"use strict";

var __createBinding = void 0 && (void 0).__createBinding || (Object.create ? function (o, m, k, k2) {
  if (k2 === undefined) k2 = k;
  var desc = Object.getOwnPropertyDescriptor(m, k);
  if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
    desc = {
      enumerable: true,
      get: function () {
        return m[k];
      }
    };
  }
  Object.defineProperty(o, k2, desc);
} : function (o, m, k, k2) {
  if (k2 === undefined) k2 = k;
  o[k2] = m[k];
});
var __setModuleDefault = void 0 && (void 0).__setModuleDefault || (Object.create ? function (o, v) {
  Object.defineProperty(o, "default", {
    enumerable: true,
    value: v
  });
} : function (o, v) {
  o["default"] = v;
});
var __importStar = void 0 && (void 0).__importStar || function () {
  var ownKeys = function (o) {
    ownKeys = Object.getOwnPropertyNames || function (o) {
      var ar = [];
      for (var k in o) if (Object.prototype.hasOwnProperty.call(o, k)) ar[ar.length] = k;
      return ar;
    };
    return ownKeys(o);
  };
  return function (mod) {
    if (mod && mod.__esModule) return mod;
    var result = {};
    if (mod != null) for (var k = ownKeys(mod), i = 0; i < k.length; i++) if (k[i] !== "default") __createBinding(result, mod, k[i]);
    __setModuleDefault(result, mod);
    return result;
  };
}();
Object.defineProperty(exports, "__esModule", {
  value: true
});
exports.SingleInstance = exports.RobotType = exports.ConstantEnum = exports.PluginsProgramNodeId = exports.DEVICE_INFO = exports.AGV_WS = exports.RISING_BOLLARDS_AXIS_GROUP_OFFSET = exports.RISING_BOLLARDS_AXIS_GROUP_REF_FRAME = exports.RISING_BOLLARDS_AXIS_GROUP_DIRECTION = exports.RISING_BOLLARDS_EXT_AXIS_REDUCTION_RATIO = exports.RISING_BOLLARDS_EXT_AXIS_MAX_ACCELERATION = exports.RISING_BOLLARDS_EXT_AXIS_MAX_VELOCITY = exports.RISING_BOLLARDS_EXT_AXIS_MIN_POSITION = exports.RISING_BOLLARDS_EXT_AXIS_MAX_POSITION = exports.RISING_BOLLARDS_EXT_AXIS_TYPE = exports.RISING_BOLLARDS_AXIS_GROUP_NAME = exports.RISING_BOLLARDS_AXIS_NAME = exports.AGV_CAMERA_SERVER_PORT = exports.AGV_DEFAULT_HOST = exports.AGV_STEERING_WORKER_SERVER_PORT = exports.AGV_STEERING_SERVER_PORT = exports.AGV_PRC_CONTROL_PORT = void 0;
const os = __importStar(require("os"));
const path_1 = require("path");
exports.AGV_PRC_CONTROL_PORT = 9016;
exports.AGV_STEERING_SERVER_PORT = 8180;
exports.AGV_STEERING_WORKER_SERVER_PORT = 8185;
exports.AGV_DEFAULT_HOST = '127.0.0.1';
exports.AGV_CAMERA_SERVER_PORT = 30210;
exports.RISING_BOLLARDS_AXIS_NAME = 'fake_axis1';
exports.RISING_BOLLARDS_AXIS_GROUP_NAME = '轴组_1';
exports.RISING_BOLLARDS_EXT_AXIS_TYPE = 1;
exports.RISING_BOLLARDS_EXT_AXIS_MAX_POSITION = 100;
exports.RISING_BOLLARDS_EXT_AXIS_MIN_POSITION = -100;
exports.RISING_BOLLARDS_EXT_AXIS_MAX_VELOCITY = 100;
exports.RISING_BOLLARDS_EXT_AXIS_MAX_ACCELERATION = 100;
exports.RISING_BOLLARDS_EXT_AXIS_REDUCTION_RATIO = 1;
exports.RISING_BOLLARDS_AXIS_GROUP_DIRECTION = '{1,8.053777788662624e-10,2.2328771406087816e-10}';
exports.RISING_BOLLARDS_AXIS_GROUP_REF_FRAME = 'base';
exports.RISING_BOLLARDS_AXIS_GROUP_OFFSET = '{0, 1, 0}';
exports.AGV_WS = os.type() === 'Linux' ? '/root/agvc/' : (0, path_1.join)(__dirname, '../../../../', 'agvc/');
exports.DEVICE_INFO = exports.AGV_WS + 'config/' + 'device_info.toml';
var PluginsProgramNodeId;
(function (PluginsProgramNodeId) {
  PluginsProgramNodeId["AUBO_AGV"] = "Auboagv";
  PluginsProgramNodeId["AUBO_RECHARGE"] = "AuboRecharge";
  PluginsProgramNodeId["AUBO_FORCE_TO_BOARD"] = "AuboForceToBoard";
  PluginsProgramNodeId["AUBO_FORCE_LEAVE_BOARD"] = "AuboForceLeaveBoard";
  PluginsProgramNodeId["AUBO_OPENLOOP"] = "AuboOpenLoop";
  PluginsProgramNodeId["AUBO_RELOCATION"] = "AuboRelocation";
  PluginsProgramNodeId["AUBO_ALIGN_RAILWAY"] = "AuboAlignRailway";
  PluginsProgramNodeId["AUBO_RISING_BOLLARDS"] = "AuboRisingBollards";
  PluginsProgramNodeId["AUBO_VISION_INSPECTION"] = "AuboVisionInspection";
  PluginsProgramNodeId["AUBO_VISION_PICK"] = "AuboVisionPick";
  PluginsProgramNodeId["AUBO_BASKET_UNLOAD"] = "AuboBasketUnload";
})(PluginsProgramNodeId || (exports.PluginsProgramNodeId = PluginsProgramNodeId = {}));
var ConstantEnum;
(function (ConstantEnum) {
  ConstantEnum["AGV_STATIONS"] = "AGV_STATIONS";
  ConstantEnum["AGV_STATIONS_MAP_ID"] = "AGV_STATIONS_MAP_ID";
  ConstantEnum["AGV_SAFETY_STATUS"] = "AGV_SAFETY_STATUS";
})(ConstantEnum || (exports.ConstantEnum = ConstantEnum = {}));
var RobotType;
(function (RobotType) {
  RobotType["AUTO_GUIDED"] = "AutoGuided";
  RobotType["COMPOSITE"] = "Composite";
  RobotType["AGRICULTURAL"] = "Agricultural";
})(RobotType || (exports.RobotType = RobotType = {}));
class SingleInstance {
  constructor() {
    this.cacheMap = new Map();
  }
  static getInstance() {
    if (!SingleInstance.instance) {
      SingleInstance.instance = new SingleInstance();
    }
    return SingleInstance.instance;
  }
  set(key, value) {
    this.cacheMap.set(key, value);
  }
  get(key) {
    var _a;
    return (_a = this.cacheMap.get(key)) !== null && _a !== void 0 ? _a : null;
  }
  del(key) {
    this.cacheMap.delete(key);
  }
}
exports.SingleInstance = SingleInstance;
SingleInstance.instance = null;
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