ayvajs/dist/ayva.dist.module.min.js

A lightweight, behavior-based JavaScript API for controlling Open Source Multi Axis Stroker Robots.

var __webpack_modules__={570:(e,t,r)=>{r.d(t,{Z:()=>h});var o=r(336);var s=r(254);const a={validateMovements(e,t,r){const o={};let a=!1,n=!1;e&&e.length||(0,s.bG)("Must supply at least one movement."),e.forEach((e=>{e&&"object"==typeof e||(0,s.bG)(`Invalid movement: ${e}`);const i=t=>(0,s.bG)(`Invalid value for parameter '${t}': ${e[t]}`),c=(0,s.e$)(e,"to"),h=(0,s.e$)(e,"speed"),p=(0,s.e$)(e,"duration"),u=(0,s.e$)(e,"value"),f=e.axis||r;if(f||(0,s.bG)("No default axis configured. Must specify an axis for each movement."),(0,s.e$)(e,"axis")&&("string"==typeof e.axis&&e.axis.trim()&&t[e.axis]||i("axis")),c){let r=!1;r="boolean"===t[f].type?"boolean"!=typeof e.to:!Number.isFinite(e.to)||e.to<0||e.to>1,r&&i("to")}else u||(0,s.bG)("Must provide a 'to' property or 'value' function.");h&&p&&(0,s.bG)("Cannot supply both speed and duration."),(h||p)&&(a=!0,h&&(!Number.isFinite(e.speed)||e.speed<=0)?i("speed"):p&&(!Number.isFinite(e.duration)||e.duration<=0)&&i("duration")),h&&!c&&(0,s.bG)("Must provide a target position when specifying speed."),u&&"function"!=typeof e.value&&(0,s.bG)("'value' must be a function."),(0,s.e$)(e,"sync")&&("string"==typeof e.sync&&e.sync.trim()||i("sync"),((0,s.e$)(e,"speed")||(0,s.e$)(e,"duration"))&&(0,s.bG)(`Cannot specify a speed or duration when sync property is present: ${e.axis}`)),"boolean"!==t[f].type?n=!0:((0,s.e$)(e,"speed")&&(0,s.bG)(`Cannot specify speed for boolean axes: ${f}`),(0,s.e$)(e,"duration")&&c&&!u&&(0,s.bG)("Cannot specify a duration for a boolean axis movement with constant value.")),o[f]&&(0,s.bG)(`Duplicate axis movement: ${f}`),o[f]=e,t[f].alias&&(o[t[f].alias]=e)})),e.forEach((e=>{let t=e;const r=e.axis;for(;(0,s.e$)(t,"sync");)o[t.sync]||(0,s.bG)(`Cannot sync with axis not specified in movement: ${t.axis} -> ${t.sync}`),t=o[t.sync],t.sync===r&&(0,s.bG)("Sync axes cannot form a cycle.")})),!a&&n&&(0,s.bG)("At least one movement must have a speed or duration.")},validateAxisConfig(e){e&&"object"==typeof e||(0,s.bG)(`Invalid configuration object: ${e}`);const t={name:"string",type:"string",alias:"string",max:"number",min:"number"},r=["name","type"].filter((t=>void 0===e[t]||null===e[t])).sort();r.length&&(0,s.bG)(`Configuration is missing properties: ${r.join(", ")}`);const o=[];Object.keys(t).forEach((r=>{const s=e[r];null!=s&&(typeof s!==t[r]?o.push(r):"min"===r||"max"===r?(!Number.isFinite(s)||s<0||s>1)&&o.push(r):"alias"!==r&&"name"!==r||/^[a-zA-Z]+[a-zA-Z0-9]*$/.test(s)||o.push(r))}));let{defaultValue:a}=e;if(null!=a?"boolean"===e.type?"boolean"!=typeof a&&o.push("defaultValue"):(!Number.isFinite(a)||a<0||a>1)&&o.push("defaultValue"):a="boolean"!==e.type&&("auxiliary"===e.type?0:.5),o.length){const t=o.sort().map((t=>`${t} = ${e[t]}`)).join(", ");(0,s.bG)(`Invalid configuration parameter(s): ${t}`)}-1===["linear","rotation","auxiliary","boolean"].indexOf(e.type)&&(0,s.bG)(`Invalid type. 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s===e?(o+2)*Math.PI+t:s}static update(e,t){c.#he[e]=(0,i.Xh)(t)}static remove(e){delete c.#he[e]}static restoreLibrary(){c.#he=(0,i.Xh)(n)}constructor(e,t=60,r=0,o=c.DEFAULT_TIMER,s=null){if(super(),"string"==typeof e){if(!(0,i.e$)(c.library,e))throw new Error(`No stroke named ${e} found.`);e=c.library[e]}(0,i.w6)(this,"axes",{}),Object.keys(e).forEach((t=>{this.#pe(e[t]),(0,i.w6)(this.axes,t,{}),Object.keys(e[t]).forEach((r=>{(0,i.w6)(this.axes[t],r,e[t][r])})),Object.keys(c.DEFAULT_PARAMETERS).forEach((r=>{(0,i.e$)(e[t],r)||(0,i.w6)(this.axes[t],r,c.DEFAULT_PARAMETERS[r])}));const{from:r,to:o}=this.axes[t];(0,i.w6)(this.axes[t],"$current",{from:r,to:o})})),this.#oe=r,this.#ie=r,this.#ae=a.Z.createFrom(t),this.#se=this.#ae.next(),this.#c=o instanceof Function?{now:o}:o,this.#ne=s}*generate(e){this.#c?yield*this.#ue(e):yield*this.#fe(e)}*start(e,t){const r=this.getStartMoves(e,t);yield r}getStartMoves(e,t){const r={};t&&((0,i.e$)(t,"speed")||(0,i.e$)(t,"duration"))||(r.speed=1);const o={};return[...Object.keys(this.axes).map((s=>{o[e.getAxis(s).name]=!0;const a=this.axes[s];return{axis:s,to:a.motion(a.$current.from,a.$current.to,a.phase,a.ecc,this.#se,a.shift+this.#oe)({index:-1,frequency:e.frequency}),...r,...t}})),...e.getAxes().filter((e=>!o[e.name])).map((e=>{const o={axis:e.name,to:e.defaultValue,...r,...t};return"boolean"===e.type&&(delete o.speed,delete o.duration),o}))]}transition(e,t=60,r=1,o=null,s=null){return new h(e,t,this,r,o,s)}*#ue(e){this.#ne=this.#ne||this.#c.now();const t=c.computeTargetAngle(this.#oe,this.#ie);for(;this.#oe<t;){const t=2*(this.#c.now()-this.#ne)*Math.PI/60,r=this.#se*t,o=this.#oe;this.#oe=this.#ie+r,this.#le(e,this.#oe-o);const s=this.#se;this.#se=this.#ae.next(),this.#ie+=(s-this.#se)*t,yield e.period}}*#fe(){const{granularity:e}=c,t=this.#oe;for(let r=0;r<e;r++)yield this.#me(r),this.#oe=t+(r+1)*Math.PI/e,this.#se=this.#ae.next()}#le(e,t){const r={};Object.keys(this.axes).forEach((o=>{const 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