@aibee/crc-bmap 0.6.12 → 0.6.13

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Files changed (10) hide show
  1. package/lib/bmap.cjs.min.js +1 -1
  2. package/lib/bmap.cjs.min.js.map +3 -3
  3. package/lib/bmap.esm.js +3 -3
  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 +3 -3
  7. package/lib/bmap.min.js +1 -1
  8. package/lib/bmap.min.js.map +3 -3
  9. package/lib/src/utils/index-db.d.ts +1 -1
  10. package/package.json +1 -1
package/lib/bmap.cjs.min.js CHANGED
@@ -7531,5 +7531,5 @@ 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 Dn=class extends Jr.EventDispatcher{worker=Nn();initRoadStatus=!1;constructor(){super()}async setRoadData(e){this.initRoadStatus=!1,this.dispatchEvent({type:"init-road-status",status:!1}),await lt(this.worker,"set_road_info",{roadData:e}),this.initRoadStatus=!0,this.dispatchEvent({type:"init-road-status",status:!0})}async getPath(e,t,n=""){return new Promise((r,i)=>{let o=()=>{console.log("initRoadStatus",this.initRoadStatus),lt(this.worker,"get_path",{start:e,end:t,type:n}).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(e){return lt(this.worker,"get_direction_path",e)}async dispose(){lt(this.worker,"clear",""),this.worker.terminate()}};var Qr=require("three"),Ve=class extends J{startPoint;endPoint;rect;frustum=new Qr.Frustum;constructor(e){super(e);let{config:{selectBox:{fill:t,stroke:n}}}=e;this.rect=mt(n,t),this.svg.appendChild(this.rect),this.registryEvent()}setEnable(e){super.setEnable(e),B(this.rect,0,0,0,0),e?this.registryEvent():(this.startPoint=void 0,this.unRegistryEvent())}onPointerDown=e=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(e);t&&(this.startPoint=t),this.endPoint=void 0};onPointerMove=e=>{if(!this.enable||!this.startPoint)return;let t=this.getIntersectByPointerEvent(e);t&&(this.endPoint=t)};onPointerUp=e=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(e);t&&(this.endPoint=t),this.doSelect(),this.startPoint=void 0};onUpdate=()=>{if(this.startPoint){let e=this.getSvgCoordinate(this.startPoint),t={...e};this.endPoint&&(t=this.getSvgCoordinate(this.endPoint));let n={x:Math.min(e.x,t.x),y:Math.min(e.y,t.y)},r=Math.abs(t.x-e.x),i=Math.abs(t.y-e.y);B(this.rect,n.x,n.y,r,i)}else B(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:n,clientHeight:r}}}=this,i=y(this.startPoint,t,n,r),o=y(this.endPoint,t,n,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(e,t){let{context:n}=this;return n.currentFloor?.graphicLayer.children.filter(r=>r instanceof R&&this.searchChildInFrustum(r,e,t))||[]}searchChildInFrustum(e,t,n){let{context:{camera:r,container:{clientWidth:i,clientHeight:o}}}=this;if(!e)return!1;if(!e.mesh){let p=e.getPosition();if(p){let d=y(p,r,i,o);return gt(d,t,n)}return!1}e.mesh.geometry.boundingBox||e.mesh.geometry.computeBoundingBox();let a=e.mesh.geometry.boundingBox;if(!a)return!1;let{min:l,max:u}=a,c=y(l,r,i,o),h=y(u,r,i,o);return!(!gt(c,t,n)||!gt(h,t,n))}dispose(){this.unRegistryEvent()}};var ji={boxSelection:!1,elements:["graphic","poi"]},On=class extends dt{options;_list=new Set;_poiList=new Set;boxSelection;prevPanStatus;prevRotateStatus;downPoint=null;isMultipleSelect=!1;constructor(e,t={}){super(e),this.options={...ji,...t},this.boxSelection=new Ve(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=e=>{this.downPoint={x:e.offsetX,y:e.offsetY}};onPointerUp=e=>{if(!this.downPoint)return;let{offsetX:t,offsetY:n}=e,{x:r,y:i}=this.downPoint;if(Math.sqrt((r-t)**2+(i-n)**2)>3)return;let o=new Set,a=[],l=[];if(this.options.elements.includes("graphic")){let{graphics:u}=this.bmap.context.getGraphicsByDeviceXy(t,n);u.map(c=>o.add(c.options.id)),a.push(...u)}if(this.options.elements.includes("poi")){let u=this.bmap.context.getPoisByDeviceXy(t,n);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||!(It?e.metaKey:e.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=e=>{this.disableBoxSelection()};onKeyDown=e=>{Rt(e.key)&&this.enableBoxSelection()};onKeyUp=e=>{Rt(e.key)&&this.disableBoxSelection()};onBoxSelected=({list:e})=>{this._list.clear(),this._poiList.clear(),e.forEach(t=>{if(this.options.elements.includes("graphic")&&this._list.add(t),this.options.elements.includes("poi")){let n=this.bmap.getPoiById(t.options.id);n&&this._poiList.add(n)}}),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(e){this._list.delete(e)}dispose(){this.unRegistryEvent()}};var Y=require("lodash");var ei=require("three");var Yi={time:1e3,elements:["compass","deviceMotion","acceleration","gps"]},Ee=class extends ei.EventDispatcher{options;gpsTimer=null;data=[];timer=new D;dispatchTimer=null;constructor(e={}){super(),this.options={...Yi,...e}}start(){this.options.elements.some(e=>["deviceMotion","compass"].includes(e))&&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:(0,Y.cloneDeep)(this.data)}),this.data=[]},this.options.time)}addDataItem(e){this.data.push(e),this.dispatchEvent({type:"add-data-item",item:e})}addAcceleration=(0,Y.throttle)(e=>{this.addDataItem(e)},20);deviceOrientationAbsHandler=(0,Y.throttle)(e=>{let t=Date.now(),{alpha:n,beta:r,gamma:i}=e;if((0,Y.isNil)(n)||(0,Y.isNil)(r)||(0,Y.isNil)(i))return;let o;Ht?o=e.webkitCompassHeading:o=360-n,this.options.elements.includes("deviceMotion")&&this.addDataItem({type:"deviceMotion",timestamp:t,res:[n,r,i]}),this.options.elements.includes("compass")&&this.addDataItem({type:"compass",timestamp:t,res:o})},200);listenDeviceOrientation(){Ht?window.addEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.addEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0})}handleAcceleration=e=>{let t=e.accelerationIncludingGravity;(0,Y.isNil)(t)||(0,Y.isNil)(t.x)||(0,Y.isNil)(t.y)||(0,Y.isNil)(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(e=>{e.coords.accuracy<=10&&this.addDataItem({type:"gps",timestamp:Date.now(),res:[e.coords.longitude,e.coords.latitude,e.coords.accuracy]})})}async checkSensor(){return{deviceOrientation:await this.checkDeviceOrientation()}}async checkDeviceOrientation(){if(!Ht)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),Ht?window.removeEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.removeEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0}),(0,Y.isNil)(this.gpsTimer)||navigator.geolocation.clearWatch(this.gpsTimer),this.dispatchTimer&&this.timer.clearInterval(this.dispatchTimer),this.data=[],this.dispatchEvent({type:"stop"})}};var ri=require("three");function He(s,e){return 1/Math.sqrt(2*Math.PI*Math.pow(e,2))*Math.exp(-Math.pow(s,2)/(2*Math.pow(e,2)))}function be(s){return(s+360)%360}function ni(s,e){let n=6378137*s*Math.PI/180,r=6378137*Math.log(Math.tan(Math.PI/4+e*Math.PI/180/2));return{x:n,y:r}}function $t(s,e,t,n){return Math.sqrt(Math.pow(Math.abs(s-t),2)+Math.pow(Math.abs(e-n),2))}var Xe=Zt(require("mathjs"),1),We=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;last_yaw_compass=0;compass_consecutive_offset_count=0;constructor(e){this.NumParticle=e.NumParticle,this.reSampNumParticle=e.reSampNumParticle,this.initial_xy_uncertainty=e.initial_xy_uncertainty,this.initial_yaw_uncertainty=e.initial_yaw_uncertainty,this.step_noise_sigma=e.step_noise_sigma,this.yaw_noise_sigma=e.yaw_noise_sigma,this.compass_update_interval=e.compass_update_interval,this.sigmaCompass=e.sigmaCompass,this.delta_yaw=e.delta_yaw,this.sigmaBeacon=e.sigmaBeacon,this.unaccess_weight=e.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(e){if(!(Math.abs(e)<.001)){this.last_yaw_compass=be(this.last_yaw_compass+e);for(let t=0;t<this.NumParticle;t++){let n=Math.random()*this.yaw_noise_sigma;this.particleX[2][t]=this.particleX[2][t]+e+n,this.particleX[2][t]=be(this.particleX[2][t])}}}motionModelStepLength(e,t){if(e===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 n=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/n)}motionModelCompassYaw(e,t){if(t-this.last_compass_time>this.compass_update_interval){let n=360-e;n+=this.delta_yaw,n=be(n),Math.abs(n-this.last_yaw_compass)>60?this.compass_consecutive_offset_count++:this.compass_consecutive_offset_count=0;for(let i=0;i<this.NumParticle;i++){let o=Math.abs(this.particleX[2][i]-n);o>180&&(o=360-o),this.particleWeight[0][i]*=He(o,this.sigmaCompass)}let r=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/r),this.setLastCompassTime(t)}}resampling(){if(1/this.particleWeight[0].reduce((t,n)=>t+n*n,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(e,t){for(let r=0;r<this.NumParticle;r++){let i=$t(this.particleX[0][r],this.particleX[1][r],e.x,e.y);this.particleWeight[0][r]=Math.max(1e-7,this.particleWeight[0][r]*He(i,t))}let n=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/n)}updateCar(e,t){let n=e.x-this.xEst[0][0],r=e.y-this.xEst[1][0];for(let o=0;o<this.NumParticle;o++){let a=$t(this.particleX[0][o],this.particleX[1][o],e.x,e.y);this.particleWeight[0][o]=Math.max(1e-7,this.particleWeight[0][o]*He(a,t)),this.particleX[0][o]+=n,this.particleX[1][o]+=r}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i)}getPosInitFlag(){return this.particle_PosInitFlag}getYawInitFlag(){return this.particle_yawInitFlag}setPosInitFlag(e){this.particle_PosInitFlag=e}setYawInitFlag(e){this.particle_yawInitFlag=e}getResultX(){let e=Xe.reshape(this.particleWeight,[this.NumParticle,1]),t=Xe.multiply(this.particleX,e);return this.xEst=t,this.xEst[0][0]}getResultY(){return this.xEst[1][0]}getResultYaw(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0]));return this.particleX[2][e]}getEstConfidence(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0])),t=this.particleWeight[0].indexOf(Math.min(...this.particleWeight[0])),n=[this.particleX[0][e],this.particleX[1][e]],r=[this.particleX[0][t],this.particleX[1][t]],i=$t(n[0],n[1],r[0],r[1]),o=i*.67;return console.log(i,o),o}getParticleNum(){return this.NumParticle}getParticleX(){return this.particleX}setLastCompassTime(e){this.last_compass_time=e}getLastCompassTime(){return this.last_compass_time}initParticlesByPos(e,t,n){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;n(e+o,t+a)||(this.particleWeight[0][r]*=this.unaccess_weight),this.particleX[0][r]=e+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]=e,this.xEst[1][0]=t,this.xEst[2][0]=0}}initParticlesByCompass(e){console.log(`Init compass: ${e}`);let t=360-e;t+=this.delta_yaw,t=be(t),console.log(`Init Yaw: ${t}`);for(let n=0;n<this.NumParticle;n++){let r=(2*Math.random()-1)*this.initial_yaw_uncertainty;this.particleX[2][n]=t+r}this.particle_yawInitFlag=!0,this.xEst[2][0]=t,this.last_yaw_compass=t,this.compass_consecutive_offset_count=0}};var je=Zt(require("mathjs"),1),qe=class{fre=100;accH_fifo=[];accH_time_fifo=[];accH_fifo_len=Math.floor(1*this.fre)+1;step_count=0;state_count=0;last_valley_time=0;last_peak_time=0;last_step_time=0;min_step_time=.3;max_step_time=1;min_peak=10.5;max_valley=9.5;peak_num=0;valley_num=0;fft_min_amp=.3;fft_min_fre=0;fft_max_fre=4;last_fft_amp=0;abnor_start_time=0;abnor_fft_detected=!1;abnor_time_threshold=4;abnor_peak_time=0;abnor_peak_accH=0;const_step_length=.65;last_rot=[];delta_rot=[];last_yaw=0;delta_yaw=null;delta_rot_sum_fifo=[];delta_rot_sum_time_fifo=[];delta_yaw_accum=0;delta_yaw_accum_timestamp=0;delta_yaw_time_threshold=.5;last_px=0;last_py=0;delta_px=0;delta_py=0;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_peak_time=0,this.abnor_peak_accH=0,this.const_step_length=.65,this.last_rot=[0,0,0],this.delta_rot=[0,0,0],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()}setInitPose(e=[0,0]){this.last_px=e[0],this.last_py=e[1],console.info(`pdr init pos: ${this.last_px}, ${this.last_py}`)}setInitYaw(e=0){this.last_yaw=e}getPos(e,t,n){let r=0;return n.length===3&&(this.delta_yaw=this.getDeltaYawFromRot(e,n)),t.length===3&&(r=this.getStepLength(e,t)),r!==0&&(this.last_px+=this.delta_px,this.last_py+=this.delta_py),[this.last_px,this.last_py]}getDeltaPose(){return[this.delta_px,this.delta_py]}getStepLength(e,t){if(t.length<3)return console.warn("acc data less than 3"),0;let n=!1,r=Math.sqrt(Math.pow(t[0],2)+Math.pow(t[1],2)+Math.pow(t[2],2));if(this.accH_fifo.push(r),this.accH_time_fifo.push(e),this.imuFreUpdate(),this.accH_fifo.length<this.accH_fifo_len+1)n=!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+=1,this.last_step_time=l,n=!0):Math.abs(this.abnor_start_time)>.001&&this.abnor_peak_time-this.abnor_start_time>this.abnor_time_threshold&&this.step_count>1&&this.abnor_peak_time-this.last_step_time>1?(this.step_count+=1,this.last_step_time=l,n=!0):(l-this.last_step_time>2&&(this.state_count=0),n=!1)}if(n){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 e=(this.accH_fifo.length-1)/(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[0]);Math.abs(this.fre-e)>8&&(this.fre=Math.round((e-3)/10)*10,(this.fre<=10||this.fre>=100)&&(console.warn(`Frequency Error ${this.fre}`),this.fre=100),console.debug(`Frequency change to ${this.fre}`),this.accH_fifo_len=Math.floor(1*this.fre)+1)}}recheckState(){return!0}PVStepDetec(){let e=!1,t=this.accH_fifo.slice(Math.floor(this.accH_fifo_len/2)),n=this.accH_time_fifo.slice(Math.floor(this.accH_fifo_len/2)),r=t[Math.floor(t.length/2)],i=n[Math.floor(n.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===0?u=!0:u=i-this.last_valley_time>this.min_step_time,u&&(this.last_valley_time=i,this.valley_num+=1)),Math.abs(r-o)<.01&&r>this.min_peak&&this.peak_num<=this.valley_num&&(this.last_peak_time===0?l=!0:l=i-this.last_peak_time>this.min_step_time,l&&(this.last_peak_time=i,this.peak_num+=1)),r===o&&r>this.min_peak&&(this.abnor_peak_time=i,this.abnor_peak_accH=r),this.peak_num===this.valley_num&&(l||u)&&(e=!0),e}FFTStepDetec(){return!0}getDeltaYawFromRot(e,t){if(t.length<3)return console.warn("rot data less than 3"),0;let n=[0,0,0];this.last_rot.length===3&&(n=t.map((a,l)=>a-this.last_rot[l]));for(let a=0;a<t.length;a++)n[a]<-180?n[a]+=360:n[a]>180&&(n[a]-=360);let r=.2;this.delta_rot.length===3?this.delta_rot=this.delta_rot.map((a,l)=>r*a+(1-r)*n[l]):this.delta_rot=n,this.last_rot=t,this.delta_yaw=this.delta_rot[0],this.last_yaw+=this.delta_yaw,this.last_yaw=this.limitYaw(this.last_yaw);let i=this.delta_rot.reduce((a,l)=>a+Math.abs(l),0);this.delta_rot_sum_fifo.push(i),this.delta_rot_sum_time_fifo.push(e),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 o=0;return Math.abs(this.delta_yaw_accum_timestamp-e)>this.delta_yaw_time_threshold?(o=this.delta_yaw_accum,this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=e,o):null}limitYaw(e){for(;e<-180;)e+=360;for(;e>180;)e-=360;return e}};var Ye=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=5;outTrustRegionNum=0;TrustNum=4;cacheSensorData=[];constructor(){this.particleFilter=new We({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 qe}pfFusionPDRiBeacon(e){let{type:t,timestamp:n,res:r}=e,i=!1;if(this.particleFilter.getPosInitFlag()&&this.particleFilter.getYawInitFlag()){if(t==="acceleration"){let o=r,a=this.pdr.getStepLength(n/1e3,o);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||n-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.getDeltaYawFromRot(n/1e3,r);o!==null&&this.particleFilter.motionModelRotYaw(o)}t==="compass"&&this.particleFilter.motionModelCompassYaw(r,n),this.last_pos_time&&n-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=n,console.log(`init Pos by gps success time ${n}`),this.cacheSensorData.length=0):console.log(`init Pos by gps fail time ${n}`)}else if(!this.particleFilter.getYawInitFlag()&&t==="compass"){let o=r;this.particleFilter.initParticlesByCompass(o),this.particleFilter.setLastCompassTime(n),console.log(`init yaw by compass success time ${n}`)}else this.cacheSensorData.push(e);return i&&(this.last_pos_time=n),[i,this.particleFilter.getResultX(),this.particleFilter.getResultY()]}setBeaconPosition(e,t){return this.last_beacon_time=t,this.particleFilter.getPosInitFlag()?this.particleFilter.update(e,this.sigmaBeacon):this.particleFilter.initParticlesByPos(e.x,e.y,()=>!0),this.resetParticleFilterDist(e),this.particleFilter.resampling(),this.position_count+=1,this.cacheSensorData.filter(r=>r.timestamp>t).map(r=>this.pfFusionPDRiBeacon(r)),this.cacheSensorData.length=0,[this.particleFilter.getResultX(),this.particleFilter.getResultY()]}getGpsPosition(e){return e[2]>this.gps_max_horizontalAccuracy?null:ni(e[0],e[1])}resetParticleFilterDist(e){let t=this.particleFilter.getResultX(),n=this.particleFilter.getResultY();$t(t,n,e.x,e.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: ${e.x}, ${e.y}`),this.particleFilter.setPosInitFlag(!1),this.particleFilter.setYawInitFlag(!1),this.outTrustRegionNum=0)):this.outTrustRegionNum=0}};var Fn=class extends ri.EventDispatcher{sensor;pdr;_pause=!1;constructor(e={}){super(),this.sensor=new Ee(e.sensor),this.pdr=new Ye}checkSensor(){return this.sensor.checkSensor()}start(){this.sensor.start(),this.sensor.addEventListener("add-data-item",({item:e})=>{this.getPositionBySensorItem(e,!this._pause)})}pause(){this._pause=!0}continue(){this._pause=!1}getPositionBySensorItem(e,t=!0){let[n,r,i]=this.pdr.pfFusionPDRiBeacon(e);return n&&t&&this.dispatchEvent({type:"position",x:r,y:i,_type:e.type==="gps"?"gps":"pdr"}),[n,r,i]}setBeaconPosition(e,t){let[n,r]=this.pdr.setBeaconPosition(e,t);this.dispatchEvent({type:"position",x:n,y:r,_type:"beacon"})}dispose(){this.sensor.stop()}};async function Un({brand:s,project:e},t){let{apiDomain:n,apiPath:{floorRange:r},apiInfo:i}=t,o=`${n}${r}?brand=${s}&project=${e}&phase=${e}&building=${e}`;return await fetch(o,i).then(l=>l.json()).then(l=>l.data).then(l=>{let u=(l||[])[0];return u&&(u.info=JSON.parse(u.info)),u})}async function Bn({brand:s,project:e,floor:t,ts:n,resource_type_list:r},i){let{apiDomain:o,apiPath:{floorGraphic:a},apiInfo:l}=i,u=`${o}${a}?brand=${s}&project=${e}&phase=${e}&building=${e}&floor=${t}&ts=${n}&resource_type_list=${r}`;return await fetch(u,l).then(h=>h.json()).then(h=>h.data).then(h=>((h||[]).map(p=>p.info=JSON.parse(p.info)),h||[]))}async function $i({project:s,floor:e},t){let{apiDomain:n,apiInfo:r}=t,i=`${n}/api/inception-map/external_street/get?projectCode=${s}&floorCode=${e}`;return await fetch(i,r).then(a=>a.json()).then(a=>a.data).then(a=>JSON.parse(a[0].streetInfo||"{}")).then(a=>a.fileId?Ki(a.fileId,t):null)}async function Ki(s,e){let{apiDomain:t,apiInfo:n}=e;return fetch(`${t}/api/inception-map/file/getFileStream?fileId=${s}`,n).then(r=>r.arrayBuffer()).then(r=>{let o=new TextDecoder("utf-8").decode(r);return o?JSON.parse(o):null})}var ht;function ii(s="aibee_map",e=1){return new Promise((t,n)=>{if(ht)return t({db:ht,type:"success"});let r=indexedDB.open(s,e);r.onupgradeneeded=function(i){ht=i.target.result,console.log("onupgradeneeded"),t({db:ht,type:"onupgradeneeded"})},r.onsuccess=i=>{ht=i.target.result,t({db:ht,type:"success"})},r.onerror=i=>{n(i)}})}function Gn(s,e,t=ht){return new Promise((n,r)=>{t||r("\u6CA1\u6709db");let o=t.transaction([s],"readonly").objectStore(s).get(e);o.onsuccess=()=>{o.result?n(o.result.value):n(null)},o.onerror=a=>{console.log("[getVersionByKey]",a),n(null)}})}function oi(s,e,t,n=ht){return new Promise((r,i)=>(n||i("\u6CA1\u6709db"),new Promise(async(o,a)=>{let l=await Gn(s,e),u=n.transaction([s],"readwrite").objectStore(s),c=l!==null?u.put({key:e,value:t}):u.add({key:e,value:t});c.onsuccess=function(h){o(h)},c.onerror=function(h){a(h)}})))}function zt(s,e=ht){e&&(e.objectStoreNames.contains(s)||e.createObjectStore(s,{keyPath:"key"}))}function si(){ht?.close(),ht=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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OrngTUD2ZIDpH3a0l+Isl7xOwpEvdnUoEECMgFwdVoYhuZ/lLO5i+XvQ104B0r8cU5EgRGEFC/eEBygDZuJbllxM74HyeqX+8QbwYL7QgQkNuRidiuTusFW86S5HUXi09DPynZUQcbV7wFgtSZgPrJdcqxucTTWnndVbOAbJ2l/u07MEgFECAgFwBVJj8vyWve+F7Z2lwH2LckeZ+GyjQpVQLqL69KPqv6bS/xHTh5JN958bU8DGFjfgIE5PmZRG3R6GEdGTgqysibyr6HeEsdVHmfer5ZAt+SJ6D+8xtV0qNl34+eRzpM/XyLPAxhYyQBAvJIHnn8+i8ZWSgHQ5fJhu//fDQHW5gYcALqR/cIgeeVf5cDCt899F0FZU9hkHIkQEDOEaY6qK9E75SDyd/Lxl46iF7MwRYmIDCXgPrTc/qyi+T6HJBsKBtH5mAHE00ECMhNMGK+Khh71PB/Ymw0dG/T5646eF7KwRYmIDCCgPqV71/3oCGPabAvqN8vOaIAfkQRICBH4RuhvKt+rTtiS+8/fCvbbjpouKWtd3ZoZCSg/vWssvpsLvZC39Ky8S8ZiyVbBgIE5AyQMmbxbWmx6WAdLPfHGkEfAt0IqJ89qDz7SWKf7jxao+RFupXH/mwECMjZOHXMpQ7p+TTfWhSTTtVB4oWBSBAohYD62xUq6ITIwlaU/sGRNlBvECAg59MVjo4041HxcZE2UIdACAFf9/DtlTHpWA1KuOMihmBDl4AcCVEdcSWZ8KlfTDpGo5WXYwygC4EQAup3nrL4uCTmab41pe/V50iRBAjIkQClfpBk4QgzV+ug+HmEPqoQiCKg/vcHGfhulJExYz4aqY+6CBCQ47uBA3JM+kyMMroQyInAF2Qn5r73KY2zxZzcGUwzBOSIdlcH3ETq60eYuEajkzxu0o9wAVUIjBmjfviUOHw/goXnkL3KHCmCAAE5Ap5UPxynPubkSH3UIZAngZNkLGaB+9izxTzrUktbBOTAZtPo2OtVxFzMmyn9XwYWjxoEciegUbJfgntahOF36bjYKEJ/4FUJyOFdYGep+n15oel/dADMDlVGDwIFEfhepF1GyREACcjh8GI6ngPxmeFFowmBYghokOB7ku+IsL6/Rsl5vZghwo16qhKQA9pNHW4Zqe0WoDqscqU6/gPDP/iEQMUIxExbeAH7PFY8rBiSctwhIIdx/qDUYp7fj+nwYR6jBYHsBHz2FjOdFnP2mN3LBHMSkMMaNabD+V7Pc8OKRQsCxRNoXNybHlHSHjqL9EpwpB4JEJB7BKaOtpZUtuxRrTn7OerwMTfgN9viOwSKInB6hGGfPfosktQjAQJyj8CUPfbe45iO3ru3aEAgjMB5UvNi9qEp5iwytMza6xGQe2hCjY6HlP3AHlRGZ/WFvKtGb+Q3BKpGQGdxfmPNORF+bdU4m4wwMXiqBOTe2nySso/vTWVE7qnq6LNHbOEHBKpLIPZsjlFyj21LQO4NWGwHi+3gvXlLbgjEEbha6vdHmPhQ46wywsRgqRKQM7a3OtaiyrpPxuytsl2v0fGMVjvYBoEqElB/nSO/pkb4Nl6620boD5wqATl7k++lrEtlzz5fTkbH8yFhQw0IxPbb2IvgNUCUn4sE5OwsY6YrvILWT7MXRU4IVIOARsl3yZPrIrzZp3F2GWFicFQJyBnaWh3Kr2naMUPWdlkuVMd+ut1OtkOg4gRiRsk+q/TZJSkDAQJyBkjK4oW3vQB3aOJR6VBy6FWBwNlyImadZKYtMrYiATkbqA9ly9Yy15PaenHLPWyEQA0INM7uLoxwldc7ZYRHQO4CStMVGyrLBl2yddr9E3Xo1zplYB8EakAgZtrCZ5e83ilDIxOQu0OKuZhn6zEdubt35IBAOQQuUjE+2wtNscdRaLm10iMgd2gujY79n33/Dlm67bpTo+ObumViPwSqTqBxlndWhJ+83ikDPAJyZ0jv0+4VOmfpuJeLeR3xsLNmBGLP9hgld2lwAnJnQDEdaLZM85qmznzZWyMCGiXfKHf/HOEyr3fqAo+A3AaQpiveql17ttmdZfN0deCHsmQkDwRqRCBmlMzrnbo0NAG5PaB9tWts+91d98R03K7GyQCBPhE4Q+X67C80xZx1hpZZGz0Ccvumiuk4XtjbC3yTIJAUAZ31PagKXRFRKV7v1AEeAbkFHE1XrKnN27TYlXWTX9PkBb5JEEiRQMzZH6936tAjCMit4by/9ebMW2M6bOZCyAiBPhE4V+W+EFH23hG6SasSkFs3r293C033SdELe5MgkCQBnf3Fvjl9ks5CY67PJMnVlSIgj2padZTFtGnrUZt7+enXNHlhbxIEUiYQcxboYDwpZTihdSMgz0/OSwU6KIemmI4aWiZ6ECibwJUq8IGIQmOegI0ottqqBOT52yfm7oobNDq+e36TbIFAWgTUz2erRj+NqNUHGmejESbSUyUgN7WpOogXop/StKnXr7/uVYH8EKgxAS84FJqWkCIX90bRIyCPBOIlAmMWop820hy/IJA0gWtUO99zH5pi1hkPLbPSegTkkc0TM13xuEz5WX8SBAaCgKYtXlNFL42orBeuXzlCPzlVAnKjSdUxNtLXd0W08NmNebUIE6hCoHYEYhbQcvzxWSmpQYCA/GZXiH3vl5/xJ0Fg0Aj4uslTEZVm2qIJHgFZMDQ6XkgfMbfhzNDo+IYmrnyFwEAQUL9/VRWNudvCC9f7NWkkESAgv9ENdtbH2yJ6xNQIXVQhUHcCsf0/5tpN3dmN8H/BEb8G90fMdIWfymO6YnD7Ts8114jQT6pt15BV9LmixG+m8afX4fa76x6VPNb4vFefl0l8n/vr+qxUkk/Xq04z5NQ6gY554fpPy86sQP1k1AY+IKsjjFNr7hbRolerI3n9ChIE2hJQP1tdO/0U6E6S7SSLStol33kw+u6D/9C2p2XHgfliya/U757VZ1WSR8lfDnTG/4y8fszA38fPlMWYMR9UR1g4sCNZ7fQIXVQTJ6AAupbkh6rm3ySnSDw91ikYa3fb5MGD++uPJffJ7pcly+p7FZIDss8WQxPTFiJHQB4zJma6wmsenxPaA9FLl4AC5dsl/mf9F8nBkrzPRpeSzeMl96qcr0uW0/e+JY3W71fhMascsnC9AA50QFYn9pzX5hG9+Dx1xJgnlSKKRrWKBNSnhiRHy7fbJL6la4GC/VxC9j8j+bPK3bXgsrqZP61bhg77Pa/u16YNdBrogKyWj70HMqYDDnTHS7HyCogepV4gOVkSMw0Wgmdu2fLhJEnZZQ/7+wt9iXlTzsBPWwxsQFanHVLniQnID0n/8uGeyOdgE1B/8iu/bpH0c5TqPv1JyTXyZ7w+S02Ns8WYd0luLb8nlup0xQob2ICsdthOsnpEe5ypDjg7Qh/VRAgoiExSVS6V+Ba2KqRN5cRV8mu1PjgTe9YYM0jqQ3XzLXKQA/JBkShPj9RHPQECCnqbqRoXSkLvnCiKwhoyfLn8873NZSafNT4cUeCH5LNH+gOZBjIgq8H9RpB9Ilr8Jo2O74jQRzUBAupHG6ga0yRLVrQ6a8uv6fKztFvjGmeNZ0bwWFO6W0fo11p1IAOyWswLY/vqdGiKPS0LLRe9ihBoBLlL5M4yFXGpnRvv0I7z5G+Zx7rvSY5JsWevMWX3VbfMRuprRUcVHtPgr8nWWaPs8XPwCHxbVS57OiCU8rZSPCpUuVc9jZJ9y9+tveo15d9X/0B8G9zApYELyGpoX3h5T0RL/1od7skIfVRrTkB96P2qwn41q8ZX5benMMpK50cU5PU89ojQr63qwAVktdQBkph6e7nA0EVUattRcPwNAmp7z8d+t4Y8fNHxh/I/pu9nqrbK8DF2TKbM7TMN5N0WhTdOe9592xMzXWGnfZ/kdep0O/StBhTcTwL/ocJXKMCB2bL5hGSmpKhFg3yv9P6SQpKOiQUk35Rxr34Ye9fJTrK1fCGOVtjoQAVkNfBGagtf5IhNS8vANNk7MtYQ+vUhoPZ2u38kR48flC0HeAfKsZoKW14yUeILhb5zY2eJ56qfl+SVPpGXoWY7YuPV6XzL26eat0d899ofdZsWiqjuG6oDFZBV5djRcTPwhfTjVHXEX0g850VKn8ChquLiOVTzadmwrQkKvl+UXCPxxeJ5Sb9fkEyT+J++r3t8WTIiz7zMvX3ZRP3V/wByS7Lnfxy+iDc5N6NvGMrzeM3ZtWLMDUxAVqdZQAj/qQCMvoXuj7LPFEYBcKtistF/jsjBn5tlYz0F2v8nmZXFnvI9LzlBed8teSyLTpc8uYySxWRJiefTvY7xcl3KDNntfx7rhSjWVWdgArIa6L2SIub+3PYTJH4q6keScd5ASo7AbqqRn36LSX+S8o4Kro+HGJGeR6FTJLF3+eylfupRd3CSvkfFt0s+LhkKNtRdcaAu7g1SQC6jYT+i/jVDnfUYyaLd+xo5akTAb7SISXdKeYqCqqcrgpP0HQR3lDwTbOSNJUG3D9FXv/ZdRhdL9yLJ6iE2etQ5QOUVGfB7dKfY7AMRkNWgvkCyV7Eo51n3qdt/Smaq3H+TML88D02tv8TMu76qmr9fwdR3UUQn2blFRg6JNNRTfdSPN5ZMVZku26+hKis56Oc9N12W7z2XMxABWVQ+ICl7xOqnuP5L8og68mmSyRLPY5NqRkDttrRcjrk752QF0bvyrLbsnSd7l0XY7BqQVe9lJAdJfqtybpIcKOlHzHC5A5H6AbcfYA/oR6GNMv2PwFeLr5I8oc59juRjkg0lXuSIVH0CW8rF0GNllnRPKaiKJ0XYXV/9z7fXzUv6PU4yRfIZyXTt8Fz3aZJt5mXqz5d95M9APEq9YH/4lleqGnIllbZDeSV2LMkHgEfrFie5N+d+fd4t8Zzg8w15SZ+k6hDYIsKVx6R7lNo5wkRbVc+tOuCHHMfW/Yk7oD59sdtndL6XuIrJ036+qHpOFZ3L06eQhsyz/DJs+Va30NFN0f75oPCVewspTQK+m+GzFa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this.initDbPromise.then(()=>Gn(e,`${t}`,this.db))}getFloorCacheKey(e){return`${e.floor_id}`}async getFloorData(e){let t=this.floors.find(r=>r.floor===e);if(!t)return null;let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(zn,n)===t.version_id){let i=await this.getCacheData(Hn,n);if(i)return this.getDataByJson(i)}return this.getFloorDataByFloorInfo(t)}catch(r){return console.log("[get floor data error]",r),this.getFloorDataByFloorInfo(t)}}async getFloorDataByFloorInfo(e){let t=this.getFloorCacheKey(e);console.time("zstd_json");let n=await fetch(e.map_url).then(r=>r.json());return n.floor=e.floor,console.timeEnd("zstd_json"),this.setCacheData(Hn,t,n),this.setCacheData(zn,t,e.version_id),this.getDataByJson(n)}async getRoadNetworkData(){return(await Promise.all(this.floors.map(async t=>{let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(kn,n)===t.version_id){let o=await this.getCacheData($e,n);if(o)return o}let i=await fetch(t.route_url).then(o=>o.json());return this.setCacheData($e,n,i),this.setCacheData(kn,n,t.version_id),i}catch{let r=await fetch(t.route_url).then(i=>i.json());return this.setCacheData($e,n,r),r}}))).filter(t=>t.points)}async getFacilitiesData(){let e=this.floors[0];if(!e)return null;let t=this.getFloorCacheKey(e),n=async()=>{let r=await fetch(e.entry_infra_url).then(i=>i.json());return r&&(this.setCacheData(Wn,t,r),this.setCacheData(Vn,t,e.version_id)),r};try{if(await this.getCacheData(Vn,t)===e.version_id){let i=await this.getCacheData(Wn,t);if(i)return i}return n()}catch(r){return console.log("[get facility error]",r),n()}}async getOtherDataByFreeTime(){}async getMulFloorsData(e){return Promise.all(e.map(t=>this.getFloorData(t))).then(t=>t.filter(n=>n))}async getDataByUrl(e){let t=await fetch(e).then(n=>n.json());return this.getDataByJson(t)}getDataByJson(e){let t=new ct(this.bmap.context);t.userData.graphics=[],t.userData.graphicMap=new Map;let n=[0,0];return e.layers.forEach(r=>{switch(r.l_type){case"range":let i=r.elements[0];n=[i.center_x,i.center_y];break;case"graph":X(r.elements,n);let o=[];r.elements.forEach(f=>{f.group==="ground"?t.createGround(f):o.push(f)});let a=o.reduce((f,g)=>{let{fillColor:E,fillOpacity:x,strokeColor:z,strokeOpacity:b,height:T,airHeight:k}=g,$=`${E.toLowerCase()}-${x}-${z.toLowerCase()}-${b}-${T}-${k}`;return b===0&&($=`${E.toLowerCase()}-${x}-${T}-${k}`),f[$]?f[$].push(g):f[$]=[g],f},{});Object.values(a).forEach(f=>{let g=new fe(this.bmap.context,f);t.mergeGraphicLayer.add(g)});break;case"ground":X(r.elements,n);let l=r.elements.map(f=>new R(this.bmap.context,f));t.addGrounds(l);break;case"wall":X(r.elements,n);let u=r.elements.reduce((f,g)=>{let{fillColor:E,fillOpacity:x,strokeColor:z,strokeOpacity:b,height:T}=g,k=`${E.toLowerCase()}-${x}-${z.toLowerCase()}-${b}-${T}`;return b===0&&(k=`${E.toLowerCase()}-${x}-${T}`),f[k]?f[k].push(g):f[k]=[g],f},{});Object.values(u).forEach(f=>{let g=new ce(this.bmap.context,f);t.wallLayer.add(g)});break;case"lane":X(r.elements,n);let c=r.elements.reduce((f,g)=>{let{fillColor:E,fillOpacity:x,strokeColor:z,strokeOpacity:b}=g,T=`${E.toLowerCase()}-${x}-${z.toLowerCase()}-${b}`;return b===0&&(T=`${E.toLowerCase()}-${x}`),f[T]?f[T].push(g):f[T]=[g],f},{});Object.values(c).forEach(f=>{let g=new pe(this.bmap.context,f);t.laneLayer.add(g)});break;case"texture2d":case"texture3d":if(X(r.elements,n),r.elements.length){let f=new qt(this.bmap.context,r.elements);t.textureLayer.add(f)}break;case"glb":X(r.elements,n),r.elements.forEach(f=>{let g=rt([f.center_x,f.center_y],n),E=new he(this.bmap.context,{...f,url:f.secondUrl,rotate:f.secondRotate,width:f.secondWidth,center_x:g[0],center_y:g[1]});t.glbModelLayer.add(E)});break;case"store":X(r.elements,n),r.elements.map(f=>{let g=rt([f.center_x,f.center_y],n),E=t.addGraphic(f);t.userData.graphics.push(E),t.userData.graphicMap.set(f.id,E);try{let x=new q(this.bmap.context,{id:f.id,icon:f.poi_info.icon,text:f.poi_info.showName||f.store_name||f.poi_info.text,position:{x:g[0],y:g[1],z:f.airHeight+f.height},icon_size:[18,18],level:f.poi_info.level||0});t.poiLayer2.pushPoi(x),x&&(x.userData.type="store",x.userData.data=f)}catch(x){console.log("\u521B\u5EFA\u5E97\u94FApoi\u5931\u8D25",x,f)}});break;case"facility":X(r.elements,n),r.elements.map(f=>{let g=rt([f.center_x,f.center_y],n),E=t.addGraphic(f);if(t.userData.graphics.push(E),t.userData.graphicMap.set(f.id,E),f.poi_info){let x=new q(this.bmap.context,{id:f.id,icon:f.poi_info.icon,text:f.poi_info.showName||f.store_name||f.poi_info.text,position:{x:g[0],y:g[1],z:f.airHeight+f.height},icon_size:[18,18],level:f.poi_info.level||0});t.poiLayer2.pushPoi(x),x.userData.type="facility",x.userData.data=f}else console.log("\u6DFB\u52A0facility\u5931\u8D25\u6CA1\u6709poi_info",f)});break;case"parkingSpace":X(r.elements,n);let h=[],p=new Map;r.elements.forEach(f=>{let g=t.addGraphic(f);h.push(g),p.set(f.id,g);let E=rt([f.center_x,f.center_y],n);if(f.texts[0]){let x=new q(this.bmap.context,{id:f.id,text:f.texts[0],position:{x:E[0],y:E[1],z:f.airHeight+f.height}});x&&(x.userData.type="parkingSpace",x.userData.data=f),t.poiLayer2.pushPoi(x)}});let d=r.elements.filter(f=>hi[f.parkingType]).map(f=>{let g=rt([f.center_x,f.center_y],n),E=en(f.geometry.coords,g);return{uuid:f.id,iconUrl:hi[f.parkingType],name:f.texts[0],deltaHeight:f.deltaHeight,airHeight:f.airHeight,height:f.height,geometry:{...f.geometry,coords:E},opacity:f.fillOpacity,visible:!0}});if(d.length){let f=new qt(this.bmap.context,d);t.textureLayer.add(f)}t.userData.parkingSpaces=h,t.userData.parkingSpacesGraphicMap=p;break;case"text":X(r.elements,n);let m=new de(this.bmap.context,r.elements.map(f=>{let g=rt([f.center_x,f.center_y],n);return{...f,center_x:g[0],center_y:g[1]}}));t.textTextureLayer.add(m);break}}),t.updateBox(),t.userData.center=n,t.userData.height=t.box.getSize(new pi.Vector3).z+e.floorHeight*10,t.name=e.floor,t.userData.data=e,t}async clear(){await this.initDbPromise.then(()=>si())}dispose(){this.clear()}};var qn=class{constructor(e){this.bmap=e}cacheData=new Map;floorDataLengthMap=new Map;buildingGroundMap=new Map;externalStreetMap=new Map;async load(e){let t=Lt(e);if(this.cacheData.has(t))return this.cacheData.get(t);let[,n]=await Promise.all([this.loadBuildGround(e),Bn(e,this.bmap.config)]),r=Lt({floor:e.floor,ts:e.ts});X(n.map(o=>o.info),this.bmap.buildingCenter,this.floorDataLengthMap.get(r)||0),n.forEach(o=>o.info.transformToBuildingGround=!1),this.cacheData.set(t,n);let i=this.floorDataLengthMap.get(r)||0;return this.floorDataLengthMap.set(r,i+n.length),this.loadExternalStreet(e),n}async loadExternalStreet(e){}switchFloorByData(e,t){if(!e.length)return;let n=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<e.length;l++){let u=e[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 e){if(l.info.group==="ground")t.createGround(l.info);else{let u=t.addGraphic(l.info);u.userData.data=l,n.set(l.legacy_id,u)}r.set(l.element_uuid,l)}t.userData.legacyToGraphicMap=n,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(e,t){let n=t.userData.graphicMap||new Map;return e.filter(r=>!n.has(r.element_uuid))}async switchFloorByStoreData(e,t){let n=await this.load({...e,resource_type_list:"6"}),r=this.filterData(n,t);this.switchFloorByData(r,t)}async switchFloorByOtherData(e,t){let n=await this.load({...e,resource_type_list:"1,2,3,4"}),r=this.filterData(n,t);this.switchFloorByData(r,t)}async loadBuildGround({brand:e,project:t}){let n=await this.loadBuildingGround({brand:e,project:t});return this.bmap.currentBuildGround=n,this.bmap.changeBuildingCenter(n,{brand:e,project:t}),this.bmap.currentBuildGround}async loadBuildingGround({brand:e,project:t}){let n=Lt({brand:e,project:t});if(this.buildingGroundMap.has(n))return this.buildingGroundMap.get(n);let r=Un({brand:e,project:t},this.bmap.config).then(i=>(this.buildingGroundMap.set(n,i),i));return this.buildingGroundMap.set(n,r),r}async switchFloor(e){let t=new ct(this.bmap.context);t.name=e.floor;try{await Promise.all([this.switchFloorByStoreData(e,t),this.switchFloorByOtherData(e,t)])}catch(n){console.log(n)}return t}dispose(){this.cacheData.clear(),this.floorDataLengthMap.clear(),this.buildingGroundMap.clear()}};
7534
+ `)}var Dn=class extends Jr.EventDispatcher{worker=Nn();initRoadStatus=!1;constructor(){super()}async setRoadData(e){this.initRoadStatus=!1,this.dispatchEvent({type:"init-road-status",status:!1}),await lt(this.worker,"set_road_info",{roadData:e}),this.initRoadStatus=!0,this.dispatchEvent({type:"init-road-status",status:!0})}async getPath(e,t,n=""){return new Promise((r,i)=>{let o=()=>{console.log("initRoadStatus",this.initRoadStatus),lt(this.worker,"get_path",{start:e,end:t,type:n}).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(e){return lt(this.worker,"get_direction_path",e)}async dispose(){lt(this.worker,"clear",""),this.worker.terminate()}};var Qr=require("three"),Ve=class extends J{startPoint;endPoint;rect;frustum=new Qr.Frustum;constructor(e){super(e);let{config:{selectBox:{fill:t,stroke:n}}}=e;this.rect=mt(n,t),this.svg.appendChild(this.rect),this.registryEvent()}setEnable(e){super.setEnable(e),B(this.rect,0,0,0,0),e?this.registryEvent():(this.startPoint=void 0,this.unRegistryEvent())}onPointerDown=e=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(e);t&&(this.startPoint=t),this.endPoint=void 0};onPointerMove=e=>{if(!this.enable||!this.startPoint)return;let t=this.getIntersectByPointerEvent(e);t&&(this.endPoint=t)};onPointerUp=e=>{if(!this.enable)return;let t=this.getIntersectByPointerEvent(e);t&&(this.endPoint=t),this.doSelect(),this.startPoint=void 0};onUpdate=()=>{if(this.startPoint){let e=this.getSvgCoordinate(this.startPoint),t={...e};this.endPoint&&(t=this.getSvgCoordinate(this.endPoint));let n={x:Math.min(e.x,t.x),y:Math.min(e.y,t.y)},r=Math.abs(t.x-e.x),i=Math.abs(t.y-e.y);B(this.rect,n.x,n.y,r,i)}else B(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:n,clientHeight:r}}}=this,i=y(this.startPoint,t,n,r),o=y(this.endPoint,t,n,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(e,t){let{context:n}=this;return n.currentFloor?.graphicLayer.children.filter(r=>r instanceof R&&this.searchChildInFrustum(r,e,t))||[]}searchChildInFrustum(e,t,n){let{context:{camera:r,container:{clientWidth:i,clientHeight:o}}}=this;if(!e)return!1;if(!e.mesh){let p=e.getPosition();if(p){let d=y(p,r,i,o);return gt(d,t,n)}return!1}e.mesh.geometry.boundingBox||e.mesh.geometry.computeBoundingBox();let a=e.mesh.geometry.boundingBox;if(!a)return!1;let{min:l,max:u}=a,c=y(l,r,i,o),h=y(u,r,i,o);return!(!gt(c,t,n)||!gt(h,t,n))}dispose(){this.unRegistryEvent()}};var ji={boxSelection:!1,elements:["graphic","poi"]},On=class extends dt{options;_list=new Set;_poiList=new Set;boxSelection;prevPanStatus;prevRotateStatus;downPoint=null;isMultipleSelect=!1;constructor(e,t={}){super(e),this.options={...ji,...t},this.boxSelection=new Ve(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=e=>{this.downPoint={x:e.offsetX,y:e.offsetY}};onPointerUp=e=>{if(!this.downPoint)return;let{offsetX:t,offsetY:n}=e,{x:r,y:i}=this.downPoint;if(Math.sqrt((r-t)**2+(i-n)**2)>3)return;let o=new Set,a=[],l=[];if(this.options.elements.includes("graphic")){let{graphics:u}=this.bmap.context.getGraphicsByDeviceXy(t,n);u.map(c=>o.add(c.options.id)),a.push(...u)}if(this.options.elements.includes("poi")){let u=this.bmap.context.getPoisByDeviceXy(t,n);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||!(It?e.metaKey:e.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=e=>{this.disableBoxSelection()};onKeyDown=e=>{Rt(e.key)&&this.enableBoxSelection()};onKeyUp=e=>{Rt(e.key)&&this.disableBoxSelection()};onBoxSelected=({list:e})=>{this._list.clear(),this._poiList.clear(),e.forEach(t=>{if(this.options.elements.includes("graphic")&&this._list.add(t),this.options.elements.includes("poi")){let n=this.bmap.getPoiById(t.options.id);n&&this._poiList.add(n)}}),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(e){this._list.delete(e)}dispose(){this.unRegistryEvent()}};var Y=require("lodash");var ei=require("three");var Yi={time:1e3,elements:["compass","deviceMotion","acceleration","gps"]},Ee=class extends ei.EventDispatcher{options;gpsTimer=null;data=[];timer=new D;dispatchTimer=null;constructor(e={}){super(),this.options={...Yi,...e}}start(){this.options.elements.some(e=>["deviceMotion","compass"].includes(e))&&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:(0,Y.cloneDeep)(this.data)}),this.data=[]},this.options.time)}addDataItem(e){this.data.push(e),this.dispatchEvent({type:"add-data-item",item:e})}addAcceleration=(0,Y.throttle)(e=>{this.addDataItem(e)},20);deviceOrientationAbsHandler=(0,Y.throttle)(e=>{let t=Date.now(),{alpha:n,beta:r,gamma:i}=e;if((0,Y.isNil)(n)||(0,Y.isNil)(r)||(0,Y.isNil)(i))return;let o;Ht?o=e.webkitCompassHeading:o=360-n,this.options.elements.includes("deviceMotion")&&this.addDataItem({type:"deviceMotion",timestamp:t,res:[n,r,i]}),this.options.elements.includes("compass")&&this.addDataItem({type:"compass",timestamp:t,res:o})},200);listenDeviceOrientation(){Ht?window.addEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.addEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0})}handleAcceleration=e=>{let t=e.accelerationIncludingGravity;(0,Y.isNil)(t)||(0,Y.isNil)(t.x)||(0,Y.isNil)(t.y)||(0,Y.isNil)(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(e=>{e.coords.accuracy<=10&&this.addDataItem({type:"gps",timestamp:Date.now(),res:[e.coords.longitude,e.coords.latitude,e.coords.accuracy]})})}async checkSensor(){return{deviceOrientation:await this.checkDeviceOrientation()}}async checkDeviceOrientation(){if(!Ht)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),Ht?window.removeEventListener("deviceorientation",this.deviceOrientationAbsHandler,!1):window.removeEventListener("deviceorientationabsolute",this.deviceOrientationAbsHandler,{absolute:!0}),(0,Y.isNil)(this.gpsTimer)||navigator.geolocation.clearWatch(this.gpsTimer),this.dispatchTimer&&this.timer.clearInterval(this.dispatchTimer),this.data=[],this.dispatchEvent({type:"stop"})}};var ri=require("three");function He(s,e){return 1/Math.sqrt(2*Math.PI*Math.pow(e,2))*Math.exp(-Math.pow(s,2)/(2*Math.pow(e,2)))}function be(s){return(s+360)%360}function ni(s,e){let n=6378137*s*Math.PI/180,r=6378137*Math.log(Math.tan(Math.PI/4+e*Math.PI/180/2));return{x:n,y:r}}function $t(s,e,t,n){return Math.sqrt(Math.pow(Math.abs(s-t),2)+Math.pow(Math.abs(e-n),2))}var Xe=Zt(require("mathjs"),1),We=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;last_yaw_compass=0;compass_consecutive_offset_count=0;constructor(e){this.NumParticle=e.NumParticle,this.reSampNumParticle=e.reSampNumParticle,this.initial_xy_uncertainty=e.initial_xy_uncertainty,this.initial_yaw_uncertainty=e.initial_yaw_uncertainty,this.step_noise_sigma=e.step_noise_sigma,this.yaw_noise_sigma=e.yaw_noise_sigma,this.compass_update_interval=e.compass_update_interval,this.sigmaCompass=e.sigmaCompass,this.delta_yaw=e.delta_yaw,this.sigmaBeacon=e.sigmaBeacon,this.unaccess_weight=e.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(e){if(!(Math.abs(e)<.001)){this.last_yaw_compass=be(this.last_yaw_compass+e);for(let t=0;t<this.NumParticle;t++){let n=Math.random()*this.yaw_noise_sigma;this.particleX[2][t]=this.particleX[2][t]+e+n,this.particleX[2][t]=be(this.particleX[2][t])}}}motionModelStepLength(e,t){if(e===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 n=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/n)}motionModelCompassYaw(e,t){if(t-this.last_compass_time>this.compass_update_interval){let n=360-e;n+=this.delta_yaw,n=be(n),Math.abs(n-this.last_yaw_compass)>60?this.compass_consecutive_offset_count++:this.compass_consecutive_offset_count=0;for(let i=0;i<this.NumParticle;i++){let o=Math.abs(this.particleX[2][i]-n);o>180&&(o=360-o),this.particleWeight[0][i]*=He(o,this.sigmaCompass)}let r=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/r),this.setLastCompassTime(t)}}resampling(){if(1/this.particleWeight[0].reduce((t,n)=>t+n*n,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(e,t){for(let r=0;r<this.NumParticle;r++){let i=$t(this.particleX[0][r],this.particleX[1][r],e.x,e.y);this.particleWeight[0][r]=Math.max(1e-7,this.particleWeight[0][r]*He(i,t))}let n=this.particleWeight[0].reduce((r,i)=>r+i,0);this.particleWeight[0]=this.particleWeight[0].map(r=>r/n)}updateCar(e,t){let n=e.x-this.xEst[0][0],r=e.y-this.xEst[1][0];for(let o=0;o<this.NumParticle;o++){let a=$t(this.particleX[0][o],this.particleX[1][o],e.x,e.y);this.particleWeight[0][o]=Math.max(1e-7,this.particleWeight[0][o]*He(a,t)),this.particleX[0][o]+=n,this.particleX[1][o]+=r}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i)}getPosInitFlag(){return this.particle_PosInitFlag}getYawInitFlag(){return this.particle_yawInitFlag}setPosInitFlag(e){this.particle_PosInitFlag=e}setYawInitFlag(e){this.particle_yawInitFlag=e}getResultX(){let e=Xe.reshape(this.particleWeight,[this.NumParticle,1]),t=Xe.multiply(this.particleX,e);return this.xEst=t,this.xEst[0][0]}getResultY(){return this.xEst[1][0]}getResultYaw(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0]));return this.particleX[2][e]}getEstConfidence(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0])),t=this.particleWeight[0].indexOf(Math.min(...this.particleWeight[0])),n=[this.particleX[0][e],this.particleX[1][e]],r=[this.particleX[0][t],this.particleX[1][t]],i=$t(n[0],n[1],r[0],r[1]),o=i*.67;return console.log(i,o),o}getParticleNum(){return this.NumParticle}getParticleX(){return this.particleX}setLastCompassTime(e){this.last_compass_time=e}getLastCompassTime(){return this.last_compass_time}initParticlesByPos(e,t,n){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;n(e+o,t+a)||(this.particleWeight[0][r]*=this.unaccess_weight),this.particleX[0][r]=e+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]=e,this.xEst[1][0]=t,this.xEst[2][0]=0}}initParticlesByCompass(e){console.log(`Init compass: ${e}`);let t=360-e;t+=this.delta_yaw,t=be(t),console.log(`Init Yaw: ${t}`);for(let n=0;n<this.NumParticle;n++){let r=(2*Math.random()-1)*this.initial_yaw_uncertainty;this.particleX[2][n]=t+r}this.particle_yawInitFlag=!0,this.xEst[2][0]=t,this.last_yaw_compass=t,this.compass_consecutive_offset_count=0}};var je=Zt(require("mathjs"),1),qe=class{fre=100;accH_fifo=[];accH_time_fifo=[];accH_fifo_len=Math.floor(1*this.fre)+1;step_count=0;state_count=0;last_valley_time=0;last_peak_time=0;last_step_time=0;min_step_time=.3;max_step_time=1;min_peak=10.5;max_valley=9.5;peak_num=0;valley_num=0;fft_min_amp=.3;fft_min_fre=0;fft_max_fre=4;last_fft_amp=0;abnor_start_time=0;abnor_fft_detected=!1;abnor_time_threshold=4;abnor_peak_time=0;abnor_peak_accH=0;const_step_length=.65;last_rot=[];delta_rot=[];last_yaw=0;delta_yaw=null;delta_rot_sum_fifo=[];delta_rot_sum_time_fifo=[];delta_yaw_accum=0;delta_yaw_accum_timestamp=0;delta_yaw_time_threshold=.5;last_px=0;last_py=0;delta_px=0;delta_py=0;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_peak_time=0,this.abnor_peak_accH=0,this.const_step_length=.65,this.last_rot=[0,0,0],this.delta_rot=[0,0,0],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()}setInitPose(e=[0,0]){this.last_px=e[0],this.last_py=e[1],console.info(`pdr init pos: ${this.last_px}, ${this.last_py}`)}setInitYaw(e=0){this.last_yaw=e}getPos(e,t,n){let r=0;return n.length===3&&(this.delta_yaw=this.getDeltaYawFromRot(e,n)),t.length===3&&(r=this.getStepLength(e,t)),r!==0&&(this.last_px+=this.delta_px,this.last_py+=this.delta_py),[this.last_px,this.last_py]}getDeltaPose(){return[this.delta_px,this.delta_py]}getStepLength(e,t){if(t.length<3)return console.warn("acc data less than 3"),0;let n=!1,r=Math.sqrt(Math.pow(t[0],2)+Math.pow(t[1],2)+Math.pow(t[2],2));if(this.accH_fifo.push(r),this.accH_time_fifo.push(e),this.imuFreUpdate(),this.accH_fifo.length<this.accH_fifo_len+1)n=!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+=1,this.last_step_time=l,n=!0):Math.abs(this.abnor_start_time)>.001&&this.abnor_peak_time-this.abnor_start_time>this.abnor_time_threshold&&this.step_count>1&&this.abnor_peak_time-this.last_step_time>1?(this.step_count+=1,this.last_step_time=l,n=!0):(l-this.last_step_time>2&&(this.state_count=0),n=!1)}if(n){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 e=(this.accH_fifo.length-1)/(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[0]);Math.abs(this.fre-e)>8&&(this.fre=Math.round((e-3)/10)*10,(this.fre<=10||this.fre>=100)&&(console.warn(`Frequency Error ${this.fre}`),this.fre=100),console.debug(`Frequency change to ${this.fre}`),this.accH_fifo_len=Math.floor(1*this.fre)+1)}}recheckState(){return!0}PVStepDetec(){let e=!1,t=this.accH_fifo.slice(Math.floor(this.accH_fifo_len/2)),n=this.accH_time_fifo.slice(Math.floor(this.accH_fifo_len/2)),r=t[Math.floor(t.length/2)],i=n[Math.floor(n.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===0?u=!0:u=i-this.last_valley_time>this.min_step_time,u&&(this.last_valley_time=i,this.valley_num+=1)),Math.abs(r-o)<.01&&r>this.min_peak&&this.peak_num<=this.valley_num&&(this.last_peak_time===0?l=!0:l=i-this.last_peak_time>this.min_step_time,l&&(this.last_peak_time=i,this.peak_num+=1)),r===o&&r>this.min_peak&&(this.abnor_peak_time=i,this.abnor_peak_accH=r),this.peak_num===this.valley_num&&(l||u)&&(e=!0),e}FFTStepDetec(){return!0}getDeltaYawFromRot(e,t){if(t.length<3)return console.warn("rot data less than 3"),0;let n=[0,0,0];this.last_rot.length===3&&(n=t.map((a,l)=>a-this.last_rot[l]));for(let a=0;a<t.length;a++)n[a]<-180?n[a]+=360:n[a]>180&&(n[a]-=360);let r=.2;this.delta_rot.length===3?this.delta_rot=this.delta_rot.map((a,l)=>r*a+(1-r)*n[l]):this.delta_rot=n,this.last_rot=t,this.delta_yaw=this.delta_rot[0],this.last_yaw+=this.delta_yaw,this.last_yaw=this.limitYaw(this.last_yaw);let i=this.delta_rot.reduce((a,l)=>a+Math.abs(l),0);this.delta_rot_sum_fifo.push(i),this.delta_rot_sum_time_fifo.push(e),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 o=0;return Math.abs(this.delta_yaw_accum_timestamp-e)>this.delta_yaw_time_threshold?(o=this.delta_yaw_accum,this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=e,o):null}limitYaw(e){for(;e<-180;)e+=360;for(;e>180;)e-=360;return e}};var Ye=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=5;outTrustRegionNum=0;TrustNum=4;cacheSensorData=[];constructor(){this.particleFilter=new We({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 qe}pfFusionPDRiBeacon(e){let{type:t,timestamp:n,res:r}=e,i=!1;if(this.particleFilter.getPosInitFlag()&&this.particleFilter.getYawInitFlag()){if(t==="acceleration"){let o=r,a=this.pdr.getStepLength(n/1e3,o);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||n-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.getDeltaYawFromRot(n/1e3,r);o!==null&&this.particleFilter.motionModelRotYaw(o)}t==="compass"&&this.particleFilter.motionModelCompassYaw(r,n),this.last_pos_time&&n-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=n,console.log(`init Pos by gps success time ${n}`),this.cacheSensorData.length=0):console.log(`init Pos by gps fail time ${n}`)}else if(!this.particleFilter.getYawInitFlag()&&t==="compass"){let o=r;this.particleFilter.initParticlesByCompass(o),this.particleFilter.setLastCompassTime(n),console.log(`init yaw by compass success time ${n}`)}else this.cacheSensorData.push(e);return i&&(this.last_pos_time=n),[i,this.particleFilter.getResultX(),this.particleFilter.getResultY()]}setBeaconPosition(e,t){return this.last_beacon_time=t,this.particleFilter.getPosInitFlag()?this.particleFilter.update(e,this.sigmaBeacon):this.particleFilter.initParticlesByPos(e.x,e.y,()=>!0),this.resetParticleFilterDist(e),this.particleFilter.resampling(),this.position_count+=1,this.cacheSensorData.filter(r=>r.timestamp>t).map(r=>this.pfFusionPDRiBeacon(r)),this.cacheSensorData.length=0,[this.particleFilter.getResultX(),this.particleFilter.getResultY()]}getGpsPosition(e){return e[2]>this.gps_max_horizontalAccuracy?null:ni(e[0],e[1])}resetParticleFilterDist(e){let t=this.particleFilter.getResultX(),n=this.particleFilter.getResultY();$t(t,n,e.x,e.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: ${e.x}, ${e.y}`),this.particleFilter.setPosInitFlag(!1),this.particleFilter.setYawInitFlag(!1),this.outTrustRegionNum=0)):this.outTrustRegionNum=0}};var Fn=class extends ri.EventDispatcher{sensor;pdr;_pause=!1;constructor(e={}){super(),this.sensor=new Ee(e.sensor),this.pdr=new Ye}checkSensor(){return this.sensor.checkSensor()}start(){this.sensor.start(),this.sensor.addEventListener("add-data-item",({item:e})=>{this.getPositionBySensorItem(e,!this._pause)})}pause(){this._pause=!0}continue(){this._pause=!1}getPositionBySensorItem(e,t=!0){let[n,r,i]=this.pdr.pfFusionPDRiBeacon(e);return n&&t&&this.dispatchEvent({type:"position",x:r,y:i,_type:e.type==="gps"?"gps":"pdr"}),[n,r,i]}setBeaconPosition(e,t){let[n,r]=this.pdr.setBeaconPosition(e,t);this.dispatchEvent({type:"position",x:n,y:r,_type:"beacon"})}dispose(){this.sensor.stop()}};async function Un({brand:s,project:e},t){let{apiDomain:n,apiPath:{floorRange:r},apiInfo:i}=t,o=`${n}${r}?brand=${s}&project=${e}&phase=${e}&building=${e}`;return await fetch(o,i).then(l=>l.json()).then(l=>l.data).then(l=>{let u=(l||[])[0];return u&&(u.info=JSON.parse(u.info)),u})}async function Bn({brand:s,project:e,floor:t,ts:n,resource_type_list:r},i){let{apiDomain:o,apiPath:{floorGraphic:a},apiInfo:l}=i,u=`${o}${a}?brand=${s}&project=${e}&phase=${e}&building=${e}&floor=${t}&ts=${n}&resource_type_list=${r}`;return await fetch(u,l).then(h=>h.json()).then(h=>h.data).then(h=>((h||[]).map(p=>p.info=JSON.parse(p.info)),h||[]))}async function $i({project:s,floor:e},t){let{apiDomain:n,apiInfo:r}=t,i=`${n}/api/inception-map/external_street/get?projectCode=${s}&floorCode=${e}`;return await fetch(i,r).then(a=>a.json()).then(a=>a.data).then(a=>JSON.parse(a[0].streetInfo||"{}")).then(a=>a.fileId?Ki(a.fileId,t):null)}async function Ki(s,e){let{apiDomain:t,apiInfo:n}=e;return fetch(`${t}/api/inception-map/file/getFileStream?fileId=${s}`,n).then(r=>r.arrayBuffer()).then(r=>{let o=new TextDecoder("utf-8").decode(r);return o?JSON.parse(o):null})}var ht;function ii(s="aibee_map",e=1){return new Promise((t,n)=>{if(ht)return t({db:ht,type:"success"});let r=indexedDB.open(s,e);r.onupgradeneeded=function(i){ht=i.target.result,console.log("onupgradeneeded"),t({db:ht,type:"onupgradeneeded"})},r.onsuccess=i=>{ht=i.target.result,t({db:ht,type:"success"})},r.onerror=i=>{n(i)}})}function Gn(s,e,t=ht){return new Promise((n,r)=>{t||r("\u6CA1\u6709db");let o=t.transaction([s],"readonly").objectStore(s).get(e);o.onsuccess=()=>{o.result?n(o.result.value):n(null)},o.onerror=a=>{console.log("[getVersionByKey]",a),n(null)}})}function oi(s,e,t,n=ht){return new Promise((r,i)=>(n||i("\u6CA1\u6709db"),new Promise(async(o,a)=>{let l=await Gn(s,e),u=n.transaction([s],"readwrite").objectStore(s),c=l!==null?u.put({key:e,value:t}):u.add({key:e,value:t});c.onsuccess=function(h){o(h)},c.onerror=function(h){a(h)}})))}function zt(s,e=ht){e&&(e.objectStoreNames.contains(s)||e.createObjectStore(s,{keyPath:"key"}))}function si(s=ht){s?.close(),ht=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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this.initDbPromise.then(()=>Gn(e,`${t}`,this.db))}getFloorCacheKey(e){return`${e.floor_id}`}async getFloorData(e){let t=this.floors.find(r=>r.floor===e);if(!t)return null;let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(zn,n)===t.version_id){let i=await this.getCacheData(Hn,n);if(i)return this.getDataByJson(i)}return this.getFloorDataByFloorInfo(t)}catch(r){return console.log("[get floor data error]",r),this.getFloorDataByFloorInfo(t)}}async getFloorDataByFloorInfo(e){let t=this.getFloorCacheKey(e);console.time("zstd_json");let n=await fetch(e.map_url).then(r=>r.json());return n.floor=e.floor,console.timeEnd("zstd_json"),this.setCacheData(Hn,t,n),this.setCacheData(zn,t,e.version_id),this.getDataByJson(n)}async getRoadNetworkData(){return(await Promise.all(this.floors.map(async t=>{let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(kn,n)===t.version_id){let o=await this.getCacheData($e,n);if(o)return o}let i=await fetch(t.route_url).then(o=>o.json());return this.setCacheData($e,n,i),this.setCacheData(kn,n,t.version_id),i}catch{let r=await fetch(t.route_url).then(i=>i.json());return this.setCacheData($e,n,r),r}}))).filter(t=>t.points)}async getFacilitiesData(){let e=this.floors[0];if(!e)return null;let t=this.getFloorCacheKey(e),n=async()=>{let r=await fetch(e.entry_infra_url).then(i=>i.json());return r&&(this.setCacheData(Wn,t,r),this.setCacheData(Vn,t,e.version_id)),r};try{if(await this.getCacheData(Vn,t)===e.version_id){let i=await this.getCacheData(Wn,t);if(i)return i}return n()}catch(r){return console.log("[get facility error]",r),n()}}async getOtherDataByFreeTime(){}async getMulFloorsData(e){return Promise.all(e.map(t=>this.getFloorData(t))).then(t=>t.filter(n=>n))}async getDataByUrl(e){let t=await fetch(e).then(n=>n.json());return this.getDataByJson(t)}getDataByJson(e){let t=new ct(this.bmap.context);t.userData.graphics=[],t.userData.graphicMap=new Map;let n=[0,0];return e.layers.forEach(r=>{switch(r.l_type){case"range":let i=r.elements[0];n=[i.center_x,i.center_y];break;case"graph":X(r.elements,n);let o=[];r.elements.forEach(f=>{f.group==="ground"?t.createGround(f):o.push(f)});let a=o.reduce((f,g)=>{let{fillColor:E,fillOpacity:x,strokeColor:z,strokeOpacity:b,height:T,airHeight:k}=g,$=`${E.toLowerCase()}-${x}-${z.toLowerCase()}-${b}-${T}-${k}`;return b===0&&($=`${E.toLowerCase()}-${x}-${T}-${k}`),f[$]?f[$].push(g):f[$]=[g],f},{});Object.values(a).forEach(f=>{let g=new fe(this.bmap.context,f);t.mergeGraphicLayer.add(g)});break;case"ground":X(r.elements,n);let l=r.elements.map(f=>new R(this.bmap.context,f));t.addGrounds(l);break;case"wall":X(r.elements,n);let u=r.elements.reduce((f,g)=>{let{fillColor:E,fillOpacity:x,strokeColor:z,strokeOpacity:b,height:T}=g,k=`${E.toLowerCase()}-${x}-${z.toLowerCase()}-${b}-${T}`;return b===0&&(k=`${E.toLowerCase()}-${x}-${T}`),f[k]?f[k].push(g):f[k]=[g],f},{});Object.values(u).forEach(f=>{let g=new ce(this.bmap.context,f);t.wallLayer.add(g)});break;case"lane":X(r.elements,n);let c=r.elements.reduce((f,g)=>{let{fillColor:E,fillOpacity:x,strokeColor:z,strokeOpacity:b}=g,T=`${E.toLowerCase()}-${x}-${z.toLowerCase()}-${b}`;return b===0&&(T=`${E.toLowerCase()}-${x}`),f[T]?f[T].push(g):f[T]=[g],f},{});Object.values(c).forEach(f=>{let g=new pe(this.bmap.context,f);t.laneLayer.add(g)});break;case"texture2d":case"texture3d":if(X(r.elements,n),r.elements.length){let f=new qt(this.bmap.context,r.elements);t.textureLayer.add(f)}break;case"glb":X(r.elements,n),r.elements.forEach(f=>{let g=rt([f.center_x,f.center_y],n),E=new he(this.bmap.context,{...f,url:f.secondUrl,rotate:f.secondRotate,width:f.secondWidth,center_x:g[0],center_y:g[1]});t.glbModelLayer.add(E)});break;case"store":X(r.elements,n),r.elements.map(f=>{let g=rt([f.center_x,f.center_y],n),E=t.addGraphic(f);t.userData.graphics.push(E),t.userData.graphicMap.set(f.id,E);try{let x=new q(this.bmap.context,{id:f.id,icon:f.poi_info.icon,text:f.poi_info.showName||f.store_name||f.poi_info.text,position:{x:g[0],y:g[1],z:f.airHeight+f.height},icon_size:[18,18],level:f.poi_info.level||0});t.poiLayer2.pushPoi(x),x&&(x.userData.type="store",x.userData.data=f)}catch(x){console.log("\u521B\u5EFA\u5E97\u94FApoi\u5931\u8D25",x,f)}});break;case"facility":X(r.elements,n),r.elements.map(f=>{let g=rt([f.center_x,f.center_y],n),E=t.addGraphic(f);if(t.userData.graphics.push(E),t.userData.graphicMap.set(f.id,E),f.poi_info){let x=new q(this.bmap.context,{id:f.id,icon:f.poi_info.icon,text:f.poi_info.showName||f.store_name||f.poi_info.text,position:{x:g[0],y:g[1],z:f.airHeight+f.height},icon_size:[18,18],level:f.poi_info.level||0});t.poiLayer2.pushPoi(x),x.userData.type="facility",x.userData.data=f}else console.log("\u6DFB\u52A0facility\u5931\u8D25\u6CA1\u6709poi_info",f)});break;case"parkingSpace":X(r.elements,n);let h=[],p=new Map;r.elements.forEach(f=>{let g=t.addGraphic(f);h.push(g),p.set(f.id,g);let E=rt([f.center_x,f.center_y],n);if(f.texts[0]){let x=new q(this.bmap.context,{id:f.id,text:f.texts[0],position:{x:E[0],y:E[1],z:f.airHeight+f.height}});x&&(x.userData.type="parkingSpace",x.userData.data=f),t.poiLayer2.pushPoi(x)}});let d=r.elements.filter(f=>hi[f.parkingType]).map(f=>{let g=rt([f.center_x,f.center_y],n),E=en(f.geometry.coords,g);return{uuid:f.id,iconUrl:hi[f.parkingType],name:f.texts[0],deltaHeight:f.deltaHeight,airHeight:f.airHeight,height:f.height,geometry:{...f.geometry,coords:E},opacity:f.fillOpacity,visible:!0}});if(d.length){let f=new qt(this.bmap.context,d);t.textureLayer.add(f)}t.userData.parkingSpaces=h,t.userData.parkingSpacesGraphicMap=p;break;case"text":X(r.elements,n);let m=new de(this.bmap.context,r.elements.map(f=>{let g=rt([f.center_x,f.center_y],n);return{...f,center_x:g[0],center_y:g[1]}}));t.textTextureLayer.add(m);break}}),t.updateBox(),t.userData.center=n,t.userData.height=t.box.getSize(new pi.Vector3).z+e.floorHeight*10,t.name=e.floor,t.userData.data=e,t}async clear(){si(this.db??void 0)}dispose(){this.clear()}};var qn=class{constructor(e){this.bmap=e}cacheData=new Map;floorDataLengthMap=new Map;buildingGroundMap=new Map;externalStreetMap=new Map;async load(e){let t=Lt(e);if(this.cacheData.has(t))return this.cacheData.get(t);let[,n]=await Promise.all([this.loadBuildGround(e),Bn(e,this.bmap.config)]),r=Lt({floor:e.floor,ts:e.ts});X(n.map(o=>o.info),this.bmap.buildingCenter,this.floorDataLengthMap.get(r)||0),n.forEach(o=>o.info.transformToBuildingGround=!1),this.cacheData.set(t,n);let i=this.floorDataLengthMap.get(r)||0;return this.floorDataLengthMap.set(r,i+n.length),this.loadExternalStreet(e),n}async loadExternalStreet(e){}switchFloorByData(e,t){if(!e.length)return;let n=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<e.length;l++){let u=e[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 e){if(l.info.group==="ground")t.createGround(l.info);else{let u=t.addGraphic(l.info);u.userData.data=l,n.set(l.legacy_id,u)}r.set(l.element_uuid,l)}t.userData.legacyToGraphicMap=n,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(e,t){let n=t.userData.graphicMap||new Map;return e.filter(r=>!n.has(r.element_uuid))}async switchFloorByStoreData(e,t){let n=await this.load({...e,resource_type_list:"6"}),r=this.filterData(n,t);this.switchFloorByData(r,t)}async switchFloorByOtherData(e,t){let n=await this.load({...e,resource_type_list:"1,2,3,4"}),r=this.filterData(n,t);this.switchFloorByData(r,t)}async loadBuildGround({brand:e,project:t}){let n=await this.loadBuildingGround({brand:e,project:t});return this.bmap.currentBuildGround=n,this.bmap.changeBuildingCenter(n,{brand:e,project:t}),this.bmap.currentBuildGround}async loadBuildingGround({brand:e,project:t}){let n=Lt({brand:e,project:t});if(this.buildingGroundMap.has(n))return this.buildingGroundMap.get(n);let r=Un({brand:e,project:t},this.bmap.config).then(i=>(this.buildingGroundMap.set(n,i),i));return this.buildingGroundMap.set(n,r),r}async switchFloor(e){let t=new ct(this.bmap.context);t.name=e.floor;try{await Promise.all([this.switchFloorByStoreData(e,t),this.switchFloorByOtherData(e,t)])}catch(n){console.log(n)}return t}dispose(){this.cacheData.clear(),this.floorDataLengthMap.clear(),this.buildingGroundMap.clear()}};
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