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e=localStorage.getItem(`theme`);this.isDarkMode=e?e===`dark`:!0,this.isDarkMode?document.documentElement.classList.add(`dark`):document.documentElement.classList.remove(`dark`),this.fetchMCUPorts(),this.applyFilterDesign()},beforeUnmount(){window.removeEventListener(`pointerdown`,this.rememberPointerType),this.stopA1A2Repeat(),this.stopAFineDrag(),this.stopShiftBitRepeat(),this.stopShiftBitDrag(),this.stopFixedA1A2Repeat(),this.stopFixedAFineDrag()},methods:{rememberPointerType(e){e.pointerType===`touch`?this.isTouchInput=!0:(e.pointerType===`mouse`||e.pointerType===`pen`)&&(this.isTouchInput=!1)},toggleDarkMode(){this.isDarkMode=!this.isDarkMode,localStorage.setItem(`theme`,this.isDarkMode?`dark`:`light`),this.isDarkMode?document.documentElement.classList.add(`dark`):document.documentElement.classList.remove(`dark`),this.updateBodePlot({switchToChart:!1}),this.timePlotData&&this.drawTimePlot(this.timePlotData)},formatK(e){return e>=1e6?`(~${(e/1e6).toFixed(1).replace(`.0`,``)}M)`:e>=1e3?`(~${(e/1e3).toFixed(1).replace(`.0`,``)}k)`:``},parseCoeffs(e){return e?e.split(/[,\s]+/).map(e=>parseFloat(e.trim())).filter(e=>!isNaN(e)):[]},padTo7(e){let t=e.slice(0,7);for(;t.length<7;)t.push(0);return t},syncBaseFromText(){let e=this.systemGain||1;this.baseB=this.padTo7(this.parseCoeffs(this.b_str)).map(t=>t/e),this.baseA=this.padTo7(this.parseCoeffs(this.a_str)),this.baseA[0]=1,this.fixedOverrides={a:{},b:{}},this.bSliders=[0,0,0,0,0,0,0],this.aSliders=[0,0,0,0,0,0,0],this.outOfRangeB=[!1,!1,!1,!1,!1,!1,!1],this.outOfRangeA=[!1,!1,!1,!1,!1,!1,!1]},resetSlidersB(){this.bSliders=[0,0,0,0,0,0,0],this.b_str=this.baseB.map(e=>parseFloat(e.toPrecision(10))).join(`, `),this.debouncedUpdateBode()},resetSlidersA(){this.aSliders=[0,0,0,0,0,0],this.a_str=this.baseA.map(e=>parseFloat(e.toPrecision(10))).join(`, `),this.debouncedUpdateBode()},clearManualAdjustments(){this.bSliders=[0,0,0,0,0,0,0],this.aSliders=[0,0,0,0,0,0,0];let e=this.systemGain||1;this.b_str=this.baseB.map(t=>parseFloat((t*e).toPrecision(10))).join(`, `),this.a_str=this.baseA.map(e=>parseFloat(e.toPrecision(10))).join(`, `),this.activeCoeffAdjustment=null,this.calcSlidersFromText(),this.updateBodePlot({switchToChart:!1})},updateFromControls({updateBode:e=!0}={}){let t=this.baseB.map((e,t)=>e*(this.systemGain||1)*10**(this.bSliders[t]||0)),n=[1];for(let e=1;e<7;e++)n.push(this.baseA[e]*10**(this.aSliders[e]||0));this.b_str=t.map(e=>parseFloat(e.toPrecision(10))).join(`, `),this.a_str=n.map(e=>parseFloat(e.toPrecision(10))).join(`, `),e&&this.debouncedUpdateBode()},stepDecimals(e){let t=String(e);return t.includes(`e-`)?Number(t.split(`e-`)[1]):t.includes(`.`)?t.split(`.`)[1].length:0},roundToStep(e,t=this.aFineStep){let n=1/t;return Math.round(e*n)/n},formatFineCoeff(e){return Number.isFinite(e)?Number(e).toString():`0`},formatAFineDelta(e=this.aFineStep){return this.roundToStep(e,e).toFixed(this.stepDecimals(e))},formatFixedFineCoeff(e){return Number.isFinite(e)?String(e):`0`},formatFixedAFineDelta(e=this.fixedAFineStep){return String(e)},adjustAFineStep(e){let t=this.aFineStep*(e>0?.1:10),n=Math.min(1,Math.max(1e-9,t));this.aFineStep=Number(n.toPrecision(12))},adjustFixedAFineStep(e){let t=this.fixedAFineStep*(e>0?.1:10);this.fixedAFineStep=Math.max(1,Math.min(1e9,Math.round(t)))},setDeltaR(e,t){let n=Number(e),r=Number(t);!Number.isFinite(n)||!Number.isFinite(r)||this.setA1A2(-1-r+n,r+n)},setAFineDirect(e,t){let n=parseFloat(t);Number.isFinite(n)&&(e===`delta`?this.setDeltaR(n,this.currentR):e===`r`&&this.setDeltaR(this.currentDelta,n))},adjustAFineValue(e,t){let n=t*this.aFineStep;e===`delta`?this.setDeltaR(this.currentDelta+n,this.currentR):e===`r`&&this.setDeltaR(this.currentDelta,this.currentR+n)},handleAFineWheel(e,t){if(!t.shiftKey){t.currentTarget?.blur?.();return}t.preventDefault();let n=t.deltaY<0?1:-1,r=Math.max(1,Math.round(Math.abs(t.deltaY)/80));this.adjustAFineValue(e,n*r)},startAFineDrag(e,t){t.pointerType===`touch`&&(t.preventDefault(),this.aFineDrag={target:e,lastY:t.clientY,remainder:0},window.addEventListener(`pointermove`,this.moveAFineDrag,{passive:!1}),window.addEventListener(`pointerup`,this.stopAFineDrag),window.addEventListener(`pointercancel`,this.stopAFineDrag))},moveAFineDrag(e){if(!this.aFineDrag)return;e.preventDefault();let t=this.aFineDrag.lastY-e.clientY;this.aFineDrag.lastY=e.clientY,this.aFineDrag.remainder+=t;let n=Math.trunc(this.aFineDrag.remainder/18);n!==0&&(this.aFineDrag.remainder-=n*18,this.adjustAFineValue(this.aFineDrag.target,n))},stopAFineDrag(){this.aFineDrag=null,window.removeEventListener(`pointermove`,this.moveAFineDrag),window.removeEventListener(`pointerup`,this.stopAFineDrag),window.removeEventListener(`pointercancel`,this.stopAFineDrag)},setFixedDeltaR(e,t){let n=Number(e),r=Number(t);!Number.isFinite(n)||!Number.isFinite(r)||(this.fixedOverrides.a[1]=Math.round(-this.fixedA0Int-r+n),this.fixedOverrides.a[2]=Math.round(r+n),this.debouncedUpdateBode())},setFixedAFineDirect(e,t){let n=parseFloat(t);Number.isFinite(n)&&(e===`delta`?this.setFixedDeltaR(n,this.fixedCurrentR):e===`r`&&this.setFixedDeltaR(this.fixedCurrentDelta,n))},adjustFixedAFineValue(e,t){let n=t*this.fixedAFineStep;e===`delta`?this.setFixedDeltaR(this.fixedCurrentDelta+n,this.fixedCurrentR):e===`r`&&this.setFixedDeltaR(this.fixedCurrentDelta,this.fixedCurrentR+n)},handleFixedAFineWheel(e,t){if(!t.shiftKey){t.currentTarget?.blur?.();return}t.preventDefault();let n=t.deltaY<0?1:-1,r=Math.max(1,Math.round(Math.abs(t.deltaY)/80));this.adjustFixedAFineValue(e,n*r)},startFixedA1A2Repeat(e,t){this.stopFixedA1A2Repeat(),this.adjustFixedAFineValue(e,t),this.fixedAFineRepeatDelayTimer=setTimeout(()=>{this.fixedAFineRepeatTimer=setInterval(()=>{this.adjustFixedAFineValue(e,t)},80)},350)},stopFixedA1A2Repeat(){clearTimeout(this.fixedAFineRepeatDelayTimer),clearInterval(this.fixedAFineRepeatTimer),this.fixedAFineRepeatDelayTimer=null,this.fixedAFineRepeatTimer=null},startFixedAFineDrag(e,t){t.pointerType===`touch`&&(t.preventDefault(),this.fixedAFineDrag={target:e,lastY:t.clientY,remainder:0},window.addEventListener(`pointermove`,this.moveFixedAFineDrag,{passive:!1}),window.addEventListener(`pointerup`,this.stopFixedAFineDrag),window.addEventListener(`pointercancel`,this.stopFixedAFineDrag))},moveFixedAFineDrag(e){if(!this.fixedAFineDrag)return;e.preventDefault();let t=this.fixedAFineDrag.lastY-e.clientY;this.fixedAFineDrag.lastY=e.clientY,this.fixedAFineDrag.remainder+=t;let n=Math.trunc(this.fixedAFineDrag.remainder/18);n!==0&&(this.fixedAFineDrag.remainder-=n*18,this.adjustFixedAFineValue(this.fixedAFineDrag.target,n))},stopFixedAFineDrag(){this.fixedAFineDrag=null,window.removeEventListener(`pointermove`,this.moveFixedAFineDrag),window.removeEventListener(`pointerup`,this.stopFixedAFineDrag),window.removeEventListener(`pointercancel`,this.stopFixedAFineDrag)},normalizeShiftBits(e){let t=parseInt(e,10);return Number.isFinite(t)?Math.max(0,t):0},setShiftBits(e,t){let n=this.normalizeShiftBits(t);e===`b`?this.shiftBitsB=n:this.shiftBitsA=n,this.clearFixedOverrides(e),this.debouncedUpdateBode()},adjustShiftBits(e,t){let n=e===`b`?this.shiftBitsB:this.shiftBitsA;this.setShiftBits(e,n+t)},handleShiftBitWheel(e,t){if(!t.shiftKey){t.currentTarget?.blur?.();return}t.preventDefault();let n=t.deltaY<0?1:-1,r=Math.max(1,Math.round(Math.abs(t.deltaY)/80));this.adjustShiftBits(e,n*r)},startShiftBitRepeat(e,t){this.stopShiftBitRepeat(),this.adjustShiftBits(e,t),this.shiftBitRepeatDelayTimer=setTimeout(()=>{this.shiftBitRepeatTimer=setInterval(()=>{this.adjustShiftBits(e,t)},80)},350)},stopShiftBitRepeat(){clearTimeout(this.shiftBitRepeatDelayTimer),clearInterval(this.shiftBitRepeatTimer),this.shiftBitRepeatDelayTimer=null,this.shiftBitRepeatTimer=null},startShiftBitDrag(e,t){t.pointerType===`touch`&&(t.preventDefault(),this.shiftBitDrag={type:e,lastY:t.clientY,remainder:0},window.addEventListener(`pointermove`,this.moveShiftBitDrag,{passive:!1}),window.addEventListener(`pointerup`,this.stopShiftBitDrag),window.addEventListener(`pointercancel`,this.stopShiftBitDrag))},moveShiftBitDrag(e){if(!this.shiftBitDrag)return;e.preventDefault();let t=this.shiftBitDrag.lastY-e.clientY;this.shiftBitDrag.lastY=e.clientY,this.shiftBitDrag.remainder+=t;let n=Math.trunc(this.shiftBitDrag.remainder/18);n!==0&&(this.shiftBitDrag.remainder-=n*18,this.adjustShiftBits(this.shiftBitDrag.type,n))},stopShiftBitDrag(){this.shiftBitDrag=null,window.removeEventListener(`pointermove`,this.moveShiftBitDrag),window.removeEventListener(`pointerup`,this.stopShiftBitDrag),window.removeEventListener(`pointercancel`,this.stopShiftBitDrag)},setA1A2(e,t){let n=this.padTo7(this.parseCoeffs(this.a_str));n[0]=1,n[1]=Number(e),n[2]=Number(t),this.a_str=n.map(e=>Number.isFinite(e)?Number(e).toString():`0`).join(`, `),this.calcSlidersFromText(),this.debouncedUpdateBode()},adjustA1A2(e,t){let n=this.aFineStep*t;e===`delta`?this.setDeltaR(this.currentDelta+n,this.currentR):e===`r`&&this.setDeltaR(this.currentDelta,this.currentR+n)},startA1A2Repeat(e,t){this.stopA1A2Repeat(),this.adjustAFineValue(e,t),this.aFineRepeatDelayTimer=setTimeout(()=>{this.aFineRepeatTimer=setInterval(()=>{this.adjustAFineValue(e,t)},80)},350)},stopA1A2Repeat(){clearTimeout(this.aFineRepeatDelayTimer),clearInterval(this.aFineRepeatTimer),this.aFineRepeatDelayTimer=null,this.aFineRepeatTimer=null},toggleCoeffAdjustment(e){if(this.activeCoeffAdjustment===e){this.activeCoeffAdjustment=null;return}this.activeCoeffAdjustment=e,e===`a1a2`&&this.calcSlidersFromText()},calcSlidersFromText(){let e=this.systemGain||1,t=this.parseCoeffs(this.b_str),n=this.parseCoeffs(this.a_str);for(let n=0;n<7;n++){let r=t[n]||0,i=this.baseB[n]||0;if(this.outOfRangeB[n]=!1,i!==0&&r!==0&&r/(i*e)>0){let t=Math.log10(r/(i*e));Math.abs(t)<1e-12&&(t=0),Math.abs(t)>this.maxLogB&&(this.outOfRangeB[n]=!0),this.bSliders[n]=Math.max(-this.maxLogB,Math.min(this.maxLogB,t))}else this.bSliders[n]=0,r!==0&&i!==0&&(this.outOfRangeB[n]=!0)}for(let e=1;e<7;e++){let t=n[e]||0,r=this.baseA[e]||0;if(this.outOfRangeA[e]=!1,r!==0&&t!==0&&t/r>0){let n=Math.log10(t/r);Math.abs(n)<1e-12&&(n=0),Math.abs(n)>this.maxLogA&&(this.outOfRangeA[e]=!0),this.aSliders[e]=Math.max(-this.maxLogA,Math.min(this.maxLogA,n))}else 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applyFilterDesign(){if(this.filterType!==fo){this.globalError=null;try{let e={filter_type:this.filterType,fs:this.fs,lp_fc:this.params.fc,lp_order:this.params.order,hp_fc:this.params.fc,hp_order:this.params.order,bp_f_low:this.params.bp_f_low,bp_f_high:this.params.bp_f_high,bp_order:this.params.bp_order,notch_f0:this.params.notch_f0,notch_q:this.params.notch_q,opoz_fz:this.params.opoz_fz,opoz_fp:this.params.opoz_fp,tp1z_fz:this.params.tp1z_fz,tp1z_fp1:this.params.tp1z_fp1,tp1z_fp2:this.params.tp1z_fp2,tptz_fz1:this.params.tptz_fz1,tptz_fz2:this.params.tptz_fz2,tptz_fp1:this.params.tptz_fp1,tptz_fp2:this.params.tptz_fp2,pid_kp:this.params.kp,pid_ki:this.params.ki,pid_kd:this.params.kd,sogi_f0:this.params.sogi_f0,sogi_k:this.params.sogi_k},t=await fetch(`/api/design`,{method:`POST`,headers:{"Content-Type":`application/json`},body:JSON.stringify(e)});if(!t.ok){let e=await t.json();throw Error(e.detail||`設計濾波器失敗`)}let n=await t.json();this.baseB=this.padTo7(n.b),this.baseA=this.padTo7(n.a),this.baseA[0]=1,this.bSliders=[0,0,0,0,0,0,0],this.aSliders=[0,0,0,0,0,0,0],this.activeCoeffAdjustment=null,this.updateFromControls({updateBode:!1}),await this.updateBodePlot({switchToChart:!1})}catch(e){this.globalError=e.message}}},async updateBodePlot({switchToChart:e=!0}={}){this.loadingBode=!0,this.globalError=null;try{let t=this.parseCoeffs(this.b_str),n=this.parseCoeffs(this.a_str);t.length===0&&(t=[1]),n.length===0&&(n=[1]);let r=2**this.shiftBitsB,i=2**this.shiftBitsA,a=t.map((e,t)=>(this.fixedOverrides.b[t]===void 0?Math.round(e*r):this.fixedOverrides.b[t])/r),o=n.map((e,t)=>(this.fixedOverrides.a[t]===void 0?Math.round(e*i):this.fixedOverrides.a[t])/i),s=await fetch(`/api/bode/compare`,{method:`POST`,headers:{"Content-Type":`application/json`},body:JSON.stringify({ideal:{b:t,a:n,fs:this.fs},fixed:{b:a,a:o,fs:this.fs}})}),c;if(s.status===404){let[e,r]=await Promise.all([fetch(`/api/bode`,{method:`POST`,headers:{"Content-Type":`application/json`},body:JSON.stringify({b:t,a:n,fs:this.fs})}),fetch(`/api/bode`,{method:`POST`,headers:{"Content-Type":`application/json`},body:JSON.stringify({b:a,a:o,fs:this.fs})})]);if(!e.ok||!r.ok)throw Error(`無法計算頻率響應`);let i=await e.json(),s=await r.json();c={freq:i.freq,ideal:{mag:i.mag,phase:i.phase},fixed:{mag:s.mag,phase:s.phase}}}else if(s.ok)c=await s.json();else{let e=await s.json();throw Error(e.detail||`無法計算頻率響應`)}this.drawBodePlot(c.freq,c.ideal.mag,c.ideal.phase,c.fixed.mag,c.fixed.phase),e&&window.innerWidth<1024&&(this.mobileTab=`chart`)}catch(e){this.globalError=e.message}finally{this.loadingBode=!1}},drawBodePlot(e,t,n,r,i){let a=this.fs,o=e[0],s=e[e.length-1],c=this.isDarkMode,l=window.innerWidth<768,u=[],d=[],f=Math.floor(Math.log10(o)),p=Math.ceil(Math.log10(s));for(let e=f;e<=p;e++)for(let t of[1,2,5]){let 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