@aibee/crc-bmap 0.1.11 → 0.1.13

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Files changed (9) hide show
  1. package/lib/bmap.cjs.min.js +1 -1
  2. package/lib/bmap.cjs.min.js.map +2 -2
  3. package/lib/bmap.esm.js +11 -7
  4. package/lib/bmap.esm.js.map +2 -2
  5. package/lib/bmap.esm.min.js +1 -1
  6. package/lib/bmap.esm.min.js.map +2 -2
  7. package/lib/bmap.min.js +9 -9
  8. package/lib/bmap.min.js.map +3 -3
  9. package/package.json +2 -3
package/lib/bmap.esm.min.js CHANGED
@@ -7503,5 +7503,5 @@ three/build/three.module.js:
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  * along with MarchingSquaresJS. If not, see <http://www.gnu.org/licenses/>.
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  *)
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  */
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- `)}var ar=class extends Us{worker=Ve();initRoadStatus=!1;constructor(){super()}async setRoadData(n){this.initRoadStatus=!1,this.dispatchEvent({type:"init-road-status",status:!1}),await q(this.worker,"set_road_info",{roadData:n}),this.initRoadStatus=!0,this.dispatchEvent({type:"init-road-status",status:!0})}async getPath(n,t,e=""){return new Promise((r,i)=>{let o=()=>{console.log("initRoadStatus",this.initRoadStatus),q(this.worker,"get_path",{start:n,end:t,type:e}).then(a=>{a?typeof a=="string"?i(a):r(a):i("no-path")})};if(this.initRoadStatus)o();else{let a=({status:l})=>{l&&(this.removeEventListener("init-road-status",a),o())};this.addEventListener("init-road-status",a)}})}getDirectionPath(n){return q(this.worker,"get_direction_path",n)}async dispose(){q(this.worker,"clear",""),this.worker.terminate()}};import{Frustum as Fs}from"three";var ge=class extends G{startPoint;endPoint;rect;frustum=new Fs;constructor(n){super(n);let{config:{selectBox:{fill:t,stroke:e}}}=n;this.rect=et(e,t),this.svg.appendChild(this.rect),this.registryEvent()}setEnable(n){super.setEnable(n),I(this.rect,0,0,0,0),n?this.registryEvent():(this.startPoint=void 0,this.unRegistryEvent())}onPointerDown=n=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(n);t&&(this.startPoint=t),this.endPoint=void 0};onPointerMove=n=>{if(!this.enable||!this.startPoint)return;let t=this.getIntersectByPointerEvent(n);t&&(this.endPoint=t)};onPointerUp=n=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(n);t&&(this.endPoint=t),this.doSelect(),this.startPoint=void 0};onUpdate=()=>{if(this.startPoint){let n=this.getSvgCoordinate(this.startPoint),t={...n};this.endPoint&&(t=this.getSvgCoordinate(this.endPoint));let e={x:Math.min(n.x,t.x),y:Math.min(n.y,t.y)},r=Math.abs(t.x-n.x),i=Math.abs(t.y-n.y);I(this.rect,e.x,e.y,r,i)}else I(this.rect,0,0,0,0)};registryEvent(){this.context.container.addEventListener("pointerdown",this.onPointerDown),this.context.container.addEventListener("pointermove",this.onPointerMove),this.context.container.addEventListener("pointerup",this.onPointerUp),this.context.addEventListener("update",this.onUpdate)}unRegistryEvent(){this.context.container.removeEventListener("pointerdown",this.onPointerDown),this.context.container.removeEventListener("pointermove",this.onPointerMove),this.context.container.removeEventListener("pointerup",this.onPointerUp),this.context.removeEventListener("update",this.onUpdate)}doSelect(){if(this.startPoint&&this.endPoint){if(this.startPoint.distanceTo(this.endPoint)<.1)return;let{context:{camera:t,container:{clientWidth:e,clientHeight:r}}}=this,i=_(this.startPoint,t,e,r),o=_(this.endPoint,t,e,r),a={x:Math.min(i.x,o.x),y:Math.min(i.y,o.y)},l={x:Math.max(i.x,o.x),y:Math.max(i.y,o.y)},u=this.searchMapInFrustum(a,l);this.dispatchEvent({type:"selected",list:u})}}searchMapInFrustum(n,t){let{context:e}=this;return e.currentFloor?.graphicLayer.children.filter(r=>r instanceof M&&this.searchChildInFrustum(r,n,t))||[]}searchChildInFrustum(n,t,e){let{context:{camera:r,container:{clientWidth:i,clientHeight:o}}}=this;if(!n)return!1;if(!n.mesh){let f=n.getPosition();if(f){let d=_(f,r,i,o);return tt(d,t,e)}return!1}n.mesh.geometry.boundingBox||n.mesh.geometry.computeBoundingBox();let a=n.mesh.geometry.boundingBox;if(!a)return!1;let{min:l,max:u}=a,c=_(l,r,i,o),h=_(u,r,i,o);return!(!tt(c,t,e)||!tt(h,t,e))}dispose(){this.unRegistryEvent()}};var Bs={boxSelection:!1,elements:["graphic","poi"]},ur=class extends ${options;_list=new Set;_poiList=new Set;boxSelection;prevPanStatus;prevRotateStatus;downPoint=null;isMultipleSelect=!1;constructor(n,t={}){super(n),this.options={...Bs,...t},this.boxSelection=new ge(this.bmap.context),this.boxSelection.setEnable(!1),this.registryEvent()}get list(){return this._list}enableBoxSelection(){this.isMultipleSelect||!this.options.boxSelection||(this.isMultipleSelect=!0,this.boxSelection.setEnable(!0),this.prevPanStatus=this.bmap.context.control.enablePan,this.prevRotateStatus=this.bmap.context.control.enableRotate,this.bmap.context.control.enablePan=!1,this.bmap.context.control.enableRotate=!1)}disableBoxSelection(){this.isMultipleSelect&&(this.isMultipleSelect=!1,this.boxSelection.setEnable(!1),this.bmap.context.control.enablePan=!!this.prevPanStatus,this.bmap.context.control.enableRotate=!!this.prevRotateStatus)}onPointerDown=n=>{this.downPoint={x:n.offsetX,y:n.offsetY}};onPointerUp=n=>{if(!this.downPoint)return;let{offsetX:t,offsetY:e}=n,{x:r,y:i}=this.downPoint;if(Math.sqrt((r-t)**2+(i-e)**2)>3)return;let o=new Set,a=[],l=[];if(this.options.elements.includes("graphic")){let{graphics:u}=this.bmap.context.getGraphicsByDeviceXy(t,e);u.map(c=>o.add(c.options.id)),a.push(...u)}if(this.options.elements.includes("poi")){let u=this.bmap.context.getPoisByDeviceXy(t,e);l.push(...u),u.forEach(c=>{if(!o.has(c.options.id)){let h=this.bmap.context.currentFloor?.graphicLayer.graphicMap.get(c.options.id)||null;h&&(o.add(c.options.id),a.push(h))}})}(!this.options.boxSelection||!(yt?n.metaKey:n.ctrlKey))&&(this._list.clear(),this._poiList.clear()),a.forEach(u=>this._list.add(u)),l.forEach(u=>this._poiList.add(u)),this.selectEnd(),this.downPoint=null};onPointerOut=n=>{this.disableBoxSelection()};onKeyDown=n=>{vt(n.key)&&this.enableBoxSelection()};onKeyUp=n=>{vt(n.key)&&this.disableBoxSelection()};onBoxSelected=({list:n})=>{this._list.clear(),n.forEach(t=>{this._list.add(t)}),this.selectEnd()};selectEnd(){this.dispatchEvent({type:"select",graphics:[...this._list],pois:[...this._poiList],isMultipleSelect:this.isMultipleSelect})}registryEvent(){this.bmap.context.container.addEventListener("pointerdown",this.onPointerDown),this.bmap.context.container.addEventListener("pointerup",this.onPointerUp),this.bmap.context.container.addEventListener("pointerout",this.onPointerOut),this.bmap.context.container.addEventListener("pointercancel",this.onPointerOut),window.addEventListener("keydown",this.onKeyDown),window.addEventListener("keyup",this.onKeyUp),this.boxSelection.addEventListener("selected",this.onBoxSelected)}unRegistryEvent(){this.bmap.context.container.removeEventListener("pointerdown",this.onPointerDown),this.bmap.context.container.removeEventListener("pointerup",this.onPointerUp),this.bmap.context.container.removeEventListener("pointerout",this.onPointerOut),this.bmap.context.container.removeEventListener("pointercancel",this.onPointerOut),window.removeEventListener("keydown",this.onKeyDown),window.removeEventListener("keyup",this.onKeyUp),this.boxSelection.removeEventListener("selected",this.onBoxSelected)}clear(){this._list.clear()}remove(n){this._list.delete(n)}dispose(){this.unRegistryEvent()}};import{cloneDeep as zs,isNil as st,throttle as lr}from"lodash";import{EventDispatcher as ks}from"three";var Vs={time:200,elements:["compass","deviceMotion","acceleration","gps"]},me=class extends ks{options;gpsTimer=null;data=[];timer=new T;dispatchTimer=null;constructor(n={}){super(),this.options={...Vs,...n}}start(){this.options.elements.some(n=>["deviceMotion","compass"].includes(n))&&this.listenDeviceOrientation(),this.options.elements.includes("acceleration")&&this.listenAcceleration(),this.options.elements.includes("gps")&&this.listenGps(),this.dispatchEvent({type:"start"}),this.dispatchTimer=this.timer.setInterval(()=>{this.dispatchEvent({type:"sensor-data",data:zs(this.data)}),this.data=[]},this.options.time)}addDataItem(n){this.data.push(n),this.dispatchEvent({type:"add-data-item",item:n})}addDeviceMotion=lr(n=>{this.addDataItem(n)},20);addAcceleration=lr(n=>{this.addDataItem(n)},20);deviceOrientationAbsHandler=n=>{let t=Date.now(),{alpha:e,beta:r,gamma:i}=n;if(st(e)||st(r)||st(i))return;let o;Ct?o=n.webkitCompassHeading:o=360-e,this.options.elements.includes("deviceMotion")&&this.addDeviceMotion({type:"deviceMotion",timestamp:t,res:[e,r,i]}),this.options.elements.includes("compass")&&this.addDataItem({type:"compass",timestamp:t,res:o})};listenDeviceOrientation(){Ct?window.addEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.addEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0})}handleAcceleration=n=>{let t=n.accelerationIncludingGravity;st(t)||st(t.x)||st(t.y)||st(t.z)||this.addAcceleration({type:"acceleration",timestamp:Date.now(),res:[t.x,t.y,t.z]})};listenAcceleration(){window.addEventListener("devicemotion",this.handleAcceleration,!1)}listenGps(){this.gpsTimer=navigator.geolocation.watchPosition(n=>{n.coords.accuracy<=10&&this.addDataItem({type:"gps",timestamp:Date.now(),res:[n.coords.longitude,n.coords.latitude,n.coords.accuracy]})})}async checkSensor(){return{deviceOrientation:await this.checkDeviceOrientation()}}async checkDeviceOrientation(){if(!Ct)return!0;if(typeof window.DeviceOrientationEvent<"u"&&typeof window.DeviceOrientationEvent?.requestPermission=="function")try{return await window.DeviceOrientationEvent?.requestPermission()==="granted"}catch{return!1}return!1}stop(){window.removeEventListener("devicemotion",this.handleAcceleration,!1),Ct?window.removeEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.removeEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0}),st(this.gpsTimer)||navigator.geolocation.clearWatch(this.gpsTimer),this.dispatchTimer&&this.timer.clearInterval(this.dispatchTimer),this.data=[],this.dispatchEvent({type:"stop"})}};import{EventDispatcher as Hs}from"three";function _e(s,n){return 1/Math.sqrt(2*Math.PI*Math.pow(n,2))*Math.exp(-Math.pow(s,2)/(2*Math.pow(n,2)))}function ye(s){return(s+360)%360}function cr(s,n){let e=6378137*s*Math.PI/180,r=6378137*Math.log(Math.tan(Math.PI/4+n*Math.PI/180/2));return{x:e,y:r}}function Mt(s,n,t,e){return Math.sqrt(Math.pow(Math.abs(s-t),2)+Math.pow(Math.abs(n-e),2))}var ve=class{NumParticle;reSampNumParticle;initial_xy_uncertainty;initial_yaw_uncertainty;step_noise_sigma;yaw_noise_sigma;compass_update_interval;sigmaCompass;delta_yaw;sigmaBeacon;unaccess_weight;particle_PosInitFlag;particle_yawInitFlag;xEst;particleX;particleWeight;last_compass_time;constructor(n){this.NumParticle=n.NumParticle,this.reSampNumParticle=n.reSampNumParticle,this.initial_xy_uncertainty=n.initial_xy_uncertainty,this.initial_yaw_uncertainty=n.initial_yaw_uncertainty,this.step_noise_sigma=n.step_noise_sigma,this.yaw_noise_sigma=n.yaw_noise_sigma,this.compass_update_interval=n.compass_update_interval,this.sigmaCompass=n.sigmaCompass,this.delta_yaw=n.delta_yaw,this.sigmaBeacon=n.sigmaBeacon,this.unaccess_weight=n.unaccess_weight,this.particle_PosInitFlag=!1,this.particle_yawInitFlag=!1,this.xEst=[[0],[0],[0]],this.particleX=Array.from({length:3},()=>Array(this.NumParticle).fill(0)),this.particleWeight=Array.from({length:1},()=>Array(this.NumParticle).fill(1/this.NumParticle)),this.last_compass_time=0}motionModelRotYaw(n){if(!(Math.abs(n)<.001))for(let t=0;t<this.NumParticle;t++){let e=Math.random()*this.yaw_noise_sigma;this.particleX[2][t]=this.particleX[2][t]+n+e,this.particleX[2][t]=ye(this.particleX[2][t])}}motionModelStepLength(n,t){if(n===0)return;for(let r=0;r<this.NumParticle;r++){let i=Math.random()*this.step_noise_sigma;this.particleX[0][r]+=(.65+i)*Math.sin(-this.particleX[2][r]/180*Math.PI),this.particleX[1][r]+=(.65+i)*Math.cos(this.particleX[2][r]/180*Math.PI),t(this.particleX[0][r],this.particleX[1][r])||(this.particleWeight[0][r]*=this.unaccess_weight)}let e=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/e)}motionModelCompassYaw(n,t){if(t-this.last_compass_time>this.compass_update_interval){let e=360-n;e+=this.delta_yaw,e=ye(e);for(let i=0;i<this.NumParticle;i++){let o=Math.abs(this.particleX[2][i]-e);o>180&&(o=360-o),this.particleWeight[0][i]*=_e(o,this.sigmaCompass)}let r=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/r)}}resampling(){if(1/this.particleWeight[0].reduce((t,e)=>t+e*e,0)<this.reSampNumParticle){let t=this.particleWeight[0].reduce((a,l,u)=>a.concat(a[u]+l),[0]),r=this.particleWeight[0].map(()=>1/this.NumParticle).map((a,l)=>a+Math.random()/this.NumParticle),i=[],o=0;for(let a=0;a<this.NumParticle;a++){for(;r[a]>t[o];)o++;i.push(o)}this.particleX=this.particleX.map((a,l)=>i.map(u=>a[u])),this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle)}}update(n,t){for(let r=0;r<this.NumParticle;r++){let i=Mt(this.particleX[0][r],this.particleX[1][r],n.x,n.y);this.particleWeight[0][r]=Math.max(1e-7,this.particleWeight[0][r]*_e(i,t))}let e=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/e)}updateCar(n,t){let e=n.x-this.xEst[0][0],r=n.y-this.xEst[1][0];for(let o=0;o<this.NumParticle;o++){let a=Mt(this.particleX[0][o],this.particleX[1][o],n.x,n.y);this.particleWeight[0][o]=Math.max(1e-7,this.particleWeight[0][o]*_e(a,t)),this.particleX[0][o]+=e,this.particleX[1][o]+=r}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i)}getPosInitFlag(){return this.particle_PosInitFlag}getYawInitFlag(){return this.particle_yawInitFlag}setPosInitFlag(n){this.particle_PosInitFlag=n}setYawInitFlag(n){this.particle_yawInitFlag=n}getResultX(){return this.xEst[0][0]=this.particleX[0].reduce((n,t,e)=>n+t*this.particleWeight[0][e],0),this.xEst[0][0]}getResultY(){return this.xEst[1][0]}getResultYaw(){let n=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0]));return this.particleX[2][n]}getEstConfidence(){let n=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0])),t=this.particleWeight[0].indexOf(Math.min(...this.particleWeight[0])),e=[this.particleX[0][n],this.particleX[1][n]],r=[this.particleX[0][t],this.particleX[1][t]],i=Mt(e[0],e[1],r[0],r[1]),o=i*.67;return console.log(i,o),o}getParticleNum(){return this.NumParticle}getParticleX(){return this.particleX}setLastCompassTime(n){this.last_compass_time=n}getLastCompassTime(){return this.last_compass_time}initParticlesByPos(n,t,e){if(!this.particle_PosInitFlag){this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle);let r=0;for(;r<this.NumParticle;){let o=(2*Math.random()-1)*this.initial_xy_uncertainty,a=(2*Math.random()-1)*this.initial_xy_uncertainty;e(n+o,t+a)||(this.particleWeight[0][r]*=this.unaccess_weight),this.particleX[0][r]=n+o,this.particleX[1][r]=t+a,r++}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i),this.particle_PosInitFlag=!0,this.xEst[0][0]=n,this.xEst[1][0]=t,this.xEst[2][0]=0}}initParticlesByCompass(n){console.log(`Init compass: ${n}`);let t=360-n;t+=this.delta_yaw,t=ye(t),console.log(`Init Yaw: ${t}`);for(let e=0;e<this.NumParticle;e++){let r=(2*Math.random()-1)*this.initial_yaw_uncertainty;this.particleX[2][e]=t+r}this.particle_yawInitFlag=!0,this.xEst[2][0]=t}};var xe=class{fre;accH_fifo;accH_time_fifo;accH_fifo_len;step_count;state_count;last_valley_time;last_peak_time;last_step_time;min_step_time;max_step_time;min_peak;max_valley;peak_num;valley_num;fft_min_amp;fft_min_fre;fft_max_fre;last_fft_amp;abnor_start_time;abnor_fft_detected;abnor_time_threshod;abnor_peak_time;abnor_peak_accH;const_step_length;last_rot;delta_rot;last_yaw;delta_yaw;delta_rot_sum_fifo;delta_rot_sum_time_fifo;delta_yaw_accum;delta_yaw_accum_timestamp;delta_yaw_time_threshold;last_px;last_py;delta_px;delta_py;constructor(){this.init()}init(){this.fre=100,this.accH_fifo=[],this.accH_time_fifo=[],this.accH_fifo_len=Math.floor(1*this.fre)+1,this.step_count=0,this.state_count=0,this.last_valley_time=0,this.last_peak_time=0,this.last_step_time=0,this.min_step_time=.3,this.max_step_time=1,this.min_peak=10+.5,this.max_valley=10-.5,this.peak_num=0,this.valley_num=0,this.fft_min_amp=.3,this.fft_min_fre=0,this.fft_max_fre=4,this.last_fft_amp=0,this.abnor_start_time=0,this.abnor_fft_detected=!1,this.abnor_time_threshod=4,this.abnor_peak_time=0,this.abnor_peak_accH=0,this.const_step_length=.65,this.last_rot=[],this.delta_rot=[],this.last_yaw=0,this.delta_yaw=null,this.delta_rot_sum_fifo=[],this.delta_rot_sum_time_fifo=[],this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=0,this.delta_yaw_time_threshold=.5,this.last_px=0,this.last_py=0,this.delta_px=0,this.delta_py=0}reset(){this.init()}set_init_pose(n=[0,0]){this.last_px=n[0],this.last_py=n[1],console.log(`pdr init pos: ${this.last_px}, ${this.last_py}`)}set_init_yaw(n=0){this.last_yaw=n}getPos(n,t,e){let r=0;return e.length===3&&(this.delta_yaw=this.getDeltaYaw_fromRot(n,e)),t.length===3&&(r=this.getStepLength(n,t)),r!==0&&(this.last_px+=this.delta_px,this.last_py+=this.delta_py),[this.last_px,this.last_py]}get_delta_pose(){return[this.delta_px,this.delta_py]}getStepLength(n,t){if(t.length<3)return console.warn("acc data less than 3"),0;let e=!1,r=Math.sqrt(t.reduce((i,o)=>i+o*o,0));if(this.accH_fifo.push(r),this.accH_time_fifo.push(n),this.imuFreUpdate(),this.accH_fifo.length<this.accH_fifo_len+1)e=!1;else{for(;this.accH_fifo.length>=this.accH_fifo_len+1;)this.accH_fifo.shift(),this.accH_time_fifo.shift();let i=this.PVstepDetec(),o=this.FFTstepDetec(),a=this.recheckState(),l=this.accH_time_fifo[Math.floor(this.accH_time_fifo.length*(3/4))];Math.abs(this.abnor_start_time)<.001&&this.abnor_fft_detected?this.abnor_start_time=l:this.abnor_fft_detected||(this.abnor_start_time=0),i&&o&&a?(this.step_count++,this.last_step_time=l,e=!0):Math.abs(this.abnor_start_time)>.001&&this.abnor_peak_time-this.abnor_start_time>this.abnor_time_threshod&&this.step_count>1&&this.abnor_peak_time-this.last_step_time>1?(this.step_count++,this.last_step_time=l,e=!0):(l-this.last_step_time>2&&(this.state_count=0),e=!1)}if(e){let i=this.last_yaw/180*Math.PI;return this.delta_px=this.const_step_length*Math.cos(i),this.delta_py=this.const_step_length*Math.sin(i),this.const_step_length}else return 0}imuFreUpdate(){if(this.accH_time_fifo.length>2&&(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]<0||this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]>10||this.accH_time_fifo[this.accH_time_fifo.length-1]===this.accH_time_fifo[0])&&(console.warn(`pdr reset last one time ${this.accH_time_fifo[this.accH_time_fifo.length-1]} last two time ${this.accH_time_fifo[this.accH_time_fifo.length-2]}`),this.reset()),this.accH_fifo.length>9||this.fre<15){let n=(this.accH_fifo.length-1)/(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[0]);Math.abs(this.fre-n)>8&&(this.fre=Math.round((n-3)/10)*10,(this.fre<=10||this.fre>=100)&&(console.warn(`Frequency Error ${this.fre}`),this.fre=100),console.log(`Frequency change to ${this.fre}`),this.accH_fifo_len=Math.floor(1*this.fre)+1)}}recheckState(){return!0}PVstepDetec(){let n=!1,t=this.accH_fifo.slice(this.accH_fifo_len/2),e=this.accH_time_fifo.slice(this.accH_fifo_len/2),r=t[Math.floor(t.length/2)],i=e[Math.floor(e.length/2)],o=Math.max(...t),a=Math.min(...t),l=!1,u=!1;return Math.abs(r-a)<.01&&r<this.max_valley&&this.valley_num<=this.peak_num&&(this.last_valley_time===void 0||i-this.last_valley_time>this.min_step_time?u=!0:u=!1,u&&(this.last_valley_time=i,this.valley_num++)),Math.abs(r-o)<.01&&r>this.min_peak&&this.peak_num<=this.valley_num&&(this.last_peak_time===void 0||i-this.last_peak_time>this.min_step_time?l=!0:l=!1,l&&(this.last_peak_time=i,this.peak_num++)),r===o&&r>this.min_peak&&(this.abnor_peak_time=i,this.abnor_peak_accH=r),this.peak_num===this.valley_num&&(l||u)&&(n=!0),n}FFTstepDetec(){let n=!1,t=this.fre,e=this.accH_fifo_len,r=this.accH_fifo.map(h=>h-this.mean(this.accH_fifo)),i=this.rfft(r),o=this.getFrequencies(t,e),a=i.map(h=>Math.abs(h)),l=Math.max(...a),u=a.indexOf(l);l>this.fft_min_amp&&this.fft_min_fre<o[u]&&o[u]<this.fft_max_fre&&(n=!0),this.last_fft_amp=l;let c=0;this.abnor_fft_detected=!1;for(let h=0;h<o.length;h++)a[h]>c&&this.fft_min_fre<o[h]&&o[h]<this.fft_max_fre&&(c=a[h]);return c>this.fft_min_amp-.1&&(this.abnor_fft_detected=!0),n}mean(n){return n.reduce((t,e)=>t+e,0)/n.length}rfft(n){return n.map(t=>t)}getFrequencies(n,t){return Array.from({length:t/2+1},(e,r)=>r*(n/t))}getDeltaYaw_fromRot(n,t){if(t.length<3)return console.warn("rot data less than 3"),0;let e;this.last_rot.length===3?e=t.map((o,a)=>o-this.last_rot[a]):e=[0,0,0];for(let o=0;o<t.length;o++)e[o]<-180?e[o]+=360:e[o]>180&&(e[o]-=360);this.delta_rot.length===3?this.delta_rot=this.delta_rot.map((a,l)=>.2*a+(1-.2)*e[l]):this.delta_rot=e,this.last_rot=t,this.delta_yaw=this.delta_rot[0],this.last_yaw+=this.delta_yaw,this.last_yaw=this.limit_yaw(this.last_yaw);let r=this.delta_rot.reduce((o,a)=>o+Math.abs(a),0);this.delta_rot_sum_fifo.push(r),this.delta_rot_sum_time_fifo.push(n),Math.abs(this.delta_rot_sum_time_fifo[this.delta_rot_sum_time_fifo.length-1]-this.delta_rot_sum_time_fifo[0])>1&&(this.delta_rot_sum_fifo.shift(),this.delta_rot_sum_time_fifo.shift()),this.delta_yaw_accum+=this.delta_yaw;let i=0;return Math.abs(this.delta_yaw_accum_timestamp-n)>this.delta_yaw_time_threshold&&(i=this.delta_yaw_accum,this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=n),i}limit_yaw(n){for(;n<-180;)n+=360;for(;n>180;)n-=360;return n}};var Ee=class{particleFilter;pdr;sigmaBeacon=5;gps_horizontalAccuracy=10;using_gps=!0;last_beacon_time=null;last_pos_time;position_count=0;gps_max_horizontalAccuracy=20;MaxEstimateErr=12;outTrustRegionNum=0;TrustNum=4;cacheSensorData=[];constructor(){this.particleFilter=new ve({NumParticle:200,reSampNumParticle:.65,initial_xy_uncertainty:12,initial_yaw_uncertainty:100,step_noise_sigma:.5,yaw_noise_sigma:2,compass_update_interval:3e3,sigmaCompass:80,delta_yaw:2,sigmaBeacon:5,unaccess_weight:.7}),this.pdr=new xe}pfFusionPDRiBeacon(n){let{type:t,timestamp:e,res:r}=n,i=!1;if(this.particleFilter.getPosInitFlag()&&this.particleFilter.getYawInitFlag()){if(t==="acceleration"){let o=r,a=this.pdr.getStepLength(e,o);console.log("SENSOR_TYPE.ACCELERATION",a),a!==0&&(this.particleFilter.motionModelStepLength(a,()=>!0),this.particleFilter.resampling(),this.position_count+=1,i=!0)}if(this.using_gps&&t==="gps"&&(this.last_beacon_time===null||e-this.last_beacon_time>5e3)){let o=this.getGpsPosition(r);i=o!==null,o&&(this.particleFilter.update(o,this.gps_horizontalAccuracy),this.resetParticleFilterDist(o),this.particleFilter.resampling(),this.position_count+=1)}if(t==="deviceMotion"){let o=this.pdr.getDeltaYaw_fromRot(e,r);this.particleFilter.motionModelRotYaw(o)}t==="compass"&&(this.particleFilter.motionModelCompassYaw(r,e),this.particleFilter.setLastCompassTime(e)),this.last_pos_time&&e-this.last_pos_time>500&&(this.position_count+=1,i=!0)}else if(!this.particleFilter.getPosInitFlag()&&this.using_gps&&t==="gps"){let o=this.getGpsPosition(r);i=o!==null,o?(this.particleFilter.initParticlesByPos(o.x,o.y,()=>!0),this.last_pos_time=e,console.log(`init Pos by gps success time ${e}`),this.cacheSensorData.length=0):console.log(`init Pos by gps fail time ${e}`)}else if(!this.particleFilter.getYawInitFlag()&&t==="compass"){let o=r;this.particleFilter.initParticlesByCompass(o),this.particleFilter.setLastCompassTime(e),console.log(`init yaw by compass success time ${e}`)}else this.cacheSensorData.push(n);return i&&(this.last_pos_time=e),[i,this.particleFilter.getResultX(),this.particleFilter.getResultY()]}setBeaconPosition(n,t){return this.last_beacon_time=t,this.particleFilter.getPosInitFlag()?this.particleFilter.update(n,this.sigmaBeacon):this.particleFilter.initParticlesByPos(n.x,n.y,()=>!0),this.resetParticleFilterDist(n),this.particleFilter.resampling(),this.position_count+=1,this.cacheSensorData.filter(r=>r.timestamp>t).map(r=>this.pfFusionPDRiBeacon(r)),this.cacheSensorData.length=0,[this.particleFilter.getResultX(),this.particleFilter.getResultY()]}getGpsPosition(n){return n[2]>this.gps_max_horizontalAccuracy?null:cr(n[0],n[1])}resetParticleFilterDist(n){let t=this.particleFilter.getResultX(),e=this.particleFilter.getResultY();Mt(t,e,n.x,n.y)>this.MaxEstimateErr?(this.outTrustRegionNum+=1,this.outTrustRegionNum>=this.TrustNum&&(console.info(`\u8D85\u51FA\u53EF\u4FE1\u533A\u57DF\uFF0C\u91CD\u7F6E\u7C92\u5B50\u8FC7\u6EE4\u5668\u5230: ${n.x}, ${n.y}`),this.particleFilter.setPosInitFlag(!1),this.particleFilter.setYawInitFlag(!1),this.outTrustRegionNum=0)):this.outTrustRegionNum=0}};var hr=class extends Hs{sensor;pdr;constructor(n={}){super(),this.sensor=new me(n.sensor),this.pdr=new Ee}checkSensor(){return this.sensor.checkSensor()}start(){this.sensor.start(),this.sensor.addEventListener("add-data-item",({item:n})=>{let[t,e,r]=this.pdr.pfFusionPDRiBeacon(n);console.log(n,t,e,r),t&&this.dispatchEvent({type:"position",x:e,y:r})})}setBeaconPosition(n,t){let[e,r]=this.pdr.setBeaconPosition(n,t);this.dispatchEvent({type:"position",x:e,y:r})}dispose(){this.sensor.stop()}};async function pr({brand:s,project:n},t){let{apiDomain:e,apiPath:{floorRange:r},apiInfo:i}=t,o=`${e}${r}?brand=${s}&project=${n}&phase=${n}&building=${n}`;return await fetch(o,i).then(l=>l.json()).then(l=>l.data).then(l=>{let u=(l||[])[0];return u&&(u.info=JSON.parse(u.info)),u})}async function fr({brand:s,project:n,floor:t,ts:e,resource_type_list:r},i){let{apiDomain:o,apiPath:{floorGraphic:a},apiInfo:l}=i,u=`${o}${a}?brand=${s}&project=${n}&phase=${n}&building=${n}&floor=${t}&ts=${e}&resource_type_list=${r}`;return await fetch(u,l).then(h=>h.json()).then(h=>h.data).then(h=>((h||[]).map(f=>f.info=JSON.parse(f.info)),h||[]))}var V;function dr(s="aibee_map"){return new Promise((n,t)=>{if(V)return n({db:V,type:"success"});let e=indexedDB.open(s);e.onupgradeneeded=function(r){V=r.target.result,console.log("onupgradeneeded"),n({db:V,type:"onupgradeneeded"})},e.onsuccess=r=>{V=r.target.result,n({db:V,type:"success"})},e.onerror=r=>{t(r)}})}function gr(s,n,t=V){return new Promise((e,r)=>{t||r("\u6CA1\u6709db");let o=t.transaction([s],"readonly").objectStore(s).get(n);o.onsuccess=()=>{o.result?e(o.result.value):e(null)},o.onerror=a=>{console.log("[getVersionByKey]",a),e(null)}})}function mr(s,n,t,e=V){return new Promise((r,i)=>(e||i("\u6CA1\u6709db"),new Promise((o,a)=>{let u=e.transaction([s],"readwrite").objectStore(s).add({key:n,value:t});u.onsuccess=function(c){o(c)},u.onerror=function(c){a(c)}})))}function be(s,n=V){n&&(n.objectStoreNames.contains(s)||n.createObjectStore(s,{keyPath:"key"}))}function _r(){V?.close(),V=null}var 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U7SxKoHa/QWi9B5mQGTbboEh9vaPk/J7fF5gekZIsyaLyhHU1dnAyNBBqnQG+BOJfH6bqd17rE2/EKoTXvFHFbbN7WTL4og8YX4jNzESdDI4HGJdB7Ic4fx+VyOW8l0HL86uzNHx+fXueAIYwlgYYQBTMfLkD25C/lsyoSaBzh5rNF18bhql8vJVC/PKuwxqcyG98Wu4qJmdiUQE0oNdvmSlza+Xx7lkXfg4Yddq4Isj8EyuVrsizKoGGHndtiZytOhkYCDVegN0GcD4brXj2e6RJfD2fbUbiOJ29nctHZrIsyaJjhH5M41wRGAg1PoHdDnHeE51YzHkmgzXAvGpVbw8wrOpnjcQk0rKifj+zJfYxUWgQk0HCkwJ3floXjThieSKBhxIF7ZvLpTC46q9JBQALtgNHgy29AnNx9WKWHgL4H7QHSwFvu134gBPpGA2MHP6QyaLMhGsfwvLRLnAVxkEALwNR0+AaIc0VNY0U5jC7xzYVtFYbmttgvN+dC+CMrgzYXozMkzuHwJdDhjKpocSfEeVcVhlOzKYHWH1Fe0sfqHzbOESXQ+uN2LrIn//9UMSAggRpA8tjkIdi60aO95E1JoPWFmN918hEOfvepYkhAAjUE5aHZJRAn7xqpWBDQ96AWsEo05X32aRDoWyVsZNlVGbT6sPMXSrydKXE6sJZAHaBZdrkO4uRvPVUcCOgS7wDNosvzaMttsfkoh4oDAWVQB2gWXeZJnBa0+jSVQPtA8XTodojzHk+2sjUjgVYTei64ML8a03lZlUCrifciZE+uDqJSkoAEWhJgn+4PQJw39zmuQw4EJFAHaAO6cCW6uQPO65QlAQnUEtiQ5ouRPZ8Z0kanLQjoe1ALWEOaPobzMyFQLtmt4omAMqgfkO1tsSVOPzwnrEigEyhKvbgGmZM7cah4JqBLfHmgK2GCtzO50ZaKZwLKoOWBfkniLA+xyIIEWkTG7PitEOd9Zk3VyoWABOpCbU0fboe9wL27epoQkEBNKPVvsxDZk3u3q4iAfwLj4+MvorqW+/17JIv9CCiD9qMy+NirOD06uInO+iIggdqTvAiX9ufsu6mHCFgQwLXd5RL/e/Rb12IYNS1JQBnUHCBvZ3JbbP5VqYmABGoOegnE+ah5c7UUgRIELC/xf0b7jUoMp66OBHLOoDZrJI0ie77myFjdRMCeADIiP/CYlB/YW1cPEShJAMpcZqDOl9Bmi5JDqbsI2BOA8HZGfX2ISL9gb1k9RMATAYjzKNTX+oj0bRw7x9MwMiMC7gQgxJ1Qr0b9FepjqN9Hne5uUT19Evg/ywrR3QO2mUkAAAAASUVORK5CYII=";var 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";var Ag={loadRoadNetwork:!1},Se="version",He="map_data",Me="road_network_data",Er={half:yr,power:vr,mechanical:xr},br=class{constructor(n){this.bmap=n;this.initDb()}floors=[];async initDb(){try{let{db:n,type:t}=await dr();t==="onupgradeneeded"&&(be(Se),be(He),be(Me))}catch(n){console.log("[\u6253\u5F00indexDb\u9519\u8BEF]",n)}}async load(n){if(this.clear(),Array.isArray(n))this.floors=n;else{let t=await fetch(n).then(e=>e.json());t.code==="0"&&(this.floors=t.data.list)}}setCacheData(n,t,e){return mr(n,`${t}`,e)}getCacheData(n,t){return gr(n,`${t}`)}getFloorCacheKey(n){return`${n.floor_id}`}async getFloorData(n){let t=this.floors.find(r=>r.floor===n);if(!t)return null;let e=this.getFloorCacheKey(t);try{if(await this.getCacheData(Se,e)===t.version_id){let i=await this.getCacheData(He,e);if(i)return this.getDataByJson(i)}return this.getFloorDataByFloorInfo(t)}catch{return this.getFloorDataByFloorInfo(t)}}async getFloorDataByFloorInfo(n){let t=this.getFloorCacheKey(n);console.time("zstd_json");let e=await fetch(n.map_url).then(r=>r.json());return e.floor=n.floor,console.timeEnd("zstd_json"),this.setCacheData(He,t,e),this.setCacheData(Se,t,n.version_id),this.getDataByJson(e)}async getRoadNetworkData(){return(await Promise.all(this.floors.map(async t=>{let e=this.getFloorCacheKey(t);try{if(await this.getCacheData(Se,e)===t.version_id){let o=await this.getCacheData(Me,e);if(o)return o}let i=await fetch(t.route_url).then(o=>o.json());return this.setCacheData(Me,e,i),i}catch{let r=await fetch(t.route_url).then(i=>i.json());return this.setCacheData(Me,e,r),r}}))).filter(t=>t.points)}async getFacilitiesData(){if(this.floors[0]?.entry_infra_url)return fetch(this.floors[0].entry_infra_url).then(n=>n.json())}async getOtherDataByFreeTime(){}async getMulFloorsData(n){return Promise.all(n.map(t=>this.getFloorData(t))).then(t=>t.filter(e=>e))}async getDataByUrl(n){let t=await fetch(n).then(e=>e.json());return this.getDataByJson(t)}getDataByJson(n){let t=new Y(this.bmap.context);t.userData.graphics=[],t.userData.graphicMap=new Map;let e=[0,0];return n.layers.forEach(r=>{switch(r.l_type){case"range":let i=r.elements[0];e=[i.center_x,i.center_y];break;case"graph":N(r.elements,e);let o=[];r.elements.forEach(p=>{p.group==="ground"?t.createGround(p):o.push(p)});let a=o.reduce((p,g)=>{let{fillColor:v,fillOpacity:y,strokeColor:R,strokeOpacity:x,height:E}=g,w=`${v.toLowerCase()}-${y}-${R.toLowerCase()}-${x}-${E}`;return x===0&&(w=`${v.toLowerCase()}-${y}-${E}`),p[w]?p[w].push(g):p[w]=[g],p},{});Object.values(a).forEach(p=>{let g=new Qt(this.bmap.context,p);t.mergeGraphicLayer.add(g)});break;case"ground":N(r.elements,e);let l=r.elements.map(p=>new M(this.bmap.context,p));t.addGrounds(l);break;case"wall":N(r.elements,e);let u=r.elements.reduce((p,g)=>{let{fillColor:v,fillOpacity:y,strokeColor:R,strokeOpacity:x,height:E}=g,w=`${v.toLowerCase()}-${y}-${R.toLowerCase()}-${x}-${E}`;return x===0&&(w=`${v.toLowerCase()}-${y}-${E}`),p[w]?p[w].push(g):p[w]=[g],p},{});Object.values(u).forEach(p=>{let g=new Zt(this.bmap.context,p);t.wallLayer.add(g)});break;case"lane":N(r.elements,e);let c=r.elements.reduce((p,g)=>{let{fillColor:v,fillOpacity:y,strokeColor:R,strokeOpacity:x}=g,E=`${v.toLowerCase()}-${y}-${R.toLowerCase()}-${x}`;return x===0&&(E=`${v.toLowerCase()}-${y}`),p[E]?p[E].push(g):p[E]=[g],p},{});Object.values(c).forEach(p=>{let g=new Jt(this.bmap.context,p);t.laneLayer.add(g)});break;case"texture2d":case"texture3d":if(N(r.elements,e),r.elements.length){let p=new Rt(this.bmap.context,r.elements);t.textureLayer.add(p)}break;case"glb":N(r.elements,e),r.elements.forEach(p=>{let g=j([p.center_x,p.center_y],e),v=new Kt(this.bmap.context,{...p,url:p.secondUrl,rotate:p.secondRotate,width:p.secondWidth,center_x:g[0],center_y:g[1]});t.glbModelLayer.add(v)});break;case"store":N(r.elements,e),r.elements.map(p=>{let g=j([p.center_x,p.center_y],e),v=t.addGraphic(p);t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v);try{let y=new D(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:g[0],y:g[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(y),y&&(y.userData.type="store",y.userData.data=p)}catch(y){console.log("\u521B\u5EFA\u5E97\u94FApoi\u5931\u8D25",y,p)}});break;case"facility":N(r.elements,e),r.elements.map(p=>{let g=j([p.center_x,p.center_y],e),v=t.addGraphic(p);if(t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v),p.poi_info){let y=new D(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:g[0],y:g[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(y),y.userData.type="facility",y.userData.data=p}else console.log("\u6DFB\u52A0facility\u5931\u8D25\u6CA1\u6709poi_info",p)});break;case"parkingSpace":N(r.elements,e);let h=[],f=new Map;r.elements.forEach(p=>{let g=t.addGraphic(p);h.push(g),f.set(p.id,g);let v=j([p.center_x,p.center_y],e);if(p.texts[0]){let y=new D(this.bmap.context,{id:p.id,text:p.texts[0],position:{x:v[0],y:v[1],z:p.airHeight+p.height}});y&&(y.userData.type="parkingSpace",y.userData.data=p),t.poiLayer2.pushPoi(y)}});let d=r.elements.filter(p=>Er[p.parkingType]).map(p=>{let g=j([p.center_x,p.center_y],e),v=Ze(p.geometry.coords,g);return{uuid:p.id,iconUrl:Er[p.parkingType],name:p.texts[0],deltaHeight:p.deltaHeight,airHeight:p.airHeight,height:p.height,geometry:{...p.geometry,coords:v},opacity:p.fillOpacity,visible:!0}});if(d.length){let p=new Rt(this.bmap.context,d);t.textureLayer.add(p)}t.userData.parkingSpaces=h,t.userData.parkingSpacesGraphicMap=f;break;case"text":N(r.elements,e);let m=new ee(this.bmap.context,r.elements.map(p=>{let g=j([p.center_x,p.center_y],e);return{...p,center_x:g[0],center_y:g[1]}}));t.textTextureLayer.add(m);break}}),t.userData.center=e,t.userData.height=n.floorHeight*10,t.name=n.floor,t.userData.data=n,t.updateBox(),t}clear(){}dispose(){this.clear(),_r()}};var Sr=class{constructor(n){this.bmap=n}cacheData=new Map;floorDataLengthMap=new Map;buildingGroundMap=new Map;async load(n){let t=xt(n);if(this.cacheData.has(t))return this.cacheData.get(t);let[,e]=await Promise.all([this.loadBuildGround(n),fr(n,this.bmap.config)]),r=xt({floor:n.floor,ts:n.ts});N(e.map(o=>o.info),this.bmap.buildingCenter,this.floorDataLengthMap.get(r)||0),e.forEach(o=>o.info.transformToBuildingGround=!1),this.cacheData.set(t,e);let i=this.floorDataLengthMap.get(r)||0;return this.floorDataLengthMap.set(r,i+e.length),e}switchFloorByData(n,t){if(!n.length)return;let e=t.userData.legacyToGraphicMap||new Map,r=t.userData.graphicMap||new Map,{ground:i,markGraphic:o,graphic:a}=this.bmap.config;for(let l=0;l<n.length;l++){let u=n[l];u.info.group==="ground"?(u.info.fillColor=i.color,u.info.fillOpacity=i.opacity,u.info.height=i.height,u.info.stroke=i.stroke,u.info.strokeColor=i.strokeColor,u.info.strokeOpacity=i.strokeOpacity):u.info.userData.mark?(u.info.height=o.height,u.info.fillColor=o.color,u.info.fillOpacity=o.opacity,u.info.stroke=o.stroke,u.info.strokeColor=o.strokeColor,u.info.strokeOpacity=o.strokeOpacity):(u.info.fillOpacity=a.fillOpacity,this.bmap.config.initTransToMark&&(u.info.height=o.height,u.info.fillColor=o.color,u.info.stroke=o.stroke,u.info.strokeColor=o.strokeColor,u.info.strokeOpacity=o.strokeOpacity))}for(let l of n){if(l.info.group==="ground")t.createGround(l.info);else{let u=t.addGraphic(l.info);u.userData.data=l,e.set(l.legacy_id,u)}r.set(l.element_uuid,l)}t.userData.legacyToGraphicMap=e,t.userData.graphicMap=r,t.updateBox(),t===this.bmap.context.currentFloor?(this.bmap.triggerHooks("switch_floor_before",{curFloor:t,graphics:t.graphicLayer.children}),this.bmap.initialFloorCamera(),this.bmap.triggerHooks("switch_floor_after",{curFloor:t,graphics:t.graphicLayer.children})):this.bmap.switchFloorByFloor(t)}filterData(n,t){let e=t.userData.graphicMap||new Map;return n.filter(r=>!e.has(r.element_uuid))}async switchFloorByStoreData(n,t){let e=await this.load({...n,resource_type_list:"6"}),r=this.filterData(e,t);this.switchFloorByData(r,t)}async switchFloorByOtherData(n,t){let e=await this.load({...n,resource_type_list:"1,2,3,4"}),r=this.filterData(e,t);this.switchFloorByData(r,t)}async loadBuildGround({brand:n,project:t}){let e=await this.loadBuildingGround({brand:n,project:t});return this.bmap.currentBuildGround=e,this.bmap.changeBuildingCenter(e,{brand:n,project:t}),this.bmap.currentBuildGround}async loadBuildingGround({brand:n,project:t}){let e=xt({brand:n,project:t});if(this.buildingGroundMap.has(e))return this.buildingGroundMap.get(e);let r=pr({brand:n,project:t},this.bmap.config).then(i=>(this.buildingGroundMap.set(e,i),i));return this.buildingGroundMap.set(e,r),r}async switchFloor(n){let t=new Y(this.bmap.context);t.name=n.floor;try{await Promise.all([this.switchFloorByStoreData(n,t),this.switchFloorByOtherData(n,t)])}catch(e){console.log(e)}return t}dispose(){this.cacheData.clear(),this.floorDataLengthMap.clear(),this.buildingGroundMap.clear()}};export{br as AibeeLoader,Zn as BMap,ur as BMapSelect,G as BaseSvg,pe as Context,Sr as CrLoader,ar as CrNavPath,Kn as Equipment,en as Events,Y as Floor,Kt as GlbModel,M as Graphic,Wt as GraphicLayer,Rt as GroundTexture,Vt as HeatmapElement,Pt as HooksName,ie as HoverHelper,Jt as Lane,A as Layer,ps as MapTypePolar,Qt as MergeGraphic,Ht as Model,or as MulFloors,sr as NavPath,ir as Navigation,kt as Overlay,pn as PathDirection,hr as PdrPosition,pt as Poi,D as Poi2,bt as PoiLayer,Xt as PoiLayer2,Pn as RoadNetwork,An as RoadNetwork2,Bn as SelectBox,re as Selection,me as Sensor,zt as Shadow,Yt as SvgLine,$t as SvgPolygon,ee as TextTexture,T as Timer,Et as TweenUtil,tn as UA,Zt as Wall,ca as addAlphaToHexColor,$e as calc_angle,Re as calc_direction,Rn as convertToSnakeCase,Tt as createCircle,Ut as createLine,et as createRect,Je as createSvg,Ot as createSvgElement,ja as createThreeBox,qa as createThreeLine,K as darkenColor,Ag as defaultAibeeLoaderOption,us as defaultConfig,Oe as defaultGraphicOptions,ho as defaultOptions,Vo as defaultTextTextureOptions,L as dispose,hn as distancePointToSegment,xt as generatorKeyByObj,Vr as getAngle,Dt as getCenter,$n as getConfig,Ta as getDirectPath,fn as getDistanceByPathPos,C as getLength,na as getLongestSideDir,Ze as getMinEdgeSquare,W as getPathLength,mt as getPointEdgeIndex,Ft as getPosByPathDistance,Ye as hasChinese,Pe as hexToRgb,je as initDirectionalLight,qe as initLight,H as initShape,pa as isAndroid,tt as isContain,vt as isControl,Ct as isIphone,yt as isMac,Ke as isPointInPolygon,pr as loadBuildingGround,fr as loadGraphics,wa as moveOnRoute,_t as proxyOptions,Wr as removeWeightPath,ct as setCirclePosition,z as setLineStartEnd,I as setRectPosition,cn as simplifyPath,Qe as sleepOnePromise,aa as sleepOneRf,ln as smoothPath,la as strToNumber,lt as timeoutPromise,Va as toWebWorker,N as transformGraphicData,j as translatePosToCenter,q as triggerWorker,_ as vector3ToDevice,va as xhrGet};
7506
+ `)}var ar=class extends Us{worker=Ve();initRoadStatus=!1;constructor(){super()}async setRoadData(n){this.initRoadStatus=!1,this.dispatchEvent({type:"init-road-status",status:!1}),await q(this.worker,"set_road_info",{roadData:n}),this.initRoadStatus=!0,this.dispatchEvent({type:"init-road-status",status:!0})}async getPath(n,t,e=""){return new Promise((r,i)=>{let o=()=>{console.log("initRoadStatus",this.initRoadStatus),q(this.worker,"get_path",{start:n,end:t,type:e}).then(a=>{a?typeof a=="string"?i(a):r(a):i("no-path")})};if(this.initRoadStatus)o();else{let a=({status:l})=>{l&&(this.removeEventListener("init-road-status",a),o())};this.addEventListener("init-road-status",a)}})}getDirectionPath(n){return q(this.worker,"get_direction_path",n)}async dispose(){q(this.worker,"clear",""),this.worker.terminate()}};import{Frustum as Fs}from"three";var ge=class extends G{startPoint;endPoint;rect;frustum=new Fs;constructor(n){super(n);let{config:{selectBox:{fill:t,stroke:e}}}=n;this.rect=et(e,t),this.svg.appendChild(this.rect),this.registryEvent()}setEnable(n){super.setEnable(n),I(this.rect,0,0,0,0),n?this.registryEvent():(this.startPoint=void 0,this.unRegistryEvent())}onPointerDown=n=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(n);t&&(this.startPoint=t),this.endPoint=void 0};onPointerMove=n=>{if(!this.enable||!this.startPoint)return;let t=this.getIntersectByPointerEvent(n);t&&(this.endPoint=t)};onPointerUp=n=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(n);t&&(this.endPoint=t),this.doSelect(),this.startPoint=void 0};onUpdate=()=>{if(this.startPoint){let n=this.getSvgCoordinate(this.startPoint),t={...n};this.endPoint&&(t=this.getSvgCoordinate(this.endPoint));let e={x:Math.min(n.x,t.x),y:Math.min(n.y,t.y)},r=Math.abs(t.x-n.x),i=Math.abs(t.y-n.y);I(this.rect,e.x,e.y,r,i)}else I(this.rect,0,0,0,0)};registryEvent(){this.context.container.addEventListener("pointerdown",this.onPointerDown),this.context.container.addEventListener("pointermove",this.onPointerMove),this.context.container.addEventListener("pointerup",this.onPointerUp),this.context.addEventListener("update",this.onUpdate)}unRegistryEvent(){this.context.container.removeEventListener("pointerdown",this.onPointerDown),this.context.container.removeEventListener("pointermove",this.onPointerMove),this.context.container.removeEventListener("pointerup",this.onPointerUp),this.context.removeEventListener("update",this.onUpdate)}doSelect(){if(this.startPoint&&this.endPoint){if(this.startPoint.distanceTo(this.endPoint)<.1)return;let{context:{camera:t,container:{clientWidth:e,clientHeight:r}}}=this,i=_(this.startPoint,t,e,r),o=_(this.endPoint,t,e,r),a={x:Math.min(i.x,o.x),y:Math.min(i.y,o.y)},l={x:Math.max(i.x,o.x),y:Math.max(i.y,o.y)},u=this.searchMapInFrustum(a,l);this.dispatchEvent({type:"selected",list:u})}}searchMapInFrustum(n,t){let{context:e}=this;return e.currentFloor?.graphicLayer.children.filter(r=>r instanceof M&&this.searchChildInFrustum(r,n,t))||[]}searchChildInFrustum(n,t,e){let{context:{camera:r,container:{clientWidth:i,clientHeight:o}}}=this;if(!n)return!1;if(!n.mesh){let f=n.getPosition();if(f){let d=_(f,r,i,o);return tt(d,t,e)}return!1}n.mesh.geometry.boundingBox||n.mesh.geometry.computeBoundingBox();let a=n.mesh.geometry.boundingBox;if(!a)return!1;let{min:l,max:u}=a,c=_(l,r,i,o),h=_(u,r,i,o);return!(!tt(c,t,e)||!tt(h,t,e))}dispose(){this.unRegistryEvent()}};var Bs={boxSelection:!1,elements:["graphic","poi"]},ur=class extends ${options;_list=new Set;_poiList=new Set;boxSelection;prevPanStatus;prevRotateStatus;downPoint=null;isMultipleSelect=!1;constructor(n,t={}){super(n),this.options={...Bs,...t},this.boxSelection=new ge(this.bmap.context),this.boxSelection.setEnable(!1),this.registryEvent()}get list(){return this._list}enableBoxSelection(){this.isMultipleSelect||!this.options.boxSelection||(this.isMultipleSelect=!0,this.boxSelection.setEnable(!0),this.prevPanStatus=this.bmap.context.control.enablePan,this.prevRotateStatus=this.bmap.context.control.enableRotate,this.bmap.context.control.enablePan=!1,this.bmap.context.control.enableRotate=!1)}disableBoxSelection(){this.isMultipleSelect&&(this.isMultipleSelect=!1,this.boxSelection.setEnable(!1),this.bmap.context.control.enablePan=!!this.prevPanStatus,this.bmap.context.control.enableRotate=!!this.prevRotateStatus)}onPointerDown=n=>{this.downPoint={x:n.offsetX,y:n.offsetY}};onPointerUp=n=>{if(!this.downPoint)return;let{offsetX:t,offsetY:e}=n,{x:r,y:i}=this.downPoint;if(Math.sqrt((r-t)**2+(i-e)**2)>3)return;let o=new Set,a=[],l=[];if(this.options.elements.includes("graphic")){let{graphics:u}=this.bmap.context.getGraphicsByDeviceXy(t,e);u.map(c=>o.add(c.options.id)),a.push(...u)}if(this.options.elements.includes("poi")){let u=this.bmap.context.getPoisByDeviceXy(t,e);l.push(...u),u.forEach(c=>{if(!o.has(c.options.id)){let h=this.bmap.context.currentFloor?.graphicLayer.graphicMap.get(c.options.id)||null;h&&(o.add(c.options.id),a.push(h))}})}(!this.options.boxSelection||!(yt?n.metaKey:n.ctrlKey))&&(this._list.clear(),this._poiList.clear()),a.forEach(u=>this._list.add(u)),l.forEach(u=>this._poiList.add(u)),this.selectEnd(),this.downPoint=null};onPointerOut=n=>{this.disableBoxSelection()};onKeyDown=n=>{vt(n.key)&&this.enableBoxSelection()};onKeyUp=n=>{vt(n.key)&&this.disableBoxSelection()};onBoxSelected=({list:n})=>{this._list.clear(),n.forEach(t=>{this._list.add(t)}),this.selectEnd()};selectEnd(){this.dispatchEvent({type:"select",graphics:[...this._list],pois:[...this._poiList],isMultipleSelect:this.isMultipleSelect})}registryEvent(){this.bmap.context.container.addEventListener("pointerdown",this.onPointerDown),this.bmap.context.container.addEventListener("pointerup",this.onPointerUp),this.bmap.context.container.addEventListener("pointerout",this.onPointerOut),this.bmap.context.container.addEventListener("pointercancel",this.onPointerOut),window.addEventListener("keydown",this.onKeyDown),window.addEventListener("keyup",this.onKeyUp),this.boxSelection.addEventListener("selected",this.onBoxSelected)}unRegistryEvent(){this.bmap.context.container.removeEventListener("pointerdown",this.onPointerDown),this.bmap.context.container.removeEventListener("pointerup",this.onPointerUp),this.bmap.context.container.removeEventListener("pointerout",this.onPointerOut),this.bmap.context.container.removeEventListener("pointercancel",this.onPointerOut),window.removeEventListener("keydown",this.onKeyDown),window.removeEventListener("keyup",this.onKeyUp),this.boxSelection.removeEventListener("selected",this.onBoxSelected)}clear(){this._list.clear()}remove(n){this._list.delete(n)}dispose(){this.unRegistryEvent()}};import{cloneDeep as zs,isNil as st,throttle as lr}from"lodash";import{EventDispatcher as ks}from"three";var Vs={time:200,elements:["compass","deviceMotion","acceleration","gps"]},me=class extends ks{options;gpsTimer=null;data=[];timer=new T;dispatchTimer=null;constructor(n={}){super(),this.options={...Vs,...n}}start(){this.options.elements.some(n=>["deviceMotion","compass"].includes(n))&&this.listenDeviceOrientation(),this.options.elements.includes("acceleration")&&this.listenAcceleration(),this.options.elements.includes("gps")&&this.listenGps(),this.dispatchEvent({type:"start"}),this.dispatchTimer=this.timer.setInterval(()=>{this.dispatchEvent({type:"sensor-data",data:zs(this.data)}),this.data=[]},this.options.time)}addDataItem(n){this.data.push(n),this.dispatchEvent({type:"add-data-item",item:n})}addDeviceMotion=lr(n=>{this.addDataItem(n)},20);addAcceleration=lr(n=>{this.addDataItem(n)},20);deviceOrientationAbsHandler=n=>{let t=Date.now(),{alpha:e,beta:r,gamma:i}=n;if(st(e)||st(r)||st(i))return;let o;Ct?o=n.webkitCompassHeading:o=360-e,this.options.elements.includes("deviceMotion")&&this.addDeviceMotion({type:"deviceMotion",timestamp:t,res:[e,r,i]}),this.options.elements.includes("compass")&&this.addDataItem({type:"compass",timestamp:t,res:o})};listenDeviceOrientation(){Ct?window.addEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.addEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0})}handleAcceleration=n=>{let t=n.accelerationIncludingGravity;st(t)||st(t.x)||st(t.y)||st(t.z)||this.addAcceleration({type:"acceleration",timestamp:Date.now(),res:[t.x,t.y,t.z]})};listenAcceleration(){window.addEventListener("devicemotion",this.handleAcceleration,!1)}listenGps(){this.gpsTimer=navigator.geolocation.watchPosition(n=>{n.coords.accuracy<=10&&this.addDataItem({type:"gps",timestamp:Date.now(),res:[n.coords.longitude,n.coords.latitude,n.coords.accuracy]})})}async checkSensor(){return{deviceOrientation:await this.checkDeviceOrientation()}}async checkDeviceOrientation(){if(!Ct)return!0;if(typeof window.DeviceOrientationEvent<"u"&&typeof window.DeviceOrientationEvent?.requestPermission=="function")try{return await window.DeviceOrientationEvent?.requestPermission()==="granted"}catch{return!1}return!1}stop(){window.removeEventListener("devicemotion",this.handleAcceleration,!1),Ct?window.removeEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.removeEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0}),st(this.gpsTimer)||navigator.geolocation.clearWatch(this.gpsTimer),this.dispatchTimer&&this.timer.clearInterval(this.dispatchTimer),this.data=[],this.dispatchEvent({type:"stop"})}};import{EventDispatcher as Hs}from"three";function _e(s,n){return 1/Math.sqrt(2*Math.PI*Math.pow(n,2))*Math.exp(-Math.pow(s,2)/(2*Math.pow(n,2)))}function ye(s){return(s+360)%360}function cr(s,n){let e=6378137*s*Math.PI/180,r=6378137*Math.log(Math.tan(Math.PI/4+n*Math.PI/180/2));return{x:e,y:r}}function Mt(s,n,t,e){return Math.sqrt(Math.pow(Math.abs(s-t),2)+Math.pow(Math.abs(n-e),2))}var ve=class{NumParticle;reSampNumParticle;initial_xy_uncertainty;initial_yaw_uncertainty;step_noise_sigma;yaw_noise_sigma;compass_update_interval;sigmaCompass;delta_yaw;sigmaBeacon;unaccess_weight;particle_PosInitFlag;particle_yawInitFlag;xEst;particleX;particleWeight;last_compass_time;constructor(n){this.NumParticle=n.NumParticle,this.reSampNumParticle=n.reSampNumParticle,this.initial_xy_uncertainty=n.initial_xy_uncertainty,this.initial_yaw_uncertainty=n.initial_yaw_uncertainty,this.step_noise_sigma=n.step_noise_sigma,this.yaw_noise_sigma=n.yaw_noise_sigma,this.compass_update_interval=n.compass_update_interval,this.sigmaCompass=n.sigmaCompass,this.delta_yaw=n.delta_yaw,this.sigmaBeacon=n.sigmaBeacon,this.unaccess_weight=n.unaccess_weight,this.particle_PosInitFlag=!1,this.particle_yawInitFlag=!1,this.xEst=[[0],[0],[0]],this.particleX=Array.from({length:3},()=>Array(this.NumParticle).fill(0)),this.particleWeight=Array.from({length:1},()=>Array(this.NumParticle).fill(1/this.NumParticle)),this.last_compass_time=0}motionModelRotYaw(n){if(!(Math.abs(n)<.001))for(let t=0;t<this.NumParticle;t++){let e=Math.random()*this.yaw_noise_sigma;this.particleX[2][t]=this.particleX[2][t]+n+e,this.particleX[2][t]=ye(this.particleX[2][t])}}motionModelStepLength(n,t){if(n===0)return;for(let r=0;r<this.NumParticle;r++){let i=Math.random()*this.step_noise_sigma;this.particleX[0][r]+=(.65+i)*Math.sin(-this.particleX[2][r]/180*Math.PI),this.particleX[1][r]+=(.65+i)*Math.cos(this.particleX[2][r]/180*Math.PI),t(this.particleX[0][r],this.particleX[1][r])||(this.particleWeight[0][r]*=this.unaccess_weight)}let e=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/e)}motionModelCompassYaw(n,t){if(t-this.last_compass_time>this.compass_update_interval){let e=360-n;e+=this.delta_yaw,e=ye(e);for(let i=0;i<this.NumParticle;i++){let o=Math.abs(this.particleX[2][i]-e);o>180&&(o=360-o),this.particleWeight[0][i]*=_e(o,this.sigmaCompass)}let r=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/r)}}resampling(){if(1/this.particleWeight[0].reduce((t,e)=>t+e*e,0)<this.reSampNumParticle){let t=this.particleWeight[0].reduce((a,l,u)=>a.concat(a[u]+l),[0]),r=this.particleWeight[0].map(()=>1/this.NumParticle).map((a,l)=>a+Math.random()/this.NumParticle),i=[],o=0;for(let a=0;a<this.NumParticle;a++){for(;r[a]>t[o];)o++;i.push(o)}this.particleX=this.particleX.map((a,l)=>i.map(u=>a[u])),this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle)}}update(n,t){for(let r=0;r<this.NumParticle;r++){let i=Mt(this.particleX[0][r],this.particleX[1][r],n.x,n.y);this.particleWeight[0][r]=Math.max(1e-7,this.particleWeight[0][r]*_e(i,t))}let e=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/e)}updateCar(n,t){let e=n.x-this.xEst[0][0],r=n.y-this.xEst[1][0];for(let o=0;o<this.NumParticle;o++){let a=Mt(this.particleX[0][o],this.particleX[1][o],n.x,n.y);this.particleWeight[0][o]=Math.max(1e-7,this.particleWeight[0][o]*_e(a,t)),this.particleX[0][o]+=e,this.particleX[1][o]+=r}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i)}getPosInitFlag(){return this.particle_PosInitFlag}getYawInitFlag(){return this.particle_yawInitFlag}setPosInitFlag(n){this.particle_PosInitFlag=n}setYawInitFlag(n){this.particle_yawInitFlag=n}getResultX(){return this.xEst[0][0]=this.particleX[0].reduce((n,t,e)=>n+t*this.particleWeight[0][e],0),this.xEst[0][0]}getResultY(){return this.xEst[1][0]}getResultYaw(){let n=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0]));return this.particleX[2][n]}getEstConfidence(){let n=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0])),t=this.particleWeight[0].indexOf(Math.min(...this.particleWeight[0])),e=[this.particleX[0][n],this.particleX[1][n]],r=[this.particleX[0][t],this.particleX[1][t]],i=Mt(e[0],e[1],r[0],r[1]),o=i*.67;return console.log(i,o),o}getParticleNum(){return this.NumParticle}getParticleX(){return this.particleX}setLastCompassTime(n){this.last_compass_time=n}getLastCompassTime(){return this.last_compass_time}initParticlesByPos(n,t,e){if(!this.particle_PosInitFlag){this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle);let r=0;for(;r<this.NumParticle;){let o=(2*Math.random()-1)*this.initial_xy_uncertainty,a=(2*Math.random()-1)*this.initial_xy_uncertainty;e(n+o,t+a)||(this.particleWeight[0][r]*=this.unaccess_weight),this.particleX[0][r]=n+o,this.particleX[1][r]=t+a,r++}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i),this.particle_PosInitFlag=!0,this.xEst[0][0]=n,this.xEst[1][0]=t,this.xEst[2][0]=0}}initParticlesByCompass(n){console.log(`Init compass: ${n}`);let t=360-n;t+=this.delta_yaw,t=ye(t),console.log(`Init Yaw: ${t}`);for(let e=0;e<this.NumParticle;e++){let r=(2*Math.random()-1)*this.initial_yaw_uncertainty;this.particleX[2][e]=t+r}this.particle_yawInitFlag=!0,this.xEst[2][0]=t}};var xe=class{fre;accH_fifo;accH_time_fifo;accH_fifo_len;step_count;state_count;last_valley_time;last_peak_time;last_step_time;min_step_time;max_step_time;min_peak;max_valley;peak_num;valley_num;fft_min_amp;fft_min_fre;fft_max_fre;last_fft_amp;abnor_start_time;abnor_fft_detected;abnor_time_threshod;abnor_peak_time;abnor_peak_accH;const_step_length;last_rot;delta_rot;last_yaw;delta_yaw;delta_rot_sum_fifo;delta_rot_sum_time_fifo;delta_yaw_accum;delta_yaw_accum_timestamp;delta_yaw_time_threshold;last_px;last_py;delta_px;delta_py;constructor(){this.init()}init(){this.fre=100,this.accH_fifo=[],this.accH_time_fifo=[],this.accH_fifo_len=Math.floor(1*this.fre)+1,this.step_count=0,this.state_count=0,this.last_valley_time=0,this.last_peak_time=0,this.last_step_time=0,this.min_step_time=300,this.max_step_time=1e3,this.min_peak=10+.5,this.max_valley=10-.5,this.peak_num=0,this.valley_num=0,this.fft_min_amp=.3,this.fft_min_fre=0,this.fft_max_fre=4,this.last_fft_amp=0,this.abnor_start_time=0,this.abnor_fft_detected=!1,this.abnor_time_threshod=4e3,this.abnor_peak_time=0,this.abnor_peak_accH=0,this.const_step_length=.65,this.last_rot=[],this.delta_rot=[],this.last_yaw=0,this.delta_yaw=null,this.delta_rot_sum_fifo=[],this.delta_rot_sum_time_fifo=[],this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=0,this.delta_yaw_time_threshold=500,this.last_px=0,this.last_py=0,this.delta_px=0,this.delta_py=0}reset(){this.init()}set_init_pose(n=[0,0]){this.last_px=n[0],this.last_py=n[1],console.log(`pdr init pos: ${this.last_px}, ${this.last_py}`)}set_init_yaw(n=0){this.last_yaw=n}getPos(n,t,e){let r=0;return e.length===3&&(this.delta_yaw=this.getDeltaYaw_fromRot(n,e)),t.length===3&&(r=this.getStepLength(n,t)),r!==0&&(this.last_px+=this.delta_px,this.last_py+=this.delta_py),[this.last_px,this.last_py]}get_delta_pose(){return[this.delta_px,this.delta_py]}getStepLength(n,t){if(t.length<3)return console.warn("acc data less than 3"),0;let e=!1,r=Math.sqrt(t.reduce((i,o)=>i+o*o,0));if(this.accH_fifo.push(r),this.accH_time_fifo.push(n),this.imuFreUpdate(),this.accH_fifo.length<this.accH_fifo_len+1)e=!1;else{for(;this.accH_fifo.length>=this.accH_fifo_len+1;)this.accH_fifo.shift(),this.accH_time_fifo.shift();let i=this.PVstepDetec(),o=this.FFTstepDetec(),a=this.recheckState(),l=this.accH_time_fifo[Math.floor(this.accH_time_fifo.length*(3/4))];Math.abs(this.abnor_start_time)<.001&&this.abnor_fft_detected?this.abnor_start_time=l:this.abnor_fft_detected||(this.abnor_start_time=0),console.log("pv_detected",i,o,a,this.abnor_start_time,l),i&&o&&a?(this.step_count++,this.last_step_time=l,e=!0):Math.abs(this.abnor_start_time)>.001&&this.abnor_peak_time-this.abnor_start_time>this.abnor_time_threshod&&this.step_count>1&&this.abnor_peak_time-this.last_step_time>1e3?(this.step_count++,this.last_step_time=l,e=!0):(l-this.last_step_time>2e3&&(this.state_count=0),e=!1)}if(console.log("detected_flag",e),e){let i=this.last_yaw/180*Math.PI;return this.delta_px=this.const_step_length*Math.cos(i),this.delta_py=this.const_step_length*Math.sin(i),this.const_step_length}else return 0}imuFreUpdate(){if(console.log("this.accH_time_fifo",this.accH_time_fifo),this.accH_time_fifo.length>2&&(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]<0||this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]>1e4||this.accH_time_fifo[this.accH_time_fifo.length-1]===this.accH_time_fifo[0])&&(console.warn(`pdr reset last one time ${this.accH_time_fifo[this.accH_time_fifo.length-1]} last two time ${this.accH_time_fifo[this.accH_time_fifo.length-2]}`),this.reset()),this.accH_fifo.length>9||this.fre<15){let n=(this.accH_fifo.length-1)/(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[0]);Math.abs(this.fre-n)>8&&(this.fre=Math.round((n-3)/10)*10,(this.fre<=10||this.fre>=100)&&(console.warn(`Frequency Error ${this.fre}`),this.fre=100),console.log(`Frequency change to ${this.fre}`),this.accH_fifo_len=Math.floor(1*this.fre)+1)}}recheckState(){return!0}PVstepDetec(){let n=!1,t=this.accH_fifo.slice(this.accH_fifo_len/2),e=this.accH_time_fifo.slice(this.accH_fifo_len/2),r=t[Math.floor(t.length/2)],i=e[Math.floor(e.length/2)],o=Math.max(...t),a=Math.min(...t),l=!1,u=!1;return console.log("mid_accH - min_accH",r-a,r,o,this.valley_num,this.peak_num,this.min_peak),Math.abs(r-a)<.01&&r<this.max_valley&&this.valley_num<=this.peak_num&&(this.last_valley_time===void 0||i-this.last_valley_time>this.min_step_time?u=!0:u=!1,u&&(this.last_valley_time=i,this.valley_num++)),Math.abs(r-o)<.01&&r>this.min_peak&&this.peak_num<=this.valley_num&&(this.last_peak_time===void 0||i-this.last_peak_time>this.min_step_time?l=!0:l=!1,l&&(this.last_peak_time=i,this.peak_num++)),r===o&&r>this.min_peak&&(this.abnor_peak_time=i,this.abnor_peak_accH=r),this.peak_num===this.valley_num&&(l||u)&&(n=!0),n}FFTstepDetec(){let n=!1,t=this.fre,e=this.accH_fifo_len,r=this.accH_fifo.map(h=>h-this.mean(this.accH_fifo)),i=this.rfft(r),o=this.getFrequencies(t,e),a=i.map(h=>Math.abs(h)),l=Math.max(...a),u=a.indexOf(l);l>this.fft_min_amp&&this.fft_min_fre<o[u]&&o[u]<this.fft_max_fre&&(n=!0),this.last_fft_amp=l;let c=0;this.abnor_fft_detected=!1;for(let h=0;h<o.length;h++)a[h]>c&&this.fft_min_fre<o[h]&&o[h]<this.fft_max_fre&&(c=a[h]);return c>this.fft_min_amp-.1&&(this.abnor_fft_detected=!0),n}mean(n){return n.reduce((t,e)=>t+e,0)/n.length}rfft(n){return n.map(t=>t)}getFrequencies(n,t){return Array.from({length:t/2+1},(e,r)=>r*(n/t))}getDeltaYaw_fromRot(n,t){if(t.length<3)return console.warn("rot data less than 3"),0;let e;this.last_rot.length===3?e=t.map((o,a)=>o-this.last_rot[a]):e=[0,0,0];for(let o=0;o<t.length;o++)e[o]<-180?e[o]+=360:e[o]>180&&(e[o]-=360);this.delta_rot.length===3?this.delta_rot=this.delta_rot.map((a,l)=>.2*a+(1-.2)*e[l]):this.delta_rot=e,this.last_rot=t,this.delta_yaw=this.delta_rot[0],this.last_yaw+=this.delta_yaw,this.last_yaw=this.limit_yaw(this.last_yaw);let r=this.delta_rot.reduce((o,a)=>o+Math.abs(a),0);this.delta_rot_sum_fifo.push(r),this.delta_rot_sum_time_fifo.push(n),Math.abs(this.delta_rot_sum_time_fifo[this.delta_rot_sum_time_fifo.length-1]-this.delta_rot_sum_time_fifo[0])>1&&(this.delta_rot_sum_fifo.shift(),this.delta_rot_sum_time_fifo.shift()),this.delta_yaw_accum+=this.delta_yaw;let i=0;return Math.abs(this.delta_yaw_accum_timestamp-n)>this.delta_yaw_time_threshold&&(i=this.delta_yaw_accum,this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=n),i}limit_yaw(n){for(;n<-180;)n+=360;for(;n>180;)n-=360;return n}};var Ee=class{particleFilter;pdr;sigmaBeacon=5;gps_horizontalAccuracy=10;using_gps=!0;last_beacon_time=null;last_pos_time;position_count=0;gps_max_horizontalAccuracy=20;MaxEstimateErr=12;outTrustRegionNum=0;TrustNum=4;cacheSensorData=[];constructor(){this.particleFilter=new ve({NumParticle:200,reSampNumParticle:.65,initial_xy_uncertainty:12,initial_yaw_uncertainty:100,step_noise_sigma:.5,yaw_noise_sigma:2,compass_update_interval:3e3,sigmaCompass:80,delta_yaw:2,sigmaBeacon:5,unaccess_weight:.7}),this.pdr=new xe}pfFusionPDRiBeacon(n){let{type:t,timestamp:e,res:r}=n,i=!1;if(this.particleFilter.getPosInitFlag()&&this.particleFilter.getYawInitFlag()){if(t==="acceleration"){let o=r,a=this.pdr.getStepLength(e,o);console.log("SENSOR_TYPE.ACCELERATION",a),a!==0&&(this.particleFilter.motionModelStepLength(a,()=>!0),this.particleFilter.resampling(),this.position_count+=1,i=!0)}if(this.using_gps&&t==="gps"&&(this.last_beacon_time===null||e-this.last_beacon_time>5e3)){let o=this.getGpsPosition(r);i=o!==null,o&&(this.particleFilter.update(o,this.gps_horizontalAccuracy),this.resetParticleFilterDist(o),this.particleFilter.resampling(),this.position_count+=1)}if(t==="deviceMotion"){let o=this.pdr.getDeltaYaw_fromRot(e,r);this.particleFilter.motionModelRotYaw(o)}t==="compass"&&(this.particleFilter.motionModelCompassYaw(r,e),this.particleFilter.setLastCompassTime(e)),this.last_pos_time&&e-this.last_pos_time>500&&(this.position_count+=1,i=!0)}else if(!this.particleFilter.getPosInitFlag()&&this.using_gps&&t==="gps"){let o=this.getGpsPosition(r);i=o!==null,o?(this.particleFilter.initParticlesByPos(o.x,o.y,()=>!0),this.last_pos_time=e,console.log(`init Pos by gps success time ${e}`),this.cacheSensorData.length=0):console.log(`init Pos by gps fail time ${e}`)}else if(!this.particleFilter.getYawInitFlag()&&t==="compass"){let o=r;this.particleFilter.initParticlesByCompass(o),this.particleFilter.setLastCompassTime(e),console.log(`init yaw by compass success time ${e}`)}else this.cacheSensorData.push(n);return i&&(this.last_pos_time=e),[i,this.particleFilter.getResultX(),this.particleFilter.getResultY()]}setBeaconPosition(n,t){return this.last_beacon_time=t,this.particleFilter.getPosInitFlag()?this.particleFilter.update(n,this.sigmaBeacon):this.particleFilter.initParticlesByPos(n.x,n.y,()=>!0),this.resetParticleFilterDist(n),this.particleFilter.resampling(),this.position_count+=1,this.cacheSensorData.filter(r=>r.timestamp>t).map(r=>this.pfFusionPDRiBeacon(r)),this.cacheSensorData.length=0,[this.particleFilter.getResultX(),this.particleFilter.getResultY()]}getGpsPosition(n){return n[2]>this.gps_max_horizontalAccuracy?null:cr(n[0],n[1])}resetParticleFilterDist(n){let t=this.particleFilter.getResultX(),e=this.particleFilter.getResultY();Mt(t,e,n.x,n.y)>this.MaxEstimateErr?(this.outTrustRegionNum+=1,this.outTrustRegionNum>=this.TrustNum&&(console.info(`\u8D85\u51FA\u53EF\u4FE1\u533A\u57DF\uFF0C\u91CD\u7F6E\u7C92\u5B50\u8FC7\u6EE4\u5668\u5230: ${n.x}, ${n.y}`),this.particleFilter.setPosInitFlag(!1),this.particleFilter.setYawInitFlag(!1),this.outTrustRegionNum=0)):this.outTrustRegionNum=0}};var hr=class extends Hs{sensor;pdr;constructor(n={}){super(),this.sensor=new me(n.sensor),this.pdr=new Ee}checkSensor(){return this.sensor.checkSensor()}start(){this.sensor.start(),this.sensor.addEventListener("add-data-item",({item:n})=>{let[t,e,r]=this.pdr.pfFusionPDRiBeacon(n);console.log(n,t,e,r),t&&this.dispatchEvent({type:"position",x:e,y:r})})}setBeaconPosition(n,t){let[e,r]=this.pdr.setBeaconPosition(n,t);this.dispatchEvent({type:"position",x:e,y:r})}dispose(){this.sensor.stop()}};async function pr({brand:s,project:n},t){let{apiDomain:e,apiPath:{floorRange:r},apiInfo:i}=t,o=`${e}${r}?brand=${s}&project=${n}&phase=${n}&building=${n}`;return await fetch(o,i).then(l=>l.json()).then(l=>l.data).then(l=>{let u=(l||[])[0];return u&&(u.info=JSON.parse(u.info)),u})}async function fr({brand:s,project:n,floor:t,ts:e,resource_type_list:r},i){let{apiDomain:o,apiPath:{floorGraphic:a},apiInfo:l}=i,u=`${o}${a}?brand=${s}&project=${n}&phase=${n}&building=${n}&floor=${t}&ts=${e}&resource_type_list=${r}`;return await fetch(u,l).then(h=>h.json()).then(h=>h.data).then(h=>((h||[]).map(f=>f.info=JSON.parse(f.info)),h||[]))}var V;function dr(s="aibee_map"){return new Promise((n,t)=>{if(V)return n({db:V,type:"success"});let e=indexedDB.open(s);e.onupgradeneeded=function(r){V=r.target.result,console.log("onupgradeneeded"),n({db:V,type:"onupgradeneeded"})},e.onsuccess=r=>{V=r.target.result,n({db:V,type:"success"})},e.onerror=r=>{t(r)}})}function gr(s,n,t=V){return new Promise((e,r)=>{t||r("\u6CA1\u6709db");let o=t.transaction([s],"readonly").objectStore(s).get(n);o.onsuccess=()=>{o.result?e(o.result.value):e(null)},o.onerror=a=>{console.log("[getVersionByKey]",a),e(null)}})}function mr(s,n,t,e=V){return new Promise((r,i)=>(e||i("\u6CA1\u6709db"),new Promise((o,a)=>{let u=e.transaction([s],"readwrite").objectStore(s).add({key:n,value:t});u.onsuccess=function(c){o(c)},u.onerror=function(c){a(c)}})))}function be(s,n=V){n&&(n.objectStoreNames.contains(s)||n.createObjectStore(s,{keyPath:"key"}))}function _r(){V?.close(),V=null}var 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U7SxKoHa/QWi9B5mQGTbboEh9vaPk/J7fF5gekZIsyaLyhHU1dnAyNBBqnQG+BOJfH6bqd17rE2/EKoTXvFHFbbN7WTL4og8YX4jNzESdDI4HGJdB7Ic4fx+VyOW8l0HL86uzNHx+fXueAIYwlgYYQBTMfLkD25C/lsyoSaBzh5rNF18bhql8vJVC/PKuwxqcyG98Wu4qJmdiUQE0oNdvmSlza+Xx7lkXfg4Yddq4Isj8EyuVrsizKoGGHndtiZytOhkYCDVegN0GcD4brXj2e6RJfD2fbUbiOJ29nctHZrIsyaJjhH5M41wRGAg1PoHdDnHeE51YzHkmgzXAvGpVbw8wrOpnjcQk0rKifj+zJfYxUWgQk0HCkwJ3floXjThieSKBhxIF7ZvLpTC46q9JBQALtgNHgy29AnNx9WKWHgL4H7QHSwFvu134gBPpGA2MHP6QyaLMhGsfwvLRLnAVxkEALwNR0+AaIc0VNY0U5jC7xzYVtFYbmttgvN+dC+CMrgzYXozMkzuHwJdDhjKpocSfEeVcVhlOzKYHWH1Fe0sfqHzbOESXQ+uN2LrIn//9UMSAggRpA8tjkIdi60aO95E1JoPWFmN918hEOfvepYkhAAjUE5aHZJRAn7xqpWBDQ96AWsEo05X32aRDoWyVsZNlVGbT6sPMXSrydKXE6sJZAHaBZdrkO4uRvPVUcCOgS7wDNosvzaMttsfkoh4oDAWVQB2gWXeZJnBa0+jSVQPtA8XTodojzHk+2sjUjgVYTei64ML8a03lZlUCrifciZE+uDqJSkoAEWhJgn+4PQJw39zmuQw4EJFAHaAO6cCW6uQPO65QlAQnUEtiQ5ouRPZ8Z0kanLQjoe1ALWEOaPobzMyFQLtmt4omAMqgfkO1tsSVOPzwnrEigEyhKvbgGmZM7cah4JqBLfHmgK2GCtzO50ZaKZwLKoOWBfkniLA+xyIIEWkTG7PitEOd9Zk3VyoWABOpCbU0fboe9wL27epoQkEBNKPVvsxDZk3u3q4iAfwLj4+MvorqW+/17JIv9CCiD9qMy+NirOD06uInO+iIggdqTvAiX9ufsu6mHCFgQwLXd5RL/e/Rb12IYNS1JQBnUHCBvZ3JbbP5VqYmABGoOegnE+ah5c7UUgRIELC/xf0b7jUoMp66OBHLOoDZrJI0ie77myFjdRMCeADIiP/CYlB/YW1cPEShJAMpcZqDOl9Bmi5JDqbsI2BOA8HZGfX2ISL9gb1k9RMATAYjzKNTX+oj0bRw7x9MwMiMC7gQgxJ1Qr0b9FepjqN9Hne5uUT19Evg/ywrR3QO2mUkAAAAASUVORK5CYII=";var 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";var Ag={loadRoadNetwork:!1},Se="version",He="map_data",Me="road_network_data",Er={half:yr,power:vr,mechanical:xr},br=class{constructor(n){this.bmap=n;this.initDb()}floors=[];async initDb(){try{let{db:n,type:t}=await dr();t==="onupgradeneeded"&&(be(Se),be(He),be(Me))}catch(n){console.log("[\u6253\u5F00indexDb\u9519\u8BEF]",n)}}async load(n){if(this.clear(),Array.isArray(n))this.floors=n;else{let t=await fetch(n).then(e=>e.json());t.code==="0"&&(this.floors=t.data.list)}}setCacheData(n,t,e){return mr(n,`${t}`,e)}getCacheData(n,t){return gr(n,`${t}`)}getFloorCacheKey(n){return`${n.floor_id}`}async getFloorData(n){let t=this.floors.find(r=>r.floor===n);if(!t)return null;let e=this.getFloorCacheKey(t);try{if(await this.getCacheData(Se,e)===t.version_id){let i=await this.getCacheData(He,e);if(i)return this.getDataByJson(i)}return this.getFloorDataByFloorInfo(t)}catch{return this.getFloorDataByFloorInfo(t)}}async getFloorDataByFloorInfo(n){let t=this.getFloorCacheKey(n);console.time("zstd_json");let e=await fetch(n.map_url).then(r=>r.json());return e.floor=n.floor,console.timeEnd("zstd_json"),this.setCacheData(He,t,e),this.setCacheData(Se,t,n.version_id),this.getDataByJson(e)}async getRoadNetworkData(){return(await Promise.all(this.floors.map(async t=>{let e=this.getFloorCacheKey(t);try{if(await this.getCacheData(Se,e)===t.version_id){let o=await this.getCacheData(Me,e);if(o)return o}let i=await fetch(t.route_url).then(o=>o.json());return this.setCacheData(Me,e,i),i}catch{let r=await fetch(t.route_url).then(i=>i.json());return this.setCacheData(Me,e,r),r}}))).filter(t=>t.points)}async getFacilitiesData(){if(this.floors[0]?.entry_infra_url)return fetch(this.floors[0].entry_infra_url).then(n=>n.json())}async getOtherDataByFreeTime(){}async getMulFloorsData(n){return Promise.all(n.map(t=>this.getFloorData(t))).then(t=>t.filter(e=>e))}async getDataByUrl(n){let t=await fetch(n).then(e=>e.json());return this.getDataByJson(t)}getDataByJson(n){let t=new Y(this.bmap.context);t.userData.graphics=[],t.userData.graphicMap=new Map;let e=[0,0];return n.layers.forEach(r=>{switch(r.l_type){case"range":let i=r.elements[0];e=[i.center_x,i.center_y];break;case"graph":N(r.elements,e);let o=[];r.elements.forEach(p=>{p.group==="ground"?t.createGround(p):o.push(p)});let a=o.reduce((p,g)=>{let{fillColor:v,fillOpacity:y,strokeColor:R,strokeOpacity:x,height:E}=g,w=`${v.toLowerCase()}-${y}-${R.toLowerCase()}-${x}-${E}`;return x===0&&(w=`${v.toLowerCase()}-${y}-${E}`),p[w]?p[w].push(g):p[w]=[g],p},{});Object.values(a).forEach(p=>{let g=new Qt(this.bmap.context,p);t.mergeGraphicLayer.add(g)});break;case"ground":N(r.elements,e);let l=r.elements.map(p=>new M(this.bmap.context,p));t.addGrounds(l);break;case"wall":N(r.elements,e);let u=r.elements.reduce((p,g)=>{let{fillColor:v,fillOpacity:y,strokeColor:R,strokeOpacity:x,height:E}=g,w=`${v.toLowerCase()}-${y}-${R.toLowerCase()}-${x}-${E}`;return x===0&&(w=`${v.toLowerCase()}-${y}-${E}`),p[w]?p[w].push(g):p[w]=[g],p},{});Object.values(u).forEach(p=>{let g=new Zt(this.bmap.context,p);t.wallLayer.add(g)});break;case"lane":N(r.elements,e);let c=r.elements.reduce((p,g)=>{let{fillColor:v,fillOpacity:y,strokeColor:R,strokeOpacity:x}=g,E=`${v.toLowerCase()}-${y}-${R.toLowerCase()}-${x}`;return x===0&&(E=`${v.toLowerCase()}-${y}`),p[E]?p[E].push(g):p[E]=[g],p},{});Object.values(c).forEach(p=>{let g=new Jt(this.bmap.context,p);t.laneLayer.add(g)});break;case"texture2d":case"texture3d":if(N(r.elements,e),r.elements.length){let p=new Rt(this.bmap.context,r.elements);t.textureLayer.add(p)}break;case"glb":N(r.elements,e),r.elements.forEach(p=>{let g=j([p.center_x,p.center_y],e),v=new Kt(this.bmap.context,{...p,url:p.secondUrl,rotate:p.secondRotate,width:p.secondWidth,center_x:g[0],center_y:g[1]});t.glbModelLayer.add(v)});break;case"store":N(r.elements,e),r.elements.map(p=>{let g=j([p.center_x,p.center_y],e),v=t.addGraphic(p);t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v);try{let y=new D(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:g[0],y:g[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(y),y&&(y.userData.type="store",y.userData.data=p)}catch(y){console.log("\u521B\u5EFA\u5E97\u94FApoi\u5931\u8D25",y,p)}});break;case"facility":N(r.elements,e),r.elements.map(p=>{let g=j([p.center_x,p.center_y],e),v=t.addGraphic(p);if(t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v),p.poi_info){let y=new D(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:g[0],y:g[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(y),y.userData.type="facility",y.userData.data=p}else console.log("\u6DFB\u52A0facility\u5931\u8D25\u6CA1\u6709poi_info",p)});break;case"parkingSpace":N(r.elements,e);let h=[],f=new Map;r.elements.forEach(p=>{let g=t.addGraphic(p);h.push(g),f.set(p.id,g);let v=j([p.center_x,p.center_y],e);if(p.texts[0]){let y=new D(this.bmap.context,{id:p.id,text:p.texts[0],position:{x:v[0],y:v[1],z:p.airHeight+p.height}});y&&(y.userData.type="parkingSpace",y.userData.data=p),t.poiLayer2.pushPoi(y)}});let d=r.elements.filter(p=>Er[p.parkingType]).map(p=>{let g=j([p.center_x,p.center_y],e),v=Ze(p.geometry.coords,g);return{uuid:p.id,iconUrl:Er[p.parkingType],name:p.texts[0],deltaHeight:p.deltaHeight,airHeight:p.airHeight,height:p.height,geometry:{...p.geometry,coords:v},opacity:p.fillOpacity,visible:!0}});if(d.length){let p=new Rt(this.bmap.context,d);t.textureLayer.add(p)}t.userData.parkingSpaces=h,t.userData.parkingSpacesGraphicMap=f;break;case"text":N(r.elements,e);let m=new ee(this.bmap.context,r.elements.map(p=>{let g=j([p.center_x,p.center_y],e);return{...p,center_x:g[0],center_y:g[1]}}));t.textTextureLayer.add(m);break}}),t.userData.center=e,t.userData.height=n.floorHeight*10,t.name=n.floor,t.userData.data=n,t.updateBox(),t}clear(){}dispose(){this.clear(),_r()}};var Sr=class{constructor(n){this.bmap=n}cacheData=new Map;floorDataLengthMap=new Map;buildingGroundMap=new Map;async load(n){let t=xt(n);if(this.cacheData.has(t))return this.cacheData.get(t);let[,e]=await Promise.all([this.loadBuildGround(n),fr(n,this.bmap.config)]),r=xt({floor:n.floor,ts:n.ts});N(e.map(o=>o.info),this.bmap.buildingCenter,this.floorDataLengthMap.get(r)||0),e.forEach(o=>o.info.transformToBuildingGround=!1),this.cacheData.set(t,e);let i=this.floorDataLengthMap.get(r)||0;return this.floorDataLengthMap.set(r,i+e.length),e}switchFloorByData(n,t){if(!n.length)return;let e=t.userData.legacyToGraphicMap||new Map,r=t.userData.graphicMap||new Map,{ground:i,markGraphic:o,graphic:a}=this.bmap.config;for(let l=0;l<n.length;l++){let u=n[l];u.info.group==="ground"?(u.info.fillColor=i.color,u.info.fillOpacity=i.opacity,u.info.height=i.height,u.info.stroke=i.stroke,u.info.strokeColor=i.strokeColor,u.info.strokeOpacity=i.strokeOpacity):u.info.userData.mark?(u.info.height=o.height,u.info.fillColor=o.color,u.info.fillOpacity=o.opacity,u.info.stroke=o.stroke,u.info.strokeColor=o.strokeColor,u.info.strokeOpacity=o.strokeOpacity):(u.info.fillOpacity=a.fillOpacity,this.bmap.config.initTransToMark&&(u.info.height=o.height,u.info.fillColor=o.color,u.info.stroke=o.stroke,u.info.strokeColor=o.strokeColor,u.info.strokeOpacity=o.strokeOpacity))}for(let l of n){if(l.info.group==="ground")t.createGround(l.info);else{let u=t.addGraphic(l.info);u.userData.data=l,e.set(l.legacy_id,u)}r.set(l.element_uuid,l)}t.userData.legacyToGraphicMap=e,t.userData.graphicMap=r,t.updateBox(),t===this.bmap.context.currentFloor?(this.bmap.triggerHooks("switch_floor_before",{curFloor:t,graphics:t.graphicLayer.children}),this.bmap.initialFloorCamera(),this.bmap.triggerHooks("switch_floor_after",{curFloor:t,graphics:t.graphicLayer.children})):this.bmap.switchFloorByFloor(t)}filterData(n,t){let e=t.userData.graphicMap||new Map;return n.filter(r=>!e.has(r.element_uuid))}async switchFloorByStoreData(n,t){let e=await this.load({...n,resource_type_list:"6"}),r=this.filterData(e,t);this.switchFloorByData(r,t)}async switchFloorByOtherData(n,t){let e=await this.load({...n,resource_type_list:"1,2,3,4"}),r=this.filterData(e,t);this.switchFloorByData(r,t)}async loadBuildGround({brand:n,project:t}){let e=await this.loadBuildingGround({brand:n,project:t});return this.bmap.currentBuildGround=e,this.bmap.changeBuildingCenter(e,{brand:n,project:t}),this.bmap.currentBuildGround}async loadBuildingGround({brand:n,project:t}){let e=xt({brand:n,project:t});if(this.buildingGroundMap.has(e))return this.buildingGroundMap.get(e);let r=pr({brand:n,project:t},this.bmap.config).then(i=>(this.buildingGroundMap.set(e,i),i));return this.buildingGroundMap.set(e,r),r}async switchFloor(n){let t=new Y(this.bmap.context);t.name=n.floor;try{await Promise.all([this.switchFloorByStoreData(n,t),this.switchFloorByOtherData(n,t)])}catch(e){console.log(e)}return t}dispose(){this.cacheData.clear(),this.floorDataLengthMap.clear(),this.buildingGroundMap.clear()}};export{br as AibeeLoader,Zn as BMap,ur as BMapSelect,G as BaseSvg,pe as Context,Sr as CrLoader,ar as CrNavPath,Kn as Equipment,en as Events,Y as Floor,Kt as GlbModel,M as Graphic,Wt as GraphicLayer,Rt as GroundTexture,Vt as HeatmapElement,Pt as HooksName,ie as HoverHelper,Jt as Lane,A as Layer,ps as MapTypePolar,Qt as MergeGraphic,Ht as Model,or as MulFloors,sr as NavPath,ir as Navigation,kt as Overlay,pn as PathDirection,hr as PdrPosition,pt as Poi,D as Poi2,bt as PoiLayer,Xt as PoiLayer2,Pn as RoadNetwork,An as RoadNetwork2,Bn as SelectBox,re as Selection,me as Sensor,zt as Shadow,Yt as SvgLine,$t as SvgPolygon,ee as TextTexture,T as Timer,Et as TweenUtil,tn as UA,Zt as Wall,ca as addAlphaToHexColor,$e as calc_angle,Re as calc_direction,Rn as convertToSnakeCase,Tt as createCircle,Ut as createLine,et as createRect,Je as createSvg,Ot as createSvgElement,ja as createThreeBox,qa as createThreeLine,K as darkenColor,Ag as defaultAibeeLoaderOption,us as defaultConfig,Oe as defaultGraphicOptions,ho as defaultOptions,Vo as defaultTextTextureOptions,L as dispose,hn as distancePointToSegment,xt as generatorKeyByObj,Vr as getAngle,Dt as getCenter,$n as getConfig,Ta as getDirectPath,fn as getDistanceByPathPos,C as getLength,na as getLongestSideDir,Ze as getMinEdgeSquare,W as getPathLength,mt as getPointEdgeIndex,Ft as getPosByPathDistance,Ye as hasChinese,Pe as hexToRgb,je as initDirectionalLight,qe as initLight,H as initShape,pa as isAndroid,tt as isContain,vt as isControl,Ct as isIphone,yt as isMac,Ke as isPointInPolygon,pr as loadBuildingGround,fr as loadGraphics,wa as moveOnRoute,_t as proxyOptions,Wr as removeWeightPath,ct as setCirclePosition,z as setLineStartEnd,I as setRectPosition,cn as simplifyPath,Qe as sleepOnePromise,aa as sleepOneRf,ln as smoothPath,la as strToNumber,lt as timeoutPromise,Va as toWebWorker,N as transformGraphicData,j as translatePosToCenter,q as triggerWorker,_ as vector3ToDevice,va as xhrGet};
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