query);s.EIO=op,s.transport=a,this.id&&(s.sid=this.id);const c=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](c)}_open(){if(this.transports.length===0){this.setTimeoutFn(()=>{this.emitReserved("error","No transports available")},0);return}const a=this.opts.rememberUpgrade&&kn.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",kn.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 c=0;c<this.writeBuffer.length;c++){const f=this.writeBuffer[c].data;if(f&&(s+=eb(f)),c>0&&s>this._maxPayload)return this.writeBuffer.slice(0,c);s+=2}return this.writeBuffer}_hasPingExpired(){if(!this._pingTimeoutTime)return!0;const a=Date.now()>this._pingTimeoutTime;return a&&(this._pingTimeoutTime=0,Gu(()=>{this._onClose("ping timeout")},this.setTimeoutFn)),a}write(a,s,c){return this._sendPacket("message",a,s,c),this}send(a,s,c){return this._sendPacket("message",a,s,c),this}_sendPacket(a,s,c,f){if(typeof s=="function"&&(f=s,s=void 0),typeof c=="function"&&(f=c,c=null),this.readyState==="closing"||this.readyState==="closed")return;c=c||{},c.compress=c.compress!==!1;const d={type:a,data:s,options:c};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()},c=()=>{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?c():a()}):this.upgrading?c():a()),this}_onError(a){if(kn.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(),Bc&&(this._beforeunloadEventListener&&removeEventListener("beforeunload",this._beforeunloadEventListener,!1),this._offlineEventListener)){const c=Bu.indexOf(this._offlineEventListener);c!==-1&&Bu.splice(c,1)}this.readyState="closed",this.id=null,this.emitReserved("close",a,s),this.writeBuffer=[],this._prevBufferLen=0}}}kn.protocol=op;class bb extends kn{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),c=!1;kn.priorWebsocketSuccess=!1;const f=()=>{c||(s.send([{type:"ping",data:"probe"}]),s.once("packet",T=>{if(!c)if(T.type==="pong"&&T.data==="probe"){if(this.upgrading=!0,this.emitReserved("upgrading",s),!s)return;kn.priorWebsocketSuccess=s.name==="websocket",this.transport.pause(()=>{c||this.readyState!=="closed"&&(A(),this.setTransport(s),s.send([{type:"upgrade"}]),this.emitReserved("upgrade",s),s=null,this.upgrading=!1,this.flush())})}else{const j=new Error("probe error");j.transport=s.name,this.emitReserved("upgradeError",j)}}))};function d(){c||(c=!0,A(),s.close(),s=null)}const y=T=>{const j=new Error("probe error: "+T);j.transport=s.name,d(),this.emitReserved("upgradeError",j)};function v(){y("transport closed")}function p(){y("socket closed")}function g(T){s&&T.name!==s.name&&d()}const A=()=>{s.removeListener("open",f),s.removeListener("error",y),s.removeListener("close",v),this.off("close",p),this.off("upgrading",g)};s.once("open",f),s.once("error",y),s.once("close",v),this.once("close",p),this.once("upgrading",g),this._upgrades.indexOf("webtransport")!==-1&&a!=="webtransport"?this.setTimeoutFn(()=>{c||s.open()},200):s.open()}onHandshake(a){this._upgrades=this._filterUpgrades(a.upgrades),super.onHandshake(a)}_filterUpgrades(a){const s=[];for(let c=0;c<a.length;c++)~this.transports.indexOf(a[c])&&s.push(a[c]);return s}}let xb=class extends bb{constructor(a,s={}){const c=typeof a=="object"?a:s;(!c.transports||c.transports&&typeof c.transports[0]=="string")&&(c.transports=(c.transports||["polling","websocket","webtransport"]).map(f=>mb[f]).filter(f=>!!f)),super(a,c)}};function Sb(i,a="",s){let c=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),c=Dc(i)),c.port||(/^(http|ws)$/.test(c.protocol)?c.port="80":/^(http|ws)s$/.test(c.protocol)&&(c.port="443")),c.path=c.path||"/";const d=c.host.indexOf(":")!==-1?"["+c.host+"]":c.host;return c.id=c.protocol+"://"+d+":"+c.port+a,c.href=c.protocol+"://"+d+(s&&s.port===c.port?"":":"+c.port),c}const Eb=typeof ArrayBuffer=="function",Ab=i=>typeof ArrayBuffer.isView=="function"?ArrayBuffer.isView(i):i.buffer instanceof ArrayBuffer,yp=Object.prototype.toString,Tb=typeof Blob=="function"||typeof Blob<"u"&&yp.call(Blob)==="[object BlobConstructor]",_b=typeof File=="function"||typeof File<"u"&&yp.call(File)==="[object FileConstructor]";function Wc(i){return Eb&&(i instanceof ArrayBuffer||Ab(i))||Tb&&i instanceof Blob||_b&&i instanceof File}function Uu(i,a){if(!i||typeof i!="object")return!1;if(Array.isArray(i)){for(let s=0,c=i.length;s<c;s++)if(Uu(i[s]))return!0;return!1}if(Wc(i))return!0;if(i.toJSON&&typeof i.toJSON=="function"&&arguments.length===1)return Uu(i.toJSON(),!0);for(const s in i)if(Object.prototype.hasOwnProperty.call(i,s)&&Uu(i[s]))return!0;return!1}function Cb(i){const a=[],s=i.data,c=i;return c.data=Uc(s,a),c.attachments=a.length,{packet:c,buffers:a}}function Uc(i,a){if(!i)return i;if(Wc(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 c=0;c<i.length;c++)s[c]=Uc(i[c],a);return s}else if(typeof i=="object"&&!(i instanceof Date)){const s={};for(const c in i)Object.prototype.hasOwnProperty.call(i,c)&&(s[c]=Uc(i[c],a));return s}return i}function Nb(i,a){return i.data=Lc(i.data,a),delete i.attachments,i}function Lc(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]=Lc(i[s],a);else if(typeof i=="object")for(const s in i)Object.prototype.hasOwnProperty.call(i,s)&&(i[s]=Lc(i[s],a));return i}const Rb=["connect","connect_error","disconnect","disconnecting","newListener","removeListener"],Mb=5;var pe;(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"})(pe||(pe={}));class jb{constructor(a){this.replacer=a}encode(a){return(a.type===pe.EVENT||a.type===pe.ACK)&&Uu(a)?this.encodeAsBinary({type:a.type===pe.EVENT?pe.BINARY_EVENT:pe.BINARY_ACK,nsp:a.nsp,data:a.data,id:a.id}):[this.encodeAsString(a)]}encodeAsString(a){let s=""+a.type;return(a.type===pe.BINARY_EVENT||a.type===pe.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=Cb(a),c=this.encodeAsString(s.packet),f=s.buffers;return f.unshift(c),f}}function jm(i){return Object.prototype.toString.call(i)==="[object Object]"}class Ic extends Ve{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 c=s.type===pe.BINARY_EVENT;c||s.type===pe.BINARY_ACK?(s.type=c?pe.EVENT:pe.ACK,this.reconstructor=new Ob(s),s.attachments===0&&super.emitReserved("decoded",s)):super.emitReserved("decoded",s)}else if(Wc(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 c={type:Number(a.charAt(0))};if(pe[c.type]===void 0)throw new Error("unknown packet type "+c.type);if(c.type===pe.BINARY_EVENT||c.type===pe.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");c.attachments=Number(y)}if(a.charAt(s+1)==="/"){const d=s+1;for(;++s&&!(a.charAt(s)===","||s===a.length););c.nsp=a.substring(d,s)}else c.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}c.id=Number(a.substring(d,s+1))}if(a.charAt(++s)){const d=this.tryParse(a.substr(s));if(Ic.isPayloadValid(c.type,d))c.data=d;else throw new Error("invalid payload")}return c}tryParse(a){try{return JSON.parse(a,this.reviver)}catch{return!1}}static isPayloadValid(a,s){switch(a){case pe.CONNECT:return jm(s);case pe.DISCONNECT:return s===void 0;case pe.CONNECT_ERROR:return typeof s=="string"||jm(s);case pe.EVENT:case pe.BINARY_EVENT:return Array.isArray(s)&&(typeof s[0]=="number"||typeof s[0]=="string"&&Rb.indexOf(s[0])===-1);case pe.ACK:case pe.BINARY_ACK:return Array.isArray(s)}}destroy(){this.reconstructor&&(this.reconstructor.finishedReconstruction(),this.reconstructor=null)}}class Ob{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=Nb(this.reconPack,this.buffers);return this.finishedReconstruction(),s}return null}finishedReconstruction(){this.reconPack=null,this.buffers=[]}}const wb=Object.freeze(Object.defineProperty({__proto__:null,Decoder:Ic,Encoder:jb,get PacketType(){return pe},protocol:Mb},Symbol.toStringTag,{value:"Module"}));function Bt(i,a,s){return i.on(a,s),function(){i.off(a,s)}}const zb=Object.freeze({connect:1,connect_error:1,disconnect:1,disconnecting:1,newListener:1,removeListener:1});class vp extends Ve{constructor(a,s,c){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,c&&c.auth&&(this.auth=c.auth),this._opts=Object.assign({},c),this.io._autoConnect&&this.open()}get disconnected(){return!this.connected}subEvents(){if(this.subs)return;const a=this.io;this.subs=[Bt(a,"open",this.onopen.bind(this)),Bt(a,"packet",this.onpacket.bind(this)),Bt(a,"error",this.onerror.bind(this)),Bt(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 c,f,d;if(zb.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:pe.EVENT,data:s};if(y.options={},y.options.compress=this.flags.compress!==!1,typeof s[s.length-1]=="function"){const A=this.ids++,T=s.pop();this._registerAckCallback(A,T),y.id=A}const v=(f=(c=this.io.engine)===null||c===void 0?void 0:c.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&&!v||(p?(this.notifyOutgoingListeners(y),this.packet(y)):this.sendBuffer.push(y)),this.flags={},this}_registerAckCallback(a,s){var c;const f=(c=this.flags.timeout)!==null&&c!==void 0?c:this._opts.ackTimeout;if(f===void 0){this.acks[a]=s;return}const d=this.io.setTimeoutFn(()=>{delete this.acks[a];for(let v=0;v<this.sendBuffer.length;v++)this.sendBuffer[v].id===a&&this.sendBuffer.splice(v,1);s.call(this,new Error("operation has timed out"))},f),y=(...v)=>{this.io.clearTimeoutFn(d),s.apply(this,v)};y.withError=!0,this.acks[a]=y}emitWithAck(a,...s){return new Promise((c,f)=>{const d=(y,v)=>y?f(y):c(v);d.withError=!0,s.push(d),this.emit(a,...s)})}_addToQueue(a){let s;typeof a[a.length-1]=="function"&&(s=a.pop());const c={id:this._queueSeq++,tryCount:0,pending:!1,args:a,flags:Object.assign({fromQueue:!0},this.flags)};a.push((f,...d)=>c!==this._queue[0]?void 0:(f!==null?c.tryCount>this._opts.retries&&(this._queue.shift(),s&&s(f)):(this._queue.shift(),s&&s(null,...d)),c.pending=!1,this._drainQueue())),this._queue.push(c),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:pe.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(c=>String(c.id)===a)){const c=this.acks[a];delete this.acks[a],c.withError&&c.call(this,new Error("socket has been disconnected"))}})}onpacket(a){if(a.nsp===this.nsp)switch(a.type){case pe.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 pe.EVENT:case pe.BINARY_EVENT:this.onevent(a);break;case pe.ACK:case pe.BINARY_ACK:this.onack(a);break;case pe.DISCONNECT:this.ondisconnect();break;case pe.CONNECT_ERROR:this.destroy();const c=new Error(a.data.message);c.data=a.data.data,this.emitReserved("connect_error",c);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 c of s)c.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 c=!1;return function(...f){c||(c=!0,s.packet({type:pe.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:pe.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 c=0;c<s.length;c++)if(a===s[c])return s.splice(c,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 c=0;c<s.length;c++)if(a===s[c])return s.splice(c,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 c of s)c.apply(this,a.data)}}}function Pl(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}Pl.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};Pl.prototype.reset=function(){this.attempts=0};Pl.prototype.setMin=function(i){this.ms=i};Pl.prototype.setMax=function(i){this.max=i};Pl.prototype.setJitter=function(i){this.jitter=i};class Hc extends Ve{constructor(a,s){var c;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,Xu(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((c=s.randomizationFactor)!==null&&c!==void 0?c:.5),this.backoff=new Pl({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||wb;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 xb(this.uri,this.opts);const s=this.engine,c=this;this._readyState="opening",this.skipReconnect=!1;const f=Bt(s,"open",function(){c.onopen(),a&&a()}),d=v=>{this.cleanup(),this._readyState="closed",this.emitReserved("error",v),a?a(v):this.maybeReconnectOnOpen()},y=Bt(s,"error",d);if(this._timeout!==!1){const v=this._timeout,p=this.setTimeoutFn(()=>{f(),d(new Error("timeout")),s.close()},v);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(Bt(a,"ping",this.onping.bind(this)),Bt(a,"data",this.ondata.bind(this)),Bt(a,"error",this.onerror.bind(this)),Bt(a,"close",this.onclose.bind(this)),Bt(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){Gu(()=>{this.emitReserved("packet",a)},this.setTimeoutFn)}onerror(a){this.emitReserved("error",a)}socket(a,s){let c=this.nsps[a];return c?this._autoConnect&&!c.active&&c.connect():(c=new vp(this,a,s),this.nsps[a]=c),c}_destroy(a){const s=Object.keys(this.nsps);for(const c of s)if(this.nsps[c].active)return;this._close()}_packet(a){const s=this.encoder.encode(a);for(let c=0;c<s.length;c++)this.engine.write(s[c],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 c;this.cleanup(),(c=this.engine)===null||c===void 0||c.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 c=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&&c.unref(),this.subs.push(()=>{this.clearTimeoutFn(c)})}}onreconnect(){const a=this.backoff.attempts;this._reconnecting=!1,this.backoff.reset(),this.emitReserved("reconnect",a)}}const Fa={};function Lu(i,a){typeof i=="object"&&(a=i,i=void 0),a=a||{};const s=Sb(i,a.path||"/socket.io"),c=s.source,f=s.id,d=s.path,y=Fa[f]&&d in Fa[f].nsps,v=a.forceNew||a["force new connection"]||a.multiplex===!1||y;let p;return v?p=new Hc(c,a):(Fa[f]||(Fa[f]=new Hc(c,a)),p=Fa[f]),s.query&&!a.query&&(a.query=s.queryKey),p.socket(s.path,a)}Object.assign(Lu,{Manager:Hc,Socket:vp,io:Lu,connect:Lu});const gp=window.location.origin;console.info("[socket] connecting to",gp);const 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sx(){const{actions:{setMode:i,setDriveVector:a,setAuxMotors:s,nudgeServo:c,runMacro:f,registerInputState:d}}=mn(),{value:y}=ti("inputs",rl),{value:v}=ti("gamepadMapping",ku),p=y.gamepad??rl.gamepad,g=Math.min(Math.max(p.driveDeadzone??.2,0),.8),A=Math.min(Math.max(p.cameraDeadzone??.25,0),.9),T=p.servoStep??rl.gamepad.servoStep,j=p.auxReverseScale??rl.gamepad.auxReverseScale,C=!!v?.drive?.horizontal&&!!v?.drive?.vertical&&!!v?.camera?.vertical&&!!v?.brushes?.mainAxis&&!!v?.brushes?.sideAxis&&!!v?.buttons?.mainReverse&&!!v?.buttons?.sideReverse&&!!v?.buttons?.vacuum&&!!v?.buttons?.allAux&&!!v?.buttons?.drive&&!!v?.buttons?.dock,O=b.useRef(null),D=b.useRef({x:0,y:0,boost:!1}),q=b.useRef({main:0,side:0,vacuum:0}),V=b.useRef(new Map),G=b.useRef(0),k=b.useRef({main:!1,side:!1}),J=b.useCallback((P,I)=>{const ae=V.current.get(P)||!1;return V.current.set(P,I),I&&!ae},[]),Y=b.useCallback((P,I)=>{if(!I)return 0;const ae=P.axes?.[I.index]??0;return I.invert?-ae:ae},[]),K=b.useCallback((P,I)=>{if(!I)return 0;const ae=P.buttons?.[I.index];return ae?typeof ae.value=="number"?ae.value:ae.pressed?1:0:0},[]),X=b.useCallback((P,I)=>{if(!I)return!1;const ae=P.buttons?.[I.index];return ae?ae.pressed||ae.value>.5:!1},[]),te=b.useCallback(()=>{if(typeof navigator>"u"||!navigator.getGamepads)return;const P=navigator.getGamepads(),I=P&&Array.from(P).find(Boolean);if(!I){Hm(D.current,{x:0,y:0,boost:!1})||(D.current={x:0,y:0,boost:!1},a({x:0,y:0,boost:!1},{source:Ia})),qm(q.current,{main:0,side:0,vacuum:0})||(q.current={main:0,side:0,vacuum:0},s({main:0,side:0,vacuum:0})),d(Ia,{connected:!1,mappingReady:C});return}if(!C){d(Ia,{connected:!0,mappingReady:!1});return}const ae=fn(Rc(Y(I,v.drive.horizontal),g)),Oe=fn(Rc(-Y(I,v.drive.vertical),g)),ct={x:ae,y:Oe,boost:!1};Hm(ct,D.current)||(D.current=ct,a(ct,{source:Ia}));const Ot=Y(I,v.brushes.mainAxis),tt=Math.round(Math.min(Math.abs(Ot),1)*127),B=k.current.main?-tt:tt,Q=Y(I,v.brushes.sideAxis),ne=Math.round(Math.min(Math.abs(Q),1)*127),be=k.current.side?-Math.round(ne*j):Math.round(ne*j),Se=X(I,v.buttons.vacuum)?127:0;let E={main:B,side:be,vacuum:Se};X(I,v.buttons.allAux)&&(E={main:127,side:127,vacuum:127}),qm(E,q.current)||(q.current=E,s(E));const L=fn(Rc(-Y(I,v.camera.vertical),A)),Z=performance.now();Math.abs(L)>.25&&Z-G.current>120&&(G.current=Z,c(L>0?T:-T)),J("toggle-main",X(I,v.buttons.mainReverse))&&(k.current.main=!k.current.main),J("toggle-side",X(I,v.buttons.sideReverse))&&(k.current.side=!k.current.side),J(`macro-${v.buttons.drive.index}`,X(I,v.buttons.drive))&&(i("drive"),f("drive-sequence")),J(`macro-${v.buttons.dock.index}`,X(I,v.buttons.dock))&&(i("dock"),f("seek-dock")),d(Ia,{connected:!0,mappingReady:!0,id:I.id,index:I.index,axes:[ae,Oe,L],reverse:{...k.current}})},[j,A,g,Y,K,J,X,v.buttons?.allAux,v.buttons?.dock,v.buttons?.drive,v.buttons?.mainReverse,v.buttons?.sideReverse,v.buttons?.vacuum,v.camera?.vertical,v.drive?.horizontal,v.drive?.vertical,v.brushes?.mainAxis,v.brushes?.sideAxis,C,c,d,f,T,s,a,i]);return b.useEffect(()=>{function P(){te(),O.current=requestAnimationFrame(P)}return O.current=requestAnimationFrame(P),()=>{O.current&&cancelAnimationFrame(O.current)}},[te]),null}function to(){const{state:{roverId:i},actions:a}=mn(),c=Zu(i)?.sensors||{},f=(c.oiMode?.label||"").toLowerCase()==="full",d=!!c.chargingSources?.homeBase,y=!!(c.chargingState?.label&&c.chargingState.label.toLowerCase()!=="not charging"),v=()=>{i&&(a.setMode("drive"),a.runMacro("drive-sequence"))},p=()=>{i&&(a.setMode("dock"),a.runMacro("seek-dock"))};return h.jsxs("section",{className:"panel-section space-y-0.5 text-base",children:[h.jsxs("div",{className:"flex items-center justify-between text-sm text-slate-300",children:[h.jsx("span",{children:"Drive control"}),h.jsx("span",{children:i?"Ready to drive":"No rover assigned"})]}),h.jsxs("div",{className:"space-y-0.5",children:[h.jsx(km,{title:"Start Driving",description:"Press to enable driving mode, then start moving. The headlamps should illuminate.",statuses:[{label:f?"Ready!":"Not Ready!",active:f}],tone:"emerald",onClick:v,disabled:!i}),h.jsx(km,{title:"Dock and Charge",description:"Line the rover up about a foot from the dock, then trigger an automatic approach.",statuses:[{label:d?"Docked!":"Not Docked!",active:d},{label:y?"Charging!":"Not Charging!",active:y}],tone:"indigo",onClick:p,disabled:!i})]})]})}function km({title:i,description:a,statuses:s,tone:c,onClick:f,disabled:d,footnote:y}){const v=c==="indigo"?{base:"bg-indigo-600",hover:"hover:bg-indigo-500"}:{base:"bg-emerald-600",hover:"hover:bg-emerald-500"};return h.jsxs("button",{type:"button",onClick:f,disabled:d,className:`w-full ${v.base} ${v.hover} px-0.5 py-0.5 text-left text-white transition-colors disabled:opacity-40`,children:[h.jsx("p",{className:"text-base font-semibold",children:i}),h.jsx("p",{className:"text-sm text-white/90",children:a}),h.jsx("div",{className:"mt-0.5 flex flex-wrap gap-0.5",children:s.map(p=>h.jsx("span",{className:`px-0.5 py-0.5 text-xs font-semibold ${p.active?"bg-lime-300 text-emerald-900":"bg-emerald-900 text-emerald-100"}`,children:p.label},p.label))}),y&&h.jsx("p",{className:"mt-0.5 text-xs text-emerald-50/80",children:y})]})}const rx=5e3;function cx(i){return i.id?i.id:i.timestamp?`${i.timestamp}-${i.message}`:`${i.title||"alert"}-${i.message}`}function ox(){const{alerts:i}=Lt(),[a,s]=b.useState(()=>Date.now()),c=b.useMemo(()=>i.slice(-5).map(d=>({alert:d,key:cx(d)})),[i]);b.useEffect(()=>{if(!c.length)return;const d=setInterval(()=>s(Date.now()),200);return()=>clearInterval(d)},[c.length]);const f=c.map(d=>({...d,age:a-(d.alert.receivedAt??d.alert.timestamp??0)})).filter(d=>d.age<=rx);return f.length?h.jsx("div",{className:"pointer-events-none fixed top-0.5 left-1/2 z-50 flex -translate-x-1/2 flex-col gap-0.5",children:f.map(d=>h.jsx(fx,{alert:d.alert},d.key))}):null}function fx({alert:i}){const a=i.color==="error"?"bg-red-500/30 text-red-100":i.color==="warn"?"bg-amber-500/30 text-amber-100":"bg-emerald-500/30 text-emerald-100";return h.jsxs("div",{className:`pointer-events-auto px-0.5 py-0.5 text-[0.85rem] ${a}`,children:[h.jsx("p",{className:"text-xs text-slate-200",children:i.title||"Alert"}),h.jsx("p",{className:"text-sm text-white",children:i.message})]})}const dx=[{key:"open",label:"Open"},{key:"turns",label:"Turns"},{key:"admin",label:"Admin"},{key:"lockdown",label:"Lockdown"}];function no(){const{session:i,lockRover:a,setMode:s,requestControl:c}=Lt(),f=b.useMemo(()=>i?.roster??[],[i?.roster]),[d,y]=b.useState({}),v=i?.role==="admin"||i?.role==="lockdown"||i?.role==="lockdown-admin",p=i?.mode??"open",g=async(C,O)=>{try{await a(C,O),y(D=>({...D,[C]:O}))}catch(D){alert(D.message)}},A=async C=>{const O=C.target.value;try{await s(O)}catch(D){alert(D.message)}},T=async C=>{try{await c(C,{force:!0})}catch(O){alert(O.message)}},j=b.useMemo(()=>{const C={};return f.forEach(O=>{C[O.id]=d[O.id]??O.locked}),C},[f,d]);return v?h.jsxs("section",{className:"panel-section space-y-0.5 text-base",children:[h.jsxs("div",{className:"flex items-center justify-between gap-0.5 text-sm",children:[h.jsx("span",{children:"Admin controls"}),h.jsx("select",{value:p,onChange:A,className:"field-input text-sm",children:dx.map(C=>h.jsx("option",{value:C.key,children:C.label},C.key))})]}),h.jsx("div",{className:"space-y-0.5 text-sm",children:f.map(C=>h.jsxs("div",{className:"surface flex flex-wrap items-center justify-between gap-0.5",children:[h.jsxs("div",{children:[h.jsx("p",{className:"text-slate-100",children:C.name}),h.jsx("p",{className:"text-xs text-slate-400",children:j[C.id]?"locked":"unlocked"})]}),h.jsxs("div",{className:"flex flex-wrap gap-0.5 text-xs",children:[h.jsx("button",{type:"button",onClick:()=>g(C.id,!j[C.id]),className:"button-dark",children:j[C.id]?"Unlock":"Lock"}),h.jsx("button",{type:"button",onClick:()=>T(C.id),className:"button-dark",children:"Force"})]})]},C.id))})]}):null}function hx({size:i="default"}){const{state:{roverId:a},actions:s}=mn(),[c,f]=b.useState(null),d=!a||c!==null,v=Zu(a)?.sensors?.oiMode?.label||"Unknown",g=v.toLowerCase()==="full",A=g?"Drive Ready":`OI Mode: ${v}`,T=async()=>{if(a){f("drive");try{s.setMode("drive"),await s.runMacro("drive-sequence")}finally{f(null)}}},j=async()=>{if(a){f("dock");try{s.setMode("dock"),await s.runMacro("seek-dock")}finally{f(null)}}},C=i==="compact"?"text-xs px-0.5 py-0.5":"text-sm px-0.5 py-0.5";return h.jsxs("div",{className:"bg-black/30 p-0.5 text-slate-100",children:[h.jsx("div",{className:"flex items-center",children:h.jsx("span",{className:`${g?"bg-emerald-700":"bg-indigo-700"} ${C}`,children:A})}),h.jsxs("div",{className:"mt-0.5 grid grid-cols-2 gap-0.5 text-xs",children:[h.jsx("button",{type:"button",onClick:T,disabled:d,className:`bg-emerald-600 px-0.5 py-0.5 font-semibold text-emerald-50 transition-colors hover:bg-emerald-500 disabled:opacity-40 ${i==="compact"?"text-xs":"text-sm"}`,children:"Drive"}),h.jsx("button",{type:"button",onClick:j,disabled:d,className:`bg-indigo-600 px-0.5 py-0.5 font-semibold text-indigo-50 transition-colors hover:bg-indigo-500 disabled:opacity-40 ${i==="compact"?"text-xs":"text-sm"}`,children:"Dock"})]})]})}const Mu="mobile-joystick",mx=80,px=.15,yx=[{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 vx({disabled:i,layout:a,radius:s,onMove:c,onStop:f}){const d=b.useRef(null),y=b.useRef(null),v=b.useRef({x:0,y:0}),[p,g]=b.useState({active:!1,base:{x:0,y:0},knob:{x:0,y:0}}),A=b.useCallback(()=>{y.current=null,g({active:!1,base:{x:0,y:0},knob:{x:0,y:0}}),f?.()},[f]),T=b.useCallback(D=>{if(i||y.current!==null)return;D.preventDefault();const q=d.current;if(!q)return;const V=q.getBoundingClientRect(),G=D.clientX-V.left,k=D.clientY-V.top;v.current={x:G,y:k},y.current=D.pointerId,q.setPointerCapture?.(D.pointerId),g({active:!0,base:{x:G,y:k},knob:{x:0,y:0}})},[i]),j=b.useCallback(D=>{if(i||y.current!==D.pointerId)return;D.preventDefault();const q=d.current;if(!q)return;const V=q.getBoundingClientRect(),G=D.clientX-V.left,k=D.clientY-V.top,J=G-v.current.x,Y=k-v.current.y,K=Math.min(Math.hypot(J,Y),s),X=Math.atan2(Y,J),te=Math.cos(X)*K,P=Math.sin(X)*K,I={x:fn(te/s),y:fn(-P/s),boost:!1};g(ae=>({...ae,knob:{x:te,y:P}})),c?.(I)},[i,c]),C=b.useCallback(D=>{if(y.current!==D.pointerId)return;D.preventDefault(),d.current?.releasePointerCapture?.(D.pointerId),A()},[A]);b.useEffect(()=>{i&&A()},[i,A]);const O=a==="landscape"?"h-[260px]":"h-[220px]";return h.jsxs("div",{ref:d,role:"presentation",className:`relative w-full ${O} select-none overflow-hidden bg-zinc-950`,style:{touchAction:"none"},onPointerDown:T,onPointerMove:j,onPointerUp:C,onPointerLeave:C,onPointerCancel:C,onContextMenu:D=>D.preventDefault(),children:[!p.active&&h.jsxs("div",{className:"absolute inset-0 flex flex-col items-center justify-center text-center text-xs text-slate-400",children:[h.jsx("p",{children:"Touch and hold anywhere"}),h.jsx("p",{children:"Joystick will follow your thumb"})]}),p.active&&h.jsxs(h.Fragment,{children:[h.jsx("div",{className:"pointer-events-none absolute h-28 w-28 -translate-x-1/2 -translate-y-1/2 bg-cyan-400/10 outline outline-2 outline-cyan-400/60 [clip-path:circle(50%)]",style:{left:p.base.x,top:p.base.y}}),h.jsx("div",{className:"pointer-events-none absolute h-12 w-12 -translate-x-1/2 -translate-y-1/2 bg-cyan-300/80 shadow-lg [clip-path:circle(50%)]",style:{left:p.base.x+p.knob.x,top:p.base.y+p.knob.y}})]})]})}function Rp({layout:i}){const{state:{roverId:a,camera:s},actions:{setDriveVector:c,registerInputState:f,stopAllMotion:d,setServoAngle:y}}=mn(),v=!a,p=s?.config,g=!!(a&&s?.enabled&&p),A=typeof p?.minAngle=="number"?p.minAngle:-45,T=typeof p?.maxAngle=="number"?p.maxAngle:45,j=typeof s?.angle=="number"?s.angle:typeof p?.homeAngle=="number"?p.homeAngle:(A+T)/2,C=mx,O=px,D=b.useRef({x:0,y:0,boost:!1});b.useEffect(()=>{v&&(D.current={x:0,y:0,boost:!1})},[v]);const q=b.useCallback((k={})=>{if(v)return;const J={x:fn(k.x??0),y:fn(k.y??0),boost:!!k.boost},Y={x:D.current.x+(J.x-D.current.x)*(1-O),y:D.current.y+(J.y-D.current.y)*(1-O),boost:J.boost};D.current=Y,c(Y,{source:Mu}),f(Mu,{vector:Y,lastEvent:"move"})},[v,f,c,O]),V=b.useCallback(()=>{if(v)return;const k={x:0,y:0,boost:!1};D.current=k,c(k,{source:Mu}),f(Mu,{vector:k,lastEvent:"stop"})},[v,f,c]),G=k=>{if(!g)return;const J=Number(k.target.value);Number.isNaN(J)||y(J)};return h.jsxs("div",{className:"flex flex-col gap-0.5 text-slate-100",children:[h.jsx(hx,{size:"compact"}),h.jsx(vx,{disabled:v,layout:i,radius:C,onMove:q,onStop:V}),h.jsx("button",{type:"button",onClick:d,disabled:v,className:"button-danger w-full disabled:opacity-40",children:"Panic Stop"}),g&&h.jsxs("div",{className:"bg-zinc-950 p-0.5 text-xs",children:[h.jsxs("div",{className:"flex items-center justify-between text-[0.75rem] text-slate-400",children:[h.jsx("span",{children:"Camera Tilt"}),h.jsxs("span",{className:"font-mono text-slate-200",children:[j.toFixed(1),"°"]})]}),h.jsx("input",{type:"range",min:A,max:T,step:.5,value:j,onChange:G,className:"mt-0.5 w-full accent-cyan-400"})]})]})}function Mp({orientation:i}){const{state:{roverId:a},actions:{setAuxMotors:s}}=mn(),c=b.useRef(null),f=!a,d=b.useCallback(p=>{if(!f){if(p.hold===!1){s(p.values),c.current=null;return}c.current=p.id,s(p.values)}},[f,s]),y=b.useCallback(p=>{f||p.hold===!1||c.current===p.id&&(c.current=null,s({main:0,side:0,vacuum:0}))},[f,s]),v=i==="landscape"?"grid-cols-1":"grid-cols-1 sm:grid-cols-2";return h.jsxs("div",{className:"flex flex-col gap-0.5 text-slate-100",children:[h.jsx("p",{className:"text-xs text-slate-400",children:"Aux controls"}),h.jsx("div",{className:`grid ${v} gap-0.5`,children:yx.map(p=>h.jsx("button",{type:"button",disabled:f,onPointerDown:g=>{g.preventDefault(),d(p)},onPointerUp:()=>y(p),onPointerLeave:()=>y(p),onPointerCancel:()=>y(p),onContextMenu:g=>g.preventDefault(),className:`px-0.5 py-0.5 text-left text-sm font-semibold text-white transition ${p.color} hover:brightness-110 disabled:opacity-30`,children:p.label},p.id))})]})}function gx(){return h.jsx("div",{className:"flex h-full flex-col gap-0.5",children:h.jsx(Mp,{orientation:"landscape"})})}function bx(){return h.jsx("div",{className:"flex h-full flex-col gap-0.5",children:h.jsx(Rp,{layout:"landscape"})})}function xx(){return h.jsx("section",{className:"panel",children:h.jsxs("div",{className:"grid grid-cols-2 gap-0.5",children:[h.jsx(Mp,{orientation:"portrait"}),h.jsx(Rp,{layout:"portrait"})]})})}function lo(){return h.jsxs("div",{className:"panel-section min-h-[8rem] space-y-0.5 text-base",children:[h.jsx("p",{className:"text-center text-sm text-slate-400",children:"Room camera"}),h.jsx("p",{className:"text-center text-slate-200",children:"Feed placeholder. Wire upcoming room cam here."})]})}function ao(){const{logs:i}=Lt();return h.jsxs("div",{className:"panel-section space-y-0.5 text-base",children:[h.jsxs("div",{className:"flex items-center justify-between text-sm text-slate-400",children:[h.jsx("span",{children:"Server logs"}),h.jsx("span",{children:i.length})]}),h.jsx("div",{className:"surface h-64 overflow-y-auto font-mono text-xs",children:i.length===0?h.jsx("p",{children:"No logs yet."}):i.slice().reverse().map(a=>h.jsxs("div",{className:"surface",children:[h.jsx("span",{className:"text-amber-400",children:a.timestamp})," ",h.jsxs("span",{className:"text-lime-400",children:["[",a.level,"]"]})," ",a.label&&h.jsxs("span",{className:"text-teal-400",children:["[",a.label,"]"]})," ",h.jsx("span",{children:a.message})]},a.id))})]})}function Ku(){const{login:i,setRole:a}=Lt(),[s,c]=b.useState(""),[f,d]=b.useState(""),[y,v]=b.useState(!1);async function p(g){g.preventDefault(),v(!0);try{await i(s,f),c(""),d("")}catch(A){alert(A.message)}finally{v(!1)}}return h.jsxs("div",{className:"panel-section space-y-0.5 text-base",children:[h.jsx("p",{className:"text-sm text-slate-400",children:"Admin login"}),h.jsxs("form",{className:"flex flex-col gap-0.5",onSubmit:p,children:[h.jsx("input",{className:"field-input",placeholder:"Username",value:s,onChange:g=>c(g.target.value)}),h.jsx("input",{className:"field-input",placeholder:"Password",type:"password",value:f,onChange:g=>d(g.target.value)}),h.jsx("button",{type:"submit",disabled:y,className:"button-dark w-full disabled:opacity-50",children:y?"Logging in…":"Login"})]})]})}function jp(i=[]){const a=Qu(),[s,c]=b.useState({}),f=Array.isArray(i)?i.filter(Boolean).join("|"):"";return b.useEffect(()=>{if(!f)return;const y=f.split("|");let v=!1;return y.forEach(p=>{a.emit("video:request",{roverId:p},(g={})=>{v||c(A=>({...A,[p]:g}))})}),()=>{v=!0}},[a,f]),b.useMemo(()=>{if(!f)return{};const y=f.split("|"),v={};return y.forEach(p=>{s[p]&&(v[p]=s[p])}),v},[f,s])}const Sx={iceServers:[{urls:"stun:stun.l.google.com:19302"},{urls:"turn:your.turn.server:3478",username:"user",credential:"pass"}],bundlePolicy:"max-bundle",rtcpMuxPolicy:"require"};function Ex(i){if(typeof btoa=="function")return btoa(i);if(typeof Buffer<"u")return Buffer.from(i).toString("base64");throw new Error("No base64 encoder available")}function Ax(i){if(!i)return{};const a=`${i}:${i}`;return{Authorization:`Basic ${Ex(a)}`}}class Tx{constructor({url:a,token:s,video:c,onStatus:f}){this.url=a,this.token=s,this.video=c,this.pc=null,this.abortController=null,this.onStatus=f}notify(a,s){typeof this.onStatus=="function"&&this.onStatus(a,s)}configureVideoElement(){this.video&&(this.video.playsInline=!0,this.video.autoplay=!0,this.video.muted=!0,this.video.disableRemotePlayback=!0,"latencyHint"in HTMLMediaElement.prototype&&(this.video.latencyHint="interactive"))}async start(){if(!this.url||!this.video)throw new Error("Video target 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