@7365admin1/core 3.83.0 → 3.84.0

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@7365admin1/core",
   "license": "MIT",
-  "version": "3.83.0",
+  "version": "3.84.0",
   "author": "7365admin1",
   "main": "dist/index.js",
   "module": "dist/index.mjs",
@@ -13,7 +13,7 @@
     "build": "tsup src/index.ts --format cjs,esm --dts && shx cp -r src/public dist && shx cp -r src/utils/handlebars dist",
     "release": "yarn run build && changeset publish",
     "lint": "tsc",
-    "test": "tsup src/config.ts src/utils/robot-cloud.util.ts src/utils/robot-adapter.util.ts src/utils/robot-tracking.util.ts src/utils/robot-apps.util.ts src/utils/robot-permission.util.ts src/utils/lift-contract.util.ts src/utils/anpr-revoke.util.ts src/utils/anpr-plate.util.ts src/utils/vehicle-request.util.ts src/utils/camera-view.util.ts src/utils/camera-bulk-import.util.ts src/utils/dashboard-metrics.util.ts src/utils/camera-capability.util.ts src/utils/camera-playback.util.ts src/services/camera-device-http.service.ts src/utils/camera-alert.util.ts src/utils/dahua-protocol.util.ts src/utils/site-name.util.ts src/utils/service-provider-invite.util.ts src/utils/notification-category.util.ts src/utils/hid-card.util.ts src/utils/hid-json.util.ts src/utils/hid-access.util.ts src/models/customer-site.model.ts src/models/site-camera.model.ts src/models/member.model.ts src/models/subscription.model.ts src/utils/session-id.util.ts src/utils/occurrence-query.util.ts src/utils/occurrence-book-create.util.ts src/utils/update-result.util.ts src/utils/hid-amico-authz.util.ts src/utils/promo-code-currency.util.ts src/utils/console-audit.util.ts src/utils/org-suspension.util.ts src/utils/session-revoke.util.ts src/models/hid-amico.model.ts src/models/patrol-email.model.ts src/utils/patrol-email-pdf.util.ts src/utils/visitor-status.util.ts src/utils/self-service-email.util.ts src/utils/hid-secret.util.ts src/models/visitor-invite.model.ts src/models/guard-invite.model.ts src/utils/site-timezone.util.ts src/utils/bulletin-service-apps.util.ts src/models/bulletin-board.model.ts src/utils/vehicle-import.util.ts src/utils/expired-vehicle-sweep.util.ts src/models/vehicle.model.ts src/controllers/chat.controller.ts src/utils/file-owner.util.ts src/utils/console-permission.util.ts src/utils/role-scope.util.ts src/utils/org-default-roles.util.ts src/utils/org-modules.util.ts src/utils/site-modules.util.ts src/utils/resident-app-modules.util.ts src/utils/resident-default-role.util.ts src/utils/invite-role-scope.util.ts src/models/personal-emergency-chain.model.ts src/utils/self-signup-files.util.ts src/models/person.model.ts src/utils/module-gate.util.ts src/utils/member-lookup.util.ts src/utils/notification-access.util.ts src/utils/module-access.util.ts src/services/module-gate.service.ts src/controllers/site.controller.ts src/controllers/organization.controller.ts src/controllers/member.controller.ts src/utils/org-owner-repair.util.ts src/utils/socket-session.util.ts src/utils/people-create-gate.util.ts src/utils/service-app-type.util.ts --format esm --out-dir test/.build --no-dts --silent && node --test test/*.test.mjs",
+    "test": "tsup src/config.ts src/utils/building-map.util.ts src/utils/robot-cloud.util.ts src/utils/robot-adapter.util.ts src/utils/robot-tracking.util.ts src/utils/robot-apps.util.ts src/utils/robot-permission.util.ts src/utils/lift-contract.util.ts src/utils/anpr-revoke.util.ts src/utils/anpr-plate.util.ts src/utils/vehicle-request.util.ts src/utils/camera-view.util.ts src/utils/camera-bulk-import.util.ts src/utils/dashboard-metrics.util.ts src/utils/camera-capability.util.ts src/utils/camera-playback.util.ts src/services/camera-device-http.service.ts src/utils/camera-alert.util.ts src/utils/dahua-protocol.util.ts src/utils/site-name.util.ts src/utils/service-provider-invite.util.ts src/utils/notification-category.util.ts src/utils/hid-card.util.ts src/utils/hid-json.util.ts src/utils/hid-access.util.ts src/models/customer-site.model.ts src/models/site-camera.model.ts src/models/member.model.ts src/models/subscription.model.ts src/utils/session-id.util.ts src/utils/occurrence-query.util.ts src/utils/occurrence-book-create.util.ts src/utils/update-result.util.ts src/utils/hid-amico-authz.util.ts src/utils/promo-code-currency.util.ts src/utils/console-audit.util.ts src/utils/org-suspension.util.ts src/utils/session-revoke.util.ts src/models/hid-amico.model.ts src/models/patrol-email.model.ts src/utils/patrol-email-pdf.util.ts src/utils/visitor-status.util.ts src/utils/self-service-email.util.ts src/utils/hid-secret.util.ts src/models/visitor-invite.model.ts src/models/guard-invite.model.ts src/utils/site-timezone.util.ts src/utils/bulletin-service-apps.util.ts src/models/bulletin-board.model.ts src/utils/vehicle-import.util.ts src/utils/expired-vehicle-sweep.util.ts src/models/vehicle.model.ts src/controllers/chat.controller.ts src/utils/file-owner.util.ts src/utils/console-permission.util.ts src/utils/role-scope.util.ts src/utils/org-default-roles.util.ts src/utils/org-modules.util.ts src/utils/site-modules.util.ts src/utils/resident-app-modules.util.ts src/utils/resident-default-role.util.ts src/utils/invite-role-scope.util.ts src/models/personal-emergency-chain.model.ts src/utils/self-signup-files.util.ts src/models/person.model.ts src/utils/module-gate.util.ts src/utils/member-lookup.util.ts src/utils/notification-access.util.ts src/utils/module-access.util.ts src/services/module-gate.service.ts src/controllers/site.controller.ts src/controllers/organization.controller.ts src/controllers/member.controller.ts src/utils/org-owner-repair.util.ts src/utils/socket-session.util.ts src/utils/people-create-gate.util.ts src/utils/service-app-type.util.ts --format esm --out-dir test/.build --no-dts --silent && node --test test/*.test.mjs",
     "test:camera": "yarn test",
     "test:e2e": "yarn build && node --test --test-concurrency=1 --test-timeout=600000 \"test/e2e/*.test.mjs\""
   },

package/test/building-map.test.mjs

@@ -0,0 +1,305 @@
+import assert from "node:assert/strict";
+import { test } from "node:test";
+
+import {
+  DEFAULT_SCALE_M_PER_PX,
+  WALL_HEIGHT_M,
+  WALL_THICKNESS_M,
+  buildingMapFromRobotMaps,
+  buildingSolids,
+  levelPixelToMetres,
+  levelScale,
+  levelSolids,
+  scaleFromMeasurement,
+  wallsFromOccupancyGrid,
+} from "./.build/utils/building-map.util.mjs";
+
+/* --------------------------------------------------------------------------
+ * A floor plan is pixels; everything downstream is metres. Get the scale wrong
+ * and a building is silently the wrong size - which is far harder to notice
+ * than an error, because every screen still renders.
+ *
+ * The shape and the defaults are Open-RMF's, taken from a real
+ * office.building.yaml in open-rmf/rmf_demos and traffic_editor's documented
+ * behaviour, so a map made here can be exported to RMF and one made there read
+ * here.
+ * ----------------------------------------------------------------------- */
+
+const level = (over = {}) => ({
+  name: "L1",
+  elevationM: 0,
+  scaleMPerPx: 0.05,
+  originXM: 0,
+  originYM: 0,
+  vertices: [],
+  walls: [],
+  floors: [],
+  doors: [],
+  measurements: [],
+  ...over,
+});
+
+/* -------------------------------------------------------- RMF's defaults */
+
+test("the wall defaults are traffic_editor's, not ours", () => {
+  // "By default, the walls are of thickness of 10cm and height 2.5m."
+  assert.equal(WALL_HEIGHT_M, 2.5);
+  assert.equal(WALL_THICKNESS_M, 0.1);
+  // traffic_editor's default before a measurement is taken.
+  assert.equal(DEFAULT_SCALE_M_PER_PX, 0.05);
+});
+
+/* -------------------------------------------------------------- the scale */
+
+test("a measurement sets metres per pixel", () => {
+  // 200px across something known to be 10m.
+  assert.equal(scaleFromMeasurement(200, 10), 0.05);
+  assert.equal(scaleFromMeasurement(100, 10), 0.1);
+});
+
+test("a nonsense measurement is refused, not silently accepted", () => {
+  // A zero or negative scale makes every distance in the building wrong, and
+  // wrong-by-a-factor is much harder to spot than a thrown error.
+  for (const px of [0, -1, NaN, Infinity]) {
+    assert.throws(() => scaleFromMeasurement(px, 10), /pixel distance/);
+  }
+  for (const m of [0, -5, NaN]) {
+    assert.throws(() => scaleFromMeasurement(200, m), /real distance/);
+  }
+});
+
+test("a level's measurement beats its declared scale", () => {
+  const l = level({
+    scaleMPerPx: 0.5,
+    vertices: [{ x: 0, y: 0 }, { x: 200, y: 0 }],
+    measurements: [{ start: 0, end: 1, distanceM: 10 }],
+  });
+  assert.equal(levelScale(l), 0.05);
+});
+
+test("with no usable measurement it falls back, and never to zero", () => {
+  assert.equal(levelScale(level({ scaleMPerPx: 0.03 })), 0.03);
+  assert.equal(levelScale(level({ scaleMPerPx: 0 })), DEFAULT_SCALE_M_PER_PX);
+
+  // A measurement between two vertices at the same point is not usable.
+  const degenerate = level({
+    scaleMPerPx: 0.02,
+    vertices: [{ x: 5, y: 5 }, { x: 5, y: 5 }],
+    measurements: [{ start: 0, end: 1, distanceM: 10 }],
+  });
+  assert.equal(levelScale(degenerate), 0.02);
+});
+
+/* --------------------------------------------------------- the transform */
+
+test("pixels become site metres, with the vertical flip", () => {
+  // Image origin is top-left, map origin bottom-left. Without the flip a
+  // building comes out mirrored, which reads as "the robot is in the wrong
+  // room" rather than as a transform bug.
+  const l = level({ originXM: -49.713, originYM: -35.846, scaleMPerPx: 0.05 });
+  const p = levelPixelToMetres(l, 100, 200, 800);
+
+  assert.equal(Number(p.x.toFixed(4)), Number((-49.713 + 100 * 0.05).toFixed(4)));
+  assert.equal(Number(p.y.toFixed(4)), Number((-35.846 + (800 - 200) * 0.05).toFixed(4)));
+});
+
+/* ------------------------------------------------------- 3D generation */
+
+test("a wall becomes a box standing ON the floor", () => {
+  const l = level({
+    vertices: [{ x: 0, y: 0 }, { x: 200, y: 0 }],
+    walls: [{ start: 0, end: 1 }],
+  });
+  const { walls } = levelSolids(l, 100);
+
+  assert.equal(walls.length, 1);
+  const w = walls[0];
+  assert.equal(w.lengthM, 10);                     // 200px * 0.05
+  assert.equal(w.heightM, WALL_HEIGHT_M);
+  assert.equal(w.thicknessM, WALL_THICKNESS_M);
+  // Boxes are centred, so a wall on the floor sits at half its height.
+  assert.equal(w.centre.z, WALL_HEIGHT_M / 2);
+  assert.equal(w.centre.x, 5);
+});
+
+test("a wall on an upper level stands on THAT level's floor", () => {
+  const l = level({
+    elevationM: 6,
+    vertices: [{ x: 0, y: 0 }, { x: 100, y: 0 }],
+    walls: [{ start: 0, end: 1 }],
+  });
+  assert.equal(levelSolids(l, 100).walls[0].centre.z, 6 + WALL_HEIGHT_M / 2);
+});
+
+test("wall rotation follows the segment", () => {
+  const l = level({
+    vertices: [{ x: 0, y: 0 }, { x: 0, y: 100 }],
+    walls: [{ start: 0, end: 1 }],
+  });
+  // Pixel y grows downward and the transform flips it, so a wall drawn down the
+  // image runs in -y on the ground.
+  assert.equal(Math.abs(levelSolids(l, 100).walls[0].yaw), Math.PI / 2);
+});
+
+test("a zero-length wall is skipped, not emitted as a degenerate box", () => {
+  // Two annotations on one vertex would otherwise flicker like a graphics fault.
+  const l = level({
+    vertices: [{ x: 10, y: 10 }],
+    walls: [{ start: 0, end: 0 }, { start: 0, end: 9 }],
+  });
+  assert.deepEqual(levelSolids(l, 100).walls, []);
+});
+
+test("a floor polygon needs three points", () => {
+  const l = level({
+    vertices: [{ x: 0, y: 0 }, { x: 100, y: 0 }, { x: 100, y: 100 }],
+    floors: [{ vertices: [0, 1] }, { vertices: [0, 1, 2] }],
+  });
+  const { floors } = levelSolids(l, 100);
+  assert.equal(floors.length, 1);
+  assert.equal(floors[0].points.length, 3);
+  assert.equal(floors[0].hole, false);
+});
+
+test("a hole is kept as a hole — that is how a lift shaft is cut", () => {
+  const l = level({
+    vertices: [{ x: 0, y: 0 }, { x: 10, y: 0 }, { x: 10, y: 10 }],
+    floors: [{ vertices: [0, 1, 2], hole: true }],
+  });
+  assert.equal(levelSolids(l, 100).floors[0].hole, true);
+});
+
+test("every level is generated for a whole-building view", () => {
+  const map = {
+    name: "b",
+    lifts: [],
+    levels: [level({ name: "L1" }), level({ name: "L2", elevationM: 3 })],
+  };
+  const solids = buildingSolids(map, () => 100);
+  assert.deepEqual(solids.map((s) => s.level), ["L1", "L2"]);
+  assert.deepEqual(solids.map((s) => s.elevationM), [0, 3]);
+});
+
+/* ------------------------------------------ automatic wall extraction */
+
+/** A grid where 0 is a wall and 255 is free space. */
+function grid(rows) {
+  const height = rows.length;
+  const width = rows[0].length;
+  const data = new Uint8Array(width * height);
+  rows.forEach((row, y) =>
+    [...row].forEach((ch, x) => {
+      data[y * width + x] = ch === "#" ? 0 : 255;
+    }),
+  );
+  return { data, width, height };
+}
+
+test("a long dark run in a floor plan becomes ONE wall, not one per pixel", () => {
+  // The requirement: uploading a floor plan produces a layout without anyone
+  // drawing walls. A SLAM map already marks walls as dark pixels.
+  const { vertices, walls } = wallsFromOccupancyGrid(
+    grid(["..........", "##########", ".........."]),
+    { minRunPx: 4 },
+  );
+
+  assert.equal(walls.length, 1);
+  assert.equal(vertices[walls[0].start].x, 0);
+  assert.equal(vertices[walls[0].end].x, 9);
+  assert.equal(vertices[walls[0].start].y, 1);
+});
+
+test("vertical walls are found too", () => {
+  const { vertices, walls } = wallsFromOccupancyGrid(
+    grid(["..#..", "..#..", "..#..", "..#..", "..#.."]),
+    { minRunPx: 4 },
+  );
+  assert.equal(walls.length, 1);
+  assert.equal(vertices[walls[0].start].x, 2);
+  assert.equal(vertices[walls[0].end].y, 4);
+});
+
+test("a closed room yields its four walls", () => {
+  const { walls } = wallsFromOccupancyGrid(
+    grid([
+      "######",
+      "#....#",
+      "#....#",
+      "#....#",
+      "######",
+    ]),
+    { minRunPx: 3 },
+  );
+  // Two horizontal runs, and the two uprights left once those are consumed.
+  assert.equal(walls.length, 4);
+});
+
+test("speckle below the minimum run is ignored as noise", () => {
+  const { walls } = wallsFromOccupancyGrid(
+    grid(["#.#.#.#.#.", ".#.#.#.#.#", "#.#.#.#.#."]),
+    { minRunPx: 4 },
+  );
+  assert.deepEqual(walls, []);
+});
+
+test("corners are shared, so the map stays editable afterwards", () => {
+  const { vertices } = wallsFromOccupancyGrid(
+    grid(["#####", "#...#", "#####"]),
+    { minRunPx: 3 },
+  );
+  // De-duplicated: a vertex appears once however many walls meet there.
+  const keys = new Set(vertices.map((v) => `${v.x}:${v.y}`));
+  assert.equal(keys.size, vertices.length);
+});
+
+test("an unreadable grid returns nothing rather than throwing", () => {
+  assert.deepEqual(wallsFromOccupancyGrid({ data: [], width: 0, height: 0 }), {
+    vertices: [], walls: [],
+  });
+  assert.deepEqual(wallsFromOccupancyGrid({ data: [1, 2], width: 10, height: 10 }), {
+    vertices: [], walls: [],
+  });
+});
+
+/* ------------------------------------------- from the robot's own maps */
+
+test("the robot's floor maps become a building, lowest floor first", () => {
+  const map = buildingMapFromRobotMaps("Tengfei Tower", [
+    { floorNo: 3, resolution: 0.05, originX: -10, originY: -20 },
+    { floorNo: 1, resolution: 0.05, originX: -49.713, originY: -35.846 },
+  ]);
+
+  assert.deepEqual(map.levels.map((l) => l.name), ["L1", "L3"]);
+  assert.deepEqual(map.levels.map((l) => l.elevationM), [0, 6]);
+  assert.equal(map.levels[0].originXM, -49.713);
+  assert.equal(map.levels[0].scaleMPerPx, 0.05);
+});
+
+test("a cleaning area becomes an RMF cleaning-zone waypoint", () => {
+  // Their areas ARE RMF's zones - the Clean Task's own marker.
+  const map = buildingMapFromRobotMaps("b", [
+    { floorNo: 1, areaList: [{ areaName: "AREA-FF0B0B83", x: 925, y: 604 }] },
+  ]);
+  const zone = map.levels[0].vertices.find((v) => v.isCleaningZone);
+  assert.equal(zone.name, "AREA-FF0B0B83");
+  assert.equal(zone.x, 925);
+});
+
+test("a dock at 0,0 on every floor is NOT planted as a charger", () => {
+  // The vendor's sample reports baseX/baseY as 0 for every floor. A charger at
+  // the origin of every level is worse than none.
+  const none = buildingMapFromRobotMaps("b", [{ floorNo: 1, baseX: 0, baseY: 0 }]);
+  assert.equal(none.levels[0].vertices.some((v) => v.isCharger), false);
+
+  const real = buildingMapFromRobotMaps("b", [
+    { floorNo: 1, baseX: 12.5, baseY: 3.25, baseTheta: 1.57 },
+  ]);
+  const charger = real.levels[0].vertices.find((v) => v.isCharger);
+  assert.equal(charger.x, 12.5);
+  assert.equal(charger.theta, 1.57);
+});
+
+test("a missing resolution falls back to traffic_editor's default", () => {
+  const map = buildingMapFromRobotMaps("b", [{ floorNo: 1 }]);
+  assert.equal(map.levels[0].scaleMPerPx, DEFAULT_SCALE_M_PER_PX);
+});