@apocaliss92/nodedreame 1.12.2 → 1.12.4

package/dist/index.cjs.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/index.ts","../src/support/version.ts","../src/transport/errors.ts","../src/transport/crypto.ts","../src/auth/config.ts","../src/transport/headers.ts","../src/transport/fetch.ts","../src/transport/http.ts","../src/transport/schemas.ts","../src/auth/dreame-account.ts","../src/cloud/connectivity.ts","../src/cloud/devices.ts","../src/cloud/commands.ts","../src/transport/mqtt-push.ts","../src/transport/typed-emitter.ts","../src/device/capability.ts","../src/device/base-device.ts","../src/models/vacuum/properties.ts","../src/models/vacuum/enums.ts","../src/models/_shared/decode.ts","../src/models/vacuum/decode.ts","../src/models/vacuum/ai-detection.ts","../src/models/vacuum/auto-switch.ts","../src/models/vacuum/consumables.ts","../src/models/vacuum/capabilities.ts","../src/video/schemas.ts","../src/video/profile.ts","../src/video/client.ts","../src/video/aliyun/constants.ts","../src/video/aliyun/identity.ts","../src/video/aliyun/signing.ts","../src/video/aliyun/vision.ts","../src/video/aliyun/session.ts","../src/video/camera-availability.ts","../src/video/monitor/constants.ts","../src/video/monitor/protocol.ts","../src/video/monitor/controller.ts","../src/models/vacuum/map/envelope.ts","../src/models/vacuum/map/header.ts","../src/models/vacuum/map/tail.ts","../src/models/vacuum/map/segment-types.ts","../src/models/vacuum/map/pixel-grid.ts","../src/models/vacuum/map/path.ts","../src/models/vacuum/map/field-utils.ts","../src/models/vacuum/map/obstacles.ts","../src/models/vacuum/map/geometry.ts","../src/models/vacuum/map/cleaned-area.ts","../src/models/vacuum/map/merge.ts","../src/models/vacuum/map/decode.ts","../src/models/vacuum/map/render.ts","../src/models/vacuum/map/wifi.ts","../src/models/vacuum/map/oss-fetch.ts","../src/models/vacuum/vacuum-device.ts","../src/models/mower/properties.ts","../src/models/mower/enums.ts","../src/models/mower/decode.ts","../src/models/mower/capabilities.ts","../src/models/mower/map/parser.ts","../src/models/mower/map/render.ts","../src/models/mower/mower-device.ts","../src/api/nodreame.ts","../src/diagnostics/redact.ts","../src/diagnostics/dump-format.ts","../src/diagnostics/dumper.ts","../src/video/monitor/detections.ts","../src/video/media/lv-rtmp-client.ts","../src/video/media/amf0.ts","../src/video/media/chunk.ts","../src/video/media/flv.ts","../src/video/media/g711.ts","../src/video/media/camera-stream.ts"],"sourcesContent":["// Public API surface of nodedreame.\n// Phase 1 exports only the error classes and core domain types; transport,\n// cloud and model internals stay private to keep the published surface small\n// and stable. The high-level facade is added in Phase 2.\n\nexport { LIBRARY_NAME } from './support/version.js';\n\n// Stable public surface for Phase 1: error classes + core types. The full\n// facade (login/discoverDevices) is added in Phase 2 — we intentionally do\n// not export transport internals here to keep the published API small.\n\nexport {\n  DreameError,\n  DreameAuthError,\n  DreameApiError,\n  DreameDeviceOfflineError,\n  DreameTransportError,\n} from './transport/errors.js';\n\nexport type { DreameRegion } from './auth/config.js';\nexport type {\n  DreameSession,\n  DreameDevice,\n  DreameCloudState,\n  MiotProp,\n  MiotAction,\n  PropertyWrite,\n  PropertyResult,\n} from './cloud/types.js';\n\n// --- Phase 2: high-level facade + generic device handle ------------------\nexport { Nodreame } from './api/nodreame.js';\nexport { isAuthRefusedError } from './transport/mqtt-push.js';\nexport type { NodreameDeps, CreateDeviceArgs, NodreameEvents } from './api/nodreame.js';\nexport { BaseDevice } from './device/base-device.js';\nexport type { BaseDeviceEvents } from './device/base-device.js';\nexport { DefaultCapabilityResolver, resolveCapabilities } from './device/capability.js';\nexport type { CapabilityResolver, DeviceCapabilities } from './device/capability.js';\nexport type {\n  NodreameOptions,\n  PropertyState,\n  PropertyChangedEvent,\n  StateChangedEvent,\n  DeviceEvent,\n} from './api/types.js';\n\n// --- Phase 3: vacuum model ------------------------------------------------\n// Public vacuum surface only: the typed VacuumDevice handle, its value enums,\n// and the capability records/resolver. Internal siid/piid/aiid property maps,\n// the model factory's property tables, and the decode helpers stay private.\nexport { VacuumDevice } from './models/vacuum/vacuum-device.js';\nexport type { CleanOpts, VacuumGetMapInput, WifiSignalMapInput } from './models/vacuum/vacuum-device.js';\n// Fetcher-injection seam for VacuumDevice.getMap: the interface a custom\n// signed-blob fetcher implements, plus its input shape. The concrete\n// OssFetcher class and the decode internals stay private.\nexport type { OssFetcherLike, OssFetchInput } from './models/vacuum/map/index.js';\nexport {\n  MiotState,\n  ChargingStatus,\n  SuctionLevel,\n  WaterVolume,\n  CleaningMode,\n  MiotError,\n  TaskStatus,\n} from './models/vacuum/enums.js';\nexport {\n  getVacuumCapabilities,\n  VacuumCapabilityResolver,\n  MODEL_CAPABILITIES as VACUUM_MODEL_CAPABILITIES,\n} from './models/vacuum/capabilities.js';\nexport type { VacuumCapabilities } from './models/vacuum/capabilities.js';\nexport {\n  AI_FEATURE_BIT,\n  AI_FEATURE_JSON_KEY,\n  decodeAiFeature,\n  encodeAiFeatureWrite,\n} from './models/vacuum/ai-detection.js';\nexport type { DreameAiFeature, AiDetectionRaw } from './models/vacuum/ai-detection.js';\nexport {\n  AUTO_SWITCH_JSON_KEY,\n  decodeAutoSwitch,\n  decodeAutoSwitchAll,\n  supportedAutoSwitchKeys,\n  encodeAutoSwitchWrite,\n} from './models/vacuum/auto-switch.js';\nexport type { AutoSwitchKey, AutoSwitchRaw } from './models/vacuum/auto-switch.js';\nexport {\n  VACUUM_CONSUMABLES,\n  consumableSpec,\n  isDreameConsumableKey,\n} from './models/vacuum/consumables.js';\nexport type {\n  ConsumableSpec,\n  ConsumableReading,\n  DreameConsumableKey,\n} from './models/vacuum/consumables.js';\n\n// --- Phase 4: mower model -------------------------------------------------\n// Public mower surface only: the typed MowerDevice handle, its value enums,\n// the capability records/resolver, and the parsed task/control types. Internal\n// siid/piid/aiid maps, opcode payload builders, decode helpers, and the\n// deviceClassFor factory stay private.\nexport { MowerDevice } from './models/mower/mower-device.js';\n// Batch-fetch injection seam for MowerDevice.getMap: the fetcher signature and\n// the construction input that carries it. The opcode/decode internals and the\n// device-class factory stay private.\nexport type { BatchDeviceDataFetcher, MowerDeviceInput } from './models/mower/mower-device.js';\nexport {\n  MowerStatus,\n  MowerChargingStatus,\n  MowerControlAction,\n  MowerTaskStatus,\n  MowerFault,\n  mowerFaultSeverity,\n} from './models/mower/enums.js';\nexport type { MowerFaultSeverity } from './models/mower/enums.js';\nexport {\n  getMowerCapabilities,\n  MowerCapabilityResolver,\n  MODEL_CAPABILITIES as MOWER_MODEL_CAPABILITIES,\n} from './models/mower/capabilities.js';\nexport type { MowerCapabilities } from './models/mower/capabilities.js';\nexport type { MowerTaskDescriptor, MowerControlState } from './models/mower/decode.js';\n// CMS consumables (blade/brush/maintenance) — typed readings + the parser, so\n// camstack can surface them on the `consumables` cap.\nexport {\n  parseMowerConsumables,\n  extractMowerConsumableValues,\n  mowerConsumableIndex,\n  parseMowerHeartbeat,\n  parseMowingProgress,\n  MOWER_TASK_SUBSTATES,\n} from './models/mower/decode.js';\nexport type { MowerMowingProgress } from './models/mower/decode.js';\nexport type {\n  MowerConsumableKey,\n  MowerConsumableReading,\n  MowerHeartbeat,\n  MowerTaskSubState,\n} from './models/mower/decode.js';\n\n// --- Phase 5: maps --------------------------------------------------------\n// Public map surface: the structured model types + the two renderers. The\n// binary/JSON decoders, the OSS signed-blob fetcher, and every intermediate\n// decode step (envelope/header/pixel-grid/path/obstacles/geometry/cleaned-area/\n// merge, mower chunk reassembly + parser) stay PRIVATE — consumers obtain maps\n// via VacuumDevice.getMap()/currentSegmentId/lastMap and MowerDevice.getMap()/\n// mapSvg(), all reachable through the already-exported device handles.\nexport { renderVacuumPng } from './models/vacuum/map/render.js';\nexport type { RenderVacuumPngOptions, MapColorScheme } from './models/vacuum/map/render.js';\nexport type {\n  VacuumMap,\n  MapDimensions,\n  MapBoundingBox,\n  MapPoint,\n  MapPose,\n  MapRun,\n  MapLayer,\n  MapLayerType,\n  MapSegment,\n  MapPath,\n  MapPathType,\n  MapObstacle,\n  MapFrameType,\n  MapVirtualWall,\n  MapRestrictedArea,\n  MapLowLyingArea,\n  MapWallsInfo,\n  MapStorey,\n  MapRoom,\n  MapRoomWall,\n  MapCleanedAreaOverlay,\n} from './models/vacuum/map/types.js';\n\nexport { renderMowerSvg } from './models/mower/map/render.js';\nexport type { RenderMowerSvgOptions } from './models/mower/map/render.js';\nexport type {\n  MowerMap,\n  MowerPoint,\n  MowerZone,\n  MowerSpotArea,\n  MowerPathEntry,\n  MowerContour,\n  MowerMapBoundary,\n  MowerMowPath,\n  MowerAvailableMap,\n} from './models/mower/map/types.js';\n\n// --- Diagnostics: read-only device dump ----------------------------------\n// Public surface: the createDumper/createClientDumper factories + the shared\n// DeviceDump output type + the options type. The Dumper class, redact(), the\n// DeviceDumpSchema, the accumulator, and the per-model decoder/catalog helpers\n// stay PRIVATE — consumers build a dump only via the factory.\nexport { createDumper, createClientDumper } from './diagnostics/dumper.js';\nexport type { DumperOptions } from './diagnostics/dumper.js';\nexport type { DeviceDump } from './diagnostics/dump-format.js';\n\n// --- Video control-plane (X40/X50 camera devices) ------------------------\nexport {\n  getVideoAccessToken,\n  getAliyunAuthCode,\n  getVideoFamilyId,\n  getDeviceVideoProfile,\n  explainNoCameraChannel,\n  toVideoProfile,\n} from './video/index.js';\nexport type {\n  VideoRequestInput,\n  VideoVendor,\n  VideoAccessToken,\n  DeviceVideoProfile,\n} from './video/index.js';\n\n// --- Aliyun LinkVisual media plane -----------------------------------------\nexport {\n  DreameVideoSession,\n  streamQuery,\n  loginByOauth,\n  createIotSession,\n  signApiGatewayRequest,\n  ALIYUN_REGION_ID,\n} from './video/index.js';\nexport type {\n  DreameVideoSessionInput,\n  StreamInfo,\n  StreamQueryInput,\n  OaSession,\n  IotSession,\n} from './video/index.js';\n\n// --- Camera monitor control-plane + autonomous cold-start ------------------\nexport {\n  DreameCameraController,\n  MONITOR_SIID,\n  MONITOR_AIID,\n  MONITOR_PIID,\n  MONITOR_VENDOR_TOKEN,\n  VACUUM_SIID,\n  VACUUM_MOVE,\n  PET_SOUNDS,\n  VACUUM_ACTIONS,\n  makeMonitorSession,\n  hashAccessCode,\n  parsePersonFollow,\n  parseObstacleData,\n  remoteDriveValue,\n  DRIVE_DIRECTIONS,\n} from './video/index.js';\nexport type {\n  DreameCameraControllerInput,\n  CameraStreamHandle,\n  MonitorActionCaller,\n  RelayMinter,\n  DetectionBox,\n  PersonFollowDetection,\n  ObstacleDetection,\n  DriveDirection,\n  PetSound,\n  VacuumActionKey,\n} from './video/index.js';\n\n// --- Camera media pipeline (RTMP relay -> H.264/AAC frames) -----------------\nexport {\n  DreameCameraStream,\n  LvRtmpClient,\n  parseRelayUrl,\n  LV_STATUS,\n  TALK_AUDIO_HEADER_G711A,\n  pcm16ToALaw,\n  pcm16leToALaw,\n  avccToAnnexB,\n  aacToAdts,\n  parseAvcConfig,\n  parseAacConfig,\n  aacSampleRate,\n} from './video/index.js';\nexport type {\n  DreameCameraStreamInput,\n  DreameCameraStreamEvents,\n  FrameSource,\n  FrameSourceFactory,\n  LvRtmpClientOptions,\n  VideoAccessUnitEvent,\n  AudioInfoEvent,\n  StatusEvent,\n  AvcConfig,\n  AacConfig,\n} from './video/index.js';\n\n// --- Raw device-list access (connectivity/diagnostics) --------------------\nexport { listDevices } from './cloud/devices.js';\nexport type { ListDevicesInput } from './cloud/devices.js';\nexport { parseConnectivity } from './cloud/connectivity.js';\nexport type { DeviceConnectivity, BrokerEndpoint } from './cloud/connectivity.js';\n\n// --- WiFi signal map (coverage heatmap + current-signal at robot pose) -----\nexport { decodeWifiSignalMap, renderWifiSignalPng } from './models/vacuum/map/index.js';\nexport type { WifiSignalMap, RenderWifiSignalPngOptions } from './models/vacuum/map/index.js';\n","/** Public name of this library. */\nexport const LIBRARY_NAME = 'nodedreame';\n\n/**\n * Public version of this library, embedded in a {@link DeviceDump}'s\n * `libraryVersion`. Kept in lock-step with `package.json` (a version-match test\n * guards drift) — a string constant avoids an ESM JSON-import assertion wrinkle\n * in the published bundle.\n */\nexport const LIBRARY_VERSION = '1.12.2';\n","export class DreameError extends Error {\n  constructor(\n    message: string,\n    public override readonly cause?: unknown,\n  ) {\n    super(message);\n    this.name = 'DreameError';\n  }\n}\n\nexport class DreameAuthError extends DreameError {\n  constructor(\n    message: string,\n    public readonly status?: number,\n    cause?: unknown,\n  ) {\n    super(message, cause);\n    this.name = 'DreameAuthError';\n  }\n}\n\nexport class DreameApiError extends DreameError {\n  constructor(\n    message: string,\n    public readonly status: number,\n    public readonly body?: unknown,\n    cause?: unknown,\n  ) {\n    super(message, cause);\n    this.name = 'DreameApiError';\n  }\n}\n\n/**\n * Thrown when the cloud returns code 80001. The literal `msg` claims the\n * device is offline — that interpretation is FREQUENTLY WRONG. 80001 means\n * the cloud's HTTP-side waiter for the device's MQTT ACK gave up after ~8s.\n * It does NOT prove the action failed to reach the device. The MQTT\n * subscription is the source of truth for reachability. The only true\n * positive is a genuinely unreachable device (powered off / network lost /\n * rebooting) — in which case no MQTT echo arrives either.\n */\nexport class DreameDeviceOfflineError extends DreameApiError {\n  constructor(message: string, status: number, body?: unknown) {\n    super(message, status, body);\n    this.name = 'DreameDeviceOfflineError';\n  }\n}\n\nexport class DreameTransportError extends DreameError {\n  constructor(message: string, cause?: unknown) {\n    super(message, cause);\n    this.name = 'DreameTransportError';\n  }\n}\n","import { createCipheriv, createHash, randomBytes } from 'node:crypto';\n\n/**\n * App-global secrets extracted from the Dreamehome Flutter binary. These\n * rotate with new app versions — if login starts failing with no obvious\n * cause, re-extract from the latest APK. Last verified against\n * `dreame-meta: cv=i_829`.\n */\nconst PASSWORD_SALT = 'RAylYC%fmSKp7%Tq';\nconst RLC_AES_KEY = 'EETjszu*XI5znHsI';\n\n/**\n * Salted MD5 of the plaintext password, lower-case hex. Sent on the wire\n * instead of the cleartext password.\n */\nexport function hashPassword(plaintext: string): string {\n  return createHash('md5')\n    .update(plaintext + PASSWORD_SALT)\n    .digest('hex');\n}\n\n/**\n * Compute the value of the `dreame-rlc` request header: AES-128-ECB (PKCS7\n * padding) of `<region>|<lang>|<country>` with the static app key, output as\n * lowercase hex.\n */\nexport function buildRlcHeader(region: string, lang: string, country: string): string {\n  const plaintext = `${region}|${lang}|${country}`;\n  const cipher = createCipheriv('aes-128-ecb', Buffer.from(RLC_AES_KEY, 'utf8'), null);\n  const out = Buffer.concat([cipher.update(plaintext, 'utf8'), cipher.final()]);\n  return out.toString('hex');\n}\n\n/** Random MQTT client id matching the format used by the Dreamehome app. */\nexport function randomMqttClientId(): string {\n  return 'p_' + randomBytes(8).toString('hex');\n}\n\n/**\n * Upper bound for the sendCommand `id`. The Dreame cloud's device-side\n * correlation id is a NARROW integer field: verified live on\n * `dreame.mower.p2255` that ids up to 2^24 (16_777_216) round-trip fine but ids\n * ≳ 1e8 make the cloud return code 80001 \"device offline / 指令发送超时\" (the\n * oversized id never reaches/echoes from the device, so the cloud reports it\n * unreachable). A 31-bit random id therefore broke EVERY mower command. Keep ids\n * comfortably under that ceiling.\n */\nconst MAX_REQUEST_ID = 0xffffff;\n\n/** Monotonic counter, seeded with a small random base (mirrors the Dreame app's\n *  `random(1,100)` start). Module-scoped so concurrent fan-out never collides. */\nlet nextRequestId = Math.floor(Math.random() * 100) + 1;\n\n/**\n * Next `id` for a sendCommand envelope — a small, monotonically increasing\n * integer that wraps under {@link MAX_REQUEST_ID}. MUST stay small: see\n * {@link MAX_REQUEST_ID} for why a large id makes the cloud 80001.\n */\nexport function randomRequestId(): number {\n  nextRequestId = nextRequestId >= MAX_REQUEST_ID ? 1 : nextRequestId + 1;\n  return nextRequestId;\n}\n","/** Supported Dreame cloud regions. */\nexport type DreameRegion = 'eu' | 'us' | 'cn' | 'ru' | 'sg' | 'in' | 'de' | 'tw';\n\n/** All regions, in canonical order. Used for table-completeness checks. */\nexport const ALL_REGIONS: readonly DreameRegion[] = [\n  'eu',\n  'us',\n  'cn',\n  'ru',\n  'sg',\n  'in',\n  'de',\n  'tw',\n];\n\n/** Hostname (with non-standard port) of the Dreame auth + API server, per region. */\nexport const REGION_HOSTS: Record<DreameRegion, string> = {\n  eu: 'eu.iot.dreame.tech:13267',\n  us: 'us.iot.dreame.tech:13267',\n  cn: 'cn.iot.dreame.tech:13267',\n  ru: 'ru.iot.dreame.tech:13267',\n  sg: 'sg.iot.dreame.tech:13267',\n  in: 'in.iot.dreame.tech:13267',\n  de: 'eu.iot.dreame.tech:13267',\n  tw: 'cn.iot.dreame.tech:13267',\n};\n\n/** Default `country` form-field per region (ISO-3166 alpha-2). */\nexport const REGION_DEFAULT_COUNTRY: Record<DreameRegion, string> = {\n  eu: 'GB',\n  us: 'US',\n  cn: 'CN',\n  ru: 'RU',\n  sg: 'SG',\n  in: 'IN',\n  de: 'DE',\n  tw: 'TW',\n};\n\n/** Default UI language per region (ISO-639-1). */\nexport const REGION_DEFAULT_LANG: Record<DreameRegion, string> = {\n  eu: 'en',\n  us: 'en',\n  cn: 'zh',\n  ru: 'ru',\n  sg: 'en',\n  in: 'en',\n  de: 'de',\n  tw: 'zh',\n};\n\n/**\n * App-level OAuth2 CLIENT credentials (a Basic header) baked into the public\n * Dreamehome app binary — NOT a user secret, password, or per-account token.\n * These identify the app to the OAuth endpoint and are identical for every\n * install; they rotate only when Dreame ships a new app release (last verified\n * against cv=i_829). Not sensitive — safe to commit. (SAST note: this is a\n * shipped public client id/secret, not a leaked credential.)\n */\nexport const OAUTH_BASIC_AUTH = 'Basic ZHJlYW1lX2FwcHYxOkFQXmR2QHpAU1FZVnhOODg=';\n\n/** App-version fingerprint. Update if a new app version starts requiring it. */\nexport const APP_META = 'cv=i_829';\n\n/** User-Agent the Flutter Dreamehome app sends. */\nexport const APP_USER_AGENT = 'Dart/3.2 (dart:io)';\n\n/** Tenant id — Dreame brand. */\nexport const TENANT_DREAME = '000000';\n/** Tenant id — Mova brand. */\nexport const TENANT_MOVA = '000002';\n\n/**\n * Literal value placed in the `from` field of every command envelope. Dreame's\n * cloud ignores it — the original Flutter app sends \"XXXXXX\" verbatim.\n */\nexport const COMMAND_FROM_FIELD = 'XXXXXX';\n\n/** `iotComPrefix` path component (/dreame-iot-com-<n>/) for Dreame. */\nexport const IOT_COM_PREFIX_DREAME = 10000;\n/** `iotComPrefix` for Mova brand requests (untested). */\nexport const IOT_COM_PREFIX_MOVA = 20000;\n\n/** Standard HTTP content types used by the Dreame backend. */\nexport const CONTENT_TYPE_JSON = 'application/json';\nexport const CONTENT_TYPE_FORM = 'application/x-www-form-urlencoded';\n","import type { DreameRegion } from '../auth/config.js';\nimport {\n  APP_META,\n  APP_USER_AGENT,\n  CONTENT_TYPE_FORM,\n  OAUTH_BASIC_AUTH,\n  TENANT_DREAME,\n} from '../auth/config.js';\nimport { buildRlcHeader } from './crypto.js';\n\n/**\n * Compose the static request headers the Dreame backend expects on every\n * call. Pass `accessToken` after login; omit (or pass `null`) for the\n * unauthenticated login request itself.\n */\nexport function buildHeaders(opts: {\n  region: DreameRegion;\n  country: string;\n  lang: string;\n  accessToken?: string | null;\n  contentType?: string;\n}): Record<string, string> {\n  const auth = opts.accessToken ? `bearer ${opts.accessToken}` : 'bearer';\n  return {\n    'user-agent': APP_USER_AGENT,\n    authorization: OAUTH_BASIC_AUTH,\n    'content-type': opts.contentType ?? CONTENT_TYPE_FORM,\n    'dreame-auth': auth,\n    'dreame-meta': APP_META,\n    'dreame-rlc': buildRlcHeader(opts.region, opts.lang, opts.country),\n    'tenant-id': TENANT_DREAME,\n  };\n}\n","import { fetch as undiciFetch } from 'undici';\n\n/**\n * Narrow fetch-shaped function type backed by undici. Defined here so all\n * callers share one declaration — no DOM lib globals, no casts.\n *\n * We re-export `FetchImpl` from this module as the canonical definition;\n * `transport/http.ts` re-exports it from here so downstream modules have a\n * single import path.\n */\nexport type FetchImpl = typeof undiciFetch;\n\n/**\n * Default HTTP fetch implementation. We use undici explicitly (rather than the\n * Node global `fetch`) so the library works identically on Node ≥20 and so the\n * exact client behavior is pinned to a known version.\n */\nexport const defaultFetch: FetchImpl = undiciFetch;\n","import type { DreameRegion } from '../auth/config.js';\nimport {\n  CONTENT_TYPE_JSON,\n  REGION_DEFAULT_COUNTRY,\n  REGION_DEFAULT_LANG,\n  REGION_HOSTS,\n} from '../auth/config.js';\nimport { buildHeaders } from './headers.js';\nimport { defaultFetch, type FetchImpl } from './fetch.js';\nimport {\n  DreameApiError,\n  DreameAuthError,\n  DreameDeviceOfflineError,\n  DreameTransportError,\n} from './errors.js';\n\n/** Re-export so other modules can import FetchImpl from a single location. */\nexport type { FetchImpl };\n\n/** Cloud response code meaning \"device didn't ACK; may be offline\" (often a false negative). */\nconst CODE_DEVICE_OFFLINE = 80001;\n\n/** Default per-request timeout — fetch() is otherwise unbounded. */\nconst DEFAULT_TIMEOUT_MS = 30000;\n\nexport interface RequestContextOpts {\n  region: DreameRegion;\n  country?: string;\n  lang?: string;\n  host?: string;\n  fetchImpl?: FetchImpl;\n}\n\nexport interface RequestContextInput {\n  region: DreameRegion;\n  country?: string | undefined;\n  lang?: string | undefined;\n  /** Override host. Some callers spell this `authHost`/`apiHost` — pass that here. */\n  host?: string | undefined;\n  fetchImpl?: FetchImpl | undefined;\n}\n\nexport class RequestContext {\n  readonly region: DreameRegion;\n  readonly country: string;\n  readonly lang: string;\n  readonly host: string;\n  readonly fetchImpl: FetchImpl;\n\n  constructor(opts: RequestContextOpts) {\n    this.region = opts.region;\n    this.country = opts.country ?? REGION_DEFAULT_COUNTRY[opts.region];\n    this.lang = opts.lang ?? REGION_DEFAULT_LANG[opts.region];\n    this.host = opts.host ?? REGION_HOSTS[opts.region];\n    this.fetchImpl = opts.fetchImpl ?? defaultFetch;\n  }\n\n  static from(input: RequestContextInput): RequestContext {\n    return new RequestContext({\n      region: input.region,\n      ...(input.country !== undefined ? { country: input.country } : {}),\n      ...(input.lang !== undefined ? { lang: input.lang } : {}),\n      ...(input.host !== undefined ? { host: input.host } : {}),\n      ...(input.fetchImpl !== undefined ? { fetchImpl: input.fetchImpl } : {}),\n    });\n  }\n\n  /** `https://<host><path>` — pass a path with a leading slash. */\n  url(path: string): string {\n    return `https://${this.host}${path}`;\n  }\n\n  /** Build the static Dreame headers, optionally with a bearer token + content-type. */\n  headers(\n    opts: { accessToken?: string | null; contentType?: string } = {},\n  ): Record<string, string> {\n    return buildHeaders({\n      region: this.region,\n      country: this.country,\n      lang: this.lang,\n      ...(opts.accessToken !== undefined ? { accessToken: opts.accessToken } : {}),\n      ...(opts.contentType !== undefined ? { contentType: opts.contentType } : {}),\n    });\n  }\n}\n\n/** Minimal common shape every Dreame JSON response carries. */\nexport interface BaseResponse {\n  code?: number;\n  msg?: string;\n}\n\nexport async function httpPostJson<T extends BaseResponse>(input: {\n  ctx: RequestContext;\n  url: string;\n  headers: Record<string, string>;\n  body: string | URLSearchParams;\n  context: string;\n  errorClass?: typeof DreameApiError | typeof DreameAuthError;\n  skipCodeCheck?: boolean;\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}): Promise<T> {\n  const Err = input.errorClass ?? DreameApiError;\n  const timeoutMs = input.timeoutMs ?? DEFAULT_TIMEOUT_MS;\n  const signal = composeSignals(input.signal, timeoutMs);\n\n  let res: Response;\n  try {\n    res = await input.ctx.fetchImpl(input.url, {\n      method: 'POST',\n      headers: input.headers,\n      body: input.body,\n      ...(signal !== undefined ? { signal } : {}),\n    });\n  } catch (err) {\n    if (isAbortError(err)) {\n      throw new DreameTransportError(\n        `request to ${input.url} aborted after ${timeoutMs}ms or by caller`,\n        err,\n      );\n    }\n    throw new DreameTransportError(`network error contacting ${input.url}`, err);\n  }\n\n  const text = await res.text();\n  let parsed: T | null = null;\n  if (text) {\n    try {\n      parsed = JSON.parse(text) as T;\n    } catch {\n      // leave parsed null\n    }\n  }\n\n  if (!res.ok) {\n    throw new Err(\n      `${input.context} failed: ${res.status} ${text.slice(0, 200)}`,\n      res.status,\n      parsed,\n    );\n  }\n  if (!parsed) {\n    throw new Err(`${input.context} response was not JSON (status ${res.status})`, res.status);\n  }\n\n  if (!input.skipCodeCheck && parsed.code !== undefined && parsed.code !== 0) {\n    if (parsed.code === CODE_DEVICE_OFFLINE) {\n      throw new DreameDeviceOfflineError(\n        `device offline: ${parsed.msg ?? 'timeout'}`,\n        res.status,\n        parsed,\n      );\n    }\n    throw new Err(\n      `${input.context} rejected: code=${parsed.code} msg=${parsed.msg ?? '?'}`,\n      res.status,\n      parsed,\n    );\n  }\n\n  return parsed;\n}\n\nexport async function httpPostJsonBody<T extends BaseResponse>(input: {\n  ctx: RequestContext;\n  path: string;\n  accessToken?: string;\n  body: unknown;\n  context: string;\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}): Promise<T> {\n  return httpPostJson<T>({\n    ctx: input.ctx,\n    url: input.ctx.url(input.path),\n    headers: input.ctx.headers({\n      ...(input.accessToken !== undefined ? { accessToken: input.accessToken } : {}),\n      contentType: CONTENT_TYPE_JSON,\n    }),\n    body: JSON.stringify(input.body),\n    context: input.context,\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n  });\n}\n\nfunction composeSignals(\n  callerSignal: AbortSignal | undefined,\n  timeoutMs: number,\n): AbortSignal | undefined {\n  if (timeoutMs <= 0) {\n    return callerSignal;\n  }\n  const timeoutSignal = AbortSignal.timeout(timeoutMs);\n  if (!callerSignal) {\n    return timeoutSignal;\n  }\n  return AbortSignal.any([callerSignal, timeoutSignal]);\n}\n\nfunction isAbortError(err: unknown): boolean {\n  return err instanceof Error && (err.name === 'AbortError' || err.name === 'TimeoutError');\n}\n","import { z } from 'zod';\n\n/** OAuth token endpoint response. Permissive: Dreame may add fields. */\nexport const OAuthTokenResponseSchema = z\n  .object({\n    access_token: z.string().optional(),\n    refresh_token: z.string().optional(),\n    expires_in: z.number().optional(),\n    token_type: z.string().optional(),\n    uid: z.union([z.string(), z.number()]).optional(),\n    region: z.string().optional(),\n    country: z.string().optional(),\n    lang: z.string().optional(),\n    tenant_id: z.string().optional(),\n    error: z.string().optional(),\n    error_description: z.string().optional(),\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n  })\n  .passthrough();\nexport type OAuthTokenResponse = z.infer<typeof OAuthTokenResponseSchema>;\n\n/** Single raw device record from the device-list endpoint. */\nexport const RawDeviceSchema = z\n  .object({\n    did: z.union([z.string(), z.number()]).optional(),\n    model: z.string().optional(),\n    customName: z.string().optional(),\n    deviceName: z.string().optional(),\n    mac: z.string().optional(),\n    online: z.boolean().optional(),\n    lwt: z.number().optional(),\n    bindDomain: z.string().optional(),\n    master: z.boolean().optional(),\n  })\n  .passthrough();\nexport type RawDevice = z.infer<typeof RawDeviceSchema>;\n\nexport const DeviceListResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({\n        page: z\n          .object({ records: z.array(RawDeviceSchema).optional() })\n          .partial()\n          .optional(),\n        records: z.array(RawDeviceSchema).optional(),\n      })\n      .passthrough()\n      .optional(),\n    records: z.array(RawDeviceSchema).optional(),\n  })\n  .passthrough();\nexport type DeviceListResponse = z.infer<typeof DeviceListResponseSchema>;\n\n/**\n * Per-property result. Lenient by design: every known field is OPTIONAL and\n * extra keys pass through. This validates the STRUCTURE (each element must be\n * an object) without rejecting real cloud responses whose exact shape we have\n * not fully observed — the command path is not exercised by the live e2e.\n */\nexport const PropertyResultSchema = z\n  .object({\n    siid: z.number().optional(),\n    piid: z.number().optional(),\n    value: z.unknown().optional(),\n    code: z.number().optional(),\n  })\n  .passthrough();\n\n/**\n * Single cloud-shadow entry from `dreame-user-iot/iotstatus/props`. The cloud\n * returns the last-known value as a STRING (e.g. `\"100\"`, `\"true\"`); the value\n * is widened to `unknown` and coerced by the command layer. `updateDate` is the\n * epoch-ms the cloud last saw that value (used for cache-age reporting).\n */\nexport const CachedPropEntrySchema = z\n  .object({\n    key: z.string(),\n    value: z.unknown().optional(),\n    updateDate: z.number().optional(),\n  })\n  .passthrough();\nexport type CachedPropEntry = z.infer<typeof CachedPropEntrySchema>;\n\n/**\n * Cloud-shadow read response (`iotstatus/props`). `data` is an ARRAY of\n * per-property entries (NOT the nested `data.result` shape `sendCommand`\n * returns). Permissive: missing props are simply absent; on an error code\n * `data` may be absent entirely.\n */\nexport const CachedPropsResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.array(CachedPropEntrySchema).optional(),\n  })\n  .passthrough();\nexport type CachedPropsResponse = z.infer<typeof CachedPropsResponseSchema>;\n\n/**\n * Batched device-data read response (`dreame-user-iot/iotuserdata/getDeviceData`).\n * `data` is a flat dict of hierarchical keys (`MAP.0`, `MAP.info`, `M_PATH.0`,\n * `SETTINGS.*`, `SCHEDULE.*`, …) → string/number chunk values. Permissive: the\n * exact key set is device/firmware-specific; on an error code `data` may be\n * absent entirely.\n */\nexport const BatchDeviceDataResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.record(z.string(), z.unknown()).optional(),\n  })\n  .passthrough();\nexport type BatchDeviceDataResponse = z.infer<typeof BatchDeviceDataResponseSchema>;\n\nexport const SendCommandResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.object({ result: z.unknown().optional() }).passthrough().optional(),\n    result: z.unknown().optional(),\n  })\n  .passthrough();\nexport type SendCommandResponse = z.infer<typeof SendCommandResponseSchema>;\n\n/** Raw MQTT envelope as received from the broker, before flattening. */\nexport const RawMqttEventSchema = z\n  .object({\n    id: z.number().optional(),\n    did: z.union([z.string(), z.number()]).optional(),\n    data: z\n      .object({\n        id: z.number().optional(),\n        method: z.string().optional(),\n        params: z.unknown().optional(),\n      })\n      .passthrough()\n      .optional(),\n  })\n  .passthrough();\nexport type RawMqttEvent = z.infer<typeof RawMqttEventSchema>;\n","import type { DreameRegion } from './config.js';\nimport type { DreameSession } from '../cloud/types.js';\nimport { DreameAuthError } from '../transport/errors.js';\nimport { hashPassword } from '../transport/crypto.js';\nimport { httpPostJson, RequestContext, type BaseResponse } from '../transport/http.js';\nimport { OAuthTokenResponseSchema } from '../transport/schemas.js';\nimport type { FetchImpl } from '../transport/http.js';\n\nexport interface LoginInput {\n  email: string;\n  password: string;\n  region: DreameRegion;\n  /** ISO-3166 alpha-2. Defaults from region. */\n  country?: string;\n  /** ISO-639-1. Defaults from region. */\n  lang?: string;\n  /** Override host (advanced — for testing). */\n  authHost?: string;\n  /** Inject a fetch impl for testing. */\n  fetchImpl?: FetchImpl;\n}\n\nexport interface RefreshInput {\n  refreshToken: string;\n  region: DreameRegion;\n  country?: string;\n  lang?: string;\n  authHost?: string;\n  fetchImpl?: FetchImpl;\n}\n\nfunction ctxFromInput(input: {\n  region: DreameRegion;\n  country?: string;\n  lang?: string;\n  authHost?: string;\n  fetchImpl?: FetchImpl;\n}): RequestContext {\n  return RequestContext.from({ ...input, host: input.authHost });\n}\n\n/** Authenticate against the Dreame native cloud (OAuth2 password grant). */\nexport async function login(input: LoginInput): Promise<DreameSession> {\n  const ctx = ctxFromInput(input);\n  const body = new URLSearchParams({\n    grant_type: 'password',\n    scope: 'all',\n    platform: 'IOS',\n    type: 'account',\n    username: input.email,\n    password: hashPassword(input.password),\n    country: ctx.country,\n    lang: ctx.lang,\n  });\n  return postForToken(ctx, body);\n}\n\n/** Exchange a refresh token for a fresh access token. Refresh ~100s before expiry. */\nexport async function refresh(input: RefreshInput): Promise<DreameSession> {\n  const ctx = ctxFromInput(input);\n  const body = new URLSearchParams({\n    grant_type: 'refresh_token',\n    refresh_token: input.refreshToken,\n  });\n  return postForToken(ctx, body);\n}\n\nasync function postForToken(ctx: RequestContext, body: URLSearchParams): Promise<DreameSession> {\n  // The OAuth response is validated/narrowed by `OAuthTokenResponseSchema.parse`\n  // below; the HTTP layer only needs the minimal `BaseResponse` shape here. The\n  // zod-inferred `OAuthTokenResponse` cannot be the generic directly because its\n  // passthrough widening makes `code` `number | undefined`, which is\n  // incompatible with `BaseResponse.code?: number` under exactOptionalPropertyTypes.\n  const raw = await httpPostJson<BaseResponse>({\n    ctx,\n    url: ctx.url('/dreame-auth/oauth/token'),\n    headers: ctx.headers(),\n    body,\n    context: 'auth',\n    errorClass: DreameAuthError,\n    skipCodeCheck: true, // OAuth uses HTTP status + top-level error fields, not parsed.code\n  });\n\n  const data = OAuthTokenResponseSchema.parse(raw);\n\n  if (data.error || data.error_description) {\n    throw new DreameAuthError(\n      `auth failed: ${data.error ?? '?'} — ${data.error_description ?? 'no description'}`,\n    );\n  }\n  if (!data.access_token) {\n    // Redacted: never stringify the full payload — it carries refresh_token and\n    // other secrets. Surface only non-secret diagnostic fields.\n    throw new DreameAuthError(\n      `auth response missing access_token: uid=${data.uid ?? '?'} error=${data.error ?? '?'} code=${data.code ?? '?'}`,\n    );\n  }\n\n  const expiresIn = typeof data.expires_in === 'number' ? data.expires_in : 7200;\n  const uid = data.uid !== undefined ? String(data.uid) : '';\n  if (!uid) {\n    throw new DreameAuthError('auth response missing uid');\n  }\n\n  const session: DreameSession = {\n    accessToken: data.access_token,\n    uid,\n    expiresAt: Date.now() + expiresIn * 1000,\n    region: ctx.region,\n  };\n  if (typeof data.refresh_token === 'string') {\n    session.refreshToken = data.refresh_token;\n  }\n  return session;\n}\n","/**\n * Connectivity / diagnostic info distilled from a device-list record.\n *\n * Scope note: the Dreame cloud device record exposes reachability + identity +\n * the assigned MQTT broker, but NOT Wi-Fi RSSI / SSID / local IP — those are\n * native-firmware (miIO-style) details the cloud API does not return for these\n * vacuums. So `signalStrength`/`ssid`/`ip` are intentionally absent here; this\n * surfaces everything the cloud actually provides.\n */\n\n/** The device's assigned MQTT broker endpoint (from `bindDomain`). */\nexport interface BrokerEndpoint {\n  readonly host: string;\n  readonly port: number | null;\n}\n\nexport interface DeviceConnectivity {\n  /** Whether the cloud considers the device online (LWT/online flag). */\n  readonly online: boolean;\n  /** Physical link type reported by the cloud (e.g. `\"WIFI\"`), or null. */\n  readonly connectionType: string | null;\n  /** Device MAC address, or null. */\n  readonly mac: string | null;\n  /** Assigned MQTT broker (`bindDomain` split into host/port), or null. */\n  readonly broker: BrokerEndpoint | null;\n  /** Cloud region the device is bound to (e.g. `\"eu\"`), or null. */\n  readonly region: string | null;\n  /** Cloud media/IoT vendor (e.g. `\"ali\"`), or null. */\n  readonly cloudVendor: string | null;\n  /** Firmware version (`ver`), or null. */\n  readonly firmwareVersion: string | null;\n  /** Serial number (`sn`), or null. */\n  readonly serialNumber: string | null;\n  /** Sub-model code, or null. */\n  readonly subModel: string | null;\n  /** Battery percentage 0–100 from the cloud snapshot, or null. */\n  readonly battery: number | null;\n  /** Latest MIoT status int from the cloud snapshot, or null. */\n  readonly statusCode: number | null;\n}\n\nconst str = (v: unknown): string | null => (typeof v === 'string' && v.length > 0 ? v : null);\nconst numOrNull = (v: unknown): number | null => (typeof v === 'number' && Number.isFinite(v) ? v : null);\n\n/** Split a `bindDomain` like `\"10000.mt.eu.iot.dreame.tech:19973\"` into host/port. */\nfunction parseBroker(bindDomain: unknown): BrokerEndpoint | null {\n  const s = str(bindDomain);\n  if (!s) return null;\n  const idx = s.lastIndexOf(':');\n  if (idx < 0) return { host: s, port: null };\n  const port = Number(s.slice(idx + 1));\n  return { host: s.slice(0, idx), port: Number.isFinite(port) ? port : null };\n}\n\n/** Parse the connectivity view from a raw device-list record. */\nexport function parseConnectivity(raw: Record<string, unknown>): DeviceConnectivity {\n  const deviceInfo = (raw['deviceInfo'] ?? {}) as Record<string, unknown>;\n  return {\n    online: raw['online'] === true,\n    connectionType: str(deviceInfo['scType']),\n    mac: str(raw['mac']),\n    broker: parseBroker(raw['bindDomain']),\n    region: str(raw['region']),\n    cloudVendor: str(raw['vendor']),\n    firmwareVersion: str(raw['ver']),\n    serialNumber: str(raw['sn']),\n    subModel: str(raw['subModel']),\n    battery: numOrNull(raw['battery']),\n    statusCode: numOrNull(raw['latestStatus']),\n  };\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type { DreameCloudState, DreameDevice, DreameSession } from './types.js';\nimport {\n  httpPostJsonBody,\n  RequestContext,\n  type BaseResponse,\n  type FetchImpl,\n} from '../transport/http.js';\nimport { DeviceListResponseSchema, type RawDevice } from '../transport/schemas.js';\nimport { parseConnectivity } from './connectivity.js';\n\nexport interface ListDevicesInput {\n  session: DreameSession;\n  region: DreameRegion;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\n/** Enumerate the devices visible to the authenticated account (incl. shared). */\nexport async function listDevices(input: ListDevicesInput): Promise<DreameDevice[]> {\n  const ctx = input.ctx ?? RequestContext.from({ ...input, host: input.apiHost });\n\n  // The response is validated/narrowed by `DeviceListResponseSchema.parse`\n  // below; the HTTP layer only needs the minimal `BaseResponse` shape. The\n  // zod-inferred `DeviceListResponse` cannot be the generic directly because\n  // its passthrough widening makes `code` `number | undefined`, which is\n  // incompatible with `BaseResponse.code?: number` under exactOptionalPropertyTypes.\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: '/dreame-user-iot/iotuserbind/device/listV2',\n    accessToken: input.session.accessToken,\n    body: {\n      sharedStatus: 1,\n      current: 1,\n      size: 100,\n      lang: ctx.lang,\n      timestamp: Date.now(),\n    },\n    context: 'device list',\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n  });\n\n  const parsed = DeviceListResponseSchema.parse(raw);\n  const records = parsed.data?.page?.records ?? parsed.data?.records ?? parsed.records ?? [];\n  return records.map(toDevice);\n}\n\nfunction toDevice(rawIn: RawDevice): DreameDevice {\n  const raw = rawIn as Record<string, unknown>;\n  const did = String(rawIn.did ?? '');\n  const model = String(rawIn.model ?? '');\n  const name = String(rawIn.customName || rawIn.deviceName || model || did);\n\n  let lwtFlag = 0;\n  if (typeof raw['property'] === 'string') {\n    try {\n      const p = JSON.parse(raw['property']) as { lwt?: number };\n      if (p && typeof p.lwt === 'number') {\n        lwtFlag = p.lwt;\n      }\n    } catch {\n      // ignore malformed JSON\n    }\n  }\n  const online = rawIn.online === true || rawIn.lwt === 1 || lwtFlag === 1;\n\n  const device: DreameDevice = {\n    did,\n    model,\n    name,\n    online,\n    raw,\n    cloudState: parseCloudState(raw),\n    connectivity: parseConnectivity(raw),\n  };\n  if (rawIn.mac) {\n    device.mac = String(rawIn.mac);\n  }\n  if (typeof raw['ver'] === 'string') {\n    device.firmwareVersion = raw['ver'];\n  }\n  if (typeof raw['sn'] === 'string') {\n    device.serialNumber = raw['sn'];\n  }\n  return device;\n}\n\nfunction parseCloudState(raw: Record<string, unknown>): DreameCloudState {\n  const latestStatus = typeof raw['latestStatus'] === 'number' ? raw['latestStatus'] : null;\n  const battery = typeof raw['battery'] === 'number' ? raw['battery'] : null;\n  const featureCode2 = typeof raw['featureCode2'] === 'number' ? raw['featureCode2'] : null;\n  let videoActive: boolean | null = null;\n  if (typeof raw['videoStatus'] === 'string') {\n    try {\n      const v = JSON.parse(raw['videoStatus']) as { operType?: string; status?: number };\n      if (v?.operType === 'end' || v?.status === 0) {\n        videoActive = false;\n      } else if (v?.operType || v?.status) {\n        videoActive = true;\n      }\n    } catch {\n      // ignore malformed JSON\n    }\n  }\n  return { latestStatus, battery, videoActive, featureCode2 };\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type {\n  DreameSession,\n  MiotProp,\n  MiotAction,\n  PropertyWrite,\n  PropertyResult,\n} from './types.js';\nimport { COMMAND_FROM_FIELD, IOT_COM_PREFIX_DREAME } from '../auth/config.js';\nimport { randomRequestId } from '../transport/crypto.js';\nimport { DreameApiError } from '../transport/errors.js';\nimport {\n  httpPostJsonBody,\n  RequestContext,\n  type BaseResponse,\n  type FetchImpl,\n} from '../transport/http.js';\nimport { z } from 'zod';\nimport {\n  SendCommandResponseSchema,\n  CachedPropsResponseSchema,\n  BatchDeviceDataResponseSchema,\n  PropertyResultSchema,\n  type SendCommandResponse,\n} from '../transport/schemas.js';\n\ninterface SendCommandInput {\n  session: DreameSession;\n  region: DreameRegion;\n  did: string;\n  /** MIoT method: `get_properties`, `set_properties`, `action`. */\n  method: string;\n  /**\n   * For `get_properties`/`set_properties`: an ARRAY of property descriptors.\n   * For `action`: a single OBJECT (NOT an array — Dreame surfaces the wrong\n   * shape as a misleading code 80001 \"device offline\" error).\n   */\n  params: unknown;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  iotComPrefix?: number;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\n/** Low-level dispatch to `/device/sendCommand`. Caller owns the `params` shape. */\nexport async function sendCommand(input: SendCommandInput): Promise<SendCommandResponse> {\n  const ctx = input.ctx ?? RequestContext.from({ ...input, host: input.apiHost });\n  const prefix = input.iotComPrefix ?? IOT_COM_PREFIX_DREAME;\n  const id = randomRequestId();\n\n  // The response is validated/narrowed by `SendCommandResponseSchema.parse`\n  // below; the HTTP layer only needs the minimal `BaseResponse` shape. The\n  // zod-inferred `SendCommandResponse` cannot be the generic directly because\n  // its passthrough widening makes `code` `number | undefined`, which is\n  // incompatible with `BaseResponse.code?: number` under exactOptionalPropertyTypes.\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `/dreame-iot-com-${prefix}/device/sendCommand`,\n    accessToken: input.session.accessToken,\n    body: {\n      did: input.did,\n      id,\n      data: {\n        did: input.did,\n        id,\n        method: input.method,\n        params: input.params,\n        from: COMMAND_FROM_FIELD,\n      },\n    },\n    context: input.method,\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n  });\n  return SendCommandResponseSchema.parse(raw);\n}\n\nexport interface CommonInput {\n  session: DreameSession;\n  region: DreameRegion;\n  did: string;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  /**\n   * Inject a fetch implementation. Placed here (on `CommonInput`) so tests can\n   * pass a mock via the first argument without any casts. Do NOT put this on\n   * `CallOptions` — it belongs on the base/donor argument only.\n   */\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\nexport interface CallOptions {\n  signal?: AbortSignal;\n  timeoutMs?: number;\n  // fetchImpl intentionally NOT here — inject it via CommonInput instead.\n}\n\n/** Read one or more MIoT properties from a device. */\nexport async function getProperties(\n  base: CommonInput,\n  props: MiotProp[],\n  opts: CallOptions = {},\n): Promise<PropertyResult[]> {\n  const params = props.map((p) => ({ did: base.did, siid: p.siid, piid: p.piid }));\n  const res = await sendCommand({ ...base, ...opts, method: 'get_properties', params });\n  return extractResultArray(res, 'get_properties');\n}\n\n/**\n * Read the CLOUD-CACHED (shadow) values of one or more MIoT properties WITHOUT\n * waking the device. Hits the `dreame-user-iot/iotstatus/props` endpoint (the\n * account-auth path, NOT the `device/sendCommand` envelope), which returns the\n * cloud's last-known values for a standby/offline robot and never 80001s for an\n * idle device — exactly what the Dreamehome app shows for a sleeping robot.\n *\n * `keys` MUST be the comma-joined `\"siid.piid\"` STRING (an array yields code\n * 10001; an empty value yields 10007). Each `data[]` entry's `value` arrives as\n * a STRING; it is coerced back to number/boolean (else kept as a string) so the\n * existing typed getters (which expect numbers) decode it unchanged.\n */\nexport async function getCachedProperties(\n  base: CommonInput,\n  props: MiotProp[],\n  opts: CallOptions = {},\n): Promise<PropertyResult[]> {\n  const ctx = base.ctx ?? RequestContext.from({ ...base, host: base.apiHost });\n  const keys = props.map((p) => `${p.siid}.${p.piid}`).join(',');\n  const signal = opts.signal ?? base.signal;\n  const timeoutMs = opts.timeoutMs ?? base.timeoutMs;\n\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: '/dreame-user-iot/iotstatus/props',\n    accessToken: base.session.accessToken,\n    body: { did: base.did, keys },\n    context: 'cached properties',\n    ...(signal !== undefined ? { signal } : {}),\n    ...(timeoutMs !== undefined ? { timeoutMs } : {}),\n  });\n\n  const parsed = CachedPropsResponseSchema.parse(raw);\n  // The HTTP layer already rejects code !== 0; this is a defensive backstop so\n  // the contract (code === 0 ⇒ success) holds even if that check is bypassed.\n  if (parsed.code !== undefined && parsed.code !== 0) {\n    throw new DreameApiError(\n      `cached properties rejected: code=${parsed.code} msg=${parsed.msg ?? '?'}`,\n      200,\n      parsed,\n    );\n  }\n  return (parsed.data ?? []).flatMap((entry) => {\n    const [siidStr, piidStr] = entry.key.split('.');\n    const siid = Number(siidStr);\n    const piid = Number(piidStr);\n    if (!Number.isFinite(siid) || !Number.isFinite(piid)) {\n      return [];\n    }\n    const result: PropertyResult = { siid, piid, value: coerceShadowValue(entry.value) };\n    if (entry.updateDate !== undefined) {\n      result.updateDate = entry.updateDate;\n    }\n    return [result];\n  });\n}\n\n/**\n * Coerce a cloud-shadow value (delivered as a string) back to the type the\n * typed getters expect: a numeric string → number, `\"true\"`/`\"false\"` →\n * boolean, anything else (incl. already-typed values) is returned unchanged.\n */\nfunction coerceShadowValue(value: unknown): unknown {\n  if (typeof value !== 'string') {\n    return value;\n  }\n  if (value === 'true') {\n    return true;\n  }\n  if (value === 'false') {\n    return false;\n  }\n  // Number('') === 0 and Number('1,2') === NaN — only coerce a clean numeric\n  // token, leaving fault-list strings like \"18,107\" intact.\n  if (value.trim() !== '' && Number.isFinite(Number(value))) {\n    return Number(value);\n  }\n  return value;\n}\n\n/** Write one or more MIoT properties to a device. */\nexport async function setProperties(\n  base: CommonInput,\n  writes: PropertyWrite[],\n  opts: CallOptions = {},\n): Promise<PropertyResult[]> {\n  const params = writes.map((p) => ({\n    did: base.did,\n    siid: p.siid,\n    piid: p.piid,\n    value: p.value,\n  }));\n  const res = await sendCommand({ ...base, ...opts, method: 'set_properties', params });\n  return extractResultArray(res, 'set_properties');\n}\n\n/**\n * Invoke a single MIoT action. Unlike property calls, `params` is a single\n * OBJECT, not an array — an array here surfaces as a misleading code 80001.\n */\nexport async function callAction(\n  base: CommonInput,\n  action: MiotAction,\n  opts: CallOptions = {},\n): Promise<unknown> {\n  const params = {\n    did: base.did,\n    siid: action.siid,\n    aiid: action.aiid,\n    in: action.in ?? [],\n  };\n  const res = await sendCommand({ ...base, ...opts, method: 'action', params });\n  return res.data?.result ?? res.result ?? res;\n}\n\n/**\n * Fetch batched device data (the mower's vector map: `MAP.*` / `M_PATH.*` chunk\n * keys, plus `SETTINGS.*` / `SCHEDULE.*` / `OTA_INFO.*` groups) for a set of\n * property groups.\n *\n * Hits `dreame-user-iot/iotuserdata/getDeviceData` — the SAME account-auth host\n * as {@link getCachedProperties} (NOT the `device/sendCommand` envelope), so it\n * resolves the cloud-stored data for a standby/sleeping robot. Body is\n * `{ did, model: props }` where `model` (the firmware's spelling) carries the\n * requested key groups (e.g. `['MAP','M_PATH']`); an empty list returns every\n * group. The response `data` is a flat dict of `KEY.idx` chunk values that\n * {@link import('../models/mower/map/parser.js').parseBatchMapData} reassembles.\n *\n * Endpoint recovered from the Tasshack `dreame-vacuum` protocol table\n * (`_strings[23]/[26]/[44]` = `dreame-user-iot/iotuserdata/getDeviceData`) and\n * the donor `antondaubert/dreame-mower` device-data analysis tool.\n */\nexport async function getBatchDeviceDatas(\n  base: CommonInput,\n  props: string[],\n  opts: CallOptions = {},\n): Promise<Record<string, unknown>> {\n  const ctx = base.ctx ?? RequestContext.from({ ...base, host: base.apiHost });\n  const signal = opts.signal ?? base.signal;\n  const timeoutMs = opts.timeoutMs ?? base.timeoutMs;\n\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: '/dreame-user-iot/iotuserdata/getDeviceData',\n    accessToken: base.session.accessToken,\n    body: { did: base.did, model: props },\n    context: 'batch device data',\n    ...(signal !== undefined ? { signal } : {}),\n    ...(timeoutMs !== undefined ? { timeoutMs } : {}),\n  });\n\n  const parsed = BatchDeviceDataResponseSchema.parse(raw);\n  // The HTTP layer already rejects code !== 0; this is a defensive backstop so\n  // the contract (code === 0 ⇒ success) holds even if that check is bypassed.\n  if (parsed.code !== undefined && parsed.code !== 0) {\n    throw new DreameApiError(\n      `batch device data rejected: code=${parsed.code} msg=${parsed.msg ?? '?'}`,\n      200,\n      parsed,\n    );\n  }\n  return parsed.data ?? {};\n}\n\nfunction extractResultArray(res: SendCommandResponse, context: string): PropertyResult[] {\n  const raw = Array.isArray(res.data?.result)\n    ? res.data.result\n    : Array.isArray(res.result)\n      ? res.result\n      : null;\n  if (raw === null) {\n    throw new DreameApiError(\n      `${context}: response did not contain a result array — ${JSON.stringify(res).slice(0, 200)}`,\n      200,\n      res,\n    );\n  }\n  // Validate STRUCTURE leniently (array of objects, known fields optional)\n  // rather than casting unknown[] straight to PropertyResult[].\n  const parsed = z.array(PropertyResultSchema).safeParse(raw);\n  if (!parsed.success) {\n    throw new DreameApiError(\n      `${context}: result array contained a non-object element — ${JSON.stringify(raw).slice(0, 200)}`,\n      200,\n      res,\n    );\n  }\n  return parsed.data;\n}\n","import mqtt from 'mqtt';\nimport type { DreameRegion } from '../auth/config.js';\nimport type { DreameDevice, DreameSession } from '../cloud/types.js';\nimport { DreameTransportError } from './errors.js';\nimport { randomMqttClientId } from './crypto.js';\nimport { TypedEmitter } from './typed-emitter.js';\nimport { RawMqttEventSchema } from './schemas.js';\n\n/** A single property update pushed by the device. */\nexport interface PropertyChange {\n  did: string;\n  siid: number;\n  piid: number;\n  value: unknown;\n}\n\n/** MIoT event push (`method: \"event_occured\"` — yes, the typo is on the wire). */\nexport interface EventOccuredPush {\n  did: string;\n  siid: number;\n  eiid: number;\n  arguments: unknown[];\n}\n\n/** Untyped k/v push on `method: \"props\"` (OTA progress/state, etc.). */\nexport interface PropsPush {\n  did: string;\n  params: Record<string, unknown>;\n}\n\n/** Saved-map catalogue push on `_sync.update_vacuum_mapinfo`. */\nexport interface MapInfoPush {\n  did: string;\n  maps: Map<number, readonly number[]>;\n  activeMapId: number | null;\n  savedMapIds: readonly number[];\n}\n\n/**\n * The subset of `mqtt.MqttClient` this module uses. Declaring it lets tests\n * inject a fake broker without depending on a live TLS socket.\n */\nexport interface MqttLikeClient {\n  on(event: 'connect', cb: () => void): this;\n  on(event: 'close', cb: () => void): this;\n  on(event: 'error', cb: (err: Error) => void): this;\n  on(event: 'message', cb: (topic: string, payload: Buffer) => void): this;\n  once(event: 'connect', cb: () => void): this;\n  once(event: 'error', cb: (err: Error) => void): this;\n  removeListener(event: string, cb: (...args: never[]) => void): this;\n  subscribe(topic: string, opts: { qos: 0 | 1 | 2 }, cb: (err?: Error) => void): void;\n  end(force: boolean, opts: Record<string, never>, cb: () => void): void;\n}\n\nexport interface ConnectOptions {\n  username: string;\n  password: string;\n  clientId: string;\n  protocolVersion: 4;\n  reconnectPeriod: number;\n  connectTimeout: number;\n  rejectUnauthorized: boolean;\n  clean: boolean;\n  /** MQTT-level keep-alive in seconds: the client PINGREQs the broker this often\n   *  so an idle connection is held open (and a dead one detected) at the protocol\n   *  layer — the connection's keep-alive belongs here, in the library, not in a\n   *  consumer-side property poll. */\n  keepalive: number;\n}\n\n/** Factory matching `mqtt.connect`'s shape we rely on (injectable for tests). */\nexport type MqttConnectFn = (url: string, opts: ConnectOptions) => MqttLikeClient;\n\nfunction defaultConnect(url: string, opts: ConnectOptions): MqttLikeClient {\n  // mqtt.connect returns a MqttClient which structurally satisfies MqttLikeClient.\n  // We verify this with a local type assertion through the interface rather than\n  // a raw cast, keeping the boundary explicit.\n  const client = mqtt.connect(url, opts);\n  // MqttClient implements the full MqttLikeClient contract; assign through the\n  // interface to surface any future structural mismatch as a compile error.\n  const typed: MqttLikeClient = client;\n  return typed;\n}\n\nexport type DreamePushEvents = {\n  properties: [PropertyChange[]];\n  event: [EventOccuredPush];\n  props: [PropsPush];\n  mapInfo: [MapInfoPush];\n  connect: [];\n  close: [];\n  error: [Error];\n};\n\nexport interface DreamePushInput {\n  device: DreameDevice;\n  session: DreameSession;\n  region: DreameRegion;\n  /** Injectable mqtt.connect (defaults to the real one). */\n  connect?: MqttConnectFn;\n  /** Backoff before a reconnect attempt after an unexpected drop. Default 5000. */\n  reconnectBackoffMs?: number;\n  /** MQTT keep-alive (PINGREQ cadence) in seconds. Default 60. `0` disables. */\n  keepaliveSeconds?: number;\n  /**\n   * Whether the TLS layer must reject a server certificate that does not chain\n   * to a trusted public CA. Defaults to `false`: Dreame brokers present\n   * device-specific certificates that are NOT chained to a public CA, so strict\n   * verification fails against the real fleet. Override to `true` only when\n   * pointing at a broker with a properly chained certificate (e.g. a test rig).\n   */\n  rejectUnauthorized?: boolean;\n  /**\n   * Called when the broker refuses a CONNECT with an auth error — a CONNACK\n   * whose return code is 5 (\"Not authorized\") or 4 (\"Bad username or password\")\n   * on MQTT 3.1.1 (135/134 on MQTT 5). This happens when the access token the\n   * push connects with has gone stale server-side. The callback MUST resolve to\n   * a freshly-minted session; the push adopts its token and reconnects with it\n   * instead of hopelessly replaying the stale one. Wired by the facade to\n   * `Nodreame.reauthenticate()`. When omitted, an auth-refused reconnect falls\n   * back to the plain backoff loop (legacy behaviour).\n   */\n  onAuthFailure?: () => Promise<DreameSession>;\n  /**\n   * Maximum number of CONSECUTIVE auth-refused re-authentications before the\n   * push stops re-logging-in and falls back to a plain backoff reconnect. The\n   * counter resets to 0 on the next successful connect. Guards against a tight\n   * re-login loop when the credentials are genuinely bad. Default 3.\n   *\n   * NOTE: this cap is PER-PUSH, so a fleet of N devices could in principle make\n   * up to `maxAuthRetries * N` re-auth calls on an account-wide invalidation. In\n   * practice the facade bounds this: `Nodreame.reauthenticate()` coalesces\n   * concurrent refreshes into ONE grant and propagates the fresh token to every\n   * device, so the first device's re-auth heals the whole fleet before the\n   * others exhaust their own budgets.\n   */\n  maxAuthRetries?: number;\n}\n\n/**\n * True when `err` (or an error in its `cause` chain) is an MQTT CONNACK\n * auth-refusal. mqtt.js raises an `ErrorWithReasonCode` carrying a numeric\n * `code`: MQTT 3.1.1 uses 4 (bad user/pass) / 5 (not authorized); MQTT 5 uses\n * 134 / 135. We also match the human-readable message as a belt-and-braces\n * fallback in case the code is not surfaced through a wrapper.\n */\nexport function isAuthRefusedError(err: unknown): boolean {\n  let cur: unknown = err;\n  for (let depth = 0; cur != null && depth < 6; depth += 1) {\n    if (typeof cur !== 'object') {\n      break;\n    }\n    const code = (cur as { code?: unknown }).code;\n    if (code === 4 || code === 5 || code === 134 || code === 135) {\n      return true;\n    }\n    const message = (cur as { message?: unknown }).message;\n    if (\n      typeof message === 'string' &&\n      /not authorized|bad user ?name|bad username or password|bad password/i.test(message)\n    ) {\n      return true;\n    }\n    cur = (cur as { cause?: unknown }).cause;\n  }\n  return false;\n}\n\n/**\n * Durable per-device MQTT subscription. Unlike the donor, this:\n *  - reconnects with backoff after an unexpected drop, then resubscribes;\n *  - on `refreshSession(newSession)` closes the old client and reopens with\n *    the new access token (the broker validates the token at CONNECT only and\n *    cannot be re-authed on a live client);\n *  - never auto-reconnects after an explicit `close()`.\n */\nexport class DreamePush extends TypedEmitter<DreamePushEvents> {\n  readonly #device: DreameDevice;\n  #session: DreameSession;\n  readonly #region: DreameRegion;\n  readonly #connect: MqttConnectFn;\n  readonly #backoffMs: number;\n  readonly #keepaliveSeconds: number;\n  readonly #rejectUnauthorized: boolean;\n  readonly #onAuthFailure: (() => Promise<DreameSession>) | null;\n  readonly #maxAuthRetries: number;\n  #topic: string;\n  #client: MqttLikeClient | null = null;\n  #closed = false;\n  #tearingDown = false;\n  #reconnectTimer: ReturnType<typeof setTimeout> | null = null;\n  /** Consecutive auth-refused re-auths since the last successful connect. */\n  #authFailureCount = 0;\n\n  /**\n   * Per-instance bound close handler. Stored so we can pass the EXACT same\n   * function reference to both `client.on('close', …)` and\n   * `client.removeListener('close', …)` during teardown — a throwaway arrow\n   * would be a different reference and would NOT be removed.\n   */\n  readonly #onClose: () => void;\n\n  constructor(input: DreamePushInput) {\n    super();\n    this.#device = input.device;\n    this.#session = input.session;\n    this.#region = input.region;\n    this.#connect = input.connect ?? defaultConnect;\n    this.#backoffMs = input.reconnectBackoffMs ?? 5000;\n    this.#keepaliveSeconds = input.keepaliveSeconds ?? 60;\n    this.#rejectUnauthorized = input.rejectUnauthorized ?? false;\n    this.#onAuthFailure = input.onAuthFailure ?? null;\n    this.#maxAuthRetries = input.maxAuthRetries ?? 3;\n    this.#topic = buildStatusTopic(this.#device, this.#session.uid, this.#region);\n    // Bind once so the reference is stable across register/remove calls.\n    this.#onClose = (): void => {\n      if (this.#tearingDown) {\n        // We caused this close (teardown or refresh). Do NOT reconnect.\n        return;\n      }\n      this.emit('close');\n      this.#scheduleReconnect();\n    };\n  }\n\n  get topic(): string {\n    return this.#topic;\n  }\n\n  /** Open the connection and resolve when subscribed. */\n  async open(): Promise<void> {\n    if (this.#closed) {\n      throw new DreameTransportError('subscription is closed');\n    }\n    if (this.#client) {\n      return;\n    }\n    await this.#connectAndSubscribe();\n  }\n\n  /**\n   * Swap to a freshly-refreshed session: close the current client and reopen\n   * with the new access token. Safe to call while connected or disconnected.\n   */\n  async refreshSession(session: DreameSession): Promise<void> {\n    this.#session = session;\n    if (this.#closed) {\n      return;\n    }\n    // Cancel any reconnect armed by a prior drop. Without this, a timer armed\n    // before refresh fires AFTER refresh reconnects, spawning a second live\n    // client and orphaning the first (mirror what close() does).\n    if (this.#reconnectTimer) {\n      clearTimeout(this.#reconnectTimer);\n      this.#reconnectTimer = null;\n    }\n    await this.#teardownClient();\n    try {\n      await this.#connectAndSubscribe();\n    } catch {\n      // The fresh token failed to connect transiently (broker has not yet\n      // indexed the rotated token, a network blip, etc.). Arm a bounded\n      // reconnect instead of leaving the device dark until the next rotation.\n      // `#connectAndSubscribe` already ended + nulled its client, so this\n      // schedules a clean retry. Resolve rather than reject so a propagation\n      // (allSettled) caller records this device as handled — the reconnect\n      // timer is now driving recovery.\n      this.#scheduleReconnect();\n    }\n  }\n\n  /** Tear down permanently. Closed subscriptions cannot be reopened. */\n  async close(): Promise<void> {\n    this.#closed = true;\n    if (this.#reconnectTimer) {\n      clearTimeout(this.#reconnectTimer);\n      this.#reconnectTimer = null;\n    }\n    await this.#teardownClient();\n  }\n\n  async #connectAndSubscribe(): Promise<void> {\n    const client = this.#connect(brokerUrl(this.#device), {\n      username: this.#session.uid,\n      password: this.#session.accessToken,\n      clientId: randomMqttClientId(),\n      protocolVersion: 4,\n      reconnectPeriod: 0, // we drive reconnect ourselves\n      connectTimeout: 15000,\n      keepalive: this.#keepaliveSeconds,\n      rejectUnauthorized: this.#rejectUnauthorized,\n      clean: true,\n    });\n    this.#client = client;\n\n    client.on('message', (_topic, payload) => this.#handleMessage(payload));\n    client.on('error', (err) => this.emit('error', err));\n    // Use the stored bound reference so teardown can reliably remove it.\n    client.on('close', this.#onClose);\n\n    try {\n      await new Promise<void>((resolve, reject) => {\n        const onConnect = (): void => {\n          client.removeListener('error', onError);\n          client.subscribe(this.#topic, { qos: 0 }, (err) => {\n            if (err) {\n              reject(new DreameTransportError(`mqtt subscribe failed: ${err.message}`, err));\n              return;\n            }\n            // A clean connect+subscribe proves the current token is good again:\n            // reset the auth-failure budget so a LATER staleness can self-heal.\n            this.#authFailureCount = 0;\n            this.emit('connect');\n            resolve();\n          });\n        };\n        const onError = (err: Error): void => {\n          client.removeListener('connect', onConnect);\n          reject(new DreameTransportError(`mqtt connect failed: ${err.message}`, err));\n        };\n        client.once('connect', onConnect);\n        client.once('error', onError);\n      });\n    } catch (err) {\n      // The connect/subscribe failed AFTER the TCP socket may already be\n      // ESTABLISHED (auth or subscribe rejected post-handshake — e.g. a stale\n      // token after a re-login). Force-close it now so the socket + client\n      // object are freed. Without this, the caller (`open`/`refreshSession`/the\n      // reconnect loop) would orphan the client — `#scheduleReconnect` nulls\n      // `#client` without `end()`, leaking one ESTABLISHED connection (and its\n      // buffers) per failed attempt, which snowballs once the broker starts\n      // rejecting the pile-up. Detach our close handler first so the forced\n      // end() does not re-arm a reconnect.\n      client.removeListener('close', this.#onClose);\n      try {\n        client.end(true, {}, () => undefined);\n      } catch {\n        // best-effort — a half-open client may throw on end(); ignore.\n      }\n      if (this.#client === client) {\n        this.#client = null;\n      }\n      throw err;\n    }\n  }\n\n  #scheduleReconnect(): void {\n    if (this.#closed || this.#reconnectTimer) {\n      return;\n    }\n    this.#client = null;\n    this.#reconnectTimer = setTimeout(() => {\n      this.#reconnectTimer = null;\n      // Skip if we were closed or a client was already (re)established in the\n      // meantime (e.g. by refreshSession) — never spawn a duplicate connection.\n      if (this.#closed || this.#client) {\n        return;\n      }\n      void this.#attemptReconnect();\n    }, this.#backoffMs);\n  }\n\n  /**\n   * One reconnect attempt with reactive auth self-heal. If the broker refuses\n   * the CONNECT with an auth error (a stale access token) and an\n   * `onAuthFailure` provider is wired and the re-auth budget is not exhausted,\n   * mint a fresh session and retry with the new token instead of replaying the\n   * old one. Any other failure (or an exhausted budget) falls back to the plain\n   * backoff reconnect so bad credentials cannot hot-loop re-login.\n   */\n  async #attemptReconnect(): Promise<void> {\n    try {\n      await this.#connectAndSubscribe();\n    } catch (err) {\n      if (this.#closed) {\n        return;\n      }\n      if (\n        this.#onAuthFailure &&\n        isAuthRefusedError(err) &&\n        this.#authFailureCount < this.#maxAuthRetries\n      ) {\n        await this.#reauthenticateAndReconnect();\n        return;\n      }\n      // Non-auth error, or the re-auth cap is exhausted: surface it and fall\n      // back to a plain backoff reconnect (no re-login storm).\n      this.emit('error', err instanceof Error ? err : new DreameTransportError(String(err)));\n      this.#scheduleReconnect();\n    }\n  }\n\n  /** Mint a fresh session via `onAuthFailure`, adopt its token, and reconnect. */\n  async #reauthenticateAndReconnect(): Promise<void> {\n    this.#authFailureCount += 1;\n    let session: DreameSession;\n    try {\n      session = await this.#onAuthFailure!();\n    } catch (err) {\n      // Re-authentication itself failed: surface it and retry on a backoff.\n      this.emit('error', err instanceof Error ? err : new DreameTransportError(String(err)));\n      // NEVER orphan a live client: `onAuthFailure` propagates the new session\n      // through `refreshSession()`, which may have ALREADY reconnected this push\n      // before the (later) rejection surfaced. `#scheduleReconnect()` would null\n      // that healthy client without ending it — a leaked socket + a duplicate\n      // connection. Only re-arm when we have no live client to preserve.\n      if (!this.#client) {\n        this.#scheduleReconnect();\n      }\n      return;\n    }\n    if (this.#closed) {\n      return;\n    }\n    // Adopt the fresh token + rebuild the topic (uid could differ). NOTE:\n    // `onAuthFailure` typically propagates the new session back through\n    // `refreshSession()`, which ALREADY tears down and reconnects this push —\n    // in that case `#client` is live and we must NOT open a second connection.\n    this.#session = session;\n    this.#topic = buildStatusTopic(this.#device, this.#session.uid, this.#region);\n    if (this.#client) {\n      return;\n    }\n    // No propagated reconnect happened — reconnect ourselves on the new token.\n    void this.#attemptReconnect();\n  }\n\n  async #teardownClient(): Promise<void> {\n    const client = this.#client;\n    this.#client = null;\n    if (!client) {\n      return;\n    }\n    // Signal to #onClose that this close event is intentional — do not reconnect.\n    this.#tearingDown = true;\n    // Remove the stored bound reference. This is the exact function object\n    // registered in #connectAndSubscribe, so removeListener works correctly.\n    client.removeListener('close', this.#onClose);\n    await new Promise<void>((resolve) => {\n      client.end(false, {}, () => resolve());\n    });\n    this.#tearingDown = false;\n  }\n\n  #handleMessage(payload: Buffer): void {\n    let raw: unknown;\n    try {\n      raw = JSON.parse(payload.toString('utf8'));\n    } catch (err) {\n      this.emit('error', new DreameTransportError('invalid mqtt payload', err));\n      return;\n    }\n    const result = RawMqttEventSchema.safeParse(raw);\n    if (!result.success) {\n      this.emit('error', new DreameTransportError('unexpected mqtt envelope'));\n      return;\n    }\n    const envelope = result.data;\n    const did = String(envelope.did ?? this.#device.did);\n    const method = envelope.data?.method;\n    const params = envelope.data?.params;\n\n    if (method === 'properties_changed' && Array.isArray(params)) {\n      const changes = parsePropertyChanges(did, params);\n      if (changes.length > 0) {\n        this.emit('properties', changes);\n      }\n      return;\n    }\n    if (method === 'event_occured' && isObject(params)) {\n      const ev = parseEventOccured(did, params);\n      if (ev) {\n        this.emit('event', ev);\n      }\n      return;\n    }\n    if (method === 'props' && isObject(params)) {\n      this.emit('props', { did, params });\n      return;\n    }\n    if (method === '_sync.update_vacuum_mapinfo' && isObject(params)) {\n      const mi = parseMapInfo(did, params);\n      if (mi) {\n        this.emit('mapInfo', mi);\n      }\n      return;\n    }\n  }\n}\n\n// --- Pure helpers (exported for unit tests) ------------------------------\n\nfunction isObject(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\nexport function brokerUrl(device: DreameDevice): string {\n  const bindDomain = (device.raw['bindDomain'] as string | undefined) ?? '';\n  if (!bindDomain) {\n    throw new DreameTransportError(`device ${device.did} has no bindDomain — cannot connect MQTT`);\n  }\n  return `mqtts://${bindDomain}`;\n}\n\nexport function buildStatusTopic(device: DreameDevice, uid: string, region: DreameRegion): string {\n  // Trailing slash is mandatory — the broker matches it literally.\n  return `/status/${device.did}/${uid}/${device.model}/${region}/`;\n}\n\nexport function parsePropertyChanges(fallbackDid: string, params: unknown[]): PropertyChange[] {\n  const changes: PropertyChange[] = [];\n  for (const p of params) {\n    if (!isObject(p)) {\n      continue;\n    }\n    const siid = p['siid'];\n    const piid = p['piid'];\n    if (typeof siid === 'number' && typeof piid === 'number') {\n      const did = p['did'];\n      changes.push({\n        did: typeof did === 'string' || typeof did === 'number' ? String(did) : fallbackDid,\n        siid,\n        piid,\n        value: p['value'],\n      });\n    }\n  }\n  return changes;\n}\n\nexport function parseEventOccured(\n  fallbackDid: string,\n  params: Record<string, unknown>,\n): EventOccuredPush | null {\n  const siid = params['siid'];\n  const eiid = params['eiid'];\n  if (typeof siid !== 'number' || typeof eiid !== 'number') {\n    return null;\n  }\n  const did = params['did'];\n  const args = params['arguments'];\n  return {\n    did: typeof did === 'string' || typeof did === 'number' ? String(did) : fallbackDid,\n    siid,\n    eiid,\n    arguments: Array.isArray(args) ? args : [],\n  };\n}\n\nexport function parseMapInfo(\n  fallbackDid: string,\n  params: Record<string, unknown>,\n): MapInfoPush | null {\n  const inner = params['map_info'];\n  if (typeof inner !== 'string') {\n    return null;\n  }\n  let decoded: unknown;\n  try {\n    decoded = JSON.parse(inner);\n  } catch {\n    return null;\n  }\n  if (!isObject(decoded)) {\n    return null;\n  }\n  const maps = new Map<number, readonly number[]>();\n  for (const [key, value] of Object.entries(decoded)) {\n    const id = Number(key);\n    if (!Number.isFinite(id) || !Array.isArray(value)) {\n      continue;\n    }\n    maps.set(\n      id,\n      value.filter((v): v is number => typeof v === 'number'),\n    );\n  }\n  let activeMapId: number | null = null;\n  for (const [id, tok] of [...maps].sort((a, b) => a[0] - b[0])) {\n    if (tok.length > 1 || (tok.length === 1 && tok[0] !== 0)) {\n      activeMapId = id;\n      break;\n    }\n  }\n  const savedMapIds = Object.freeze([...maps.keys()].sort((a, b) => a - b));\n  const did = params['did'];\n  return {\n    did: typeof did === 'string' || typeof did === 'number' ? String(did) : fallbackDid,\n    maps,\n    activeMapId,\n    savedMapIds,\n  };\n}\n","import { EventEmitter } from 'node:events';\n\n/** A strongly-typed wrapper over Node's EventEmitter. */\nexport class TypedEmitter<Events extends Record<string, unknown[]>> {\n  readonly #emitter = new EventEmitter();\n\n  on<K extends keyof Events & string>(event: K, listener: (...args: Events[K]) => void): this {\n    this.#emitter.on(event, listener as (...args: unknown[]) => void);\n    return this;\n  }\n\n  once<K extends keyof Events & string>(event: K, listener: (...args: Events[K]) => void): this {\n    this.#emitter.once(event, listener as (...args: unknown[]) => void);\n    return this;\n  }\n\n  off<K extends keyof Events & string>(event: K, listener: (...args: Events[K]) => void): this {\n    this.#emitter.off(event, listener as (...args: unknown[]) => void);\n    return this;\n  }\n\n  emit<K extends keyof Events & string>(event: K, ...args: Events[K]): boolean {\n    return this.#emitter.emit(event, ...args);\n  }\n\n  /** Number of listeners registered for `event`. */\n  listenerCount<K extends keyof Events & string>(event: K): number {\n    return this.#emitter.listenerCount(event);\n  }\n\n  removeAllListeners(): this {\n    this.#emitter.removeAllListeners();\n    return this;\n  }\n}\n","/**\n * A read-only set of capability tokens a device model supports. Phase 2 ships\n * only the shape + a no-op default; P3/P4 populate per-model tables behind the\n * same {@link CapabilityResolver} interface.\n */\nexport interface DeviceCapabilities {\n  readonly model: string;\n  /** Whether the model is known to support a capability token. */\n  has(token: string): boolean;\n  /** All known capability tokens for the model. */\n  list(): readonly string[];\n}\n\n/** Resolves the capability set for a device model string. */\nexport interface CapabilityResolver {\n  resolve(model: string): DeviceCapabilities;\n}\n\n/** Immutable capability set backed by a token set. */\nclass CapabilitySet implements DeviceCapabilities {\n  readonly model: string;\n  readonly #tokens: ReadonlySet<string>;\n\n  constructor(model: string, tokens: ReadonlySet<string>) {\n    this.model = model;\n    this.#tokens = tokens;\n  }\n\n  has(token: string): boolean {\n    return this.#tokens.has(token);\n  }\n\n  list(): readonly string[] {\n    return [...this.#tokens];\n  }\n}\n\n/**\n * Default resolver: every model resolves to an EMPTY capability set. This is a\n * deliberate no-op scaffold — device-family resolvers (vacuum/mower) override\n * `resolve` in later phases while keeping this interface stable.\n */\nexport class DefaultCapabilityResolver implements CapabilityResolver {\n  resolve(model: string): DeviceCapabilities {\n    return new CapabilitySet(model, new Set<string>());\n  }\n}\n\nconst sharedDefault = new DefaultCapabilityResolver();\n\n/** Convenience: resolve capabilities via the shared default resolver. */\nexport function resolveCapabilities(model: string): DeviceCapabilities {\n  return sharedDefault.resolve(model);\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type {\n  DreameDevice,\n  DreameSession,\n  MiotProp,\n  PropertyResult,\n  PropertyWrite,\n} from '../cloud/types.js';\nimport {\n  callAction as defaultCallAction,\n  getProperties as defaultGetProperties,\n  getCachedProperties as defaultGetCachedProperties,\n  setProperties as defaultSetProperties,\n  type CommonInput,\n} from '../cloud/commands.js';\nimport { DreamePush, type PropertyChange } from '../transport/mqtt-push.js';\nimport { DreameTransportError } from '../transport/errors.js';\nimport { TypedEmitter } from '../transport/typed-emitter.js';\nimport { DefaultCapabilityResolver, type DeviceCapabilities } from './capability.js';\nimport type {\n  DeviceEvent,\n  PropertyChangedEvent,\n  PropertyState,\n  StateChangedEvent,\n} from '../api/types.js';\n\n/**\n * The slice of {@link DreamePush} that {@link BaseDevice} depends on. Declaring\n * it as an interface lets tests inject a fake emitter with no casts; the real\n * `DreamePush` structurally satisfies it.\n */\nexport interface PushLike {\n  on(event: 'properties', cb: (changes: PropertyChange[]) => void): this;\n  on(\n    event: 'event',\n    cb: (ev: { did: string; siid: number; eiid: number; arguments: unknown[] }) => void,\n  ): this;\n  on(event: 'connect', cb: () => void): this;\n  on(event: 'close', cb: () => void): this;\n  on(event: 'error', cb: (err: Error) => void): this;\n  open(): Promise<void>;\n  close(): Promise<void>;\n  refreshSession(session: DreameSession): Promise<void>;\n}\n\n/** Injectable collaborators — defaults wire the real transport + command layer. */\nexport interface BaseDeviceDeps {\n  createPush(\n    device: DreameDevice,\n    session: DreameSession,\n    region: DreameRegion,\n    onAuthFailure?: () => Promise<DreameSession>,\n  ): PushLike;\n  getProperties(base: CommonInput, props: MiotProp[]): Promise<PropertyResult[]>;\n  /** Read the cloud-cached (shadow) values WITHOUT waking the device. */\n  getCachedProperties(base: CommonInput, props: MiotProp[]): Promise<PropertyResult[]>;\n  setProperties(base: CommonInput, writes: PropertyWrite[]): Promise<PropertyResult[]>;\n  callAction(\n    base: CommonInput,\n    action: { siid: number; aiid: number; in?: unknown[] },\n  ): Promise<unknown>;\n}\n\n/** Default deps using the real `DreamePush` and `src/cloud/commands.ts`. */\nexport function defaultBaseDeviceDeps(): BaseDeviceDeps {\n  return {\n    createPush: (device, session, region, onAuthFailure) =>\n      new DreamePush({\n        device,\n        session,\n        region,\n        ...(onAuthFailure !== undefined ? { onAuthFailure } : {}),\n      }),\n    getProperties: (base, props) => defaultGetProperties(base, props),\n    getCachedProperties: (base, props) => defaultGetCachedProperties(base, props),\n    setProperties: (base, writes) => defaultSetProperties(base, writes),\n    callAction: (base, action) => defaultCallAction(base, action),\n  };\n}\n\nexport type BaseDeviceEvents = {\n  propertyChanged: [PropertyChangedEvent];\n  stateChanged: [StateChangedEvent];\n  event: [DeviceEvent];\n  error: [Error];\n};\n\nexport interface BaseDeviceInput {\n  device: DreameDevice;\n  region: DreameRegion;\n  /** Always reads the LATEST session — the facade owns the variable. */\n  sessionRef: () => DreameSession;\n  /**\n   * Force-refresh callback handed to the underlying push so it can self-heal a\n   * broker CONNACK auth-refusal (stale token) by minting a fresh session.\n   * Wired by the facade to `Nodreame.reauthenticate()`.\n   */\n  onAuthFailure?: () => Promise<DreameSession>;\n  deps?: BaseDeviceDeps;\n  /** Eager-seed the cache on `start()`. Default true. */\n  fetchInitialValues?: boolean;\n  /** Properties to seed when `fetchInitialValues` is true. Default `[]`. */\n  initialProps?: MiotProp[];\n  /** Poll interval (ms) while MQTT is down. Default 30000; 0 disables. */\n  pollIntervalMs?: number;\n  /** Capability set (defaults to the no-op resolver). */\n  capabilities?: DeviceCapabilities;\n}\n\nconst DEFAULT_POLL_INTERVAL_MS = 30000;\n\n/**\n * A device-type-agnostic live handle for one Dreame device.\n *\n * Generic over its event map so subclasses can WIDEN the typed emitter with\n * their own events (e.g. the vacuum's `'map'` event) without a banned cast.\n * `Events` is constrained to extend {@link BaseDeviceEvents} so every internal\n * `emit(...)` call stays type-safe, and it defaults to {@link BaseDeviceEvents}\n * so a bare `BaseDevice` reference behaves exactly as before.\n */\nexport class BaseDevice<\n  Events extends BaseDeviceEvents = BaseDeviceEvents,\n> extends TypedEmitter<Events> {\n  readonly #device: DreameDevice;\n  readonly #region: DreameRegion;\n  readonly #sessionRef: () => DreameSession;\n  readonly #onAuthFailure: (() => Promise<DreameSession>) | undefined;\n  readonly #deps: BaseDeviceDeps;\n  readonly #fetchInitial: boolean;\n  readonly #initialProps: MiotProp[];\n  readonly #pollIntervalMs: number;\n  readonly #capabilities: DeviceCapabilities;\n  readonly #cache = new Map<string, PropertyState>();\n  #push: PushLike | null = null;\n  #mqttHealthy = false;\n  #pollTimer: ReturnType<typeof setInterval> | null = null;\n  #closed = false;\n\n  constructor(input: BaseDeviceInput) {\n    super();\n    this.#device = input.device;\n    this.#region = input.region;\n    this.#sessionRef = input.sessionRef;\n    this.#onAuthFailure = input.onAuthFailure;\n    this.#deps = input.deps ?? defaultBaseDeviceDeps();\n    this.#fetchInitial = input.fetchInitialValues ?? true;\n    this.#initialProps = input.initialProps ?? [];\n    this.#pollIntervalMs = input.pollIntervalMs ?? DEFAULT_POLL_INTERVAL_MS;\n    this.#capabilities =\n      input.capabilities ?? new DefaultCapabilityResolver().resolve(input.device.model);\n  }\n\n  get deviceId(): string {\n    return this.#device.did;\n  }\n\n  get model(): string {\n    return this.#device.model;\n  }\n\n  get name(): string {\n    return this.#device.name;\n  }\n\n  get capabilities(): DeviceCapabilities {\n    return this.#capabilities;\n  }\n\n  /** Snapshot of all cached property states. */\n  get properties(): readonly PropertyState[] {\n    return [...this.#cache.values()];\n  }\n\n  /** Read a cached property, or `undefined` if never observed. */\n  getProperty(siid: number, piid: number): PropertyState | undefined {\n    return this.#cache.get(key(siid, piid));\n  }\n\n  #base(): CommonInput {\n    return { session: this.#sessionRef(), region: this.#region, did: this.#device.did };\n  }\n\n  /** The region this handle is bound to. Subclasses use it to build map fetches. */\n  protected get region(): DreameRegion {\n    return this.#region;\n  }\n\n  /** Latest session snapshot. Subclasses use it for out-of-band fetches (maps). */\n  protected currentSession(): DreameSession {\n    return this.#sessionRef();\n  }\n\n  /** Open the push, wire events, optionally seed the cache. */\n  async start(): Promise<void> {\n    const push = this.#deps.createPush(\n      this.#device,\n      this.#sessionRef(),\n      this.#region,\n      this.#onAuthFailure,\n    );\n    this.#push = push;\n    push.on('properties', (changes) => this.#onProperties(changes));\n    push.on('event', (ev) =>\n      this.emit('event', {\n        deviceId: ev.did || this.#device.did,\n        siid: ev.siid,\n        eiid: ev.eiid,\n        arguments: ev.arguments,\n      }),\n    );\n    push.on('error', (err) => this.emit('error', err));\n    push.on('connect', () => this.#onMqttUp());\n    push.on('close', () => this.#onMqttDown());\n    await push.open();\n    this.#onMqttUp();\n    if (this.#fetchInitial && this.#initialProps.length > 0) {\n      await this.refreshProperties(this.#initialProps);\n    }\n  }\n\n  /** Live-read properties, update the cache, return the raw results. */\n  async refreshProperties(props: MiotProp[]): Promise<PropertyResult[]> {\n    this.#assertOpen();\n    const results = await this.#deps.getProperties(this.#base(), props);\n    this.#seedFromResults(results);\n    return results;\n  }\n\n  /**\n   * Read the CLOUD-CACHED (shadow) values of `props` WITHOUT waking the device,\n   * update the cache, and emit `propertyChanged`/`stateChanged` just like\n   * {@link refreshProperties} — but sourced from the cloud shadow endpoint, so\n   * it works for standby/offline robots (and never surfaces a false 80001).\n   */\n  async refreshCachedProperties(props: MiotProp[]): Promise<PropertyResult[]> {\n    this.#assertOpen();\n    const results = await this.#deps.getCachedProperties(this.#base(), props);\n    this.#seedFromResults(results);\n    return results;\n  }\n\n  /** Mirror a PropertyResult[] into the cache + emit the change events. */\n  #seedFromResults(results: PropertyResult[]): void {\n    const changes: PropertyChange[] = [];\n    for (const r of results) {\n      if (typeof r.siid === 'number' && typeof r.piid === 'number') {\n        changes.push({ did: this.#device.did, siid: r.siid, piid: r.piid, value: r.value });\n      }\n    }\n    if (changes.length > 0) {\n      this.#onProperties(changes);\n    }\n  }\n\n  /** Write a property to the device. */\n  async setProperty(write: PropertyWrite): Promise<PropertyResult[]> {\n    this.#assertOpen();\n    return this.#deps.setProperties(this.#base(), [write]);\n  }\n\n  /** Invoke a MIoT action on the device. */\n  async callAction(siid: number, aiid: number, input: unknown[] = []): Promise<unknown> {\n    this.#assertOpen();\n    return this.#deps.callAction(this.#base(), { siid, aiid, in: input });\n  }\n\n  /** Guard against use after {@link close}. */\n  #assertOpen(): void {\n    if (this.#closed) {\n      throw new DreameTransportError('device handle is closed');\n    }\n  }\n\n  /** Propagate a refreshed session to the underlying push. */\n  async applySession(session: DreameSession): Promise<void> {\n    if (this.#push) {\n      await this.#push.refreshSession(session);\n    }\n  }\n\n  /** Tear down: stop polling, close the push. */\n  async close(): Promise<void> {\n    this.#closed = true;\n    this.#stopPolling();\n    const push = this.#push;\n    this.#push = null;\n    if (push) {\n      await push.close();\n    }\n    this.removeAllListeners();\n  }\n\n  #onProperties(changes: PropertyChange[]): void {\n    const emitted: PropertyChangedEvent[] = [];\n    const now = Date.now();\n    for (const c of changes) {\n      const k = key(c.siid, c.piid);\n      const previous = this.#cache.get(k);\n      this.#cache.set(k, { siid: c.siid, piid: c.piid, value: c.value, updatedAt: now });\n      const ev: PropertyChangedEvent = {\n        deviceId: this.#device.did,\n        siid: c.siid,\n        piid: c.piid,\n        value: c.value,\n        previousValue: previous ? previous.value : null,\n      };\n      emitted.push(ev);\n      this.emit('propertyChanged', ev);\n    }\n    if (emitted.length > 0) {\n      this.emit('stateChanged', { deviceId: this.#device.did, changes: emitted });\n    }\n  }\n\n  #onMqttUp(): void {\n    this.#mqttHealthy = true;\n    this.#stopPolling();\n  }\n\n  #onMqttDown(): void {\n    this.#mqttHealthy = false;\n    this.#startPolling();\n  }\n\n  #startPolling(): void {\n    if (this.#closed || this.#pollTimer || this.#pollIntervalMs <= 0) {\n      return;\n    }\n    if (this.#initialProps.length === 0) {\n      return;\n    }\n    this.#pollTimer = setInterval(() => {\n      if (this.#mqttHealthy) {\n        this.#stopPolling();\n        return;\n      }\n      void this.refreshProperties(this.#initialProps).catch((err: unknown) => {\n        this.emit('error', err instanceof Error ? err : new Error(String(err)));\n      });\n    }, this.#pollIntervalMs);\n  }\n\n  #stopPolling(): void {\n    if (this.#pollTimer) {\n      clearInterval(this.#pollTimer);\n      this.#pollTimer = null;\n    }\n  }\n}\n\nfunction key(siid: number, piid: number): string {\n  return `${siid}.${piid}`;\n}\n","/**\n * Vacuum MIoT property + action maps (ported from malard/node-dreame\n * src/spec/{vacuum,battery,settings,consumable}-props.ts, MIT — attribution\n * retained). P3 subset only (state/commands/consumables); map/dock/schedule\n * tables land in later phases. VERIFIED/ASSUMED annotations preserved.\n */\n\n/** Vacuum service properties (siid 2 = state machine, siid 4 = task cluster). */\nexport const VACUUM_PROP = {\n  /** VERIFIED r2532a — MiotState enum. */\n  STATE: { siid: 2, piid: 1 } as const,\n  /** VERIFIED r2532a — single-value error/fault code (see MiotError). */\n  ERROR: { siid: 2, piid: 2 } as const,\n  /** VERIFIED r2449a — writable CleaningMode (plain 0..3). SAFE write path. */\n  CLEAN_MODE_SETTING: { siid: 2, piid: 6 } as const,\n  /** VERIFIED r2532a — multi-value comma-separated fault-list mirror. */\n  FAULTS_STR: { siid: 4, piid: 18 } as const,\n  /** VERIFIED r2532a — Dreame \"task status\" enum (TaskStatus). */\n  TASK_STATUS: { siid: 4, piid: 1 } as const,\n  /** ASSUMED Tasshack types.py:573 — job runtime (minutes). */\n  CLEANING_TIME: { siid: 4, piid: 2 } as const,\n  /** ASSUMED Tasshack types.py:574 — area cleaned (m²). */\n  CLEANED_AREA: { siid: 4, piid: 3 } as const,\n  /** ASSUMED Tasshack types.py:575 — suction enum (SuctionLevel). */\n  SUCTION_LEVEL: { siid: 4, piid: 4 } as const,\n  /** ASSUMED Tasshack types.py:576 — water flow during cleaning (WaterVolume). */\n  WATER_VOLUME: { siid: 4, piid: 5 } as const,\n  /** ASSUMED Tasshack types.py:1479 — relocation state machine (0/1/10/11). */\n  RELOCATION_STATUS: { siid: 4, piid: 20 } as const,\n  /**\n   * VERIFIED r2449a — packed (0x1400 capability mask | CleaningMode low-2-bits).\n   * READ-ONLY here: do NOT write directly (drops mask → bricks next clean).\n   * Use CLEAN_MODE_SETTING (siid 2 piid 6) to change clean mode.\n   */\n  CLEANING_MODE: { siid: 4, piid: 23 } as const,\n  /** VERIFIED r2532a — Child Lock boolean. */\n  CHILD_LOCK: { siid: 4, piid: 27 } as const,\n  /**\n   * AI obstacle-detection toggle bundle (Tasshack types.py:1609 — `AI_DETECTION`,\n   * siid 4 piid 22). The value packs ALL AI-obstacle switches into ONE property,\n   * encoded as EITHER an int bitmask (`DreameVacuumAIProperty`) OR a JSON string\n   * (`DreameVacuumStrAIProperty`) depending on firmware. Decode/encode per-feature\n   * via `ai-detection.ts` ({@link decodeAiFeature} / {@link encodeAiFeatureWrite}).\n   */\n  AI_DETECTION: { siid: 4, piid: 22 } as const,\n  /**\n   * Auto-switch settings bundle (Tasshack types.py — `AUTO_SWITCH_SETTINGS`,\n   * siid 4 piid 50). A JSON string packing every secondary toggle/setting as\n   * `[{\"k\":<key>,\"v\":<int>}, …]`. Decode/encode per-setting via `auto-switch.ts`.\n   */\n  AUTO_SWITCH_SETTINGS: { siid: 4, piid: 50 } as const,\n  /** VERIFIED r2532a 2026-05-03 — task progress percentage 0..100. */\n  TASK_PROGRESS_PCT: { siid: 4, piid: 63 } as const,\n  /** VERIFIED r2532a — mop-drying progress (minutes ticking during MopDrying). */\n  DRYING_PROGRESS: { siid: 4, piid: 64 } as const,\n  /**\n   * Map \"PATH\" push — the OSS object name of the latest map frame the robot\n   * uploaded (the value passed to {@link VacuumDevice.getMap}). Arrives via the\n   * MQTT push during/after cleaning; NOT in `DEFAULT_PROPS` because it is not\n   * polled (it is pushed). Read it through {@link VacuumDevice.mapFilename}.\n   */\n  MAP_PATH: { siid: 6, piid: 3 } as const,\n} as const;\n\n/**\n * Vacuum-service actions. `callAction` builds the single-OBJECT params shape\n * (an array surfaces a misleading code 80001). START_CUSTOM carries the\n * segment/zone/spot payload as in-params (piid 1 = mode, piid 10 = JSON).\n */\nexport const VACUUM_ACTION = {\n  /** ASSUMED Tasshack — start cleaning. */\n  START: { siid: 2, aiid: 1 } as const,\n  /** VERIFIED r2532a — pause (code 0 while idle). */\n  PAUSE: { siid: 2, aiid: 2 } as const,\n  /** ASSUMED Tasshack — return to dock / charge. */\n  CHARGE: { siid: 3, aiid: 1 } as const,\n  /** ASSUMED Tasshack — START_CUSTOM (segment/zone/spot; needs in payload). */\n  START_CUSTOM: { siid: 4, aiid: 1 } as const,\n  /** VERIFIED r2532a — stop (code 0 while idle). */\n  STOP: { siid: 4, aiid: 2 } as const,\n  /** VERIFIED r2532a 2026-05-02 — clear warning (code 0). */\n  CLEAR_WARNING: { siid: 4, aiid: 3 } as const,\n  /** ASSUMED Tasshack — start dock mop wash. */\n  START_WASHING: { siid: 4, aiid: 4 } as const,\n  /** VERIFIED r2532a 2026-05-02 — locate (robot beeps, code 0). */\n  LOCATE: { siid: 7, aiid: 1 } as const,\n  /** ASSUMED Tasshack — manual auto-empty trigger. */\n  START_AUTO_EMPTY: { siid: 15, aiid: 1 } as const,\n} as const;\n\n/** Battery service (siid 3). */\nexport const BATTERY_PROP = {\n  /** VERIFIED r2532a — battery percentage. */\n  LEVEL: { siid: 3, piid: 1 } as const,\n  /** VERIFIED r2532a — charging status (ChargingStatus). */\n  CHARGING_STATUS: { siid: 3, piid: 2 } as const,\n} as const;\n\n/** Settings service — P3 needs voice volume only. */\nexport const SETTINGS_PROP = {\n  /** ASSUMED Tasshack types.py:642 — voice volume 0-100. */\n  VOLUME: { siid: 7, piid: 1 } as const,\n} as const;\n\n/** Consumables — % remaining (VERIFIED r2532a; note filter % is on piid 1). */\nexport const CONSUMABLE_PROP = {\n  MAIN_BRUSH_LEFT: { siid: 9, piid: 2 } as const,\n  SIDE_BRUSH_LEFT: { siid: 10, piid: 2 } as const,\n  FILTER_LEFT: { siid: 11, piid: 1 } as const,\n} as const;\n\n/** START_CUSTOM mode ints (siid 4 piid 1 in-param). Tasshack device.py. */\nexport const CUSTOM_CLEAN_MODE = {\n  SEGMENT: 18,\n  ZONE: 19,\n  SPOT: 20,\n} as const;\n","/**\n * Vacuum MIoT enum definitions (ported from malard/node-dreame\n * src/spec/enums.ts, MIT — attribution retained). Only the state/command\n * enums P3 needs are ported here; dock/schedule enums land in later phases.\n * Annotations (VERIFIED <date> / ASSUMED from Tasshack) are preserved.\n */\n\n/**\n * VERIFIED on r2532a 2026-05-02 — MIoT STATE (siid 2 piid 1). Sourced from\n * the device's keyDefine v8 JSON. 19 values verified live across a full\n * cleaning task; sub-mode: value 1 = vacuum-only, value 12 = vacuum+mop.\n */\nexport enum MiotState {\n  Cleaning = 1,\n  Standby = 2,\n  Paused = 3,\n  PausedAlt = 4,\n  ReturningToCharge = 5,\n  Charging = 6,\n  Mopping = 7,\n  MopDrying = 8,\n  MopCleaning = 9,\n  ReturningToWash = 10,\n  Mapping = 11,\n  CleaningAlt = 12,\n  ChargingComplete = 13,\n  Updating = 14,\n  CallToClean = 15,\n  AutoRepairBase = 16,\n  ReturnInstallMop = 17,\n  ReturnRemoveMop = 18,\n  WaterSupplyDrainTest = 19,\n  CleanMopRefillWater = 20,\n  PausedCleaning = 21,\n  AutoEmptying = 22,\n  RemoteCleaning = 23,\n  IntelligentCharging = 24,\n  SecondCleaning = 25,\n  Following = 26,\n  PartialCleaning = 27,\n  ReturnToEmpty = 28,\n  WaitingForTask = 29,\n  CleanWashboardBase = 30,\n  // ASSUMED from Tasshack (DreameVacuumState) — codes 31-38 not yet live-verified.\n  ReturningToDrain = 31,\n  Draining = 32,\n  AutoWaterDraining = 33,\n  Emptying = 34,\n  DustBagDrying = 35,\n  DustBagDryingPaused = 36,\n  HeadingToExtraCleaning = 37,\n  ExtraCleaning = 38,\n  FindingPetPaused = 95,\n  FindingPet = 96,\n  ShortcutRunning = 97,\n  CameraMonitoring = 98,\n  CameraMonitoringPaused = 99,\n  InitialDeepClean = 101,\n  // ASSUMED from Tasshack (DreameVacuumState) — codes 102-108.\n  InitialDeepCleanPaused = 102,\n  Sanitizing = 103,\n  SanitizingWithDry = 104,\n  ChangingMop = 105,\n  ChangingMopPaused = 106,\n  FloorMaintaining = 107,\n  FloorMaintainingPaused = 108,\n}\n\n/** VERIFIED on r2532a 2026-05-02 — ChargingStatus (siid 3 piid 2). */\nexport enum ChargingStatus {\n  Charging = 1,\n  Discharging = 2,\n  Returning = 5,\n}\n\n/** VERIFIED on r2532a 2026-05-02 — SuctionLevel (siid 4 piid 4). X50 labels. */\nexport enum SuctionLevel {\n  Quiet = 0,\n  Standard = 1,\n  Intense = 2,\n  Max = 3,\n}\n\n/** ASSUMED from Tasshack — WaterVolume (siid 4 piid 5). NOT YET verified on r2532a. */\nexport enum WaterVolume {\n  Low = 1,\n  Medium = 2,\n  High = 3,\n}\n\n/**\n * VERIFIED on r2449a 2026-05-21 — plain 0..3 value space written via\n * CLEAN_MODE_SETTING (siid 2 piid 6). The raw CLEANING_MODE field (siid 4\n * piid 23) packs this in its low 2 bits OR'd with a 0x1400 capability mask;\n * prefer CLEAN_MODE_SETTING to avoid the bitfield trap.\n */\nexport enum CleaningMode {\n  Sweeping = 0,\n  Mopping = 1,\n  SweepAndMop = 2,\n  MopAfterSweep = 3,\n}\n\n/**\n * Error / fault value space for ERROR (siid 2 piid 2) and FAULTS_STR\n * (siid 4 piid 18). This is the FULL Tasshack `DreameVacuumErrorCode` table\n * (types.py) — every documented integer is mapped. Members whose names were\n * VERIFIED live on r2532a keep their verified labels even where the donor uses\n * a different label for the same integer (annotated inline); the rest carry the\n * donor's documented name. UNKNOWN (-1) is intentionally omitted — an unknown\n * code falls through the cast-free lookup and surfaces as the raw number.\n */\nexport enum MiotError {\n  Clear = 0, // donor NO_ERROR\n  WheelRotationAnomaly = 1, // donor DROP (VERIFIED label kept)\n  Cliff = 2,\n  Bumper = 3,\n  Gesture = 4,\n  BumperRepeat = 5,\n  DropRepeat = 6,\n  OpticalFlow = 7,\n  Box = 8,\n  TankBox = 9,\n  WaterBoxEmpty = 10,\n  BoxFull = 11,\n  Brush = 12,\n  SideBrush = 13,\n  Fan = 14,\n  LeftWheelMotor = 15,\n  RightWheelMotor = 16,\n  TurnSuffocate = 17,\n  RobotLifted = 18, // donor FORWARD_SUFFOCATE (VERIFIED label kept)\n  ChargerGet = 19,\n  BatteryLow = 20,\n  ChargeFault = 21,\n  BatteryPercentageAnomaly = 22, // donor BATTERY_PERCENTAGE\n  Heart = 23,\n  CameraOcclusion = 24,\n  Move = 25,\n  FlowShielding = 26,\n  InfraredShielding = 27,\n  ChargeNoElectric = 28,\n  BatteryFault = 29,\n  FanSpeedError = 30,\n  LeftWheelSpeed = 31,\n  RightWheelSpeed = 32,\n  Bmi055Acce = 33,\n  Bmi055Gyro = 34,\n  Xv7001 = 35,\n  LeftMagnet = 36,\n  RightMagnet = 37,\n  FlowError = 38,\n  InfraredFault = 39,\n  CameraFault = 40,\n  StrongMagnet = 41,\n  WaterPump = 42,\n  Rtc = 43,\n  AutoKeyTrig = 44,\n  P3v3 = 45,\n  CameraIdle = 46,\n  Blocked = 47,\n  LdsError = 48,\n  LdsBumper = 49,\n  WaterPump2 = 50,\n  FilterBlocked = 51,\n  Edge = 54,\n  Carpet = 55,\n  Laser = 56,\n  Edge2 = 57,\n  Ultrasonic = 58,\n  NoGoZone = 59,\n  Route = 61,\n  Route2 = 62,\n  Blocked2 = 63,\n  Blocked3 = 64,\n  Restricted = 65,\n  Restricted2 = 66,\n  Restricted3 = 67,\n  TaskComplete = 68, // donor REMOVE_MOP (VERIFIED label kept)\n  MopRemoved = 69,\n  MopRemoved2 = 70,\n  MopPadStopRotate = 71,\n  MopPadStopRotate2 = 72,\n  ManualMopInstallRequired = 74, // donor MOP_INSTALL_FAILED (VERIFIED label kept)\n  LowBatteryTurnOff = 75,\n  DirtyTankNotInstalled = 76,\n  RobotInHiddenRoom = 78,\n  LdsFailedToLift = 79,\n  RobotStuck = 80,\n  RobotStuckRepeat = 81,\n  SlipperyFloor = 82,\n  UnknownError = 84,\n  CheckMopInstall = 85,\n  DirtyWaterTankFull = 86,\n  RetractableLegStuck = 88,\n  InternalError = 89,\n  RobotStuck2 = 90,\n  RobotStuckOnTables = 91,\n  RobotStuckOnPassage = 92,\n  RobotStuckOnThreshold = 93,\n  RobotStuckOnLowLyingArea = 94,\n  RobotStuckOnRamp = 95,\n  RobotStuckOnObstacle = 96,\n  RobotStuckOnPet = 97,\n  RobotStuckOnSlipperySurface = 98,\n  RobotStuckOnCarpet = 99,\n  BinFull = 101,\n  BinOpen = 102,\n  BinOpen2 = 103,\n  BinFull2 = 104,\n  WastewaterTankFull = 105, // donor WATER_TANK (VERIFIED label kept)\n  DirtyWaterTank = 106,\n  CleanWaterTankEmpty = 107, // donor WATER_TANK_DRY (VERIFIED label kept)\n  DirtyWaterTank2 = 108,\n  DirtyWaterTankBlocked = 109,\n  DirtyWaterTankPump = 110,\n  MopPad = 111,\n  WetMopPad = 112,\n  WashboardFilterNeedsCleaning = 114, // donor CLEAN_MOP_PAD (VERIFIED label kept)\n  CleanTankLevel = 116,\n  StationDisconnected = 117,\n  DirtyTankLevel = 118,\n  WashboardLevel = 119,\n  MopPadsMissing = 120, // donor NO_MOP_IN_STATION (VERIFIED label kept)\n  DustBagFull = 121,\n  UnknownWarning = 122,\n  SelfTestFailed = 123,\n  WashboardNotWorking = 124,\n  DrainageFailed = 125,\n  MopNotDetected = 126,\n  MopHolderError = 127,\n  DockError = 128,\n  WashFailed = 129,\n  RobotStuckOnCurtain = 200,\n  EdgeMopStopRotate = 201,\n  EdgeMopDetached = 202,\n  ChassisLiftMalfunction = 203,\n  InternalError2 = 207,\n  MopCoverError = 209,\n  RollerMopError = 210,\n  OnboardWaterTankEmpty = 213,\n  OnboardDirtyWaterTankFull = 214,\n  MopNotInstalled = 215,\n  RollerMopError2 = 218,\n  FluffingRollerError = 222,\n  MopCoverError2 = 223,\n  BlockedByObstacle = 226,\n  ReturnToChargeFailed = 1000,\n}\n\n/**\n * TASK_STATUS (siid 4 piid 1). Codes 1/2/3/6/12/14 carry the labels VERIFIED\n * live on r2532a 2026-05-02 — these are KEPT verbatim because they were\n * observed against real task transitions and differ from the donor's labels for\n * the same integers (donor: 1=AUTO_CLEANING, 2=ZONE_CLEANING, 3=SEGMENT_CLEANING,\n * 6=AUTO_CLEANING_PAUSED, 12=MOPPING_PAUSED, 14=ZONE_MOPPING_PAUSED). The\n * remaining members are ASSUMED from Tasshack `DreameVacuumTaskStatus`\n * (types.py) — added so documented codes resolve to a name. Unknown codes\n * surface as raw via {@link VacuumDevice.taskStatusRaw}.\n */\nexport enum TaskStatus {\n  // ASSUMED from Tasshack\n  Completed = 0,\n  // VERIFIED live\n  InterruptedOrPaused = 1,\n  Active = 2,\n  Transitioning = 3,\n  // ASSUMED from Tasshack\n  SpotCleaning = 4,\n  FastMapping = 5,\n  // VERIFIED live\n  OnDockIdle = 6,\n  // ASSUMED from Tasshack\n  ZoneCleaningPaused = 7,\n  SegmentCleaningPaused = 8,\n  SpotCleaningPaused = 9,\n  MapCleaningPaused = 10,\n  DockingPaused = 11,\n  // VERIFIED live\n  TransientPauseEdge = 12,\n  // ASSUMED from Tasshack\n  SegmentMoppingPaused = 13,\n  // VERIFIED live\n  NeedsIntervention = 14,\n  // ASSUMED from Tasshack\n  AutoMoppingPaused = 15,\n  AutoDockingPaused = 16,\n  SegmentDockingPaused = 17,\n  ZoneDockingPaused = 18,\n  CruisingPath = 20,\n  CruisingPathPaused = 21,\n  CruisingPoint = 22,\n  CruisingPointPaused = 23,\n  SummonCleanPaused = 24,\n  ReturningInstallMop = 25,\n  ReturningRemoveMop = 26,\n  StationCleaning = 27,\n  PetFinding = 30,\n  AutoCleaningWashingPaused = 31,\n  AreaCleaningWashingPaused = 32,\n  CustomCleaningWashingPaused = 33,\n}\n","/**\n * Cast-free decode primitives shared by the vacuum and mower model layers.\n * `enumLookup` was a private helper in vacuum-device.ts (P3); promoted here so\n * the mower reuses it verbatim with no banned cast. The narrower relies on\n * `members.find(...)` being `E | undefined`, so no `as` is needed to turn a raw\n * number back into an enum literal.\n */\n\n/** Coerce a raw MIoT value to a number, or null. */\nexport function asNum(value: unknown): number | null {\n  return typeof value === 'number' ? value : null;\n}\n\n/**\n * Returns a narrower: a raw number (or null) maps to the matching ENUM-typed\n * member, or null when not a member. Cast-free.\n */\nexport function enumLookup<E extends number>(\n  members: readonly E[],\n): (n: number | null) => E | null {\n  const set = new Set<number>(members);\n  return (n) => (n !== null && set.has(n) ? (members.find((m) => m === n) ?? null) : null);\n}\n","/**\n * Cast-free decode helpers for vacuum state (ported from node-dreame\n * src/vacuum/state.ts, MIT). The donor's `asEnum` used `num as T`; this\n * port replaces it with a numeric-membership check so callers can narrow\n * with no banned cast.\n */\n\n// asNum now lives in the shared module so vacuum + mower share one cast-free\n// implementation. parseFaultList / enumMembers stay vacuum-specific below.\nexport { asNum } from '../_shared/decode.js';\n\n/** Numeric members of a TS numeric enum object (ascending insertion order). */\nexport function enumMembers(enumObj: Record<string, unknown>): number[] {\n  return Object.values(enumObj).filter((v): v is number => typeof v === 'number');\n}\n\n/**\n * Parse the multi-value FAULTS_STR (siid 4 piid 18) into an array of fault\n * ints. Comma-separated when multiple conditions are latched; the single\n * case is the int as a string. Empty / \"0\" / whitespace → []. A bare\n * non-zero number is accepted as a one-element list.\n */\nexport function parseFaultList(value: unknown): number[] {\n  if (typeof value !== 'string') {\n    if (typeof value === 'number' && value !== 0) {\n      return [value];\n    }\n    return [];\n  }\n  const trimmed = value.trim();\n  if (trimmed === '' || trimmed === '0') {\n    return [];\n  }\n  const codes: number[] = [];\n  for (const part of trimmed.split(',')) {\n    const n = Number.parseInt(part.trim(), 10);\n    if (Number.isFinite(n) && n !== 0) {\n      codes.push(n);\n    }\n  }\n  return codes;\n}\n","/**\n * AI obstacle-detection codec. The robot packs ALL AI-obstacle toggles into a\n * SINGLE MIoT property — `AI_DETECTION` (siid 4 piid 22) — whose value is EITHER\n * an `int` bitmask OR a `str` JSON object, depending on firmware generation.\n * Ported from the Tasshack `dreame-vacuum` HA integration (v2.0.0b25):\n *   - INT  ←→ `DreameVacuumAIProperty`     (bitwise flags)\n *   - JSON ←→ `DreameVacuumStrAIProperty`  ({ \"<key>\": bool })\n *\n * This module exposes per-feature decode + a read-modify-write encode that\n * preserves the other features, so a consumer can present each AI toggle as an\n * independent boolean without knowing which on-wire encoding the model uses.\n */\n\n/** Canonical AI-obstacle feature keys. A given model exposes a subset. */\nexport type DreameAiFeature =\n  | 'furnitureDetection'\n  | 'obstacleDetection'\n  | 'obstaclePicture'\n  | 'fluidDetection'\n  | 'petDetection'\n  | 'obstacleImageUpload'\n  | 'petAvoidance'\n  | 'fuzzyObstacleDetection'\n  | 'petPicture'\n  | 'petFocusedDetection'\n  | 'largeParticlesBoost'\n  | 'humanDetection';\n\n/**\n * Bit value in the INT-encoded `AI_DETECTION` (Tasshack `DreameVacuumAIProperty`).\n * A feature absent here has no int representation (JSON-only).\n */\nexport const AI_FEATURE_BIT: Readonly<Partial<Record<DreameAiFeature, number>>> = {\n  furnitureDetection: 1,\n  obstacleDetection: 2,\n  obstaclePicture: 4,\n  fluidDetection: 8,\n  petDetection: 16,\n  obstacleImageUpload: 32,\n  // AI_IMAGE = 64 is an internal flag, not a user toggle — intentionally omitted.\n  petAvoidance: 128,\n  fuzzyObstacleDetection: 256,\n  petPicture: 512,\n  petFocusedDetection: 1024,\n  largeParticlesBoost: 2048,\n};\n\n/**\n * Key in the JSON-string-encoded `AI_DETECTION` (Tasshack\n * `DreameVacuumStrAIProperty`). A feature absent here has no JSON representation.\n */\nexport const AI_FEATURE_JSON_KEY: Readonly<Partial<Record<DreameAiFeature, string>>> = {\n  obstacleDetection: 'obstacle_detect_switch',\n  obstacleImageUpload: 'obstacle_app_display_switch',\n  petDetection: 'whether_have_pet',\n  humanDetection: 'human_detect_switch',\n  furnitureDetection: 'furniture_detect_switch',\n  fluidDetection: 'fluid_detect_switch',\n};\n\n/** The raw on-wire `AI_DETECTION` value: an int bitmask, a JSON string, or absent. */\nexport type AiDetectionRaw = number | string | null;\n\nfunction isRecord(v: unknown): v is Record<string, unknown> {\n  return v !== null && typeof v === 'object' && !Array.isArray(v);\n}\n\n/** Parse a JSON-string AI payload into an object, or null when not an object. */\nfunction parseJsonPayload(raw: string): Record<string, unknown> | null {\n  try {\n    const parsed: unknown = JSON.parse(raw);\n    return isRecord(parsed) ? parsed : null;\n  } catch {\n    return null;\n  }\n}\n\n/** Coerce a JSON value (bool | 1/0 | \"1\"/\"0\") to a boolean, or null when ambiguous. */\nfunction coerceBool(v: unknown): boolean | null {\n  if (typeof v === 'boolean') return v;\n  if (v === 1 || v === '1') return true;\n  if (v === 0 || v === '0') return false;\n  return null;\n}\n\n/**\n * Decode ONE AI feature's on/off state from the raw `AI_DETECTION` value,\n * transparently handling both the int-bitmask and JSON-string encodings.\n * Returns `null` when the value is absent, the encoding cannot represent the\n * feature, or the JSON payload omits the key.\n */\nexport function decodeAiFeature(raw: AiDetectionRaw, feature: DreameAiFeature): boolean | null {\n  if (typeof raw === 'number') {\n    const bit = AI_FEATURE_BIT[feature];\n    if (bit === undefined) return null;\n    return (raw & bit) === bit;\n  }\n  if (typeof raw === 'string') {\n    const key = AI_FEATURE_JSON_KEY[feature];\n    if (key === undefined) return null;\n    const payload = parseJsonPayload(raw);\n    if (payload === null) return null;\n    return coerceBool(payload[key]);\n  }\n  return null;\n}\n\n/**\n * Compute the value to WRITE back to `AI_DETECTION` after toggling ONE feature,\n * preserving the on-wire encoding and the other features. Mirrors Tasshack\n * `set_ai_detection`: an int payload is the full new bitmask; a JSON payload\n * carries ONLY the changed key (the device merges it server-side).\n *\n * Throws when the current value/encoding is unknown (a blind read-modify-write\n * could clobber the other features) or the feature has no representation in the\n * active encoding.\n */\nexport function encodeAiFeatureWrite(\n  raw: AiDetectionRaw,\n  feature: DreameAiFeature,\n  value: boolean,\n): number | string {\n  if (typeof raw === 'number') {\n    const bit = AI_FEATURE_BIT[feature];\n    if (bit === undefined) {\n      throw new Error(\n        `encodeAiFeatureWrite: feature \"${feature}\" has no int-bitmask representation`,\n      );\n    }\n    return value ? raw | bit : raw & ~bit;\n  }\n  if (typeof raw === 'string') {\n    const key = AI_FEATURE_JSON_KEY[feature];\n    if (key === undefined) {\n      throw new Error(`encodeAiFeatureWrite: feature \"${feature}\" has no JSON-key representation`);\n    }\n    return JSON.stringify({ [key]: value });\n  }\n  throw new Error(\n    `encodeAiFeatureWrite: AI_DETECTION value not yet known — cannot safely toggle \"${feature}\"`,\n  );\n}\n","/**\n * Auto-switch settings codec. The robot packs a large bundle of secondary\n * cleaning toggles + multi-value settings into a SINGLE MIoT property —\n * `AUTO_SWITCH_SETTINGS` (siid 4 piid 50) — whose value is a JSON string.\n * Ported from the Tasshack `dreame-vacuum` HA integration (v2.0.0b25,\n * `DreameVacuumAutoSwitchProperty` + `set_auto_switch_property`):\n *\n *   - READ  : a JSON LIST `[{\"k\":\"LessColl\",\"v\":1}, …]` (or a single\n *             `{\"k\":…,\"v\":…}` object) — every supported key/value pair.\n *   - WRITE : a SINGLE `{\"k\":\"LessColl\",\"v\":0}` object carrying ONLY the\n *             changed key; the device merges it server-side.\n *\n * Unlike `AI_DETECTION` this family is JSON-ONLY (no int-bitmask variant) and the\n * values are arbitrary ints (booleans 0/1, small enums, and `-1`/`-n` \"not\n * applicable\" sentinels) — the codec returns the raw int and leaves the\n * boolean-vs-enum interpretation to the caller. Presence is data-driven: a key is\n * \"supported\" iff it appears in the decoded payload (exactly how Tasshack derives\n * `auto_switch_data`).\n */\n\n/** Canonical auto-switch keys. A given model reports a subset. */\nexport type AutoSwitchKey =\n  | 'collisionAvoidance'\n  | 'fillLight'\n  | 'autoDrying'\n  | 'stainAvoidance'\n  | 'moppingType'\n  | 'cleanGenius'\n  | 'widerCornerCoverage'\n  | 'floorDirectionCleaning'\n  | 'petFocusedCleaning'\n  | 'autoRecleaning'\n  | 'autoRewashing'\n  | 'mopPadSwing'\n  | 'autoCharging'\n  | 'humanFollow'\n  | 'maxSuctionPower'\n  | 'smartDrying'\n  | 'drainageConfirmResult'\n  | 'drainageTestResult'\n  | 'hotWashing'\n  | 'uvSterilization'\n  | 'cleaningRoute'\n  | 'customMoppingMode'\n  | 'moppingMode'\n  | 'selfCleanFrequency'\n  | 'intensiveCarpetCleaning'\n  | 'gapCleaningExtension'\n  | 'moppingUnderFurnitures'\n  | 'ultraCleanMode'\n  | 'streamingVoicePrompt'\n  | 'mopExtend'\n  | 'mopExtendFrequency'\n  | 'sideReach'\n  | 'intelligentStainCleaning';\n\n/**\n * Short on-wire key for each setting inside the `AUTO_SWITCH_SETTINGS` JSON\n * (Tasshack `DreameVacuumAutoSwitchProperty`). These opaque strings are the\n * device's own identifiers and must match byte-for-byte.\n */\nexport const AUTO_SWITCH_JSON_KEY: Readonly<Record<AutoSwitchKey, string>> = {\n  collisionAvoidance: 'LessColl',\n  fillLight: 'FillinLight',\n  autoDrying: 'AutoDry',\n  stainAvoidance: 'StainIdentify',\n  moppingType: 'CleanType',\n  cleanGenius: 'SmartHost',\n  widerCornerCoverage: 'MeticulousTwist',\n  floorDirectionCleaning: 'MaterialDirectionClean',\n  petFocusedCleaning: 'PetPartClean',\n  autoRecleaning: 'SmartAutoMop',\n  autoRewashing: 'SmartAutoWash',\n  mopPadSwing: 'MopScalable',\n  autoCharging: 'SmartCharge',\n  humanFollow: 'MonitorHumanFollow',\n  maxSuctionPower: 'SuctionMax',\n  smartDrying: 'SmartDrying',\n  drainageConfirmResult: 'FluctuationConfirmResult',\n  drainageTestResult: 'FluctuationTestResult',\n  hotWashing: 'HotWash',\n  uvSterilization: 'UVLight',\n  cleaningRoute: 'CleanRoute',\n  customMoppingMode: 'MopEffectSwitch',\n  moppingMode: 'MopEffectState',\n  selfCleanFrequency: 'BackWashType',\n  intensiveCarpetCleaning: 'CarpetFineClean',\n  gapCleaningExtension: 'LacuneMopScalable',\n  moppingUnderFurnitures: 'MopScalable2',\n  ultraCleanMode: 'SuperWash',\n  streamingVoicePrompt: 'MonitorPromptLevel',\n  mopExtend: 'MopExtrSwitch',\n  mopExtendFrequency: 'ExtrFreq',\n  sideReach: 'SbrushExtrSwitch',\n  intelligentStainCleaning: 'HeavyStainSmart',\n};\n\n/** Reverse map: on-wire key → canonical key (built once). */\nconst JSON_KEY_TO_CANONICAL: Readonly<Record<string, AutoSwitchKey>> = Object.fromEntries(\n  (Object.entries(AUTO_SWITCH_JSON_KEY) as [AutoSwitchKey, string][]).map(([k, v]) => [v, k]),\n);\n\n/** The raw on-wire `AUTO_SWITCH_SETTINGS` value: a JSON string, or absent. */\nexport type AutoSwitchRaw = string | null;\n\n/** Coerce a JSON value (number | numeric string) to a finite int, or null. */\nfunction coerceInt(v: unknown): number | null {\n  if (typeof v === 'number') return Number.isFinite(v) ? v : null;\n  if (typeof v === 'string' && v.trim() !== '') {\n    const n = Number(v);\n    return Number.isFinite(n) ? n : null;\n  }\n  return null;\n}\n\n/**\n * Parse the raw `AUTO_SWITCH_SETTINGS` value into a `{ on-wire key → int }` map.\n * Accepts the list form (`[{\"k\":…,\"v\":…}, …]`) and the single-object form\n * (`{\"k\":…,\"v\":…}`). Returns null when the value is absent or unparseable.\n */\nfunction parseAutoSwitchMap(raw: AutoSwitchRaw): Map<string, number> | null {\n  if (typeof raw !== 'string' || raw.length <= 2) return null;\n  let parsed: unknown;\n  try {\n    parsed = JSON.parse(raw);\n  } catch {\n    return null;\n  }\n  const out = new Map<string, number>();\n  const add = (entry: unknown): void => {\n    if (entry === null || typeof entry !== 'object') return;\n    const rec = entry as Record<string, unknown>;\n    if (typeof rec['k'] !== 'string') return;\n    const value = coerceInt(rec['v']);\n    if (value !== null) out.set(rec['k'], value);\n  };\n  if (Array.isArray(parsed)) {\n    for (const entry of parsed) add(entry);\n  } else {\n    add(parsed);\n  }\n  return out.size > 0 ? out : null;\n}\n\n/**\n * Decode ONE auto-switch setting's int value from the packed\n * `AUTO_SWITCH_SETTINGS` payload. Returns `null` when the value is absent or the\n * key is not present in the payload (i.e. unsupported by this model/firmware).\n */\nexport function decodeAutoSwitch(raw: AutoSwitchRaw, key: AutoSwitchKey): number | null {\n  const map = parseAutoSwitchMap(raw);\n  if (map === null) return null;\n  const jsonKey = AUTO_SWITCH_JSON_KEY[key];\n  return map.has(jsonKey) ? (map.get(jsonKey) ?? null) : null;\n}\n\n/**\n * The auto-switch keys the payload actually reports (presence-driven — mirrors\n * Tasshack `auto_switch_data`). On-wire keys with no canonical mapping (newer\n * firmware extras like `MopFullyScalable`) are skipped. Order follows\n * {@link AUTO_SWITCH_JSON_KEY} for determinism.\n */\nexport function supportedAutoSwitchKeys(raw: AutoSwitchRaw): readonly AutoSwitchKey[] {\n  const map = parseAutoSwitchMap(raw);\n  if (map === null) return [];\n  const present: AutoSwitchKey[] = [];\n  for (const key of Object.keys(AUTO_SWITCH_JSON_KEY) as AutoSwitchKey[]) {\n    if (map.has(AUTO_SWITCH_JSON_KEY[key])) present.push(key);\n  }\n  return present;\n}\n\n/** All `{ canonical key → int }` pairs the payload reports (canonical keys only). */\nexport function decodeAutoSwitchAll(\n  raw: AutoSwitchRaw,\n): Readonly<Partial<Record<AutoSwitchKey, number>>> {\n  const map = parseAutoSwitchMap(raw);\n  if (map === null) return {};\n  const out: Partial<Record<AutoSwitchKey, number>> = {};\n  for (const [jsonKey, value] of map) {\n    const canonical = JSON_KEY_TO_CANONICAL[jsonKey];\n    if (canonical !== undefined) out[canonical] = value;\n  }\n  return out;\n}\n\n/**\n * Compute the value to WRITE to `AUTO_SWITCH_SETTINGS` for ONE setting. Mirrors\n * Tasshack `set_auto_switch_property`: a SINGLE `{\"k\":<key>,\"v\":<int>}` object\n * (NOT the full list) — the device merges it server-side, so the other settings\n * are preserved without a read-modify-write.\n */\nexport function encodeAutoSwitchWrite(key: AutoSwitchKey, value: number): string {\n  return JSON.stringify({ k: AUTO_SWITCH_JSON_KEY[key], v: Math.trunc(value) });\n}\n","/**\n * Vacuum consumable/maintenance map (ported from Tasshack `dreame-vacuum`\n * v2.0.0b25 — property + action mappings). Each consumable lives on its own MIoT\n * service `siid`: a remaining-life `%` property (`siid/piid`) and a \"reset to\n * 100%\" action (`siid/aiid 1`). A model exposes only a SUBSET — which is\n * discovered by PRESENCE (the device reports the life property) rather than a\n * hardcoded per-model list, mirroring how the HA integration derives support.\n */\n\n/** Stable consumable keys (kebab-case so a consumer can use them verbatim). */\nexport type DreameConsumableKey =\n  | 'main-brush'\n  | 'side-brush'\n  | 'filter'\n  | 'sensor'\n  | 'tank-filter'\n  | 'mop-pad'\n  | 'silver-ion'\n  | 'detergent'\n  | 'squeegee'\n  | 'deodorizer'\n  | 'wheel'\n  | 'scale-inhibitor'\n  | 'dust-bag';\n\n/** One consumable's wire coordinates: remaining-life property + optional reset action. */\nexport interface ConsumableSpec {\n  readonly key: DreameConsumableKey;\n  readonly label: string;\n  /** Remaining-life % property (0..100). */\n  readonly life: { readonly siid: number; readonly piid: number };\n  /** \"Mark replaced / reset life\" action, or null when the model exposes none. */\n  readonly reset: { readonly siid: number; readonly aiid: number } | null;\n}\n\n/**\n * Every consumable nodedreame knows. The reset action shares the consumable's\n * service `siid` with `aiid 1` (Tasshack action map). `dust-bag` has a life\n * property but no reset action.\n */\nexport const VACUUM_CONSUMABLES: readonly ConsumableSpec[] = [\n  {\n    key: 'main-brush',\n    label: 'Main Brush',\n    life: { siid: 9, piid: 2 },\n    reset: { siid: 9, aiid: 1 },\n  },\n  {\n    key: 'side-brush',\n    label: 'Side Brush',\n    life: { siid: 10, piid: 2 },\n    reset: { siid: 10, aiid: 1 },\n  },\n  { key: 'filter', label: 'Filter', life: { siid: 11, piid: 1 }, reset: { siid: 11, aiid: 1 } },\n  { key: 'sensor', label: 'Sensor', life: { siid: 16, piid: 1 }, reset: { siid: 16, aiid: 1 } },\n  {\n    key: 'tank-filter',\n    label: 'Tank Filter',\n    life: { siid: 17, piid: 1 },\n    reset: { siid: 17, aiid: 1 },\n  },\n  { key: 'mop-pad', label: 'Mop Pad', life: { siid: 18, piid: 1 }, reset: { siid: 18, aiid: 1 } },\n  {\n    key: 'silver-ion',\n    label: 'Silver-ion',\n    life: { siid: 19, piid: 2 },\n    reset: { siid: 19, aiid: 1 },\n  },\n  {\n    key: 'detergent',\n    label: 'Detergent',\n    life: { siid: 20, piid: 1 },\n    reset: { siid: 20, aiid: 1 },\n  },\n  { key: 'squeegee', label: 'Squeegee', life: { siid: 24, piid: 1 }, reset: { siid: 24, aiid: 1 } },\n  {\n    key: 'deodorizer',\n    label: 'Deodorizer',\n    life: { siid: 29, piid: 2 },\n    reset: { siid: 29, aiid: 1 },\n  },\n  { key: 'wheel', label: 'Wheel', life: { siid: 30, piid: 2 }, reset: { siid: 30, aiid: 1 } },\n  {\n    key: 'scale-inhibitor',\n    label: 'Scale Inhibitor',\n    life: { siid: 31, piid: 2 },\n    reset: { siid: 31, aiid: 1 },\n  },\n  { key: 'dust-bag', label: 'Dust Bag', life: { siid: 27, piid: 17 }, reset: null },\n] as const;\n\n/** Lookup a consumable spec by key (undefined for an unknown key). */\nexport function consumableSpec(key: DreameConsumableKey): ConsumableSpec | undefined {\n  return VACUUM_CONSUMABLES.find((c) => c.key === key);\n}\n\n/** Narrow an arbitrary string to a known {@link DreameConsumableKey} — lets a\n *  string-keyed consumer (e.g. a generic consumables cap) validate before\n *  calling the typed reset path with no cast. */\nexport function isDreameConsumableKey(key: string): key is DreameConsumableKey {\n  return VACUUM_CONSUMABLES.some((c) => c.key === key);\n}\n\n/** A resolved consumable reading: which consumable, its remaining life %, and\n *  whether a reset action exists. Only the consumables the model REPORTS appear. */\nexport interface ConsumableReading {\n  readonly key: DreameConsumableKey;\n  readonly label: string;\n  readonly leftPct: number;\n  readonly resettable: boolean;\n}\n","/**\n * Per-model vacuum capability records (ported from malard/node-dreame\n * src/capabilities.ts, MIT — attribution retained) plus a resolver that\n * adapts the rich record into the generic CapabilityResolver the BaseDevice\n * expects. r2538z is added mirroring r2532a (X50 sibling), marked unverified\n * until live-confirmed.\n */\nimport { SuctionLevel, WaterVolume } from './enums.js';\nimport type { DreameAiFeature } from './ai-detection.js';\nimport type { CapabilityResolver, DeviceCapabilities } from '../../device/capability.js';\n\n/**\n * AI-obstacle features the X50 family exposes (live-verified on `dreame.vacuum.r2538z`\n * via the Dreamehome/HA superset 2026-06-29). `petPicture`/`petFocusedDetection` read\n * `unavailable` on this model, so they are intentionally excluded.\n */\nconst X50_AI_FEATURES: readonly DreameAiFeature[] = [\n  'obstacleDetection',\n  'petDetection',\n  'furnitureDetection',\n  'fluidDetection',\n  'obstaclePicture',\n  'obstacleImageUpload',\n  'fuzzyObstacleDetection',\n];\n\n/** Rich vacuum capability record. `canX` = behaviour, `hasX` = hardware. */\nexport interface VacuumCapabilities {\n  model: string;\n  /** true when the record came from the curated table (false = fallback / assumed). */\n  verified: boolean;\n  canMop: boolean;\n  canAutoInstallMop: boolean;\n  hasSideBrush: boolean;\n  hasCamera: boolean;\n  hasCarpetSensor: boolean;\n  hasAiObstacleDetection: boolean;\n  canAutoEmpty: boolean;\n  canMopWash: boolean;\n  canMopDry: boolean;\n  canHeatMopWater: boolean;\n  hasDetergentReservoir: boolean;\n  canCleanPerRoom: boolean;\n  supportsVirtualWalls: boolean;\n  supportsNoGoZones: boolean;\n  hasChildLock: boolean;\n  supportsMultiFloor: boolean;\n  /** Decodes/fetches the binary live/saved map (envelope → pixel grid → segments). */\n  canMap: boolean;\n  supportedSuctionLevels: readonly SuctionLevel[];\n  supportedWaterVolumes: readonly WaterVolume[];\n  /**\n   * The AI-obstacle toggles this model exposes (subset of {@link DreameAiFeature}),\n   * each surfaced as an independent boolean from the packed `AI_DETECTION` property.\n   * Empty when `hasAiObstacleDetection` is false.\n   */\n  supportedAiFeatures: readonly DreameAiFeature[];\n}\n\nconst FALLBACK: Omit<VacuumCapabilities, 'model'> = {\n  verified: false,\n  canMop: false,\n  canAutoInstallMop: false,\n  hasSideBrush: true,\n  hasCamera: false,\n  hasCarpetSensor: false,\n  hasAiObstacleDetection: false,\n  canAutoEmpty: false,\n  canMopWash: false,\n  canMopDry: false,\n  canHeatMopWater: false,\n  hasDetergentReservoir: false,\n  canCleanPerRoom: false,\n  supportsVirtualWalls: false,\n  supportsNoGoZones: false,\n  hasChildLock: false,\n  supportsMultiFloor: false,\n  // Map decoding is model-agnostic (binary frame format is identical across\n  // the lineup); the fallback record leaves it false so an unknown model does\n  // not advertise a feature we have not verified its firmware exposes.\n  canMap: false,\n  supportedSuctionLevels: [\n    SuctionLevel.Quiet,\n    SuctionLevel.Standard,\n    SuctionLevel.Intense,\n    SuctionLevel.Max,\n  ],\n  supportedWaterVolumes: [WaterVolume.Low, WaterVolume.Medium, WaterVolume.High],\n  // An unknown model advertises no AI toggles until its feature set is verified.\n  supportedAiFeatures: [],\n};\n\n/** Full-feature X50-family record body (r2532a verified; r2538z assumed sibling). */\nconst X50_FAMILY: Omit<VacuumCapabilities, 'model' | 'verified'> = {\n  canMop: true,\n  canAutoInstallMop: true,\n  hasSideBrush: true,\n  hasCamera: true,\n  hasCarpetSensor: true,\n  hasAiObstacleDetection: true,\n  canAutoEmpty: true,\n  canMopWash: true,\n  canMopDry: true,\n  canHeatMopWater: true,\n  hasDetergentReservoir: true,\n  canCleanPerRoom: true,\n  supportsVirtualWalls: true,\n  supportsNoGoZones: true,\n  hasChildLock: true,\n  supportsMultiFloor: true,\n  canMap: true,\n  supportedSuctionLevels: [\n    SuctionLevel.Quiet,\n    SuctionLevel.Standard,\n    SuctionLevel.Intense,\n    SuctionLevel.Max,\n  ],\n  supportedWaterVolumes: [WaterVolume.Low, WaterVolume.Medium, WaterVolume.High],\n  supportedAiFeatures: X50_AI_FEATURES,\n};\n\nfunction deepFreeze<T>(obj: T): T {\n  if (obj && typeof obj === 'object' && !Object.isFrozen(obj)) {\n    Object.freeze(obj);\n    for (const v of Object.values(obj)) {\n      deepFreeze(v);\n    }\n  }\n  return obj;\n}\n\nexport const MODEL_CAPABILITIES: Readonly<Record<string, VacuumCapabilities>> = {\n  /** Dreame X40 Ultra Complete — VERIFIED r2449a (2026-05-21). */\n  'dreame.vacuum.r2449a': { model: 'dreame.vacuum.r2449a', verified: true, ...X50_FAMILY },\n  /** Dreame X50 Ultra Complete — VERIFIED r2532a (firmware 4.3.9_2199, 2026-05-02). */\n  'dreame.vacuum.r2532a': { model: 'dreame.vacuum.r2532a', verified: true, ...X50_FAMILY },\n  /**\n   * Dreame r2538z — the user's device. ASSUMED from the r2532a (X50) sibling:\n   * same dock-side feature set is the working hypothesis. Marked verified:false\n   * until confirmed live (e2e). Flip to true + drop this note once verified.\n   */\n  'dreame.vacuum.r2538z': { model: 'dreame.vacuum.r2538z', verified: false, ...X50_FAMILY },\n};\n\nfor (const entry of Object.values(MODEL_CAPABILITIES)) {\n  deepFreeze(entry);\n}\n\n/** Resolve a model to its rich vacuum capability record (frozen / fallback). */\nexport function getVacuumCapabilities(model: string): VacuumCapabilities {\n  const known = MODEL_CAPABILITIES[model];\n  if (known) {\n    return known;\n  }\n  return deepFreeze({ model, ...FALLBACK });\n}\n\n/** Map the rich record's booleans → the generic capability token set. */\nfunction tokensFor(c: VacuumCapabilities): Set<string> {\n  const tokens = new Set<string>();\n  const add = (flag: boolean, token: string): void => {\n    if (flag) {\n      tokens.add(token);\n    }\n  };\n  add(c.canMop, 'mop');\n  add(c.canAutoInstallMop, 'auto-install-mop');\n  add(c.hasSideBrush, 'side-brush');\n  add(c.hasCamera, 'camera');\n  add(c.hasCarpetSensor, 'carpet-sensor');\n  add(c.hasAiObstacleDetection, 'ai-obstacle');\n  add(c.canAutoEmpty, 'auto-empty');\n  add(c.canMopWash, 'mop-wash');\n  add(c.canMopDry, 'mop-dry');\n  add(c.canHeatMopWater, 'heat-mop-water');\n  add(c.hasDetergentReservoir, 'detergent');\n  add(c.canCleanPerRoom, 'clean-per-room');\n  add(c.supportsVirtualWalls, 'virtual-walls');\n  add(c.supportsNoGoZones, 'no-go-zones');\n  add(c.hasChildLock, 'child-lock');\n  add(c.supportsMultiFloor, 'multi-floor');\n  return tokens;\n}\n\nclass VacuumCapabilitySet implements DeviceCapabilities {\n  readonly model: string;\n  readonly #tokens: ReadonlySet<string>;\n  constructor(model: string, tokens: ReadonlySet<string>) {\n    this.model = model;\n    this.#tokens = tokens;\n  }\n  has(token: string): boolean {\n    return this.#tokens.has(token);\n  }\n  list(): readonly string[] {\n    return [...this.#tokens];\n  }\n}\n\n/** Resolver that the BaseDevice accepts via BaseDeviceInput.capabilities. */\nexport class VacuumCapabilityResolver implements CapabilityResolver {\n  resolve(model: string): DeviceCapabilities {\n    return new VacuumCapabilitySet(model, tokensFor(getVacuumCapabilities(model)));\n  }\n}\n","import { z } from 'zod';\n\n/**\n * The third-video endpoints wrap their payload in a double `data` envelope:\n * `{ code, success, msg, data: { requestId, data: <payload> } }`. `code === 0`\n * means success (already enforced by the HTTP layer); these schemas narrow the\n * payload. All are permissive (`.passthrough()`) — the cloud adds fields freely.\n */\n\n/** `tx/user/accesstoken` → `data.data = { token, userId, expireAt }` (expireAt: epoch seconds). */\nexport const VideoAccessTokenResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({\n        data: z\n          .object({\n            token: z.string(),\n            userId: z.union([z.string(), z.number()]).optional(),\n            expireAt: z.number().optional(),\n          })\n          .passthrough(),\n      })\n      .passthrough(),\n  })\n  .passthrough();\nexport type VideoAccessTokenResponse = z.infer<typeof VideoAccessTokenResponseSchema>;\n\n/** `aliIot/getAuthCodeV3` → `data` is a hex string (the Aliyun authCode blob). */\nexport const AuthCodeResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.string(),\n  })\n  .passthrough();\nexport type AuthCodeResponse = z.infer<typeof AuthCodeResponseSchema>;\n\n/** `tx/mgr/family/getFamilyId` → `data.data.familyId`. */\nexport const FamilyIdResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({ data: z.object({ familyId: z.string() }).passthrough() })\n      .passthrough(),\n  })\n  .passthrough();\nexport type FamilyIdResponse = z.infer<typeof FamilyIdResponseSchema>;\n\n/** Nested `deviceInfo` block within a device record, carrying the video vendor hints. */\nexport const DeviceVideoInfoSchema = z\n  .object({\n    model: z.string().optional(),\n    displayName: z.string().optional(),\n    permit: z.string().optional(),\n    videoDynamicVendor: z.boolean().optional(),\n    defaultVendors: z.array(z.string()).optional(),\n    productId: z.union([z.string(), z.number()]).optional(),\n  })\n  .passthrough();\n\n/** A device record as returned by `device/info` (`data` = single record). */\nexport const DeviceInfoRecordSchema = z\n  .object({\n    did: z.union([z.string(), z.number()]).optional(),\n    model: z.string().optional(),\n    customName: z.string().optional(),\n    vendor: z.string().optional(),\n    online: z.boolean().optional(),\n    lwt: z.number().optional(),\n    property: z.string().optional(),\n    bindDomain: z.string().optional(),\n    deviceInfo: DeviceVideoInfoSchema.optional(),\n  })\n  .passthrough();\nexport type DeviceInfoRecord = z.infer<typeof DeviceInfoRecordSchema>;\n\nexport const DeviceInfoResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: DeviceInfoRecordSchema,\n  })\n  .passthrough();\nexport type DeviceInfoResponse = z.infer<typeof DeviceInfoResponseSchema>;\n","import type { DeviceInfoRecord } from './schemas.js';\nimport type { DeviceVideoProfile, VideoVendor } from './types.js';\n\nconst KNOWN_VENDORS: readonly string[] = ['tx', 'ali'];\n\nfunction asVendor(v: string | undefined | null): VideoVendor | null {\n  return v === 'tx' || v === 'ali' ? v : null;\n}\n\n/** Parse the stringified `property` blob for the fields we care about (iotId, lwt). */\nfunction parseProperty(property: string | undefined): { iotId: string | null; lwt: number | null } {\n  if (!property) {\n    return { iotId: null, lwt: null };\n  }\n  try {\n    const p = JSON.parse(property) as { iotId?: unknown; lwt?: unknown };\n    return {\n      iotId: typeof p.iotId === 'string' && p.iotId.length > 0 ? p.iotId : null,\n      lwt: typeof p.lwt === 'number' ? p.lwt : null,\n    };\n  } catch {\n    return { iotId: null, lwt: null };\n  }\n}\n\n/**\n * Derive a {@link DeviceVideoProfile} from a raw device record. Pure — no I/O —\n * so it is unit-testable against captured records. `videoCapable` is true when\n * the cloud marks the device `permit: \"video\"` or lists any supported vendor.\n */\nexport function toVideoProfile(record: DeviceInfoRecord): DeviceVideoProfile {\n  const info = record.deviceInfo ?? {};\n  const supportedVendors = (info.defaultVendors ?? []).filter((v): v is VideoVendor =>\n    KNOWN_VENDORS.includes(v),\n  );\n  const prop = parseProperty(record.property);\n  const online = record.online === true || record.lwt === 1 || prop.lwt === 1;\n  return {\n    did: String(record.did ?? ''),\n    model: String(record.model ?? info.model ?? ''),\n    displayName: info.displayName ?? null,\n    videoCapable: info.permit === 'video' || supportedVendors.length > 0,\n    currentVendor: asVendor(record.vendor),\n    supportedVendors,\n    dynamicVendor: info.videoDynamicVendor === true,\n    iotId: prop.iotId,\n    online,\n  };\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type { DreameSession } from '../cloud/types.js';\nimport {\n  httpPostJsonBody,\n  RequestContext,\n  type BaseResponse,\n  type FetchImpl,\n} from '../transport/http.js';\nimport {\n  AuthCodeResponseSchema,\n  DeviceInfoResponseSchema,\n  FamilyIdResponseSchema,\n  VideoAccessTokenResponseSchema,\n} from './schemas.js';\nimport { toVideoProfile } from './profile.js';\nimport type { DeviceVideoProfile, VideoAccessToken } from './types.js';\n\n/** Path prefixes for the two video control-plane services on the region host. */\nconst P_THIRD_VIDEO = '/dreame-third-video';\nconst P_SMARTHOME = '/dreame-smarthome';\nconst P_USER_IOT = '/dreame-user-iot';\n\n/** `os` form value the app sends; the cloud accepts any of android/iOS/1/2. */\nconst DEFAULT_OS = 'android';\n\n/** Shared inputs for every video control-plane call. Mirrors `listDevices`. */\nexport interface VideoRequestInput {\n  session: DreameSession;\n  region: DreameRegion;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\nfunction resolveCtx(input: VideoRequestInput): RequestContext {\n  return input.ctx ?? RequestContext.from({ ...input, host: input.apiHost });\n}\n\nfunction passthrough(input: VideoRequestInput): {\n  accessToken: string;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n} {\n  return {\n    accessToken: input.session.accessToken,\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n  };\n}\n\n/**\n * Mint the short-lived third-video access token. Required as a body field by the\n * device-scoped video calls (getIdentity, getP2PInfo, …).\n */\nexport async function getVideoAccessToken(input: VideoRequestInput): Promise<VideoAccessToken> {\n  const ctx = resolveCtx(input);\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_THIRD_VIDEO}/tx/user/accesstoken`,\n    body: { os: DEFAULT_OS },\n    context: 'video accesstoken',\n    ...passthrough(input),\n  });\n  const parsed = VideoAccessTokenResponseSchema.parse(raw);\n  const d = parsed.data.data;\n  return {\n    token: d.token,\n    userId: d.userId !== undefined ? String(d.userId) : null,\n    // Cloud reports expiry in epoch-seconds; expose epoch-ms like DreameSession.\n    expiresAt: d.expireAt !== undefined ? d.expireAt * 1000 : 0,\n  };\n}\n\n/**\n * Fetch the Aliyun authCode blob (`getAuthCodeV3`). This opaque hex string is the\n * material exchanged with Aliyun IoT to obtain a LinkVisual identity — the first\n * step of the Aliyun media path.\n */\nexport async function getAliyunAuthCode(input: VideoRequestInput): Promise<string> {\n  const ctx = resolveCtx(input);\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_SMARTHOME}/aliIot/getAuthCodeV3`,\n    body: { os: DEFAULT_OS },\n    context: 'aliyun authCode',\n    ...passthrough(input),\n  });\n  return AuthCodeResponseSchema.parse(raw).data;\n}\n\n/**\n * Fetch the account's video `familyId` (used to scope some vendor calls). This\n * endpoint requires the third-video access token in the body — pass one via\n * `videoToken`, otherwise a fresh one is minted with {@link getVideoAccessToken}.\n */\nexport async function getVideoFamilyId(\n  input: VideoRequestInput & { videoToken?: string },\n): Promise<string> {\n  const ctx = resolveCtx(input);\n  const videoToken = input.videoToken ?? (await getVideoAccessToken({ ...input, ctx })).token;\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_THIRD_VIDEO}/tx/mgr/family/getFamilyId`,\n    body: { accesstoken: videoToken, os: DEFAULT_OS },\n    context: 'video familyId',\n    ...passthrough(input),\n  });\n  return FamilyIdResponseSchema.parse(raw).data.data.familyId;\n}\n\n/**\n * Resolve a device's video profile (vendor, supported vendors, Aliyun iotId,\n * capability) from its cloud record. `did` is the Dreame device id.\n */\nexport async function getDeviceVideoProfile(\n  input: VideoRequestInput & { did: string },\n): Promise<DeviceVideoProfile> {\n  const ctx = resolveCtx(input);\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_USER_IOT}/iotuserbind/device/info`,\n    body: { did: input.did },\n    context: 'device video info',\n    ...passthrough(input),\n  });\n  return toVideoProfile(DeviceInfoResponseSchema.parse(raw).data);\n}\n","import type { DreameRegion } from '../../auth/config.js';\n\n/**\n * Aliyun IoT App SDK credentials for the Dreamehome app. These are app-global\n * constants baked into the shipped Dreamehome binary — NOT a user secret. The\n * appKey is public and the appSecret only signs the app's own API-Gateway\n * requests (identically for every install); they rotate only with a new app\n * release. Verified against the live x-ca signature (see signing.test.ts).\n * (SAST note: shipped public client credentials, not a leaked user secret.)\n */\nexport const ALIYUN_APP_KEY = '33974273';\nexport const ALIYUN_APP_SECRET = '65a62f03ae5eda97af962fecc2e3efa6';\n\n/** Aliyun IoT region id per Dreame region. Only `eu-central-1` is verified live. */\nexport const ALIYUN_REGION_ID: Record<DreameRegion, string> = {\n  eu: 'eu-central-1',\n  de: 'eu-central-1',\n  us: 'us-east-1',\n  cn: 'cn-shanghai',\n  ru: 'eu-central-1',\n  sg: 'ap-southeast-1',\n  in: 'ap-southeast-1',\n  tw: 'cn-shanghai',\n};\n\n/** IoT App identity/session host (createSessionByAuthCode, connect). */\nexport function livingAccountHost(regionId: string): string {\n  return `living-account.${regionId}.aliyuncs.com`;\n}\n\n/** IoT API gateway host (vision/customer/*). */\nexport function apiIotHost(regionId: string): string {\n  return `${regionId}.api-iot.aliyuncs.com`;\n}\n\nexport const VISION_STREAM_QUERY = '/vision/customer/stream/query';\n","import { randomUUID } from 'node:crypto';\nimport { z } from 'zod';\nimport { defaultFetch, type FetchImpl } from '../../transport/fetch.js';\nimport { DreameApiError } from '../../transport/errors.js';\nimport { ALIYUN_APP_KEY, ALIYUN_APP_SECRET, apiIotHost, livingAccountHost } from './constants.js';\nimport { signApiGatewayRequest } from './signing.js';\n\n/** Aliyun OpenAccount session from loginbyoauth. */\nexport interface OaSession {\n  sid: string;\n  refreshToken: string;\n  openId: string;\n}\n\n/** Aliyun IoT session (the iotToken used by every LinkVisual call). */\nexport interface IotSession {\n  iotToken: string;\n  refreshToken: string;\n  identityId: string;\n  /** Epoch-ms at which iotToken expires. */\n  expiresAt: number;\n}\n\nconst LoginByOauthSchema = z\n  .object({\n    data: z\n      .object({\n        data: z\n          .object({\n            loginSuccessResult: z\n              .object({\n                sid: z.string(),\n                refreshToken: z.string().optional(),\n                token: z.string().optional(),\n                openAccount: z.object({ openId: z.string().optional() }).passthrough().optional(),\n              })\n              .passthrough(),\n          })\n          .passthrough(),\n      })\n      .passthrough(),\n  })\n  .passthrough();\n\nconst CreateSessionSchema = z\n  .object({\n    code: z.number().optional(),\n    message: z.string().nullish(),\n    data: z\n      .object({\n        iotToken: z.string(),\n        refreshToken: z.string().optional(),\n        identityId: z.string().optional(),\n        iotTokenExpire: z.number().optional(),\n      })\n      .passthrough(),\n  })\n  .passthrough();\n\nasync function postJson(url: string, headers: Record<string, string>, body: string, fetchImpl: FetchImpl, ctx: string): Promise<unknown> {\n  const res = await fetchImpl(url, { method: 'POST', headers, body });\n  const text = await res.text();\n  try {\n    return JSON.parse(text);\n  } catch {\n    throw new DreameApiError(`${ctx} returned non-JSON (status ${res.status})`, res.status);\n  }\n}\n\nexport interface LoginByOauthInput {\n  authCode: string;\n  regionId: string;\n  deviceId?: string;\n  utdid?: string;\n  fetchImpl?: FetchImpl;\n}\n\n/** Exchange the Dreame authCode for an Aliyun OpenAccount session (step 2). */\nexport async function loginByOauth(input: LoginByOauthInput): Promise<OaSession> {\n  const host = livingAccountHost(input.regionId);\n  const riskControlInfo = {\n    createIfNotExist: 'true', sdkVersion: '3.4.0.27', openaccountVersion: '3.4.0.27',\n    platformName: 'iOS', netType: 'wifi', brand: 'Apple', USE_H5_NC: 'true',\n    deviceId: input.deviceId ?? randomUUID(), locale: 'en-US', platformVersion: '26.5.2',\n    platform: 'iPhone', appKey: ALIYUN_APP_KEY, USE_OA_PWD_ENCRYPT: 'true',\n    model: 'iPhone16,2', utdid: input.utdid ?? randomUUID().replace(/-/g, '').slice(0, 20),\n    appVersion: '1895',\n  };\n  const value = JSON.stringify({\n    riskControlInfo, oauthPlateform: 23, oauthAppKey: ALIYUN_APP_KEY, authCode: input.authCode,\n  });\n  const signed = signApiGatewayRequest({\n    method: 'POST', host, path: '/api/prd/loginbyoauth.json',\n    appKey: ALIYUN_APP_KEY, appSecret: ALIYUN_APP_SECRET,\n    form: { loginByOauthRequest: value },\n  });\n  const json = await postJson(`https://${host}/api/prd/loginbyoauth.json`, signed.headers, signed.body,\n    input.fetchImpl ?? defaultFetch, 'loginbyoauth');\n  const r = LoginByOauthSchema.parse(json).data.data.loginSuccessResult;\n  return {\n    sid: r.sid,\n    refreshToken: r.refreshToken ?? '',\n    openId: r.openAccount?.openId ?? '',\n  };\n}\n\nexport interface CreateIotSessionInput {\n  /** The OpenAccount `sid` from {@link loginByOauth}. */\n  sid: string;\n  regionId: string;\n  fetchImpl?: FetchImpl;\n}\n\n/** Exchange the OA `sid` for an Aliyun IoT session / iotToken (step 3). */\nexport async function createIotSession(input: CreateIotSessionInput): Promise<IotSession> {\n  const host = apiIotHost(input.regionId);\n  const path = '/account/createSessionByAuthCode';\n  const payload = {\n    id: randomUUID().toUpperCase(),\n    params: { request: { appKey: ALIYUN_APP_KEY, authCode: input.sid, accountType: 'OA_SESSION' } },\n    request: { apiVer: '1.0.4', language: 'en-US', appKey: ALIYUN_APP_KEY },\n    version: '1.0.0',\n  };\n  const signed = signApiGatewayRequest({\n    method: 'POST', host, path, appKey: ALIYUN_APP_KEY, appSecret: ALIYUN_APP_SECRET,\n    json: payload, extraCaHeaders: { 'X-Ca-Stage': 'RELEASE' },\n  });\n  const json = await postJson(`https://${host}${path}`, signed.headers, signed.body,\n    input.fetchImpl ?? defaultFetch, 'createSessionByAuthCode');\n  const parsed = CreateSessionSchema.parse(json);\n  if (parsed.code !== 200 && parsed.code !== 0) {\n    throw new DreameApiError(`createSession rejected: code=${parsed.code} msg=${parsed.message ?? '?'}`, 200, parsed);\n  }\n  const d = parsed.data;\n  return {\n    iotToken: d.iotToken,\n    refreshToken: d.refreshToken ?? '',\n    identityId: d.identityId ?? '',\n    expiresAt: Date.now() + (d.iotTokenExpire ?? 72000) * 1000,\n  };\n}\n","import { createHash, createHmac } from 'node:crypto';\n\n/**\n * Aliyun API Gateway (\"x-ca\") request signing, HmacSHA1. Used by the LinkVisual\n * video endpoints the Dreamehome app talks to (living-account + api-iot hosts).\n *\n * The string to sign is:\n *   METHOD\\n Accept\\n Content-MD5\\n Content-Type\\n Date\\n <signed-headers-block> <resource>\n * where the signed-headers block is `Name:Value\\n` for each header named in\n * `X-Ca-Signature-Headers`, sorted case-insensitively, and `resource` is the\n * path plus, for form bodies, the `?`-joined sorted form params.\n *\n * Verified byte-for-byte against a captured connect.json request (see tests).\n */\n\nexport interface SignedRequest {\n  headers: Record<string, string>;\n  body: string;\n}\n\nexport interface SignInput {\n  method: 'POST' | 'GET';\n  host: string;\n  path: string;\n  appKey: string;\n  appSecret: string;\n  /** JSON payload → sent as the raw body with a Content-MD5. */\n  json?: unknown;\n  /** Form fields → sent as application/x-www-form-urlencoded and folded into the resource. */\n  form?: Record<string, string>;\n  /** Extra x-ca headers to sign (e.g. `{ 'X-Ca-Stage': 'RELEASE' }`). */\n  extraCaHeaders?: Record<string, string>;\n  /** Overrides for deterministic tests. */\n  nonce?: string;\n  timestamp?: number;\n  date?: string;\n}\n\nconst CT_JSON = 'application/json; charset=UTF-8';\nconst CT_FORM = 'application/x-www-form-urlencoded; charset=UTF-8';\n\nfunction md5Base64(s: string): string {\n  return createHash('md5').update(s, 'utf8').digest('base64');\n}\n\n/** Build the x-ca headers + body for a request. */\nexport function signApiGatewayRequest(input: SignInput): SignedRequest {\n  const accept = CT_JSON;\n  const contentType = input.json !== undefined ? CT_JSON : CT_FORM;\n  const date = input.date ?? new Date().toUTCString();\n\n  let body: string;\n  let contentMd5 = '';\n  let formParams: Record<string, string> | undefined;\n  if (input.json !== undefined) {\n    body = JSON.stringify(input.json);\n    contentMd5 = md5Base64(body);\n  } else {\n    const form = input.form ?? {};\n    body = Object.entries(form)\n      .map(([k, v]) => `${k}=${encodeURIComponent(v)}`)\n      .join('&');\n    formParams = form;\n  }\n\n  const caHeaders: Record<string, string> = {\n    'X-Ca-Key': input.appKey,\n    'X-Ca-Nonce': input.nonce ?? crypto.randomUUID().toUpperCase(),\n    'X-Ca-Timestamp': String(input.timestamp ?? Date.now()),\n    'X-Ca-Version': '1',\n    ...(input.extraCaHeaders ?? {}),\n  };\n\n  const signedHeaderNames = Object.keys(caHeaders).sort((a, b) =>\n    a.toLowerCase() < b.toLowerCase() ? -1 : a.toLowerCase() > b.toLowerCase() ? 1 : 0,\n  );\n  const headerBlock = signedHeaderNames.map((k) => `${k}:${caHeaders[k]}\\n`).join('');\n\n  let resource = input.path;\n  if (formParams && Object.keys(formParams).length > 0) {\n    const sorted = Object.keys(formParams).sort();\n    resource += '?' + sorted.map((k) => `${k}=${formParams[k]}`).join('&');\n  }\n\n  const stringToSign = `${input.method}\\n${accept}\\n${contentMd5}\\n${contentType}\\n${date}\\n${headerBlock}${resource}`;\n  const signature = createHmac('sha1', input.appSecret).update(stringToSign, 'utf8').digest('base64');\n\n  const headers: Record<string, string> = {\n    'Content-Type': contentType,\n    Accept: accept,\n    Date: date,\n    'X-Ca-Signature': signature,\n    'X-Ca-Signature-Method': 'HmacSHA1',\n    'X-Ca-Signature-Headers': signedHeaderNames.join(','),\n    ...caHeaders,\n  };\n  if (contentMd5) {\n    headers['Content-MD5'] = contentMd5;\n  }\n  return { headers, body };\n}\n","import { z } from 'zod';\nimport { defaultFetch, type FetchImpl } from '../../transport/fetch.js';\nimport { DreameApiError, DreameDeviceOfflineError } from '../../transport/errors.js';\n\n/** LinkVisual code meaning the device's video agent isn't connected yet (waking). */\nexport const VISION_DEVICE_OFFLINE = 9201;\nimport {\n  ALIYUN_APP_KEY,\n  ALIYUN_APP_SECRET,\n  apiIotHost,\n  VISION_STREAM_QUERY,\n} from './constants.js';\nimport { signApiGatewayRequest } from './signing.js';\n\n/** LinkVisual live-stream descriptor returned by /vision/customer/stream/query. */\nexport interface StreamInfo {\n  /** Connection strategies the cloud offers, e.g. [\"Direct\",\"Relay\",\"NAT\"]. */\n  typeList: string[];\n  /** RTMP relay URL. Plain (playable directly) when requested with relayEncrypted:false. */\n  relayUrl: string | null;\n  /** AES key/iv for the relay payload — present (non-empty) only when relayEncrypted:true. */\n  relayDecryptKey: { iv: string; key: string } | null;\n  /** P2P (Direct/NAT) parameters: STUN/TURN + the WebSocket signaling URL. */\n  p2pInfo: {\n    stunUrl?: string;\n    alterStunUrl?: string;\n    signalUrl?: string;\n    portDetectStunUrlList?: string[];\n  } | null;\n  supportVisionPtz?: boolean;\n}\n\nconst StreamQueryResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    message: z.string().nullish(),\n    data: z\n      .object({\n        typeList: z.array(z.string()).optional(),\n        relayUrl: z.string().optional(),\n        relayDecryptKey: z\n          .object({ iv: z.string().optional(), key: z.string().optional() })\n          .passthrough()\n          .optional(),\n        p2pInfo: z\n          .object({\n            stunUrl: z.string().optional(),\n            alterStunUrl: z.string().optional(),\n            signalUrl: z.string().optional(),\n            portDetectStunUrlList: z.array(z.string()).optional(),\n          })\n          .passthrough()\n          .optional(),\n        supportVisionPtz: z.boolean().optional(),\n      })\n      .passthrough()\n      .optional(),\n  })\n  .passthrough();\n\nexport interface StreamQueryInput {\n  /** Aliyun IoT region id, e.g. `eu-central-1`. */\n  regionId: string;\n  /** Short-lived IoT identity token (from createSessionByAuthCode). */\n  iotToken: string;\n  /** LinkVisual device id. */\n  iotId: string;\n  /**\n   * When false (default) the relay RTMP carries a PLAIN (unencrypted) FLV, so it\n   * can be handed straight to ffmpeg. When true the payload is AES-encrypted and\n   * `relayDecryptKey` is returned.\n   */\n  relayEncrypted?: boolean;\n  /** 0 = HD main stream (default). */\n  streamType?: number;\n  appKey?: string;\n  appSecret?: string;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n}\n\n/**\n * Query the LinkVisual live stream for a device. Returns the relay RTMP URL and\n * P2P parameters. Note: each returned relay token is single-use — request a\n * fresh one per consumer.\n */\nexport async function streamQuery(input: StreamQueryInput): Promise<StreamInfo> {\n  const appKey = input.appKey ?? ALIYUN_APP_KEY;\n  const appSecret = input.appSecret ?? ALIYUN_APP_SECRET;\n  const host = apiIotHost(input.regionId);\n  const payload = {\n    id: crypto.randomUUID().toUpperCase(),\n    params: {\n      streamType: input.streamType ?? 0,\n      needDomainName: true,\n      relayEncryptType: 0,\n      clientType: 'iOS',\n      iotId: input.iotId,\n      enablePortPredict: true,\n      enableWebSocket: true,\n      forceIFrame: true,\n      cacheDuration: 3000,\n      relayEncrypted: input.relayEncrypted ?? false,\n    },\n    request: { language: 'en-US', appKey, iotToken: input.iotToken, apiVer: '2.2.0' },\n    version: '1.0.0',\n  };\n  const signed = signApiGatewayRequest({\n    method: 'POST',\n    host,\n    path: VISION_STREAM_QUERY,\n    appKey,\n    appSecret,\n    json: payload,\n    extraCaHeaders: { 'X-Ca-Stage': 'RELEASE' },\n  });\n\n  const fetchImpl = input.fetchImpl ?? defaultFetch;\n  const res = await fetchImpl(`https://${host}${VISION_STREAM_QUERY}`, {\n    method: 'POST',\n    headers: signed.headers,\n    body: signed.body,\n    ...(input.signal ? { signal: input.signal } : {}),\n  });\n  const text = await res.text();\n  let json: unknown;\n  try {\n    json = JSON.parse(text);\n  } catch {\n    throw new DreameApiError(`stream/query returned non-JSON (status ${res.status})`, res.status);\n  }\n  const parsed = StreamQueryResponseSchema.parse(json);\n  if (parsed.code === VISION_DEVICE_OFFLINE) {\n    // The device's video agent is not connected yet — querying wakes it via the\n    // LinkVisual cloud, so this is retryable (see DreameVideoSession.getStreamInfo).\n    throw new DreameDeviceOfflineError(\n      `stream/query: device video agent offline (code ${VISION_DEVICE_OFFLINE}) — retry to wake`,\n      res.status,\n      parsed,\n    );\n  }\n  if (parsed.code !== 200 && parsed.code !== 0) {\n    throw new DreameApiError(\n      `stream/query rejected: code=${parsed.code} msg=${parsed.message ?? '?'}`,\n      res.status,\n      parsed,\n    );\n  }\n  const d = parsed.data ?? {};\n  const dk = d.relayDecryptKey;\n  const hasKey = dk && dk.iv && dk.key;\n  const p = d.p2pInfo;\n  const p2pInfo: StreamInfo['p2pInfo'] = p\n    ? {\n        ...(p.stunUrl !== undefined ? { stunUrl: p.stunUrl } : {}),\n        ...(p.alterStunUrl !== undefined ? { alterStunUrl: p.alterStunUrl } : {}),\n        ...(p.signalUrl !== undefined ? { signalUrl: p.signalUrl } : {}),\n        ...(p.portDetectStunUrlList !== undefined\n          ? { portDetectStunUrlList: p.portDetectStunUrlList }\n          : {}),\n      }\n    : null;\n  return {\n    typeList: d.typeList ?? [],\n    relayUrl: d.relayUrl ?? null,\n    relayDecryptKey: hasKey ? { iv: dk.iv as string, key: dk.key as string } : null,\n    p2pInfo,\n    ...(d.supportVisionPtz !== undefined ? { supportVisionPtz: d.supportVisionPtz } : {}),\n  };\n}\n","import type { DreameRegion } from '../../auth/config.js';\nimport type { DreameSession } from '../../cloud/types.js';\nimport type { FetchImpl } from '../../transport/http.js';\nimport { getAliyunAuthCode } from '../client.js';\nimport { ALIYUN_REGION_ID } from './constants.js';\nimport { DreameDeviceOfflineError } from '../../transport/errors.js';\nimport { createIotSession, loginByOauth, type IotSession } from './identity.js';\nimport { streamQuery, type StreamInfo } from './vision.js';\n\n/** Default budget to wake a cold device via retried stream/query. */\nconst DEFAULT_WAKE_TIMEOUT_MS = 30_000;\nconst DEFAULT_WAKE_POLL_MS = 2_000;\n\nconst sleep = (ms: number): Promise<void> => new Promise((r) => setTimeout(r, ms));\n\n/** Refresh the IoT session this many ms before it actually expires. */\nconst REFRESH_LEEWAY_MS = 60_000;\n\nexport interface DreameVideoSessionInput {\n  /** An authenticated Dreame account session (from `Nodreame`). */\n  session: DreameSession;\n  region: DreameRegion;\n  fetchImpl?: FetchImpl;\n}\n\n/**\n * High-level video session for a Dreame account. Establishes and caches the\n * Aliyun IoT identity (iotToken), and mints fresh LinkVisual RTMP stream URLs\n * on demand. Each returned relay URL is single-use — call {@link getStreamInfo}\n * (or {@link getRtmpUrl}) once per consumer.\n *\n * The plain (unencrypted) relay URL is a standard RTMP stream: hand it straight\n * to ffmpeg / scrypted / camstack. No local muxing or RTSP server required here.\n */\nexport class DreameVideoSession {\n  readonly #session: DreameSession;\n  readonly #region: DreameRegion;\n  readonly #regionId: string;\n  readonly #fetchImpl: FetchImpl | undefined;\n  #iot: IotSession | null = null;\n  #inFlight: Promise<IotSession> | null = null;\n\n  constructor(input: DreameVideoSessionInput) {\n    this.#session = input.session;\n    this.#region = input.region;\n    this.#regionId = ALIYUN_REGION_ID[input.region];\n    this.#fetchImpl = input.fetchImpl;\n  }\n\n  /** The resolved Aliyun IoT region id (e.g. `eu-central-1`). */\n  get regionId(): string {\n    return this.#regionId;\n  }\n\n  /** Mint (or reuse) a valid Aliyun IoT session, refreshing before expiry. */\n  async ensureIotSession(): Promise<IotSession> {\n    const cur = this.#iot;\n    if (cur && Date.now() < cur.expiresAt - REFRESH_LEEWAY_MS) {\n      return cur;\n    }\n    if (this.#inFlight) {\n      return this.#inFlight;\n    }\n    this.#inFlight = this.#mint();\n    try {\n      this.#iot = await this.#inFlight;\n      return this.#iot;\n    } finally {\n      this.#inFlight = null;\n    }\n  }\n\n  async #mint(): Promise<IotSession> {\n    const base = {\n      session: this.#session,\n      region: this.#region,\n      ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n    };\n    const authCode = await getAliyunAuthCode(base);\n    const oa = await loginByOauth({\n      authCode,\n      regionId: this.#regionId,\n      ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n    });\n    return createIotSession({\n      sid: oa.sid,\n      regionId: this.#regionId,\n      ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n    });\n  }\n\n  /**\n   * Mint a fresh LinkVisual stream descriptor for a device. `encrypted:false`\n   * (default) yields a plain RTMP relay URL directly playable by ffmpeg.\n   *\n   * A camera that has been idle reports \"device offline\" until the query wakes\n   * its video agent via the LinkVisual cloud. This transparently retries on that\n   * (up to `wakeTimeoutMs`, default 30s) so a single call returns a live stream;\n   * pass `wakeTimeoutMs: 0` to fail fast instead.\n   */\n  async getStreamInfo(\n    iotId: string,\n    opts?: { encrypted?: boolean; wakeTimeoutMs?: number; pollMs?: number },\n  ): Promise<StreamInfo> {\n    const deadline = Date.now() + (opts?.wakeTimeoutMs ?? DEFAULT_WAKE_TIMEOUT_MS);\n    const pollMs = opts?.pollMs ?? DEFAULT_WAKE_POLL_MS;\n    for (;;) {\n      const iot = await this.ensureIotSession();\n      try {\n        return await streamQuery({\n          regionId: this.#regionId,\n          iotToken: iot.iotToken,\n          iotId,\n          relayEncrypted: opts?.encrypted ?? false,\n          ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n        });\n      } catch (err) {\n        if (err instanceof DreameDeviceOfflineError && Date.now() + pollMs < deadline) {\n          await sleep(pollMs);\n          continue;\n        }\n        throw err;\n      }\n    }\n  }\n\n  /**\n   * Convenience: mint a fresh plain RTMP relay URL for a device, or `null` when\n   * the device is not currently streaming (no relay available).\n   */\n  async getRtmpUrl(iotId: string): Promise<string | null> {\n    const info = await this.getStreamInfo(iotId, { encrypted: false });\n    return info.relayUrl;\n  }\n}\n","import type { DeviceVideoProfile } from './types.js';\n\n/**\n * Why this device cannot open a camera channel — or `null` when it can.\n *\n * The camera path needs one thing from the cloud: the `iotId`, which is the\n * CHANNEL id `startMonitor` addresses (for both vendors — see\n * `startMonitorParams`). When it is absent the call cannot proceed, and for a\n * long time that was reported as a single sentence covering four different\n * situations:\n *\n *   \"device has no LinkVisual iotId; not a camera device or not provisioned\"\n *\n * A CamStack operator met it on a robot whose camera they had just enabled in\n * the Dreame app (2026-09-16). Working out which of the four they were in\n * meant reading this library's source — the sentence names a MISSING FIELD,\n * not a cause, and the profile sitting right next to it already knows whether\n * the device is a camera at all, whether it is online, and which vendors it is\n * on and supports.\n *\n * The four states want four different actions:\n *\n *   - not a camera        → wrong device; nothing done here will help\n *   - offline             → wait; the binding is published BY the device\n *   - camera, online, no channel → open it once in the vendor app, which is\n *                           what creates the binding\n *   - channel present     → not this function's business\n *\n * Pure, so it is testable against captured profiles without a cloud.\n */\nexport function explainNoCameraChannel(profile: DeviceVideoProfile): string | null {\n  if (profile.iotId) {\n    return null;\n  }\n  const who = `${profile.model || 'unknown model'} (${profile.did || 'no did'})`;\n  if (!profile.videoCapable) {\n    return (\n      `${who} is not a camera: the cloud lists no video permit and no supported ` +\n      `video vendor for it, so there is no channel to open.`\n    );\n  }\n  if (!profile.online) {\n    return (\n      `${who} is a camera but is OFFLINE. The video binding is published by the ` +\n      `device itself, so there is nothing to read until it connects — this is ` +\n      `not a provisioning fault.`\n    );\n  }\n  const supports = profile.supportedVendors.length > 0 ? profile.supportedVendors.join(', ') : 'none';\n  // ON A VENDOR WE DO NOT SPEAK.\n  //\n  // `iotId` is read from the ALIYUN bind endpoint (`iotuserbind/device/info`),\n  // so a device provisioned on Tencent has none BY CONSTRUCTION — it is not\n  // missing, it does not live there. Measured on a live X50 on 2026-09-16\n  // while its owner was watching the stream in the Dreame app: `vendor: 'tx'`,\n  // `supports: ['tx','ali']`, `iotId: null`.\n  //\n  // Telling that owner to \"open it once in the app to create the binding\" is\n  // advice that cannot work, and it was given — while the app was streaming.\n  // A diagnostic that sends someone to do a useless thing is worse than one\n  // that says nothing, so this case says what is actually true.\n  if (profile.currentVendor === 'tx') {\n    return (\n      `${who} is a camera and online, but is provisioned on the TENCENT video ` +\n      `vendor (vendor: tx; supports: ${supports}), and this library implements ` +\n      `only the Aliyun LinkVisual path — the channel id it needs lives on ` +\n      `Aliyun and a tx device has none. Re-pairing or re-opening the camera in ` +\n      `the app will not change this.`\n    );\n  }\n  // A camera, online, on no vendor at all: it has never bound to the video\n  // service. Streaming it once in the vendor app is what creates the binding —\n  // and here that advice is right.\n  const on = profile.currentVendor ?? 'none';\n  return (\n    `${who} is a camera and online, but has no video channel yet ` +\n    `(vendor: ${on}; supports: ${supports}). The device has not bound to the ` +\n    `video service — open its camera once in the Dreame app to create the ` +\n    `binding, then retry.`\n  );\n}\n","/**\n * MIoT surface of the Dreame camera service (SIID 10001), reversed byte-exact\n * from the r2538z (X50) React-Native plugin `Monitor` model. Every camera\n * control the app issues is a MIoT `action` on this service; the values below\n * are the verbatim aiid/piid maps from the bundle.\n */\n\n/** The camera/monitor service id. Same across the X40/X50 vacuum class. */\nexport const MONITOR_SIID = 10001;\n\n/** Action instance ids on {@link MONITOR_SIID}. */\nexport const MONITOR_AIID = {\n  /** Stream lifecycle + keep-alive (monitor start/end, keep_alive). */\n  CAMERA_OPERATE: 1,\n  /** Two-way intercom start/end. */\n  VOICE_OPERATE: 2,\n  /** Generic property-scoped operations. */\n  PROPERTY_OPERATE: 3,\n  /** Privacy access-code gate (launch/verify/set/reset). */\n  ACCESS_CODE_OPERATE: 4,\n  /** Video-vendor SDK init / switch. */\n  VIDEO_VENDOR: 7,\n} as const;\n\n/** Property instance ids on {@link MONITOR_SIID}. */\nexport const MONITOR_PIID = {\n  MONITOR_STATUS: 1,\n  MONITOR_AUDIO_STATUS: 2,\n  MONITOR_RECORD_STATUS: 4,\n  TAKE_PHOTO: 5,\n  KEEP_ALIVE: 6,\n  MONITOR_FAULTS: 7,\n  FILL_LIGHT_SET: 9,\n  CAMERA_LIGHT_SWITCH: 10,\n  VIDEO_VENDOR_STATUS: 11,\n  GET_PROPERTY: 99,\n  PERSON_DATA: 110,\n  VIDEO_OBSTACLE_SWITCH: 111,\n  VIDEO_OBSTACLE_DATA: 112,\n  MONITOR_TASK_STATUS: 103,\n  UPLOAD_STATUS: 1003,\n  GET_ACCESS_CODE: 1100,\n  SET_ACCESS_CODE: 1101,\n  VERIFY_ACCESS_CODE: 1102,\n  MONITOR_REST_MODE: 1103,\n  SET_ACCESS_HOT_STATUS: 1104,\n  MONITOR_SPACE: 2003,\n} as const;\n\n/**\n * The `token` field the `startMonitor` action expects, keyed by vendor. Aliyun\n * LinkVisual uses the literal `\"alify\"`; Tencent uses `\"tx\"`. (Agora passes an\n * RTC access token instead and is not modelled here.)\n */\nexport const MONITOR_VENDOR_TOKEN: Record<'ali' | 'tx', string> = {\n  ali: 'alify',\n  tx: 'tx',\n};\n\n/** Fill-light: values 40..100 are manual %, below 40 (or 101) select auto. */\nexport const FILL_LIGHT_MIN = 40;\n\n/**\n * The vacuum work service (SIID 4). The camera has no gimbal — \"PTZ\" and the\n * camera-adjacent controls (remote drive, go-to-point, person-follow) drive the\n * robot itself through this service.\n */\nexport const VACUUM_SIID = 4;\nexport const VACUUM_MOVE = {\n  /** Remote-drive state property (set_properties), sent ~1 Hz while held. */\n  REMOTE_STATE_PIID: 15,\n  /** Work-mode action instance (go-to-point, cruise, person-follow start). */\n  WORK_AIID: 1,\n  /** Work-mode stop action instance (person-follow stop). */\n  STOP_AIID: 2,\n  /** piid carrying the work-mode selector value in the WORK action. */\n  MODE_PIID: 1,\n  /** piid carrying the point-info JSON in the WORK action. */\n  POINT_PIID: 10,\n  /** Work-mode selector values. */\n  MODE_SPOT: 23, // go to point (MonitorSpotMode)\n  MODE_CRUISE: 22, // cruise / patrol / find-pet\n  MODE_PERSON_FOLLOW: 26,\n  MODE_SPOT_CLEAN: 20, // spot-clean the current position (SpotClean)\n  /** Auto-switch setter property (fill-light auto/full toggle lives here). */\n  AUTO_SWITCH_PIID: 50,\n} as const;\n\n/** Return-to-dock / charge action (battery service). */\nexport const VACUUM_CHARGE = { siid: 3, aiid: 1 } as const;\n\n/**\n * Voice/audio service (SIID 7). aiid 1 = position/locate (robot beeps), aiid 2 =\n * playSound (play a sound clip by id, carried in piid 4).\n */\nexport const VOICE_SIID = 7;\nexport const VOICE_LOCATE_AIID = 1;\nexport const VOICE_PLAY_SOUND_AIID = 2;\nexport const VOICE_SOUND_PIID = 4;\n/** Locate action — the robot beeps so you can find it. */\nexport const VACUUM_LOCATE = { siid: VOICE_SIID, aiid: VOICE_LOCATE_AIID } as const;\n\n/** Pet-teasing sound clips playable via {@link VOICE_PLAY_SOUND_AIID}. */\nexport const PET_SOUNDS = {\n  meow: 684,\n  bark: 685,\n  footsteps: 686,\n  purring: 687,\n  tickTock: 688,\n} as const;\nexport type PetSound = keyof typeof PET_SOUNDS;\n\n/** Common whole-robot actions (usable as camera presets). */\nexport const VACUUM_ACTIONS = {\n  startClean: { siid: 2, aiid: 1 },\n  pauseClean: { siid: 2, aiid: 2 },\n  stopClean: { siid: 4, aiid: 2 },\n  dockWash: { siid: 4, aiid: 4 },\n  autoEmpty: { siid: 15, aiid: 1 },\n} as const;\nexport type VacuumActionKey = keyof typeof VACUUM_ACTIONS;\n","/**\n * Pure protocol helpers for the camera monitor service — no I/O, so every wire\n * shape here is unit-testable in isolation. The device wraps each action value\n * as `JSON.stringify({ ...params, session })`, where `session` is a per-session\n * correlation token; these builders reproduce that envelope exactly.\n */\nimport { createHash } from 'node:crypto';\nimport { MONITOR_PIID, MONITOR_VENDOR_TOKEN } from './constants.js';\n\n/** One `in[]` entry of a MIoT action: a piid plus a JSON-encoded value. */\nexport interface MonitorActionInput {\n  readonly piid: number;\n  readonly value: string;\n}\n\n/** The parsed shape of a device action reply (`callAction` resolves to this). */\nexport interface MonitorActionResult {\n  readonly code?: number;\n  readonly out?: ReadonlyArray<{ piid?: number; value?: unknown }>;\n  readonly result?: { out?: ReadonlyArray<{ piid?: number; value?: unknown }> };\n}\n\n/**\n * Per-session correlation token, exactly as the app's `Monitor.updateSession()`:\n * `MD5(accountId + \"_\" + epochMillis)`. Pass an explicit `now` for deterministic\n * tests. `accountId` is the Dreame account uid.\n */\nexport function makeMonitorSession(accountId: string, now: number = Date.now()): string {\n  return createHash('md5').update(`${accountId}_${now}`).digest('hex');\n}\n\n/** SHA-256 hex of a privacy access code, as `Monitor.verifyAccessCode` sends it. */\nexport function hashAccessCode(code: string): string {\n  return createHash('sha256').update(code).digest('hex');\n}\n\n/**\n * Build a single action `in[]` entry: merge `params` with the `session` (session\n * wins on key clash, matching the plugin) and JSON-encode. `params` of `null`\n * yields just `{ session }`.\n */\nexport function buildActionInput(\n  piid: number,\n  params: Record<string, unknown> | null,\n  session: string,\n): MonitorActionInput {\n  const value = JSON.stringify({ ...(params ?? {}), session });\n  return { piid, value };\n}\n\n/** `startMonitor` value params for a given vendor + channel (iotId). */\nexport function startMonitorParams(\n  iotId: string,\n  vendor: 'ali' | 'tx',\n  area: string,\n): Record<string, unknown> {\n  return {\n    token: MONITOR_VENDOR_TOKEN[vendor],\n    channelId: iotId,\n    area,\n    operType: 'monitor',\n    operation: 'start',\n  };\n}\n\n/** `stopMonitor` value params. */\nexport function stopMonitorParams(): Record<string, unknown> {\n  return { operType: 'monitor', operation: 'end' };\n}\n\n/** `keep_alive` value params. `videoStatus` is `preparing` until the relay is up, then `opened`. */\nexport function keepAliveParams(videoStatus: 'preparing' | 'opened'): Record<string, unknown> {\n  return { operType: 'keep_alive', videoStatus };\n}\n\n/** `getAccessCodeLaunch` params — primes the camera pipeline and reports PIN state. */\nexport function accessCodeLaunchParams(): Record<string, unknown> {\n  return { open: true };\n}\n\n/** `verifyAccessCode` params from a plaintext code. `lazymode` mirrors the app default. */\nexport function verifyAccessCodeParams(code: string, lazymode = 0): Record<string, unknown> {\n  return { oldcode: hashAccessCode(code), lazymode };\n}\n\n/** `intercom` start params. `phone:1` marks a video-call intercom. */\nexport function intercomStartParams(opts?: {\n  needRecordSound?: boolean;\n  videoCall?: boolean;\n}): Record<string, unknown> {\n  return {\n    operType: 'intercom',\n    operation: 'start',\n    ...(opts?.needRecordSound !== undefined ? { need_record_sound: opts.needRecordSound } : {}),\n    ...(opts?.videoCall ? { phone: 1 } : {}),\n  };\n}\n\n/** `intercom` stop params. */\nexport function intercomStopParams(): Record<string, unknown> {\n  return { operType: 'intercom', operation: 'end' };\n}\n\n/** Fill-light brightness params. Value is sent as a STRING, per the plugin. */\nexport function fillLightParams(value: number): Record<string, unknown> {\n  return { value: String(value) };\n}\n\n/** Device-side snapshot (`takephoto`) params. */\nexport function takePhotoParams(): Record<string, unknown> {\n  return { operType: 'takephoto', operation: 'start' };\n}\n\n/**\n * Remote-drive value (siid 4 / piid 15), sent ~1 Hz while a direction is held.\n * `spdv` = forward speed (200 fwd, 0 stop), `spdw` = turn (45 left, -45 right,\n * 180 turn-around, 0 straight). Pass an explicit `now` for deterministic tests.\n */\nexport function remoteDriveValue(\n  spdv: number,\n  spdw: number,\n  now: number = Date.now(),\n): string {\n  return JSON.stringify({\n    spdv,\n    spdw,\n    audio: 'false',\n    random: Math.floor(Math.random() * 1000),\n    timestamp: now,\n  });\n}\n\n/** Named remote-drive directions, mapping to (spdv, spdw). */\nexport const DRIVE_DIRECTIONS = {\n  forward: [200, 0],\n  left: [0, 45],\n  right: [0, -45],\n  turnAround: [0, 180],\n  stop: [0, 0],\n} as const;\nexport type DriveDirection = keyof typeof DRIVE_DIRECTIONS;\n\n/** The device business `code` from an action reply (0 = accepted); `null` if absent. */\nexport function actionCode(res: unknown): number | null {\n  const r = res as MonitorActionResult | null | undefined;\n  return typeof r?.code === 'number' ? r.code : null;\n}\n\n/** First `out[0].value` from an action reply (handles both `out` and `result.out`). */\nexport function firstOutValue(res: unknown): unknown {\n  const r = res as MonitorActionResult | null | undefined;\n  const out = r?.out ?? r?.result?.out;\n  return Array.isArray(out) && out.length > 0 ? out[0]?.value : undefined;\n}\n","/**\n * Autonomous cold-start of a Dreame vacuum camera stream.\n *\n * Reproduces the exact sequence the r2538z (X50) app runs when you open the\n * camera — verified end-to-end against a deep-cold device:\n *\n *   1. getAccessCodeLaunch  (aiid 4 / piid 1100 {open:true})  — primes the pipeline\n *   2. initCameraSdk        (aiid 7 / piid 11   {})           — boots the on-device video agent\n *   3. startMonitor         (aiid 1 / piid 1    …start)       — on code:-1 with a PIN set,\n *      verifyAccessCode     (aiid 4 / piid 1102 sha256(PIN))  — satisfy the privacy gate,\n *      startMonitor (retry)                                    — now accepted (code:0 + encryptionKey)\n *   4. keep_alive loop      (aiid 1 / piid 6)                 — every ~10s, or the device tears down\n *   5. stream/query (Aliyun LinkVisual)                        — mint the plain RTMP relay URL\n *\n * The resulting relay URL is a standard RTMP stream (H.264 + AAC) any consumer\n * (scrypted / camstack / ffmpeg) can pull directly. Call {@link close} to stop\n * the keep-alive loop and release the monitor on the device.\n */\nimport { DreameError } from '../../transport/errors.js';\nimport {\n  MONITOR_AIID,\n  MONITOR_PIID,\n  MONITOR_SIID,\n  VACUUM_SIID,\n  VACUUM_MOVE,\n  VACUUM_CHARGE,\n  VACUUM_LOCATE,\n  VACUUM_ACTIONS,\n  VOICE_SIID,\n  VOICE_PLAY_SOUND_AIID,\n  VOICE_SOUND_PIID,\n  PET_SOUNDS,\n  type PetSound,\n  type VacuumActionKey,\n} from './constants.js';\nimport {\n  accessCodeLaunchParams,\n  actionCode,\n  buildActionInput,\n  fillLightParams,\n  firstOutValue,\n  intercomStartParams,\n  intercomStopParams,\n  keepAliveParams,\n  makeMonitorSession,\n  remoteDriveValue,\n  startMonitorParams,\n  stopMonitorParams,\n  takePhotoParams,\n  verifyAccessCodeParams,\n  DRIVE_DIRECTIONS,\n  type DriveDirection,\n} from './protocol.js';\n\n/**\n * MIoT device transport the controller drives — satisfied by a nodedreame device\n * handle (VacuumDevice). `setProperty` is optional so callAction-only fakes still\n * satisfy the interface; the robot-drive helpers require it.\n */\nexport interface MonitorActionCaller {\n  callAction(siid: number, aiid: number, input: unknown[]): Promise<unknown>;\n  setProperty?(write: { siid: number; piid: number; value: unknown }): Promise<unknown>;\n}\n\n/** Minimal relay minter — satisfied by {@link DreameVideoSession}. */\nexport interface RelayMinter {\n  getStreamInfo(\n    iotId: string,\n    opts?: { encrypted?: boolean; wakeTimeoutMs?: number; pollMs?: number },\n  ): Promise<{ relayUrl: string | null }>;\n}\n\nexport interface DreameCameraControllerInput {\n  /** MIoT action transport (the device handle). */\n  readonly device: MonitorActionCaller;\n  /** Aliyun relay minter (a {@link DreameVideoSession}). */\n  readonly relay: RelayMinter;\n  /** LinkVisual channel id for this device (`iotId`). */\n  readonly iotId: string;\n  /** Dreame account uid — seeds the per-session correlation token. */\n  readonly accountId: string;\n  /** Video vendor. Only `ali` mints an RTMP relay; defaults to `ali`. */\n  readonly vendor?: 'ali' | 'tx';\n  /** Privacy access code (PIN) set at pairing, if any. Required to wake a coded camera. */\n  readonly accessCode?: string;\n  /** Aliyun region code the device reports as `area`; defaults to `'4'`. */\n  readonly area?: string;\n  /** Keep-alive cadence in ms (app default 10s). */\n  readonly keepAliveIntervalMs?: number;\n  /** Max time to wait for the relay to come up while the device wakes. */\n  readonly wakeTimeoutMs?: number;\n  /** Reported when a keep-alive tick fails (the stream is likely dying). */\n  readonly onKeepAliveError?: (err: unknown) => void;\n  /** Optional line logger (nodelink-style). Defaults to no-op. */\n  readonly log?: (line: string) => void;\n}\n\n/** A live camera stream: the pullable relay URL plus the device's per-stream key. */\nexport interface CameraStreamHandle {\n  /** Plain RTMP relay URL (H.264 + AAC). Single stream; re-open for another consumer. */\n  readonly rtmpUrl: string;\n  /** Device-generated per-session encryption key echoed by `startMonitor`. */\n  readonly encryptionKey: string | null;\n}\n\nconst DEFAULT_KEEP_ALIVE_MS = 10_000;\nconst DEFAULT_AREA = '4';\n\nexport class DreameCameraController {\n  readonly #device: MonitorActionCaller;\n  readonly #relay: RelayMinter;\n  readonly #iotId: string;\n  readonly #accountId: string;\n  readonly #vendor: 'ali' | 'tx';\n  readonly #accessCode: string | undefined;\n  readonly #area: string;\n  readonly #keepAliveIntervalMs: number;\n  readonly #wakeTimeoutMs: number | undefined;\n  readonly #onKeepAliveError: ((err: unknown) => void) | undefined;\n  readonly #log: (line: string) => void;\n\n  #session: string | null = null;\n  #keepAliveTimer: ReturnType<typeof setInterval> | null = null;\n  #opened = false;\n\n  constructor(input: DreameCameraControllerInput) {\n    this.#device = input.device;\n    this.#relay = input.relay;\n    this.#iotId = input.iotId;\n    this.#accountId = input.accountId;\n    this.#vendor = input.vendor ?? 'ali';\n    this.#accessCode = input.accessCode;\n    this.#area = input.area ?? DEFAULT_AREA;\n    this.#keepAliveIntervalMs = input.keepAliveIntervalMs ?? DEFAULT_KEEP_ALIVE_MS;\n    this.#wakeTimeoutMs = input.wakeTimeoutMs;\n    this.#onKeepAliveError = input.onKeepAliveError;\n    this.#log = input.log ?? ((): void => {});\n  }\n\n  #logLine(msg: string): void {\n    this.#log(`[nodedreame:monitor] ${msg}`);\n  }\n\n  /** True while a monitor session is active (between {@link open} and {@link close}). */\n  get isOpen(): boolean {\n    return this.#opened;\n  }\n\n  /** Send one camera action, resolving to the raw device reply. */\n  async #action(aiid: number, piid: number, params: Record<string, unknown> | null): Promise<unknown> {\n    if (!this.#session) {\n      throw new DreameError('camera controller has no session; call open() first');\n    }\n    const input = buildActionInput(piid, params, this.#session);\n    return this.#device.callAction(MONITOR_SIID, aiid, [input]);\n  }\n\n  /**\n   * Run the full cold-start sequence and return a live relay URL. Starts the\n   * keep-alive loop; the caller MUST {@link close} when done to release the\n   * device. Throws if the monitor cannot be started or no relay comes up.\n   */\n  async open(): Promise<CameraStreamHandle> {\n    if (this.#opened) {\n      throw new DreameError('camera stream already open');\n    }\n    this.#session = makeMonitorSession(this.#accountId);\n    this.#logLine(`open: vendor=${this.#vendor} iotId=${this.#iotId} area=${this.#area}`);\n\n    // 1) Prime the pipeline + boot the on-device video agent (best-effort:\n    // failures here are non-fatal, startMonitor is the real gate).\n    await this.#tryPrime();\n\n    // 2) startMonitor — retry once behind the privacy gate if refused.\n    const startRes = await this.#startMonitorWithGate();\n    const encryptionKey = asString(firstOutValue(startRes));\n    this.#logLine(`startMonitor accepted (encryptionKey=${encryptionKey ? 'yes' : 'no'})`);\n\n    // 3) keep the monitor alive from now on (device tears down without it).\n    this.#opened = true;\n    this.#startKeepAlive();\n\n    // 4) mint the relay (transparently retries while the device wakes).\n    let relayUrl: string | null;\n    try {\n      const info = await this.#relay.getStreamInfo(this.#iotId, {\n        encrypted: false,\n        ...(this.#wakeTimeoutMs !== undefined ? { wakeTimeoutMs: this.#wakeTimeoutMs } : {}),\n      });\n      relayUrl = info.relayUrl;\n    } catch (err) {\n      this.#logLine(`relay mint failed: ${err instanceof Error ? err.message : String(err)}`);\n      await this.close();\n      throw err;\n    }\n    if (!relayUrl) {\n      await this.close();\n      throw new DreameError('monitor started but no relay URL was returned');\n    }\n    this.#logLine('relay up');\n\n    return { rtmpUrl: relayUrl, encryptionKey };\n  }\n\n  async #tryPrime(): Promise<void> {\n    try {\n      await this.#action(MONITOR_AIID.ACCESS_CODE_OPERATE, MONITOR_PIID.GET_ACCESS_CODE, accessCodeLaunchParams());\n    } catch {\n      /* non-fatal */\n    }\n    try {\n      await this.#action(MONITOR_AIID.VIDEO_VENDOR, MONITOR_PIID.VIDEO_VENDOR_STATUS, null);\n    } catch {\n      /* non-fatal */\n    }\n  }\n\n  async #startMonitorWithGate(): Promise<unknown> {\n    const params = startMonitorParams(this.#iotId, this.#vendor, this.#area);\n    let res = await this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.MONITOR_STATUS, params);\n    if (actionCode(res) === 0) {\n      return res;\n    }\n    this.#logLine(`startMonitor refused (code ${actionCode(res) ?? '?'}); verifying access code`);\n    // Refused: the camera's per-session privacy gate needs the PIN verified.\n    if (this.#accessCode) {\n      await this.#action(\n        MONITOR_AIID.ACCESS_CODE_OPERATE,\n        MONITOR_PIID.VERIFY_ACCESS_CODE,\n        verifyAccessCodeParams(this.#accessCode),\n      );\n      res = await this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.MONITOR_STATUS, params);\n    }\n    if (actionCode(res) !== 0) {\n      const code = actionCode(res);\n      throw new DreameError(\n        `startMonitor refused (code ${code ?? '?'})` +\n          (this.#accessCode ? '' : '; device likely requires an accessCode'),\n      );\n    }\n    return res;\n  }\n\n  #startKeepAlive(): void {\n    this.#stopKeepAlive();\n    this.#keepAliveTimer = setInterval(() => {\n      void this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.KEEP_ALIVE, keepAliveParams('opened')).catch(\n        (err: unknown) => this.#onKeepAliveError?.(err),\n      );\n    }, this.#keepAliveIntervalMs);\n    // Don't hold the event loop open on the keep-alive timer alone.\n    this.#keepAliveTimer.unref?.();\n  }\n\n  #stopKeepAlive(): void {\n    if (this.#keepAliveTimer) {\n      clearInterval(this.#keepAliveTimer);\n      this.#keepAliveTimer = null;\n    }\n  }\n\n  /**\n   * Mint a FRESH single-use RTMP relay URL for the already-open monitor. Each\n   * consumer needs its own relay URL, so call this once per ffmpeg/consumer.\n   * Throws if the stream is not open.\n   */\n  async mintRelayUrl(): Promise<string> {\n    if (!this.#opened) {\n      throw new DreameError('camera stream is not open; call open() first');\n    }\n    const info = await this.#relay.getStreamInfo(this.#iotId, {\n      encrypted: false,\n      ...(this.#wakeTimeoutMs !== undefined ? { wakeTimeoutMs: this.#wakeTimeoutMs } : {}),\n    });\n    if (!info.relayUrl) {\n      throw new DreameError('no relay URL available for the open monitor');\n    }\n    return info.relayUrl;\n  }\n\n  /** Start the two-way intercom session (control plane only; see module docs on mic uplink). */\n  async startIntercom(opts?: { needRecordSound?: boolean; videoCall?: boolean }): Promise<unknown> {\n    return this.#action(MONITOR_AIID.VOICE_OPERATE, MONITOR_PIID.MONITOR_AUDIO_STATUS, intercomStartParams(opts));\n  }\n\n  /** Stop the two-way intercom session. */\n  async stopIntercom(): Promise<unknown> {\n    return this.#action(MONITOR_AIID.VOICE_OPERATE, MONITOR_PIID.MONITOR_AUDIO_STATUS, intercomStopParams());\n  }\n\n  /** Set the fill-light brightness (40–100 = manual %, below 40 / 101 = auto). */\n  async setFillLight(value: number): Promise<unknown> {\n    return this.#action(MONITOR_AIID.PROPERTY_OPERATE, MONITOR_PIID.FILL_LIGHT_SET, fillLightParams(value));\n  }\n\n  /**\n   * Device-side snapshot: the robot captures a still and uploads it to cloud\n   * storage (read the result back from the `uploadStatus` property). Prefer a\n   * frame-grab from the live stream for an instant image.\n   */\n  async takePhoto(): Promise<unknown> {\n    return this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.TAKE_PHOTO, takePhotoParams());\n  }\n\n  /**\n   * Remote-drive the robot (\"PTZ\" substitute — the camera is fixed, the robot\n   * moves). `spdv` = forward speed, `spdw` = turn; send repeatedly (~1 Hz) while\n   * a direction is held, then `stop`. Only valid while the stream is open.\n   */\n  async drive(spdv: number, spdw: number): Promise<unknown> {\n    this.#requireSession();\n    if (!this.#device.setProperty) {\n      throw new DreameError('device does not support setProperty; cannot remote-drive');\n    }\n    return this.#device.setProperty({\n      siid: VACUUM_SIID,\n      piid: VACUUM_MOVE.REMOTE_STATE_PIID,\n      value: remoteDriveValue(spdv, spdw),\n    });\n  }\n\n  /** Remote-drive by named direction (forward/left/right/turnAround/stop). */\n  async driveDirection(direction: DriveDirection): Promise<unknown> {\n    const [spdv, spdw] = DRIVE_DIRECTIONS[direction];\n    return this.drive(spdv, spdw);\n  }\n\n  /** Start person-follow mode (robot tracks a detected person). */\n  async startPersonFollow(): Promise<unknown> {\n    this.#requireSession();\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_PERSON_FOLLOW },\n    ]);\n  }\n\n  /**\n   * Universal stop for the current work mode — stops person-follow, spot-clean,\n   * go-to-point, cruise, etc. (siid 4 / aiid 2).\n   */\n  async stopWork(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.STOP_AIID, []);\n  }\n\n  /** Stop person-follow mode (alias for {@link stopWork}). */\n  async stopPersonFollow(): Promise<unknown> {\n    return this.stopWork();\n  }\n\n  /** Spot-clean the robot's current position (WorkMode SpotClean). */\n  async spotClean(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_SPOT_CLEAN },\n    ]);\n  }\n\n  /** Play one of the robot's sound clips (e.g. pet sounds) by id. */\n  async playSound(soundId: number): Promise<unknown> {\n    return this.#device.callAction(VOICE_SIID, VOICE_PLAY_SOUND_AIID, [\n      { piid: VOICE_SOUND_PIID, value: soundId },\n    ]);\n  }\n\n  /** Play a named pet-teasing sound (meow/bark/footsteps/purring/tickTock). */\n  async playPetSound(sound: PetSound): Promise<unknown> {\n    return this.playSound(PET_SOUNDS[sound]);\n  }\n\n  /** Run a common whole-robot action (startClean/pauseClean/stopClean/dockWash/autoEmpty). */\n  async runVacuumAction(action: VacuumActionKey): Promise<unknown> {\n    const a = VACUUM_ACTIONS[action];\n    return this.#device.callAction(a.siid, a.aiid, []);\n  }\n\n  /** Find-pet: cruise the home looking for the pet. */\n  async findPet(): Promise<unknown> {\n    this.#requireSession();\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_CRUISE },\n      { piid: VACUUM_MOVE.POINT_PIID, value: JSON.stringify({ findpet: '' }) },\n    ]);\n  }\n\n  /** Send the robot to a map point (`spoint` current, `tpoint` targets). */\n  async goToPoint(spoint: number[][], tpoint: number[][]): Promise<unknown> {\n    this.#requireSession();\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_SPOT },\n      { piid: VACUUM_MOVE.POINT_PIID, value: JSON.stringify({ spoint, tpoint }) },\n    ]);\n  }\n\n  /** Toggle the fill light between auto (`full=false`) and full-on (`full=true`). */\n  async setFillLightAuto(full: boolean): Promise<unknown> {\n    if (!this.#device.setProperty) {\n      throw new DreameError('device does not support setProperty; cannot toggle fill light');\n    }\n    return this.#device.setProperty({\n      siid: VACUUM_SIID,\n      piid: VACUUM_MOVE.AUTO_SWITCH_PIID,\n      value: JSON.stringify({ k: 'FillinLight', v: full ? 1 : 0 }),\n    });\n  }\n\n  /**\n   * Send the robot back to its dock to charge (\"go home\"). Works regardless of\n   * stream state — usable as a standalone command or a PTZ \"home\" preset.\n   */\n  async returnToDock(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_CHARGE.siid, VACUUM_CHARGE.aiid, []);\n  }\n\n  /** Locate the robot — it beeps. Works regardless of stream state. */\n  async locate(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_LOCATE.siid, VACUUM_LOCATE.aiid, []);\n  }\n\n  #requireSession(): void {\n    if (!this.#opened) {\n      throw new DreameError('camera stream is not open; call open() first');\n    }\n  }\n\n  /** Stop the keep-alive loop and release the monitor on the device. Idempotent. */\n  async close(): Promise<void> {\n    this.#stopKeepAlive();\n    if (!this.#opened) {\n      this.#session = null;\n      return;\n    }\n    this.#opened = false;\n    this.#logLine('close: stopping monitor');\n    try {\n      await this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.MONITOR_STATUS, stopMonitorParams());\n    } finally {\n      this.#session = null;\n    }\n  }\n}\n\nfunction asString(v: unknown): string | null {\n  return typeof v === 'string' ? v : null;\n}\n","/**\n * Outer-envelope handling for Dreame map blobs.\n *\n * Wire format: URL-safe base64 → optional AES-256-CBC decrypt → zlib\n * inflate → 27-byte binary header + width*height pixel grid + UTF-8\n * JSON tail. This module covers the first three steps; header / tail\n * parsing live in `header.ts` / `tail.ts`.\n */\n\nimport { createDecipheriv, createHash } from 'node:crypto';\nimport * as zlib from 'node:zlib';\nimport type { VacuumMapDecodeOptions } from './types.js';\n\n/** Bytes 0-26 are the fixed-layout binary header. */\nexport const HEADER_SIZE = 27;\n\n/** Sentinel value in `robot.a` / `charger.a` meaning \"absent\". */\nexport const ANGLE_ABSENT = 0x7fff;\n\n/** Frame-type byte values from the header. */\nexport const FRAME_TYPE = {\n  I: 73,\n  P: 80,\n  W: 87,\n} as const;\n\nexport class MapDecodeError extends Error {\n  constructor(message: string, options?: { cause?: unknown }) {\n    super(message, options);\n    this.name = 'MapDecodeError';\n  }\n}\n\n/**\n * Unwrap a raw MAP_DATA envelope value: URL-safe base64 → optional\n * AES-256-CBC decrypt → zlib inflate. The returned buffer starts with\n * the 27-byte header.\n *\n * If the value contains a comma, everything after the first comma is\n * treated as the per-blob AES key and AES is forced on (matching the\n * outer-envelope convention from Tasshack `map.py:3759-3792`). If `opts.key`\n * and `opts.iv` are also supplied, the embedded key wins.\n */\nexport function unwrapEnvelope(value: string, opts: VacuumMapDecodeOptions = {}): Buffer {\n  const commaIdx = value.indexOf(',');\n  const b64 = commaIdx >= 0 ? value.slice(0, commaIdx) : value;\n  const embeddedKey = commaIdx >= 0 ? value.slice(commaIdx + 1) : null;\n\n  const standard = b64.replace(/-/g, '+').replace(/_/g, '/');\n  let bytes: Buffer;\n  try {\n    bytes = Buffer.from(standard, 'base64');\n  } catch (err) {\n    throw new MapDecodeError('envelope: base64 decode failed', { cause: err });\n  }\n  if (bytes.length === 0) {\n    throw new MapDecodeError('envelope: empty payload after base64 decode');\n  }\n\n  const key = embeddedKey ?? opts.key ?? null;\n  if (key) {\n    if (!opts.iv) {\n      throw new MapDecodeError(\n        'envelope: AES key supplied but no IV — pass `opts.iv` (16-byte ASCII)',\n      );\n    }\n    bytes = aesCbcDecrypt(bytes, key, opts.iv);\n  }\n\n  let inflated: Buffer;\n  try {\n    inflated = zlib.inflateSync(bytes);\n  } catch (err) {\n    throw new MapDecodeError('envelope: zlib inflate failed', { cause: err });\n  }\n\n  // Some models/firmwares DOUBLE-wrap live-clean frames: the first inflate yields\n  // a URL-safe base64 STRING of ANOTHER zlib stream rather than the binary frame\n  // (verified on dreame.vacuum.r2538z — head decodes to the `78 xx` zlib magic).\n  // Peel extra base64→zlib layers until the payload is binary (bounded, so a\n  // pathological input can't loop). A genuine binary frame is NOT entirely\n  // base64-text (its int16 header fields + 0x00 padding fail the check), so the\n  // single-wrap path is untouched.\n  let guard = 0;\n  while (guard < MAX_EXTRA_WRAP_LAYERS && looksLikeBase64Zlib(inflated)) {\n    const text = inflated.toString('latin1').replace(/-/g, '+').replace(/_/g, '/');\n    try {\n      inflated = zlib.inflateSync(Buffer.from(text, 'base64'));\n    } catch (err) {\n      throw new MapDecodeError('envelope: nested zlib inflate failed', { cause: err });\n    }\n    guard += 1;\n  }\n  return inflated;\n}\n\n/** Upper bound on nested base64+zlib layers peeled by {@link unwrapEnvelope}. */\nconst MAX_EXTRA_WRAP_LAYERS = 4;\n\n/**\n * Heuristic: does this buffer look like a base64-text wrapper around ANOTHER\n * zlib stream (rather than a binary map frame)? True only when the WHOLE buffer\n * is URL-safe-base64 characters AND a short prefix decodes to the zlib magic\n * byte `0x78`. A binary frame contains non-base64 bytes (header int16s / `0x00`\n * padding), so it never matches.\n */\nexport function looksLikeBase64Zlib(buf: Buffer): boolean {\n  if (buf.length < 8) return false;\n  for (const b of buf) {\n    const isB64 =\n      (b >= 0x41 && b <= 0x5a) || // A-Z\n      (b >= 0x61 && b <= 0x7a) || // a-z\n      (b >= 0x30 && b <= 0x39) || // 0-9\n      b === 0x2b ||\n      b === 0x2f || // + /\n      b === 0x2d ||\n      b === 0x5f || // - _ (url-safe)\n      b === 0x3d; // =\n    if (!isB64) return false;\n  }\n  try {\n    const prefix = buf.subarray(0, 16).toString('latin1').replace(/-/g, '+').replace(/_/g, '/');\n    const decoded = Buffer.from(prefix, 'base64');\n    return decoded.length >= 2 && decoded[0] === 0x78;\n  } catch {\n    return false;\n  }\n}\n\nfunction aesCbcDecrypt(cipher: Buffer, rawKey: string, iv: string): Buffer {\n  const keyBytes = Buffer.from(\n    createHash('sha256').update(rawKey).digest('hex').slice(0, 32),\n    'utf8',\n  );\n  const ivBytes = Buffer.from(iv, 'utf8');\n  if (ivBytes.length !== 16) {\n    throw new MapDecodeError(`envelope: AES IV must be 16 ASCII bytes, got ${ivBytes.length}`);\n  }\n  try {\n    const decipher = createDecipheriv('aes-256-cbc', keyBytes, ivBytes);\n    decipher.setAutoPadding(false);\n    return Buffer.concat([decipher.update(cipher), decipher.final()]);\n  } catch (err) {\n    throw new MapDecodeError('envelope: AES decrypt failed', { cause: err });\n  }\n}\n","/**\n * 27-byte binary header at the start of every inflated map frame.\n * Layout per `docs/live-map-format.md` §\"27-byte header\".\n */\n\nimport type { MapFrameType } from './types.js';\nimport { FRAME_TYPE, HEADER_SIZE, MapDecodeError } from './envelope.js';\n\nexport interface MapHeader {\n  mapId: number;\n  frameId: number;\n  frameType: MapFrameType;\n  robotX: number;\n  robotY: number;\n  robotA: number;\n  chargerX: number;\n  chargerY: number;\n  chargerA: number;\n  gridSize: number;\n  width: number;\n  height: number;\n  left: number;\n  top: number;\n}\n\nexport function parseMapHeader(buf: Buffer): MapHeader {\n  if (buf.length < HEADER_SIZE) {\n    throw new MapDecodeError(`header: need ${HEADER_SIZE} bytes, got ${buf.length}`);\n  }\n  return {\n    mapId: buf.readInt16LE(0),\n    frameId: buf.readInt16LE(2),\n    frameType: frameTypeFromByte(buf[4]!),\n    robotX: buf.readInt16LE(5),\n    robotY: buf.readInt16LE(7),\n    robotA: buf.readInt16LE(9),\n    chargerX: buf.readInt16LE(11),\n    chargerY: buf.readInt16LE(13),\n    chargerA: buf.readInt16LE(15),\n    gridSize: buf.readInt16LE(17),\n    width: buf.readInt16LE(19),\n    height: buf.readInt16LE(21),\n    left: buf.readInt16LE(23),\n    top: buf.readInt16LE(25),\n  };\n}\n\nfunction frameTypeFromByte(b: number): MapFrameType {\n  switch (b) {\n    case FRAME_TYPE.I:\n      return 'I';\n    case FRAME_TYPE.P:\n      return 'P';\n    case FRAME_TYPE.W:\n      return 'W';\n    default:\n      throw new MapDecodeError(`header: unknown frame_type byte ${b}`);\n  }\n}\n","/**\n * JSON tail extraction from an inflated map frame buffer.\n *\n * The tail is UTF-8 JSON immediately after the header + pixel grid;\n * `MapTail` (`./types.ts`) describes the subset of keys we consume.\n *\n * `parseFrame` is the composed seam used by both `decodeVacuumMap`\n * and the rism-recurse path inside it — keeping the\n * \"header → tail\" sequence in one place ensures the two call sites\n * can't drift independently.\n */\n\nimport { HEADER_SIZE, MapDecodeError } from './envelope.js';\nimport { parseMapHeader, type MapHeader } from './header.js';\nimport type { MapTail } from './types.js';\n\nexport function sliceTailText(inflated: Buffer, header: MapHeader): string {\n  const start = HEADER_SIZE + header.width * header.height;\n  if (inflated.length < start) {\n    throw new MapDecodeError(\n      `tail: inflated payload shorter than header+pixels (${inflated.length} < ${start})`,\n    );\n  }\n  return inflated.subarray(start).toString('utf8');\n}\n\n/**\n * Narrow a parsed JSON value to the loose `MapTail` shape without a\n * cast: `MapTail` is an all-optional interface with a\n * `[key: string]: unknown` index signature, so any plain non-null\n * object satisfies it once we've confirmed it is a record. A non-object\n * JSON top-level (number, string, array, null) is rejected.\n */\nfunction asMapTail(value: unknown): MapTail {\n  if (typeof value !== 'object' || value === null || Array.isArray(value)) {\n    throw new MapDecodeError('tail: JSON top-level is not an object');\n  }\n  const record: Record<string, unknown> = { ...value };\n  return record;\n}\n\nexport function parseMapJsonTail(text: string): MapTail {\n  if (!text) {\n    return {};\n  }\n  let parsed: unknown;\n  try {\n    parsed = JSON.parse(text);\n  } catch (err) {\n    throw new MapDecodeError('tail: JSON parse failed', { cause: err });\n  }\n  return asMapTail(parsed);\n}\n\n/**\n * Parse the header + JSON tail from an already-inflated frame buffer.\n *\n * Combines `parseMapHeader` + `sliceTailText` + `parseMapJsonTail`,\n * which the decoder, the rism-recurse path, and (deliberately not)\n * `merge.ts` invoke as a unit. Centralising the sequence keeps the\n * call sites in lockstep — the alternative is to drift independently\n * if one is updated without the others.\n *\n * Pure; doesn't unwrap base64 — call `unwrapEnvelope` first.\n */\nexport function parseFrame(inflated: Buffer): { header: MapHeader; tail: MapTail } {\n  const header = parseMapHeader(inflated);\n  const tail = parseMapJsonTail(sliceTailText(inflated, header));\n  return { header, tail };\n}\n","/**\n * Dreame room SEGMENT-TYPE → display-name table. A robot segment carries a\n * `type` code in its `seg_inf` record; the Dreamehome app (and the HA\n * `dreame_vacuum` integration) render a localized DEFAULT name from that code\n * when the user has NOT assigned a custom name. A custom-named room is stored\n * with `type === 0` plus a base64 `name`. Ported verbatim from the donor\n * `dreame/types.py SEGMENT_TYPE_CODE_TO_NAME`.\n */\nexport const SEGMENT_TYPE_CODE_TO_NAME: Readonly<Record<number, string>> = {\n  0: 'Room',\n  1: 'Living Room',\n  2: 'Primary Bedroom',\n  3: 'Study',\n  4: 'Kitchen',\n  5: 'Dining Hall',\n  6: 'Bathroom',\n  7: 'Balcony',\n  8: 'Corridor',\n  9: 'Utility Room',\n  10: 'Closet',\n  11: 'Meeting Room',\n  12: 'Office',\n  13: 'Fitness Area',\n  14: 'Recreation Area',\n  15: 'Secondary Bedroom',\n};\n\n/** Decode a base64 segment name to UTF-8, or `null` on malformed input. */\nfunction safeBase64ToUtf8(s: string): string | null {\n  try {\n    return Buffer.from(s, 'base64').toString('utf8');\n  } catch {\n    return null;\n  }\n}\n\n/**\n * Resolve a segment's display name, mirroring the donor `Segment.set_name`:\n *  1. a known room `type` (≠ 0) wins → its localized default name, suffixed\n *     `\" {index+1}\"` for the 2nd+ room of the same type (e.g. `Bedroom 2`);\n *  2. otherwise a user-assigned base64 `customName` (stored with `type === 0`);\n *  3. otherwise `null` (the caller renders a `Room <id>` fallback).\n *\n * @param type        `seg_inf.<id>.type` room-category code (0 = custom/none).\n * @param index       `seg_inf.<id>.index` ordinal among same-type rooms.\n * @param customName  `seg_inf.<id>.name` — base64-encoded user name, if any.\n */\nexport function resolveSegmentName(\n  type: number | undefined,\n  index: number | undefined,\n  customName: string | undefined,\n): string | null {\n  if (type !== undefined && type !== 0 && SEGMENT_TYPE_CODE_TO_NAME[type] !== undefined) {\n    const base = SEGMENT_TYPE_CODE_TO_NAME[type];\n    return index !== undefined && index > 0 ? `${base} ${index + 1}` : base;\n  }\n  if (typeof customName === 'string' && customName.length > 0) {\n    return safeBase64ToUtf8(customName);\n  }\n  return null;\n}\n","/**\n * Pixel-grid decoder for fsm:1 (path B / frame-map mode) — the layout\n * r2532a uses. Walks the grid row-by-row and emits run-length\n * `MapLayer` entries the renderer can blit straight onto canvas\n * without tracking individual pixels.\n *\n * The fsm:0 (variant A) layout is documented in the roadmap but isn't\n * exercised by any captured fixture; not implemented.\n */\n\nimport type { MapDimensions, MapLayer, MapRun, MapSegment, MapTail } from './types.js';\nimport { resolveSegmentName } from './segment-types.js';\n\n/**\n * Pixel-byte classifications for path B (`fsm: 1`).\n *\n * Layout (per roadmap):\n *   bits 7-2 = segment_id (top 6 bits, range 0..63)\n *   bits 1-0 = meta (low 2 bits)\n *\n * Special segment ids: 63 = WALL, 62 = FLOOR, 61 = UNKNOWN.\n * When the top 6 bits are zero, the low 2 bits encode markers\n * (01 = NEW_SEGMENT, 10 = WALL).\n * The `11` low-bit meta is a CARPET overlay independent of segment id.\n *\n * v1 layer types collapse this down to `wall | floor | segment`.\n * Carpet overlay is dropped for now — extending the v1 contract is a\n * separate decision (see types.ts MapLayerType).\n */\nexport type PixelClass = 'wall' | 'floor' | 'segment' | 'outside';\n\n/**\n * Classify a single pixel byte under fsm:1 (path B) layout.\n *\n * `kind` is the primary mutually-exclusive class. `carpet` is an\n * independent overlay flag (low bits == 11): it can co-occur with any\n * primary class — a carpet floor, a carpet pixel inside a segment, etc.\n * The wall marker (low bits == 10 with high bits zero) and the carpet\n * marker share the low-bits field, so a pixel cannot be both \"wall\n * marker\" and \"carpet\" at the same time.\n */\nexport function classifyPixelFsm1(byte: number): {\n  kind: PixelClass;\n  segmentId?: number;\n  carpet?: true;\n} {\n  if (byte === 0) {\n    return { kind: 'outside' };\n  }\n  const seg = byte >> 2;\n  const meta = byte & 3;\n  const isCarpet = meta === 3;\n\n  if (seg === 63) {\n    return isCarpet ? { kind: 'wall', carpet: true } : { kind: 'wall' };\n  }\n  if (seg === 62) {\n    return isCarpet ? { kind: 'floor', carpet: true } : { kind: 'floor' };\n  }\n  if (seg === 61) {\n    return { kind: 'outside' };\n  }\n  if (seg === 0) {\n    if (meta === 2) {\n      return { kind: 'wall' };\n    }\n    if (isCarpet) {\n      return { kind: 'outside', carpet: true };\n    }\n    return { kind: 'outside' };\n  }\n  return isCarpet\n    ? { kind: 'segment', segmentId: seg, carpet: true }\n    : { kind: 'segment', segmentId: seg };\n}\n\n/**\n * Walk the pixel grid row-by-row and emit run-length layers. Each row\n * resets the run state; runs never cross row boundaries (so the renderer\n * doesn't need to know the width to interpret them).\n *\n * Two kinds of run accumulation happen in parallel:\n *   - the primary classification (wall / floor / segment) — one run per\n *     contiguous same-class span\n *   - the carpet overlay — one run per contiguous carpet span, regardless\n *     of underlying primary class (a carpet stripe spanning the boundary\n *     between segment 5 and segment 7 produces one carpet run)\n */\nexport function decodePixelGridFsm1(pixels: Buffer, width: number, height: number): MapLayer[] {\n  const wallRuns: MapRun[] = [];\n  const floorRuns: MapRun[] = [];\n  const segmentRuns = new Map<number, MapRun[]>();\n  const carpetRuns: MapRun[] = [];\n\n  for (let y = 0; y < height; y++) {\n    const rowBase = y * width;\n    let runStart = -1;\n    let runKind: PixelClass = 'outside';\n    let runSegmentId = 0;\n    let carpetStart = -1;\n    for (let x = 0; x <= width; x++) {\n      const byte = x < width ? pixels[rowBase + x]! : 0;\n      const c =\n        x < width ? classifyPixelFsm1(byte) : { kind: 'outside' as const, carpet: undefined };\n      const sameAsRun =\n        runStart >= 0 &&\n        c.kind === runKind &&\n        (c.kind !== 'segment' || c.segmentId === runSegmentId);\n      if (!sameAsRun) {\n        // Emit the previous primary run (if any).\n        if (runStart >= 0 && runKind !== 'outside') {\n          const length = x - runStart;\n          const run: MapRun = [runStart, y, length];\n          if (runKind === 'wall') {\n            wallRuns.push(run);\n          } else if (runKind === 'floor') {\n            floorRuns.push(run);\n          } else if (runKind === 'segment') {\n            let bucket = segmentRuns.get(runSegmentId);\n            if (!bucket) {\n              bucket = [];\n              segmentRuns.set(runSegmentId, bucket);\n            }\n            bucket.push(run);\n          }\n        }\n        // Start a new primary run.\n        if (x < width && c.kind !== 'outside') {\n          runStart = x;\n          runKind = c.kind;\n          runSegmentId = c.kind === 'segment' ? c.segmentId! : 0;\n        } else {\n          runStart = -1;\n        }\n      }\n\n      // Carpet overlay accumulates independently of primary classification.\n      const isCarpet = c.carpet === true;\n      if (isCarpet && carpetStart < 0) {\n        carpetStart = x;\n      } else if (!isCarpet && carpetStart >= 0) {\n        carpetRuns.push([carpetStart, y, x - carpetStart]);\n        carpetStart = -1;\n      }\n    }\n  }\n\n  const layers: MapLayer[] = [];\n  if (wallRuns.length > 0) {\n    layers.push({ type: 'wall', runs: wallRuns });\n  }\n  if (floorRuns.length > 0) {\n    layers.push({ type: 'floor', runs: floorRuns });\n  }\n  for (const [id, runs] of [...segmentRuns.entries()].sort(([a], [b]) => a - b)) {\n    layers.push({ type: 'segment', segmentId: id, runs });\n  }\n  if (carpetRuns.length > 0) {\n    layers.push({ type: 'carpet', runs: carpetRuns });\n  }\n  return layers;\n}\n\n/**\n * Project decoded pixel-grid layers into per-segment metadata: bbox\n * and centroid in mm world-frame, plus the optional `seg_inf.<id>`\n * fields (name, neighbours, material, direction). `tail.sa` flags\n * which segments are in the device's current cleaning set.\n */\nexport function collectSegments(\n  layers: MapLayer[],\n  dim: MapDimensions,\n  tail: MapTail,\n): MapSegment[] {\n  const activeIds = new Set<number>();\n  for (const entry of tail.sa ?? []) {\n    if (Array.isArray(entry) && typeof entry[0] === 'number') {\n      activeIds.add(entry[0]);\n    }\n  }\n\n  const segs: MapSegment[] = [];\n  for (const layer of layers) {\n    if (layer.type !== 'segment' || layer.segmentId === undefined) {\n      continue;\n    }\n    const id = layer.segmentId;\n    let xMinPx = Infinity;\n    let yMinPx = Infinity;\n    let xMaxPx = -Infinity;\n    let yMaxPx = -Infinity;\n    let sumXPx = 0;\n    let sumYPx = 0;\n    let count = 0;\n    for (const [x, y, len] of layer.runs) {\n      if (x < xMinPx) {\n        xMinPx = x;\n      }\n      if (y < yMinPx) {\n        yMinPx = y;\n      }\n      if (x + len - 1 > xMaxPx) {\n        xMaxPx = x + len - 1;\n      }\n      if (y > yMaxPx) {\n        yMaxPx = y;\n      }\n      // centroid sum: for a run of `len` pixels starting at `x`, the\n      // x-sum is len*x + (0+1+...+len-1) = len*x + len*(len-1)/2\n      sumXPx += len * x + (len * (len - 1)) / 2;\n      sumYPx += len * y;\n      count += len;\n    }\n    if (count === 0) {\n      continue;\n    }\n\n    const meta = tail.seg_inf?.[String(id)] ?? null;\n    const bbox = {\n      xMin: dim.left + xMinPx * dim.gridSize,\n      yMin: dim.top + yMinPx * dim.gridSize,\n      xMax: dim.left + (xMaxPx + 1) * dim.gridSize,\n      yMax: dim.top + (yMaxPx + 1) * dim.gridSize,\n    };\n    const centroid = {\n      x: dim.left + (sumXPx / count) * dim.gridSize,\n      y: dim.top + (sumYPx / count) * dim.gridSize,\n    };\n\n    segs.push({\n      id,\n      // Mirror the donor: a room-type code (≠0) yields a localized default name\n      // (e.g. \"Kitchen\"), else the user's custom base64 name, else null.\n      name: resolveSegmentName(meta?.type, meta?.index, meta?.name),\n      bbox,\n      centroid,\n      neighbours: meta?.nei_id ?? [],\n      floorMaterial: meta?.material ?? null,\n      floorDirection: meta?.direction ?? null,\n      active: activeIds.has(id),\n    });\n  }\n  return segs;\n}\n","/**\n * Cleaning-path string parser. Wire format: a flat sequence of\n * `<op-letter><x>,<y>` ops in the JSON tail's `tr` field. Op letters\n * are M (mop), W (sweep+mop), S (sweep), L (line moveTo); lowercase\n * `l` is a P-frame line continuation, treated as L after the merge\n * layer concatenates prev+P trs.\n */\n\nimport type { MapPath, MapPathType } from './types.js';\n\nconst PATH_TYPE_FROM_OP: Record<string, MapPathType> = {\n  M: 'mop',\n  W: 'sweep-and-mop',\n  S: 'sweep',\n  L: 'line',\n};\n\nconst PATH_OP_REGEX = /([MWSLl])(-?\\d+),(-?\\d+)/g;\n\n/**\n * Parse Dreame's compact path string into typed segments.\n *\n * Each op letter starts a new segment:\n *   M = mop,   W = sweep+mop,   S = sweep,   L = line moveTo,\n *   l = P-frame line continuation (treated as L per Tasshack map.py:3987).\n *\n * Coordinates are millimetres world-frame for `mop` / `sweep` /\n * `sweep-and-mop` waypoints. **Line ops are RELATIVE deltas** to the\n * preceding absolute waypoint (or the previous point within the same\n * line). The accumulator unwinds them so every surfaced point is\n * absolute world-frame mm — verified live 2026-05-07 against r2532a\n * (without unwinding, 1000s of `line` deltas all cluster around the\n * world origin and render as a tight artifact).\n *\n * When a `line` op appears with no preceding absolute waypoint\n * (e.g. when `tr` starts with `L`/`l` and there's no anchor to\n * accumulate against — rare but possible at the very start of a\n * fresh subscription), the points are emitted literally. Callers\n * downstream of the merge layer don't see this path because P-frame\n * `tr` concatenation always prepends the prior absolute waypoint.\n */\nexport function parsePathTr(tr: string): MapPath[] {\n  if (!tr) {\n    return [];\n  }\n  // Locally mutable so we can push as we walk the regex matches; widened\n  // to the public `readonly`-decorated MapPath shape on return.\n  type MutablePath = { type: MapPathType; points: { x: number; y: number }[] };\n  const out: MutablePath[] = [];\n  let current: MutablePath | null = null;\n  let anchor: { x: number; y: number } | null = null;\n  for (const m of tr.matchAll(PATH_OP_REGEX)) {\n    const opRaw = m[1]!;\n    const xRaw = Number(m[2]);\n    const yRaw = Number(m[3]);\n    const op = opRaw === 'l' ? 'L' : opRaw;\n    const type = PATH_TYPE_FROM_OP[op];\n    if (!type) {\n      continue;\n    }\n    if (type === 'line' && anchor !== null) {\n      // Accumulate the relative delta against the running anchor.\n      const abs: { x: number; y: number } = {\n        x: anchor.x + xRaw,\n        y: anchor.y + yRaw,\n      };\n      if (!current || current.type !== type) {\n        // New line segment: seed with the anchor itself so the line\n        // draws a continuous trace from the preceding waypoint.\n        current = { type, points: [{ x: anchor.x, y: anchor.y }, abs] };\n        out.push(current);\n      } else {\n        current.points.push(abs);\n      }\n      anchor = abs;\n    } else {\n      // Either an absolute waypoint (S / W / M) or a `line` with no\n      // anchor yet — emit literally.\n      const pt = { x: xRaw, y: yRaw };\n      if (!current || current.type !== type) {\n        current = { type, points: [pt] };\n        out.push(current);\n      } else {\n        current.points.push(pt);\n      }\n      if (type !== 'line') {\n        // Absolute waypoint — update the anchor for any following\n        // `line` op to accumulate against.\n        anchor = pt;\n      }\n    }\n  }\n  return out;\n}\n","/**\n * Wire-value coercion helpers used by the map decoder modules.\n *\n * Dreame's tail JSON ships some numeric fields as strings (notably\n * `ai_obstacle` records' position fields and the rect/line corner\n * arrays) and some as numbers. Both forms decode to the same world-\n * frame mm value; these helpers normalise.\n *\n * Both return `null` on non-numeric / non-finite input — callers\n * decide whether to skip the entry or substitute a default.\n */\n\nexport function parseFloatField(v: unknown): number | null {\n  if (typeof v === 'number') {\n    return Number.isFinite(v) ? v : null;\n  }\n  if (typeof v === 'string') {\n    const n = Number(v);\n    return Number.isFinite(n) ? n : null;\n  }\n  return null;\n}\n\nexport function parseIntField(v: unknown): number | null {\n  const n = parseFloatField(v);\n  return n === null ? null : Math.trunc(n);\n}\n","/**\n * AI-detected obstacles parser. Wire format: the JSON tail's\n * `ai_obstacle` field is an array of positional records (~14 fields\n * each on r2532a). Field layout per `docs/live-map-format.md`.\n */\n\nimport type { MapObstacle } from './types.js';\nimport { parseFloatField, parseIntField } from './field-utils.js';\n\n/**\n * Decode one `ai_obstacle` entry. Field layout observed on r2532a\n * (2026-05-02 fixtures), 14 positional string fields:\n *   [0] x mm           [1] y mm           [2] type id\n *   [3] confidence 0-1 [4] timestamp.usec [5] photo file path\n *   [6] photo id       [7..10] bbox-like  [11..13] unknown small ints\n *\n * We use field 6 as `id` (numeric, fits comfortably in a JS number) and\n * field 4 (timestamp) is preserved via the schema's existing fields.\n * `photoKey` is left null — no AES key has been observed at this layer\n * on the live channel; it likely arrives via a separate cloud lookup.\n */\nexport function parseObstacles(raw: unknown[]): MapObstacle[] {\n  const out: MapObstacle[] = [];\n  for (const entry of raw) {\n    if (!Array.isArray(entry) || entry.length < 6) {\n      continue;\n    }\n    const x = parseFloatField(entry[0]);\n    const y = parseFloatField(entry[1]);\n    const type = parseIntField(entry[2]);\n    const confRaw = parseFloatField(entry[3]);\n    if (x === null || y === null || type === null) {\n      continue;\n    }\n    const photoFileName = typeof entry[5] === 'string' ? entry[5] : null;\n    const idCandidate = parseIntField(entry[6]);\n    const id = idCandidate ?? Math.round((parseFloatField(entry[4]) ?? 0) * 1e6);\n    out.push({\n      id,\n      x,\n      y,\n      type,\n      confidence: confRaw === null ? 0 : Math.round(confRaw * 100),\n      photoFileName,\n      photoKey: null,\n    });\n  }\n  return out;\n}\n","/**\n * User-defined map geometry — the `vw`, `vws`, `walls_info`,\n * `sneak_areas` / `sneak_areas_end` blocks of the JSON tail.\n *\n * On r2532a fw 4.3.9_2199 (verified 2026-05-07) the live I-frame's\n * top-level tail does NOT carry these blocks; they live inside the\n * embedded saved-map blob (`tail.rism`). `decodeVacuumMap` recurses\n * into rism and merges the inner geometry onto the outer `VacuumMap`,\n * so consumers see \"all geometry for this floor\" regardless of which\n * tail physically carried it.\n */\n\nimport type {\n  MapLowLyingArea,\n  MapRestrictedArea,\n  MapRoom,\n  MapRoomWall,\n  MapStorey,\n  MapTail,\n  MapVirtualWall,\n  MapWallsInfo,\n} from './types.js';\nimport { parseFloatField } from './field-utils.js';\n\n/**\n * Parse the `vw` (and optional `vws`) blocks — Dreame's user-defined\n * geometry. Tasshack `dev` `map.py:4597-4702` is the canonical\n * reference; we mirror its shape interpretations:\n *\n * `vw` (classic block):\n *   - `vw.line`: `[x0,y0,x1,y1]` line segments — virtual walls.\n *   - `vw.rect`: `[x0,y0,x1,y1, angle?]` axis-aligned no-go\n *     rectangles. Corners get sorted so the bbox is well-formed\n *     regardless of wire order.\n *   - `vw.mop`: same shape as `vw.rect`, no-mop zones.\n *   - `vw.nocpt`: `[x0,y0,x1,y1]` \"do not cross\" no-go rectangles —\n *     verified live 2026-05-07 on r2532a as additional no-go zones\n *     the user marked in the app. (Note: NOT carpets despite the\n *     name; Tasshack `map.py:4668` reads them as no-go rects.)\n *\n * `vws` (X50 threshold block — only present when the user has\n * configured thresholds; absent on older firmware):\n *   - `vws.vwsl`: `[x0,y0,x1,y1]` lines. When `vws.npthrsd` is\n *     present in the SAME `vws` object, these are *passable*\n *     thresholds (`kind: \"threshold\", passable: true`). When\n *     `npthrsd` is absent, they're \"virtual\" thresholds\n *     (`kind: \"threshold\"` with no `passable` hint).\n *   - `vws.npthrsd`: `[x0,y0,x1,y1]` lines — *impassable* thresholds\n *     (`kind: \"threshold\", passable: false`). Verified live\n *     2026-05-07 on r2532a fw 4.3.9_2199.\n *\n * `vw.cliff` and `vws.cliff` (line segments) and `vws.ramp` (areas)\n * have been observed empty on r2532a; they're not surfaced here\n * until a fixture exists for the populated form. `vw.addcpt` /\n * `vws.rec_*` recommendation mirrors are also out of scope for now.\n *\n * Returns empty arrays when both blocks are absent — there's no\n * meaningful difference between \"no walls configured\" and \"this\n * frame doesn't carry the field\" at the public-API layer, and the\n * merge layer + rism recurse handle the latter via fallback.\n */\nexport function parseVirtualWalls(\n  vw:\n    | {\n        line?: number[][];\n        rect?: number[][];\n        mop?: number[][];\n        nocpt?: number[][];\n      }\n    | undefined,\n  vws?: { vwsl?: number[][]; npthrsd?: number[][] },\n): { virtualWalls: MapVirtualWall[]; restrictedAreas: MapRestrictedArea[] } {\n  const virtualWalls: MapVirtualWall[] = [];\n  const restrictedAreas: MapRestrictedArea[] = [];\n\n  if (vw) {\n    for (const line of vw.line ?? []) {\n      const wall = parseLine(line, 'wall');\n      if (wall) {\n        virtualWalls.push(wall);\n      }\n    }\n    for (const rect of vw.rect ?? []) {\n      const area = parseRestrictedArea('noGo', rect);\n      if (area) {\n        restrictedAreas.push(area);\n      }\n    }\n    for (const rect of vw.mop ?? []) {\n      const area = parseRestrictedArea('noMop', rect);\n      if (area) {\n        restrictedAreas.push(area);\n      }\n    }\n    for (const rect of vw.nocpt ?? []) {\n      const area = parseRestrictedArea('noGo', rect);\n      if (area) {\n        restrictedAreas.push(area);\n      }\n    }\n  }\n\n  if (vws) {\n    const npthrsdPresent = Array.isArray(vws.npthrsd) && vws.npthrsd.length > 0;\n    for (const line of vws.vwsl ?? []) {\n      // vwsl semantics flip on the presence of npthrsd in the same block.\n      const wall = parseLine(line, 'threshold');\n      if (wall) {\n        if (npthrsdPresent) {\n          wall.passable = true;\n        }\n        // else: leave `passable` absent — these are \"virtual\" thresholds\n        // from older firmware that doesn't split the two.\n        virtualWalls.push(wall);\n      }\n    }\n    for (const line of vws.npthrsd ?? []) {\n      const wall = parseLine(line, 'threshold');\n      if (wall) {\n        wall.passable = false;\n        virtualWalls.push(wall);\n      }\n    }\n  }\n\n  return { virtualWalls, restrictedAreas };\n}\n\nfunction parseLine(raw: unknown, kind: 'wall' | 'threshold'): MapVirtualWall | null {\n  if (!Array.isArray(raw) || raw.length < 4) {\n    return null;\n  }\n  const x0 = parseFloatField(raw[0]);\n  const y0 = parseFloatField(raw[1]);\n  const x1 = parseFloatField(raw[2]);\n  const y1 = parseFloatField(raw[3]);\n  if (x0 === null || y0 === null || x1 === null || y1 === null) {\n    return null;\n  }\n  // `kind` is omitted from the emitted object when it would be the\n  // default (\"wall\"), matching the historical wire-empty case so\n  // identity comparisons in existing tests don't break unnecessarily.\n  if (kind === 'wall') {\n    return { from: { x: x0, y: y0 }, to: { x: x1, y: y1 } };\n  }\n  return { from: { x: x0, y: y0 }, to: { x: x1, y: y1 }, kind };\n}\n\nfunction parseRestrictedArea(kind: 'noGo' | 'noMop', raw: unknown): MapRestrictedArea | null {\n  if (!Array.isArray(raw) || raw.length < 4) {\n    return null;\n  }\n  const a = parseFloatField(raw[0]);\n  const b = parseFloatField(raw[1]);\n  const c = parseFloatField(raw[2]);\n  const d = parseFloatField(raw[3]);\n  if (a === null || b === null || c === null || d === null) {\n    return null;\n  }\n  const xMin = Math.min(a, c);\n  const xMax = Math.max(a, c);\n  const yMin = Math.min(b, d);\n  const yMax = Math.max(b, d);\n  const area: MapRestrictedArea = {\n    kind,\n    bbox: { xMin, yMin, xMax, yMax },\n  };\n  const e = raw.length > 4 ? parseFloatField(raw[4]) : null;\n  if (e !== null) {\n    area.angle = e;\n  }\n  return area;\n}\n\n/**\n * Parse the saved-map's per-room wall geometry. Wire shape (verified\n * 2026-05-07 against r2532a fw 4.3.9_2199):\n *\n * ```\n * {\n *   version_flag: 3,\n *   storeys: [{\n *     rooms: [{\n *       room_id: 10,\n *       walls: [{\n *         type:      0,        // 0 = solid wall, 1 = opening (observed)\n *         beg_pt_x:  -8225,\n *         beg_pt_y:  9275,\n *         end_pt_x:  -9025,\n *         end_pt_y:  9275,\n *         normal_x:  0,        // unit-vector pointing into the room\n *         normal_y:  -1\n *       }, …]\n *     }, …]\n *   }, …]\n * }\n * ```\n *\n * Returns `null` if the wire object is missing or has no storeys —\n * the public field on `VacuumMap` is null in that case rather than an\n * empty `MapWallsInfo`.\n */\nexport function parseWallsInfo(\n  raw: NonNullable<MapTail['walls_info']> | undefined,\n): MapWallsInfo | null {\n  if (!raw || !Array.isArray(raw.storeys) || raw.storeys.length === 0) {\n    return null;\n  }\n  const storeys: MapStorey[] = [];\n  for (const s of raw.storeys) {\n    if (!s || !Array.isArray(s.rooms)) {\n      continue;\n    }\n    const rooms: MapRoom[] = [];\n    for (const r of s.rooms) {\n      if (!r || typeof r.room_id !== 'number' || !Array.isArray(r.walls)) {\n        continue;\n      }\n      const walls: MapRoomWall[] = [];\n      for (const w of r.walls) {\n        if (\n          !w ||\n          typeof w.type !== 'number' ||\n          typeof w.beg_pt_x !== 'number' ||\n          typeof w.beg_pt_y !== 'number' ||\n          typeof w.end_pt_x !== 'number' ||\n          typeof w.end_pt_y !== 'number' ||\n          typeof w.normal_x !== 'number' ||\n          typeof w.normal_y !== 'number'\n        ) {\n          continue;\n        }\n        walls.push({\n          type: w.type,\n          from: { x: w.beg_pt_x, y: w.beg_pt_y },\n          to: { x: w.end_pt_x, y: w.end_pt_y },\n          normal: { x: w.normal_x, y: w.normal_y },\n        });\n      }\n      rooms.push({ roomId: r.room_id, walls });\n    }\n    storeys.push({ rooms });\n  }\n  if (storeys.length === 0) {\n    return null;\n  }\n  return {\n    versionFlag: typeof raw.version_flag === 'number' ? raw.version_flag : 0,\n    storeys,\n  };\n}\n\ninterface SneakAreaEntry {\n  id?: number;\n  type?: number;\n  hide?: number;\n  roi?: number[];\n  ms?: number;\n  area?: number;\n}\n\n/**\n * Aggregate of every geometry-bearing field surfaced from the tail.\n * `decodeVacuumMap` parses one of these per tail and the rism-recurse\n * path uses `coalesceGeometry` to fill in fields the outer tail left\n * empty.\n */\nexport interface MapGeometry {\n  virtualWalls: MapVirtualWall[];\n  restrictedAreas: MapRestrictedArea[];\n  lowLyingAreas: MapLowLyingArea[];\n  wallsInfo: MapWallsInfo | null;\n}\n\n/**\n * Decode every geometry-bearing field from a tail in one shot.\n *\n * Adding a new geometry block (e.g. `vw.cliff` once we get a fixture)\n * is a one-line edit here — `decodeVacuumMap` and the rism-recurse\n * path automatically pick up the new field via `coalesceGeometry`.\n */\nexport function parseTailGeometry(tail: MapTail): MapGeometry {\n  const { virtualWalls, restrictedAreas } = parseVirtualWalls(tail.vw, tail.vws);\n  return {\n    virtualWalls,\n    restrictedAreas,\n    lowLyingAreas: parseLowLyingAreas(tail.sneak_areas_end, tail.sneak_areas),\n    wallsInfo: parseWallsInfo(tail.walls_info),\n  };\n}\n\n/**\n * `true` when every geometry field has at least one entry. Used by\n * the rism-recurse path to skip the inner decode when the outer tail\n * already supplied everything.\n */\nexport function isGeometryComplete(g: MapGeometry): boolean {\n  return (\n    g.virtualWalls.length > 0 &&\n    g.restrictedAreas.length > 0 &&\n    g.lowLyingAreas.length > 0 &&\n    g.wallsInfo !== null\n  );\n}\n\n/**\n * Merge two `MapGeometry` snapshots. `primary` wins on every field\n * that's non-empty there; `fallback` fills the rest. Used by the\n * rism-recurse path: outer tail's geometry as primary, inner saved-\n * map blob's geometry as fallback.\n */\nexport function coalesceGeometry(primary: MapGeometry, fallback: MapGeometry): MapGeometry {\n  return {\n    virtualWalls: primary.virtualWalls.length > 0 ? primary.virtualWalls : fallback.virtualWalls,\n    restrictedAreas:\n      primary.restrictedAreas.length > 0 ? primary.restrictedAreas : fallback.restrictedAreas,\n    lowLyingAreas:\n      primary.lowLyingAreas.length > 0 ? primary.lowLyingAreas : fallback.lowLyingAreas,\n    wallsInfo: primary.wallsInfo !== null ? primary.wallsInfo : fallback.wallsInfo,\n  };\n}\n\n/**\n * Parse low-clearance \"sneak under furniture\" zones from a tail's\n * `sneak_areas` / `sneak_areas_end` arrays. Verified live 2026-05-07\n * on r2532a fw 4.3.9_2199 (every observed entry was a 4-corner rect,\n * 8 ints in `roi`); Tasshack `dev` `map.py:4776-4809` parses\n * arbitrary even-length polygons, so we surface points as-emitted\n * without coercing to a bounding box.\n *\n * `sneak_areas_end` is preferred when both fields are present in the\n * same tail — it carries the saved `area` field. `sneak_areas` is the\n * live-fly variant.\n */\nexport function parseLowLyingAreas(\n  end: SneakAreaEntry[] | undefined,\n  live: SneakAreaEntry[] | undefined,\n): MapLowLyingArea[] {\n  const source = end && end.length > 0 ? end : live;\n  if (!source) {\n    return [];\n  }\n  const out: MapLowLyingArea[] = [];\n  for (const entry of source) {\n    if (!entry || !Array.isArray(entry.roi) || entry.roi.length < 4 || entry.roi.length % 2 !== 0) {\n      continue;\n    }\n    const points: { x: number; y: number }[] = [];\n    let badPoint = false;\n    for (let i = 0; i + 1 < entry.roi.length; i += 2) {\n      const x = parseFloatField(entry.roi[i]);\n      const y = parseFloatField(entry.roi[i + 1]);\n      if (x === null || y === null) {\n        badPoint = true;\n        break;\n      }\n      points.push({ x, y });\n    }\n    if (badPoint || points.length === 0) {\n      continue;\n    }\n    const id = typeof entry.id === 'number' ? entry.id : -1;\n    const area: MapLowLyingArea = { id, points };\n    if (typeof entry.area === 'number') {\n      area.area = entry.area;\n    }\n    out.push(area);\n  }\n  return out;\n}\n","/**\n * Cleaned-area overlay decoder for the JSON tail's `decmap` field.\n *\n * `decmap` is a recursive map envelope embedded as a base64 string —\n * the same outer-envelope shape as the parent (URL-safe base64 →\n * zlib → 27-byte header + pixel grid + UTF-8 JSON tail) but with a\n * different per-pixel encoding. Inner pixel encoding uses only the\n * low 2 bits (`& 0x03`): `1` → cleaned, `2` → dirty, others ignored.\n *\n * Tasshack reference: `dev` `map.py:5162-5233`.\n */\n\nimport { HEADER_SIZE, unwrapEnvelope } from './envelope.js';\nimport { parseMapHeader, type MapHeader } from './header.js';\nimport type { MapCleanedAreaOverlay, MapRun } from './types.js';\n\n/**\n * Decode the `decmap` recursive blob into a `MapCleanedAreaOverlay`.\n *\n * Returns `null` for any decode failure — the parent decode should\n * never abort because of a malformed inner blob.\n */\nexport function parseCleanedAreaOverlay(decmap: string): MapCleanedAreaOverlay | null {\n  if (!decmap) {\n    return null;\n  }\n  let inflated: Buffer;\n  try {\n    inflated = unwrapEnvelope(decmap);\n  } catch {\n    return null;\n  }\n  if (inflated.length < HEADER_SIZE) {\n    return null;\n  }\n  let header: MapHeader;\n  try {\n    header = parseMapHeader(inflated);\n  } catch {\n    return null;\n  }\n  const pixelStart = HEADER_SIZE;\n  const pixelEnd = pixelStart + header.width * header.height;\n  if (inflated.length < pixelEnd || header.width <= 0 || header.height <= 0) {\n    return null;\n  }\n  const pixels = inflated.subarray(pixelStart, pixelEnd);\n  const { cleaned, dirty } = decodeCleanedAreaPixels(pixels, header.width, header.height);\n\n  const overlay: MapCleanedAreaOverlay = {\n    dimensions: {\n      left: header.left,\n      top: header.top,\n      width: header.width,\n      height: header.height,\n      gridSize: header.gridSize,\n    },\n    cleaned,\n    dirty,\n  };\n\n  // Pull out CleanArea from the inner JSON tail when present — opaque\n  // to us, useful for downstream stats.\n  if (inflated.length > pixelEnd) {\n    const tailText = inflated.subarray(pixelEnd).toString('utf8');\n    if (tailText) {\n      try {\n        const innerTail: unknown = JSON.parse(tailText);\n        if (\n          typeof innerTail === 'object' &&\n          innerTail !== null &&\n          !Array.isArray(innerTail) &&\n          'CleanArea' in innerTail\n        ) {\n          overlay.cleanedSegments = innerTail.CleanArea;\n        }\n      } catch {\n        // Inner tail malformed — keep the pixel decoding, drop the stats.\n      }\n    }\n  }\n\n  return overlay;\n}\n\nfunction decodeCleanedAreaPixels(\n  pixels: Buffer,\n  width: number,\n  height: number,\n): { cleaned: MapRun[]; dirty: MapRun[] } {\n  const cleaned: MapRun[] = [];\n  const dirty: MapRun[] = [];\n  for (let y = 0; y < height; y++) {\n    let cleanStart = -1;\n    let dirtyStart = -1;\n    const rowOff = y * width;\n    for (let x = 0; x < width; x++) {\n      const v = pixels[rowOff + x]! & 0x03;\n      if (v === 1) {\n        if (dirtyStart >= 0) {\n          dirty.push([dirtyStart, y, x - dirtyStart]);\n          dirtyStart = -1;\n        }\n        if (cleanStart < 0) {\n          cleanStart = x;\n        }\n      } else if (v === 2) {\n        if (cleanStart >= 0) {\n          cleaned.push([cleanStart, y, x - cleanStart]);\n          cleanStart = -1;\n        }\n        if (dirtyStart < 0) {\n          dirtyStart = x;\n        }\n      } else {\n        if (cleanStart >= 0) {\n          cleaned.push([cleanStart, y, x - cleanStart]);\n          cleanStart = -1;\n        }\n        if (dirtyStart >= 0) {\n          dirty.push([dirtyStart, y, x - dirtyStart]);\n          dirtyStart = -1;\n        }\n      }\n    }\n    if (cleanStart >= 0) {\n      cleaned.push([cleanStart, y, width - cleanStart]);\n    }\n    if (dirtyStart >= 0) {\n      dirty.push([dirtyStart, y, width - dirtyStart]);\n    }\n  }\n  return { cleaned, dirty };\n}\n","/**\n * P-frame merging.\n *\n * The live channel emits a base I-frame (full snapshot, OSS-fetched per\n * Phase 0 finding) followed by sequential P-frames carrying byte-add\n * deltas plus updated robot/dock pose, latest obstacle list, and an\n * incremental `tr` path fragment. To keep an up-to-date renderable map,\n * each P-frame must be merged onto the running state.\n *\n * Strategy (matches Tasshack `dreame/map.py:5018-5070`):\n *   - allocate a new pixel buffer sized to the union of (prev bbox,\n *     P-frame bbox) in world-frame mm\n *   - copy prev pixels into the new buffer at the offset of prev's\n *     world-frame origin within the union\n *   - byte-add each P-frame pixel into the new buffer at its offset\n *     (`out[i] = (out[i] + p[i]) & 0xFF`, intentional 8-bit wrap)\n *   - re-stamp the result as `frame_type = I` (73). The pixel grid is\n *     now an absolute classification, not a delta — and `decodeVacuumMap`\n *     deliberately skips pixel decode on P-frames, so the merged buffer\n *     must look like an I-frame to round-trip cleanly\n *   - merge JSON tail: prefer P's keys (latest state), but APPEND P's\n *     `tr` to prev's (the path is incremental), and fall back to prev's\n *     `seg_inf` when P doesn't carry one (most P-frames don't)\n *   - advance `frame_id` to P's, keep `map_id`\n *\n * The result is a synthetic inflated frame buffer that\n * `decodeVacuumMap(buffer)` consumes normally. No envelope wrap.\n *\n * For sequence enforcement: `mergePFrame` throws `OutOfOrderFrameError`\n * when `pframe.frameId !== prev.frameId + 1`. The frame-orchestration\n * follow-up uses this to queue or trigger a re-request.\n */\n\nimport { FRAME_TYPE, HEADER_SIZE, MapDecodeError, unwrapEnvelope } from './envelope.js';\nimport { parseMapHeader } from './header.js';\nimport { parseMapJsonTail, sliceTailText } from './tail.js';\nimport type { VacuumMapDecodeOptions, MapTail } from './types.js';\n\nexport class OutOfOrderFrameError extends Error {\n  readonly expectedFrameId: number;\n  readonly actualFrameId: number;\n  constructor(expectedFrameId: number, actualFrameId: number) {\n    super(`map: out-of-order P-frame (expected frame_id=${expectedFrameId}, got ${actualFrameId})`);\n    this.name = 'OutOfOrderFrameError';\n    this.expectedFrameId = expectedFrameId;\n    this.actualFrameId = actualFrameId;\n  }\n}\n\n/**\n * Merge a P-frame onto the previous (I-frame or already-merged) inflated\n * frame buffer. Returns a new inflated buffer re-stamped as `frame_type=I`.\n *\n * Both inputs must already be unwrapped (`unwrapEnvelope` applied). For\n * envelope-string inputs use `mergePFrameEnvelope` or `applyVacuumPFrame`.\n */\nexport function mergePFrame(prevInflated: Buffer, pFrameInflated: Buffer): Buffer {\n  const prevHeader = parseMapHeader(prevInflated);\n  const pHeader = parseMapHeader(pFrameInflated);\n\n  if (pHeader.frameType !== 'P') {\n    throw new MapDecodeError(`mergePFrame: expected P-frame, got frame_type=${pHeader.frameType}`);\n  }\n  if (pHeader.mapId !== prevHeader.mapId) {\n    throw new MapDecodeError(\n      `mergePFrame: map_id mismatch (prev=${prevHeader.mapId}, P=${pHeader.mapId}) — request a fresh I-frame`,\n    );\n  }\n  if (pHeader.frameId !== prevHeader.frameId + 1) {\n    throw new OutOfOrderFrameError(prevHeader.frameId + 1, pHeader.frameId);\n  }\n  if (prevHeader.gridSize !== pHeader.gridSize && pHeader.width > 0 && pHeader.height > 0) {\n    throw new MapDecodeError(\n      `mergePFrame: grid_size changed mid-stream (${prevHeader.gridSize} → ${pHeader.gridSize})`,\n    );\n  }\n\n  const prevTail = parseMapJsonTail(sliceTailText(prevInflated, prevHeader));\n  const pTail = parseMapJsonTail(sliceTailText(pFrameInflated, pHeader));\n\n  // ── compute union bbox ──────────────────────────────────────────────\n  // tail.origin and header.left/top agree on r2532a fsm:1 captures —\n  // prefer the tail value when present, fall back to the header.\n  const prevLeft = prevTail.origin?.[0] ?? prevHeader.left;\n  const prevTop = prevTail.origin?.[1] ?? prevHeader.top;\n  const grid = prevHeader.gridSize;\n  const prevRight = prevLeft + prevHeader.width * grid;\n  const prevBottom = prevTop + prevHeader.height * grid;\n\n  // P-frames with width=0,height=0 represent \"no spatial change\" — robot\n  // moved or obstacle list updated, but no pixel deltas. Skip the bbox\n  // union and the byte-add loop in that case.\n  const hasPixelDelta = pHeader.width > 0 && pHeader.height > 0;\n  let unionLeft = prevLeft;\n  let unionTop = prevTop;\n  let unionWidth = prevHeader.width;\n  let unionHeight = prevHeader.height;\n  let pLeft = 0;\n  let pTop = 0;\n\n  if (hasPixelDelta) {\n    pLeft = pTail.origin?.[0] ?? pHeader.left;\n    pTop = pTail.origin?.[1] ?? pHeader.top;\n    const pRight = pLeft + pHeader.width * grid;\n    const pBottom = pTop + pHeader.height * grid;\n\n    if ((pLeft - prevLeft) % grid !== 0 || (pTop - prevTop) % grid !== 0) {\n      throw new MapDecodeError(\n        `mergePFrame: P-frame origin not aligned to prev grid (offset=${pLeft - prevLeft},${pTop - prevTop} vs grid=${grid})`,\n      );\n    }\n\n    unionLeft = Math.min(prevLeft, pLeft);\n    unionTop = Math.min(prevTop, pTop);\n    const unionRight = Math.max(prevRight, pRight);\n    const unionBottom = Math.max(prevBottom, pBottom);\n    unionWidth = (unionRight - unionLeft) / grid;\n    unionHeight = (unionBottom - unionTop) / grid;\n  }\n\n  // ── allocate new pixel grid + copy prev pixels in ───────────────────\n  const newPixels = Buffer.alloc(unionWidth * unionHeight);\n  const prevPixelEnd = HEADER_SIZE + prevHeader.width * prevHeader.height;\n  if (prevInflated.length < prevPixelEnd) {\n    throw new MapDecodeError(\n      `mergePFrame: prev buffer truncated (need ${prevPixelEnd} bytes for header+pixels, got ${prevInflated.length})`,\n    );\n  }\n  const prevPixels = prevInflated.subarray(HEADER_SIZE, prevPixelEnd);\n  const prevDxPx = (prevLeft - unionLeft) / grid;\n  const prevDyPx = (prevTop - unionTop) / grid;\n  for (let y = 0; y < prevHeader.height; y++) {\n    const srcOff = y * prevHeader.width;\n    const dstOff = (prevDyPx + y) * unionWidth + prevDxPx;\n    prevPixels.copy(newPixels, dstOff, srcOff, srcOff + prevHeader.width);\n  }\n\n  // ── byte-add P pixels at their offset ───────────────────────────────\n  if (hasPixelDelta) {\n    const pPixelEnd = HEADER_SIZE + pHeader.width * pHeader.height;\n    if (pFrameInflated.length < pPixelEnd) {\n      throw new MapDecodeError(\n        `mergePFrame: P buffer truncated (need ${pPixelEnd} bytes for header+pixels, got ${pFrameInflated.length})`,\n      );\n    }\n    const pPixels = pFrameInflated.subarray(HEADER_SIZE, pPixelEnd);\n    const pDxPx = (pLeft - unionLeft) / grid;\n    const pDyPx = (pTop - unionTop) / grid;\n    for (let y = 0; y < pHeader.height; y++) {\n      const dstRow = (pDyPx + y) * unionWidth + pDxPx;\n      const srcRow = y * pHeader.width;\n      for (let x = 0; x < pHeader.width; x++) {\n        newPixels[dstRow + x] = (newPixels[dstRow + x]! + pPixels[srcRow + x]!) & 0xff;\n      }\n    }\n  }\n\n  // ── build new header (re-stamped as I-frame, union bbox) ────────────\n  const newHeader = Buffer.alloc(HEADER_SIZE);\n  newHeader.writeInt16LE(prevHeader.mapId, 0);\n  newHeader.writeInt16LE(pHeader.frameId, 2);\n  newHeader[4] = FRAME_TYPE.I;\n  newHeader.writeInt16LE(pHeader.robotX, 5);\n  newHeader.writeInt16LE(pHeader.robotY, 7);\n  newHeader.writeInt16LE(pHeader.robotA, 9);\n  newHeader.writeInt16LE(pHeader.chargerX, 11);\n  newHeader.writeInt16LE(pHeader.chargerY, 13);\n  newHeader.writeInt16LE(pHeader.chargerA, 15);\n  newHeader.writeInt16LE(grid, 17);\n  newHeader.writeInt16LE(unionWidth, 19);\n  newHeader.writeInt16LE(unionHeight, 21);\n  newHeader.writeInt16LE(unionLeft, 23);\n  newHeader.writeInt16LE(unionTop, 25);\n\n  // ── merge JSON tail ─────────────────────────────────────────────────\n  const mergedTail = mergeTails(prevTail, pTail, unionLeft, unionTop);\n  const tailBytes = Buffer.from(JSON.stringify(mergedTail), 'utf8');\n\n  return Buffer.concat([newHeader, newPixels, tailBytes]);\n}\n\n/**\n * Convenience wrapper: accept envelope strings (or raw buffers) for both\n * inputs and return the merged inflated buffer.\n */\nexport function mergePFrameEnvelope(\n  prev: Buffer | string,\n  pframe: Buffer | string,\n  prevOpts?: VacuumMapDecodeOptions,\n  pframeOpts?: VacuumMapDecodeOptions,\n): Buffer {\n  const prevBuf = typeof prev === 'string' ? unwrapEnvelope(prev, prevOpts) : prev;\n  const pBuf = typeof pframe === 'string' ? unwrapEnvelope(pframe, pframeOpts) : pframe;\n  return mergePFrame(prevBuf, pBuf);\n}\n\n/**\n * Construct the merged JSON tail. P-frame's tail is taken as the base\n * (it carries the latest robot/dock/obstacle/etc. state); a few keys\n * need explicit treatment:\n *\n *   - `origin` is overwritten with the union origin\n *   - `tr` (cleaning path) is concatenated: `prev.tr + p.tr`. P-frame\n *     uses lowercase `l` for line continuation; `parsePathTr` already\n *     normalises that, so plain concatenation is correct\n *   - `seg_inf` falls back to prev's when P doesn't supply one (typical;\n *     P-frames re-send seg_inf only on segment metadata changes)\n *   - `sa` (active segments) similarly falls back to prev's when absent\n */\nfunction mergeTails(\n  prev: MapTail,\n  p: MapTail,\n  unionLeft: number,\n  unionTop: number,\n): Record<string, unknown> {\n  const merged: Record<string, unknown> = { ...p };\n  merged.origin = [unionLeft, unionTop];\n\n  const prevTr = typeof prev.tr === 'string' ? prev.tr : '';\n  const pTr = typeof p.tr === 'string' ? p.tr : '';\n  if (prevTr || pTr) {\n    merged.tr = prevTr + pTr;\n  } else {\n    delete merged.tr;\n  }\n\n  if (!('seg_inf' in p) && 'seg_inf' in prev) {\n    merged.seg_inf = prev.seg_inf;\n  }\n  if (!('sa' in p) && 'sa' in prev) {\n    merged.sa = prev.sa;\n  }\n  // User-defined geometry + persistent overlay blocks are\n  // configuration, not live state — most P-frames don't re-send any\n  // of them. Fall back to prev when absent so the running state\n  // retains user-defined geometry / cleaned-area / saved-map across\n  // the chain. To wire a new persistent tail key (e.g. `vw.cliff`\n  // when we get a fixture), add it here and to `MapTail` in types.\n  for (const key of PERSISTENT_TAIL_KEYS) {\n    if (!(key in p) && key in prev) {\n      merged[key] = prev[key];\n    }\n  }\n  return merged;\n}\n\n/**\n * Tail-JSON keys that represent persistent floor-plan / saved-map /\n * cleaning-progress configuration — re-emitted by the device only on\n * full snapshots, not every P-frame. `mergeTails` falls these back\n * from prev when the P-frame's tail doesn't carry them, so the\n * running merged state keeps the user's geometry between full\n * snapshots.\n */\nexport const PERSISTENT_TAIL_KEYS = [\n  'vw',\n  'vws',\n  'sneak_areas',\n  'sneak_areas_end',\n  'walls_info',\n  'rism',\n  'decmap',\n] as const;\n","/**\n * Public entry-point for decoding a single map-frame envelope into a\n * `VacuumMap`. Composes the per-concern modules:\n *\n *   - `envelope.ts`      — base64 / AES / zlib unwrap\n *   - `header.ts`        — 27-byte binary header\n *   - `tail.ts`          — UTF-8 JSON tail (+ `parseFrame` seam)\n *   - `pixel-grid.ts`    — fsm:1 pixel decode + segment collect\n *   - `path.ts`          — `tr` cleaning-path string parser\n *   - `obstacles.ts`     — AI-detected obstacle records\n *   - `geometry.ts`      — `vw` / `vws` / `walls_info` / sneak-zones\n *   - `cleaned-area.ts`  — recursive `decmap` overlay\n *\n * Public surface: the `decodeVacuumMap` / `applyVacuumPFrame` functions\n * plus `MapDecodeError` (from `envelope.ts`) and the small wire-format\n * constants. Per-concern parsers are also re-exported via the sub-tree\n * barrel for callers that want to feed raw bytes through specific stages.\n *\n * The donor's stateless `MapDecoder` class is adapted here into plain\n * functions — `decode`/`applyPFrame` carried no instance state, so a\n * function form is a clean simplification.\n */\n\nimport type {\n  VacuumMap,\n  VacuumMapDecodeOptions,\n  MapDimensions,\n  MapPose,\n  MapTail,\n  RawSegInf,\n} from './types.js';\nimport { ANGLE_ABSENT, HEADER_SIZE, looksLikeBase64Zlib, unwrapEnvelope } from './envelope.js';\nimport type { MapHeader } from './header.js';\nimport { parseFrame } from './tail.js';\nimport { collectSegments, decodePixelGridFsm1 } from './pixel-grid.js';\nimport { parsePathTr } from './path.js';\nimport { parseObstacles } from './obstacles.js';\nimport { coalesceGeometry, isGeometryComplete, parseTailGeometry } from './geometry.js';\nimport { parseCleanedAreaOverlay } from './cleaned-area.js';\nimport { mergePFrame, mergePFrameEnvelope } from './merge.js';\n\n/**\n * Decode a single frame envelope to a `VacuumMap`. Accepts the raw MQTT\n * value (URL-safe base64 string, optionally with `,<aes-key>` suffix),\n * the raw fetched OSS bytes (a `Buffer` that is STILL the base64 envelope —\n * `OssFetcher.fetchBlob` returns the object bytes verbatim, NOT inflated), or\n * already-inflated frame bytes (`Buffer`). Pure — no IO.\n */\nexport function decodeVacuumMap(\n  input: Buffer | string,\n  opts: VacuumMapDecodeOptions = {},\n): VacuumMap {\n  // A `Buffer` may be either an already-inflated frame (tests / the P-frame merge\n  // primitive) OR the raw fetched OSS bytes, which are STILL the base64+zlib\n  // envelope (the live `getMap` path). Detect the latter — a base64 wrapper around\n  // a zlib stream — and run it through `unwrapEnvelope` (base64 → zlib, peeling any\n  // extra wrap layers); an already-inflated binary frame fails the check and is\n  // used verbatim.\n  const inflated =\n    typeof input === 'string'\n      ? unwrapEnvelope(input, opts)\n      : looksLikeBase64Zlib(input)\n        ? unwrapEnvelope(input.toString('latin1'), opts)\n        : input;\n  const { header, tail } = parseFrame(inflated);\n\n  const dimensions = mergeDimensions(header, tail);\n  const robot = pose(header.robotX, header.robotY, header.robotA, tail.nr === true);\n  const dock = pose(header.chargerX, header.chargerY, header.chargerA, tail.nc === true);\n  const docked = tail.oc === true;\n\n  // Pixel grid in a P-frame is byte-add deltas over a previous I-frame's\n  // grid, not absolute classifications — decoding it standalone produces\n  // garbage (high-byte deltas masquerade as segment ids). Only run the\n  // pixel decoder on I-frames; the merge layer produces a synthetic\n  // I-frame for ongoing P-frame state.\n  const pixelStart = HEADER_SIZE;\n  const pixelEnd = pixelStart + header.width * header.height;\n  const pixelGrid = inflated.subarray(pixelStart, pixelEnd);\n  const canDecodePixels =\n    header.frameType === 'I' && pixelGrid.length === header.width * header.height;\n  const layers = canDecodePixels ? decodePixelGridFsm1(pixelGrid, header.width, header.height) : [];\n\n  const paths = parsePathTr(tail.tr ?? '');\n  const obstacles = parseObstacles(tail.ai_obstacle ?? []);\n  let geometry = parseTailGeometry(tail);\n  // The persistent saved-map blob is embedded inline as `tail.rism`\n  // (URL-safe-base64 + zlib + same envelope shape). On r2532a fw\n  // 4.3.9_2199 the outer tail's geometry blocks are absent and the\n  // geometry lives only in the inner saved-map's tail. The live frame's\n  // `seg_inf` also typically OMITS the user room NAMES — those live in the\n  // saved map. Recurse once to surface geometry AND names; if the inner blob\n  // fails to decode (corrupt / unexpected shape / missing AES IV) leave the\n  // outer values as-is and swallow — must never break the outer frame.\n  // Recurses one level only — the inner saved-map blob carries no `rism`.\n  let segTail = tail;\n  const outerHasNames = Object.values(tail.seg_inf ?? {}).some(\n    (m) => typeof m?.name === 'string' && m.name.length > 0,\n  );\n  if (\n    (!isGeometryComplete(geometry) || !outerHasNames) &&\n    typeof tail.rism === 'string' &&\n    tail.rism.length > 0\n  ) {\n    try {\n      const innerInflated = unwrapEnvelope(tail.rism);\n      const { tail: innerTail } = parseFrame(innerInflated);\n      if (!isGeometryComplete(geometry)) {\n        geometry = coalesceGeometry(geometry, parseTailGeometry(innerTail));\n      }\n      if (!outerHasNames && innerTail.seg_inf) {\n        segTail = mergeSegInfNames(tail, innerTail.seg_inf);\n      }\n    } catch {\n      // intentional — outer frame remains valid even if rism is unreadable\n    }\n  }\n  const segments = canDecodePixels ? collectSegments(layers, dimensions, segTail) : [];\n  const cleanedArea = typeof tail.decmap === 'string' ? parseCleanedAreaOverlay(tail.decmap) : null;\n\n  return {\n    mapId: header.mapId,\n    frameId: header.frameId,\n    frameType: header.frameType,\n    timestamp: tail.timestamp_ms ?? 0,\n    rotation: tail.mra ?? 0,\n    dimensions,\n    robot,\n    dock,\n    docked,\n    layers,\n    segments,\n    paths,\n    obstacles,\n    ...geometry,\n    cleanedArea,\n  };\n}\n\n/**\n * Merge a P-frame onto a previous (I-frame or already-merged) inflated\n * frame buffer and decode the result. Returns both the merged buffer\n * (so callers can chain further merges without re-allocating) and the\n * decoded `VacuumMap`.\n *\n * Throws `OutOfOrderFrameError` when `pframe.frameId !== prev.frameId + 1`.\n *\n * Inputs are envelope strings or already-unwrapped buffers — both\n * sides are normalised internally via `unwrapEnvelope` when given a\n * string, with the matching `VacuumMapDecodeOptions` for the AES key/IV.\n */\nexport function applyVacuumPFrame(\n  prev: Buffer | string,\n  pframe: Buffer | string,\n  opts: { prev?: VacuumMapDecodeOptions; pframe?: VacuumMapDecodeOptions } = {},\n): { buffer: Buffer; data: VacuumMap } {\n  const merged =\n    typeof prev === 'string' || typeof pframe === 'string'\n      ? mergePFrameEnvelope(prev, pframe, opts.prev, opts.pframe)\n      : mergePFrame(prev, pframe);\n  return { buffer: merged, data: decodeVacuumMap(merged) };\n}\n\n/**\n * Merge saved-map (`rism`) `seg_inf` NAMES into the outer tail so\n * {@link collectSegments} surfaces real room names. Outer fields win for every\n * key EXCEPT `name`, which is taken from the inner saved map when the outer\n * entry has no (non-empty) name. Returns a new tail (no mutation).\n */\nfunction mergeSegInfNames(tail: MapTail, innerSegInf: Record<string, RawSegInf>): MapTail {\n  const outer = tail.seg_inf ?? {};\n  const ids = new Set([...Object.keys(outer), ...Object.keys(innerSegInf)]);\n  const merged: Record<string, RawSegInf> = {};\n  for (const id of ids) {\n    const o = outer[id] ?? {};\n    const inner = innerSegInf[id] ?? {};\n    const name = typeof o.name === 'string' && o.name.length > 0 ? o.name : inner.name;\n    merged[id] = { ...inner, ...o, ...(name !== undefined ? { name } : {}) };\n  }\n  return { ...tail, seg_inf: merged };\n}\n\nfunction mergeDimensions(header: MapHeader, tail: MapTail): MapDimensions {\n  const left = tail.origin?.[0] ?? header.left;\n  const top = tail.origin?.[1] ?? header.top;\n  return {\n    left,\n    top,\n    width: header.width,\n    height: header.height,\n    gridSize: header.gridSize,\n  };\n}\n\nfunction pose(x: number, y: number, angle: number, absent: boolean): MapPose | null {\n  if (absent || angle === ANGLE_ABSENT) {\n    return null;\n  }\n  return { x, y, angle };\n}\n","/**\n * Raster PNG renderer for a decoded `VacuumMap`.\n *\n * node-dreame ships only the structured model (no image); this is NEW. We paint\n * the run-length `layers` (floor / segments / carpet / walls) one pixel per grid\n * cell (× an optional integer upscale `scale`), then composite the world-frame\n * overlays on top: restricted areas (no-go / no-mop), virtual walls, the cleaning\n * path polylines, AI obstacles, the charger, and the robot (body + heading). A\n * `colorScheme` picks the palette and every overlay is independently toggleable,\n * mirroring how the Home Assistant integration exposes map customization.\n *\n * Coordinate transform: every overlay coordinate is mm in the world frame.\n * `dimensions.left` / `.top` are the world-mm of pixel (0,0) and `.gridSize` is\n * mm-per-pixel, so `xPx = (worldX - left) / gridSize` (then × `scale`).\n *\n * Y IS FLIPPED. Dreame's grid has world-Y increasing DOWNWARD relative to how\n * the robot/dock/app present the floor, so rendering rows top-down produced a\n * VERTICALLY MIRRORED map vs the Dreamehome app / Home Assistant (live-confirmed\n * on r2538z). We reflect in cell space — `yPx = ((height - 1) - cellY) × scale` —\n * applied identically to the run-length base layers ({@link paintRun}) and the\n * world-frame overlays ({@link worldToPx}) so they stay pixel-aligned, and the\n * robot heading's Y component is negated ({@link drawRobot}). Glyph labels are\n * drawn upright (only their anchor is flipped).\n *\n * Pure: only `pngjs` + arithmetic. No casts.\n */\n\nimport { PNG } from 'pngjs';\nimport type {\n  VacuumMap,\n  MapLayer,\n  MapRun,\n  MapPoint,\n  MapPose,\n  MapDimensions,\n  MapCleanedAreaOverlay,\n} from './types.js';\n\n/** A named map palette — node-dreame's own distinct visual styles. */\nexport type MapColorScheme = 'flat' | 'dark-neon' | 'materico';\n\nexport interface RenderVacuumPngOptions {\n  /** Integer upscale factor (nearest-neighbour). Default 1. */\n  scale?: number;\n  /** Palette. Default `'flat'`. */\n  colorScheme?: MapColorScheme;\n  /** Draw the cleaning/mopping path polylines. Default true. */\n  showPath?: boolean;\n  /** Draw the robot marker (body + heading). Default true. */\n  showRobot?: boolean;\n  /** Draw the charger / dock marker. Default true. */\n  showCharger?: boolean;\n  /** Draw no-go / no-mop restricted areas. Default true. */\n  showNoGo?: boolean;\n  /** Draw user-defined virtual walls. Default true. */\n  showVirtualWalls?: boolean;\n  /** Draw AI-detected obstacle markers. Default true. */\n  showObstacles?: boolean;\n  /** Draw the segment id as a tiny label at each room centroid. Default false. */\n  showSegmentLabels?: boolean;\n  /** Draw each room's NAME (falls back to `Room <id>`) at its centroid. Default\n   *  false. Mutually useful with `showSegmentLabels` (names take the centroid). */\n  showSegmentNames?: boolean;\n  /** Tint the cleaned-area overlay (`cleanedArea.cleaned`) when present. Default false. */\n  showCleanedArea?: boolean;\n  /** Outline low-clearance \"sneak under furniture\" zones. Default true. */\n  showFurniture?: boolean;\n  /** Colour AI obstacle markers by their `type` (else a single accent). Default true. */\n  colorObstaclesByType?: boolean;\n}\n\ntype Rgba = readonly [number, number, number, number];\n\n/** Per-scheme colour set. Segment fills derive from `segHsv` (golden-angle hue). */\ninterface Palette {\n  floor: Rgba;\n  wall: Rgba;\n  carpet: Rgba;\n  /** Segment fill saturation / value (hue is per-id golden angle). */\n  segSat: number;\n  segVal: number;\n  path: Rgba;\n  robotBody: Rgba;\n  robotHeading: Rgba;\n  charger: Rgba;\n  noGoFill: Rgba;\n  noGoBorder: Rgba;\n  noMopFill: Rgba;\n  noMopBorder: Rgba;\n  virtualWall: Rgba;\n  obstacle: Rgba;\n  label: Rgba;\n}\n\nconst SCHEMES: Record<MapColorScheme, Palette> = {\n  // Flat-design: soft neutral floor, bright low-saturation segment fills, thin\n  // mid-grey walls, a single vivid accent for the path.\n  flat: {\n    floor: [236, 239, 241, 255],\n    wall: [120, 132, 145, 255],\n    carpet: [205, 185, 160, 200],\n    segSat: 0.28,\n    segVal: 0.99,\n    path: [255, 138, 101, 240],\n    robotBody: [38, 50, 56, 255],\n    robotHeading: [255, 255, 255, 255],\n    charger: [38, 166, 154, 255],\n    noGoFill: [239, 83, 80, 60],\n    noGoBorder: [229, 57, 53, 210],\n    noMopFill: [66, 165, 245, 55],\n    noMopBorder: [30, 136, 229, 200],\n    virtualWall: [229, 57, 53, 225],\n    obstacle: [255, 167, 38, 255],\n    label: [55, 71, 79, 255],\n  },\n  // Dark-neon: near-black floor with high-saturation glowing segment fills, a\n  // bright cyan path and magenta robot.\n  'dark-neon': {\n    floor: [16, 18, 27, 255],\n    wall: [5, 6, 10, 255],\n    carpet: [60, 50, 80, 200],\n    segSat: 0.85,\n    segVal: 0.95,\n    path: [0, 230, 255, 240],\n    robotBody: [255, 45, 170, 255],\n    robotHeading: [255, 255, 255, 255],\n    charger: [0, 255, 150, 255],\n    noGoFill: [255, 40, 90, 80],\n    noGoBorder: [255, 40, 90, 235],\n    noMopFill: [40, 130, 255, 75],\n    noMopBorder: [40, 160, 255, 225],\n    virtualWall: [255, 40, 90, 235],\n    obstacle: [255, 220, 0, 255],\n    label: [230, 240, 255, 255],\n  },\n  // Materico (Material-design): light grey surface, Material-palette segment\n  // fills, indigo/teal accents.\n  materico: {\n    floor: [245, 245, 245, 255],\n    wall: [97, 97, 97, 255],\n    carpet: [188, 170, 144, 205],\n    segSat: 0.55,\n    segVal: 0.93,\n    path: [63, 81, 181, 235],\n    robotBody: [48, 63, 159, 255],\n    robotHeading: [255, 255, 255, 255],\n    charger: [0, 150, 136, 255],\n    noGoFill: [244, 67, 54, 65],\n    noGoBorder: [211, 47, 47, 215],\n    noMopFill: [33, 150, 243, 60],\n    noMopBorder: [25, 118, 210, 205],\n    virtualWall: [211, 47, 47, 225],\n    obstacle: [255, 152, 0, 255],\n    label: [33, 33, 33, 255],\n  },\n};\n\n/** HSV (h in degrees, s/v in 0..1) → opaque RGBA. */\nfunction hsvToRgba(h: number, s: number, v: number): Rgba {\n  const c = v * s;\n  const hp = (((h % 360) + 360) % 360) / 60;\n  const x = c * (1 - Math.abs((hp % 2) - 1));\n  let r = 0;\n  let g = 0;\n  let b = 0;\n  if (hp < 1) {\n    r = c;\n    g = x;\n  } else if (hp < 2) {\n    r = x;\n    g = c;\n  } else if (hp < 3) {\n    g = c;\n    b = x;\n  } else if (hp < 4) {\n    g = x;\n    b = c;\n  } else if (hp < 5) {\n    r = x;\n    b = c;\n  } else {\n    r = c;\n    b = x;\n  }\n  const m = v - c;\n  return [Math.round((r + m) * 255), Math.round((g + m) * 255), Math.round((b + m) * 255), 255];\n}\n\n/** Deterministic per-segment palette (golden-angle hue spread) under a scheme. */\nfunction segmentColor(id: number, pal: Palette): Rgba {\n  const hue = (id * 137.508) % 360;\n  return hsvToRgba(hue, pal.segSat, pal.segVal);\n}\n\nexport function renderVacuumPng(map: VacuumMap, opts: RenderVacuumPngOptions = {}): Buffer {\n  const scale = Math.max(1, Math.trunc(opts.scale ?? 1));\n  // Default + resilient fallback to 'flat' for any unknown/legacy scheme value.\n  const pal = SCHEMES[opts.colorScheme ?? 'flat'] ?? SCHEMES.flat;\n  const w = Math.max(1, map.dimensions.width * scale);\n  const h = Math.max(1, map.dimensions.height * scale);\n  const png = new PNG({ width: w, height: h });\n  png.data.fill(0); // transparent background\n\n  const dim = map.dimensions;\n\n  // 1) Spatial layers (floor / segments / carpet / walls), painted in order.\n  for (const layer of map.layers) {\n    paintLayer(png, layer, dim.height, scale, pal);\n  }\n\n  // 1b) Cleaned-area overlay — a translucent tint over already-cleaned cells,\n  // reprojected from the inner overlay grid onto the parent grid. Drawn over the\n  // base layers but under every marker/zone. Opt-in (default off).\n  if (opts.showCleanedArea === true && map.cleanedArea !== null) {\n    paintCleanedArea(png, map.cleanedArea, dim, scale, pal.path);\n  }\n\n  // 2) Restricted areas — translucent fill + opaque border.\n  if (opts.showNoGo !== false) {\n    for (const area of map.restrictedAreas) {\n      const fill = area.kind === 'noMop' ? pal.noMopFill : pal.noGoFill;\n      const border = area.kind === 'noMop' ? pal.noMopBorder : pal.noGoBorder;\n      const a = worldToPx(area.bbox.xMin, area.bbox.yMin, dim, scale);\n      const b = worldToPx(area.bbox.xMax, area.bbox.yMax, dim, scale);\n      fillRect(png, a.x, a.y, b.x, b.y, fill);\n      strokeRect(png, a.x, a.y, b.x, b.y, border);\n    }\n  }\n\n  // 3) Virtual walls — opaque line segments.\n  if (opts.showVirtualWalls !== false) {\n    for (const vw of map.virtualWalls) {\n      const a = worldToPx(vw.from.x, vw.from.y, dim, scale);\n      const b = worldToPx(vw.to.x, vw.to.y, dim, scale);\n      drawLine(png, a.x, a.y, b.x, b.y, pal.virtualWall, Math.max(1, scale));\n    }\n  }\n\n  // 4) Cleaning path polylines (\"linee di lavaggio\").\n  if (opts.showPath !== false) {\n    for (const path of map.paths) {\n      drawPolyline(png, path.points, dim, scale, pal.path, Math.max(1, scale));\n    }\n  }\n\n  // 4b) Low-clearance \"sneak under furniture\" zones — outlined translucent\n  // polygons. Default on.\n  if (opts.showFurniture !== false) {\n    for (const zone of map.lowLyingAreas) {\n      paintFurnitureZone(png, zone.points, dim, scale);\n    }\n  }\n\n  // 5) AI obstacles — coloured AND shaped by type by default so distinct hazards\n  // read differently (the full type→icon table lives browser-side; here we vary\n  // colour + a small shape set as a lightweight raster stand-in).\n  if (opts.showObstacles !== false) {\n    const byType = opts.colorObstaclesByType !== false;\n    for (const ob of map.obstacles) {\n      const p = worldToPx(ob.x, ob.y, dim, scale);\n      const r = Math.max(2, scale * 2);\n      if (byType) {\n        drawObstacleShape(png, p.x, p.y, r, ob.type, obstacleColor(ob.type));\n      } else {\n        drawDiamond(png, p.x, p.y, r, pal.obstacle);\n      }\n    }\n  }\n\n  // 6) Charger / dock.\n  if (opts.showCharger !== false && map.dock !== null) {\n    drawCharger(png, map.dock, dim, scale, pal);\n  }\n\n  // 7) Robot (body + heading wedge) — drawn last so it sits on top.\n  if (opts.showRobot !== false && map.robot !== null) {\n    drawRobot(png, map.robot, dim, scale, pal);\n  }\n\n  // 8) Room labels at centroids — the NAME when requested (falls back to\n  // `ROOM <id>` for an unnamed room), else just the numeric id. Names win the\n  // centroid when both flags are set.\n  if (opts.showSegmentNames === true || opts.showSegmentLabels === true) {\n    for (const seg of map.segments) {\n      const p = worldToPx(seg.centroid.x, seg.centroid.y, dim, scale);\n      const text = opts.showSegmentNames === true ? labelText(seg.name, seg.id) : String(seg.id);\n      drawLabel(png, p.x, p.y, text, pal.label, Math.max(1, scale));\n    }\n  }\n\n  return PNG.sync.write(png);\n}\n\n// ── Coordinate transform ────────────────────────────────────────────────────\n\ninterface Px {\n  x: number;\n  y: number;\n}\n\n/** World-mm → scaled pixel coordinate. Y is reflected in cell space so the map\n *  matches the Dreamehome app / HA orientation (see file header). */\nfunction worldToPx(worldX: number, worldY: number, dim: MapDimensions, scale: number): Px {\n  const cellY = (worldY - dim.top) / dim.gridSize;\n  return {\n    x: Math.round(((worldX - dim.left) / dim.gridSize) * scale),\n    y: Math.round((dim.height - 1 - cellY) * scale),\n  };\n}\n\n// ── Layer painting (run-length) ─────────────────────────────────────────────\n\nfunction paintLayer(\n  png: PNG,\n  layer: MapLayer,\n  dimHeight: number,\n  scale: number,\n  pal: Palette,\n): void {\n  const color =\n    layer.type === 'segment'\n      ? segmentColor(layer.segmentId ?? 0, pal)\n      : layer.type === 'wall'\n        ? pal.wall\n        : layer.type === 'carpet'\n          ? pal.carpet\n          : pal.floor;\n  for (const run of layer.runs) {\n    paintRun(png, run, dimHeight, color, scale);\n  }\n}\n\n/** Fill the scale×scale block of every pixel in a `[xPx, yPx, len]` run. The row\n *  is reflected (`(height-1)-yPx`) to match {@link worldToPx}'s Y flip. */\nfunction paintRun(png: PNG, run: MapRun, dimHeight: number, color: Rgba, scale: number): void {\n  const [xPx, yPx, len] = run;\n  const baseY = (dimHeight - 1 - yPx) * scale;\n  for (let i = 0; i < len; i += 1) {\n    const baseX = (xPx + i) * scale;\n    for (let dy = 0; dy < scale; dy += 1) {\n      for (let dx = 0; dx < scale; dx += 1) {\n        setPixel(png, baseX + dx, baseY + dy, color);\n      }\n    }\n  }\n}\n\n// ── Pixel primitives ────────────────────────────────────────────────────────\n\n/** Opaque write (or alpha-composite when the colour is translucent). */\nfunction setPixel(png: PNG, x: number, y: number, color: Rgba): void {\n  if (x < 0 || y < 0 || x >= png.width || y >= png.height) return;\n  const off = (y * png.width + x) * 4;\n  const a = color[3];\n  if (a >= 255) {\n    png.data[off] = color[0];\n    png.data[off + 1] = color[1];\n    png.data[off + 2] = color[2];\n    png.data[off + 3] = 255;\n    return;\n  }\n  // Source-over alpha composite onto the existing pixel.\n  const sa = a / 255;\n  const da = (png.data[off + 3] ?? 0) / 255;\n  const outA = sa + da * (1 - sa);\n  if (outA <= 0) return;\n  for (let k = 0; k < 3; k += 1) {\n    const src = color[k] ?? 0;\n    const dst = png.data[off + k] ?? 0;\n    png.data[off + k] = Math.round((src * sa + dst * da * (1 - sa)) / outA);\n  }\n  png.data[off + 3] = Math.round(outA * 255);\n}\n\n/** Translucent (or opaque) axis-aligned filled rectangle, endpoints inclusive. */\nfunction fillRect(png: PNG, x0: number, y0: number, x1: number, y1: number, color: Rgba): void {\n  const xa = Math.min(x0, x1);\n  const xb = Math.max(x0, x1);\n  const ya = Math.min(y0, y1);\n  const yb = Math.max(y0, y1);\n  for (let y = ya; y <= yb; y += 1) {\n    for (let x = xa; x <= xb; x += 1) {\n      setPixel(png, x, y, color);\n    }\n  }\n}\n\n/** Rectangle border (1px). */\nfunction strokeRect(png: PNG, x0: number, y0: number, x1: number, y1: number, color: Rgba): void {\n  const xa = Math.min(x0, x1);\n  const xb = Math.max(x0, x1);\n  const ya = Math.min(y0, y1);\n  const yb = Math.max(y0, y1);\n  for (let x = xa; x <= xb; x += 1) {\n    setPixel(png, x, ya, color);\n    setPixel(png, x, yb, color);\n  }\n  for (let y = ya; y <= yb; y += 1) {\n    setPixel(png, xa, y, color);\n    setPixel(png, xb, y, color);\n  }\n}\n\n/** Bresenham line with a square pen of side `thickness`. */\nfunction drawLine(\n  png: PNG,\n  x0: number,\n  y0: number,\n  x1: number,\n  y1: number,\n  color: Rgba,\n  thickness: number,\n): void {\n  let x = x0;\n  let y = y0;\n  const dx = Math.abs(x1 - x0);\n  const dy = -Math.abs(y1 - y0);\n  const sx = x0 < x1 ? 1 : -1;\n  const sy = y0 < y1 ? 1 : -1;\n  let err = dx + dy;\n  const r = Math.max(0, Math.trunc((thickness - 1) / 2));\n  for (;;) {\n    for (let oy = -r; oy <= r; oy += 1) {\n      for (let ox = -r; ox <= r; ox += 1) {\n        setPixel(png, x + ox, y + oy, color);\n      }\n    }\n    if (x === x1 && y === y1) break;\n    const e2 = 2 * err;\n    if (e2 >= dy) {\n      err += dy;\n      x += sx;\n    }\n    if (e2 <= dx) {\n      err += dx;\n      y += sy;\n    }\n  }\n}\n\n/** Connect consecutive world-frame points with line segments. */\nfunction drawPolyline(\n  png: PNG,\n  points: readonly MapPoint[],\n  dim: MapDimensions,\n  scale: number,\n  color: Rgba,\n  thickness: number,\n): void {\n  for (let i = 1; i < points.length; i += 1) {\n    const p0 = points[i - 1];\n    const p1 = points[i];\n    if (p0 === undefined || p1 === undefined) continue;\n    const a = worldToPx(p0.x, p0.y, dim, scale);\n    const b = worldToPx(p1.x, p1.y, dim, scale);\n    drawLine(png, a.x, a.y, b.x, b.y, color, thickness);\n  }\n}\n\n/** Filled disk (square-distance) of radius `r` centred at `cx,cy`. */\nfunction drawDisk(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  const rr = r * r;\n  for (let dy = -r; dy <= r; dy += 1) {\n    for (let dx = -r; dx <= r; dx += 1) {\n      if (dx * dx + dy * dy <= rr) setPixel(png, cx + dx, cy + dy, color);\n    }\n  }\n}\n\n// ── Markers ─────────────────────────────────────────────────────────────────\n\nfunction drawRobot(\n  png: PNG,\n  robot: MapPose,\n  dim: MapDimensions,\n  scale: number,\n  pal: Palette,\n): void {\n  const p = worldToPx(robot.x, robot.y, dim, scale);\n  const r = Math.max(3, scale * 3);\n  drawDisk(png, p.x, p.y, r, pal.robotBody);\n  // Heading wedge: a short line from the centre toward `angle` (degrees, CCW).\n  // The Y axis is flipped (see worldToPx), so the screen-Y component is negated\n  // to keep the arrow pointing the real direction.\n  const rad = (robot.angle * Math.PI) / 180;\n  const hx = Math.round(p.x + Math.cos(rad) * r);\n  const hy = Math.round(p.y - Math.sin(rad) * r);\n  drawLine(png, p.x, p.y, hx, hy, pal.robotHeading, Math.max(1, Math.trunc(scale / 2) + 1));\n}\n\nfunction drawCharger(\n  png: PNG,\n  dock: MapPose,\n  dim: MapDimensions,\n  scale: number,\n  pal: Palette,\n): void {\n  const p = worldToPx(dock.x, dock.y, dim, scale);\n  const r = Math.max(2, scale * 2);\n  // A small filled square reads as a dock base.\n  fillRect(png, p.x - r, p.y - r, p.x + r, p.y + r, pal.charger);\n}\n\n/** Filled diamond (Manhattan disk) of radius `r` — used for AI obstacle markers\n *  so they read distinctly from the round robot body. */\nfunction drawDiamond(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  for (let dy = -r; dy <= r; dy += 1) {\n    const w = r - Math.abs(dy);\n    for (let dx = -w; dx <= w; dx += 1) {\n      setPixel(png, cx + dx, cy + dy, color);\n    }\n  }\n}\n\n/** Deterministic per-type obstacle colour (golden-ish hue spread). The integer\n *  `ObstacleType` → human label table lives browser-side; here we only need a\n *  stable, visually distinct hue per type. */\nfunction obstacleColor(type: number): Rgba {\n  const hue = (Math.abs(Math.trunc(type)) * 47) % 360;\n  return hsvToRgba(hue, 0.85, 0.95);\n}\n\n/** Filled axis-aligned square. */\nfunction drawSquare(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  fillRect(png, cx - r, cy - r, cx + r, cy + r, color);\n}\n\n/** Filled upward triangle (apex up), height/half-width `r`. */\nfunction drawTriangle(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  for (let dy = -r; dy <= r; dy += 1) {\n    // Width grows from apex (dy=-r) to base (dy=+r).\n    const w = Math.round(((dy + r) / (2 * r)) * r);\n    for (let dx = -w; dx <= w; dx += 1) {\n      setPixel(png, cx + dx, cy + dy, color);\n    }\n  }\n}\n\n/** Draw an AI-obstacle marker whose SHAPE varies by type (diamond / square /\n *  triangle / disk), a lightweight raster stand-in for the app's per-type icons. */\nfunction drawObstacleShape(\n  png: PNG,\n  cx: number,\n  cy: number,\n  r: number,\n  type: number,\n  color: Rgba,\n): void {\n  switch (Math.abs(Math.trunc(type)) % 4) {\n    case 0:\n      drawDiamond(png, cx, cy, r, color);\n      return;\n    case 1:\n      drawSquare(png, cx, cy, r, color);\n      return;\n    case 2:\n      drawTriangle(png, cx, cy, r, color);\n      return;\n    default:\n      drawDisk(png, cx, cy, r, color);\n  }\n}\n\n/** Outline colour for low-clearance furniture zones — a translucent violet that\n *  reads on both light and dark schemes. */\nconst FURNITURE_LINE: Rgba = [150, 110, 200, 235];\n\n/** Outline a low-clearance furniture polygon (closes the loop). */\nfunction paintFurnitureZone(\n  png: PNG,\n  points: readonly MapPoint[],\n  dim: MapDimensions,\n  scale: number,\n): void {\n  if (points.length < 2) return;\n  for (let i = 0; i < points.length; i += 1) {\n    const a = points[i];\n    const b = points[(i + 1) % points.length];\n    if (a === undefined || b === undefined) continue;\n    const pa = worldToPx(a.x, a.y, dim, scale);\n    const pb = worldToPx(b.x, b.y, dim, scale);\n    drawLine(png, pa.x, pa.y, pb.x, pb.y, FURNITURE_LINE, Math.max(1, scale));\n  }\n}\n\n/** Tint already-cleaned cells, reprojecting the inner overlay grid (its OWN\n *  dimensions) onto the parent pixel grid. The tint derives from the scheme's\n *  path colour at low alpha. */\nfunction paintCleanedArea(\n  png: PNG,\n  overlay: MapCleanedAreaOverlay,\n  parentDim: MapDimensions,\n  scale: number,\n  baseColor: Rgba,\n): void {\n  const tint: Rgba = [baseColor[0], baseColor[1], baseColor[2], 55];\n  const inner = overlay.dimensions;\n  const block = Math.max(1, Math.round((inner.gridSize / parentDim.gridSize) * scale));\n  for (const [xPx, yPx, len] of overlay.cleaned) {\n    for (let i = 0; i < len; i += 1) {\n      const worldX = inner.left + (xPx + i) * inner.gridSize;\n      const worldY = inner.top + yPx * inner.gridSize;\n      const p = worldToPx(worldX, worldY, parentDim, scale);\n      for (let dy = 0; dy < block; dy += 1) {\n        for (let dx = 0; dx < block; dx += 1) {\n          setPixel(png, p.x + dx, p.y + dy, tint);\n        }\n      }\n    }\n  }\n}\n\n/** Build a renderable room label: uppercase the name (accents stripped, only\n *  glyph-defined chars kept, capped length), falling back to `ROOM <id>` when a\n *  room is unnamed or reduces to nothing renderable. */\nfunction labelText(name: string | null, id: number): string {\n  const raw = (name ?? '').trim();\n  const base = raw.length > 0 ? raw : `ROOM ${id}`;\n  const upper = base\n    .toUpperCase()\n    .normalize('NFD')\n    .replace(/[\\u0300-\\u036f]/g, '');\n  let out = '';\n  for (const ch of upper) {\n    if (GLYPHS[ch] !== undefined) out += ch;\n  }\n  const trimmed = out.trim().slice(0, 14);\n  return trimmed.length > 0 ? trimmed : `ROOM ${id}`;\n}\n\n// ── Tiny 3×5 digit/sign font for segment labels ─────────────────────────────\n\n// Each glyph is 5 rows of a 3-bit mask (bit 2 = left column). Only the\n// characters that can appear in `String(segmentId)` are defined; an unknown\n// char is skipped so an unexpected id never throws.\nconst GLYPHS: Record<string, readonly number[]> = {\n  '0': [0b111, 0b101, 0b101, 0b101, 0b111],\n  '1': [0b010, 0b110, 0b010, 0b010, 0b111],\n  '2': [0b111, 0b001, 0b111, 0b100, 0b111],\n  '3': [0b111, 0b001, 0b111, 0b001, 0b111],\n  '4': [0b101, 0b101, 0b111, 0b001, 0b001],\n  '5': [0b111, 0b100, 0b111, 0b001, 0b111],\n  '6': [0b111, 0b100, 0b111, 0b101, 0b111],\n  '7': [0b111, 0b001, 0b010, 0b010, 0b010],\n  '8': [0b111, 0b101, 0b111, 0b101, 0b111],\n  '9': [0b111, 0b101, 0b111, 0b001, 0b111],\n  '-': [0b000, 0b000, 0b111, 0b000, 0b000],\n  ' ': [0b000, 0b000, 0b000, 0b000, 0b000],\n  A: [0b010, 0b101, 0b111, 0b101, 0b101],\n  B: [0b110, 0b101, 0b110, 0b101, 0b110],\n  C: [0b011, 0b100, 0b100, 0b100, 0b011],\n  D: [0b110, 0b101, 0b101, 0b101, 0b110],\n  E: [0b111, 0b100, 0b110, 0b100, 0b111],\n  F: [0b111, 0b100, 0b110, 0b100, 0b100],\n  G: [0b011, 0b100, 0b101, 0b101, 0b011],\n  H: [0b101, 0b101, 0b111, 0b101, 0b101],\n  I: [0b111, 0b010, 0b010, 0b010, 0b111],\n  J: [0b001, 0b001, 0b001, 0b101, 0b010],\n  K: [0b101, 0b101, 0b110, 0b101, 0b101],\n  L: [0b100, 0b100, 0b100, 0b100, 0b111],\n  M: [0b101, 0b111, 0b111, 0b101, 0b101],\n  N: [0b101, 0b111, 0b111, 0b111, 0b101],\n  O: [0b010, 0b101, 0b101, 0b101, 0b010],\n  P: [0b110, 0b101, 0b110, 0b100, 0b100],\n  Q: [0b010, 0b101, 0b101, 0b110, 0b011],\n  R: [0b110, 0b101, 0b110, 0b101, 0b101],\n  S: [0b011, 0b100, 0b010, 0b001, 0b110],\n  T: [0b111, 0b010, 0b010, 0b010, 0b010],\n  U: [0b101, 0b101, 0b101, 0b101, 0b111],\n  V: [0b101, 0b101, 0b101, 0b101, 0b010],\n  W: [0b101, 0b101, 0b111, 0b111, 0b101],\n  X: [0b101, 0b101, 0b010, 0b101, 0b101],\n  Y: [0b101, 0b101, 0b010, 0b010, 0b010],\n  Z: [0b111, 0b001, 0b010, 0b100, 0b111],\n};\n\n/** Draw `text` centred on `cx,cy` using the 3×5 bitmap font (× `px` per cell). */\nfunction drawLabel(png: PNG, cx: number, cy: number, text: string, color: Rgba, px: number): void {\n  const glyphW = 3 * px;\n  const glyphH = 5 * px;\n  const gap = px;\n  const totalW = text.length * glyphW + Math.max(0, text.length - 1) * gap;\n  let originX = Math.round(cx - totalW / 2);\n  const originY = Math.round(cy - glyphH / 2);\n  for (const ch of text) {\n    const glyph = GLYPHS[ch];\n    if (glyph !== undefined) {\n      for (let row = 0; row < 5; row += 1) {\n        const bits = glyph[row];\n        if (bits === undefined) continue;\n        for (let col = 0; col < 3; col += 1) {\n          if ((bits & (1 << (2 - col))) === 0) continue;\n          for (let sy = 0; sy < px; sy += 1) {\n            for (let sx = 0; sx < px; sx += 1) {\n              setPixel(png, originX + col * px + sx, originY + row * px + sy, color);\n            }\n          }\n        }\n      }\n    }\n    originX += glyphW + gap;\n  }\n}\n","/**\n * WiFi-signal map decode + render.\n *\n * The robot builds a Wi-Fi coverage map (map service SIID 6: action `wifiMap`\n * aiid 4 requests the last stored one, prop `PropWifiMap` piid 15 advertises the\n * OSS object). The blob is the SAME envelope/format as a normal map — a 27-byte\n * header + a width*height pixel grid — but each pixel's low nibble encodes the\n * Wi-Fi signal level instead of a floor/wall class (reversed from the app's\n * `getWifiMapInfo`, `mapInfo[i] & 15`):\n *\n *   10 = unreached (measured, no usable signal)\n *   11 = 1 bar (weakest)   12 = 2 bars   13 = 3 bars   14 = 4 bars (strongest)\n *\n * `left/top/gridSize` (world origin + mm-per-cell) and the robot/charger poses\n * come from the header, so a single blob is enough to sample the signal at any\n * world point — including the robot's own position.\n */\nimport { PNG } from 'pngjs';\nimport type { MapDimensions, MapPose } from './types.js';\nimport { unwrapEnvelope, looksLikeBase64Zlib, HEADER_SIZE, ANGLE_ABSENT } from './envelope.js';\nimport { parseMapHeader } from './header.js';\nimport type { VacuumMapDecodeOptions } from './types.js';\n\n/** Bars (1–4) keyed by the raw pixel nibble; 10 = unreached (0 bars). */\nconst NIBBLE_TO_BARS: Record<number, number> = { 10: 0, 11: 1, 12: 2, 13: 3, 14: 4 };\nconst isWifiNibble = (n: number): boolean => n >= 10 && n <= 14;\n\n/** Heatmap colours, matching the app (weakest→strongest), plus unreached + map outline. */\nconst NIBBLE_RGBA: Record<number, [number, number, number, number]> = {\n  2: [0xb0, 0xb6, 0xbe, 0xff], // map border (context)\n  3: [0xf2, 0xf4, 0xf7, 0xff], // mapped floor (context)\n  10: [0xe5, 0xea, 0xee, 0xff], // unreached\n  11: [0xd9, 0xe2, 0xef, 0xff], // 1 bar\n  12: [0xcd, 0xda, 0xef, 0xff], // 2 bars\n  13: [0xa1, 0xbd, 0xf2, 0xff], // 3 bars\n  14: [0x81, 0xa8, 0xf5, 0xff], // 4 bars\n};\n\nexport interface WifiSignalMap {\n  readonly dimensions: MapDimensions;\n  /** Robot pose from the frame header, or null when absent. */\n  readonly robot: MapPose | null;\n  /** Charging-dock pose from the frame header, or null when absent. */\n  readonly dock: MapPose | null;\n  /** Raw per-cell nibble (`pixel & 15`), row-major (width*height). */\n  readonly cells: Uint8Array;\n  /** Signal bars (1–4) at a world point, 0 = unreached, or null = no Wi-Fi data / off-map. */\n  signalAt(worldX: number, worldY: number): number | null;\n  /** Signal bars at the robot's own position (or null when unknown). */\n  readonly currentSignal: number | null;\n}\n\nconst poseOrNull = (x: number, y: number, a: number): MapPose | null =>\n  x === 0 && y === 0 ? null : { x, y, angle: a === ANGLE_ABSENT ? 0 : a };\n\n/** Decode a Wi-Fi map blob (raw string/Buffer or already-inflated) into signal cells + geometry. */\nexport function decodeWifiSignalMap(\n  input: string | Buffer,\n  opts: VacuumMapDecodeOptions = {},\n): WifiSignalMap {\n  const inflated =\n    typeof input === 'string'\n      ? unwrapEnvelope(input, opts)\n      : looksLikeBase64Zlib(input)\n        ? unwrapEnvelope(input.toString('latin1'), opts)\n        : input;\n\n  const header = parseMapHeader(inflated);\n  const { width, height, gridSize, left, top } = header;\n  const pixelEnd = HEADER_SIZE + width * height;\n  const grid = inflated.subarray(HEADER_SIZE, pixelEnd);\n\n  const cells = new Uint8Array(width * height);\n  for (let i = 0; i < cells.length; i++) cells[i] = (grid[i] ?? 0) & 0x0f;\n\n  const dimensions: MapDimensions = { left, top, width, height, gridSize };\n  const robot = poseOrNull(header.robotX, header.robotY, header.robotA);\n  const dock = poseOrNull(header.chargerX, header.chargerY, header.chargerA);\n\n  const signalAt = (worldX: number, worldY: number): number | null => {\n    if (gridSize <= 0) return null;\n    const col = Math.floor((worldX - left) / gridSize);\n    const row = Math.floor((worldY - top) / gridSize);\n    if (col < 0 || col >= width || row < 0 || row >= height) return null;\n    const nibble = cells[row * width + col] ?? 0;\n    return isWifiNibble(nibble) ? NIBBLE_TO_BARS[nibble]! : null;\n  };\n\n  return {\n    dimensions,\n    robot,\n    dock,\n    cells,\n    signalAt,\n    currentSignal: robot ? signalAt(robot.x, robot.y) : null,\n  };\n}\n\nexport interface RenderWifiSignalPngOptions {\n  /** Upscale factor (each map cell → scale×scale px). Default 4. */\n  scale?: number;\n  /** Draw a marker at the robot position. Default true. */\n  markRobot?: boolean;\n}\n\n/**\n * Render a simple Wi-Fi coverage heatmap PNG (weakest→strongest blue, unreached\n * grey, no-data transparent), with an optional robot marker — a ready-to-show\n * image for consumers.\n */\nexport function renderWifiSignalPng(map: WifiSignalMap, opts: RenderWifiSignalPngOptions = {}): Buffer {\n  const scale = Math.max(1, Math.floor(opts.scale ?? 4));\n  const { width, height, left, top, gridSize } = map.dimensions;\n  const png = new PNG({ width: width * scale, height: height * scale, colorType: 6 });\n\n  for (let row = 0; row < height; row++) {\n    for (let col = 0; col < width; col++) {\n      const nibble = map.cells[row * width + col] ?? 0;\n      const rgba = NIBBLE_RGBA[nibble];\n      if (!rgba) continue; // no Wi-Fi data here → leave transparent\n      for (let dy = 0; dy < scale; dy++) {\n        for (let dx = 0; dx < scale; dx++) {\n          const px = (col * scale + dx) + (row * scale + dy) * width * scale;\n          const o = px << 2;\n          png.data[o] = rgba[0];\n          png.data[o + 1] = rgba[1];\n          png.data[o + 2] = rgba[2];\n          png.data[o + 3] = rgba[3];\n        }\n      }\n    }\n  }\n\n  if ((opts.markRobot ?? true) && map.robot && gridSize > 0) {\n    const cx = Math.floor((map.robot.x - left) / gridSize) * scale + Math.floor(scale / 2);\n    const cy = Math.floor((map.robot.y - top) / gridSize) * scale + Math.floor(scale / 2);\n    const r = Math.max(2, scale);\n    for (let dy = -r; dy <= r; dy++) {\n      for (let dx = -r; dx <= r; dx++) {\n        if (dx * dx + dy * dy > r * r) continue;\n        const x = cx + dx;\n        const y = cy + dy;\n        if (x < 0 || y < 0 || x >= width * scale || y >= height * scale) continue;\n        const o = (x + y * width * scale) << 2;\n        png.data[o] = 0xff;\n        png.data[o + 1] = 0x45;\n        png.data[o + 2] = 0x00;\n        png.data[o + 3] = 0xff;\n      }\n    }\n  }\n\n  return PNG.sync.write(png);\n}\n","/**\n * Resolve a Dreame OSS object name (advertised via the PATH push,\n * `siid 6 piid 3`) to a signed download URL and fetch the blob.\n *\n * Endpoint: `POST /dreame-user-iot/iotfile/getDownloadUrl`\n * Body:     `{ did, model, filename, region }`\n * Response: `{ code: 0, data: \"<signed-url-string>\" }` — `data` is the\n *           URL string itself, not a nested `{ url }` object.\n *\n * The signed URL is good for ~1 hour (Aliyun signature). We cache it\n * for 30 min by default and on cache hit append `current=<unix_ts>` to\n * bust any intermediate caches (Tasshack convention).\n *\n * v1 only handles live blobs (the I-frame parked in OSS by the device).\n * Permanent saved-map blobs use a different filename mangling — deferred.\n *\n * ADAPTED from node-dreame's `src/map/oss-fetch.ts`: the only changes are\n * import-path rewrites onto our transport (`RequestContext`/`httpPostJson`\n * from `transport/http`, `DreameApiError`/`DreameTransportError` from\n * `transport/errors`, `DreameRegion` from `auth/config`) and typing the\n * injected fetch seam as our `FetchImpl` (undici-backed) rather than the\n * donor's global `typeof fetch` — so the mock type-checks with no cast.\n */\n\nimport type { DreameRegion } from '../../../auth/config.js';\nimport { RequestContext, httpPostJson } from '../../../transport/http.js';\nimport type { FetchImpl } from '../../../transport/fetch.js';\nimport { defaultFetch } from '../../../transport/fetch.js';\nimport { DreameApiError, DreameTransportError } from '../../../transport/errors.js';\n\nconst OSS_DOWNLOAD_PATH = '/dreame-user-iot/iotfile/getDownloadUrl';\nconst DEFAULT_TTL_MS = 30 * 60 * 1000;\n\nexport interface OssFetchInput {\n  /** Resolved API host (e.g. `eu.iot.dreame.tech:13267`). */\n  host: string;\n  /** Bearer token from the active `DreameSession`. */\n  accessToken: string;\n  /** Region — used for header construction and the body's `region` field. */\n  region: DreameRegion;\n  /** Optional `country` override for headers (defaults from region). */\n  country?: string;\n  /** Optional `lang` override for headers (defaults from region). */\n  lang?: string;\n  /** Device id. */\n  did: string;\n  /** Device model. */\n  model: string;\n  /** OSS object name (`ali_dreame/<uid>/<did>/<n>`). */\n  filename: string;\n  /** Caller-supplied AbortSignal — composed with the HTTP timeout. */\n  signal?: AbortSignal;\n  /** Per-request timeout override in ms. Pass `0` to disable. */\n  timeoutMs?: number;\n}\n\nexport interface OssFetcherOpts {\n  /** Cache TTL in ms. Default 30 min. */\n  ttlMs?: number;\n  /** Inject a clock (for tests). Default `Date.now`. */\n  now?: () => number;\n  /** Inject fetch (for tests). Default the shared undici-backed `defaultFetch`. */\n  fetchImpl?: FetchImpl;\n}\n\ninterface OssResolveResponse {\n  code?: number;\n  msg?: string;\n  data?: string;\n}\n\ninterface CacheEntry {\n  url: string;\n  expiresAt: number;\n}\n\n/**\n * Minimal fetcher seam consumed by `VacuumDevice.getMap`. Lets callers\n * inject a custom signed-blob fetcher (e.g. a cache-backed or proxied one)\n * without depending on the concrete {@link OssFetcher} class. The real\n * {@link OssFetcher} implements this interface.\n */\nexport interface OssFetcherLike {\n  fetchBlob(input: OssFetchInput): Promise<Buffer>;\n}\n\nexport class OssFetcher implements OssFetcherLike {\n  private readonly ttlMs: number;\n  private readonly now: () => number;\n  private readonly fetchImpl: FetchImpl;\n  private readonly cache = new Map<string, CacheEntry>();\n  /** In-flight fetchBlob calls, keyed `did:filename`. Lets us coalesce concurrent fetches for the same blob. */\n  private readonly inflight = new Map<string, Promise<Buffer>>();\n\n  constructor(opts: OssFetcherOpts = {}) {\n    this.ttlMs = opts.ttlMs ?? DEFAULT_TTL_MS;\n    this.now = opts.now ?? Date.now;\n    this.fetchImpl = opts.fetchImpl ?? defaultFetch;\n  }\n\n  /**\n   * Resolve `input.filename` to a signed download URL. Uses the cache\n   * when fresh; on cache hit returns the cached URL with\n   * `current=<unix_ts>` appended (using `&` if the URL already has a\n   * query string — Aliyun signed URLs always do).\n   */\n  async resolveUrl(input: OssFetchInput): Promise<string> {\n    const key = `${input.did}:${input.filename}`;\n    const now = this.now();\n    const cached = this.cache.get(key);\n    if (cached && cached.expiresAt > now) {\n      const sep = cached.url.includes('?') ? '&' : '?';\n      return `${cached.url}${sep}current=${Math.floor(now / 1000)}`;\n    }\n\n    const ctx = RequestContext.from({ ...input, fetchImpl: this.fetchImpl });\n\n    const resp = await httpPostJson<OssResolveResponse>({\n      ctx,\n      url: ctx.url(OSS_DOWNLOAD_PATH),\n      headers: ctx.headers({\n        accessToken: input.accessToken,\n        contentType: 'application/json',\n      }),\n      body: JSON.stringify({\n        did: input.did,\n        model: input.model,\n        filename: input.filename,\n        region: input.region,\n      }),\n      context: 'oss download url',\n      ...(input.signal !== undefined ? { signal: input.signal } : {}),\n      ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n    });\n\n    if (typeof resp.data !== 'string' || resp.data.length === 0) {\n      throw new DreameApiError(\n        `oss download url response missing data: ${JSON.stringify(resp).slice(0, 200)}`,\n        200,\n        resp,\n      );\n    }\n\n    this.cache.set(key, { url: resp.data, expiresAt: now + this.ttlMs });\n    return resp.data;\n  }\n\n  /**\n   * Resolve, GET the signed URL, and return the raw bytes.\n   *\n   * Concurrent calls for the same `(did, filename)` pair are coalesced\n   * into a single network request — the second caller awaits the first's\n   * Promise instead of issuing a duplicate fetch.\n   */\n  async fetchBlob(input: OssFetchInput): Promise<Buffer> {\n    const key = `${input.did}:${input.filename}`;\n    const existing = this.inflight.get(key);\n    if (existing) {\n      return existing;\n    }\n    const promise = this.#doFetchBlob(input).finally(() => {\n      this.inflight.delete(key);\n    });\n    this.inflight.set(key, promise);\n    return promise;\n  }\n\n  async #doFetchBlob(input: OssFetchInput): Promise<Buffer> {\n    const url = await this.resolveUrl(input);\n    let res: Awaited<ReturnType<FetchImpl>>;\n    try {\n      res = await this.fetchImpl(url, {\n        method: 'GET',\n        ...(input.signal !== undefined ? { signal: input.signal } : {}),\n      });\n    } catch (err) {\n      throw new DreameTransportError(`oss download network error`, err);\n    }\n    if (!res.ok) {\n      const text = await res.text().catch(() => '');\n      throw new DreameApiError(\n        `oss download failed: ${res.status} ${text.slice(0, 200)}`,\n        res.status,\n      );\n    }\n    return Buffer.from(await res.arrayBuffer());\n  }\n\n  /** Drop all cached URLs. */\n  clearCache(): void {\n    this.cache.clear();\n  }\n}\n","import {\n  BaseDevice,\n  type BaseDeviceInput,\n  type BaseDeviceEvents,\n} from '../../device/base-device.js';\nimport {\n  VACUUM_PROP,\n  VACUUM_ACTION,\n  BATTERY_PROP,\n  SETTINGS_PROP,\n  CONSUMABLE_PROP,\n  CUSTOM_CLEAN_MODE,\n} from './properties.js';\nimport {\n  ChargingStatus,\n  CleaningMode,\n  MiotState,\n  SuctionLevel,\n  TaskStatus,\n  WaterVolume,\n} from './enums.js';\nimport { asNum, parseFaultList } from './decode.js';\nimport {\n  decodeAiFeature,\n  encodeAiFeatureWrite,\n  type AiDetectionRaw,\n  type DreameAiFeature,\n} from './ai-detection.js';\nimport {\n  decodeAutoSwitch,\n  encodeAutoSwitchWrite,\n  supportedAutoSwitchKeys,\n  type AutoSwitchKey,\n  type AutoSwitchRaw,\n} from './auto-switch.js';\nimport {\n  VACUUM_CONSUMABLES,\n  consumableSpec,\n  type ConsumableReading,\n  type DreameConsumableKey,\n} from './consumables.js';\nimport { enumLookup } from '../_shared/decode.js';\nimport {\n  VacuumCapabilityResolver,\n  getVacuumCapabilities,\n  type VacuumCapabilities,\n} from './capabilities.js';\nimport { DreameError } from '../../transport/errors.js';\nimport { DreameVideoSession } from '../../video/aliyun/session.js';\nimport { explainNoCameraChannel } from '../../video/camera-availability.js';\nimport { getDeviceVideoProfile } from '../../video/client.js';\nimport {\n  DreameCameraController,\n  type RelayMinter,\n} from '../../video/monitor/controller.js';\nimport {\n  decodeVacuumMap,\n  applyVacuumPFrame,\n  MapDecodeError,\n  OssFetcher,\n  decodeWifiSignalMap,\n  renderWifiSignalPng,\n  type VacuumMap,\n  type VacuumMapDecodeOptions,\n  type OssFetchInput,\n  type OssFetcherLike,\n  type WifiSignalMap,\n  type RenderWifiSignalPngOptions,\n} from './map/index.js';\nimport { OutOfOrderFrameError } from './map/merge.js';\nimport { looksLikeBase64Zlib, unwrapEnvelope } from './map/envelope.js';\nimport { REGION_HOSTS } from '../../auth/config.js';\n\n/** Knobs for the segment/zone/spot helpers. Defaults pull from cached state. */\nexport interface CleanOpts {\n  repeats?: number;\n  fan?: number;\n  water?: number;\n}\n\n/**\n * The vacuum widens the {@link BaseDeviceEvents} map with a `'map'` event,\n * emitted by {@link VacuumDevice.getMap} once a fresh map has been decoded.\n * Declaring it here lets `VacuumDevice extends BaseDevice<VacuumDeviceEvents>`\n * type the emitter with no banned cast.\n */\nexport type VacuumDeviceEvents = BaseDeviceEvents & {\n  map: [VacuumMap];\n};\n\n/** Input to {@link VacuumDevice.getMap}. */\nexport interface VacuumGetMapInput {\n  /** OSS object name advertised via the PATH push (siid 6 piid 3). */\n  filename: string;\n  /**\n   * Inject the signed-blob fetcher (tests pass a fake). Defaults to a fresh\n   * {@link OssFetcher}. Typed as {@link OssFetcherLike} so consumers can pass\n   * any object exposing a compatible `fetchBlob`.\n   */\n  fetcher?: OssFetcherLike;\n  /** Optional AES key for an encrypted blob (hex). */\n  key?: string;\n  /** Optional AES IV for an encrypted blob (hex). */\n  iv?: string;\n  /** Override the API host (defaults from the device region). */\n  host?: string;\n  /** Per-request timeout override in ms. */\n  timeoutMs?: number;\n  /** Caller-supplied AbortSignal. */\n  signal?: AbortSignal;\n}\n\n/** Input to {@link VacuumDevice.getWifiSignalMap} / {@link VacuumDevice.getCurrentSignal}. */\nexport interface WifiSignalMapInput {\n  /** Request the last stored map first (default true). `false` = read what's advertised. */\n  requestFresh?: boolean;\n  /** Poll interval (ms) while waiting for the OSS object to be advertised. Default 2500. */\n  pollMs?: number;\n  /** Max wait (ms) for the map to become available. Default 20000. */\n  maxWaitMs?: number;\n  /** Inject the signed-blob fetcher (tests pass a fake). */\n  fetcher?: OssFetcherLike;\n  /** Optional AES key/iv for an encrypted blob (hex). */\n  key?: string;\n  iv?: string;\n  /** Override the API host (defaults from the device region). */\n  host?: string;\n  /** Per-request timeout override in ms. */\n  timeoutMs?: number;\n  /** Caller-supplied AbortSignal. */\n  signal?: AbortSignal;\n}\n\nconst SUCTION = enumLookup<SuctionLevel>([\n  SuctionLevel.Quiet,\n  SuctionLevel.Standard,\n  SuctionLevel.Intense,\n  SuctionLevel.Max,\n]);\nconst WATER = enumLookup<WaterVolume>([WaterVolume.Low, WaterVolume.Medium, WaterVolume.High]);\nconst CLEAN_MODE = enumLookup<CleaningMode>([\n  CleaningMode.Sweeping,\n  CleaningMode.Mopping,\n  CleaningMode.SweepAndMop,\n  CleaningMode.MopAfterSweep,\n]);\nconst STATE = enumLookup<MiotState>(\n  Object.values(MiotState).filter((v): v is MiotState => typeof v === 'number'),\n);\nconst CHARGING = enumLookup<ChargingStatus>([\n  ChargingStatus.Charging,\n  ChargingStatus.Discharging,\n  ChargingStatus.Returning,\n]);\nconst TASK = enumLookup<TaskStatus>([\n  TaskStatus.InterruptedOrPaused,\n  TaskStatus.Active,\n  TaskStatus.Transitioning,\n  TaskStatus.OnDockIdle,\n  TaskStatus.TransientPauseEdge,\n  TaskStatus.NeedsIntervention,\n]);\n\n/** A typed Dreame-vacuum handle (state + capability-gated commands). */\nexport class VacuumDevice extends BaseDevice<VacuumDeviceEvents> {\n  readonly #caps: VacuumCapabilities;\n  #lastMap: VacuumMap | null = null;\n\n  constructor(input: BaseDeviceInput) {\n    super({\n      ...input,\n      // Inject the vacuum resolver so the inherited generic `capabilities`\n      // getter carries the vacuum token set (no banned cast).\n      capabilities:\n        input.capabilities ?? new VacuumCapabilityResolver().resolve(input.device.model),\n    });\n    this.#caps = getVacuumCapabilities(input.device.model);\n  }\n\n  /** Rich, vacuum-specific capability record (booleans + supported enums). */\n  get vacuumCapabilities(): VacuumCapabilities {\n    return this.#caps;\n  }\n\n  /**\n   * The suction levels this model supports, as a {@link SuctionLevel} enum array\n   * (from the capability record). Lets a consumer see which fan speeds are\n   * selectable without reaching into {@link vacuumCapabilities}.\n   */\n  get supportedSuctionLevels(): readonly SuctionLevel[] {\n    return this.#caps.supportedSuctionLevels;\n  }\n  /** The water/mop volumes this model supports, as a {@link WaterVolume} enum array. */\n  get supportedWaterVolumes(): readonly WaterVolume[] {\n    return this.#caps.supportedWaterVolumes;\n  }\n\n  #num(siid: number, piid: number): number | null {\n    return asNum(this.getProperty(siid, piid)?.value);\n  }\n\n  // -- typed state --------------------------------------------------------\n  get statusRaw(): number | null {\n    return this.#num(VACUUM_PROP.STATE.siid, VACUUM_PROP.STATE.piid);\n  }\n  get status(): MiotState | null {\n    return STATE(this.statusRaw);\n  }\n  get battery(): number | null {\n    return this.#num(BATTERY_PROP.LEVEL.siid, BATTERY_PROP.LEVEL.piid);\n  }\n  get chargingRaw(): number | null {\n    return this.#num(BATTERY_PROP.CHARGING_STATUS.siid, BATTERY_PROP.CHARGING_STATUS.piid);\n  }\n  get charging(): ChargingStatus | null {\n    return CHARGING(this.chargingRaw);\n  }\n  get isCharging(): boolean {\n    return this.charging === ChargingStatus.Charging;\n  }\n  /** Docked => MiotState Charging or ChargingComplete (on the dock). */\n  get isDocked(): boolean {\n    const s = this.status;\n    return s === MiotState.Charging || s === MiotState.ChargingComplete;\n  }\n  get suctionRaw(): number | null {\n    return this.#num(VACUUM_PROP.SUCTION_LEVEL.siid, VACUUM_PROP.SUCTION_LEVEL.piid);\n  }\n  get suction(): SuctionLevel | null {\n    return SUCTION(this.suctionRaw);\n  }\n  get waterRaw(): number | null {\n    return this.#num(VACUUM_PROP.WATER_VOLUME.siid, VACUUM_PROP.WATER_VOLUME.piid);\n  }\n  get water(): WaterVolume | null {\n    return WATER(this.waterRaw);\n  }\n  /** Reads the SAFE CLEAN_MODE_SETTING (siid 2 piid 6), plain 0-3. */\n  get cleaningModeRaw(): number | null {\n    return this.#num(VACUUM_PROP.CLEAN_MODE_SETTING.siid, VACUUM_PROP.CLEAN_MODE_SETTING.piid);\n  }\n  get cleaningMode(): CleaningMode | null {\n    return CLEAN_MODE(this.cleaningModeRaw);\n  }\n  get taskStatusRaw(): number | null {\n    return this.#num(VACUUM_PROP.TASK_STATUS.siid, VACUUM_PROP.TASK_STATUS.piid);\n  }\n  get taskStatus(): TaskStatus | null {\n    return TASK(this.taskStatusRaw);\n  }\n  get errorCode(): number | null {\n    return this.#num(VACUUM_PROP.ERROR.siid, VACUUM_PROP.ERROR.piid);\n  }\n  get faults(): readonly number[] {\n    return parseFaultList(\n      this.getProperty(VACUUM_PROP.FAULTS_STR.siid, VACUUM_PROP.FAULTS_STR.piid)?.value,\n    );\n  }\n  get taskProgressPct(): number | null {\n    return this.#num(VACUUM_PROP.TASK_PROGRESS_PCT.siid, VACUUM_PROP.TASK_PROGRESS_PCT.piid);\n  }\n  get mainBrushLeftPct(): number | null {\n    return this.#num(CONSUMABLE_PROP.MAIN_BRUSH_LEFT.siid, CONSUMABLE_PROP.MAIN_BRUSH_LEFT.piid);\n  }\n  get sideBrushLeftPct(): number | null {\n    return this.#num(CONSUMABLE_PROP.SIDE_BRUSH_LEFT.siid, CONSUMABLE_PROP.SIDE_BRUSH_LEFT.piid);\n  }\n  get filterLeftPct(): number | null {\n    return this.#num(CONSUMABLE_PROP.FILTER_LEFT.siid, CONSUMABLE_PROP.FILTER_LEFT.piid);\n  }\n  get volume(): number | null {\n    return this.#num(SETTINGS_PROP.VOLUME.siid, SETTINGS_PROP.VOLUME.piid);\n  }\n\n  // -- consumables --------------------------------------------------------\n  /**\n   * Remaining-life % (0..100) for one consumable, or `null` when the model does\n   * not report it (presence == support). Call {@link refreshConsumables} first\n   * on a docked robot so the cloud-shadow life values are seeded.\n   */\n  consumableLeftPct(key: DreameConsumableKey): number | null {\n    const spec = consumableSpec(key);\n    if (spec === undefined) return null;\n    return this.#num(spec.life.siid, spec.life.piid);\n  }\n\n  /**\n   * The consumables this model EXPOSES — discovered by presence (a reported\n   * life property), mirroring how the HA integration derives support. Each\n   * reading carries the current remaining-life % and whether a reset action\n   * exists. Empty until the life properties have been observed (push) or seeded\n   * via {@link refreshConsumables}.\n   */\n  get supportedConsumables(): readonly ConsumableReading[] {\n    return VACUUM_CONSUMABLES.flatMap((spec) => {\n      const leftPct = this.#num(spec.life.siid, spec.life.piid);\n      return leftPct === null\n        ? []\n        : [{ key: spec.key, label: spec.label, leftPct, resettable: spec.reset !== null }];\n    });\n  }\n\n  /**\n   * Seed EVERY consumable life property from the cloud shadow (no robot wake) so\n   * {@link supportedConsumables} reflects the full set on a docked robot. The\n   * consumable life values are static settings the robot rarely re-pushes over\n   * MQTT, so a fresh connect surfaces only the actively-changing ones without this.\n   */\n  async refreshConsumables(): Promise<void> {\n    await this.refreshCachedProperties(VACUUM_CONSUMABLES.map((c) => c.life));\n  }\n\n  /**\n   * Reset (mark replaced → life back to 100%) one consumable via its MIoT reset\n   * action. Rejects when the model exposes no reset action for the key (e.g.\n   * `dust-bag`) or the key is unknown.\n   */\n  async resetConsumable(key: DreameConsumableKey): Promise<unknown> {\n    const spec = consumableSpec(key);\n    if (spec === undefined || spec.reset === null) {\n      throw new DreameError(`resetConsumable: no reset action for consumable \"${key}\"`);\n    }\n    return this.callAction(spec.reset.siid, spec.reset.aiid, []);\n  }\n\n  // -- AI obstacle-detection ----------------------------------------------\n  /**\n   * The raw `AI_DETECTION` value (siid 4 piid 22) — an int bitmask or a JSON\n   * string, depending on firmware — or `null` when not yet observed. Prefer the\n   * decoded {@link aiFeature} / {@link supportedAiFeatures} surface.\n   */\n  get aiDetectionRaw(): AiDetectionRaw {\n    const v = this.getProperty(VACUUM_PROP.AI_DETECTION.siid, VACUUM_PROP.AI_DETECTION.piid)?.value;\n    return typeof v === 'number' || typeof v === 'string' ? v : null;\n  }\n\n  /** The AI-obstacle toggles this model exposes (from its capability record). */\n  get supportedAiFeatures(): readonly DreameAiFeature[] {\n    return this.#caps.supportedAiFeatures;\n  }\n\n  /**\n   * Read ONE AI-obstacle toggle's on/off state, decoded from the packed\n   * `AI_DETECTION` value (transparent across the int / JSON encodings). `null`\n   * when the value is unobserved or the feature is not representable.\n   */\n  aiFeature(feature: DreameAiFeature): boolean | null {\n    return decodeAiFeature(this.aiDetectionRaw, feature);\n  }\n\n  /**\n   * Seed {@link aiDetectionRaw} from the CLOUD SHADOW (the last value the robot\n   * pushed for `AI_DETECTION`, siid 4 piid 22) WITHOUT waking it. The AI-obstacle\n   * toggles are STATIC settings the robot rarely re-pushes over MQTT, so a fresh\n   * connect to an idle robot has no value cached — call this on activate to\n   * surface the current toggles. Emits the usual `propertyChanged`/`stateChanged`\n   * (so a watching consumer re-decodes) and returns the resolved raw value\n   * (`null` when the model has no AI detection or the shadow carries none yet).\n   */\n  async refreshAiDetection(): Promise<AiDetectionRaw> {\n    if (!this.#caps.hasAiObstacleDetection) return null;\n    await this.refreshCachedProperties([VACUUM_PROP.AI_DETECTION]);\n    return this.aiDetectionRaw;\n  }\n\n  /**\n   * Toggle ONE AI-obstacle feature, preserving the others via a read-modify-write\n   * of the packed `AI_DETECTION` property (mirrors Tasshack `set_ai_detection`).\n   * Capability-gated on `hasAiObstacleDetection`; rejects when the current value\n   * is unknown (a blind write would clobber the other toggles).\n   */\n  async setAiFeature(feature: DreameAiFeature, value: boolean): Promise<unknown> {\n    this.#requireCap(this.#caps.hasAiObstacleDetection, 'setAiFeature', 'AI obstacle detection');\n    const next = encodeAiFeatureWrite(this.aiDetectionRaw, feature, value);\n    return this.setProperty({ ...VACUUM_PROP.AI_DETECTION, value: next });\n  }\n\n  // -- auto-switch settings -----------------------------------------------\n  /**\n   * The raw `AUTO_SWITCH_SETTINGS` value (siid 4 piid 50) — a JSON string packing\n   * every secondary toggle/setting — or `null` when not yet observed. Prefer the\n   * decoded {@link autoSwitchProperty} / {@link supportedAutoSwitchKeys} surface.\n   */\n  get autoSwitchRaw(): AutoSwitchRaw {\n    const v = this.getProperty(\n      VACUUM_PROP.AUTO_SWITCH_SETTINGS.siid,\n      VACUUM_PROP.AUTO_SWITCH_SETTINGS.piid,\n    )?.value;\n    return typeof v === 'string' ? v : null;\n  }\n\n  /** Whether this model reports the packed auto-switch bundle at all. */\n  get hasAutoSwitchSettings(): boolean {\n    return this.autoSwitchRaw !== null;\n  }\n\n  /**\n   * The auto-switch settings this model reports, decoded from the packed value.\n   * Presence-driven (a key appears iff the payload carries it) — mirrors\n   * Tasshack `auto_switch_data`.\n   */\n  get supportedAutoSwitchKeys(): readonly AutoSwitchKey[] {\n    return supportedAutoSwitchKeys(this.autoSwitchRaw);\n  }\n\n  /**\n   * Read ONE auto-switch setting's int value, decoded from the packed\n   * `AUTO_SWITCH_SETTINGS` payload. `null` when the value is unobserved or the\n   * key is not present. The value is an opaque int (boolean 0/1, a small enum, or\n   * a `-1`/`-n` \"not applicable\" sentinel) — the caller interprets it.\n   */\n  autoSwitchProperty(key: AutoSwitchKey): number | null {\n    return decodeAutoSwitch(this.autoSwitchRaw, key);\n  }\n\n  /**\n   * Seed {@link autoSwitchRaw} from the CLOUD SHADOW (the last value the robot\n   * pushed for `AUTO_SWITCH_SETTINGS`, siid 4 piid 50) WITHOUT waking it. Like the\n   * AI bundle these are STATIC settings the robot rarely re-pushes over MQTT, so a\n   * fresh connect to an idle robot has no value cached — call this on activate to\n   * surface the current settings. Returns the resolved raw value (`null` when the\n   * shadow carries none yet).\n   */\n  async refreshAutoSwitch(): Promise<AutoSwitchRaw> {\n    await this.refreshCachedProperties([VACUUM_PROP.AUTO_SWITCH_SETTINGS]);\n    return this.autoSwitchRaw;\n  }\n\n  /**\n   * Set ONE auto-switch setting. Mirrors Tasshack `set_auto_switch_property`: a\n   * single-key `{\"k\":<key>,\"v\":<int>}` write the device merges server-side (the\n   * other settings are preserved without a read-modify-write). Rejects when the\n   * model does not report the bundle.\n   */\n  async setAutoSwitchProperty(key: AutoSwitchKey, value: number): Promise<unknown> {\n    this.#requireCap(this.hasAutoSwitchSettings, 'setAutoSwitchProperty', 'auto-switch settings');\n    const next = encodeAutoSwitchWrite(key, value);\n    return this.setProperty({ ...VACUUM_PROP.AUTO_SWITCH_SETTINGS, value: next });\n  }\n\n  // -- command helpers ----------------------------------------------------\n  #resolveCleanOpts(opts: CleanOpts): { repeats: number; fan: number; water: number } {\n    const repeats = Math.max(1, Math.trunc(opts.repeats ?? 1));\n    const fan = opts.fan ?? this.suctionRaw ?? SuctionLevel.Standard;\n    const water = opts.water ?? this.waterRaw ?? WaterVolume.Medium;\n    return { repeats, fan, water };\n  }\n\n  #startCustom(mode: number, payload: Record<string, unknown>): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.START_CUSTOM.siid, VACUUM_ACTION.START_CUSTOM.aiid, [\n      { piid: 1, value: mode },\n      { piid: 10, value: JSON.stringify(payload) },\n    ]);\n  }\n\n  #requireCap(flag: boolean, op: string, feature: string): void {\n    if (!flag) {\n      throw new DreameError(`${op}: model ${this.model} does not support ${feature}`);\n    }\n  }\n\n  // -- no-arg commands ----------------------------------------------------\n  /**\n   * Start cleaning (MIoT action siid 2 aiid 1). Named `startCleaning` — NOT\n   * `start` — because `BaseDevice.start()` is the lifecycle method that opens\n   * the MQTT push, and the facade relies on that meaning. Donor `node-dreame`\n   * names this `start()` only because its standalone `Vacuum` class owns no\n   * lifecycle method to collide with.\n   */\n  startCleaning(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.START.siid, VACUUM_ACTION.START.aiid, []);\n  }\n  pause(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.PAUSE.siid, VACUUM_ACTION.PAUSE.aiid, []);\n  }\n  stop(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.STOP.siid, VACUUM_ACTION.STOP.aiid, []);\n  }\n  /** Return to the dock / charge (MIoT action CHARGE, siid 3 aiid 1). */\n  dock(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.CHARGE.siid, VACUUM_ACTION.CHARGE.aiid, []);\n  }\n  locate(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.LOCATE.siid, VACUUM_ACTION.LOCATE.aiid, []);\n  }\n  clearWarning(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.CLEAR_WARNING.siid, VACUUM_ACTION.CLEAR_WARNING.aiid, []);\n  }\n  async startAutoEmpty(): Promise<unknown> {\n    this.#requireCap(this.#caps.canAutoEmpty, 'startAutoEmpty', 'auto-empty');\n    return this.callAction(\n      VACUUM_ACTION.START_AUTO_EMPTY.siid,\n      VACUUM_ACTION.START_AUTO_EMPTY.aiid,\n      [],\n    );\n  }\n\n  // -- settings writes ----------------------------------------------------\n  /** Type-safe suction write. Validates against the model's supported levels. */\n  setSuction(level: SuctionLevel): Promise<unknown> {\n    return this.setSuctionRaw(level);\n  }\n  /**\n   * Untyped suction write: validates an arbitrary number against the model's\n   * supported levels and rejects with `RangeError` on an invalid input. This\n   * is the raw-input entry point so callers (and tests) can exercise validation\n   * with no type assertions. `async` so the guard surfaces as a rejection.\n   */\n  async setSuctionRaw(level: number): Promise<unknown> {\n    if (!this.#caps.supportedSuctionLevels.includes(level)) {\n      throw new RangeError(`setSuction: unsupported suction level ${String(level)}`);\n    }\n    return this.setProperty({ ...VACUUM_PROP.SUCTION_LEVEL, value: level });\n  }\n  /** Type-safe water-volume write. Validates against supported volumes. */\n  setWater(volume: WaterVolume): Promise<unknown> {\n    return this.setWaterRaw(volume);\n  }\n  /** Untyped water-volume write: validates an arbitrary number (zero casts). */\n  async setWaterRaw(volume: number): Promise<unknown> {\n    if (!this.#caps.supportedWaterVolumes.includes(volume)) {\n      throw new RangeError(`setWater: unsupported water volume ${String(volume)}`);\n    }\n    return this.setProperty({ ...VACUUM_PROP.WATER_VOLUME, value: volume });\n  }\n  /** SAFE clean-mode write — uses CLEAN_MODE_SETTING (siid 2 piid 6), never the 0x1400 bitfield. */\n  setCleaningMode(mode: CleaningMode): Promise<unknown> {\n    return this.setProperty({ ...VACUUM_PROP.CLEAN_MODE_SETTING, value: mode });\n  }\n\n  // -- targeted cleaning --------------------------------------------------\n  async cleanSegments(ids: number[], opts: CleanOpts = {}): Promise<unknown> {\n    // Argument validation precedes capability gating (donor convention): an\n    // empty array throws RangeError regardless of model capability.\n    if (ids.length === 0) {\n      throw new RangeError('cleanSegments: ids must not be empty');\n    }\n    this.#requireCap(this.#caps.canCleanPerRoom, 'cleanSegments', 'per-room cleaning');\n    const { repeats, fan, water } = this.#resolveCleanOpts(opts);\n    const selects = ids.map((id) => [id, repeats, fan, water, 1]);\n    return this.#startCustom(CUSTOM_CLEAN_MODE.SEGMENT, { selects });\n  }\n  async cleanZones(\n    zones: Array<{ x0: number; y0: number; x1: number; y1: number }>,\n    opts: CleanOpts = {},\n  ): Promise<unknown> {\n    // Argument validation precedes capability gating (donor convention): an\n    // empty array throws RangeError regardless of model capability.\n    if (zones.length === 0) {\n      throw new RangeError('cleanZones: zones must not be empty');\n    }\n    this.#requireCap(this.#caps.canCleanPerRoom, 'cleanZones', 'per-room cleaning');\n    const { repeats, fan, water } = this.#resolveCleanOpts(opts);\n    const areas = zones.map((z) => [\n      Math.round(z.x0),\n      Math.round(z.y0),\n      Math.round(z.x1),\n      Math.round(z.y1),\n      repeats,\n      fan,\n      water,\n    ]);\n    return this.#startCustom(CUSTOM_CLEAN_MODE.ZONE, { areas });\n  }\n  /**\n   * Send the robot to clean a single point (the SPOT custom-clean action,\n   * mode 20). ASSUMED: Tasshack's \"go to point\" is the same SPOT action — this\n   * is exposed as `cleanSpot` because it maps to the spot/custom-clean action,\n   * not a distinct go-to. No separate `goTo` is exposed.\n   */\n  async cleanSpot(point: { x: number; y: number }, opts: CleanOpts = {}): Promise<unknown> {\n    this.#requireCap(this.#caps.canCleanPerRoom, 'cleanSpot', 'per-room cleaning');\n    const { repeats, fan, water } = this.#resolveCleanOpts(opts);\n    const points = [[Math.round(point.x), Math.round(point.y), repeats, fan, water]];\n    return this.#startCustom(CUSTOM_CLEAN_MODE.SPOT, { points });\n  }\n\n  /**\n   * Seed the cache from the CLOUD SHADOW (last-known values) WITHOUT waking the\n   * robot — reads {@link VacuumDevice.DEFAULT_PROPS} from the cloud-cached\n   * endpoint. After it resolves, every typed getter (status/battery/suction/\n   * water/cleaningMode/error/charging…) reflects the cached values, so a\n   * standby/docked vacuum reports its state exactly as the Dreamehome app does.\n   */\n  async refreshFromCache(): Promise<void> {\n    await this.refreshCachedProperties([...VacuumDevice.DEFAULT_PROPS]);\n  }\n\n  // -- maps ---------------------------------------------------------------\n  /** The most-recently-decoded map, or `null` until {@link getMap} succeeds. */\n  get lastMap(): VacuumMap | null {\n    return this.#lastMap;\n  }\n\n  /**\n   * The OSS object name of the latest map frame the robot advertised via its\n   * PATH push (siid 6 piid 3), or `null` when none has been observed yet (the\n   * robot has not uploaded a map since connect). This is the `filename` to pass\n   * to {@link getMap} — or just call {@link fetchLatestMap}.\n   */\n  get mapFilename(): string | null {\n    const v = this.getProperty(VACUUM_PROP.MAP_PATH.siid, VACUUM_PROP.MAP_PATH.piid)?.value;\n    return typeof v === 'string' && v.length > 0 ? v : null;\n  }\n\n  /**\n   * Convenience: fetch + decode the LATEST map frame the robot advertised,\n   * reading {@link mapFilename} and delegating to {@link getMap}. Returns `null`\n   * when no map filename has been observed yet (vs throwing) so a consumer can\n   * poll it safely; once a filename is present it behaves exactly like\n   * {@link getMap} (capability-gated on `canMap`, caches {@link lastMap}, emits\n   * `'map'`). The `fetcher`/`key`/`iv`/`host`/`timeoutMs`/`signal` overrides are\n   * forwarded verbatim.\n   */\n  async fetchLatestMap(opts: Omit<VacuumGetMapInput, 'filename'> = {}): Promise<VacuumMap | null> {\n    const filename = this.mapFilename;\n    if (filename === null) return null;\n    return this.getMap({ filename, ...opts });\n  }\n\n  /**\n   * Seed {@link mapFilename} from the CLOUD SHADOW (the last value the robot\n   * pushed for siid 6 piid 3) WITHOUT waking it — so a docked/idle robot can\n   * surface its LAST cleaning map without a fresh clean. Emits the usual\n   * `propertyChanged`/`stateChanged` (so a map-watching consumer re-renders) and\n   * returns the resolved {@link mapFilename} (null when the model has no map or\n   * the shadow carries no map path yet).\n   *\n   * NOTE: the shadow holds the last LIVE-PATH filename; its OSS blob may have\n   * expired, in which case a follow-up {@link fetchLatestMap} rejects — treat\n   * that as \"no saved map available\".\n   */\n  async refreshSavedMapFilename(): Promise<string | null> {\n    if (!this.#caps.canMap) return null;\n    await this.refreshCachedProperties([VACUUM_PROP.MAP_PATH]);\n    return this.mapFilename;\n  }\n\n  /**\n   * The current room/segment id, derived from the most-recently-decoded map's\n   * active-segment set (`sa`). `null` when no map has been fetched or no\n   * segment is currently active. REPLACES the P3 \"intentionally not exposed\"\n   * placeholder — the value now comes from the decoded map layer (P5).\n   */\n  get currentSegmentId(): number | null {\n    return this.#lastMap?.segments.find((s) => s.active)?.id ?? null;\n  }\n\n  /**\n   * Fetch the current saved/live-map blob (OSS), decode it, cache it as\n   * {@link lastMap}, emit a `'map'` event, and return the {@link VacuumMap}.\n   *\n   * Capability-gated on `canMap`. The `filename` is the OSS object name the\n   * caller resolves from a `mapInfo`/PATH push. The fetcher is injectable so\n   * tests drive it with a synthetic blob and no live network.\n   *\n   * NOTE: active live-frame P-frame STREAMING (continuous merge orchestration)\n   * is a documented follow-up; `getMap` resolves a single frame here. The\n   * `applyVacuumPFrame` merge primitive ships separately for that work.\n   */\n  async getMap(input: VacuumGetMapInput): Promise<VacuumMap> {\n    this.#requireCap(this.#caps.canMap, 'getMap', 'map decoding');\n    const blob = await this.#fetchMapBlob(input);\n    const map = decodeVacuumMap(blob, this.#decodeOpts(input));\n    this.#lastMap = map;\n    this.emit('map', map);\n    return map;\n  }\n\n  /** Fetch the raw OSS blob (still the base64+zlib envelope) for a map frame. */\n  async #fetchMapBlob(input: VacuumGetMapInput): Promise<Buffer> {\n    const session = this.currentSession();\n    const region = this.region;\n    const fetcher = input.fetcher ?? new OssFetcher();\n    const fetchInput: OssFetchInput = {\n      host: input.host ?? REGION_HOSTS[region],\n      accessToken: session.accessToken,\n      region,\n      did: this.deviceId,\n      model: this.model,\n      filename: input.filename,\n      ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n      ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    };\n    return fetcher.fetchBlob(fetchInput);\n  }\n\n  /** The AES key/iv decode options, threaded from a {@link VacuumGetMapInput}. */\n  #decodeOpts(input: Pick<VacuumGetMapInput, 'key' | 'iv'>): VacuumMapDecodeOptions {\n    return {\n      ...(input.key !== undefined ? { key: input.key } : {}),\n      ...(input.iv !== undefined ? { iv: input.iv } : {}),\n    };\n  }\n\n  /**\n   * Fetch the robot's Wi-Fi signal map — the last stored coverage heatmap, with\n   * NO robot movement. Requests it (map service `wifiMap` action, siid 6 aiid 4),\n   * polls `PropWifiMap` (6/15) for the OSS object it advertises, fetches + decodes\n   * it into a per-cell signal grid + geometry + robot/dock poses. The signal at\n   * any world point (incl. the robot's own position) is a lookup — see\n   * {@link WifiSignalMap.signalAt} / {@link WifiSignalMap.currentSignal}.\n   *\n   * Pass `requestFresh: false` to skip the request and read whatever is already\n   * advertised. Throws if no Wi-Fi map exists yet (never run on this device).\n   */\n  async getWifiSignalMap(input: WifiSignalMapInput = {}): Promise<WifiSignalMap> {\n    if (input.requestFresh !== false) {\n      try {\n        await this.callAction(6, 4, []);\n      } catch {\n        /* best-effort: the object may already be advertised */\n      }\n    }\n    const pollMs = input.pollMs ?? 2500;\n    const deadline = Date.now() + (input.maxWaitMs ?? 20_000);\n    let objectName = '';\n    for (;;) {\n      const res = await this.refreshProperties([{ siid: 6, piid: 15 }]);\n      const val = res[0]?.value;\n      if (typeof val === 'string' && val.length > 0) {\n        objectName = val;\n        break;\n      }\n      if (Date.now() + pollMs >= deadline) {\n        throw new DreameError('wifi signal map not available (none stored yet, or request timed out)');\n      }\n      await new Promise((r) => setTimeout(r, pollMs));\n    }\n    // The property is `\"<n>,<oss-object-name>\"`; the OSS fetcher wants the object name.\n    const filename = objectName.replace(/^\\d+,/, '');\n    const blob = await this.#fetchMapBlob({\n      filename,\n      ...(input.fetcher ? { fetcher: input.fetcher } : {}),\n      ...(input.host ? { host: input.host } : {}),\n      ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n      ...(input.signal ? { signal: input.signal } : {}),\n    });\n    return decodeWifiSignalMap(blob, this.#decodeOpts(input));\n  }\n\n  /**\n   * Render the Wi-Fi signal map as a simple PNG heatmap image (weakest→strongest,\n   * unreached grey, robot marker) — ready to display. Convenience over\n   * {@link getWifiSignalMap} + {@link renderWifiSignalPng}.\n   */\n  async getWifiSignalImage(\n    input: WifiSignalMapInput & RenderWifiSignalPngOptions = {},\n  ): Promise<Buffer> {\n    const map = await this.getWifiSignalMap(input);\n    return renderWifiSignalPng(map, input);\n  }\n\n  /**\n   * The one-call \"current Wi-Fi signal\": fetches the signal map and returns the\n   * bars (1–4, 0 = unreached) at the robot's own position, or null when unknown.\n   */\n  async getCurrentSignal(input: WifiSignalMapInput = {}): Promise<number | null> {\n    const map = await this.getWifiSignalMap(input);\n    return map.currentSignal;\n  }\n\n  /**\n   * The merge base for live P-frame streaming — always an INFLATED frame buffer.\n   * An I-frame (re)seeds it; each P-frame merge replaces it with the merged\n   * inflated buffer (so further P-frames stack). `null` until the first I-frame\n   * (or after an out-of-order / map-id reset).\n   */\n  #mapStreamBase: Buffer | null = null;\n\n  /** Drop the P-frame merge base so the next I-frame re-seeds the stream. */\n  resetMapStream(): void {\n    this.#mapStreamBase = null;\n  }\n\n  /** Inflate an OSS blob to a raw frame buffer (live envelope → zlib; verbatim if already inflated). */\n  #inflateFrame(blob: Buffer, opts: VacuumMapDecodeOptions): Buffer {\n    return looksLikeBase64Zlib(blob) ? unwrapEnvelope(blob.toString('latin1'), opts) : blob;\n  }\n\n  /**\n   * Fetch the latest advertised map frame and fold it into a continuously\n   * updating map. An I-frame (re)seeds the merge base and renders standalone; a\n   * P-frame is merged onto the base via {@link applyVacuumPFrame} so the live\n   * grid stays COMPLETE (a P-frame decoded standalone is only byte-deltas). On an\n   * out-of-order P-frame or a map-id change the base is dropped and `null`\n   * returned — the next I-frame re-seeds. Returns `null` when no frame is\n   * advertised yet, or a P-frame arrives before any I-frame.\n   *\n   * Caches {@link lastMap} and emits `'map'` exactly like {@link getMap}, so a\n   * map-watching consumer (e.g. the camstack map child) gets a fresh complete\n   * frame on every push during a live clean.\n   */\n  async fetchLatestMapStreaming(\n    opts: Omit<VacuumGetMapInput, 'filename'> = {},\n  ): Promise<VacuumMap | null> {\n    this.#requireCap(this.#caps.canMap, 'fetchLatestMapStreaming', 'map decoding');\n    const filename = this.mapFilename;\n    if (filename === null) return null;\n    const input: VacuumGetMapInput = { filename, ...opts };\n    const decodeOpts = this.#decodeOpts(input);\n    const blob = await this.#fetchMapBlob(input);\n    const inflated = this.#inflateFrame(blob, decodeOpts);\n    const frame = decodeVacuumMap(inflated, decodeOpts);\n\n    if (frame.frameType === 'I') {\n      this.#mapStreamBase = inflated;\n      this.#lastMap = frame;\n      this.emit('map', frame);\n      return frame;\n    }\n\n    if (frame.frameType === 'P') {\n      if (this.#mapStreamBase === null) return null; // need an I-frame first\n      try {\n        // Both base and incoming frame are inflated buffers → mergePFrame path.\n        const { buffer, data } = applyVacuumPFrame(this.#mapStreamBase, inflated);\n        this.#mapStreamBase = buffer;\n        this.#lastMap = data;\n        this.emit('map', data);\n        return data;\n      } catch (err) {\n        // Out-of-order or a fresh map (id mismatch / grid change): drop the base\n        // and wait for the next I-frame to re-seed rather than render garbage.\n        if (err instanceof OutOfOrderFrameError || err instanceof MapDecodeError) {\n          this.#mapStreamBase = null;\n          return null;\n        }\n        throw err;\n      }\n    }\n\n    // 'W' (saved-map) or any other type: render standalone, leave the base as-is.\n    this.#lastMap = frame;\n    this.emit('map', frame);\n    return frame;\n  }\n\n  /**\n   * Build a {@link DreameCameraController} for this device's camera, wired to\n   * both planes it needs: the MIoT action transport (this device handle) and a\n   * fresh Aliyun {@link DreameVideoSession} for the relay. Call\n   * `controller.open()` to autonomously cold-start the stream and get a pullable\n   * RTMP URL, then `controller.close()` to release it.\n   *\n   * The camera's per-session privacy gate means a coded camera needs its PIN:\n   * pass `accessCode` (the code set at pairing). `iotId` is resolved from the\n   * device's cloud video profile when not supplied.\n   */\n  async createCameraController(opts?: {\n    /** LinkVisual channel id; resolved from the cloud profile when omitted. */\n    iotId?: string;\n    /** Privacy PIN set at pairing (required to wake a coded camera). */\n    accessCode?: string;\n    /** Video vendor; defaults to `ali` (the only vendor that mints an RTMP relay). */\n    vendor?: 'ali' | 'tx';\n    /** Aliyun region code reported as `area`; defaults to `'4'`. */\n    area?: string;\n    /** Keep-alive cadence in ms (default 10s). */\n    keepAliveIntervalMs?: number;\n    /** Max time to wait for the relay while the device wakes. */\n    wakeTimeoutMs?: number;\n    /** Reported when a keep-alive tick fails. */\n    onKeepAliveError?: (err: unknown) => void;\n    /** Optional nodelink-style line logger. */\n    log?: (line: string) => void;\n    /** Reuse an existing relay minter (e.g. a shared {@link DreameVideoSession}). */\n    relay?: RelayMinter;\n  }): Promise<DreameCameraController> {\n    const session = this.currentSession();\n    const region = this.region;\n    const relay =\n      opts?.relay ?? new DreameVideoSession({ session, region });\n    // The profile is KEPT, not reduced to its `iotId` and discarded. When the\n    // channel is missing it is the only thing that can say why — see\n    // `explainNoCameraChannel`. The old sentence named the missing field and\n    // covered four different causes with it, and telling them apart meant\n    // reading this library's source.\n    let iotId = opts?.iotId ?? null;\n    if (!iotId) {\n      const profile = await getDeviceVideoProfile({ session, region, did: this.deviceId });\n      iotId = profile.iotId;\n      if (!iotId) {\n        throw new DreameError(explainNoCameraChannel(profile) ?? 'device has no video channel');\n      }\n    }\n    return new DreameCameraController({\n      device: this,\n      relay,\n      iotId,\n      accountId: session.uid,\n      ...(opts?.vendor ? { vendor: opts.vendor } : {}),\n      ...(opts?.accessCode !== undefined ? { accessCode: opts.accessCode } : {}),\n      ...(opts?.area ? { area: opts.area } : {}),\n      ...(opts?.keepAliveIntervalMs !== undefined\n        ? { keepAliveIntervalMs: opts.keepAliveIntervalMs }\n        : {}),\n      ...(opts?.wakeTimeoutMs !== undefined ? { wakeTimeoutMs: opts.wakeTimeoutMs } : {}),\n      ...(opts?.onKeepAliveError ? { onKeepAliveError: opts.onKeepAliveError } : {}),\n      ...(opts?.log ? { log: opts.log } : {}),\n    });\n  }\n\n  /** Props worth seeding on start() / polling — exported for the facade. */\n  static readonly DEFAULT_PROPS = [\n    VACUUM_PROP.STATE,\n    VACUUM_PROP.ERROR,\n    VACUUM_PROP.FAULTS_STR,\n    VACUUM_PROP.TASK_STATUS,\n    VACUUM_PROP.SUCTION_LEVEL,\n    VACUUM_PROP.WATER_VOLUME,\n    VACUUM_PROP.CLEAN_MODE_SETTING,\n    VACUUM_PROP.TASK_PROGRESS_PCT,\n    VACUUM_PROP.AI_DETECTION,\n    BATTERY_PROP.LEVEL,\n    BATTERY_PROP.CHARGING_STATUS,\n    CONSUMABLE_PROP.MAIN_BRUSH_LEFT,\n    CONSUMABLE_PROP.SIDE_BRUSH_LEFT,\n    CONSUMABLE_PROP.FILTER_LEFT,\n    SETTINGS_PROP.VOLUME,\n  ] as const;\n}\n","/**\n * Mower MIoT property / action / event identifiers and the embedded\n * scheduling-task opcode payloads, reverse-engineered from\n * antondaubert/dreame-mower (const.py + device.py _build_*_task_payload).\n * Only KNOWN/useful ids are ported; the donor's unnamed SERVICE2_PROPERTY_* /\n * SERVICE5_PROPERTY_* are intentionally omitted.\n *\n * Encoding note: the four siid-5 actions (START_MOWING/STOP/DOCK/PAUSE) take NO\n * in-params. Targeted starts + resume are sent as ACTIONS on SCHEDULING_TASK\n * (siid 2 piid 50) whose in-params are `[ <opcodeObject> ]` — a one-element\n * array carrying the raw {m,p,o,d?} object (NOT the vacuum's {piid,value} form).\n */\n\n/** Mower service properties (subset; unnamed reverse-engineered props skipped). */\nexport const MOWER_PROP = {\n  /** VERIFIED-by-donor — 20-byte heartbeat (sentinel 0xCE at [0]/[19]); byte 11\n   *  battery, byte 12 main-state, byte 13 task sub-state. See parseHeartbeat. */\n  HEARTBEAT: { siid: 1, piid: 1 } as const,\n  /** VERIFIED-by-donor — pose + coverage telemetry (binary). P4 uses progress % only. */\n  POSE_COVERAGE: { siid: 1, piid: 4 } as const,\n  /** VERIFIED-by-donor — MowerStatus (DeviceStatus). */\n  STATUS: { siid: 2, piid: 1 } as const,\n  /** VERIFIED-by-donor — device code blob (model/region). Not decoded in P4. */\n  DEVICE_CODE: { siid: 2, piid: 2 } as const,\n  /** VERIFIED-by-donor — mission task descriptor object {t,d:{...}}; also the action target. */\n  SCHEDULING_TASK: { siid: 2, piid: 50 } as const,\n  /** VERIFIED-by-donor — mission completion summary (often empty). */\n  SCHEDULING_SUMMARY: { siid: 2, piid: 52 } as const,\n  /** VERIFIED-by-donor — per-zone control status {status:[[zone,code],...]}. */\n  MOWER_CONTROL_STATUS: { siid: 2, piid: 56 } as const,\n  /** VERIFIED-by-donor — battery percentage 0-100. */\n  BATTERY: { siid: 3, piid: 1 } as const,\n  /** VERIFIED-by-donor — MowerChargingStatus. */\n  CHARGING_STATUS: { siid: 3, piid: 2 } as const,\n  /** VERIFIED-by-donor — task status code (MowerTaskStatus; mostly diagnostic). */\n  TASK_STATUS: { siid: 5, piid: 104 } as const,\n} as const;\n\n/** Mower actions (siid 5). No in-params — parity with the donor execute_action. */\nexport const MOWER_ACTION = {\n  START_MOWING: { siid: 5, aiid: 1 } as const,\n  STOP: { siid: 5, aiid: 2 } as const,\n  DOCK: { siid: 5, aiid: 3 } as const,\n  PAUSE: { siid: 5, aiid: 4 } as const,\n} as const;\n\n/** Mower events. */\nexport const MOWER_EVENT = {\n  /** VERIFIED-by-donor — mission completion (siid 4 eiid 1). */\n  MISSION_COMPLETION: { siid: 4, eiid: 1 } as const,\n} as const;\n\n/**\n * Embedded scheduling-task opcodes carried in SCHEDULING_TASK (2:50) action\n * in-params. `m:'a'` = action, `p` = priority, `o` = opcode, `d` = data.\n * RESUME (o:5) is the donor's TASK_PAYLOAD_RESUME (continueControl).\n */\nexport const TASK_OPCODE = {\n  RESUME: { m: 'a', p: 0, o: 5 } as const,\n  ALL_AREA: 100,\n  EDGE: 101,\n  ZONE: 102,\n  SPOT: 103,\n  SET_CURRENT_MAP: 200,\n} as const;\n\n/** A fresh resume opcode object (never share the frozen literal across calls). */\nexport function buildResumePayload(): { m: string; p: number; o: number } {\n  return { m: 'a', p: 0, o: 5 };\n}\n\n/** All-area start: o:100, region_id=[mapId], area_id=[]. device.py _build_all_area_task_payload. */\nexport function buildAllAreaPayload(mapId: number): {\n  m: string;\n  p: number;\n  o: number;\n  d: { region_id: number[]; area_id: number[] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.ALL_AREA, d: { region_id: [mapId], area_id: [] } };\n}\n\n/** Zone start: o:102, region=zoneIds. device.py _build_zone_task_payload. */\nexport function buildZonePayload(zoneIds: number[]): {\n  m: string;\n  p: number;\n  o: number;\n  d: { region: number[] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.ZONE, d: { region: [...zoneIds] } };\n}\n\n/** Edge start: o:101, edge=contourIdPairs. device.py _build_edge_task_payload. */\nexport function buildEdgePayload(contourIds: number[][]): {\n  m: string;\n  p: number;\n  o: number;\n  d: { edge: number[][] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.EDGE, d: { edge: contourIds.map((c) => [...c]) } };\n}\n\n/** Spot start: o:103, area=spotAreaIds. device.py _build_spot_task_payload. */\nexport function buildSpotPayload(spotAreaIds: number[]): {\n  m: string;\n  p: number;\n  o: number;\n  d: { area: number[] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.SPOT, d: { area: [...spotAreaIds] } };\n}\n\n/** Switch active map: o:200, idx=mapIndex. device.py _build_set_current_map_payload. */\nexport function buildSetCurrentMapPayload(mapIndex: number): {\n  m: string;\n  p: number;\n  o: number;\n  d: { idx: number };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.SET_CURRENT_MAP, d: { idx: mapIndex } };\n}\n\n/**\n * CMS consumable getter payload `{m:'g', t:'CMS'}` — read the blade/brush/robot\n * minute counters. Sent as the single in-param of the SCHEDULING_TASK (2:50)\n * action. device.py `_build_get_consumable_payload`.\n */\nexport function buildGetConsumablePayload(): { m: string; t: string } {\n  return { m: 'g', t: 'CMS' };\n}\n\n/**\n * CMS consumable setter payload `{m:'s', t:'CMS', d:{value:[...]}}` — write the\n * three counters (used to reset one to 0). device.py\n * `_build_set_consumable_payload`. Throws on a non-3 / negative counter list.\n */\nexport function buildSetConsumablePayload(values: number[]): {\n  m: string;\n  t: string;\n  d: { value: number[] };\n} {\n  const normalized = values.map((v) => Math.trunc(v));\n  if (normalized.length !== 3) {\n    throw new RangeError(`CMS values must contain exactly 3 counters; got ${normalized.length}`);\n  }\n  if (normalized.some((v) => v < 0)) {\n    throw new RangeError(`CMS values cannot be negative; got ${JSON.stringify(normalized)}`);\n  }\n  return { m: 's', t: 'CMS', d: { value: normalized } };\n}\n","/**\n * Mower MIoT enum value spaces, reverse-engineered from antondaubert/dreame-mower\n * (const.py DeviceStatus + STATUS_MAPPING + CHARGING_STATUS_MAPPING, and\n * property/mower_control.py + service5.py). The donor is a working HA\n * integration, so these are VERIFIED-by-donor; members annotated ASSUMED are\n * not yet corroborated. The integer is always the source of truth.\n */\n\n/** VERIFIED-by-donor — STATUS_PROPERTY (siid 2 piid 1), const.py DeviceStatus. */\nexport enum MowerStatus {\n  NoStatus = 0,\n  Mowing = 1,\n  Standby = 2,\n  Paused = 3,\n  PausedDueToErrors = 4,\n  ReturningToCharge = 5,\n  Charging = 6,\n  Mapping = 11,\n  ChargingComplete = 13,\n  Updating = 14,\n}\n\n/** VERIFIED-by-donor — CHARGING_STATUS_PROPERTY (siid 3 piid 2), CHARGING_STATUS_MAPPING. */\nexport enum MowerChargingStatus {\n  NotDocked = 0,\n  Charging = 1,\n  NotCharging = 2,\n  ChargingCompleted = 3,\n  ReturnToCharge = 5,\n  /** Charging paused: battery temperature too low (donor issue #40). */\n  ChargingPausedLowTemperature = 16,\n}\n\n/**\n * VERIFIED-by-donor — per-zone control code in MOWER_CONTROL_STATUS (siid 2\n * piid 56) `status` array entries `[zone_id, code]`. mower_control.py.\n */\nexport enum MowerControlAction {\n  /** Zone waiting in a multi-zone session. */\n  Queued = -1,\n  /** Actively mowing. */\n  Continue = 0,\n  Completed = 2,\n  Pause = 4,\n}\n\n/**\n * Observed TASK_STATUS codes (siid 5 piid 104), service5.py TASK_STATUS_MAPPING.\n * Only `SpotIncomplete` (7) has a confirmed meaning; the donor explicitly marks\n * codes 2/3/10/13 as \"Unknown task status: N\" (observed after RAIN/LOST/\n * LOW_BATTERY events). Those are NOT invented as named members — they surface as\n * raw via {@link MowerDevice.taskStatusRaw}. This is the FULL documented set:\n * the donor names exactly one code.\n */\nexport enum MowerTaskStatus {\n  /** \"Task incomplete - spot mowing\". */\n  SpotIncomplete = 7,\n}\n\n/**\n * Mower device-code / fault value space for DEVICE_CODE (siid 2 piid 2). This is\n * the FULL donor `BASE_DEVICE_CODES` registry (property/device_code.py), codes\n * 0..73 contiguous. Each integer is documented by the donor with a name +\n * severity (INFO / WARNING / ERROR — noted inline). 0 = NO_DEVICE_CODE (normal\n * operation). Codes not in this table (model-specific extensions) fall through\n * the cast-free lookup and surface as raw via {@link MowerDevice.faultRaw}.\n *\n * Two donor names repeat at different integers; the second occurrence is\n * suffixed (`LidarDirtyWarning` 38, `BatteryOverheatWarning` 42) to keep enum\n * member names unique while preserving the integer source of truth.\n */\nexport enum MowerFault {\n  NoDeviceCode = 0, // INFO\n  Tilted = 1, // ERROR\n  Trapped = 2, // ERROR\n  NarrowPathToStation = 3, // ERROR\n  LeftWheel = 4, // ERROR\n  RightWheel = 5, // ERROR\n  LiftMotor = 6, // ERROR\n  Cutter = 7, // ERROR\n  SidedMotor = 8, // ERROR\n  CrashPlate = 9, // ERROR\n  Charging = 10, // ERROR\n  BatteryOverheat = 11, // ERROR\n  LidarCovered = 12, // ERROR\n  LidarOverheatWithoutMap = 13, // ERROR\n  LidarOverheatWithMap = 14, // ERROR\n  LidarOverheat = 15, // ERROR\n  LidarDirty = 16, // ERROR\n  LidarAbnormal = 17, // ERROR\n  LocationWeak = 18, // ERROR\n  LocationLost = 19, // ERROR\n  Sensor = 20, // ERROR\n  InForbiddenArea = 21, // ERROR\n  OutOfMap = 22, // ERROR\n  EmergencyStop = 23, // ERROR\n  BatteryLow = 24, // ERROR\n  MapFileCrack = 25, // ERROR\n  AwayFromMap = 26, // ERROR\n  HumanDetected = 27, // ERROR\n  BladeLoss = 28, // ERROR\n  StationLoss = 29, // ERROR\n  MaintainLoss = 30, // ERROR\n  BackChargeFailed = 31, // WARNING\n  DockingFailed = 32, // WARNING\n  LocatingFailedWithMap = 33, // WARNING\n  LocatingFailedWithoutMap = 34, // WARNING\n  LocatingAbnormal = 35, // WARNING\n  TaskStartFailed = 36, // WARNING\n  PathImpassable = 37, // ERROR\n  LidarDirtyWarning = 38, // WARNING (donor LIDAR_DIRTY at 38)\n  CamDirty = 39, // WARNING\n  CamAbnormal = 40, // WARNING\n  CamCover = 41, // WARNING\n  BatteryOverheatWarning = 42, // WARNING (donor BATTERY_OVERHEAT at 42)\n  BatteryTempLow = 43, // WARNING\n  AutobuildBorder = 44, // WARNING\n  AutobuildSide = 45, // WARNING\n  BorderFinish = 46, // INFO\n  NewMap = 47, // INFO\n  TaskFinish = 48, // INFO\n  DestinationNotReachable = 49, // INFO\n  TaskStart = 50, // INFO\n  CruiseStart = 51, // INFO\n  PointAndGoStart = 52, // INFO\n  ScheduleStart = 53, // INFO\n  BatteryLowReturning = 54, // INFO\n  BatteryLowScheduleSuspend = 55, // INFO\n  BadWeatherProtecting = 56, // INFO\n  RainScheduleInterupted = 57, // INFO\n  RainScheduleSuspend = 58, // INFO\n  ForzenReturning = 59, // INFO\n  FrozenScheduleSuspend = 60, // INFO\n  NotDisturbReturning = 61, // INFO\n  NotDisturbScheduleSuspend = 62, // INFO\n  WorkingScheduleSuspend = 63, // INFO\n  RemoteControlingScheduleSuspend = 64, // INFO\n  EmergencyStoppedScheduleSuspend = 65, // INFO\n  TopCoverOpenScheduleSuspend = 66, // INFO\n  FaultModeScheduleSuspend = 67, // INFO\n  ScheduleTimeout = 68, // INFO\n  StationNotConnectedToWorkingArea = 69, // INFO\n  ContinueFromBreakpoint = 70, // INFO\n  IdleTimeoutReturning = 71, // INFO\n  PauseTimeoutReturning = 72, // INFO\n  TopCoverOpen = 73, // ERROR\n}\n\n/** Severity class of a mower DEVICE_CODE (2:2 / {@link MowerFault}). */\nexport type MowerFaultSeverity = 'info' | 'warning' | 'error';\n\n/**\n * Classify a mower device-code by severity, matching the INFO/WARNING/ERROR\n * annotations on {@link MowerFault}. Most codes are status/INFO (e.g. 50\n * TaskStart); only a subset are actionable. Unknown codes default to `info`.\n */\nexport function mowerFaultSeverity(code: number | null): MowerFaultSeverity {\n  if (code === null) return 'info';\n  if ((code >= 1 && code <= 30) || code === 37 || code === 73) return 'error';\n  if ((code >= 31 && code <= 36) || (code >= 38 && code <= 45)) return 'warning';\n  return 'info';\n}\n","/**\n * Cast-free mower decoders. Re-exports the shared numeric primitives, and adds\n * the two structured-payload parsers the typed getters consume:\n *   - parseTaskDescriptor : SCHEDULING_TASK (2:50) {t,d:{...}} -> typed task\n *   - parseControlStatus  : MOWER_CONTROL_STATUS (2:56) {status:[[zone,code]]}\n * Ported from antondaubert/dreame-mower property/{scheduling,mower_control}.py.\n * The binary pose-track geometry (1:4) is OUT OF SCOPE here (P5).\n */\nimport { MowerControlAction } from './enums.js';\nimport { enumLookup } from '../_shared/decode.js';\n\nexport { asNum, enumLookup } from '../_shared/decode.js';\n\n/** Typed scheduling task descriptor (subset of the donor TaskHandler fields). */\nexport interface MowerTaskDescriptor {\n  taskType: string;\n  executionActive: boolean;\n  /** `d.o` — coverage target % or mode sentinel. */\n  coverageTarget: number;\n  taskActive: boolean;\n  areaId: number[] | null;\n  regionId: number[] | null;\n  elapsedTime: number | null;\n}\n\nfunction isRecord(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\nfunction numArrayOrNull(v: unknown): number[] | null {\n  if (!Array.isArray(v)) {\n    return null;\n  }\n  const out: number[] = [];\n  for (const n of v) {\n    if (typeof n !== 'number') {\n      return null;\n    }\n    out.push(n);\n  }\n  return out;\n}\n\n/**\n * Parse the SCHEDULING_TASK descriptor (2:50). Required fields `d.exe`,\n * `d.o`, `d.status` must be present (matching the donor's KeyError-bubble);\n * optional area_id/region_id/time default to null. Returns null on any\n * malformed input — no throw, no cast.\n */\nexport function parseTaskDescriptor(value: unknown): MowerTaskDescriptor | null {\n  if (!isRecord(value)) {\n    return null;\n  }\n  const t = value['t'];\n  const d = value['d'];\n  if (typeof t !== 'string' || !isRecord(d)) {\n    return null;\n  }\n  const exe = d['exe'];\n  const o = d['o'];\n  const status = d['status'];\n  if (typeof exe !== 'boolean' || typeof o !== 'number' || typeof status !== 'boolean') {\n    return null;\n  }\n  return {\n    taskType: t === 'TASK' ? 'TASK' : 'UNKNOWN',\n    executionActive: exe,\n    coverageTarget: o,\n    taskActive: status,\n    areaId: numArrayOrNull(d['area_id']),\n    regionId: numArrayOrNull(d['region_id']),\n    elapsedTime: typeof d['time'] === 'number' ? d['time'] : null,\n  };\n}\n\nconst controlLookup = enumLookup<MowerControlAction>([\n  MowerControlAction.Queued,\n  MowerControlAction.Continue,\n  MowerControlAction.Completed,\n  MowerControlAction.Pause,\n]);\n\n/** Map a raw 2:56 entry code to a MowerControlAction, or null. Cast-free. */\nexport function controlActionFor(code: number): MowerControlAction | null {\n  return controlLookup(code);\n}\n\n/** Typed mower control status (2:56). */\nexport interface MowerControlState {\n  action: MowerControlAction | null;\n  statusCode: number | null;\n  zones: number[][];\n}\n\n/**\n * Parse MOWER_CONTROL_STATUS (2:56). `status` is `[[zone_id, code], ...]`.\n * Primary action = the actively-mowing zone (code 0), else the first entry.\n * Empty array -> null action. Warn-and-tolerate: an UNKNOWN code does NOT drop\n * the whole structure — the zone is surfaced as-is and its `action` resolves to\n * null (only the primary's action goes null when the primary itself is unknown).\n * Still returns null on a malformed PAIR shape (non-array / <2 / non-numeric).\n * No cast.\n */\nexport function parseControlStatus(value: unknown): MowerControlState | null {\n  if (!isRecord(value)) {\n    return null;\n  }\n  const status = value['status'];\n  if (!Array.isArray(status)) {\n    return null;\n  }\n  if (status.length === 0) {\n    return { action: null, statusCode: null, zones: [] };\n  }\n  const zones: number[][] = [];\n  for (const entry of status) {\n    const pair = numArrayOrNull(entry);\n    if (pair === null || pair.length < 2) {\n      return null;\n    }\n    // `numArrayOrNull` already guarantees an all-number array and the length\n    // check guarantees >=2 elements, so the pair is pushed as-is (no per-index\n    // undefined guard needed — that branch would be unreachable / dead).\n    zones.push(pair);\n  }\n  const primary = zones.find((e) => e[1] === 0) ?? zones[0];\n  const code = primary?.[1] ?? null;\n  return {\n    action: code === null ? null : controlActionFor(code),\n    statusCode: code,\n    zones,\n  };\n}\n\n// -- CMS consumables (custom action on SCHEDULING_TASK 2:50) -----------------\n\n/** Canonical CMS consumable counter keys (blade, brush, robot maintenance). */\nexport type MowerConsumableKey = 'blade' | 'brush' | 'maintenance';\n\n/** One CMS consumable counter: minutes used + total + remaining %. */\nexport interface MowerConsumableReading {\n  readonly key: MowerConsumableKey;\n  /** Minutes of run-time accrued on this counter (counts UP). */\n  readonly usedMinutes: number;\n  /** Counter's full-life duration in minutes. */\n  readonly totalMinutes: number;\n  /** Remaining life percentage (0..100, one decimal). */\n  readonly remainingPercent: number;\n}\n\n/**\n * CMS counter layout, ported from antondaubert/dreame-mower `device.py`\n * (CONSUMABLE_COUNTER_TOTAL_MINUTES + CONSUMABLE_COUNTER_INDEX). The getter\n * returns `[blade_min, brush_min, robot_min]`; index/total are fixed per model.\n */\nconst MOWER_CONSUMABLES: ReadonlyArray<{\n  readonly key: MowerConsumableKey;\n  readonly index: number;\n  readonly totalMinutes: number;\n}> = [\n  { key: 'blade', index: 0, totalMinutes: 6000 },\n  { key: 'brush', index: 1, totalMinutes: 30000 },\n  { key: 'maintenance', index: 2, totalMinutes: 3600 },\n];\n\n/** Map a consumable key (incl. aliases) to its CMS counter index. */\nexport function mowerConsumableIndex(item: string): number | null {\n  switch (item.trim().toLowerCase()) {\n    case 'blade':\n    case 'blades':\n      return 0;\n    case 'brush':\n    case 'cleaning_brush':\n      return 1;\n    case 'robot':\n    case 'maintenance':\n    case 'robot_maintenance':\n      return 2;\n    default:\n      return null;\n  }\n}\n\nfunction toInt(v: unknown): number | null {\n  if (typeof v === 'number' && Number.isFinite(v)) {\n    return Math.trunc(v);\n  }\n  if (typeof v === 'string') {\n    const n = Number(v);\n    return Number.isFinite(n) ? Math.trunc(n) : null;\n  }\n  return null;\n}\n\n/**\n * Pull the first successful data payload out of a custom-action result. Mirrors\n * the donor `_extract_custom_action_data`: the result itself when it carries a\n * `value` list, else its `d` object, else the first non-error `out[].d`.\n */\nfunction extractCustomActionData(result: unknown): Record<string, unknown> | null {\n  if (!isRecord(result)) {\n    return null;\n  }\n  if (Array.isArray(result['value'])) {\n    return result;\n  }\n  if (isRecord(result['d'])) {\n    return result['d'];\n  }\n  const out = result['out'];\n  if (!Array.isArray(out)) {\n    return null;\n  }\n  for (const entry of out) {\n    if (!isRecord(entry)) {\n      continue;\n    }\n    const r = entry['r'];\n    const code = entry['code'];\n    const rError = r !== undefined && r !== null && r !== 0;\n    const codeError = code !== undefined && code !== null && code !== 0;\n    if (rError && codeError) {\n      continue;\n    }\n    if (isRecord(entry['d'])) {\n      return entry['d'];\n    }\n  }\n  return null;\n}\n\n/**\n * Extract the raw `[blade, brush, robot]` minute counters from a CMS getter\n * result, or null if the response is malformed. Cast-free, no throw.\n */\nexport function extractMowerConsumableValues(result: unknown): number[] | null {\n  const data = extractCustomActionData(result);\n  if (data === null) {\n    return null;\n  }\n  const values = data['value'];\n  if (!Array.isArray(values) || values.length < 3) {\n    return null;\n  }\n  const out: number[] = [];\n  for (const v of values.slice(0, 3)) {\n    const n = toInt(v);\n    if (n === null) {\n      return null;\n    }\n    out.push(n);\n  }\n  return out;\n}\n\n/**\n * Parse a CMS getter result into typed consumable readings (blade/brush/\n * maintenance) with remaining %. Returns null on a malformed response.\n */\nexport function parseMowerConsumables(result: unknown): readonly MowerConsumableReading[] | null {\n  const values = extractMowerConsumableValues(result);\n  if (values === null) {\n    return null;\n  }\n  return MOWER_CONSUMABLES.map((c) => {\n    const used = values[c.index] ?? 0;\n    const remaining = c.totalMinutes - used;\n    const pct = Math.max(0, Math.min(100, Math.round((remaining / c.totalMinutes) * 1000) / 10));\n    return {\n      key: c.key,\n      usedMinutes: used,\n      totalMinutes: c.totalMinutes,\n      remainingPercent: pct,\n    };\n  });\n}\n\n// -- heartbeat task sub-state (HEARTBEAT 1:1) --------------------------------\n\n/** Decoded mowing task sub-state (heartbeat byte 13), or null when no mowing\n *  session is in progress. Ported from antondaubert/dreame-mower\n *  `property_misc.py` Property11Handler. */\nexport type MowerTaskSubState =\n  | 'idle'\n  | 'starting'\n  | 'mowing'\n  | 'paused'\n  | 'finished'\n  | 'failed'\n  | 'exit'\n  | 'returning-to-dock';\n\n/** Ordered sub-state table; the heartbeat encodes `subState = base + index`. */\nexport const MOWER_TASK_SUBSTATES: readonly MowerTaskSubState[] = [\n  'idle',\n  'starting',\n  'mowing',\n  'paused',\n  'finished',\n  'failed',\n  'exit',\n  'returning-to-dock',\n];\n\nconst HEARTBEAT_SENTINEL = 0xce; // 206 — byte[0] and byte[last]\nconst HEARTBEAT_SUBSTATE_BASE = 33;\nconst HEARTBEAT_MAIN_STATE_MOWING = 4;\n\n/** Typed heartbeat decode: battery byte, main-state, and (when mowing) the task\n *  sub-state. */\nexport interface MowerHeartbeat {\n  /** Raw battery byte (byte 11) — percent with a charging flag in the high bits. */\n  readonly rawBattery: number;\n  /** `(byte12 & 0x0F) - 1`; 4 = mowing. */\n  readonly mainState: number;\n  /** Raw sub-state byte (byte 13). */\n  readonly subStateRaw: number;\n  /** Decoded sub-state when a mowing session is active, else null. */\n  readonly taskSubState: MowerTaskSubState | null;\n}\n\n/**\n * Decode the 20-byte HEARTBEAT (1:1) blob. Returns null when the payload is not a\n * well-formed heartbeat (wrong length / missing 0xCE sentinels). The task\n * sub-state is only meaningful while `mainState === 4` (mowing); in any other\n * main state there is no active mowing task (returns `taskSubState: null`).\n */\nexport function parseMowerHeartbeat(value: unknown): MowerHeartbeat | null {\n  if (!Array.isArray(value) || value.length < 14) {\n    return null;\n  }\n  const bytes: number[] = [];\n  for (const b of value) {\n    if (typeof b !== 'number') {\n      return null;\n    }\n    bytes.push(b);\n  }\n  if (bytes[0] !== HEARTBEAT_SENTINEL || bytes[bytes.length - 1] !== HEARTBEAT_SENTINEL) {\n    return null;\n  }\n  const rawBattery = bytes[11] ?? 0;\n  const mainState = ((bytes[12] ?? 0) & 0x0f) - 1;\n  const subStateRaw = bytes[13] ?? 0;\n  const taskSubState =\n    mainState === HEARTBEAT_MAIN_STATE_MOWING\n      ? (MOWER_TASK_SUBSTATES[subStateRaw - HEARTBEAT_SUBSTATE_BASE] ?? null)\n      : null;\n  return { rawBattery, mainState, subStateRaw, taskSubState };\n}\n\n// -- mowing progress (POSE_COVERAGE 1:4 task block) --------------------------\n\nconst POSE_SENTINEL = 0xce; // 206 — frames a sentinel-wrapped pose-coverage blob\n\n/** Decoded mowing-progress signal from the POSE_COVERAGE (1:4) `task` block. */\nexport interface MowerMowingProgress {\n  /** 0..100 — overall mowing completion. */\n  readonly progressPercent: number;\n  /** Already-finished area in m². */\n  readonly currentAreaSqm: number;\n  /** Total target area in m². */\n  readonly totalAreaSqm: number;\n}\n\n/** Coerce a POSE_COVERAGE (1:4) raw value to a flat byte array, or null. */\nfunction poseBytes(value: unknown): number[] | null {\n  if (!Array.isArray(value)) return null;\n  const bytes: number[] = [];\n  for (const b of value) {\n    if (typeof b !== 'number') return null;\n    bytes.push(b);\n  }\n  return bytes;\n}\n\n/**\n * Locate the 10-byte `task` block inside a POSE_COVERAGE (1:4) frame and decode\n * the mowing progress. Frame shapes (ported from antondaubert/dreame-mower\n * `pose_coverage.py`):\n *   - sentinel-framed `[CE] pose(6) trace(15) task(10) [CE]` (33B) / `…task(10) trace2(11) [CE]` (44B)\n *     → task at offset 22;\n *   - alt `task(10) [CE] [+trace]` (no leading sentinel, ≥11B) → task at offset 0.\n * The 22B `[CE] pose trace` and 13B `[CE] pose extra` shapes carry NO task → null.\n *\n * `task` layout: `[2:4] percent u16LE (value×100) [4:7] total u24LE (centi-m²)\n * [7:10] finished u24LE (centi-m²)`.\n */\nexport function parseMowingProgress(value: unknown): MowerMowingProgress | null {\n  const bytes = poseBytes(value);\n  if (bytes === null || bytes.length < 11) return null;\n  const last = bytes[bytes.length - 1];\n  const head = bytes[0];\n\n  let offset: number | null = null;\n  if (head !== POSE_SENTINEL && last === POSE_SENTINEL) {\n    offset = 0; // alt format: task block leads\n  } else if (head === POSE_SENTINEL && last === POSE_SENTINEL && bytes.length >= 33) {\n    offset = 22; // standard sentinel-framed frame with a task block\n  }\n  if (offset === null || offset + 10 > bytes.length) return null;\n\n  const rawPercent = (bytes[offset + 2] ?? 0) | ((bytes[offset + 3] ?? 0) << 8);\n  const total =\n    (bytes[offset + 4] ?? 0) | ((bytes[offset + 5] ?? 0) << 8) | ((bytes[offset + 6] ?? 0) << 16);\n  const finish =\n    (bytes[offset + 7] ?? 0) | ((bytes[offset + 8] ?? 0) << 8) | ((bytes[offset + 9] ?? 0) << 16);\n\n  return {\n    progressPercent: rawPercent ? Math.min(100, rawPercent / 100) : 0,\n    currentAreaSqm: finish / 100,\n    totalAreaSqm: total / 100,\n  };\n}\n","/**\n * Per-model mower capability records + a resolver adapting the rich record into\n * the generic CapabilityResolver the BaseDevice expects (mirrors the vacuum\n * capability layer). The donor (antondaubert/dreame-mower) has no per-model\n * capability matrix for mowers, so the targeted-mowing flags are ASSUMED working\n * hypotheses from the donor command surface; verified:false until live-checked.\n */\nimport type { CapabilityResolver, DeviceCapabilities } from '../../device/capability.js';\n\n/** Rich mower capability record. `canX` = behaviour the model accepts. */\nexport interface MowerCapabilities {\n  model: string;\n  /** true only for live-confirmed records (false = assumed / fallback). */\n  verified: boolean;\n  /** Zone-selective mowing (2:50 o:102). */\n  canMowZones: boolean;\n  /** Edge / contour mowing (2:50 o:101). */\n  canMowEdges: boolean;\n  /** Spot mowing (2:50 o:103). */\n  canMowSpots: boolean;\n  /** All-area, map-targeted start (2:50 o:100). */\n  canMowAllArea: boolean;\n  /** Resume after pause (2:50 o:5). Generic to the mower action surface. */\n  canResume: boolean;\n  /** Has a scheduling task descriptor (2:50). */\n  canSchedule: boolean;\n  /** Fetches/parses the batched vector map (MAP.* JSON → zones/paths/contours). */\n  canMap: boolean;\n}\n\nconst FALLBACK: Omit<MowerCapabilities, 'model'> = {\n  verified: false,\n  canMowZones: false,\n  canMowEdges: false,\n  canMowSpots: false,\n  canMowAllArea: false,\n  canResume: true,\n  canSchedule: true,\n  // Vector-map parsing is model-agnostic, but an unknown model leaves it false\n  // until its firmware is verified to expose the batch device-data surface.\n  canMap: false,\n};\n\n/** A1-family body (ASSUMED from the donor command surface; not live-verified). */\nconst A1_FAMILY: Omit<MowerCapabilities, 'model' | 'verified'> = {\n  canMowZones: true,\n  canMowEdges: true,\n  canMowSpots: true,\n  canMowAllArea: true,\n  canResume: true,\n  canSchedule: true,\n  canMap: true,\n};\n\nfunction deepFreeze<T>(obj: T): T {\n  if (obj && typeof obj === 'object' && !Object.isFrozen(obj)) {\n    Object.freeze(obj);\n    for (const v of Object.values(obj)) {\n      deepFreeze(v);\n    }\n  }\n  return obj;\n}\n\nexport const MODEL_CAPABILITIES: Readonly<Record<string, MowerCapabilities>> = {\n  /** Dreame A1 — the user's mower. ASSUMED from the donor command surface. */\n  'dreame.mower.p2255': { model: 'dreame.mower.p2255', verified: false, ...A1_FAMILY },\n};\n\nfor (const entry of Object.values(MODEL_CAPABILITIES)) {\n  deepFreeze(entry);\n}\n\n/** Resolve a model to its rich mower capability record (frozen / fallback). */\nexport function getMowerCapabilities(model: string): MowerCapabilities {\n  const known = MODEL_CAPABILITIES[model];\n  if (known) {\n    return known;\n  }\n  return deepFreeze({ model, ...FALLBACK });\n}\n\n/** Map the rich record's booleans -> the generic capability token set. */\nfunction tokensFor(c: MowerCapabilities): Set<string> {\n  const tokens = new Set<string>();\n  const add = (flag: boolean, token: string): void => {\n    if (flag) {\n      tokens.add(token);\n    }\n  };\n  add(c.canMowZones, 'mow-zones');\n  add(c.canMowEdges, 'mow-edges');\n  add(c.canMowSpots, 'mow-spots');\n  add(c.canMowAllArea, 'mow-all-area');\n  add(c.canResume, 'resume');\n  add(c.canSchedule, 'schedule');\n  return tokens;\n}\n\nclass MowerCapabilitySet implements DeviceCapabilities {\n  readonly model: string;\n  readonly #tokens: ReadonlySet<string>;\n  constructor(model: string, tokens: ReadonlySet<string>) {\n    this.model = model;\n    this.#tokens = tokens;\n  }\n  has(token: string): boolean {\n    return this.#tokens.has(token);\n  }\n  list(): readonly string[] {\n    return [...this.#tokens];\n  }\n}\n\n/** Resolver the BaseDevice accepts via BaseDeviceInput.capabilities. */\nexport class MowerCapabilityResolver implements CapabilityResolver {\n  resolve(model: string): DeviceCapabilities {\n    return new MowerCapabilitySet(model, tokensFor(getMowerCapabilities(model)));\n  }\n}\n","/**\n * Parser for mower vector map data from the Dreame batch device-data API.\n *\n * PORT of antondaubert/dreame-mower's `map_data_parser.py`. The batch API\n * returns map data split across numbered keys (`MAP.0`, `MAP.1`, …); these\n * chunks are concatenated in numeric order to form a complete JSON string. The\n * JSON carries polygon-based zone boundaries, navigation paths, contours and\n * metadata. `M_PATH.*` keys carry the mow-path trace the same chunked way.\n *\n * Wire values arrive as `unknown`; every shape is narrowed with type-guards\n * (no `as` casts). Malformed entries are skipped (warn-and-tolerate), mirroring\n * the donor's try/except. The Python `vector_map_to_map_data` bridge and the\n * internal recursive `maps: dict` cache are intentionally NOT ported — the SVG\n * renderer consumes the structured `MowerMap` directly.\n */\nimport type {\n  MowerMap,\n  MowerZone,\n  MowerSpotArea,\n  MowerPathEntry,\n  MowerContour,\n  MowerMapBoundary,\n  MowerMowPath,\n  MowerAvailableMap,\n  MowerPoint,\n} from './types.js';\n\n/** Sentinel pair in M_PATH data marking a path-segment break. */\nconst PATH_SENTINEL_X = 32767;\nconst PATH_SENTINEL_Y = -32768;\n\nfunction isRecord(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\nfunction asNumber(v: unknown, fallback: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : fallback;\n}\n\nfunction asString(v: unknown, fallback: string): string {\n  return typeof v === 'string' ? v : fallback;\n}\n\n/** Translate the batch map index into the task-level region identifier. */\nfunction mapIdFromIndex(mapIndex: number): number {\n  return mapIndex + 1;\n}\n\nfunction escapeRegex(s: string): string {\n  return s.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\$&');\n}\n\n/**\n * Reassemble chunked data from the batch API into a single string.\n *\n * PORT of `reassemble_map_chunks`. Keys like `MAP.0`, `MAP.1`, … `MAP.N` are\n * concatenated in NUMERIC order; the `MAP.info` key (metadata) is skipped.\n * Wire values are strings; non-string values are skipped defensively.\n *\n * @param batchData raw `get_batch_device_datas` response map\n * @param prefix key prefix to match, e.g. `'MAP'` or `'M_PATH'`\n * @returns concatenated string, or `null` if no matching keys are found\n */\nexport function reassembleMapChunks(\n  batchData: Record<string, unknown>,\n  prefix: string,\n): string | null {\n  const pattern = new RegExp(`^${escapeRegex(prefix)}\\\\.(\\\\d+)$`);\n  const chunks: Array<{ idx: number; value: string }> = [];\n  for (const [key, value] of Object.entries(batchData)) {\n    const match = pattern.exec(key);\n    if (match && typeof value === 'string') {\n      const idx = Number(match[1]);\n      chunks.push({ idx, value });\n    }\n  }\n  if (chunks.length === 0) {\n    return null;\n  }\n  chunks.sort((a, b) => a.idx - b.idx);\n  return chunks.map((c) => c.value).join('');\n}\n\n/** Parse a `MAP.info`/`M_PATH.info` digit string into a split offset (>=0). */\nfunction parseSplitPos(info: unknown): number {\n  if (typeof info === 'string' && /^\\d+$/.test(info)) {\n    return Number(info);\n  }\n  return 0;\n}\n\n/**\n * Extract the `value` array from a `{ dataType: 'Map', value: [...] }` block.\n * Returns `[]` unless the block is a Map with an array value, mirroring the\n * donor `_parse_polygon_list`.\n */\nfunction parsePolygonList(dataMap: unknown): readonly unknown[] {\n  if (!isRecord(dataMap) || dataMap['dataType'] !== 'Map') {\n    return [];\n  }\n  const value = dataMap['value'];\n  return Array.isArray(value) ? value : [];\n}\n\n/** Convert `[{ x, y }, …]` wire points to `MowerPoint[]`, skipping malformed. */\nfunction extractPathCoords(pathList: unknown): MowerPoint[] {\n  if (!Array.isArray(pathList)) {\n    return [];\n  }\n  const out: MowerPoint[] = [];\n  for (const p of pathList) {\n    if (isRecord(p) && typeof p['x'] === 'number' && typeof p['y'] === 'number') {\n      out.push({ x: p['x'], y: p['y'] });\n    }\n  }\n  return out;\n}\n\n/**\n * Normalize a contour identifier (string `'1,0'` or two-element array) into a\n * two-integer tuple. Throws on an invalid length — caught by the batch parser.\n */\nexport function extractContourId(raw: unknown): readonly [number, number] {\n  if (typeof raw === 'string') {\n    const parts = raw.split(',').map((part) => part.trim());\n    if (parts.length !== 2) {\n      throw new Error(`Invalid contour id: ${raw}`);\n    }\n    const a = Number(parts[0]);\n    const b = Number(parts[1]);\n    if (!Number.isFinite(a) || !Number.isFinite(b)) {\n      throw new Error(`Invalid contour id: ${raw}`);\n    }\n    return [Math.trunc(a), Math.trunc(b)];\n  }\n  if (Array.isArray(raw) && raw.length === 2) {\n    const pair: readonly unknown[] = raw;\n    const a = pair[0];\n    const b = pair[1];\n    if (typeof a === 'number' && typeof b === 'number') {\n      return [Math.trunc(a), Math.trunc(b)];\n    }\n  }\n  throw new Error(`Invalid contour id: ${JSON.stringify(raw)}`);\n}\n\n/** A `[id, data]` polygon entry on the wire. */\nfunction asEntry(entry: unknown): { id: unknown; data: Record<string, unknown> } | null {\n  if (!Array.isArray(entry) || entry.length < 2) {\n    return null;\n  }\n  const tuple: readonly unknown[] = entry;\n  const data = tuple[1];\n  if (!isRecord(data)) {\n    return null;\n  }\n  return { id: tuple[0], data };\n}\n\nfunction parseZones(list: readonly unknown[], includeTimes: boolean): MowerZone[] {\n  const out: MowerZone[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      zoneId: asNumber(id, 0),\n      path: extractPathCoords(data['path']),\n      name: asString(data['name'], ''),\n      zoneType: asNumber(data['type'], 0),\n      shapeType: includeTimes ? asNumber(data['shapeType'], 0) : 0,\n      area: includeTimes ? asNumber(data['area'], 0) : 0,\n      time: includeTimes ? asNumber(data['time'], 0) : 0,\n      etime: includeTimes ? asNumber(data['etime'], 0) : 0,\n    });\n  }\n  return out;\n}\n\nfunction parseSpotAreas(list: readonly unknown[]): MowerSpotArea[] {\n  const out: MowerSpotArea[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      areaId: Math.trunc(asNumber(id, 0)),\n      path: extractPathCoords(data['path']),\n      name: asString(data['name'], ''),\n      shapeType: asNumber(data['shapeType'], 0),\n      area: asNumber(data['area'], 0),\n    });\n  }\n  return out;\n}\n\nfunction parsePaths(list: readonly unknown[]): MowerPathEntry[] {\n  const out: MowerPathEntry[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      pathId: asNumber(id, 0),\n      path: extractPathCoords(data['path']),\n      pathType: asNumber(data['type'], 0),\n    });\n  }\n  return out;\n}\n\nfunction parseContours(list: readonly unknown[]): MowerContour[] {\n  const out: MowerContour[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      contourId: extractContourId(id),\n      path: extractPathCoords(data['path']),\n      contourType: asNumber(data['type'], 0),\n      shapeType: asNumber(data['shapeType'], 0),\n    });\n  }\n  return out;\n}\n\nfunction parseBoundary(raw: unknown): MowerMapBoundary | null {\n  if (!isRecord(raw)) {\n    return null;\n  }\n  const { x1, y1, x2, y2 } = raw;\n  if (\n    typeof x1 !== 'number' ||\n    typeof y1 !== 'number' ||\n    typeof x2 !== 'number' ||\n    typeof y2 !== 'number'\n  ) {\n    return null;\n  }\n  return { x1, y1, x2, y2 };\n}\n\n/**\n * Parse a single map JSON string into a `MowerMap`.\n *\n * PORT of `parse_mower_map`. `JSON.parse` may throw on malformed input and\n * `extractContourId` may throw on an invalid contour id — both bubble up to\n * `parseBatchMapData`, which catches and skips (the donor's try/except).\n */\nexport function parseMowerMap(mapJsonStr: string): MowerMap {\n  const data: unknown = JSON.parse(mapJsonStr);\n  if (!isRecord(data)) {\n    throw new Error('Map JSON is not an object');\n  }\n\n  const mapIndex = asNumber(data['mapIndex'], 0);\n\n  return {\n    zones: parseZones(parsePolygonList(data['mowingAreas']), true),\n    spotAreas: parseSpotAreas(parsePolygonList(data['spotAreas'])),\n    forbiddenAreas: parseZones(parsePolygonList(data['forbiddenAreas']), false),\n    paths: parsePaths(parsePolygonList(data['paths'])),\n    contours: parseContours(parsePolygonList(data['contours'])),\n    boundary: parseBoundary(data['boundary']),\n    totalArea: asNumber(data['totalArea'], 0),\n    name: asString(data['name'], ''),\n    mapIndex,\n    mapId: mapIdFromIndex(mapIndex),\n    mowPaths: [],\n    availableMaps: [],\n    currentMapId: null,\n    lastUpdated: Date.now(),\n  };\n}\n\n/**\n * Parse `M_PATH.*` keys into mow-path traces.\n *\n * PORT of `parse_mow_paths`. Reassembles the chunks, applies the `M_PATH.info`\n * split offset, extracts every `[x,y]` pair via regex, splits on the\n * `[32767,-32768]` sentinel into segments, and scales the remaining\n * coordinates ×10 (decimeters → centimeters). Always returns at most one\n * `MowerMowPath` (zone 0), matching the donor.\n */\nexport function parseMowPaths(batchData: Record<string, unknown>): MowerMowPath[] {\n  const reassembled = reassembleMapChunks(batchData, 'M_PATH');\n  if (!reassembled) {\n    return [];\n  }\n\n  const splitPos = parseSplitPos(batchData['M_PATH.info']);\n  let raw = reassembled;\n  if (splitPos > 0 && splitPos < raw.length) {\n    raw = raw.slice(splitPos);\n  }\n\n  const trimmed = raw.trim();\n  if (trimmed.length === 0 || trimmed === '[]') {\n    return [];\n  }\n\n  const pairPattern = /\\[(-?\\d+),(-?\\d+)\\]/g;\n  const rawPairs: Array<readonly [number, number]> = [];\n  for (const m of raw.matchAll(pairPattern)) {\n    rawPairs.push([Number(m[1]), Number(m[2])]);\n  }\n  if (rawPairs.length === 0) {\n    return [];\n  }\n\n  const segments: MowerPoint[][] = [];\n  let current: MowerPoint[] = [];\n  for (const [x, y] of rawPairs) {\n    if (x === PATH_SENTINEL_X && y === PATH_SENTINEL_Y) {\n      if (current.length > 0) {\n        segments.push(current);\n        current = [];\n      }\n    } else {\n      current.push({ x: x * 10, y: y * 10 });\n    }\n  }\n  if (current.length > 0) {\n    segments.push(current);\n  }\n\n  if (segments.length === 0) {\n    return [];\n  }\n  return [{ zoneId: 0, segments }];\n}\n\n/** Parse one reassembled `MAP.*` part (a JSON array of map-json-strings). */\nfunction parseMapPart(part: string): MowerMap[] {\n  const trimmed = part.trim();\n  if (trimmed.length === 0) {\n    return [];\n  }\n  let arr: unknown;\n  try {\n    arr = JSON.parse(trimmed);\n  } catch {\n    return [];\n  }\n  if (!Array.isArray(arr)) {\n    return [];\n  }\n  const out: MowerMap[] = [];\n  for (const item of arr) {\n    if (typeof item !== 'string') {\n      continue;\n    }\n    try {\n      out.push(parseMowerMap(item));\n    } catch {\n      // Skip malformed map entries (donor warn-and-tolerate).\n    }\n  }\n  return out;\n}\n\n/**\n * Parse a full batch device-data response into the primary `MowerMap`.\n *\n * PORT of `parse_batch_map_data`. Reassembles `MAP.*`, splits on the\n * `MAP.info` character length, JSON-parses each part as an array of\n * map-json-strings, parses each (skipping throwers), picks the `mapIndex === 0`\n * primary (else the first), builds `availableMaps`, attaches `mowPaths`, and\n * returns the primary. Returns `null` on an empty batch or no valid arrays.\n *\n * The donor's recursive `maps: dict` cache is intentionally NOT ported — it is\n * internal HA active-map bookkeeping; we surface `availableMaps` instead.\n */\nexport function parseBatchMapData(batchData: Record<string, unknown>): MowerMap | null {\n  if (Object.keys(batchData).length === 0) {\n    return null;\n  }\n\n  const rawMap = reassembleMapChunks(batchData, 'MAP');\n  if (!rawMap) {\n    return null;\n  }\n\n  const splitPos = parseSplitPos(batchData['MAP.info']);\n  const parts =\n    splitPos > 0 && splitPos < rawMap.length\n      ? [rawMap.slice(0, splitPos), rawMap.slice(splitPos)]\n      : [rawMap];\n\n  const parsedMaps: MowerMap[] = [];\n  for (const part of parts) {\n    parsedMaps.push(...parseMapPart(part));\n  }\n\n  if (parsedMaps.length === 0) {\n    return null;\n  }\n\n  const primary = parsedMaps.find((m) => m.mapIndex === 0) ?? parsedMaps[0];\n  if (!primary) {\n    return null;\n  }\n\n  const availableMaps: MowerAvailableMap[] = [...parsedMaps]\n    .sort((a, b) => a.mapId - b.mapId)\n    .map((m) => ({\n      mapId: m.mapId,\n      mapIndex: m.mapIndex,\n      name: m.name,\n      totalArea: m.totalArea,\n    }));\n\n  const mowPaths = parseMowPaths(batchData);\n\n  return {\n    ...primary,\n    availableMaps,\n    mowPaths,\n    currentMapId: primary.mapId,\n  };\n}\n","/**\n * Deterministic SVG renderer for a structured `MowerMap`.\n *\n * ADAPT of antondaubert/dreame-mower's `svg_map_generator.py` — only the\n * geometry path is kept. We port `calculate_bounds`, `coord_to_pixel`\n * (aspect-preserving, Y-flipped, centred), `svg_polygon` (≥3 points),\n * `svg_path_from_segments` (M/L with consecutive-pixel dedupe), and the\n * `create_svg_document`/`finish_svg_document` framing.\n *\n * The HA-coordinator-coupled chrome (legend, status overlay, timestamp, title,\n * historical-file handling, rotation-from-coordinator, live-tracking overlay,\n * mower-position circle) is DROPPED — it depends on a `coordinator`, a file\n * path and live device state we don't carry. The renderer takes only a\n * `MowerMap` + optional `{ width, height, padding }`.\n *\n * Zone `name`s are NOT rendered as text in v1 (keeps the output injection-safe\n * and minimal — no untrusted strings reach the SVG). Pure string building, no\n * deps, cast-free.\n */\nimport type { MowerMap, MowerPoint } from './types.js';\n\nexport interface RenderMowerSvgOptions {\n  /** Canvas width in pixels. Default 1200. */\n  width?: number;\n  /** Canvas height in pixels. Default 1200. */\n  height?: number;\n  /** Padding around the map content in pixels. Default 50. */\n  padding?: number;\n}\n\nconst DEFAULT_WIDTH = 1200;\nconst DEFAULT_HEIGHT = 1200;\nconst DEFAULT_PADDING = 50;\n\nconst BACKGROUND = '#f5f5f0';\nconst MAP_BOUNDARY = '#006400';\nconst MOWING_PATH = '#32cd32';\nconst NAV_PATH = '#b4b4b4';\nconst OBSTACLE_STROKE = '#ff4d00';\nconst OBSTACLE_FILL = '#ff4d0065';\nconst TEXT_COLOR = '#000000';\nconst ZONE_LABEL_COLOR = '#3c3c3c';\n\n/** Escape the five XML metacharacters so a room name can't break the SVG. */\nfunction escapeXml(s: string): string {\n  return s\n    .replace(/&/g, '&amp;')\n    .replace(/</g, '&lt;')\n    .replace(/>/g, '&gt;')\n    .replace(/\"/g, '&quot;')\n    .replace(/'/g, '&apos;');\n}\n\n/** Zone fill/outline palette — soft pastels matching the Dreame app. */\nconst ZONE_COLORS: ReadonlyArray<readonly [string, string]> = [\n  ['#a4d291c8', '#86be73'],\n  ['#a0c8dcc8', '#82aac8'],\n  ['#f0c8aac8', '#dcaf8c'],\n  ['#f0b4b4c8', '#dc9696'],\n  ['#e6dca0c8', '#d2c882'],\n  ['#beaadcc8', '#aa91c8'],\n  ['#aad7d2c8', '#8cc3be'],\n  ['#dcbea0c8', '#c8a582'],\n];\n\ninterface Bounds {\n  minX: number;\n  minY: number;\n  maxX: number;\n  maxY: number;\n}\n\n/** Sentinel coordinate value used as a path-segment break in the donor. */\nconst SENTINEL = 2147483647;\n\n/** Compute the bounding box for all points, ignoring sentinels. */\nfunction calculateBounds(allPoints: readonly MowerPoint[]): Bounds {\n  const valid = allPoints.filter((p) => p.x !== SENTINEL && p.y !== SENTINEL);\n  if (valid.length === 0) {\n    return { minX: 0, minY: 0, maxX: 100, maxY: 100 };\n  }\n  let minX = valid[0]?.x ?? 0;\n  let maxX = minX;\n  let minY = valid[0]?.y ?? 0;\n  let maxY = minY;\n  for (const p of valid) {\n    if (p.x < minX) minX = p.x;\n    if (p.x > maxX) maxX = p.x;\n    if (p.y < minY) minY = p.y;\n    if (p.y > maxY) maxY = p.y;\n  }\n  return { minX, minY, maxX, maxY };\n}\n\ninterface Pixel {\n  px: number;\n  py: number;\n}\n\n/**\n * Convert mower coordinates to image pixel coordinates: aspect-preserving\n * (smaller scale wins), centred in the available space, Y-flipped so the map\n * origin sits at the bottom-left.\n */\nfunction coordToPixel(\n  point: MowerPoint,\n  bounds: Bounds,\n  width: number,\n  height: number,\n  padding: number,\n): Pixel {\n  let { maxX, maxY } = bounds;\n  const { minX, minY } = bounds;\n  if (maxX === minX) {\n    maxX = minX + 100;\n  }\n  if (maxY === minY) {\n    maxY = minY + 100;\n  }\n  const coordWidth = maxX - minX;\n  const coordHeight = maxY - minY;\n  const availableWidth = width - 2 * padding;\n  const availableHeight = height - 2 * padding;\n  const scale = Math.min(availableWidth / coordWidth, availableHeight / coordHeight);\n  const renderedWidth = coordWidth * scale;\n  const renderedHeight = coordHeight * scale;\n  const offsetX = padding + (availableWidth - renderedWidth) / 2;\n  const offsetY = padding + (availableHeight - renderedHeight) / 2;\n  const px = Math.trunc(offsetX + (point.x - minX) * scale);\n  const py = Math.trunc(offsetY + (maxY - point.y) * scale);\n  return { px, py };\n}\n\n/** SVG `<polygon>` for ≥3 points; `''` otherwise. */\nfunction svgPolygon(\n  points: readonly MowerPoint[],\n  bounds: Bounds,\n  width: number,\n  height: number,\n  padding: number,\n  fill: string,\n  stroke: string,\n): string {\n  if (points.length < 3) {\n    return '';\n  }\n  const pixels = points\n    .map((p) => coordToPixel(p, bounds, width, height, padding))\n    .map((p) => `${p.px},${p.py}`)\n    .join(' ');\n  return `<polygon points=\"${pixels}\" fill=\"${fill}\" stroke=\"${stroke}\"/>`;\n}\n\n/**\n * SVG `<path>` (M/L) built from one or more segments, skipping consecutive\n * duplicate pixels and segments shorter than two points. `''` when nothing\n * renders.\n */\nfunction svgPathFromSegments(\n  segments: readonly (readonly MowerPoint[])[],\n  bounds: Bounds,\n  width: number,\n  height: number,\n  padding: number,\n  stroke: string,\n  strokeWidth: number,\n  dashed: boolean,\n): string {\n  const parts: string[] = [];\n  for (const segment of segments) {\n    if (segment.length < 2) {\n      continue;\n    }\n    const first = segment[0];\n    if (!first) {\n      continue;\n    }\n    let prev = coordToPixel(first, bounds, width, height, padding);\n    parts.push(`M ${prev.px} ${prev.py}`);\n    for (let i = 1; i < segment.length; i += 1) {\n      const point = segment[i];\n      if (!point) {\n        continue;\n      }\n      const pixel = coordToPixel(point, bounds, width, height, padding);\n      if (pixel.px !== prev.px || pixel.py !== prev.py) {\n        parts.push(`L ${pixel.px} ${pixel.py}`);\n        prev = pixel;\n      }\n    }\n  }\n  if (parts.length === 0) {\n    return '';\n  }\n  const dash = dashed ? ' stroke-dasharray=\"10,5\"' : '';\n  return `<path d=\"${parts.join(' ')}\" stroke=\"${stroke}\" stroke-width=\"${strokeWidth}\"${dash} fill=\"none\"/>`;\n}\n\n/**\n * Render a `MowerMap` into a deterministic SVG document string.\n *\n * Draw order (back to front): background, nav paths (dashed grey), zone fills\n * (per-zone pastel), zone outlines, mow-path tracks (orange), forbidden-area\n * polygons (red). An empty map renders a centred \"No map data available\"\n * fallback inside a closed `<svg>`.\n */\nexport function renderMowerSvg(map: MowerMap, opts: RenderMowerSvgOptions = {}): string {\n  const width = opts.width ?? DEFAULT_WIDTH;\n  const height = opts.height ?? DEFAULT_HEIGHT;\n  const padding = opts.padding ?? DEFAULT_PADDING;\n\n  const lines: string[] = [\n    '<?xml version=\"1.0\" encoding=\"UTF-8\"?>',\n    `<svg width=\"${width}\" height=\"${height}\" viewBox=\"0 0 ${width} ${height}\" xmlns=\"http://www.w3.org/2000/svg\">`,\n    `<rect width=\"100%\" height=\"100%\" fill=\"${BACKGROUND}\"/>`,\n  ];\n\n  const allPoints: MowerPoint[] = [];\n  for (const zone of map.zones) {\n    allPoints.push(...zone.path);\n  }\n  for (const area of map.forbiddenAreas) {\n    allPoints.push(...area.path);\n  }\n  for (const path of map.paths) {\n    allPoints.push(...path.path);\n  }\n  for (const contour of map.contours) {\n    allPoints.push(...contour.path);\n  }\n  for (const mp of map.mowPaths) {\n    for (const seg of mp.segments) {\n      allPoints.push(...seg);\n    }\n  }\n\n  if (allPoints.length === 0) {\n    lines.push(\n      `<text x=\"${Math.trunc(width / 2)}\" y=\"${Math.trunc(height / 2)}\" ` +\n        `font-family=\"Arial, sans-serif\" font-size=\"16\" fill=\"${TEXT_COLOR}\" ` +\n        `text-anchor=\"middle\">No map data available</text>`,\n    );\n    lines.push('</svg>');\n    return lines.join('\\n');\n  }\n\n  const bounds = calculateBounds(allPoints);\n\n  // 0. Inter-zone navigation paths — dashed grey, behind everything.\n  for (const navPath of map.paths) {\n    const dashed = svgPathFromSegments(\n      [navPath.path],\n      bounds,\n      width,\n      height,\n      padding,\n      NAV_PATH,\n      3,\n      true,\n    );\n    if (dashed) {\n      lines.push(dashed);\n    }\n  }\n\n  // 1. Zone fills — per-zone translucent pastel (always, matching the app).\n  map.zones.forEach((zone, i) => {\n    const palette = ZONE_COLORS[i % ZONE_COLORS.length];\n    const [fill, outline] = palette ?? ZONE_COLORS[0] ?? ['#cccccc', '#888888'];\n    const poly = svgPolygon(zone.path, bounds, width, height, padding, fill, outline);\n    if (poly) {\n      lines.push(poly);\n    }\n  });\n\n  // 2. Zone boundary outlines (zone-tinted).\n  map.zones.forEach((zone, i) => {\n    const outline = ZONE_COLORS[i % ZONE_COLORS.length]?.[1] ?? MAP_BOUNDARY;\n    const boundary = svgPathFromSegments(\n      [zone.path],\n      bounds,\n      width,\n      height,\n      padding,\n      outline,\n      2,\n      false,\n    );\n    if (boundary) {\n      lines.push(boundary);\n    }\n  });\n\n  // 3. Mow-path tracks — orange.\n  for (const mp of map.mowPaths) {\n    const track = svgPathFromSegments(\n      mp.segments,\n      bounds,\n      width,\n      height,\n      padding,\n      MOWING_PATH,\n      2,\n      false,\n    );\n    if (track) {\n      lines.push(track);\n    }\n  }\n\n  // 4. Forbidden-area polygons — red-ish fill.\n  for (const area of map.forbiddenAreas) {\n    const poly = svgPolygon(\n      area.path,\n      bounds,\n      width,\n      height,\n      padding,\n      OBSTACLE_FILL,\n      OBSTACLE_STROKE,\n    );\n    if (poly) {\n      lines.push(poly);\n    }\n  }\n\n  // 5. Zone NAME labels at each zone's centroid (escaped; on top of fills).\n  for (const zone of map.zones) {\n    if (zone.name.length === 0 || zone.path.length === 0) {\n      continue;\n    }\n    let sumX = 0;\n    let sumY = 0;\n    for (const p of zone.path) {\n      sumX += p.x;\n      sumY += p.y;\n    }\n    const centroid: MowerPoint = { x: sumX / zone.path.length, y: sumY / zone.path.length };\n    const { px, py } = coordToPixel(centroid, bounds, width, height, padding);\n    lines.push(\n      `<text x=\"${px}\" y=\"${py}\" font-family=\"Arial, sans-serif\" font-size=\"20\" ` +\n        `font-weight=\"bold\" fill=\"${ZONE_LABEL_COLOR}\" text-anchor=\"middle\" ` +\n        `dominant-baseline=\"middle\">${escapeXml(zone.name)}</text>`,\n    );\n  }\n\n  lines.push('</svg>');\n  return lines.join('\\n');\n}\n","import { BaseDevice, type BaseDeviceInput } from '../../device/base-device.js';\nimport { getBatchDeviceDatas as defaultGetBatchDeviceDatas } from '../../cloud/commands.js';\nimport {\n  MOWER_ACTION,\n  MOWER_PROP,\n  buildAllAreaPayload,\n  buildEdgePayload,\n  buildGetConsumablePayload,\n  buildResumePayload,\n  buildSetConsumablePayload,\n  buildSetCurrentMapPayload,\n  buildSpotPayload,\n  buildZonePayload,\n} from './properties.js';\nimport {\n  MowerChargingStatus,\n  MowerControlAction,\n  MowerFault,\n  mowerFaultSeverity,\n  MowerStatus,\n  MowerTaskStatus,\n  type MowerFaultSeverity,\n} from './enums.js';\nimport {\n  asNum,\n  enumLookup,\n  extractMowerConsumableValues,\n  mowerConsumableIndex,\n  parseControlStatus,\n  parseMowerConsumables,\n  parseMowerHeartbeat,\n  parseMowingProgress,\n  parseTaskDescriptor,\n  type MowerConsumableKey,\n  type MowerConsumableReading,\n  type MowerControlState,\n  type MowerMowingProgress,\n  type MowerTaskDescriptor,\n  type MowerTaskSubState,\n} from './decode.js';\nimport {\n  MowerCapabilityResolver,\n  getMowerCapabilities,\n  type MowerCapabilities,\n} from './capabilities.js';\nimport { DreameError } from '../../transport/errors.js';\nimport {\n  parseBatchMapData,\n  renderMowerSvg,\n  type MowerMap,\n  type RenderMowerSvgOptions,\n} from './map/index.js';\n\n/**\n * Injectable batch-fetch seam. Given a device id + the batch property groups\n * (e.g. `['MAP','M_PATH']`), resolves the raw `{ 'MAP.0': …, 'MAP.info': … }`\n * chunk dict the firmware returns. The default wires `getBatchDeviceDatas` from\n * the cloud layer — but its live endpoint path is NOT yet recovered (see\n * `cloud/commands.ts`), so production callers MUST inject a working fetcher.\n * Tests inject a fake with no cast.\n */\nexport type BatchDeviceDataFetcher = (\n  did: string,\n  props: string[],\n) => Promise<Record<string, unknown>>;\n\n/** Default batch property groups the firmware exposes the vector map under. */\nexport const DEFAULT_MAP_PROPS: readonly string[] = ['MAP', 'M_PATH'];\n\n/** Mower-specific construction input: adds the injectable batch-fetch seam. */\nexport interface MowerDeviceInput extends BaseDeviceInput {\n  /** Inject the batched device-data fetcher (maps). Tests pass a fake. */\n  getBatchDeviceDatas?: BatchDeviceDataFetcher;\n}\n\nconst STATUS = enumLookup<MowerStatus>(\n  Object.values(MowerStatus).filter((v): v is MowerStatus => typeof v === 'number'),\n);\nconst CHARGING = enumLookup<MowerChargingStatus>(\n  Object.values(MowerChargingStatus).filter((v): v is MowerChargingStatus => typeof v === 'number'),\n);\nconst TASK_STATUS = enumLookup<MowerTaskStatus>(\n  Object.values(MowerTaskStatus).filter((v): v is MowerTaskStatus => typeof v === 'number'),\n);\nconst FAULT = enumLookup<MowerFault>(\n  Object.values(MowerFault).filter((v): v is MowerFault => typeof v === 'number'),\n);\n\n/** A typed Dreame-mower handle (state + capability-gated commands). */\nexport class MowerDevice extends BaseDevice {\n  readonly #caps: MowerCapabilities;\n  readonly #fetchBatch: BatchDeviceDataFetcher | null;\n  #lastMap: MowerMap | null = null;\n\n  constructor(input: MowerDeviceInput) {\n    super({\n      ...input,\n      // Inject the mower resolver so the inherited generic `capabilities` getter\n      // carries the mower token set (no banned cast).\n      capabilities: input.capabilities ?? new MowerCapabilityResolver().resolve(input.device.model),\n    });\n    this.#caps = getMowerCapabilities(input.device.model);\n    // Default to the live cloud batch-fetch (now that the endpoint is recovered),\n    // building the account-auth CommonInput from the protected map-fetch\n    // accessors. Tests/callers may still inject a fake via `getBatchDeviceDatas`.\n    this.#fetchBatch =\n      input.getBatchDeviceDatas ??\n      ((did, props) =>\n        defaultGetBatchDeviceDatas(\n          { session: this.currentSession(), region: this.region, did },\n          props,\n        ));\n  }\n\n  /** Rich, mower-specific capability record. */\n  get mowerCapabilities(): MowerCapabilities {\n    return this.#caps;\n  }\n\n  #num(siid: number, piid: number): number | null {\n    return asNum(this.getProperty(siid, piid)?.value);\n  }\n\n  // -- typed state --------------------------------------------------------\n  get statusRaw(): number | null {\n    return this.#num(MOWER_PROP.STATUS.siid, MOWER_PROP.STATUS.piid);\n  }\n  get status(): MowerStatus | null {\n    return STATUS(this.statusRaw);\n  }\n  get battery(): number | null {\n    return this.#num(MOWER_PROP.BATTERY.siid, MOWER_PROP.BATTERY.piid);\n  }\n  get chargingRaw(): number | null {\n    return this.#num(MOWER_PROP.CHARGING_STATUS.siid, MOWER_PROP.CHARGING_STATUS.piid);\n  }\n  get charging(): MowerChargingStatus | null {\n    return CHARGING(this.chargingRaw);\n  }\n  /** Docked => on the dock (Charging / ChargingComplete state). */\n  get isDocked(): boolean {\n    const s = this.status;\n    return s === MowerStatus.Charging || s === MowerStatus.ChargingComplete;\n  }\n  get isMowing(): boolean {\n    return this.status === MowerStatus.Mowing;\n  }\n  get taskStatusRaw(): number | null {\n    return this.#num(MOWER_PROP.TASK_STATUS.siid, MOWER_PROP.TASK_STATUS.piid);\n  }\n  /**\n   * TASK_STATUS (5:104) decoded to {@link MowerTaskStatus}, or null. The donor\n   * names only code 7 (SpotIncomplete); codes 2/3/10/13 are documented \"Unknown\n   * task status\" and intentionally surface as raw via {@link taskStatusRaw}.\n   */\n  get taskStatus(): MowerTaskStatus | null {\n    return TASK_STATUS(this.taskStatusRaw);\n  }\n  get faultRaw(): number | null {\n    return this.#num(MOWER_PROP.DEVICE_CODE.siid, MOWER_PROP.DEVICE_CODE.piid);\n  }\n  /**\n   * DEVICE_CODE (2:2) decoded to a {@link MowerFault} (the donor's\n   * BASE_DEVICE_CODES registry, 0..73), or null for a model-specific/undocumented\n   * code — which still surfaces as the raw number via {@link faultRaw}.\n   */\n  get fault(): MowerFault | null {\n    return FAULT(this.faultRaw);\n  }\n  /**\n   * Live mowing task sub-state decoded from the HEARTBEAT (1:1) blob —\n   * idle/starting/mowing/paused/finished/failed/exit/returning-to-dock — or null\n   * when no mowing session is in progress (or the heartbeat is absent). This is\n   * the donor's \"current task\" sensor; the heartbeat is push-only (the mower does\n   * not answer live reads), so it tracks the device while it is actively mowing.\n   */\n  get taskSubState(): MowerTaskSubState | null {\n    const hb = parseMowerHeartbeat(\n      this.getProperty(MOWER_PROP.HEARTBEAT.siid, MOWER_PROP.HEARTBEAT.piid)?.value,\n    );\n    return hb?.taskSubState ?? null;\n  }\n  /** Parsed scheduling task descriptor (2:50), or null. */\n  get task(): MowerTaskDescriptor | null {\n    return parseTaskDescriptor(\n      this.getProperty(MOWER_PROP.SCHEDULING_TASK.siid, MOWER_PROP.SCHEDULING_TASK.piid)?.value,\n    );\n  }\n  /**\n   * Mowing coverage target / progress signal from the task descriptor (`d.o`).\n   * This is the P4 progress surface; the byte-accurate pose-track % is P5.\n   */\n  get coverageTargetPct(): number | null {\n    return this.task?.coverageTarget ?? null;\n  }\n  /**\n   * Live mowing PROGRESS decoded from the POSE_COVERAGE (1:4) task block —\n   * `{progressPercent, currentAreaSqm, totalAreaSqm}` — or null when 1:4 carries\n   * no task block (idle / pose-only frame). This is the byte-accurate progress\n   * the Dreamehome app shows (vs {@link coverageTargetPct}, the task TARGET).\n   */\n  get mowingProgress(): MowerMowingProgress | null {\n    return parseMowingProgress(\n      this.getProperty(MOWER_PROP.POSE_COVERAGE.siid, MOWER_PROP.POSE_COVERAGE.piid)?.value,\n    );\n  }\n  /** Mowing completion percent (0..100) from {@link mowingProgress}, or null. */\n  get mowingProgressPct(): number | null {\n    return this.mowingProgress?.progressPercent ?? null;\n  }\n  /** Severity of the current DEVICE_CODE (2:2) — info / warning / error. */\n  get faultSeverity(): MowerFaultSeverity {\n    return mowerFaultSeverity(this.faultRaw);\n  }\n  /** Parsed per-zone control status (2:56), or null. */\n  get controlStatus(): MowerControlState | null {\n    return parseControlStatus(\n      this.getProperty(MOWER_PROP.MOWER_CONTROL_STATUS.siid, MOWER_PROP.MOWER_CONTROL_STATUS.piid)\n        ?.value,\n    );\n  }\n  get controlAction(): MowerControlAction | null {\n    return this.controlStatus?.action ?? null;\n  }\n\n  // -- command helpers ----------------------------------------------------\n  #requireCap(flag: boolean, op: string, feature: string): void {\n    if (!flag) {\n      throw new DreameError(`${op}: model ${this.model} does not support ${feature}`);\n    }\n  }\n\n  /** Send a scheduling-task action (2:50) carrying a single opcode object. */\n  #sendTask(payload: Record<string, unknown>): Promise<unknown> {\n    return this.callAction(MOWER_PROP.SCHEDULING_TASK.siid, MOWER_PROP.SCHEDULING_TASK.piid, [\n      payload,\n    ]);\n  }\n\n  // -- no-arg commands ----------------------------------------------------\n  /**\n   * Start the generic mowing action (siid 5 aiid 1). Named `startMowing` — NOT\n   * `start` — because `BaseDevice.start()` is the MQTT lifecycle method the\n   * facade relies on; overriding it would break handle startup.\n   */\n  startMowing(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.START_MOWING.siid, MOWER_ACTION.START_MOWING.aiid, []);\n  }\n  pause(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.PAUSE.siid, MOWER_ACTION.PAUSE.aiid, []);\n  }\n  stop(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.STOP.siid, MOWER_ACTION.STOP.aiid, []);\n  }\n  /** Send the mower to its dock (siid 5 aiid 3). */\n  dock(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.DOCK.siid, MOWER_ACTION.DOCK.aiid, []);\n  }\n  /**\n   * Resume mowing after a pause. Encoded as the continueControl opcode\n   * `{m:'a', p:0, o:5}` sent as the single in-param of the SCHEDULING_TASK\n   * (2:50) action — NOT a siid-5 action. Mirrors the donor TASK_PAYLOAD_RESUME.\n   */\n  async resume(): Promise<unknown> {\n    this.#requireCap(this.#caps.canResume, 'resume', 'resume');\n    return this.#sendTask(buildResumePayload());\n  }\n\n  // -- targeted mowing ----------------------------------------------------\n  /** All-area, map-targeted mowing (2:50 o:100). */\n  async startMowingAllArea(mapId: number): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowAllArea, 'startMowingAllArea', 'all-area mowing');\n    return this.#sendTask(buildAllAreaPayload(Math.trunc(mapId)));\n  }\n  /** Zone-selective mowing (2:50 o:102). */\n  async startMowingZones(zoneIds: number[]): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowZones, 'startMowingZones', 'zone mowing');\n    if (zoneIds.length === 0) {\n      throw new RangeError('startMowingZones: zoneIds must not be empty');\n    }\n    return this.#sendTask(buildZonePayload(zoneIds.map((z) => Math.trunc(z))));\n  }\n  /** Edge / contour mowing (2:50 o:101). Contour ids are two-int pairs [[1,0]]. */\n  async startMowingEdges(contourIds: number[][]): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowEdges, 'startMowingEdges', 'edge mowing');\n    if (contourIds.length === 0) {\n      throw new RangeError('startMowingEdges: contourIds must not be empty');\n    }\n    return this.#sendTask(buildEdgePayload(contourIds));\n  }\n  /** Spot mowing (2:50 o:103). */\n  async startMowingSpots(spotAreaIds: number[]): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowSpots, 'startMowingSpots', 'spot mowing');\n    if (spotAreaIds.length === 0) {\n      throw new RangeError('startMowingSpots: spotAreaIds must not be empty');\n    }\n    return this.#sendTask(buildSpotPayload(spotAreaIds.map((s) => Math.trunc(s))));\n  }\n\n  /**\n   * Switch the mower's ACTIVE map (2:50 o:200). Takes a map *id* (as carried by\n   * {@link MowerMap.availableMaps}/`currentMapId`) and resolves it to the\n   * firmware's map *index* via the last-fetched map; falls back to treating the\n   * id as the index when no map has been fetched yet. Mirrors the donor\n   * `set_current_map`. Capability-gated on `canMap`.\n   */\n  async setCurrentMap(mapId: number): Promise<unknown> {\n    this.#requireCap(this.#caps.canMap, 'setCurrentMap', 'map switching');\n    const id = Math.trunc(mapId);\n    const entry = this.#lastMap?.availableMaps.find((m) => m.mapId === id);\n    const index = entry?.mapIndex ?? id;\n    return this.#sendTask(buildSetCurrentMapPayload(index));\n  }\n\n  // -- CMS consumables ----------------------------------------------------\n  /**\n   * Read the raw CMS consumable counters `[blade, brush, robot]` (minutes used),\n   * via the SCHEDULING_TASK (2:50) custom-action getter `{m:'g',t:'CMS'}`. This\n   * is a LIVE device action (it wakes the mower); rejects with\n   * {@link DreameDeviceOfflineError} when the mower is unreachable. Returns null\n   * if the response is malformed.\n   */\n  async getConsumableValues(): Promise<readonly number[] | null> {\n    const result = await this.callAction(\n      MOWER_PROP.SCHEDULING_TASK.siid,\n      MOWER_PROP.SCHEDULING_TASK.piid,\n      [buildGetConsumablePayload()],\n    );\n    return extractMowerConsumableValues(result);\n  }\n\n  /**\n   * Read the CMS consumables as typed readings (blade/brush/maintenance) with\n   * remaining %. LIVE action — see {@link getConsumableValues}. Returns null on\n   * a malformed response.\n   */\n  async getConsumables(): Promise<readonly MowerConsumableReading[] | null> {\n    const result = await this.callAction(\n      MOWER_PROP.SCHEDULING_TASK.siid,\n      MOWER_PROP.SCHEDULING_TASK.piid,\n      [buildGetConsumablePayload()],\n    );\n    return parseMowerConsumables(result);\n  }\n\n  /**\n   * Reset one CMS consumable counter to zero. Reads the current counters, zeroes\n   * the selected one (leaving the others), and writes them back via the\n   * `{m:'s',t:'CMS',d:{value:[…]}}` setter. LIVE action. Throws on an unknown\n   * item or when the current counters cannot be read.\n   */\n  async resetConsumable(item: MowerConsumableKey): Promise<void> {\n    const index = mowerConsumableIndex(item);\n    if (index === null) {\n      throw new DreameError(`resetConsumable: unknown consumable item \"${item}\"`);\n    }\n    const current = await this.getConsumableValues();\n    if (current === null) {\n      throw new DreameError('resetConsumable: failed to read current CMS counters');\n    }\n    const next = [...current];\n    next[index] = 0;\n    await this.callAction(MOWER_PROP.SCHEDULING_TASK.siid, MOWER_PROP.SCHEDULING_TASK.piid, [\n      buildSetConsumablePayload(next),\n    ]);\n  }\n\n  /**\n   * Seed the cache from the CLOUD SHADOW (last-known values) WITHOUT waking the\n   * mower — reads {@link MowerDevice.DEFAULT_PROPS} from the cloud-cached\n   * endpoint. After it resolves, every typed getter (status/battery/charging/\n   * coverage/task/controlAction…) reflects the cached values, so a docked/\n   * standby mower reports its state exactly as the Dreamehome app does.\n   */\n  async refreshFromCache(): Promise<void> {\n    await this.refreshCachedProperties([...MowerDevice.DEFAULT_PROPS]);\n  }\n\n  // -- maps ---------------------------------------------------------------\n  /** The most-recently-parsed map, or `null` until {@link getMap} succeeds. */\n  get lastMap(): MowerMap | null {\n    return this.#lastMap;\n  }\n\n  /**\n   * Fetch the batched vector-map data, parse it into a {@link MowerMap}, cache\n   * it as {@link lastMap}, and return it. Capability-gated on `canMap`.\n   *\n   * The batch fetcher is injected at construction (the live cloud endpoint path\n   * is not yet recovered — see `cloud/commands.ts`). Rejects with\n   * {@link DreameError} if no fetcher was injected or the batch yields no\n   * parseable map (asleep mower / empty data).\n   */\n  async getMap(props: readonly string[] = DEFAULT_MAP_PROPS): Promise<MowerMap> {\n    this.#requireCap(this.#caps.canMap, 'getMap', 'map parsing');\n    if (!this.#fetchBatch) {\n      throw new DreameError(\n        'getMap: no batch device-data fetcher injected (live endpoint unrecovered)',\n      );\n    }\n    const batch = await this.#fetchBatch(this.deviceId, [...props]);\n    const map = parseBatchMapData(batch);\n    if (!map) {\n      throw new DreameError('getMap: batch device-data contained no parseable map');\n    }\n    this.#lastMap = map;\n    return map;\n  }\n\n  /**\n   * Render the current map to a deterministic SVG string. Uses {@link lastMap}\n   * when present, otherwise fetches first via {@link getMap}.\n   */\n  async mapSvg(opts?: RenderMowerSvgOptions): Promise<string> {\n    const map = this.#lastMap ?? (await this.getMap());\n    return renderMowerSvg(map, opts ?? {});\n  }\n\n  /** Props worth seeding on start() / polling — exported for the facade. */\n  static readonly DEFAULT_PROPS = [\n    MOWER_PROP.HEARTBEAT,\n    MOWER_PROP.POSE_COVERAGE,\n    MOWER_PROP.STATUS,\n    MOWER_PROP.DEVICE_CODE,\n    MOWER_PROP.BATTERY,\n    MOWER_PROP.CHARGING_STATUS,\n    MOWER_PROP.TASK_STATUS,\n    MOWER_PROP.SCHEDULING_TASK,\n    MOWER_PROP.MOWER_CONTROL_STATUS,\n  ] as const;\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type { DreameDevice, DreameSession } from '../cloud/types.js';\nimport { login as defaultLogin, refresh as defaultRefresh } from '../auth/dreame-account.js';\nimport { listDevices as defaultListDevices } from '../cloud/devices.js';\nimport { BaseDevice } from '../device/base-device.js';\nimport { VacuumDevice } from '../models/vacuum/vacuum-device.js';\nimport { MowerDevice } from '../models/mower/mower-device.js';\nimport { TypedEmitter } from '../transport/typed-emitter.js';\nimport { DreameAuthError } from '../transport/errors.js';\nimport type { FetchImpl } from '../transport/http.js';\nimport type { NodreameOptions, DeviceEvent, StateChangedEvent } from './types.js';\n\nconst DEFAULT_REFRESH_LEEWAY_SECS = 100;\n\n/**\n * Device-type factory: pick the handle class by model prefix. Returns a\n * `BaseDevice` constructor (`VacuumDevice` / `MowerDevice` are subtypes, so the\n * return is covariant and needs no cast).\n */\nexport function deviceClassFor(model: string): typeof BaseDevice {\n  if (model.startsWith('dreame.vacuum.')) {\n    return VacuumDevice;\n  }\n  if (model.startsWith('dreame.mower.')) {\n    return MowerDevice;\n  }\n  return BaseDevice;\n}\n\n/** Args the facade passes to `createDevice` (a seam for tests). */\nexport interface CreateDeviceArgs {\n  device: DreameDevice;\n  region: DreameRegion;\n  sessionRef: () => DreameSession;\n  /**\n   * Force-refresh callback handed down to the device's MQTT push so it can\n   * self-heal a broker CONNACK auth-refusal (stale token). Bound by the facade\n   * to {@link Nodreame.reauthenticate}.\n   */\n  onAuthFailure?: () => Promise<DreameSession>;\n}\n\n/** Injectable collaborators — defaults wire the real P1 modules. */\nexport interface NodreameDeps {\n  login(input: {\n    email: string;\n    password: string;\n    region: DreameRegion;\n    country?: string;\n    lang?: string;\n    fetchImpl?: FetchImpl;\n  }): Promise<DreameSession>;\n  refresh(input: {\n    refreshToken: string;\n    region: DreameRegion;\n    country?: string;\n    lang?: string;\n    fetchImpl?: FetchImpl;\n  }): Promise<DreameSession>;\n  listDevices(input: {\n    session: DreameSession;\n    region: DreameRegion;\n    fetchImpl?: FetchImpl;\n  }): Promise<DreameDevice[]>;\n  createDevice(args: CreateDeviceArgs): BaseDevice;\n}\n\nfunction defaultDeps(opts: NodreameOptions): NodreameDeps {\n  return {\n    login: (input) => defaultLogin(input),\n    refresh: (input) => defaultRefresh(input),\n    listDevices: (input) => defaultListDevices(input),\n    createDevice: (args) => {\n      const DeviceClass = deviceClassFor(args.device.model);\n      return new DeviceClass({\n        device: args.device,\n        region: args.region,\n        sessionRef: args.sessionRef,\n        ...(args.onAuthFailure !== undefined ? { onAuthFailure: args.onAuthFailure } : {}),\n        ...(opts.fetchInitialValues !== undefined\n          ? { fetchInitialValues: opts.fetchInitialValues }\n          : {}),\n        ...(opts.pollIntervalMs !== undefined ? { pollIntervalMs: opts.pollIntervalMs } : {}),\n      });\n    },\n  };\n}\n\nexport type NodreameEvents = {\n  /** Re-emitted device state change, tagged with the deviceId. */\n  stateChanged: [StateChangedEvent];\n  /** Re-emitted device event, tagged with the deviceId. */\n  event: [DeviceEvent];\n  error: [Error];\n};\n\n/** Public facade for the Dreamehome cloud. */\nexport class Nodreame extends TypedEmitter<NodreameEvents> {\n  readonly #opts: NodreameOptions;\n  readonly #deps: NodreameDeps;\n  readonly #leewayMs: number;\n  #session: DreameSession | null = null;\n  #devices: BaseDevice[] = [];\n  #closed = false;\n  /** Background timer that proactively refreshes before the token expires. */\n  #refreshTimer: ReturnType<typeof setTimeout> | null = null;\n  /** Guard against overlapping proactive-refresh runs. */\n  #refreshInFlight = false;\n  /**\n   * The single in-flight refresh, shared by concurrent callers so the proactive\n   * timer and a manual `ensureSession()`/`reauthenticate()` never double-refresh.\n   */\n  #inFlightRefresh: Promise<DreameSession> | null = null;\n\n  constructor(opts: NodreameOptions, deps?: NodreameDeps) {\n    super();\n    if (!opts.username || !opts.password) {\n      throw new DreameAuthError('username and password are required');\n    }\n    this.#opts = opts;\n    this.#deps = deps ?? defaultDeps(opts);\n    this.#leewayMs = (opts.refreshLeewaySecs ?? DEFAULT_REFRESH_LEEWAY_SECS) * 1000;\n  }\n\n  get region(): DreameRegion {\n    return this.#opts.region;\n  }\n\n  get session(): DreameSession | null {\n    return this.#session;\n  }\n\n  get devices(): readonly BaseDevice[] {\n    return this.#devices;\n  }\n\n  /** Authenticate and stash the single shared session. */\n  async login(): Promise<DreameSession> {\n    this.#session = await this.#deps.login({\n      email: this.#opts.username,\n      password: this.#opts.password,\n      region: this.#opts.region,\n      ...(this.#opts.country !== undefined ? { country: this.#opts.country } : {}),\n      ...(this.#opts.lang !== undefined ? { lang: this.#opts.lang } : {}),\n      ...(this.#opts.fetchImpl !== undefined ? { fetchImpl: this.#opts.fetchImpl } : {}),\n    });\n    // Arm the proactive refresh against this session's expiry.\n    this.#scheduleProactiveRefresh();\n    return this.#session;\n  }\n\n  /** Return a valid session, refreshing proactively within the leeway window. */\n  async ensureSession(): Promise<DreameSession> {\n    const current = this.#session;\n    if (!current) {\n      return this.login();\n    }\n    if (Date.now() < current.expiresAt - this.#leewayMs) {\n      return current;\n    }\n    return this.#refreshNow(current);\n  }\n\n  /**\n   * Force a session refresh REGARDLESS of the current expiry, then propagate the\n   * new token to every live device push. Wired as each push's `onAuthFailure`:\n   * when a broker refuses a CONNECT because it considers the token stale (even\n   * though {@link ensureSession} still thinks it valid — e.g. server-side early\n   * revocation or clock skew), this mints a genuinely fresh token instead of\n   * replaying the rejected one.\n   */\n  async reauthenticate(): Promise<DreameSession> {\n    if (this.#closed) {\n      throw new DreameAuthError('client is closed');\n    }\n    const current = this.#session;\n    if (!current) {\n      return this.login();\n    }\n    return this.#refreshNow(current);\n  }\n\n  /**\n   * Refresh via the refresh-token (with a full re-login fallback) and propagate\n   * the new token to every device push. Shared by {@link ensureSession} (within\n   * the leeway window) and {@link reauthenticate} (unconditional).\n   */\n  async #refreshNow(current: DreameSession): Promise<DreameSession> {\n    // Coalesce concurrent refreshes (background timer + manual call) into one.\n    const existing = this.#inFlightRefresh;\n    if (existing) {\n      return existing;\n    }\n    const run = this.#doRefresh(current);\n    this.#inFlightRefresh = run;\n    try {\n      return await run;\n    } finally {\n      this.#inFlightRefresh = null;\n    }\n  }\n\n  async #doRefresh(current: DreameSession): Promise<DreameSession> {\n    if (current.refreshToken) {\n      // Narrow scope: the full-re-login fallback must cover ONLY a failed\n      // refresh-token GRANT — never the subsequent propagation. If we let the\n      // catch swallow a propagation failure it would trigger a spurious full\n      // re-login (and, in the fleet, tear down healthy siblings).\n      let next: DreameSession | null = null;\n      try {\n        next = await this.#deps.refresh({\n          refreshToken: current.refreshToken,\n          region: this.#opts.region,\n          ...(this.#opts.country !== undefined ? { country: this.#opts.country } : {}),\n          ...(this.#opts.lang !== undefined ? { lang: this.#opts.lang } : {}),\n          ...(this.#opts.fetchImpl !== undefined ? { fetchImpl: this.#opts.fetchImpl } : {}),\n        });\n      } catch {\n        next = null; // fall through to a full re-login\n      }\n      if (next) {\n        await this.#adoptSession(next);\n        return next;\n      }\n    }\n    const fresh = await this.login();\n    await this.#propagateSession(fresh);\n    return fresh;\n  }\n\n  /** Discover devices and build a live handle per device. */\n  async discoverDevices(): Promise<readonly BaseDevice[]> {\n    if (this.#closed) {\n      throw new DreameAuthError('client is closed');\n    }\n    const session = await this.ensureSession();\n    const records = await this.#deps.listDevices({\n      session,\n      region: this.#opts.region,\n      ...(this.#opts.fetchImpl !== undefined ? { fetchImpl: this.#opts.fetchImpl } : {}),\n    });\n    const handles = records.map((device) =>\n      this.#deps.createDevice({\n        device,\n        region: this.#opts.region,\n        sessionRef: () => this.#requireSession(),\n        onAuthFailure: () => this.reauthenticate(),\n      }),\n    );\n    for (const h of handles) {\n      h.on('stateChanged', (e) => this.emit('stateChanged', e));\n      h.on('event', (e) => this.emit('event', e));\n      // Guard the forward-emit: reactive re-auth / cap-exhaustion failures now\n      // funnel through here. An unhandled 'error' on the emitter throws, which\n      // would crash a consumer that never attached an 'error' listener.\n      h.on('error', (err) => {\n        if (this.listenerCount('error') > 0) {\n          this.emit('error', err);\n        }\n      });\n      await h.start();\n    }\n    // Close any handles from a previous discovery before adopting the new set —\n    // each holds an open MQTT push + a poll timer that would otherwise leak.\n    const previous = this.#devices;\n    this.#devices = [...handles];\n    await Promise.all(previous.map((d) => d.close()));\n    // Re-arm the proactive refresh against the session used for this discovery.\n    this.#scheduleProactiveRefresh();\n    return this.#devices;\n  }\n\n  /** Tear everything down: close every device push and clear timers. */\n  async close(): Promise<void> {\n    this.#closed = true;\n    this.#clearRefreshTimer();\n    const devices = this.#devices;\n    this.#devices = [];\n    await Promise.all(devices.map((d) => d.close()));\n    this.removeAllListeners();\n  }\n\n  #requireSession(): DreameSession {\n    if (!this.#session) {\n      throw new DreameAuthError('no active session — call login() first');\n    }\n    return this.#session;\n  }\n\n  async #adoptSession(session: DreameSession): Promise<void> {\n    this.#session = session;\n    await this.#propagateSession(session);\n    this.#scheduleProactiveRefresh();\n  }\n\n  #clearRefreshTimer(): void {\n    if (this.#refreshTimer) {\n      clearTimeout(this.#refreshTimer);\n      this.#refreshTimer = null;\n    }\n  }\n\n  /** Arm the proactive-refresh timer `delayMs` from now (clamped to ≥0). */\n  #armRefreshTimer(delayMs: number): void {\n    this.#clearRefreshTimer();\n    if (this.#closed) {\n      return;\n    }\n    this.#refreshTimer = setTimeout(\n      () => {\n        this.#refreshTimer = null;\n        void this.#runProactiveRefresh();\n      },\n      Math.max(0, delayMs),\n    );\n  }\n\n  /** (Re)arm the proactive-refresh timer against the current session's expiry. */\n  #scheduleProactiveRefresh(): void {\n    const session = this.#session;\n    if (!session) {\n      this.#clearRefreshTimer();\n      return;\n    }\n    this.#armRefreshTimer(session.expiresAt - this.#leewayMs - Date.now());\n  }\n\n  /**\n   * Timer body: refresh the session before it expires, then reschedule against\n   * the new expiry. Because {@link ensureSession} propagates the refreshed token\n   * to every device push, each MQTT connection is re-keyed BEFORE the broker\n   * would reject the old one — the reactive re-auth loop never even starts.\n   */\n  async #runProactiveRefresh(): Promise<void> {\n    if (this.#closed || this.#refreshInFlight) {\n      return;\n    }\n    this.#refreshInFlight = true;\n    try {\n      await this.ensureSession();\n      this.#refreshInFlight = false;\n      // Track the newest expiry (ensureSession may have returned the current\n      // session unchanged if the clock had not yet crossed the boundary).\n      this.#scheduleProactiveRefresh();\n    } catch (err) {\n      this.#refreshInFlight = false;\n      // Surface only when someone is listening — an unhandled 'error' on the\n      // emitter would throw. The failure is transient; the retry below recovers.\n      if (this.listenerCount('error') > 0) {\n        this.emit('error', err instanceof Error ? err : new Error(String(err)));\n      }\n      // Retry after a bounded backoff rather than hot-looping on a still-expiring\n      // session (whose boundary is already in the past ⇒ a 0ms reschedule).\n      if (!this.#closed) {\n        this.#armRefreshTimer(this.#leewayMs);\n      }\n    }\n  }\n\n  /** Push the refreshed token to every live device push. */\n  async #propagateSession(session: DreameSession): Promise<void> {\n    if (this.#closed) {\n      return;\n    }\n    // allSettled — NOT all: one device's applySession failure must NEVER reject\n    // the whole propagation. A rejected Promise.all here would (1) orphan the\n    // healthy siblings that already reconnected, (2) bubble up into #doRefresh\n    // and trigger a spurious full re-login, and (3) reach the originating push's\n    // reauth catch and tear down its live client. Each device self-heals its own\n    // reconnect (see DreamePush.refreshSession), so per-device failures are\n    // isolated here.\n    await Promise.allSettled(this.#devices.map((d) => d.applySession(session)));\n  }\n}\n","/**\n * Deep, cast-free anonymization of a value tree before it enters a DeviceDump.\n * Dumps are shared PUBLICLY, so every identity/secret/PII field is replaced with\n * {@link REDACTED}. Matching is by FIELD NAME (case-insensitive, substring) so a\n * `customName`/`accessToken`/`refresh_token` is caught regardless of casing or\n * surrounding context. Non-sensitive data (model, firmware, region, the numeric\n * property keys + their values, enum names) passes through untouched.\n *\n * Immutable: returns NEW objects/arrays; never mutates the input.\n */\n\n/** Placeholder substituted for any redacted value. */\nexport const REDACTED = '[redacted]';\n\n/**\n * Lower-cased field-name fragments that mark a sensitive field. A key matches\n * when its lower-cased form CONTAINS one of these fragments. Ordered roughly by\n * spec §5 grouping (identity/secrets, then location/PII, then free-text names).\n */\nconst SENSITIVE_KEY_FRAGMENTS: readonly string[] = [\n  // identity / secrets\n  'did',\n  // `deviceid` is listed explicitly: the bare `did` fragment does NOT match\n  // `deviceid` (the substring `did` is absent from `d-e-v-i-c-e-i-d`), yet\n  // base-device sets the real `did` as `deviceId` on raw payloads (FIX 1).\n  'deviceid',\n  'uid',\n  'token', // accessToken, refreshToken, refresh_token, token_type stripped too (safe)\n  'mac',\n  'serial',\n  'email',\n  'account',\n  'password',\n  'passwd',\n  'secret',\n  'authorization',\n  'auth',\n  'credential',\n  'apikey',\n  'api_key',\n  'clientid',\n  'client_id',\n  // location / PII\n  'gps',\n  'coordinate',\n  'latitude',\n  'longitude',\n  'lat',\n  'lon',\n  'lng',\n  'ssid',\n  'wifi',\n  'bssid',\n  'ipaddr',\n  'localip',\n  'binddomain',\n  'host',\n  'address',\n  'room',\n  'area_name',\n  'areaname',\n  'segmentname',\n  'segment_name',\n  // room/zone/map names are user-set PII (FIX 3).\n  'zone_name',\n  'zonename',\n  'map_name',\n  'mapname',\n  // map binary / geometry (location-revealing)\n  'map_info',\n  'mapinfo',\n  'mapblob',\n  // free-text device names that may carry PII. NOTE: the bare fragment `name` is\n  // intentionally NOT listed — it would over-match the catalog's command `name`\n  // field (an enum-derived, non-sensitive label like `START`). ACCEPTED\n  // TRADE-OFF: a bare `{ name: \"...\" }` in an event argument is NOT scrubbed by\n  // key. This is mitigated in practice by (a) the value-sanitizer below\n  // (sanitizeStringValue, applied to EVERY string scalar — it catches OSS\n  // paths / URLs / tokens regardless of key), and (b) the specific\n  // customName/deviceName/nickName/zoneName/mapName fragments which cover the\n  // realistic PII-bearing name cases.\n  'customname',\n  'devicename',\n  'nickname',\n];\n\n/** Bare `ip` is matched exactly (substring-`ip` would over-match e.g. `equip`). */\nconst EXACT_SENSITIVE_KEYS: ReadonlySet<string> = new Set(['ip']);\n\nfunction isSensitiveKey(key: string): boolean {\n  const lower = key.toLowerCase();\n  if (EXACT_SENSITIVE_KEYS.has(lower)) {\n    return true;\n  }\n  return SENSITIVE_KEY_FRAGMENTS.some((frag) => lower.includes(frag));\n}\n\nfunction isPlainObject(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\n/**\n * Risky-VALUE patterns. A string scalar can carry a secret under a NON-sensitive\n * (e.g. numeric `\"siid.piid\"`) key — an OSS object path `ali_dreame/<uid>/<did>/<n>`,\n * a signed URL with a `token=` query param, or a long opaque secret run. These\n * never reach a key-name match, so they slip past {@link isSensitiveKey}.\n *\n * Kept DELIBERATELY conservative so the actual diagnostic signal (enum names like\n * `START`/`SweepAndMop`, numeric-ish strings, comma fault lists like `\"18,107\"`,\n * small JSON) is preserved. Only the patterns below trigger a redact.\n */\nconst RISKY_VALUE_PATTERNS: readonly RegExp[] = [\n  /:\\/\\//, // any URL scheme (https://, mqtts://, …) — signed URLs carry tokens\n  /ali_dreame\\//i, // OSS object path embedding uid/did\n  /[A-Za-z0-9_-]{32,}/, // a long opaque token run (base64/hex secrets)\n  /\\b(did|uid|token)\\s*=/i, // query-param secrets (?did=…&token=…)\n  /access/i, // accessKey / access-token / x-access-key style markers\n];\n\n/**\n * Replace a string VALUE with {@link REDACTED} when it matches a risky pattern,\n * otherwise return it unchanged. Applied to EVERY string scalar inside\n * {@link redact}, so it covers property values, event arguments, AND raw frames.\n */\nexport function sanitizeStringValue(s: string): string {\n  return RISKY_VALUE_PATTERNS.some((re) => re.test(s)) ? REDACTED : s;\n}\n\n/**\n * Recursively scrub a value. Sensitive KEYS short-circuit to {@link REDACTED};\n * every surviving string scalar is additionally passed through\n * {@link sanitizeStringValue} (value-level secret detection).\n */\nexport function redact(value: unknown): unknown {\n  if (Array.isArray(value)) {\n    return value.map((v) => redact(v));\n  }\n  if (isPlainObject(value)) {\n    const out: Record<string, unknown> = {};\n    for (const [k, v] of Object.entries(value)) {\n      out[k] = isSensitiveKey(k) ? REDACTED : redact(v);\n    }\n    return out;\n  }\n  if (typeof value === 'string') {\n    return sanitizeStringValue(value);\n  }\n  return value;\n}\n","import { z } from 'zod';\n\n/**\n * The SHARED diagnostic-dump format (spec §7). `nodedreame` and `nodewitt` fill\n * the SAME shape so dumps are diffable. {@link DeviceDump} is the public output\n * type; {@link DeviceDumpSchema} validates a built dump before export.\n *\n * `library` is a union for the shared format; this library always emits\n * `'nodedreame'`. The schema is the single source of truth — {@link DeviceDump}\n * is `z.infer` of it, so the runtime validator and the public type never drift.\n */\n\n/** A raw MIoT property value as it appears in a dump (always JSON-scalar). */\nexport type DumpScalar = string | number | boolean;\n\nconst DumpScalarSchema = z.union([z.string(), z.number(), z.boolean()]);\n\nconst PropertyObservationSchema = z.object({\n  values: z.array(DumpScalarSchema),\n  unmapped: z.array(DumpScalarSchema),\n  enum: z.string().optional(),\n  count: z.number(),\n  firstSeen: z.number(),\n  lastSeen: z.number(),\n});\n\nconst EventObservationSchema = z.object({\n  at: z.number(),\n  type: z.string(),\n  data: z.unknown().optional(),\n});\n\nconst RawFrameSchema = z.object({\n  at: z.number(),\n  source: z.string(),\n  payload: z.unknown(),\n});\n\nconst CommandSchema = z.object({\n  name: z.string(),\n  siid: z.number().optional(),\n  aiid: z.number().optional(),\n});\n\nconst SensorSchema = z.object({\n  model: z.string(),\n  channel: z.number().optional(),\n});\n\nexport const DeviceDumpSchema = z.object({\n  schemaVersion: z.literal(1),\n  library: z.union([z.literal('nodedreame'), z.literal('nodewitt')]),\n  libraryVersion: z.string(),\n  device: z.object({\n    model: z.string(),\n    firmware: z.string().optional(),\n    region: z.string().optional(),\n    type: z.string().optional(),\n  }),\n  observations: z.object({\n    properties: z.record(z.string(), PropertyObservationSchema),\n    events: z.array(EventObservationSchema),\n    rawFrames: z.array(RawFrameSchema).optional(),\n  }),\n  catalog: z.object({\n    commands: z.array(CommandSchema).optional(),\n    capabilities: z.record(z.string(), z.unknown()).optional(),\n    sensors: z.array(SensorSchema).optional(),\n  }),\n  meta: z.object({\n    startedAt: z.number(),\n    durationMs: z.number(),\n    generatedAt: z.number(),\n  }),\n});\n\n/** Public shared dump type — inferred from the schema so the two never drift. */\nexport type DeviceDump = z.infer<typeof DeviceDumpSchema>;\n","import { BaseDevice } from '../device/base-device.js';\nimport { VacuumDevice } from '../models/vacuum/vacuum-device.js';\nimport { MowerDevice } from '../models/mower/mower-device.js';\nimport { VACUUM_ACTION } from '../models/vacuum/properties.js';\nimport { MOWER_ACTION } from '../models/mower/properties.js';\nimport { enumLookup } from '../models/_shared/decode.js';\nimport {\n  ChargingStatus,\n  CleaningMode,\n  MiotState,\n  SuctionLevel,\n  TaskStatus,\n  WaterVolume,\n} from '../models/vacuum/enums.js';\nimport {\n  MowerChargingStatus,\n  MowerFault,\n  MowerStatus,\n  MowerTaskStatus,\n} from '../models/mower/enums.js';\nimport { redact } from './redact.js';\nimport { LIBRARY_VERSION } from '../support/version.js';\nimport type { DeviceEvent, PropertyChangedEvent } from '../api/types.js';\nimport type { Nodreame } from '../api/nodreame.js';\nimport { DeviceDumpSchema, type DeviceDump } from './dump-format.js';\n\n/** The `catalog` slice of a {@link DeviceDump}. */\ntype DumpCatalog = DeviceDump['catalog'];\ntype DumpCommand = NonNullable<DumpCatalog['commands']>[number];\n\n/**\n * Static command list for a device family, read from the model's `*_ACTION` map.\n * Cast-free: the maps are plain records of `{ siid, aiid }`. NEVER executes one.\n */\nfunction commandsForFamily(family: 'vacuum' | 'mower' | 'device'): DumpCommand[] {\n  const commands: DumpCommand[] = [];\n  if (family === 'vacuum') {\n    for (const [name, ref] of Object.entries(VACUUM_ACTION)) {\n      commands.push({ name, siid: ref.siid, aiid: ref.aiid });\n    }\n  } else if (family === 'mower') {\n    for (const [name, ref] of Object.entries(MOWER_ACTION)) {\n      commands.push({ name, siid: ref.siid, aiid: ref.aiid });\n    }\n  }\n  return commands;\n}\n\n/**\n * Build the STATIC catalog for a device: its declared command/action map +\n * resolved capability tokens. Reads only static maps + the capability getter —\n * NEVER invokes an action.\n */\nexport function buildCatalog(device: BaseDevice): DumpCatalog {\n  const family =\n    device instanceof VacuumDevice ? 'vacuum' : device instanceof MowerDevice ? 'mower' : 'device';\n  return {\n    commands: commandsForFamily(family),\n    capabilities: { tokens: [...device.capabilities.list()] },\n  };\n}\n\n/** A property decoder: the enum NAME + a membership test for a raw number. */\ninterface KeyDecoder {\n  enumName: string;\n  isMember(raw: number): boolean;\n}\n\nfunction decoderFor<E extends number>(enumName: string, members: readonly E[]): KeyDecoder {\n  const lookup = enumLookup<E>(members);\n  return { enumName, isMember: (raw) => lookup(raw) !== null };\n}\n\n/**\n * Per-property decoder table for the VACUUM family, keyed by `\"siid.piid\"`.\n * Mirrors the `enumLookup` wiring the vacuum device uses for its `*Raw`/decoded\n * getters. Members are extracted cast-free via the predicate `filter` (identical\n * to `vacuum-device.ts`), so a raw number is never branded with a banned cast.\n */\nexport function vacuumDecoders(): Record<string, KeyDecoder> {\n  return {\n    '2.1': decoderFor(\n      'MiotState',\n      Object.values(MiotState).filter((v): v is MiotState => typeof v === 'number'),\n    ),\n    '3.2': decoderFor(\n      'ChargingStatus',\n      Object.values(ChargingStatus).filter((v): v is ChargingStatus => typeof v === 'number'),\n    ),\n    '4.4': decoderFor(\n      'SuctionLevel',\n      Object.values(SuctionLevel).filter((v): v is SuctionLevel => typeof v === 'number'),\n    ),\n    '4.5': decoderFor(\n      'WaterVolume',\n      Object.values(WaterVolume).filter((v): v is WaterVolume => typeof v === 'number'),\n    ),\n    '2.6': decoderFor(\n      'CleaningMode',\n      Object.values(CleaningMode).filter((v): v is CleaningMode => typeof v === 'number'),\n    ),\n    '4.1': decoderFor(\n      'TaskStatus',\n      Object.values(TaskStatus).filter((v): v is TaskStatus => typeof v === 'number'),\n    ),\n  };\n}\n\n/**\n * Per-property decoder table for the MOWER family, keyed by `\"siid.piid\"`.\n * Note vacuum and mower BOTH use keys `2.1`/`3.2` for DIFFERENT enums, so the\n * family-correct table MUST be injected — there is no shared default.\n */\nexport function mowerDecoders(): Record<string, KeyDecoder> {\n  return {\n    '2.1': decoderFor(\n      'MowerStatus',\n      Object.values(MowerStatus).filter((v): v is MowerStatus => typeof v === 'number'),\n    ),\n    '3.2': decoderFor(\n      'MowerChargingStatus',\n      Object.values(MowerChargingStatus).filter(\n        (v): v is MowerChargingStatus => typeof v === 'number',\n      ),\n    ),\n    '5.104': decoderFor(\n      'MowerTaskStatus',\n      Object.values(MowerTaskStatus).filter((v): v is MowerTaskStatus => typeof v === 'number'),\n    ),\n    '2.2': decoderFor(\n      'MowerFault',\n      Object.values(MowerFault).filter((v): v is MowerFault => typeof v === 'number'),\n    ),\n  };\n}\n\ntype DumpScalar = string | number | boolean;\ntype PropertyObservation = DeviceDump['observations']['properties'][string];\n\nfunction toScalar(value: unknown): DumpScalar | null {\n  if (typeof value === 'string' || typeof value === 'number' || typeof value === 'boolean') {\n    return value;\n  }\n  return null;\n}\n\ninterface AccEntry {\n  values: DumpScalar[];\n  unmapped: DumpScalar[];\n  count: number;\n  firstSeen: number;\n  lastSeen: number;\n}\n\n/**\n * Accumulates per-property `(siid,piid)` → `\"siid.piid\"` observations: the\n * DISTINCT raw values seen (insertion order), a total `count`, first/last seen\n * timestamps, the mapped `enum` name (when a decoder is injected for the key),\n * and the subset of numeric values that DECODE TO NO KNOWN ENUM (`unmapped` —\n * the core crowd-sourcing signal). The family-correct decoder table is injected\n * at construction; a bare accumulator (no decoders) records values but never\n * flags unmapped.\n */\nexport class PropertyAccumulator {\n  readonly #decoders: Record<string, KeyDecoder>;\n  readonly #entries = new Map<string, AccEntry>();\n\n  constructor(decoders: Record<string, KeyDecoder> = {}) {\n    this.#decoders = decoders;\n  }\n\n  record(siid: number, piid: number, rawValue: unknown, at: number): void {\n    const key = `${siid}.${piid}`;\n    const scalar = toScalar(rawValue);\n    let entry = this.#entries.get(key);\n    if (!entry) {\n      entry = { values: [], unmapped: [], count: 0, firstSeen: at, lastSeen: at };\n      this.#entries.set(key, entry);\n    }\n    entry.count += 1;\n    entry.lastSeen = at;\n    if (scalar === null) {\n      return; // non-scalar (object/array/null) — recorded as an observation count only\n    }\n    if (!entry.values.includes(scalar)) {\n      entry.values.push(scalar);\n    }\n    const decoder = this.#decoders[key];\n    if (decoder && typeof scalar === 'number' && !decoder.isMember(scalar)) {\n      if (!entry.unmapped.includes(scalar)) {\n        entry.unmapped.push(scalar);\n      }\n    }\n  }\n\n  snapshot(): Record<string, PropertyObservation> {\n    const out: Record<string, PropertyObservation> = {};\n    for (const [key, e] of this.#entries) {\n      const decoder = this.#decoders[key];\n      const base: PropertyObservation = {\n        values: [...e.values],\n        unmapped: [...e.unmapped],\n        count: e.count,\n        firstSeen: e.firstSeen,\n        lastSeen: e.lastSeen,\n      };\n      out[key] = decoder ? { ...base, enum: decoder.enumName } : base;\n    }\n    return out;\n  }\n}\n\n/** Tunables for a {@link Dumper}. All optional. */\nexport interface DumperOptions {\n  /** Capture raw event/property frames into `observations.rawFrames`. Default false. */\n  captureRawFrames?: boolean;\n  /** Cap on retained raw frames (ring). Default 500. */\n  maxRawFrames?: number;\n  /** Periodic cloud-shadow refresh interval (ms). Default 30000; 0 disables. */\n  refreshIntervalMs?: number;\n}\n\n/**\n * The READ-ONLY slice of a device the {@link Dumper} consumes. Declaring it as\n * an interface lets tests inject a fake with no cast (mirrors `PushLike`). A real\n * `BaseDevice`/`VacuumDevice`/`MowerDevice` structurally satisfies it. NOTE it\n * exposes NO action/command method — the dumper literally cannot execute one.\n */\nexport interface DumperDevice {\n  readonly model: string;\n  readonly deviceId: string;\n  readonly capabilities: { list(): readonly string[]; has(t: string): boolean; model: string };\n  on(event: 'propertyChanged', cb: (e: PropertyChangedEvent) => void): this;\n  on(event: 'event', cb: (e: DeviceEvent) => void): this;\n  off(event: 'propertyChanged', cb: (e: PropertyChangedEvent) => void): this;\n  off(event: 'event', cb: (e: DeviceEvent) => void): this;\n  /** Cloud-shadow read; absent on a bare BaseDevice. Feature-detected. */\n  refreshFromCache?(): Promise<void>;\n}\n\nconst DEFAULT_REFRESH_INTERVAL_MS = 30000;\nconst DEFAULT_MAX_RAW_FRAMES = 500;\n\ntype RawFrame = NonNullable<DeviceDump['observations']['rawFrames']>[number];\n\n/**\n * A passive, READ-ONLY observer that records what a Dreame device exposes while\n * it operates. {@link start} hooks the device's `propertyChanged`/`event` stream,\n * does an initial + periodic cloud-shadow {@link DumperDevice.refreshFromCache}\n * read (feature-detected), and snapshots the static catalog at construction.\n * {@link stop} detaches every listener + clears the timer (idempotent, no leaks).\n * {@link export} assembles the ANONYMIZED, zod-valid {@link DeviceDump}. The\n * dumper NEVER executes a device command/action.\n */\nexport class Dumper {\n  readonly #device: DumperDevice;\n  readonly #opts: { captureRawFrames: boolean; maxRawFrames: number; refreshIntervalMs: number };\n  readonly #acc: PropertyAccumulator;\n  readonly #events: DeviceDump['observations']['events'] = [];\n  readonly #rawFrames: RawFrame[] = [];\n  readonly #catalog: DeviceDump['catalog'];\n  readonly #type: string;\n  readonly #onProperty: (e: PropertyChangedEvent) => void;\n  readonly #onEvent: (e: DeviceEvent) => void;\n  #timer: ReturnType<typeof setInterval> | null = null;\n  #startedAt = 0;\n  #started = false;\n\n  constructor(\n    device: DumperDevice,\n    catalog: DeviceDump['catalog'],\n    type: string,\n    decoders: Record<string, KeyDecoder>,\n    options: DumperOptions = {},\n  ) {\n    this.#device = device;\n    this.#catalog = catalog;\n    this.#type = type;\n    this.#acc = new PropertyAccumulator(decoders);\n    this.#opts = {\n      captureRawFrames: options.captureRawFrames ?? false,\n      maxRawFrames: options.maxRawFrames ?? DEFAULT_MAX_RAW_FRAMES,\n      refreshIntervalMs: options.refreshIntervalMs ?? DEFAULT_REFRESH_INTERVAL_MS,\n    };\n    // Bound listeners stored once so `off()` removes the EXACT same reference.\n    this.#onProperty = (e): void => {\n      this.#acc.record(e.siid, e.piid, e.value, Date.now());\n      this.#pushRaw('mqtt:property', e);\n    };\n    this.#onEvent = (e): void => {\n      this.#events.push({\n        at: Date.now(),\n        type: `${e.siid}.${e.eiid}`,\n        data: { arguments: e.arguments },\n      });\n      this.#pushRaw('mqtt:event', e);\n    };\n  }\n\n  /** Attach to the live stream + arm the periodic shadow refresh. Idempotent. */\n  async start(): Promise<void> {\n    if (this.#started) {\n      return;\n    }\n    this.#started = true;\n    this.#startedAt = Date.now();\n    this.#device.on('propertyChanged', this.#onProperty);\n    this.#device.on('event', this.#onEvent);\n    await this.#refresh();\n    if (this.#opts.refreshIntervalMs > 0 && this.#device.refreshFromCache) {\n      this.#timer = setInterval(() => void this.#refresh(), this.#opts.refreshIntervalMs);\n      this.#timer.unref?.();\n    }\n  }\n\n  /** Detach every listener + clear the timer. Idempotent. */\n  stop(): Promise<void> {\n    if (!this.#started) {\n      return Promise.resolve();\n    }\n    this.#started = false;\n    if (this.#timer) {\n      clearInterval(this.#timer);\n      this.#timer = null;\n    }\n    this.#device.off('propertyChanged', this.#onProperty);\n    this.#device.off('event', this.#onEvent);\n    return Promise.resolve();\n  }\n\n  /** Build the anonymized, schema-valid dump. Works live or after {@link stop}. */\n  export(): DeviceDump {\n    const now = Date.now();\n    const dump: DeviceDump = {\n      schemaVersion: 1,\n      library: 'nodedreame',\n      libraryVersion: LIBRARY_VERSION,\n      device: {\n        model: this.#device.model,\n        type: this.#type,\n      },\n      observations: {\n        properties: this.#acc.snapshot(),\n        events: [...this.#events],\n        ...(this.#opts.captureRawFrames ? { rawFrames: this.#redactFrames() } : {}),\n      },\n      catalog: this.#catalog,\n      meta: {\n        startedAt: this.#startedAt,\n        durationMs: Math.max(0, now - this.#startedAt),\n        generatedAt: now,\n      },\n    };\n    // redact(dump) returns `unknown`; DeviceDumpSchema.parse re-types it back to\n    // DeviceDump with ZERO cast (Zod's parse return type IS DeviceDump).\n    const anonymized = redact(dump);\n    return DeviceDumpSchema.parse(anonymized);\n  }\n\n  /** Deterministic pretty JSON of {@link export}. */\n  exportJson(): string {\n    return JSON.stringify(this.export(), null, 2);\n  }\n\n  async #refresh(): Promise<void> {\n    if (this.#device.refreshFromCache) {\n      try {\n        await this.#device.refreshFromCache();\n      } catch {\n        // read-only best-effort — a shadow-read failure must never crash a dump.\n      }\n    }\n  }\n\n  #pushRaw(source: string, payload: unknown): void {\n    if (!this.#opts.captureRawFrames) {\n      return;\n    }\n    this.#rawFrames.push({ at: Date.now(), source, payload });\n    if (this.#rawFrames.length > this.#opts.maxRawFrames) {\n      this.#rawFrames.shift();\n    }\n  }\n\n  #redactFrames(): RawFrame[] {\n    return this.#rawFrames.map((f) => ({ at: f.at, source: f.source, payload: redact(f.payload) }));\n  }\n}\n\n/**\n * The device family. A real device is classified by `instanceof`; a non-device\n * target (e.g. a test fake) falls back to its `model` prefix so the\n * family-correct decoder table/type still applies. Unknown → `'device'`.\n */\nfunction familyOf(device: DumperDevice): 'vacuum' | 'mower' | 'device' {\n  if (device instanceof VacuumDevice) {\n    return 'vacuum';\n  }\n  if (device instanceof MowerDevice) {\n    return 'mower';\n  }\n  if (!(device instanceof BaseDevice)) {\n    if (device.model.startsWith('dreame.vacuum.')) {\n      return 'vacuum';\n    }\n    if (device.model.startsWith('dreame.mower.')) {\n      return 'mower';\n    }\n  }\n  return 'device';\n}\n\nfunction decodersFor(device: DumperDevice): Record<string, KeyDecoder> {\n  switch (familyOf(device)) {\n    case 'vacuum':\n      return vacuumDecoders();\n    case 'mower':\n      return mowerDecoders();\n    default:\n      return {};\n  }\n}\n\nfunction typeFor(device: DumperDevice): string {\n  return familyOf(device);\n}\n\nfunction catalogFor(device: DumperDevice): DeviceDump['catalog'] {\n  // Family-based: a real device is classified by `instanceof` inside familyOf, a\n  // test fake by model prefix. Equivalent to buildCatalog for a real BaseDevice,\n  // but avoids re-narrowing to the generic BaseDevice<any>.\n  return {\n    commands: commandsForFamily(familyOf(device)),\n    capabilities: { tokens: [...device.capabilities.list()] },\n  };\n}\n\n/**\n * Create a read-only {@link Dumper} for one device. The family-correct decoder\n * table + catalog + `device.type` are chosen via cast-free `instanceof` checks;\n * an unknown family records values with no enum/unmapped detection.\n */\nexport function createDumper(target: DumperDevice, options?: DumperOptions): Dumper {\n  return new Dumper(\n    target,\n    catalogFor(target),\n    typeFor(target),\n    decodersFor(target),\n    options ?? {},\n  );\n}\n\n/**\n * Fan-out: one {@link Dumper} per discovered device on a {@link Nodreame} client\n * (read-only). Each `BaseDevice` structurally satisfies {@link DumperDevice}.\n */\nexport function createClientDumper(client: Nodreame, options?: DumperOptions): Dumper[] {\n  return client.devices.map((d) => createDumper(d, options));\n}\n","/**\n * Parsers for the robot's on-device AI detections, pushed as camera-service\n * properties (subscribe to `propertyChanged` for SIID 10001):\n *   - piid 110 (`personFollow` / PERSON_DATA): a tracked-person bounding box\n *   - piid 112 (`videoObstacleData`): a list of obstacle boxes\n *\n * The overlay for obstacle boxes is gated on `set_properties siid 28 piid 13 = 1`.\n * Payloads are JSON strings; these parsers are lenient (return `null` on garbage)\n * and normalize timestamps (the device reports nanoseconds).\n */\n\n/** A normalized detection box. Coordinates are passed through as-reported. */\nexport interface DetectionBox {\n  readonly x: number;\n  readonly y: number;\n  readonly w: number;\n  readonly h: number;\n  /** Optional label/class if the payload carries one. */\n  readonly label?: string;\n  /** Optional confidence if the payload carries one. */\n  readonly score?: number;\n}\n\nexport interface PersonFollowDetection {\n  /** Detection time in epoch milliseconds (converted from the device's ns). */\n  readonly timestampMs: number;\n  readonly box: DetectionBox | null;\n}\n\nexport interface ObstacleDetection {\n  readonly timestampMs: number;\n  readonly boxes: readonly DetectionBox[];\n}\n\nconst asRecord = (value: unknown): Record<string, unknown> | null => {\n  if (typeof value === 'string') {\n    try {\n      const parsed: unknown = JSON.parse(value);\n      return parsed && typeof parsed === 'object' ? (parsed as Record<string, unknown>) : null;\n    } catch {\n      return null;\n    }\n  }\n  return value && typeof value === 'object' ? (value as Record<string, unknown>) : null;\n};\n\nconst num = (v: unknown): number | undefined => (typeof v === 'number' && Number.isFinite(v) ? v : undefined);\n\n/** Device timestamps are nanoseconds; scale to ms (leave already-ms values alone). */\nconst toMs = (raw: unknown): number => {\n  const n = num(raw);\n  if (n === undefined) return Date.now();\n  // Heuristic: > 1e15 is almost certainly nanoseconds.\n  return n > 1e15 ? Math.round(n / 1e6) : n;\n};\n\n/** Read a box from either an array `[x,y,w,h]` or an object `{x,y,w,h,...}`. */\nconst toBox = (raw: unknown): DetectionBox | null => {\n  if (Array.isArray(raw) && raw.length >= 4) {\n    const [x, y, w, h] = raw;\n    if ([x, y, w, h].every((v) => num(v) !== undefined)) {\n      return { x: x as number, y: y as number, w: w as number, h: h as number };\n    }\n    return null;\n  }\n  const r = asRecord(raw);\n  if (!r) return null;\n  const x = num(r['x']);\n  const y = num(r['y']);\n  const w = num(r['w']) ?? num(r['width']);\n  const h = num(r['h']) ?? num(r['height']);\n  if (x === undefined || y === undefined || w === undefined || h === undefined) return null;\n  const label = typeof r['label'] === 'string' ? (r['label'] as string) : undefined;\n  const score = num(r['score']) ?? num(r['confidence']);\n  return { x, y, w, h, ...(label !== undefined ? { label } : {}), ...(score !== undefined ? { score } : {}) };\n};\n\n/** Parse a `personFollow` (piid 110) payload into a normalized detection. */\nexport function parsePersonFollow(value: unknown): PersonFollowDetection | null {\n  const r = asRecord(value);\n  if (!r) return null;\n  return {\n    timestampMs: toMs(r['timestamp'] ?? r['time']),\n    box: toBox(r['bbox'] ?? r['box']),\n  };\n}\n\n/** Parse a `videoObstacleData` (piid 112) payload into normalized boxes. */\nexport function parseObstacleData(value: unknown): ObstacleDetection | null {\n  const r = asRecord(value);\n  if (!r) return null;\n  const list = r['boxlist'] ?? r['boxes'] ?? r['boxList'];\n  const boxes: DetectionBox[] = [];\n  if (Array.isArray(list)) {\n    for (const item of list) {\n      const box = toBox(item);\n      if (box) boxes.push(box);\n    }\n  }\n  return { timestampMs: toMs(r['timestamp'] ?? r['time']), boxes };\n}\n","/**\n * Minimal Node RTMP client that replicates the Aliyun LinkVisual viewer (\"private mode\" librtmp)\n * exactly as observed on the wire (findings/dreame.pcap, findings/dr3.pcap — client->relay bytes,\n * VERIFIED) and in liblvmedia.so / liblvrtmp.so (VERIFIED by disassembly).\n *\n * Wire sequence (all four written back-to-back, BEFORE any server byte is read — like the app):\n *   C0 = 0x04, C1 = [uptime_ms u32][0 0 0 0][1528 random]           (no C2 is ever sent)\n *   connect      (txn 1, csid 3, msid 0, fmt 0) {app, tcUrl, fpad:false, capabilities:15,\n *                 audioCodecs:3191, videoCodecs:252, videoFunction:1}   — no flashVer, no objectEncoding\n *   play         (txn 2, csid 8, msid 1, fmt 0) null, <playpath>, -1000  — NO createStream (msid fixed = 1)\n *   onStatus     (txn 3, csid 3, fmt 1) null, {level:\"status\", code:\"NetStream.RequestAudioType\",\n *                 description:\"desc\", audio_type:\"1\"}\n * Then the server answers S0(0x04)+S1(1536) followed directly by RTMP messages (no S2), chunked with an\n * implicit 60000-byte chunk size. After the first server message is processed the app sends\n *   onStatus     (txn 4, csid 3, fmt 1) null, {level:\"status\", code:\"NetStream.Ping.Start\", description:\"desc\"}\n * and repeats it every 30 s (CStreamUnit::ProcessRtmpStream). The client never replies to server onStatus.\n *\n * What is ASSUMED (not observable in the pcaps, which lack the server->client direction): that the\n * server sends onStatus NetStream.Play.Start (librtmp requires it before accepting media), and that this\n * exact sequence — rather than one specific element of it — is what makes the robot publish VIDEO.\n */\nimport net from 'node:net';\nimport { EventEmitter } from 'node:events';\nimport { randomBytes } from 'node:crypto';\nimport { amfBoolean, amfNull, amfNumber, amfObject, amfString, decodeAmf0, type AmfValue } from './amf0.js';\nimport { ChunkReader, MSG, PRIVATE_MODE_CHUNK_SIZE, encodeMessage, type RtmpMessage } from './chunk.js';\nimport {\n  aacSampleRate, aacToAdts, avccToAnnexB, parseAacConfig, parseAudioTag, parseAvcConfig, parseVideoTag,\n  type AacConfig, type AvcConfig,\n} from './flv.js';\n\nexport const LV_STATUS = {\n  REQUEST_AUDIO_TYPE: 'NetStream.RequestAudioType',\n  FORCE_IFRAME_START: 'NetStream.ForceIFrame.Start',\n  PING_START: 'NetStream.Ping.Start',\n  PING_RESPONSE: 'NetStream.Ping.Response',\n  PRE_CONNECT: 'NetStream.PreConnect',\n  KEEPALIVE: 'NetStream.Keepalive',\n  SERVER_INFO: 'NetStream.ServerInfo',\n  TRANSFER_DATA: 'NetStream.TransferData',\n  PLAY_START: 'NetStream.Play.Start',\n  /** Server signals the talk (intercom uplink) channel is ready. */\n  TALK_READY: 'NetStream.TalkReady',\n} as const;\n\n/**\n * FLV audio tag header byte for the intercom uplink: G.711 A-law, 8 kHz, 16-bit,\n * mono — `(7<<4)|(0<<2)|(1<<1)|0` = 0x72. Verified against liblvmedia SetTalkInfo.\n */\nexport const TALK_AUDIO_HEADER_G711A = 0x72;\n\n/** librtmp constants observed in the app's connect (RTMP_Connect1/SendConnectPacket). */\nconst CONNECT_CAPABILITIES = 15;\nconst CONNECT_AUDIO_CODECS = 3191;\nconst CONNECT_VIDEO_CODECS = 252;\nconst CONNECT_VIDEO_FUNCTION = 1;\nconst PLAY_START_LIVE = -1000; // RTMP_LF_LIVE -> start = -1000\nconst HANDSHAKE_C0_PRIVATE = 0x04;\nconst HANDSHAKE_S0S1_LEN = 1537;\nconst DEFAULT_PING_INTERVAL_MS = 30_000; // ProcessRtmpStream: 30000\nconst DEFAULT_CACHE_DURATION_MS = 3000; // app: \"&cacheDuration=3000\"\nconst ACK_THRESHOLD_BYTES = 250_000; // librtmp: m_nClientBW(2500000)/10\nconst CSID_CONTROL = 2;\nconst CSID_COMMAND = 3;\nconst CSID_TALK = 4; // intercom uplink audio (liblvmedia IOT_RTMP_SendAudio)\nconst CSID_PLAY = 8;\nconst PLAY_STREAM_ID = 1; // RTMP_InitPrivateConfig: m_stream_id = 1\n\nexport interface StatusEvent {\n  code: string;\n  level: string;\n  description: string;\n  fields: { [key: string]: AmfValue };\n  transactionId: number;\n}\n\nexport interface VideoAccessUnitEvent {\n  data: Buffer; // Annex-B access unit (SPS/PPS prepended on keyframes)\n  isKeyframe: boolean;\n  videoType: 'H264';\n  microseconds: number;\n  time?: number;\n}\n\nexport interface AudioInfoEvent {\n  codec: 'aac' | 'g711a' | 'g711u' | 'unknown';\n  sampleRate: number;\n  channels: number;\n}\n\nexport interface LvRtmpClientOptions {\n  /** relayUrl from stream/query, e.g. rtmp://host:8000/live?token=..&session=../<key>_0 */\n  url: string;\n  /** Appended to app/tcUrl as \"&cacheDuration=N\" when not already present (the app always sends 3000). */\n  cacheDurationMs?: number;\n  /** Send the onStatus NetStream.RequestAudioType {audio_type:\"1\"} right after play (app does). */\n  requestAudioType?: boolean;\n  /** Send NetStream.Ping.Start after the first server message and then periodically (app does). */\n  ping?: boolean;\n  pingIntervalMs?: number;\n  /** Also send NetStream.ForceIFrame.Start once playing (the app sends it when it starts an MP4 record). */\n  forceIFrameOnStart?: boolean;\n  connectTimeoutMs?: number;\n  log?: (line: string) => void;\n}\n\ninterface Endpoint {\n  host: string;\n  port: number;\n  app: string;\n  tcUrl: string;\n  playpath: string;\n}\n\n/**\n * Split like librtmp/ffmpeg do: playpath = last path segment, app = everything between host and it\n * (query string included). Verified against the app's connect/play in both pcaps.\n */\nexport function parseRelayUrl(url: string, cacheDurationMs: number): Endpoint {\n  const m = /^rtmp:\\/\\/([^/:]+)(?::(\\d+))?\\/(.*)$/.exec(url);\n  if (!m) throw new Error(`not an rtmp:// url: ${url}`);\n  const host = m[1]!;\n  const port = m[2] ? Number(m[2]) : 1935;\n  const path = m[3]!;\n  const slash = path.lastIndexOf('/');\n  if (slash < 0) throw new Error(`relay url has no playpath: ${url}`);\n  let app = path.slice(0, slash);\n  const playpath = path.slice(slash + 1);\n  if (!/[?&]cacheDuration=/.test(app)) app += `${app.includes('?') ? '&' : '?'}cacheDuration=${cacheDurationMs}`;\n  return { host, port, app, playpath, tcUrl: `rtmp://${host}:${port}/${app}` };\n}\n\ntype Events = {\n  connected: [];\n  status: [StatusEvent];\n  command: [string, AmfValue[]];\n  metadata: [{ [key: string]: AmfValue }];\n  audio: [{ timestamp: number; body: Buffer }];\n  video: [{ timestamp: number; body: Buffer }];\n  videoAccessUnit: [VideoAccessUnitEvent];\n  audioFrame: [Buffer];\n  audioInfo: [AudioInfoEvent];\n  error: [Error];\n  close: [];\n};\n\nexport class LvRtmpClient extends EventEmitter<Events> {\n  private readonly opts: Required<Omit<LvRtmpClientOptions, 'log'>> & { log: (line: string) => void };\n  private readonly endpoint: Endpoint;\n  private socket: net.Socket | null = null;\n  private handshakeBuf: Buffer = Buffer.alloc(0);\n  private handshakeDone = false;\n  private c1Time = 0;\n  private reader = new ChunkReader(PRIVATE_MODE_CHUNK_SIZE);\n  private transactionId = 0;\n  private bytesIn = 0;\n  private bytesAcked = 0;\n  private ackWindow = ACK_THRESHOLD_BYTES;\n  private pingTimer: NodeJS.Timeout | null = null;\n  private firstMessageSeen = false;\n  private avcConfig: AvcConfig | null = null;\n  private aacConfig: AacConfig | null = null;\n  private closed = false;\n\n  constructor(options: LvRtmpClientOptions) {\n    super();\n    this.opts = {\n      url: options.url,\n      cacheDurationMs: options.cacheDurationMs ?? DEFAULT_CACHE_DURATION_MS,\n      requestAudioType: options.requestAudioType ?? true,\n      ping: options.ping ?? true,\n      pingIntervalMs: options.pingIntervalMs ?? DEFAULT_PING_INTERVAL_MS,\n      forceIFrameOnStart: options.forceIFrameOnStart ?? false,\n      connectTimeoutMs: options.connectTimeoutMs ?? 10_000,\n      log: options.log ?? (() => {}),\n    };\n    this.endpoint = parseRelayUrl(this.opts.url, this.opts.cacheDurationMs);\n  }\n\n  /** Open TCP, write C0+C1 and the pipelined connect/play/RequestAudioType. Resolves once written. */\n  connect(): Promise<void> {\n    return new Promise((resolve, reject) => {\n      const sock = net.createConnection({ host: this.endpoint.host, port: this.endpoint.port });\n      this.socket = sock;\n      sock.setNoDelay(true);\n      sock.setTimeout(this.opts.connectTimeoutMs, () => { if (!this.handshakeDone) this.fail(new Error('handshake timeout')); });\n      sock.once('error', (err) => { this.emit('error', err); reject(err); });\n      sock.on('data', (d) => this.onData(d));\n      sock.on('close', () => this.onClose());\n      sock.once('connect', () => {\n        this.opts.log(`tcp connected ${this.endpoint.host}:${this.endpoint.port}`);\n        sock.write(Buffer.concat([this.buildC0C1(), ...this.buildOpeningSequence()]));\n        this.emit('connected');\n        resolve();\n      });\n    });\n  }\n\n  close(): void {\n    this.closed = true;\n    if (this.pingTimer) clearInterval(this.pingTimer);\n    this.pingTimer = null;\n    this.socket?.destroy();\n  }\n\n  /** onStatus encoder — byte-exact replica of liblvmedia IOT_RTMP_SendMessage (csid 3, fmt 1, ts 0). */\n  buildStatus(code: string, extra?: readonly [string, string]): Buffer {\n    const pairs: Array<readonly [string, Buffer]> = [\n      ['level', amfString('status')],\n      ['code', amfString(code)],\n      ['description', amfString('desc')],\n    ];\n    if (extra) pairs.push([extra[0], amfString(extra[1])]);\n    const body = Buffer.concat([amfString('onStatus'), amfNumber(++this.transactionId), amfNull(), amfObject(pairs)]);\n    return encodeMessage({ fmt: 1, csid: CSID_COMMAND, type: MSG.COMMAND_AMF0, body });\n  }\n\n  sendStatus(code: string, extra?: readonly [string, string]): void {\n    this.write(this.buildStatus(code, extra));\n    this.opts.log(`>> onStatus ${code}${extra ? ` ${extra[0]}=${extra[1]}` : ''} (txn ${this.transactionId})`);\n  }\n\n  forceIFrame(): void {\n    this.sendStatus(LV_STATUS.FORCE_IFRAME_START);\n  }\n\n  // ---------------------------------------------------------------- outgoing\n\n  private buildC0C1(): Buffer {\n    this.c1Time = Math.floor(performance.now()) >>> 0;\n    const c1 = Buffer.alloc(1536);\n    c1.writeUInt32BE(this.c1Time, 0);\n    c1.writeUInt32BE(0, 4);\n    randomBytes(1528).copy(c1, 8);\n    return Buffer.concat([Buffer.from([HANDSHAKE_C0_PRIVATE]), c1]);\n  }\n\n  private buildConnect(): Buffer {\n    const obj = amfObject([\n      ['app', amfString(this.endpoint.app)],\n      ['tcUrl', amfString(this.endpoint.tcUrl)],\n      ['fpad', amfBoolean(false)],\n      ['capabilities', amfNumber(CONNECT_CAPABILITIES)],\n      ['audioCodecs', amfNumber(CONNECT_AUDIO_CODECS)],\n      ['videoCodecs', amfNumber(CONNECT_VIDEO_CODECS)],\n      ['videoFunction', amfNumber(CONNECT_VIDEO_FUNCTION)],\n    ]);\n    const body = Buffer.concat([amfString('connect'), amfNumber(++this.transactionId), obj]);\n    return encodeMessage({ fmt: 0, csid: CSID_COMMAND, msid: 0, type: MSG.COMMAND_AMF0, body });\n  }\n\n  private buildPlay(): Buffer {\n    const body = Buffer.concat([\n      amfString('play'), amfNumber(++this.transactionId), amfNull(), amfString(this.endpoint.playpath), amfNumber(PLAY_START_LIVE),\n    ]);\n    return encodeMessage({ fmt: 0, csid: CSID_PLAY, msid: PLAY_STREAM_ID, type: MSG.COMMAND_AMF0, body });\n  }\n\n  /** Exposed for the byte-exact self-test against the pcap. */\n  buildOpeningSequence(): Buffer[] {\n    const seq = [this.buildConnect(), this.buildPlay()];\n    if (this.opts.requestAudioType) seq.push(this.buildStatus(LV_STATUS.REQUEST_AUDIO_TYPE, ['audio_type', '1']));\n    return seq;\n  }\n\n  /**\n   * Push one intercom (talk-back) audio frame UPSTREAM to the device — an RTMP\n   * type-8 audio message on the talk chunk stream (csid 4, msid 1), exactly as\n   * liblvmedia's `IOT_RTMP_SendAudio` does. `payload` is the raw codec audio\n   * (default framing = G.711 A-law); `tsMs` is a running millisecond timestamp.\n   * Only meaningful after the server sends {@link LV_STATUS.TALK_READY}.\n   */\n  sendAudioFrame(payload: Buffer, tsMs: number, header: number = TALK_AUDIO_HEADER_G711A): void {\n    const body = Buffer.concat([Buffer.from([header]), payload]);\n    this.write(\n      encodeMessage({ fmt: 0, csid: CSID_TALK, msid: PLAY_STREAM_ID, timestamp: tsMs >>> 0, type: MSG.AUDIO, body }),\n    );\n  }\n\n  private write(buf: Buffer): void {\n    if (!this.socket || this.socket.destroyed) return;\n    this.socket.write(buf);\n  }\n\n  private sendAck(): void {\n    const b = Buffer.alloc(4);\n    b.writeUInt32BE(this.bytesIn >>> 0, 0);\n    this.write(encodeMessage({ fmt: 0, csid: CSID_CONTROL, msid: 0, type: MSG.ACK, body: b }));\n    this.bytesAcked = this.bytesIn;\n  }\n\n  private sendPingResponse(serverTs: Buffer): void {\n    const body = Buffer.concat([Buffer.from([0, 7]), serverTs]);\n    this.write(encodeMessage({ fmt: 0, csid: CSID_CONTROL, msid: 0, type: MSG.USER_CONTROL, body }));\n  }\n\n  private startPinging(): void {\n    if (!this.opts.ping || this.pingTimer) return;\n    this.sendStatus(LV_STATUS.PING_START);\n    this.pingTimer = setInterval(() => this.sendStatus(LV_STATUS.PING_START), this.opts.pingIntervalMs);\n  }\n\n  // ---------------------------------------------------------------- incoming\n\n  private onData(data: Buffer): void {\n    this.bytesIn += data.length;\n    let payload = data;\n    if (!this.handshakeDone) {\n      this.handshakeBuf = Buffer.concat([this.handshakeBuf, data]);\n      if (this.handshakeBuf.length < HANDSHAKE_S0S1_LEN) return;\n      this.onHandshake(this.handshakeBuf.subarray(0, HANDSHAKE_S0S1_LEN));\n      payload = this.handshakeBuf.subarray(HANDSHAKE_S0S1_LEN);\n      this.handshakeBuf = Buffer.alloc(0);\n      this.handshakeDone = true;\n      if (payload.length === 0) return;\n    }\n    let messages: RtmpMessage[];\n    try {\n      messages = this.reader.feed(payload);\n    } catch (err) {\n      this.fail(err instanceof Error ? err : new Error(String(err)));\n      return;\n    }\n    for (const m of messages) this.dispatch(m);\n    if (this.bytesIn - this.bytesAcked >= this.ackWindow) this.sendAck();\n  }\n\n  private onHandshake(s0s1: Buffer): void {\n    const s0 = s0s1[0]!;\n    const serverTime = s0s1.readUInt32BE(1);\n    const zero = s0s1.readUInt32BE(5);\n    this.opts.log(`<< S0=0x${s0.toString(16)} S1.time=${serverTime} S1.zero=0x${zero.toString(16)} (client sent 0x04; app logs a mismatch but continues)`);\n    // Robustness: a standards-mode server might append S2 (echo of our C1). liblvrtmp never reads one;\n    // detect it anyway so we do not desync if the relay behaves differently for us.\n    // (Handled lazily in dispatch: if the first \"chunk\" looks like our C1 echo we skip 1536 bytes.)\n  }\n\n  private dispatch(m: RtmpMessage): void {\n    if (!this.firstMessageSeen) {\n      this.firstMessageSeen = true;\n      this.startPinging(); // ProcessRtmpStream sends Ping.Start right after processing the first packet\n    }\n    switch (m.type) {\n      case MSG.SET_CHUNK_SIZE: {\n        const size = m.body.readUInt32BE(0) & 0x7fffffff;\n        this.opts.log(`<< SetChunkSize ${size}`);\n        this.reader.chunkSize = size;\n        return;\n      }\n      case MSG.WINDOW_ACK_SIZE:\n        this.ackWindow = Math.min(ACK_THRESHOLD_BYTES, m.body.readUInt32BE(0));\n        this.opts.log(`<< WindowAckSize ${m.body.readUInt32BE(0)}`);\n        return;\n      case MSG.SET_PEER_BW:\n        this.opts.log(`<< SetPeerBandwidth ${m.body.readUInt32BE(0)} limit=${m.body[4]}`);\n        return;\n      case MSG.ACK:\n      case MSG.ABORT:\n        return;\n      case MSG.USER_CONTROL:\n        return this.onUserControl(m.body);\n      case MSG.COMMAND_AMF0:\n        return this.onCommand(m);\n      case MSG.DATA_AMF0:\n        return this.onDataMessage(m.body);\n      case MSG.AUDIO:\n        return this.onAudio(m);\n      case MSG.VIDEO:\n        return this.onVideo(m);\n      default:\n        this.opts.log(`<< unknown message type ${m.type} len=${m.body.length}`);\n    }\n  }\n\n  private onUserControl(body: Buffer): void {\n    const event = body.readUInt16BE(0);\n    const names: { [k: number]: string } = { 0: 'StreamBegin', 1: 'StreamEOF', 2: 'StreamDry', 4: 'StreamIsRecorded', 6: 'PingRequest', 7: 'PingResponse' };\n    this.opts.log(`<< UserControl ${names[event] ?? event} ${body.subarray(2).toString('hex')}`);\n    if (event === 6) this.sendPingResponse(body.subarray(2, 6));\n  }\n\n  private onCommand(m: RtmpMessage): void {\n    let values: AmfValue[];\n    try {\n      values = decodeAmf0(m.body);\n    } catch (err) {\n      this.opts.log(`<< undecodable command: ${m.body.toString('hex')}`);\n      return;\n    }\n    const [name, txn, , info] = values;\n    this.opts.log(`<< ${String(name)} ${JSON.stringify(values.slice(1))}`);\n    this.emit('command', String(name), values);\n    if (name === 'onStatus' && info && typeof info === 'object' && !Array.isArray(info)) {\n      const fields = info as { [key: string]: AmfValue };\n      this.emit('status', {\n        code: String(fields.code ?? ''),\n        level: String(fields.level ?? ''),\n        description: String(fields.description ?? ''),\n        fields,\n        transactionId: typeof txn === 'number' ? txn : 0,\n      });\n      if (fields.code === LV_STATUS.PLAY_START && this.opts.forceIFrameOnStart) this.forceIFrame();\n    }\n  }\n\n  private onDataMessage(body: Buffer): void {\n    try {\n      const values = decodeAmf0(body);\n      this.opts.log(`<< data ${JSON.stringify(values).slice(0, 300)}`);\n      const obj = values.find((v) => v && typeof v === 'object' && !Array.isArray(v));\n      if (obj) this.emit('metadata', obj as { [key: string]: AmfValue });\n    } catch {\n      this.opts.log(`<< undecodable data message len=${body.length}`);\n    }\n  }\n\n  private onAudio(m: RtmpMessage): void {\n    this.emit('audio', { timestamp: m.timestamp, body: m.body });\n    const tag = parseAudioTag(m.body);\n    if (!tag) return;\n    if (tag.soundFormat === 10) {\n      if (tag.aacPacketType === 0) {\n        this.aacConfig = parseAacConfig(tag.data);\n        this.emit('audioInfo', { codec: 'aac', sampleRate: aacSampleRate(this.aacConfig), channels: this.aacConfig.channelConfiguration });\n        return;\n      }\n      if (this.aacConfig) this.emit('audioFrame', aacToAdts(tag.data, this.aacConfig));\n      return;\n    }\n    if (tag.soundFormat === 7 || tag.soundFormat === 8) {\n      if (!this.aacConfig) this.emit('audioInfo', { codec: tag.soundFormat === 7 ? 'g711a' : 'g711u', sampleRate: 8000, channels: 1 });\n      this.emit('audioFrame', tag.data);\n      return;\n    }\n    this.emit('audioInfo', { codec: 'unknown', sampleRate: 0, channels: tag.channels });\n  }\n\n  private onVideo(m: RtmpMessage): void {\n    this.emit('video', { timestamp: m.timestamp, body: m.body });\n    const tag = parseVideoTag(m.body);\n    if (!tag || tag.codecId !== 7) return;\n    if (tag.avcPacketType === 0) {\n      this.avcConfig = parseAvcConfig(tag.data);\n      return;\n    }\n    if (tag.avcPacketType !== 1 || !this.avcConfig) return;\n    const isKeyframe = tag.frameType === 1;\n    this.emit('videoAccessUnit', {\n      data: avccToAnnexB(tag.data, this.avcConfig, isKeyframe),\n      isKeyframe,\n      videoType: 'H264',\n      microseconds: m.timestamp * 1000,\n      time: m.timestamp + tag.compositionTime,\n    });\n  }\n\n  private fail(err: Error): void {\n    this.opts.log(`!! ${err.message}`);\n    this.emit('error', err);\n    this.close();\n  }\n\n  private onClose(): void {\n    if (this.pingTimer) clearInterval(this.pingTimer);\n    this.pingTimer = null;\n    if (!this.closed) this.opts.log('socket closed by peer');\n    this.closed = true;\n    this.emit('close');\n  }\n}\n","/**\n * Minimal AMF0 encoder/decoder — only the types LinkVisual's librtmp uses\n * (number, boolean, string, object, null, ecma-array, strict-array, long string).\n * Erasable-syntax TypeScript: runs directly under Node >= 22.6 (`node file.ts`).\n */\n\nexport const AMF0 = {\n  NUMBER: 0x00,\n  BOOLEAN: 0x01,\n  STRING: 0x02,\n  OBJECT: 0x03,\n  NULL: 0x05,\n  UNDEFINED: 0x06,\n  ECMA_ARRAY: 0x08,\n  OBJECT_END: 0x09,\n  STRICT_ARRAY: 0x0a,\n  LONG_STRING: 0x0c,\n} as const;\n\nexport type AmfValue = number | boolean | string | null | undefined | AmfValue[] | { [key: string]: AmfValue };\n\nexport function amfNumber(n: number): Buffer {\n  const b = Buffer.alloc(9);\n  b[0] = AMF0.NUMBER;\n  b.writeDoubleBE(n, 1);\n  return b;\n}\n\nexport function amfBoolean(v: boolean): Buffer {\n  return Buffer.from([AMF0.BOOLEAN, v ? 1 : 0]);\n}\n\nexport function amfString(s: string): Buffer {\n  const str = Buffer.from(s, 'utf8');\n  const b = Buffer.alloc(3 + str.length);\n  b[0] = AMF0.STRING;\n  b.writeUInt16BE(str.length, 1);\n  str.copy(b, 3);\n  return b;\n}\n\nexport function amfNull(): Buffer {\n  return Buffer.from([AMF0.NULL]);\n}\n\n/** Named property: u16 key length + key + encoded value. Order is preserved (matters for byte-exactness). */\nfunction amfNamed(key: string, value: Buffer): Buffer {\n  const k = Buffer.from(key, 'utf8');\n  const b = Buffer.alloc(2 + k.length);\n  b.writeUInt16BE(k.length, 0);\n  k.copy(b, 2);\n  return Buffer.concat([b, value]);\n}\n\n/** AMF0 object from an ordered list of [key, encodedValue] pairs. */\nexport function amfObject(pairs: ReadonlyArray<readonly [string, Buffer]>): Buffer {\n  const parts: Buffer[] = [Buffer.from([AMF0.OBJECT])];\n  for (const [k, v] of pairs) parts.push(amfNamed(k, v));\n  parts.push(Buffer.from([0x00, 0x00, AMF0.OBJECT_END]));\n  return Buffer.concat(parts);\n}\n\ninterface DecodeResult {\n  value: AmfValue;\n  next: number;\n}\n\nfunction decodeOne(buf: Buffer, pos: number): DecodeResult {\n  const type = buf[pos];\n  let p = pos + 1;\n  switch (type) {\n    case AMF0.NUMBER:\n      return { value: buf.readDoubleBE(p), next: p + 8 };\n    case AMF0.BOOLEAN:\n      return { value: buf[p] !== 0, next: p + 1 };\n    case AMF0.STRING: {\n      const len = buf.readUInt16BE(p);\n      return { value: buf.toString('utf8', p + 2, p + 2 + len), next: p + 2 + len };\n    }\n    case AMF0.LONG_STRING: {\n      const len = buf.readUInt32BE(p);\n      return { value: buf.toString('utf8', p + 4, p + 4 + len), next: p + 4 + len };\n    }\n    case AMF0.NULL:\n      return { value: null, next: p };\n    case AMF0.UNDEFINED:\n      return { value: undefined, next: p };\n    case AMF0.ECMA_ARRAY:\n    case AMF0.OBJECT: {\n      if (type === AMF0.ECMA_ARRAY) p += 4; // associative count, then same as object\n      const obj: { [key: string]: AmfValue } = {};\n      for (;;) {\n        const klen = buf.readUInt16BE(p);\n        if (klen === 0 && buf[p + 2] === AMF0.OBJECT_END) return { value: obj, next: p + 3 };\n        const key = buf.toString('utf8', p + 2, p + 2 + klen);\n        const r = decodeOne(buf, p + 2 + klen);\n        obj[key] = r.value;\n        p = r.next;\n      }\n    }\n    case AMF0.STRICT_ARRAY: {\n      const count = buf.readUInt32BE(p);\n      p += 4;\n      const arr: AmfValue[] = [];\n      for (let i = 0; i < count; i++) {\n        const r = decodeOne(buf, p);\n        arr.push(r.value);\n        p = r.next;\n      }\n      return { value: arr, next: p };\n    }\n    default:\n      throw new Error(`AMF0: unsupported type 0x${(type ?? -1).toString(16)} at ${pos}`);\n  }\n}\n\n/** Decode a whole message body into its top-level values (command name, txid, args...). */\nexport function decodeAmf0(buf: Buffer): AmfValue[] {\n  const out: AmfValue[] = [];\n  let pos = 0;\n  while (pos < buf.length) {\n    const r = decodeOne(buf, pos);\n    out.push(r.value);\n    pos = r.next;\n  }\n  return out;\n}\n","/**\n * RTMP chunk-stream framing (encoder + incremental reader).\n *\n * LinkVisual \"private mode\" facts (liblvrtmp.so RTMP_InitPrivateConfig, VERIFIED by disassembly):\n *   m_inChunkSize = m_outChunkSize = 60000, m_stream_id = 1 — and NO SetChunkSize is exchanged.\n *   Hence: we send every message as a single chunk (all control messages are < 1 KB) and we must\n *   parse inbound chunks with a 60000-byte chunk size from the start (a 128 default would desync).\n */\n\nexport const MSG = {\n  SET_CHUNK_SIZE: 1,\n  ABORT: 2,\n  ACK: 3,\n  USER_CONTROL: 4,\n  WINDOW_ACK_SIZE: 5,\n  SET_PEER_BW: 6,\n  AUDIO: 8,\n  VIDEO: 9,\n  DATA_AMF0: 18,\n  COMMAND_AMF0: 20,\n} as const;\n\nexport const PRIVATE_MODE_CHUNK_SIZE = 60000;\n\nexport interface RtmpMessage {\n  csid: number;\n  msid: number;\n  timestamp: number;\n  type: number;\n  body: Buffer;\n}\n\nexport interface EncodeOptions {\n  /** 0 = 12-byte header (LARGE), 1 = 8-byte header (MEDIUM, msid inherited). Mirrors librtmp m_headerType. */\n  fmt: 0 | 1;\n  csid: number;\n  msid?: number;\n  timestamp?: number;\n  type: number;\n  body: Buffer;\n}\n\nfunction basicHeader(fmt: number, csid: number): Buffer {\n  if (csid < 64) return Buffer.from([(fmt << 6) | csid]);\n  if (csid < 320) return Buffer.from([fmt << 6, csid - 64]);\n  return Buffer.from([(fmt << 6) | 1, (csid - 64) & 0xff, (csid - 64) >> 8]);\n}\n\n/** Encode one message as ONE chunk (no splitting) — exactly what the LinkVisual SDK does on the wire. */\nexport function encodeMessage(o: EncodeOptions): Buffer {\n  if (o.body.length > PRIVATE_MODE_CHUNK_SIZE) {\n    throw new Error(`message body ${o.body.length} exceeds private-mode chunk size ${PRIVATE_MODE_CHUNK_SIZE}`);\n  }\n  const ts = o.timestamp ?? 0;\n  const hdrLen = o.fmt === 0 ? 11 : 7;\n  const hdr = Buffer.alloc(hdrLen);\n  hdr.writeUIntBE(ts >= 0xffffff ? 0xffffff : ts, 0, 3);\n  hdr.writeUIntBE(o.body.length, 3, 3);\n  hdr[6] = o.type;\n  if (o.fmt === 0) hdr.writeUInt32LE(o.msid ?? 0, 7);\n  const ext = ts >= 0xffffff ? (() => { const e = Buffer.alloc(4); e.writeUInt32BE(ts, 0); return e; })() : Buffer.alloc(0);\n  return Buffer.concat([basicHeader(o.fmt, o.csid), hdr, ext, o.body]);\n}\n\ninterface CsidState {\n  timestamp: number;\n  delta: number;\n  length: number;\n  type: number;\n  msid: number;\n  extTs: boolean;\n  partial: Buffer[];\n  received: number;\n}\n\nfunction freshState(): CsidState {\n  return { timestamp: 0, delta: 0, length: 0, type: 0, msid: 0, extTs: false, partial: [], received: 0 };\n}\n\n/**\n * Incremental chunk reader. Feed raw TCP bytes; get complete messages back.\n * Handles fmt 0..3, 1/2/3-byte basic headers, extended timestamps (also on fmt-3\n * continuations, per spec/librtmp), and dynamic chunk-size changes.\n */\nexport class ChunkReader {\n  chunkSize: number;\n  private pending: Buffer = Buffer.alloc(0);\n  private readonly streams = new Map<number, CsidState>();\n\n  constructor(chunkSize: number = PRIVATE_MODE_CHUNK_SIZE) {\n    this.chunkSize = chunkSize;\n  }\n\n  feed(data: Buffer): RtmpMessage[] {\n    this.pending = this.pending.length ? Buffer.concat([this.pending, data]) : data;\n    const out: RtmpMessage[] = [];\n    for (;;) {\n      const consumed = this.tryReadChunk(out);\n      if (consumed === 0) break;\n      this.pending = this.pending.subarray(consumed);\n    }\n    return out;\n  }\n\n  /** Returns bytes consumed for one chunk, or 0 if more data is needed. */\n  private tryReadChunk(out: RtmpMessage[]): number {\n    const buf = this.pending;\n    if (buf.length < 1) return 0;\n    const fmt = buf[0]! >> 6;\n    let csid = buf[0]! & 0x3f;\n    let p = 1;\n    if (csid === 0) { if (buf.length < 2) return 0; csid = 64 + buf[1]!; p = 2; }\n    else if (csid === 1) { if (buf.length < 3) return 0; csid = 64 + buf[1]! + buf[2]! * 256; p = 3; }\n\n    const st = this.streams.get(csid) ?? freshState();\n    const hdrLen = fmt === 0 ? 11 : fmt === 1 ? 7 : fmt === 2 ? 3 : 0;\n    if (buf.length < p + hdrLen) return 0;\n\n    let tsField = 0;\n    if (fmt <= 2) {\n      tsField = buf.readUIntBE(p, 3);\n      if (fmt <= 1) { st.length = buf.readUIntBE(p + 3, 3); st.type = buf[p + 6]!; }\n      if (fmt === 0) st.msid = buf.readUInt32LE(p + 7);\n      st.extTs = tsField === 0xffffff;\n    }\n    p += hdrLen;\n    if (st.extTs) {\n      if (buf.length < p + 4) return 0;\n      tsField = buf.readUInt32BE(p);\n      p += 4;\n    }\n    const startOfMessage = st.received === 0;\n    if (startOfMessage) {\n      if (fmt === 0) { st.timestamp = tsField; st.delta = 0; }\n      else if (fmt <= 2) { st.delta = tsField; st.timestamp += tsField; }\n      else st.timestamp += st.delta; // fmt 3 starting a new message: reuse last delta\n    }\n\n    const take = Math.min(this.chunkSize, st.length - st.received);\n    if (buf.length < p + take) return 0;\n    st.partial.push(Buffer.from(buf.subarray(p, p + take)));\n    st.received += take;\n    if (st.received >= st.length) {\n      out.push({ csid, msid: st.msid, timestamp: st.timestamp, type: st.type, body: Buffer.concat(st.partial) });\n      st.partial = [];\n      st.received = 0;\n    }\n    this.streams.set(csid, st);\n    return p + take;\n  }\n}\n","/**\n * FLV tag payload helpers: AVC (H.264) AVCC -> Annex-B, AAC raw -> ADTS, and an FLV file writer\n * for offline verification (`ffprobe out.flv`).\n */\n\nexport interface VideoTag {\n  frameType: number; // 1 = keyframe, 2 = inter\n  codecId: number; // 7 = AVC\n  avcPacketType: number; // 0 = sequence header, 1 = NALU, 2 = end of sequence\n  compositionTime: number;\n  data: Buffer;\n}\n\nexport interface AudioTag {\n  soundFormat: number; // 10 = AAC, 7 = G.711 A-law, 8 = G.711 mu-law\n  sampleRateIndex: number; // FLV: 0=5.5k 1=11k 2=22k 3=44k (informational for AAC)\n  channels: number; // 1 or 2\n  aacPacketType: number | null; // 0 = AudioSpecificConfig, 1 = raw frame (AAC only)\n  data: Buffer;\n}\n\nexport interface AvcConfig {\n  sps: Buffer[];\n  pps: Buffer[];\n  nalLengthSize: number;\n}\n\nexport interface AacConfig {\n  objectType: number;\n  samplingFrequencyIndex: number;\n  channelConfiguration: number;\n}\n\nconst ANNEXB_START = Buffer.from([0, 0, 0, 1]);\n\nexport function parseVideoTag(body: Buffer): VideoTag | null {\n  if (body.length < 5) return null;\n  const b0 = body[0]!;\n  return {\n    frameType: b0 >> 4,\n    codecId: b0 & 0x0f,\n    avcPacketType: body[1]!,\n    compositionTime: body.readIntBE(2, 3),\n    data: body.subarray(5),\n  };\n}\n\nexport function parseAudioTag(body: Buffer): AudioTag | null {\n  if (body.length < 1) return null;\n  const b0 = body[0]!;\n  const soundFormat = b0 >> 4;\n  const isAac = soundFormat === 10;\n  if (isAac && body.length < 2) return null;\n  return {\n    soundFormat,\n    sampleRateIndex: (b0 >> 2) & 3,\n    channels: (b0 & 1) + 1,\n    aacPacketType: isAac ? body[1]! : null,\n    data: body.subarray(isAac ? 2 : 1),\n  };\n}\n\n/** Parse an AVCDecoderConfigurationRecord (FLV AVC sequence header payload). */\nexport function parseAvcConfig(rec: Buffer): AvcConfig {\n  const nalLengthSize = (rec[4]! & 3) + 1;\n  let p = 5;\n  const sps: Buffer[] = [];\n  const pps: Buffer[] = [];\n  const numSps = rec[p++]! & 0x1f;\n  for (let i = 0; i < numSps; i++) { const n = rec.readUInt16BE(p); sps.push(Buffer.from(rec.subarray(p + 2, p + 2 + n))); p += 2 + n; }\n  const numPps = rec[p++]!;\n  for (let i = 0; i < numPps; i++) { const n = rec.readUInt16BE(p); pps.push(Buffer.from(rec.subarray(p + 2, p + 2 + n))); p += 2 + n; }\n  return { sps, pps, nalLengthSize };\n}\n\n/** Length-prefixed NALUs -> Annex-B. Prepends SPS/PPS when `prependParams` is set (for keyframes). */\nexport function avccToAnnexB(data: Buffer, cfg: AvcConfig, prependParams: boolean): Buffer {\n  const parts: Buffer[] = [];\n  if (prependParams) for (const nal of [...cfg.sps, ...cfg.pps]) parts.push(ANNEXB_START, nal);\n  let p = 0;\n  while (p + cfg.nalLengthSize <= data.length) {\n    const len = data.readUIntBE(p, cfg.nalLengthSize);\n    p += cfg.nalLengthSize;\n    if (len === 0 || p + len > data.length) break;\n    parts.push(ANNEXB_START, data.subarray(p, p + len));\n    p += len;\n  }\n  return Buffer.concat(parts);\n}\n\nexport function parseAacConfig(asc: Buffer): AacConfig {\n  const a0 = asc[0]!;\n  const a1 = asc[1]!;\n  return {\n    objectType: a0 >> 3,\n    samplingFrequencyIndex: ((a0 & 7) << 1) | (a1 >> 7),\n    channelConfiguration: (a1 >> 3) & 0x0f,\n  };\n}\n\nconst AAC_SAMPLE_RATES = [96000, 88200, 64000, 48000, 44100, 32000, 24000, 22050, 16000, 12000, 11025, 8000, 7350];\n\nexport function aacSampleRate(cfg: AacConfig): number {\n  return AAC_SAMPLE_RATES[cfg.samplingFrequencyIndex] ?? 0;\n}\n\n/** Wrap one raw AAC frame in a 7-byte ADTS header. */\nexport function aacToAdts(raw: Buffer, cfg: AacConfig): Buffer {\n  const frameLen = raw.length + 7;\n  const h = Buffer.alloc(7);\n  h[0] = 0xff;\n  h[1] = 0xf1; // MPEG-4, layer 0, no CRC\n  h[2] = ((cfg.objectType - 1) << 6) | (cfg.samplingFrequencyIndex << 2) | (cfg.channelConfiguration >> 2);\n  h[3] = ((cfg.channelConfiguration & 3) << 6) | ((frameLen >> 11) & 3);\n  h[4] = (frameLen >> 3) & 0xff;\n  h[5] = ((frameLen & 7) << 5) | 0x1f;\n  h[6] = 0xfc;\n  return Buffer.concat([h, raw]);\n}\n\n/** Minimal FLV file writer (header + tags) for offline inspection. */\nexport class FlvWriter {\n  private readonly chunks: Buffer[] = [];\n\n  constructor() {\n    const hdr = Buffer.from([0x46, 0x4c, 0x56, 0x01, 0x05, 0, 0, 0, 9, 0, 0, 0, 0]);\n    this.chunks.push(hdr);\n  }\n\n  tag(type: number, timestamp: number, body: Buffer): void {\n    const h = Buffer.alloc(11);\n    h[0] = type;\n    h.writeUIntBE(body.length, 1, 3);\n    h.writeUIntBE(timestamp & 0xffffff, 4, 3);\n    h[7] = (timestamp >> 24) & 0xff;\n    const prev = Buffer.alloc(4);\n    prev.writeUInt32BE(11 + body.length, 0);\n    this.chunks.push(h, body, prev);\n  }\n\n  toBuffer(): Buffer {\n    return Buffer.concat(this.chunks);\n  }\n}\n","/**\n * G.711 A-law codec (ITU-T G.711) — the intercom uplink format for Dreame\n * cameras (8 kHz, mono, 16-bit PCM in). Pure functions, no state.\n */\n\nconst ALAW_SEG_END = [0x1f, 0x3f, 0x7f, 0xff, 0x1ff, 0x3ff, 0x7ff, 0xfff];\n\n/** Encode one 16-bit signed PCM sample to an A-law byte. */\nexport function pcm16ToALaw(sample: number): number {\n  let s = sample;\n  let sign = (~s >> 8) & 0x80; // 0x80 for positive, 0 for negative\n  if (sign === 0) s = -s;\n  if (s > 32635) s = 32635;\n\n  let aval: number;\n  if (s >= 256) {\n    let seg = 7;\n    for (let i = 0; i < 8; i++) {\n      if (s <= ALAW_SEG_END[i]!) {\n        seg = i;\n        break;\n      }\n    }\n    const mantissa = (s >> (seg + 3)) & 0x0f;\n    aval = (seg << 4) | mantissa;\n  } else {\n    aval = s >> 4;\n  }\n  return (aval ^ sign ^ 0x55) & 0xff;\n}\n\n/**\n * Encode a buffer of little-endian 16-bit PCM samples to A-law bytes\n * (one output byte per input sample).\n */\nexport function pcm16leToALaw(pcm: Buffer): Buffer {\n  const count = pcm.length >> 1;\n  const out = Buffer.allocUnsafe(count);\n  for (let i = 0; i < count; i++) {\n    out[i] = pcm16ToALaw(pcm.readInt16LE(i * 2));\n  }\n  return out;\n}\n","/**\n * End-to-end camera media pipeline: autonomously cold-start the LinkVisual\n * monitor, connect to the resulting RTMP relay, and re-emit demuxed elementary\n * frames — H.264 access units (Annex-B, SPS/PPS prepended on keyframes) and AAC\n * (ADTS) — plus lifecycle events.\n *\n * This is the reusable frame feed for any external consumer (scrypted's RFC4571\n * muxer, camstack, a file writer). It owns the {@link DreameCameraController}\n * lifecycle: {@link start} opens the monitor and connects; {@link stop} closes\n * the relay socket and releases the monitor on the device.\n */\nimport { TypedEmitter } from '../../transport/typed-emitter.js';\nimport { DreameError } from '../../transport/errors.js';\nimport type { DreameCameraController } from '../monitor/controller.js';\nimport {\n  LvRtmpClient,\n  LV_STATUS,\n  type AudioInfoEvent,\n  type StatusEvent,\n  type VideoAccessUnitEvent,\n} from './lv-rtmp-client.js';\nimport { pcm16leToALaw } from './g711.js';\n\n/** The subset of {@link LvRtmpClient} the pipeline drives — injectable for tests. */\nexport interface FrameSource {\n  connect(): Promise<void>;\n  close(): void;\n  on(event: 'videoAccessUnit', cb: (e: VideoAccessUnitEvent) => void): void;\n  on(event: 'audioFrame', cb: (buf: Buffer) => void): void;\n  on(event: 'audioInfo', cb: (info: AudioInfoEvent) => void): void;\n  on(event: 'status', cb: (e: StatusEvent) => void): void;\n  on(event: 'error', cb: (err: Error) => void): void;\n  on(event: 'close', cb: () => void): void;\n  /** Push an intercom (talk-back) audio frame upstream. */\n  sendAudioFrame(payload: Buffer, tsMs: number, header?: number): void;\n}\n\n/** Factory for the RTMP frame source; defaults to a real {@link LvRtmpClient}. */\nexport type FrameSourceFactory = (url: string) => FrameSource;\n\nexport interface DreameCameraStreamEvents {\n  /** Emitted once the relay is connected; carries the (single-use) RTMP URL. */\n  started: [{ rtmpUrl: string }];\n  /** One H.264 access unit (Annex-B). */\n  videoAccessUnit: [VideoAccessUnitEvent];\n  /** One audio frame (AAC in ADTS, or raw G.711). */\n  audioFrame: [Buffer];\n  /** Audio format, emitted once known. */\n  audioInfo: [AudioInfoEvent];\n  /** Emitted after the pipeline is fully torn down. */\n  stopped: [];\n  error: [Error];\n  [event: string]: unknown[];\n}\n\nexport interface DreameCameraStreamInput {\n  /** A controller for the target camera (not yet opened). */\n  controller: DreameCameraController;\n  /** Override the RTMP client (tests inject a fake). */\n  clientFactory?: FrameSourceFactory;\n  /** Forwarded to {@link LvRtmpClient}: send NetStream.RequestAudioType after play. */\n  requestAudioType?: boolean;\n  /** Forwarded to {@link LvRtmpClient}: send periodic NetStream.Ping. */\n  ping?: boolean;\n  /** Optional line logger for the RTMP client. */\n  log?: (line: string) => void;\n}\n\nexport class DreameCameraStream extends TypedEmitter<DreameCameraStreamEvents> {\n  readonly #controller: DreameCameraController;\n  readonly #clientFactory: FrameSourceFactory;\n  readonly #log: (line: string) => void;\n  #client: FrameSource | null = null;\n  #state: 'idle' | 'starting' | 'running' | 'stopping' = 'idle';\n  #videoFrames = 0;\n  #audioFrames = 0;\n  #talkReady = false;\n  #talkWaiters: Array<() => void> = [];\n  #talkTs = 0;\n\n  constructor(input: DreameCameraStreamInput) {\n    super();\n    this.#controller = input.controller;\n    this.#log = input.log ?? ((): void => {});\n    this.#clientFactory =\n      input.clientFactory ??\n      ((url: string): FrameSource =>\n        new LvRtmpClient({\n          url,\n          ...(input.requestAudioType !== undefined ? { requestAudioType: input.requestAudioType } : {}),\n          ...(input.ping !== undefined ? { ping: input.ping } : {}),\n          ...(input.log ? { log: input.log } : {}),\n        }));\n  }\n\n  /** True while frames are flowing. */\n  get isRunning(): boolean {\n    return this.#state === 'running';\n  }\n\n  /**\n   * Cold-start the monitor, connect to the relay, and begin emitting frames.\n   * Resolves once connected. Throws (and cleans up) if the monitor or relay\n   * connection fails.\n   */\n  async start(): Promise<{ rtmpUrl: string }> {\n    if (this.#state !== 'idle') {\n      throw new DreameError(`camera stream cannot start from state '${this.#state}'`);\n    }\n    this.#state = 'starting';\n    try {\n      this.#log('[nodedreame:stream] starting');\n      const handle = await this.#controller.open();\n      const client = this.#clientFactory(handle.rtmpUrl);\n      this.#client = client;\n      client.on('videoAccessUnit', (e) => {\n        this.#videoFrames += 1;\n        if (this.#videoFrames === 1) this.#log('[nodedreame:stream] first video access unit');\n        this.emit('videoAccessUnit', e);\n      });\n      client.on('audioFrame', (buf) => {\n        this.#audioFrames += 1;\n        if (this.#audioFrames === 1) this.#log('[nodedreame:stream] first audio frame');\n        this.emit('audioFrame', buf);\n      });\n      client.on('audioInfo', (info) => {\n        this.#log(`[nodedreame:stream] audio ${info.codec} ${info.sampleRate}Hz x${info.channels}`);\n        this.emit('audioInfo', info);\n      });\n      client.on('status', (e) => {\n        if (e.code === LV_STATUS.TALK_READY) {\n          this.#log('[nodedreame:stream] talk channel ready');\n          this.#talkReady = true;\n          const waiters = this.#talkWaiters;\n          this.#talkWaiters = [];\n          for (const w of waiters) w();\n        }\n      });\n      client.on('error', (err) => {\n        this.#log(`[nodedreame:stream] rtmp error: ${err.message}`);\n        this.emit('error', err);\n      });\n      client.on('close', () => {\n        this.#log('[nodedreame:stream] upstream relay closed');\n        // Upstream relay closed on us — tear down and surface as stopped.\n        if (this.#state === 'running') void this.stop();\n      });\n      await client.connect();\n      this.#state = 'running';\n      this.#log('[nodedreame:stream] connected to relay');\n      this.emit('started', { rtmpUrl: handle.rtmpUrl });\n      return { rtmpUrl: handle.rtmpUrl };\n    } catch (err) {\n      this.#state = 'idle';\n      await this.#safeTeardown();\n      throw err;\n    }\n  }\n\n  /** Close the relay connection and release the monitor. Idempotent. */\n  async stop(): Promise<void> {\n    if (this.#state === 'idle' || this.#state === 'stopping') return;\n    this.#state = 'stopping';\n    this.#log(`[nodedreame:stream] stopping (video=${this.#videoFrames} audio=${this.#audioFrames})`);\n    await this.#safeTeardown();\n    this.#state = 'idle';\n    this.emit('stopped');\n  }\n\n  /**\n   * Open the two-way intercom: send the MIoT start, then resolve once the relay\n   * signals the talk channel is ready (so it's safe to {@link sendTalkPcm}).\n   * Rejects if not ready within `timeoutMs`.\n   */\n  async startTalk(opts?: { needRecordSound?: boolean; videoCall?: boolean; timeoutMs?: number }): Promise<void> {\n    if (this.#state !== 'running') throw new DreameError('stream is not running; start() first');\n    this.#log('[nodedreame:stream] intercom start');\n    await this.#controller.startIntercom(\n      opts?.needRecordSound !== undefined || opts?.videoCall !== undefined\n        ? { ...(opts.needRecordSound !== undefined ? { needRecordSound: opts.needRecordSound } : {}), ...(opts.videoCall ? { videoCall: true } : {}) }\n        : undefined,\n    );\n    this.#talkTs = 0;\n    await this.whenTalkReady(opts?.timeoutMs ?? 5000);\n  }\n\n  /** Resolve when the talk channel is ready (or reject on timeout). */\n  whenTalkReady(timeoutMs = 5000): Promise<void> {\n    if (this.#talkReady) return Promise.resolve();\n    return new Promise<void>((resolve, reject) => {\n      const timer = setTimeout(() => reject(new DreameError('timed out waiting for TalkReady')), timeoutMs);\n      timer.unref?.();\n      this.#talkWaiters.push(() => {\n        clearTimeout(timer);\n        resolve();\n      });\n    });\n  }\n\n  /**\n   * Encode 16-bit LE mono PCM (8 kHz) to G.711 A-law and push it upstream.\n   * `tsMs` defaults to a running clock advanced by the frame duration.\n   */\n  sendTalkPcm(pcm16le: Buffer, tsMs?: number): void {\n    const alaw = pcm16leToALaw(pcm16le);\n    this.sendTalkAlaw(alaw, tsMs);\n  }\n\n  /** Push raw A-law audio upstream (advancing the running talk clock). */\n  sendTalkAlaw(alaw: Buffer, tsMs?: number): void {\n    if (!this.#client) throw new DreameError('stream is not running');\n    const ts = tsMs ?? this.#talkTs;\n    this.#client.sendAudioFrame(alaw, ts);\n    // A-law @ 8 kHz => 1 byte per sample => ms = samples/8.\n    this.#talkTs = ts + Math.round(alaw.length / 8);\n  }\n\n  /** Close the two-way intercom (MIoT stop). */\n  async stopTalk(): Promise<void> {\n    this.#talkReady = false;\n    this.#log('[nodedreame:stream] intercom stop');\n    await this.#controller.stopIntercom();\n  }\n\n  async #safeTeardown(): Promise<void> {\n    this.#talkReady = false;\n    this.#talkWaiters = [];\n    try {\n      this.#client?.close();\n    } catch {\n      /* ignore */\n    }\n    this.#client = null;\n    try {\n      await this.#controller.close();\n    } catch (err) {\n      this.emit('error', err instanceof Error ? err : new 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+{"version":3,"sources":["../src/index.ts","../src/support/version.ts","../src/transport/errors.ts","../src/transport/crypto.ts","../src/auth/config.ts","../src/transport/headers.ts","../src/transport/fetch.ts","../src/transport/http.ts","../src/transport/schemas.ts","../src/auth/dreame-account.ts","../src/cloud/connectivity.ts","../src/cloud/devices.ts","../src/cloud/commands.ts","../src/transport/mqtt-push.ts","../src/transport/typed-emitter.ts","../src/device/capability.ts","../src/device/base-device.ts","../src/models/vacuum/properties.ts","../src/models/vacuum/enums.ts","../src/models/_shared/decode.ts","../src/models/vacuum/decode.ts","../src/models/vacuum/ai-detection.ts","../src/models/vacuum/auto-switch.ts","../src/models/vacuum/consumables.ts","../src/models/vacuum/capabilities.ts","../src/video/schemas.ts","../src/video/profile.ts","../src/video/client.ts","../src/video/aliyun/constants.ts","../src/video/aliyun/identity.ts","../src/video/aliyun/signing.ts","../src/video/aliyun/vision.ts","../src/video/aliyun/session.ts","../src/video/camera-availability.ts","../src/video/monitor/constants.ts","../src/video/monitor/protocol.ts","../src/video/monitor/vendor.ts","../src/video/monitor/controller.ts","../src/models/vacuum/map/envelope.ts","../src/models/vacuum/map/header.ts","../src/models/vacuum/map/tail.ts","../src/models/vacuum/map/segment-types.ts","../src/models/vacuum/map/pixel-grid.ts","../src/models/vacuum/map/path.ts","../src/models/vacuum/map/field-utils.ts","../src/models/vacuum/map/obstacles.ts","../src/models/vacuum/map/geometry.ts","../src/models/vacuum/map/cleaned-area.ts","../src/models/vacuum/map/merge.ts","../src/models/vacuum/map/decode.ts","../src/models/vacuum/map/render.ts","../src/models/vacuum/map/wifi.ts","../src/models/vacuum/map/oss-fetch.ts","../src/models/vacuum/vacuum-device.ts","../src/models/mower/properties.ts","../src/models/mower/enums.ts","../src/models/mower/decode.ts","../src/models/mower/capabilities.ts","../src/models/mower/map/parser.ts","../src/models/mower/map/render.ts","../src/models/mower/mower-device.ts","../src/api/nodreame.ts","../src/diagnostics/redact.ts","../src/diagnostics/dump-format.ts","../src/diagnostics/dumper.ts","../src/video/monitor/detections.ts","../src/video/media/lv-rtmp-client.ts","../src/video/media/amf0.ts","../src/video/media/chunk.ts","../src/video/media/flv.ts","../src/video/media/g711.ts","../src/video/media/camera-stream.ts"],"sourcesContent":["// Public API surface of nodedreame.\n// Phase 1 exports only the error classes and core domain types; transport,\n// cloud and model internals stay private to keep the published surface small\n// and stable. The high-level facade is added in Phase 2.\n\nexport { LIBRARY_NAME } from './support/version.js';\n\n// Stable public surface for Phase 1: error classes + core types. The full\n// facade (login/discoverDevices) is added in Phase 2 — we intentionally do\n// not export transport internals here to keep the published API small.\n\nexport {\n  DreameError,\n  DreameAuthError,\n  DreameApiError,\n  DreameDeviceOfflineError,\n  DreameTransportError,\n} from './transport/errors.js';\n\nexport type { DreameRegion } from './auth/config.js';\nexport type {\n  DreameSession,\n  DreameDevice,\n  DreameCloudState,\n  MiotProp,\n  MiotAction,\n  PropertyWrite,\n  PropertyResult,\n} from './cloud/types.js';\n\n// --- Phase 2: high-level facade + generic device handle ------------------\nexport { Nodreame } from './api/nodreame.js';\nexport { isAuthRefusedError } from './transport/mqtt-push.js';\nexport type { NodreameDeps, CreateDeviceArgs, NodreameEvents } from './api/nodreame.js';\nexport { BaseDevice } from './device/base-device.js';\nexport type { BaseDeviceEvents } from './device/base-device.js';\nexport { DefaultCapabilityResolver, resolveCapabilities } from './device/capability.js';\nexport type { CapabilityResolver, DeviceCapabilities } from './device/capability.js';\nexport type {\n  NodreameOptions,\n  PropertyState,\n  PropertyChangedEvent,\n  StateChangedEvent,\n  DeviceEvent,\n} from './api/types.js';\n\n// --- Phase 3: vacuum model ------------------------------------------------\n// Public vacuum surface only: the typed VacuumDevice handle, its value enums,\n// and the capability records/resolver. Internal siid/piid/aiid property maps,\n// the model factory's property tables, and the decode helpers stay private.\nexport { VacuumDevice } from './models/vacuum/vacuum-device.js';\nexport type { CleanOpts, VacuumGetMapInput, WifiSignalMapInput } from './models/vacuum/vacuum-device.js';\n// Fetcher-injection seam for VacuumDevice.getMap: the interface a custom\n// signed-blob fetcher implements, plus its input shape. The concrete\n// OssFetcher class and the decode internals stay private.\nexport type { OssFetcherLike, OssFetchInput } from './models/vacuum/map/index.js';\nexport {\n  MiotState,\n  ChargingStatus,\n  SuctionLevel,\n  WaterVolume,\n  CleaningMode,\n  MiotError,\n  TaskStatus,\n} from './models/vacuum/enums.js';\nexport {\n  getVacuumCapabilities,\n  VacuumCapabilityResolver,\n  MODEL_CAPABILITIES as VACUUM_MODEL_CAPABILITIES,\n} from './models/vacuum/capabilities.js';\nexport type { VacuumCapabilities } from './models/vacuum/capabilities.js';\nexport {\n  AI_FEATURE_BIT,\n  AI_FEATURE_JSON_KEY,\n  decodeAiFeature,\n  encodeAiFeatureWrite,\n} from './models/vacuum/ai-detection.js';\nexport type { DreameAiFeature, AiDetectionRaw } from './models/vacuum/ai-detection.js';\nexport {\n  AUTO_SWITCH_JSON_KEY,\n  decodeAutoSwitch,\n  decodeAutoSwitchAll,\n  supportedAutoSwitchKeys,\n  encodeAutoSwitchWrite,\n} from './models/vacuum/auto-switch.js';\nexport type { AutoSwitchKey, AutoSwitchRaw } from './models/vacuum/auto-switch.js';\nexport {\n  VACUUM_CONSUMABLES,\n  consumableSpec,\n  isDreameConsumableKey,\n} from './models/vacuum/consumables.js';\nexport type {\n  ConsumableSpec,\n  ConsumableReading,\n  DreameConsumableKey,\n} from './models/vacuum/consumables.js';\n\n// --- Phase 4: mower model -------------------------------------------------\n// Public mower surface only: the typed MowerDevice handle, its value enums,\n// the capability records/resolver, and the parsed task/control types. Internal\n// siid/piid/aiid maps, opcode payload builders, decode helpers, and the\n// deviceClassFor factory stay private.\nexport { MowerDevice } from './models/mower/mower-device.js';\n// Batch-fetch injection seam for MowerDevice.getMap: the fetcher signature and\n// the construction input that carries it. The opcode/decode internals and the\n// device-class factory stay private.\nexport type { BatchDeviceDataFetcher, MowerDeviceInput } from './models/mower/mower-device.js';\nexport {\n  MowerStatus,\n  MowerChargingStatus,\n  MowerControlAction,\n  MowerTaskStatus,\n  MowerFault,\n  mowerFaultSeverity,\n} from './models/mower/enums.js';\nexport type { MowerFaultSeverity } from './models/mower/enums.js';\nexport {\n  getMowerCapabilities,\n  MowerCapabilityResolver,\n  MODEL_CAPABILITIES as MOWER_MODEL_CAPABILITIES,\n} from './models/mower/capabilities.js';\nexport type { MowerCapabilities } from './models/mower/capabilities.js';\nexport type { MowerTaskDescriptor, MowerControlState } from './models/mower/decode.js';\n// CMS consumables (blade/brush/maintenance) — typed readings + the parser, so\n// camstack can surface them on the `consumables` cap.\nexport {\n  parseMowerConsumables,\n  extractMowerConsumableValues,\n  mowerConsumableIndex,\n  parseMowerHeartbeat,\n  parseMowingProgress,\n  MOWER_TASK_SUBSTATES,\n} from './models/mower/decode.js';\nexport type { MowerMowingProgress } from './models/mower/decode.js';\nexport type {\n  MowerConsumableKey,\n  MowerConsumableReading,\n  MowerHeartbeat,\n  MowerTaskSubState,\n} from './models/mower/decode.js';\n\n// --- Phase 5: maps --------------------------------------------------------\n// Public map surface: the structured model types + the two renderers. The\n// binary/JSON decoders, the OSS signed-blob fetcher, and every intermediate\n// decode step (envelope/header/pixel-grid/path/obstacles/geometry/cleaned-area/\n// merge, mower chunk reassembly + parser) stay PRIVATE — consumers obtain maps\n// via VacuumDevice.getMap()/currentSegmentId/lastMap and MowerDevice.getMap()/\n// mapSvg(), all reachable through the already-exported device handles.\nexport { renderVacuumPng } from './models/vacuum/map/render.js';\nexport type { RenderVacuumPngOptions, MapColorScheme } from './models/vacuum/map/render.js';\nexport type {\n  VacuumMap,\n  MapDimensions,\n  MapBoundingBox,\n  MapPoint,\n  MapPose,\n  MapRun,\n  MapLayer,\n  MapLayerType,\n  MapSegment,\n  MapPath,\n  MapPathType,\n  MapObstacle,\n  MapFrameType,\n  MapVirtualWall,\n  MapRestrictedArea,\n  MapLowLyingArea,\n  MapWallsInfo,\n  MapStorey,\n  MapRoom,\n  MapRoomWall,\n  MapCleanedAreaOverlay,\n} from './models/vacuum/map/types.js';\n\nexport { renderMowerSvg } from './models/mower/map/render.js';\nexport type { RenderMowerSvgOptions } from './models/mower/map/render.js';\nexport type {\n  MowerMap,\n  MowerPoint,\n  MowerZone,\n  MowerSpotArea,\n  MowerPathEntry,\n  MowerContour,\n  MowerMapBoundary,\n  MowerMowPath,\n  MowerAvailableMap,\n} from './models/mower/map/types.js';\n\n// --- Diagnostics: read-only device dump ----------------------------------\n// Public surface: the createDumper/createClientDumper factories + the shared\n// DeviceDump output type + the options type. The Dumper class, redact(), the\n// DeviceDumpSchema, the accumulator, and the per-model decoder/catalog helpers\n// stay PRIVATE — consumers build a dump only via the factory.\nexport { createDumper, createClientDumper } from './diagnostics/dumper.js';\nexport type { DumperOptions } from './diagnostics/dumper.js';\nexport type { DeviceDump } from './diagnostics/dump-format.js';\n\n// --- Video control-plane (X40/X50 camera devices) ------------------------\nexport {\n  getVideoAccessToken,\n  getAliyunAuthCode,\n  getVideoFamilyId,\n  getDeviceVideoProfile,\n  getTencentIdentity,\n  getTencentP2PInfo,\n  explainNoCameraChannel,\n  toVideoProfile,\n} from './video/index.js';\nexport type {\n  VideoRequestInput,\n  VideoVendor,\n  VideoAccessToken,\n  DeviceVideoProfile,\n} from './video/index.js';\n\n// --- Aliyun LinkVisual media plane -----------------------------------------\nexport {\n  DreameVideoSession,\n  streamQuery,\n  loginByOauth,\n  createIotSession,\n  signApiGatewayRequest,\n  ALIYUN_REGION_ID,\n} from './video/index.js';\nexport type {\n  DreameVideoSessionInput,\n  StreamInfo,\n  StreamQueryInput,\n  OaSession,\n  IotSession,\n} from './video/index.js';\n\n// --- Camera monitor control-plane + autonomous cold-start ------------------\nexport {\n  DreameCameraController,\n  MONITOR_SIID,\n  MONITOR_AIID,\n  MONITOR_PIID,\n  MONITOR_VENDOR_TOKEN,\n  VACUUM_SIID,\n  VACUUM_MOVE,\n  PET_SOUNDS,\n  VACUUM_ACTIONS,\n  makeMonitorSession,\n  hashAccessCode,\n  parsePersonFollow,\n  parseObstacleData,\n  remoteDriveValue,\n  DRIVE_DIRECTIONS,\n} from './video/index.js';\nexport type {\n  DreameCameraControllerInput,\n  CameraStreamHandle,\n  MonitorActionCaller,\n  RelayMinter,\n  DetectionBox,\n  PersonFollowDetection,\n  ObstacleDetection,\n  DriveDirection,\n  PetSound,\n  VacuumActionKey,\n} from './video/index.js';\n\n// --- Camera media pipeline (RTMP relay -> H.264/AAC frames) -----------------\nexport {\n  DreameCameraStream,\n  LvRtmpClient,\n  parseRelayUrl,\n  LV_STATUS,\n  TALK_AUDIO_HEADER_G711A,\n  pcm16ToALaw,\n  pcm16leToALaw,\n  avccToAnnexB,\n  aacToAdts,\n  parseAvcConfig,\n  parseAacConfig,\n  aacSampleRate,\n} from './video/index.js';\nexport type {\n  DreameCameraStreamInput,\n  DreameCameraStreamEvents,\n  FrameSource,\n  FrameSourceFactory,\n  LvRtmpClientOptions,\n  VideoAccessUnitEvent,\n  AudioInfoEvent,\n  StatusEvent,\n  AvcConfig,\n  AacConfig,\n} from './video/index.js';\n\n// --- Raw device-list access (connectivity/diagnostics) --------------------\nexport { listDevices } from './cloud/devices.js';\nexport type { ListDevicesInput } from './cloud/devices.js';\nexport { parseConnectivity } from './cloud/connectivity.js';\nexport type { DeviceConnectivity, BrokerEndpoint } from './cloud/connectivity.js';\n\n// --- WiFi signal map (coverage heatmap + current-signal at robot pose) -----\nexport { decodeWifiSignalMap, renderWifiSignalPng } from './models/vacuum/map/index.js';\nexport type { WifiSignalMap, RenderWifiSignalPngOptions } from './models/vacuum/map/index.js';\n","/** Public name of this library. */\nexport const LIBRARY_NAME = 'nodedreame';\n\n/**\n * Public version of this library, embedded in a {@link DeviceDump}'s\n * `libraryVersion`. Kept in lock-step with `package.json` (a version-match test\n * guards drift) — a string constant avoids an ESM JSON-import assertion wrinkle\n * in the published bundle.\n */\nexport const LIBRARY_VERSION = '1.12.4';\n","export class DreameError extends Error {\n  constructor(\n    message: string,\n    public override readonly cause?: unknown,\n  ) {\n    super(message);\n    this.name = 'DreameError';\n  }\n}\n\nexport class DreameAuthError extends DreameError {\n  constructor(\n    message: string,\n    public readonly status?: number,\n    cause?: unknown,\n  ) {\n    super(message, cause);\n    this.name = 'DreameAuthError';\n  }\n}\n\nexport class DreameApiError extends DreameError {\n  constructor(\n    message: string,\n    public readonly status: number,\n    public readonly body?: unknown,\n    cause?: unknown,\n  ) {\n    super(message, cause);\n    this.name = 'DreameApiError';\n  }\n}\n\n/**\n * Thrown when the cloud returns code 80001. The literal `msg` claims the\n * device is offline — that interpretation is FREQUENTLY WRONG. 80001 means\n * the cloud's HTTP-side waiter for the device's MQTT ACK gave up after ~8s.\n * It does NOT prove the action failed to reach the device. The MQTT\n * subscription is the source of truth for reachability. The only true\n * positive is a genuinely unreachable device (powered off / network lost /\n * rebooting) — in which case no MQTT echo arrives either.\n */\nexport class DreameDeviceOfflineError extends DreameApiError {\n  constructor(message: string, status: number, body?: unknown) {\n    super(message, status, body);\n    this.name = 'DreameDeviceOfflineError';\n  }\n}\n\nexport class DreameTransportError extends DreameError {\n  constructor(message: string, cause?: unknown) {\n    super(message, cause);\n    this.name = 'DreameTransportError';\n  }\n}\n","import { createCipheriv, createHash, randomBytes } from 'node:crypto';\n\n/**\n * App-global secrets extracted from the Dreamehome Flutter binary. These\n * rotate with new app versions — if login starts failing with no obvious\n * cause, re-extract from the latest APK. Last verified against\n * `dreame-meta: cv=i_829`.\n */\nconst PASSWORD_SALT = 'RAylYC%fmSKp7%Tq';\nconst RLC_AES_KEY = 'EETjszu*XI5znHsI';\n\n/**\n * Salted MD5 of the plaintext password, lower-case hex. Sent on the wire\n * instead of the cleartext password.\n */\nexport function hashPassword(plaintext: string): string {\n  return createHash('md5')\n    .update(plaintext + PASSWORD_SALT)\n    .digest('hex');\n}\n\n/**\n * Compute the value of the `dreame-rlc` request header: AES-128-ECB (PKCS7\n * padding) of `<region>|<lang>|<country>` with the static app key, output as\n * lowercase hex.\n */\nexport function buildRlcHeader(region: string, lang: string, country: string): string {\n  const plaintext = `${region}|${lang}|${country}`;\n  const cipher = createCipheriv('aes-128-ecb', Buffer.from(RLC_AES_KEY, 'utf8'), null);\n  const out = Buffer.concat([cipher.update(plaintext, 'utf8'), cipher.final()]);\n  return out.toString('hex');\n}\n\n/** Random MQTT client id matching the format used by the Dreamehome app. */\nexport function randomMqttClientId(): string {\n  return 'p_' + randomBytes(8).toString('hex');\n}\n\n/**\n * Upper bound for the sendCommand `id`. The Dreame cloud's device-side\n * correlation id is a NARROW integer field: verified live on\n * `dreame.mower.p2255` that ids up to 2^24 (16_777_216) round-trip fine but ids\n * ≳ 1e8 make the cloud return code 80001 \"device offline / 指令发送超时\" (the\n * oversized id never reaches/echoes from the device, so the cloud reports it\n * unreachable). A 31-bit random id therefore broke EVERY mower command. Keep ids\n * comfortably under that ceiling.\n */\nconst MAX_REQUEST_ID = 0xffffff;\n\n/** Monotonic counter, seeded with a small random base (mirrors the Dreame app's\n *  `random(1,100)` start). Module-scoped so concurrent fan-out never collides. */\nlet nextRequestId = Math.floor(Math.random() * 100) + 1;\n\n/**\n * Next `id` for a sendCommand envelope — a small, monotonically increasing\n * integer that wraps under {@link MAX_REQUEST_ID}. MUST stay small: see\n * {@link MAX_REQUEST_ID} for why a large id makes the cloud 80001.\n */\nexport function randomRequestId(): number {\n  nextRequestId = nextRequestId >= MAX_REQUEST_ID ? 1 : nextRequestId + 1;\n  return nextRequestId;\n}\n","/** Supported Dreame cloud regions. */\nexport type DreameRegion = 'eu' | 'us' | 'cn' | 'ru' | 'sg' | 'in' | 'de' | 'tw';\n\n/** All regions, in canonical order. Used for table-completeness checks. */\nexport const ALL_REGIONS: readonly DreameRegion[] = [\n  'eu',\n  'us',\n  'cn',\n  'ru',\n  'sg',\n  'in',\n  'de',\n  'tw',\n];\n\n/** Hostname (with non-standard port) of the Dreame auth + API server, per region. */\nexport const REGION_HOSTS: Record<DreameRegion, string> = {\n  eu: 'eu.iot.dreame.tech:13267',\n  us: 'us.iot.dreame.tech:13267',\n  cn: 'cn.iot.dreame.tech:13267',\n  ru: 'ru.iot.dreame.tech:13267',\n  sg: 'sg.iot.dreame.tech:13267',\n  in: 'in.iot.dreame.tech:13267',\n  de: 'eu.iot.dreame.tech:13267',\n  tw: 'cn.iot.dreame.tech:13267',\n};\n\n/** Default `country` form-field per region (ISO-3166 alpha-2). */\nexport const REGION_DEFAULT_COUNTRY: Record<DreameRegion, string> = {\n  eu: 'GB',\n  us: 'US',\n  cn: 'CN',\n  ru: 'RU',\n  sg: 'SG',\n  in: 'IN',\n  de: 'DE',\n  tw: 'TW',\n};\n\n/** Default UI language per region (ISO-639-1). */\nexport const REGION_DEFAULT_LANG: Record<DreameRegion, string> = {\n  eu: 'en',\n  us: 'en',\n  cn: 'zh',\n  ru: 'ru',\n  sg: 'en',\n  in: 'en',\n  de: 'de',\n  tw: 'zh',\n};\n\n/**\n * App-level OAuth2 CLIENT credentials (a Basic header) baked into the public\n * Dreamehome app binary — NOT a user secret, password, or per-account token.\n * These identify the app to the OAuth endpoint and are identical for every\n * install; they rotate only when Dreame ships a new app release (last verified\n * against cv=i_829). Not sensitive — safe to commit. (SAST note: this is a\n * shipped public client id/secret, not a leaked credential.)\n */\nexport const OAUTH_BASIC_AUTH = 'Basic ZHJlYW1lX2FwcHYxOkFQXmR2QHpAU1FZVnhOODg=';\n\n/** App-version fingerprint. Update if a new app version starts requiring it. */\nexport const APP_META = 'cv=i_829';\n\n/** User-Agent the Flutter Dreamehome app sends. */\nexport const APP_USER_AGENT = 'Dart/3.2 (dart:io)';\n\n/** Tenant id — Dreame brand. */\nexport const TENANT_DREAME = '000000';\n/** Tenant id — Mova brand. */\nexport const TENANT_MOVA = '000002';\n\n/**\n * Literal value placed in the `from` field of every command envelope. Dreame's\n * cloud ignores it — the original Flutter app sends \"XXXXXX\" verbatim.\n */\nexport const COMMAND_FROM_FIELD = 'XXXXXX';\n\n/** `iotComPrefix` path component (/dreame-iot-com-<n>/) for Dreame. */\nexport const IOT_COM_PREFIX_DREAME = 10000;\n/** `iotComPrefix` for Mova brand requests (untested). */\nexport const IOT_COM_PREFIX_MOVA = 20000;\n\n/** Standard HTTP content types used by the Dreame backend. */\nexport const CONTENT_TYPE_JSON = 'application/json';\nexport const CONTENT_TYPE_FORM = 'application/x-www-form-urlencoded';\n","import type { DreameRegion } from '../auth/config.js';\nimport {\n  APP_META,\n  APP_USER_AGENT,\n  CONTENT_TYPE_FORM,\n  OAUTH_BASIC_AUTH,\n  TENANT_DREAME,\n} from '../auth/config.js';\nimport { buildRlcHeader } from './crypto.js';\n\n/**\n * Compose the static request headers the Dreame backend expects on every\n * call. Pass `accessToken` after login; omit (or pass `null`) for the\n * unauthenticated login request itself.\n */\nexport function buildHeaders(opts: {\n  region: DreameRegion;\n  country: string;\n  lang: string;\n  accessToken?: string | null;\n  contentType?: string;\n}): Record<string, string> {\n  const auth = opts.accessToken ? `bearer ${opts.accessToken}` : 'bearer';\n  return {\n    'user-agent': APP_USER_AGENT,\n    authorization: OAUTH_BASIC_AUTH,\n    'content-type': opts.contentType ?? CONTENT_TYPE_FORM,\n    'dreame-auth': auth,\n    'dreame-meta': APP_META,\n    'dreame-rlc': buildRlcHeader(opts.region, opts.lang, opts.country),\n    'tenant-id': TENANT_DREAME,\n  };\n}\n","import { fetch as undiciFetch } from 'undici';\n\n/**\n * Narrow fetch-shaped function type backed by undici. Defined here so all\n * callers share one declaration — no DOM lib globals, no casts.\n *\n * We re-export `FetchImpl` from this module as the canonical definition;\n * `transport/http.ts` re-exports it from here so downstream modules have a\n * single import path.\n */\nexport type FetchImpl = typeof undiciFetch;\n\n/**\n * Default HTTP fetch implementation. We use undici explicitly (rather than the\n * Node global `fetch`) so the library works identically on Node ≥20 and so the\n * exact client behavior is pinned to a known version.\n */\nexport const defaultFetch: FetchImpl = undiciFetch;\n","import type { DreameRegion } from '../auth/config.js';\nimport {\n  CONTENT_TYPE_JSON,\n  REGION_DEFAULT_COUNTRY,\n  REGION_DEFAULT_LANG,\n  REGION_HOSTS,\n} from '../auth/config.js';\nimport { buildHeaders } from './headers.js';\nimport { defaultFetch, type FetchImpl } from './fetch.js';\nimport {\n  DreameApiError,\n  DreameAuthError,\n  DreameDeviceOfflineError,\n  DreameTransportError,\n} from './errors.js';\n\n/** Re-export so other modules can import FetchImpl from a single location. */\nexport type { FetchImpl };\n\n/** Cloud response code meaning \"device didn't ACK; may be offline\" (often a false negative). */\nconst CODE_DEVICE_OFFLINE = 80001;\n\n/** Default per-request timeout — fetch() is otherwise unbounded. */\nconst DEFAULT_TIMEOUT_MS = 30000;\n\nexport interface RequestContextOpts {\n  region: DreameRegion;\n  country?: string;\n  lang?: string;\n  host?: string;\n  fetchImpl?: FetchImpl;\n}\n\nexport interface RequestContextInput {\n  region: DreameRegion;\n  country?: string | undefined;\n  lang?: string | undefined;\n  /** Override host. Some callers spell this `authHost`/`apiHost` — pass that here. */\n  host?: string | undefined;\n  fetchImpl?: FetchImpl | undefined;\n}\n\nexport class RequestContext {\n  readonly region: DreameRegion;\n  readonly country: string;\n  readonly lang: string;\n  readonly host: string;\n  readonly fetchImpl: FetchImpl;\n\n  constructor(opts: RequestContextOpts) {\n    this.region = opts.region;\n    this.country = opts.country ?? REGION_DEFAULT_COUNTRY[opts.region];\n    this.lang = opts.lang ?? REGION_DEFAULT_LANG[opts.region];\n    this.host = opts.host ?? REGION_HOSTS[opts.region];\n    this.fetchImpl = opts.fetchImpl ?? defaultFetch;\n  }\n\n  static from(input: RequestContextInput): RequestContext {\n    return new RequestContext({\n      region: input.region,\n      ...(input.country !== undefined ? { country: input.country } : {}),\n      ...(input.lang !== undefined ? { lang: input.lang } : {}),\n      ...(input.host !== undefined ? { host: input.host } : {}),\n      ...(input.fetchImpl !== undefined ? { fetchImpl: input.fetchImpl } : {}),\n    });\n  }\n\n  /** `https://<host><path>` — pass a path with a leading slash. */\n  url(path: string): string {\n    return `https://${this.host}${path}`;\n  }\n\n  /** Build the static Dreame headers, optionally with a bearer token + content-type. */\n  headers(\n    opts: { accessToken?: string | null; contentType?: string } = {},\n  ): Record<string, string> {\n    return buildHeaders({\n      region: this.region,\n      country: this.country,\n      lang: this.lang,\n      ...(opts.accessToken !== undefined ? { accessToken: opts.accessToken } : {}),\n      ...(opts.contentType !== undefined ? { contentType: opts.contentType } : {}),\n    });\n  }\n}\n\n/** Minimal common shape every Dreame JSON response carries. */\nexport interface BaseResponse {\n  code?: number;\n  msg?: string;\n}\n\nexport async function httpPostJson<T extends BaseResponse>(input: {\n  ctx: RequestContext;\n  url: string;\n  headers: Record<string, string>;\n  body: string | URLSearchParams;\n  context: string;\n  errorClass?: typeof DreameApiError | typeof DreameAuthError;\n  skipCodeCheck?: boolean;\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}): Promise<T> {\n  const Err = input.errorClass ?? DreameApiError;\n  const timeoutMs = input.timeoutMs ?? DEFAULT_TIMEOUT_MS;\n  const signal = composeSignals(input.signal, timeoutMs);\n\n  let res: Response;\n  try {\n    res = await input.ctx.fetchImpl(input.url, {\n      method: 'POST',\n      headers: input.headers,\n      body: input.body,\n      ...(signal !== undefined ? { signal } : {}),\n    });\n  } catch (err) {\n    if (isAbortError(err)) {\n      throw new DreameTransportError(\n        `request to ${input.url} aborted after ${timeoutMs}ms or by caller`,\n        err,\n      );\n    }\n    throw new DreameTransportError(`network error contacting ${input.url}`, err);\n  }\n\n  const text = await res.text();\n  let parsed: T | null = null;\n  if (text) {\n    try {\n      parsed = JSON.parse(text) as T;\n    } catch {\n      // leave parsed null\n    }\n  }\n\n  if (!res.ok) {\n    throw new Err(\n      `${input.context} failed: ${res.status} ${text.slice(0, 200)}`,\n      res.status,\n      parsed,\n    );\n  }\n  if (!parsed) {\n    throw new Err(`${input.context} response was not JSON (status ${res.status})`, res.status);\n  }\n\n  if (!input.skipCodeCheck && parsed.code !== undefined && parsed.code !== 0) {\n    if (parsed.code === CODE_DEVICE_OFFLINE) {\n      throw new DreameDeviceOfflineError(\n        `device offline: ${parsed.msg ?? 'timeout'}`,\n        res.status,\n        parsed,\n      );\n    }\n    throw new Err(\n      `${input.context} rejected: code=${parsed.code} msg=${parsed.msg ?? '?'}`,\n      res.status,\n      parsed,\n    );\n  }\n\n  return parsed;\n}\n\nexport async function httpPostJsonBody<T extends BaseResponse>(input: {\n  ctx: RequestContext;\n  path: string;\n  accessToken?: string;\n  body: unknown;\n  context: string;\n  timeoutMs?: number;\n  signal?: AbortSignal;\n}): Promise<T> {\n  return httpPostJson<T>({\n    ctx: input.ctx,\n    url: input.ctx.url(input.path),\n    headers: input.ctx.headers({\n      ...(input.accessToken !== undefined ? { accessToken: input.accessToken } : {}),\n      contentType: CONTENT_TYPE_JSON,\n    }),\n    body: JSON.stringify(input.body),\n    context: input.context,\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n  });\n}\n\nfunction composeSignals(\n  callerSignal: AbortSignal | undefined,\n  timeoutMs: number,\n): AbortSignal | undefined {\n  if (timeoutMs <= 0) {\n    return callerSignal;\n  }\n  const timeoutSignal = AbortSignal.timeout(timeoutMs);\n  if (!callerSignal) {\n    return timeoutSignal;\n  }\n  return AbortSignal.any([callerSignal, timeoutSignal]);\n}\n\nfunction isAbortError(err: unknown): boolean {\n  return err instanceof Error && (err.name === 'AbortError' || err.name === 'TimeoutError');\n}\n","import { z } from 'zod';\n\n/** OAuth token endpoint response. Permissive: Dreame may add fields. */\nexport const OAuthTokenResponseSchema = z\n  .object({\n    access_token: z.string().optional(),\n    refresh_token: z.string().optional(),\n    expires_in: z.number().optional(),\n    token_type: z.string().optional(),\n    uid: z.union([z.string(), z.number()]).optional(),\n    region: z.string().optional(),\n    country: z.string().optional(),\n    lang: z.string().optional(),\n    tenant_id: z.string().optional(),\n    error: z.string().optional(),\n    error_description: z.string().optional(),\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n  })\n  .passthrough();\nexport type OAuthTokenResponse = z.infer<typeof OAuthTokenResponseSchema>;\n\n/** Single raw device record from the device-list endpoint. */\nexport const RawDeviceSchema = z\n  .object({\n    did: z.union([z.string(), z.number()]).optional(),\n    model: z.string().optional(),\n    customName: z.string().optional(),\n    deviceName: z.string().optional(),\n    mac: z.string().optional(),\n    online: z.boolean().optional(),\n    lwt: z.number().optional(),\n    bindDomain: z.string().optional(),\n    master: z.boolean().optional(),\n  })\n  .passthrough();\nexport type RawDevice = z.infer<typeof RawDeviceSchema>;\n\nexport const DeviceListResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({\n        page: z\n          .object({ records: z.array(RawDeviceSchema).optional() })\n          .partial()\n          .optional(),\n        records: z.array(RawDeviceSchema).optional(),\n      })\n      .passthrough()\n      .optional(),\n    records: z.array(RawDeviceSchema).optional(),\n  })\n  .passthrough();\nexport type DeviceListResponse = z.infer<typeof DeviceListResponseSchema>;\n\n/**\n * Per-property result. Lenient by design: every known field is OPTIONAL and\n * extra keys pass through. This validates the STRUCTURE (each element must be\n * an object) without rejecting real cloud responses whose exact shape we have\n * not fully observed — the command path is not exercised by the live e2e.\n */\nexport const PropertyResultSchema = z\n  .object({\n    siid: z.number().optional(),\n    piid: z.number().optional(),\n    value: z.unknown().optional(),\n    code: z.number().optional(),\n  })\n  .passthrough();\n\n/**\n * Single cloud-shadow entry from `dreame-user-iot/iotstatus/props`. The cloud\n * returns the last-known value as a STRING (e.g. `\"100\"`, `\"true\"`); the value\n * is widened to `unknown` and coerced by the command layer. `updateDate` is the\n * epoch-ms the cloud last saw that value (used for cache-age reporting).\n */\nexport const CachedPropEntrySchema = z\n  .object({\n    key: z.string(),\n    value: z.unknown().optional(),\n    updateDate: z.number().optional(),\n  })\n  .passthrough();\nexport type CachedPropEntry = z.infer<typeof CachedPropEntrySchema>;\n\n/**\n * Cloud-shadow read response (`iotstatus/props`). `data` is an ARRAY of\n * per-property entries (NOT the nested `data.result` shape `sendCommand`\n * returns). Permissive: missing props are simply absent; on an error code\n * `data` may be absent entirely.\n */\nexport const CachedPropsResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.array(CachedPropEntrySchema).optional(),\n  })\n  .passthrough();\nexport type CachedPropsResponse = z.infer<typeof CachedPropsResponseSchema>;\n\n/**\n * Batched device-data read response (`dreame-user-iot/iotuserdata/getDeviceData`).\n * `data` is a flat dict of hierarchical keys (`MAP.0`, `MAP.info`, `M_PATH.0`,\n * `SETTINGS.*`, `SCHEDULE.*`, …) → string/number chunk values. Permissive: the\n * exact key set is device/firmware-specific; on an error code `data` may be\n * absent entirely.\n */\nexport const BatchDeviceDataResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.record(z.string(), z.unknown()).optional(),\n  })\n  .passthrough();\nexport type BatchDeviceDataResponse = z.infer<typeof BatchDeviceDataResponseSchema>;\n\nexport const SendCommandResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.object({ result: z.unknown().optional() }).passthrough().optional(),\n    result: z.unknown().optional(),\n  })\n  .passthrough();\nexport type SendCommandResponse = z.infer<typeof SendCommandResponseSchema>;\n\n/** Raw MQTT envelope as received from the broker, before flattening. */\nexport const RawMqttEventSchema = z\n  .object({\n    id: z.number().optional(),\n    did: z.union([z.string(), z.number()]).optional(),\n    data: z\n      .object({\n        id: z.number().optional(),\n        method: z.string().optional(),\n        params: z.unknown().optional(),\n      })\n      .passthrough()\n      .optional(),\n  })\n  .passthrough();\nexport type RawMqttEvent = z.infer<typeof RawMqttEventSchema>;\n","import type { DreameRegion } from './config.js';\nimport type { DreameSession } from '../cloud/types.js';\nimport { DreameAuthError } from '../transport/errors.js';\nimport { hashPassword } from '../transport/crypto.js';\nimport { httpPostJson, RequestContext, type BaseResponse } from '../transport/http.js';\nimport { OAuthTokenResponseSchema } from '../transport/schemas.js';\nimport type { FetchImpl } from '../transport/http.js';\n\nexport interface LoginInput {\n  email: string;\n  password: string;\n  region: DreameRegion;\n  /** ISO-3166 alpha-2. Defaults from region. */\n  country?: string;\n  /** ISO-639-1. Defaults from region. */\n  lang?: string;\n  /** Override host (advanced — for testing). */\n  authHost?: string;\n  /** Inject a fetch impl for testing. */\n  fetchImpl?: FetchImpl;\n}\n\nexport interface RefreshInput {\n  refreshToken: string;\n  region: DreameRegion;\n  country?: string;\n  lang?: string;\n  authHost?: string;\n  fetchImpl?: FetchImpl;\n}\n\nfunction ctxFromInput(input: {\n  region: DreameRegion;\n  country?: string;\n  lang?: string;\n  authHost?: string;\n  fetchImpl?: FetchImpl;\n}): RequestContext {\n  return RequestContext.from({ ...input, host: input.authHost });\n}\n\n/** Authenticate against the Dreame native cloud (OAuth2 password grant). */\nexport async function login(input: LoginInput): Promise<DreameSession> {\n  const ctx = ctxFromInput(input);\n  const body = new URLSearchParams({\n    grant_type: 'password',\n    scope: 'all',\n    platform: 'IOS',\n    type: 'account',\n    username: input.email,\n    password: hashPassword(input.password),\n    country: ctx.country,\n    lang: ctx.lang,\n  });\n  return postForToken(ctx, body);\n}\n\n/** Exchange a refresh token for a fresh access token. Refresh ~100s before expiry. */\nexport async function refresh(input: RefreshInput): Promise<DreameSession> {\n  const ctx = ctxFromInput(input);\n  const body = new URLSearchParams({\n    grant_type: 'refresh_token',\n    refresh_token: input.refreshToken,\n  });\n  return postForToken(ctx, body);\n}\n\nasync function postForToken(ctx: RequestContext, body: URLSearchParams): Promise<DreameSession> {\n  // The OAuth response is validated/narrowed by `OAuthTokenResponseSchema.parse`\n  // below; the HTTP layer only needs the minimal `BaseResponse` shape here. The\n  // zod-inferred `OAuthTokenResponse` cannot be the generic directly because its\n  // passthrough widening makes `code` `number | undefined`, which is\n  // incompatible with `BaseResponse.code?: number` under exactOptionalPropertyTypes.\n  const raw = await httpPostJson<BaseResponse>({\n    ctx,\n    url: ctx.url('/dreame-auth/oauth/token'),\n    headers: ctx.headers(),\n    body,\n    context: 'auth',\n    errorClass: DreameAuthError,\n    skipCodeCheck: true, // OAuth uses HTTP status + top-level error fields, not parsed.code\n  });\n\n  const data = OAuthTokenResponseSchema.parse(raw);\n\n  if (data.error || data.error_description) {\n    throw new DreameAuthError(\n      `auth failed: ${data.error ?? '?'} — ${data.error_description ?? 'no description'}`,\n    );\n  }\n  if (!data.access_token) {\n    // Redacted: never stringify the full payload — it carries refresh_token and\n    // other secrets. Surface only non-secret diagnostic fields.\n    throw new DreameAuthError(\n      `auth response missing access_token: uid=${data.uid ?? '?'} error=${data.error ?? '?'} code=${data.code ?? '?'}`,\n    );\n  }\n\n  const expiresIn = typeof data.expires_in === 'number' ? data.expires_in : 7200;\n  const uid = data.uid !== undefined ? String(data.uid) : '';\n  if (!uid) {\n    throw new DreameAuthError('auth response missing uid');\n  }\n\n  const session: DreameSession = {\n    accessToken: data.access_token,\n    uid,\n    expiresAt: Date.now() + expiresIn * 1000,\n    region: ctx.region,\n  };\n  if (typeof data.refresh_token === 'string') {\n    session.refreshToken = data.refresh_token;\n  }\n  return session;\n}\n","/**\n * Connectivity / diagnostic info distilled from a device-list record.\n *\n * Scope note: the Dreame cloud device record exposes reachability + identity +\n * the assigned MQTT broker, but NOT Wi-Fi RSSI / SSID / local IP — those are\n * native-firmware (miIO-style) details the cloud API does not return for these\n * vacuums. So `signalStrength`/`ssid`/`ip` are intentionally absent here; this\n * surfaces everything the cloud actually provides.\n */\n\n/** The device's assigned MQTT broker endpoint (from `bindDomain`). */\nexport interface BrokerEndpoint {\n  readonly host: string;\n  readonly port: number | null;\n}\n\nexport interface DeviceConnectivity {\n  /** Whether the cloud considers the device online (LWT/online flag). */\n  readonly online: boolean;\n  /** Physical link type reported by the cloud (e.g. `\"WIFI\"`), or null. */\n  readonly connectionType: string | null;\n  /** Device MAC address, or null. */\n  readonly mac: string | null;\n  /** Assigned MQTT broker (`bindDomain` split into host/port), or null. */\n  readonly broker: BrokerEndpoint | null;\n  /** Cloud region the device is bound to (e.g. `\"eu\"`), or null. */\n  readonly region: string | null;\n  /** Cloud media/IoT vendor (e.g. `\"ali\"`), or null. */\n  readonly cloudVendor: string | null;\n  /** Firmware version (`ver`), or null. */\n  readonly firmwareVersion: string | null;\n  /** Serial number (`sn`), or null. */\n  readonly serialNumber: string | null;\n  /** Sub-model code, or null. */\n  readonly subModel: string | null;\n  /** Battery percentage 0–100 from the cloud snapshot, or null. */\n  readonly battery: number | null;\n  /** Latest MIoT status int from the cloud snapshot, or null. */\n  readonly statusCode: number | null;\n}\n\nconst str = (v: unknown): string | null => (typeof v === 'string' && v.length > 0 ? v : null);\nconst numOrNull = (v: unknown): number | null => (typeof v === 'number' && Number.isFinite(v) ? v : null);\n\n/** Split a `bindDomain` like `\"10000.mt.eu.iot.dreame.tech:19973\"` into host/port. */\nfunction parseBroker(bindDomain: unknown): BrokerEndpoint | null {\n  const s = str(bindDomain);\n  if (!s) return null;\n  const idx = s.lastIndexOf(':');\n  if (idx < 0) return { host: s, port: null };\n  const port = Number(s.slice(idx + 1));\n  return { host: s.slice(0, idx), port: Number.isFinite(port) ? port : null };\n}\n\n/** Parse the connectivity view from a raw device-list record. */\nexport function parseConnectivity(raw: Record<string, unknown>): DeviceConnectivity {\n  const deviceInfo = (raw['deviceInfo'] ?? {}) as Record<string, unknown>;\n  return {\n    online: raw['online'] === true,\n    connectionType: str(deviceInfo['scType']),\n    mac: str(raw['mac']),\n    broker: parseBroker(raw['bindDomain']),\n    region: str(raw['region']),\n    cloudVendor: str(raw['vendor']),\n    firmwareVersion: str(raw['ver']),\n    serialNumber: str(raw['sn']),\n    subModel: str(raw['subModel']),\n    battery: numOrNull(raw['battery']),\n    statusCode: numOrNull(raw['latestStatus']),\n  };\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type { DreameCloudState, DreameDevice, DreameSession } from './types.js';\nimport {\n  httpPostJsonBody,\n  RequestContext,\n  type BaseResponse,\n  type FetchImpl,\n} from '../transport/http.js';\nimport { DeviceListResponseSchema, type RawDevice } from '../transport/schemas.js';\nimport { parseConnectivity } from './connectivity.js';\n\nexport interface ListDevicesInput {\n  session: DreameSession;\n  region: DreameRegion;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\n/** Enumerate the devices visible to the authenticated account (incl. shared). */\nexport async function listDevices(input: ListDevicesInput): Promise<DreameDevice[]> {\n  const ctx = input.ctx ?? RequestContext.from({ ...input, host: input.apiHost });\n\n  // The response is validated/narrowed by `DeviceListResponseSchema.parse`\n  // below; the HTTP layer only needs the minimal `BaseResponse` shape. The\n  // zod-inferred `DeviceListResponse` cannot be the generic directly because\n  // its passthrough widening makes `code` `number | undefined`, which is\n  // incompatible with `BaseResponse.code?: number` under exactOptionalPropertyTypes.\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: '/dreame-user-iot/iotuserbind/device/listV2',\n    accessToken: input.session.accessToken,\n    body: {\n      sharedStatus: 1,\n      current: 1,\n      size: 100,\n      lang: ctx.lang,\n      timestamp: Date.now(),\n    },\n    context: 'device list',\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n  });\n\n  const parsed = DeviceListResponseSchema.parse(raw);\n  const records = parsed.data?.page?.records ?? parsed.data?.records ?? parsed.records ?? [];\n  return records.map(toDevice);\n}\n\nfunction toDevice(rawIn: RawDevice): DreameDevice {\n  const raw = rawIn as Record<string, unknown>;\n  const did = String(rawIn.did ?? '');\n  const model = String(rawIn.model ?? '');\n  const name = String(rawIn.customName || rawIn.deviceName || model || did);\n\n  let lwtFlag = 0;\n  if (typeof raw['property'] === 'string') {\n    try {\n      const p = JSON.parse(raw['property']) as { lwt?: number };\n      if (p && typeof p.lwt === 'number') {\n        lwtFlag = p.lwt;\n      }\n    } catch {\n      // ignore malformed JSON\n    }\n  }\n  const online = rawIn.online === true || rawIn.lwt === 1 || lwtFlag === 1;\n\n  const device: DreameDevice = {\n    did,\n    model,\n    name,\n    online,\n    raw,\n    cloudState: parseCloudState(raw),\n    connectivity: parseConnectivity(raw),\n  };\n  if (rawIn.mac) {\n    device.mac = String(rawIn.mac);\n  }\n  if (typeof raw['ver'] === 'string') {\n    device.firmwareVersion = raw['ver'];\n  }\n  if (typeof raw['sn'] === 'string') {\n    device.serialNumber = raw['sn'];\n  }\n  return device;\n}\n\nfunction parseCloudState(raw: Record<string, unknown>): DreameCloudState {\n  const latestStatus = typeof raw['latestStatus'] === 'number' ? raw['latestStatus'] : null;\n  const battery = typeof raw['battery'] === 'number' ? raw['battery'] : null;\n  const featureCode2 = typeof raw['featureCode2'] === 'number' ? raw['featureCode2'] : null;\n  let videoActive: boolean | null = null;\n  if (typeof raw['videoStatus'] === 'string') {\n    try {\n      const v = JSON.parse(raw['videoStatus']) as { operType?: string; status?: number };\n      if (v?.operType === 'end' || v?.status === 0) {\n        videoActive = false;\n      } else if (v?.operType || v?.status) {\n        videoActive = true;\n      }\n    } catch {\n      // ignore malformed JSON\n    }\n  }\n  return { latestStatus, battery, videoActive, featureCode2 };\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type {\n  DreameSession,\n  MiotProp,\n  MiotAction,\n  PropertyWrite,\n  PropertyResult,\n} from './types.js';\nimport { COMMAND_FROM_FIELD, IOT_COM_PREFIX_DREAME } from '../auth/config.js';\nimport { randomRequestId } from '../transport/crypto.js';\nimport { DreameApiError } from '../transport/errors.js';\nimport {\n  httpPostJsonBody,\n  RequestContext,\n  type BaseResponse,\n  type FetchImpl,\n} from '../transport/http.js';\nimport { z } from 'zod';\nimport {\n  SendCommandResponseSchema,\n  CachedPropsResponseSchema,\n  BatchDeviceDataResponseSchema,\n  PropertyResultSchema,\n  type SendCommandResponse,\n} from '../transport/schemas.js';\n\ninterface SendCommandInput {\n  session: DreameSession;\n  region: DreameRegion;\n  did: string;\n  /** MIoT method: `get_properties`, `set_properties`, `action`. */\n  method: string;\n  /**\n   * For `get_properties`/`set_properties`: an ARRAY of property descriptors.\n   * For `action`: a single OBJECT (NOT an array — Dreame surfaces the wrong\n   * shape as a misleading code 80001 \"device offline\" error).\n   */\n  params: unknown;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  iotComPrefix?: number;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\n/** Low-level dispatch to `/device/sendCommand`. Caller owns the `params` shape. */\nexport async function sendCommand(input: SendCommandInput): Promise<SendCommandResponse> {\n  const ctx = input.ctx ?? RequestContext.from({ ...input, host: input.apiHost });\n  const prefix = input.iotComPrefix ?? IOT_COM_PREFIX_DREAME;\n  const id = randomRequestId();\n\n  // The response is validated/narrowed by `SendCommandResponseSchema.parse`\n  // below; the HTTP layer only needs the minimal `BaseResponse` shape. The\n  // zod-inferred `SendCommandResponse` cannot be the generic directly because\n  // its passthrough widening makes `code` `number | undefined`, which is\n  // incompatible with `BaseResponse.code?: number` under exactOptionalPropertyTypes.\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `/dreame-iot-com-${prefix}/device/sendCommand`,\n    accessToken: input.session.accessToken,\n    body: {\n      did: input.did,\n      id,\n      data: {\n        did: input.did,\n        id,\n        method: input.method,\n        params: input.params,\n        from: COMMAND_FROM_FIELD,\n      },\n    },\n    context: input.method,\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n  });\n  return SendCommandResponseSchema.parse(raw);\n}\n\nexport interface CommonInput {\n  session: DreameSession;\n  region: DreameRegion;\n  did: string;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  /**\n   * Inject a fetch implementation. Placed here (on `CommonInput`) so tests can\n   * pass a mock via the first argument without any casts. Do NOT put this on\n   * `CallOptions` — it belongs on the base/donor argument only.\n   */\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\nexport interface CallOptions {\n  signal?: AbortSignal;\n  timeoutMs?: number;\n  // fetchImpl intentionally NOT here — inject it via CommonInput instead.\n}\n\n/** Read one or more MIoT properties from a device. */\nexport async function getProperties(\n  base: CommonInput,\n  props: MiotProp[],\n  opts: CallOptions = {},\n): Promise<PropertyResult[]> {\n  const params = props.map((p) => ({ did: base.did, siid: p.siid, piid: p.piid }));\n  const res = await sendCommand({ ...base, ...opts, method: 'get_properties', params });\n  return extractResultArray(res, 'get_properties');\n}\n\n/**\n * Read the CLOUD-CACHED (shadow) values of one or more MIoT properties WITHOUT\n * waking the device. Hits the `dreame-user-iot/iotstatus/props` endpoint (the\n * account-auth path, NOT the `device/sendCommand` envelope), which returns the\n * cloud's last-known values for a standby/offline robot and never 80001s for an\n * idle device — exactly what the Dreamehome app shows for a sleeping robot.\n *\n * `keys` MUST be the comma-joined `\"siid.piid\"` STRING (an array yields code\n * 10001; an empty value yields 10007). Each `data[]` entry's `value` arrives as\n * a STRING; it is coerced back to number/boolean (else kept as a string) so the\n * existing typed getters (which expect numbers) decode it unchanged.\n */\nexport async function getCachedProperties(\n  base: CommonInput,\n  props: MiotProp[],\n  opts: CallOptions = {},\n): Promise<PropertyResult[]> {\n  const ctx = base.ctx ?? RequestContext.from({ ...base, host: base.apiHost });\n  const keys = props.map((p) => `${p.siid}.${p.piid}`).join(',');\n  const signal = opts.signal ?? base.signal;\n  const timeoutMs = opts.timeoutMs ?? base.timeoutMs;\n\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: '/dreame-user-iot/iotstatus/props',\n    accessToken: base.session.accessToken,\n    body: { did: base.did, keys },\n    context: 'cached properties',\n    ...(signal !== undefined ? { signal } : {}),\n    ...(timeoutMs !== undefined ? { timeoutMs } : {}),\n  });\n\n  const parsed = CachedPropsResponseSchema.parse(raw);\n  // The HTTP layer already rejects code !== 0; this is a defensive backstop so\n  // the contract (code === 0 ⇒ success) holds even if that check is bypassed.\n  if (parsed.code !== undefined && parsed.code !== 0) {\n    throw new DreameApiError(\n      `cached properties rejected: code=${parsed.code} msg=${parsed.msg ?? '?'}`,\n      200,\n      parsed,\n    );\n  }\n  return (parsed.data ?? []).flatMap((entry) => {\n    const [siidStr, piidStr] = entry.key.split('.');\n    const siid = Number(siidStr);\n    const piid = Number(piidStr);\n    if (!Number.isFinite(siid) || !Number.isFinite(piid)) {\n      return [];\n    }\n    const result: PropertyResult = { siid, piid, value: coerceShadowValue(entry.value) };\n    if (entry.updateDate !== undefined) {\n      result.updateDate = entry.updateDate;\n    }\n    return [result];\n  });\n}\n\n/**\n * Coerce a cloud-shadow value (delivered as a string) back to the type the\n * typed getters expect: a numeric string → number, `\"true\"`/`\"false\"` →\n * boolean, anything else (incl. already-typed values) is returned unchanged.\n */\nfunction coerceShadowValue(value: unknown): unknown {\n  if (typeof value !== 'string') {\n    return value;\n  }\n  if (value === 'true') {\n    return true;\n  }\n  if (value === 'false') {\n    return false;\n  }\n  // Number('') === 0 and Number('1,2') === NaN — only coerce a clean numeric\n  // token, leaving fault-list strings like \"18,107\" intact.\n  if (value.trim() !== '' && Number.isFinite(Number(value))) {\n    return Number(value);\n  }\n  return value;\n}\n\n/** Write one or more MIoT properties to a device. */\nexport async function setProperties(\n  base: CommonInput,\n  writes: PropertyWrite[],\n  opts: CallOptions = {},\n): Promise<PropertyResult[]> {\n  const params = writes.map((p) => ({\n    did: base.did,\n    siid: p.siid,\n    piid: p.piid,\n    value: p.value,\n  }));\n  const res = await sendCommand({ ...base, ...opts, method: 'set_properties', params });\n  return extractResultArray(res, 'set_properties');\n}\n\n/**\n * Invoke a single MIoT action. Unlike property calls, `params` is a single\n * OBJECT, not an array — an array here surfaces as a misleading code 80001.\n */\nexport async function callAction(\n  base: CommonInput,\n  action: MiotAction,\n  opts: CallOptions = {},\n): Promise<unknown> {\n  const params = {\n    did: base.did,\n    siid: action.siid,\n    aiid: action.aiid,\n    in: action.in ?? [],\n  };\n  const res = await sendCommand({ ...base, ...opts, method: 'action', params });\n  return res.data?.result ?? res.result ?? res;\n}\n\n/**\n * Fetch batched device data (the mower's vector map: `MAP.*` / `M_PATH.*` chunk\n * keys, plus `SETTINGS.*` / `SCHEDULE.*` / `OTA_INFO.*` groups) for a set of\n * property groups.\n *\n * Hits `dreame-user-iot/iotuserdata/getDeviceData` — the SAME account-auth host\n * as {@link getCachedProperties} (NOT the `device/sendCommand` envelope), so it\n * resolves the cloud-stored data for a standby/sleeping robot. Body is\n * `{ did, model: props }` where `model` (the firmware's spelling) carries the\n * requested key groups (e.g. `['MAP','M_PATH']`); an empty list returns every\n * group. The response `data` is a flat dict of `KEY.idx` chunk values that\n * {@link import('../models/mower/map/parser.js').parseBatchMapData} reassembles.\n *\n * Endpoint recovered from the Tasshack `dreame-vacuum` protocol table\n * (`_strings[23]/[26]/[44]` = `dreame-user-iot/iotuserdata/getDeviceData`) and\n * the donor `antondaubert/dreame-mower` device-data analysis tool.\n */\nexport async function getBatchDeviceDatas(\n  base: CommonInput,\n  props: string[],\n  opts: CallOptions = {},\n): Promise<Record<string, unknown>> {\n  const ctx = base.ctx ?? RequestContext.from({ ...base, host: base.apiHost });\n  const signal = opts.signal ?? base.signal;\n  const timeoutMs = opts.timeoutMs ?? base.timeoutMs;\n\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: '/dreame-user-iot/iotuserdata/getDeviceData',\n    accessToken: base.session.accessToken,\n    body: { did: base.did, model: props },\n    context: 'batch device data',\n    ...(signal !== undefined ? { signal } : {}),\n    ...(timeoutMs !== undefined ? { timeoutMs } : {}),\n  });\n\n  const parsed = BatchDeviceDataResponseSchema.parse(raw);\n  // The HTTP layer already rejects code !== 0; this is a defensive backstop so\n  // the contract (code === 0 ⇒ success) holds even if that check is bypassed.\n  if (parsed.code !== undefined && parsed.code !== 0) {\n    throw new DreameApiError(\n      `batch device data rejected: code=${parsed.code} msg=${parsed.msg ?? '?'}`,\n      200,\n      parsed,\n    );\n  }\n  return parsed.data ?? {};\n}\n\nfunction extractResultArray(res: SendCommandResponse, context: string): PropertyResult[] {\n  const raw = Array.isArray(res.data?.result)\n    ? res.data.result\n    : Array.isArray(res.result)\n      ? res.result\n      : null;\n  if (raw === null) {\n    throw new DreameApiError(\n      `${context}: response did not contain a result array — ${JSON.stringify(res).slice(0, 200)}`,\n      200,\n      res,\n    );\n  }\n  // Validate STRUCTURE leniently (array of objects, known fields optional)\n  // rather than casting unknown[] straight to PropertyResult[].\n  const parsed = z.array(PropertyResultSchema).safeParse(raw);\n  if (!parsed.success) {\n    throw new DreameApiError(\n      `${context}: result array contained a non-object element — ${JSON.stringify(raw).slice(0, 200)}`,\n      200,\n      res,\n    );\n  }\n  return parsed.data;\n}\n","import mqtt from 'mqtt';\nimport type { DreameRegion } from '../auth/config.js';\nimport type { DreameDevice, DreameSession } from '../cloud/types.js';\nimport { DreameTransportError } from './errors.js';\nimport { randomMqttClientId } from './crypto.js';\nimport { TypedEmitter } from './typed-emitter.js';\nimport { RawMqttEventSchema } from './schemas.js';\n\n/** A single property update pushed by the device. */\nexport interface PropertyChange {\n  did: string;\n  siid: number;\n  piid: number;\n  value: unknown;\n}\n\n/** MIoT event push (`method: \"event_occured\"` — yes, the typo is on the wire). */\nexport interface EventOccuredPush {\n  did: string;\n  siid: number;\n  eiid: number;\n  arguments: unknown[];\n}\n\n/** Untyped k/v push on `method: \"props\"` (OTA progress/state, etc.). */\nexport interface PropsPush {\n  did: string;\n  params: Record<string, unknown>;\n}\n\n/** Saved-map catalogue push on `_sync.update_vacuum_mapinfo`. */\nexport interface MapInfoPush {\n  did: string;\n  maps: Map<number, readonly number[]>;\n  activeMapId: number | null;\n  savedMapIds: readonly number[];\n}\n\n/**\n * The subset of `mqtt.MqttClient` this module uses. Declaring it lets tests\n * inject a fake broker without depending on a live TLS socket.\n */\nexport interface MqttLikeClient {\n  on(event: 'connect', cb: () => void): this;\n  on(event: 'close', cb: () => void): this;\n  on(event: 'error', cb: (err: Error) => void): this;\n  on(event: 'message', cb: (topic: string, payload: Buffer) => void): this;\n  once(event: 'connect', cb: () => void): this;\n  once(event: 'error', cb: (err: Error) => void): this;\n  removeListener(event: string, cb: (...args: never[]) => void): this;\n  subscribe(topic: string, opts: { qos: 0 | 1 | 2 }, cb: (err?: Error) => void): void;\n  end(force: boolean, opts: Record<string, never>, cb: () => void): void;\n}\n\nexport interface ConnectOptions {\n  username: string;\n  password: string;\n  clientId: string;\n  protocolVersion: 4;\n  reconnectPeriod: number;\n  connectTimeout: number;\n  rejectUnauthorized: boolean;\n  clean: boolean;\n  /** MQTT-level keep-alive in seconds: the client PINGREQs the broker this often\n   *  so an idle connection is held open (and a dead one detected) at the protocol\n   *  layer — the connection's keep-alive belongs here, in the library, not in a\n   *  consumer-side property poll. */\n  keepalive: number;\n}\n\n/** Factory matching `mqtt.connect`'s shape we rely on (injectable for tests). */\nexport type MqttConnectFn = (url: string, opts: ConnectOptions) => MqttLikeClient;\n\nfunction defaultConnect(url: string, opts: ConnectOptions): MqttLikeClient {\n  // mqtt.connect returns a MqttClient which structurally satisfies MqttLikeClient.\n  // We verify this with a local type assertion through the interface rather than\n  // a raw cast, keeping the boundary explicit.\n  const client = mqtt.connect(url, opts);\n  // MqttClient implements the full MqttLikeClient contract; assign through the\n  // interface to surface any future structural mismatch as a compile error.\n  const typed: MqttLikeClient = client;\n  return typed;\n}\n\nexport type DreamePushEvents = {\n  properties: [PropertyChange[]];\n  event: [EventOccuredPush];\n  props: [PropsPush];\n  mapInfo: [MapInfoPush];\n  connect: [];\n  close: [];\n  error: [Error];\n};\n\nexport interface DreamePushInput {\n  device: DreameDevice;\n  session: DreameSession;\n  region: DreameRegion;\n  /** Injectable mqtt.connect (defaults to the real one). */\n  connect?: MqttConnectFn;\n  /** Backoff before a reconnect attempt after an unexpected drop. Default 5000. */\n  reconnectBackoffMs?: number;\n  /** MQTT keep-alive (PINGREQ cadence) in seconds. Default 60. `0` disables. */\n  keepaliveSeconds?: number;\n  /**\n   * Whether the TLS layer must reject a server certificate that does not chain\n   * to a trusted public CA. Defaults to `false`: Dreame brokers present\n   * device-specific certificates that are NOT chained to a public CA, so strict\n   * verification fails against the real fleet. Override to `true` only when\n   * pointing at a broker with a properly chained certificate (e.g. a test rig).\n   */\n  rejectUnauthorized?: boolean;\n  /**\n   * Called when the broker refuses a CONNECT with an auth error — a CONNACK\n   * whose return code is 5 (\"Not authorized\") or 4 (\"Bad username or password\")\n   * on MQTT 3.1.1 (135/134 on MQTT 5). This happens when the access token the\n   * push connects with has gone stale server-side. The callback MUST resolve to\n   * a freshly-minted session; the push adopts its token and reconnects with it\n   * instead of hopelessly replaying the stale one. Wired by the facade to\n   * `Nodreame.reauthenticate()`. When omitted, an auth-refused reconnect falls\n   * back to the plain backoff loop (legacy behaviour).\n   */\n  onAuthFailure?: () => Promise<DreameSession>;\n  /**\n   * Maximum number of CONSECUTIVE auth-refused re-authentications before the\n   * push stops re-logging-in and falls back to a plain backoff reconnect. The\n   * counter resets to 0 on the next successful connect. Guards against a tight\n   * re-login loop when the credentials are genuinely bad. Default 3.\n   *\n   * NOTE: this cap is PER-PUSH, so a fleet of N devices could in principle make\n   * up to `maxAuthRetries * N` re-auth calls on an account-wide invalidation. In\n   * practice the facade bounds this: `Nodreame.reauthenticate()` coalesces\n   * concurrent refreshes into ONE grant and propagates the fresh token to every\n   * device, so the first device's re-auth heals the whole fleet before the\n   * others exhaust their own budgets.\n   */\n  maxAuthRetries?: number;\n}\n\n/**\n * True when `err` (or an error in its `cause` chain) is an MQTT CONNACK\n * auth-refusal. mqtt.js raises an `ErrorWithReasonCode` carrying a numeric\n * `code`: MQTT 3.1.1 uses 4 (bad user/pass) / 5 (not authorized); MQTT 5 uses\n * 134 / 135. We also match the human-readable message as a belt-and-braces\n * fallback in case the code is not surfaced through a wrapper.\n */\nexport function isAuthRefusedError(err: unknown): boolean {\n  let cur: unknown = err;\n  for (let depth = 0; cur != null && depth < 6; depth += 1) {\n    if (typeof cur !== 'object') {\n      break;\n    }\n    const code = (cur as { code?: unknown }).code;\n    if (code === 4 || code === 5 || code === 134 || code === 135) {\n      return true;\n    }\n    const message = (cur as { message?: unknown }).message;\n    if (\n      typeof message === 'string' &&\n      /not authorized|bad user ?name|bad username or password|bad password/i.test(message)\n    ) {\n      return true;\n    }\n    cur = (cur as { cause?: unknown }).cause;\n  }\n  return false;\n}\n\n/**\n * Durable per-device MQTT subscription. Unlike the donor, this:\n *  - reconnects with backoff after an unexpected drop, then resubscribes;\n *  - on `refreshSession(newSession)` closes the old client and reopens with\n *    the new access token (the broker validates the token at CONNECT only and\n *    cannot be re-authed on a live client);\n *  - never auto-reconnects after an explicit `close()`.\n */\nexport class DreamePush extends TypedEmitter<DreamePushEvents> {\n  readonly #device: DreameDevice;\n  #session: DreameSession;\n  readonly #region: DreameRegion;\n  readonly #connect: MqttConnectFn;\n  readonly #backoffMs: number;\n  readonly #keepaliveSeconds: number;\n  readonly #rejectUnauthorized: boolean;\n  readonly #onAuthFailure: (() => Promise<DreameSession>) | null;\n  readonly #maxAuthRetries: number;\n  #topic: string;\n  #client: MqttLikeClient | null = null;\n  #closed = false;\n  #tearingDown = false;\n  #reconnectTimer: ReturnType<typeof setTimeout> | null = null;\n  /** Consecutive auth-refused re-auths since the last successful connect. */\n  #authFailureCount = 0;\n\n  /**\n   * Per-instance bound close handler. Stored so we can pass the EXACT same\n   * function reference to both `client.on('close', …)` and\n   * `client.removeListener('close', …)` during teardown — a throwaway arrow\n   * would be a different reference and would NOT be removed.\n   */\n  readonly #onClose: () => void;\n\n  constructor(input: DreamePushInput) {\n    super();\n    this.#device = input.device;\n    this.#session = input.session;\n    this.#region = input.region;\n    this.#connect = input.connect ?? defaultConnect;\n    this.#backoffMs = input.reconnectBackoffMs ?? 5000;\n    this.#keepaliveSeconds = input.keepaliveSeconds ?? 60;\n    this.#rejectUnauthorized = input.rejectUnauthorized ?? false;\n    this.#onAuthFailure = input.onAuthFailure ?? null;\n    this.#maxAuthRetries = input.maxAuthRetries ?? 3;\n    this.#topic = buildStatusTopic(this.#device, this.#session.uid, this.#region);\n    // Bind once so the reference is stable across register/remove calls.\n    this.#onClose = (): void => {\n      if (this.#tearingDown) {\n        // We caused this close (teardown or refresh). Do NOT reconnect.\n        return;\n      }\n      this.emit('close');\n      this.#scheduleReconnect();\n    };\n  }\n\n  get topic(): string {\n    return this.#topic;\n  }\n\n  /** Open the connection and resolve when subscribed. */\n  async open(): Promise<void> {\n    if (this.#closed) {\n      throw new DreameTransportError('subscription is closed');\n    }\n    if (this.#client) {\n      return;\n    }\n    await this.#connectAndSubscribe();\n  }\n\n  /**\n   * Swap to a freshly-refreshed session: close the current client and reopen\n   * with the new access token. Safe to call while connected or disconnected.\n   */\n  async refreshSession(session: DreameSession): Promise<void> {\n    this.#session = session;\n    if (this.#closed) {\n      return;\n    }\n    // Cancel any reconnect armed by a prior drop. Without this, a timer armed\n    // before refresh fires AFTER refresh reconnects, spawning a second live\n    // client and orphaning the first (mirror what close() does).\n    if (this.#reconnectTimer) {\n      clearTimeout(this.#reconnectTimer);\n      this.#reconnectTimer = null;\n    }\n    await this.#teardownClient();\n    try {\n      await this.#connectAndSubscribe();\n    } catch {\n      // The fresh token failed to connect transiently (broker has not yet\n      // indexed the rotated token, a network blip, etc.). Arm a bounded\n      // reconnect instead of leaving the device dark until the next rotation.\n      // `#connectAndSubscribe` already ended + nulled its client, so this\n      // schedules a clean retry. Resolve rather than reject so a propagation\n      // (allSettled) caller records this device as handled — the reconnect\n      // timer is now driving recovery.\n      this.#scheduleReconnect();\n    }\n  }\n\n  /** Tear down permanently. Closed subscriptions cannot be reopened. */\n  async close(): Promise<void> {\n    this.#closed = true;\n    if (this.#reconnectTimer) {\n      clearTimeout(this.#reconnectTimer);\n      this.#reconnectTimer = null;\n    }\n    await this.#teardownClient();\n  }\n\n  async #connectAndSubscribe(): Promise<void> {\n    const client = this.#connect(brokerUrl(this.#device), {\n      username: this.#session.uid,\n      password: this.#session.accessToken,\n      clientId: randomMqttClientId(),\n      protocolVersion: 4,\n      reconnectPeriod: 0, // we drive reconnect ourselves\n      connectTimeout: 15000,\n      keepalive: this.#keepaliveSeconds,\n      rejectUnauthorized: this.#rejectUnauthorized,\n      clean: true,\n    });\n    this.#client = client;\n\n    client.on('message', (_topic, payload) => this.#handleMessage(payload));\n    client.on('error', (err) => this.emit('error', err));\n    // Use the stored bound reference so teardown can reliably remove it.\n    client.on('close', this.#onClose);\n\n    try {\n      await new Promise<void>((resolve, reject) => {\n        const onConnect = (): void => {\n          client.removeListener('error', onError);\n          client.subscribe(this.#topic, { qos: 0 }, (err) => {\n            if (err) {\n              reject(new DreameTransportError(`mqtt subscribe failed: ${err.message}`, err));\n              return;\n            }\n            // A clean connect+subscribe proves the current token is good again:\n            // reset the auth-failure budget so a LATER staleness can self-heal.\n            this.#authFailureCount = 0;\n            this.emit('connect');\n            resolve();\n          });\n        };\n        const onError = (err: Error): void => {\n          client.removeListener('connect', onConnect);\n          reject(new DreameTransportError(`mqtt connect failed: ${err.message}`, err));\n        };\n        client.once('connect', onConnect);\n        client.once('error', onError);\n      });\n    } catch (err) {\n      // The connect/subscribe failed AFTER the TCP socket may already be\n      // ESTABLISHED (auth or subscribe rejected post-handshake — e.g. a stale\n      // token after a re-login). Force-close it now so the socket + client\n      // object are freed. Without this, the caller (`open`/`refreshSession`/the\n      // reconnect loop) would orphan the client — `#scheduleReconnect` nulls\n      // `#client` without `end()`, leaking one ESTABLISHED connection (and its\n      // buffers) per failed attempt, which snowballs once the broker starts\n      // rejecting the pile-up. Detach our close handler first so the forced\n      // end() does not re-arm a reconnect.\n      client.removeListener('close', this.#onClose);\n      try {\n        client.end(true, {}, () => undefined);\n      } catch {\n        // best-effort — a half-open client may throw on end(); ignore.\n      }\n      if (this.#client === client) {\n        this.#client = null;\n      }\n      throw err;\n    }\n  }\n\n  #scheduleReconnect(): void {\n    if (this.#closed || this.#reconnectTimer) {\n      return;\n    }\n    this.#client = null;\n    this.#reconnectTimer = setTimeout(() => {\n      this.#reconnectTimer = null;\n      // Skip if we were closed or a client was already (re)established in the\n      // meantime (e.g. by refreshSession) — never spawn a duplicate connection.\n      if (this.#closed || this.#client) {\n        return;\n      }\n      void this.#attemptReconnect();\n    }, this.#backoffMs);\n  }\n\n  /**\n   * One reconnect attempt with reactive auth self-heal. If the broker refuses\n   * the CONNECT with an auth error (a stale access token) and an\n   * `onAuthFailure` provider is wired and the re-auth budget is not exhausted,\n   * mint a fresh session and retry with the new token instead of replaying the\n   * old one. Any other failure (or an exhausted budget) falls back to the plain\n   * backoff reconnect so bad credentials cannot hot-loop re-login.\n   */\n  async #attemptReconnect(): Promise<void> {\n    try {\n      await this.#connectAndSubscribe();\n    } catch (err) {\n      if (this.#closed) {\n        return;\n      }\n      if (\n        this.#onAuthFailure &&\n        isAuthRefusedError(err) &&\n        this.#authFailureCount < this.#maxAuthRetries\n      ) {\n        await this.#reauthenticateAndReconnect();\n        return;\n      }\n      // Non-auth error, or the re-auth cap is exhausted: surface it and fall\n      // back to a plain backoff reconnect (no re-login storm).\n      this.emit('error', err instanceof Error ? err : new DreameTransportError(String(err)));\n      this.#scheduleReconnect();\n    }\n  }\n\n  /** Mint a fresh session via `onAuthFailure`, adopt its token, and reconnect. */\n  async #reauthenticateAndReconnect(): Promise<void> {\n    this.#authFailureCount += 1;\n    let session: DreameSession;\n    try {\n      session = await this.#onAuthFailure!();\n    } catch (err) {\n      // Re-authentication itself failed: surface it and retry on a backoff.\n      this.emit('error', err instanceof Error ? err : new DreameTransportError(String(err)));\n      // NEVER orphan a live client: `onAuthFailure` propagates the new session\n      // through `refreshSession()`, which may have ALREADY reconnected this push\n      // before the (later) rejection surfaced. `#scheduleReconnect()` would null\n      // that healthy client without ending it — a leaked socket + a duplicate\n      // connection. Only re-arm when we have no live client to preserve.\n      if (!this.#client) {\n        this.#scheduleReconnect();\n      }\n      return;\n    }\n    if (this.#closed) {\n      return;\n    }\n    // Adopt the fresh token + rebuild the topic (uid could differ). NOTE:\n    // `onAuthFailure` typically propagates the new session back through\n    // `refreshSession()`, which ALREADY tears down and reconnects this push —\n    // in that case `#client` is live and we must NOT open a second connection.\n    this.#session = session;\n    this.#topic = buildStatusTopic(this.#device, this.#session.uid, this.#region);\n    if (this.#client) {\n      return;\n    }\n    // No propagated reconnect happened — reconnect ourselves on the new token.\n    void this.#attemptReconnect();\n  }\n\n  async #teardownClient(): Promise<void> {\n    const client = this.#client;\n    this.#client = null;\n    if (!client) {\n      return;\n    }\n    // Signal to #onClose that this close event is intentional — do not reconnect.\n    this.#tearingDown = true;\n    // Remove the stored bound reference. This is the exact function object\n    // registered in #connectAndSubscribe, so removeListener works correctly.\n    client.removeListener('close', this.#onClose);\n    await new Promise<void>((resolve) => {\n      client.end(false, {}, () => resolve());\n    });\n    this.#tearingDown = false;\n  }\n\n  #handleMessage(payload: Buffer): void {\n    let raw: unknown;\n    try {\n      raw = JSON.parse(payload.toString('utf8'));\n    } catch (err) {\n      this.emit('error', new DreameTransportError('invalid mqtt payload', err));\n      return;\n    }\n    const result = RawMqttEventSchema.safeParse(raw);\n    if (!result.success) {\n      this.emit('error', new DreameTransportError('unexpected mqtt envelope'));\n      return;\n    }\n    const envelope = result.data;\n    const did = String(envelope.did ?? this.#device.did);\n    const method = envelope.data?.method;\n    const params = envelope.data?.params;\n\n    if (method === 'properties_changed' && Array.isArray(params)) {\n      const changes = parsePropertyChanges(did, params);\n      if (changes.length > 0) {\n        this.emit('properties', changes);\n      }\n      return;\n    }\n    if (method === 'event_occured' && isObject(params)) {\n      const ev = parseEventOccured(did, params);\n      if (ev) {\n        this.emit('event', ev);\n      }\n      return;\n    }\n    if (method === 'props' && isObject(params)) {\n      this.emit('props', { did, params });\n      return;\n    }\n    if (method === '_sync.update_vacuum_mapinfo' && isObject(params)) {\n      const mi = parseMapInfo(did, params);\n      if (mi) {\n        this.emit('mapInfo', mi);\n      }\n      return;\n    }\n  }\n}\n\n// --- Pure helpers (exported for unit tests) ------------------------------\n\nfunction isObject(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\nexport function brokerUrl(device: DreameDevice): string {\n  const bindDomain = (device.raw['bindDomain'] as string | undefined) ?? '';\n  if (!bindDomain) {\n    throw new DreameTransportError(`device ${device.did} has no bindDomain — cannot connect MQTT`);\n  }\n  return `mqtts://${bindDomain}`;\n}\n\nexport function buildStatusTopic(device: DreameDevice, uid: string, region: DreameRegion): string {\n  // Trailing slash is mandatory — the broker matches it literally.\n  return `/status/${device.did}/${uid}/${device.model}/${region}/`;\n}\n\nexport function parsePropertyChanges(fallbackDid: string, params: unknown[]): PropertyChange[] {\n  const changes: PropertyChange[] = [];\n  for (const p of params) {\n    if (!isObject(p)) {\n      continue;\n    }\n    const siid = p['siid'];\n    const piid = p['piid'];\n    if (typeof siid === 'number' && typeof piid === 'number') {\n      const did = p['did'];\n      changes.push({\n        did: typeof did === 'string' || typeof did === 'number' ? String(did) : fallbackDid,\n        siid,\n        piid,\n        value: p['value'],\n      });\n    }\n  }\n  return changes;\n}\n\nexport function parseEventOccured(\n  fallbackDid: string,\n  params: Record<string, unknown>,\n): EventOccuredPush | null {\n  const siid = params['siid'];\n  const eiid = params['eiid'];\n  if (typeof siid !== 'number' || typeof eiid !== 'number') {\n    return null;\n  }\n  const did = params['did'];\n  const args = params['arguments'];\n  return {\n    did: typeof did === 'string' || typeof did === 'number' ? String(did) : fallbackDid,\n    siid,\n    eiid,\n    arguments: Array.isArray(args) ? args : [],\n  };\n}\n\nexport function parseMapInfo(\n  fallbackDid: string,\n  params: Record<string, unknown>,\n): MapInfoPush | null {\n  const inner = params['map_info'];\n  if (typeof inner !== 'string') {\n    return null;\n  }\n  let decoded: unknown;\n  try {\n    decoded = JSON.parse(inner);\n  } catch {\n    return null;\n  }\n  if (!isObject(decoded)) {\n    return null;\n  }\n  const maps = new Map<number, readonly number[]>();\n  for (const [key, value] of Object.entries(decoded)) {\n    const id = Number(key);\n    if (!Number.isFinite(id) || !Array.isArray(value)) {\n      continue;\n    }\n    maps.set(\n      id,\n      value.filter((v): v is number => typeof v === 'number'),\n    );\n  }\n  let activeMapId: number | null = null;\n  for (const [id, tok] of [...maps].sort((a, b) => a[0] - b[0])) {\n    if (tok.length > 1 || (tok.length === 1 && tok[0] !== 0)) {\n      activeMapId = id;\n      break;\n    }\n  }\n  const savedMapIds = Object.freeze([...maps.keys()].sort((a, b) => a - b));\n  const did = params['did'];\n  return {\n    did: typeof did === 'string' || typeof did === 'number' ? String(did) : fallbackDid,\n    maps,\n    activeMapId,\n    savedMapIds,\n  };\n}\n","import { EventEmitter } from 'node:events';\n\n/** A strongly-typed wrapper over Node's EventEmitter. */\nexport class TypedEmitter<Events extends Record<string, unknown[]>> {\n  readonly #emitter = new EventEmitter();\n\n  on<K extends keyof Events & string>(event: K, listener: (...args: Events[K]) => void): this {\n    this.#emitter.on(event, listener as (...args: unknown[]) => void);\n    return this;\n  }\n\n  once<K extends keyof Events & string>(event: K, listener: (...args: Events[K]) => void): this {\n    this.#emitter.once(event, listener as (...args: unknown[]) => void);\n    return this;\n  }\n\n  off<K extends keyof Events & string>(event: K, listener: (...args: Events[K]) => void): this {\n    this.#emitter.off(event, listener as (...args: unknown[]) => void);\n    return this;\n  }\n\n  emit<K extends keyof Events & string>(event: K, ...args: Events[K]): boolean {\n    return this.#emitter.emit(event, ...args);\n  }\n\n  /** Number of listeners registered for `event`. */\n  listenerCount<K extends keyof Events & string>(event: K): number {\n    return this.#emitter.listenerCount(event);\n  }\n\n  removeAllListeners(): this {\n    this.#emitter.removeAllListeners();\n    return this;\n  }\n}\n","/**\n * A read-only set of capability tokens a device model supports. Phase 2 ships\n * only the shape + a no-op default; P3/P4 populate per-model tables behind the\n * same {@link CapabilityResolver} interface.\n */\nexport interface DeviceCapabilities {\n  readonly model: string;\n  /** Whether the model is known to support a capability token. */\n  has(token: string): boolean;\n  /** All known capability tokens for the model. */\n  list(): readonly string[];\n}\n\n/** Resolves the capability set for a device model string. */\nexport interface CapabilityResolver {\n  resolve(model: string): DeviceCapabilities;\n}\n\n/** Immutable capability set backed by a token set. */\nclass CapabilitySet implements DeviceCapabilities {\n  readonly model: string;\n  readonly #tokens: ReadonlySet<string>;\n\n  constructor(model: string, tokens: ReadonlySet<string>) {\n    this.model = model;\n    this.#tokens = tokens;\n  }\n\n  has(token: string): boolean {\n    return this.#tokens.has(token);\n  }\n\n  list(): readonly string[] {\n    return [...this.#tokens];\n  }\n}\n\n/**\n * Default resolver: every model resolves to an EMPTY capability set. This is a\n * deliberate no-op scaffold — device-family resolvers (vacuum/mower) override\n * `resolve` in later phases while keeping this interface stable.\n */\nexport class DefaultCapabilityResolver implements CapabilityResolver {\n  resolve(model: string): DeviceCapabilities {\n    return new CapabilitySet(model, new Set<string>());\n  }\n}\n\nconst sharedDefault = new DefaultCapabilityResolver();\n\n/** Convenience: resolve capabilities via the shared default resolver. */\nexport function resolveCapabilities(model: string): DeviceCapabilities {\n  return sharedDefault.resolve(model);\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type {\n  DreameDevice,\n  DreameSession,\n  MiotProp,\n  PropertyResult,\n  PropertyWrite,\n} from '../cloud/types.js';\nimport {\n  callAction as defaultCallAction,\n  getProperties as defaultGetProperties,\n  getCachedProperties as defaultGetCachedProperties,\n  setProperties as defaultSetProperties,\n  type CommonInput,\n} from '../cloud/commands.js';\nimport { DreamePush, type PropertyChange } from '../transport/mqtt-push.js';\nimport { DreameTransportError } from '../transport/errors.js';\nimport { TypedEmitter } from '../transport/typed-emitter.js';\nimport { DefaultCapabilityResolver, type DeviceCapabilities } from './capability.js';\nimport type {\n  DeviceEvent,\n  PropertyChangedEvent,\n  PropertyState,\n  StateChangedEvent,\n} from '../api/types.js';\n\n/**\n * The slice of {@link DreamePush} that {@link BaseDevice} depends on. Declaring\n * it as an interface lets tests inject a fake emitter with no casts; the real\n * `DreamePush` structurally satisfies it.\n */\nexport interface PushLike {\n  on(event: 'properties', cb: (changes: PropertyChange[]) => void): this;\n  on(\n    event: 'event',\n    cb: (ev: { did: string; siid: number; eiid: number; arguments: unknown[] }) => void,\n  ): this;\n  on(event: 'connect', cb: () => void): this;\n  on(event: 'close', cb: () => void): this;\n  on(event: 'error', cb: (err: Error) => void): this;\n  open(): Promise<void>;\n  close(): Promise<void>;\n  refreshSession(session: DreameSession): Promise<void>;\n}\n\n/** Injectable collaborators — defaults wire the real transport + command layer. */\nexport interface BaseDeviceDeps {\n  createPush(\n    device: DreameDevice,\n    session: DreameSession,\n    region: DreameRegion,\n    onAuthFailure?: () => Promise<DreameSession>,\n  ): PushLike;\n  getProperties(base: CommonInput, props: MiotProp[]): Promise<PropertyResult[]>;\n  /** Read the cloud-cached (shadow) values WITHOUT waking the device. */\n  getCachedProperties(base: CommonInput, props: MiotProp[]): Promise<PropertyResult[]>;\n  setProperties(base: CommonInput, writes: PropertyWrite[]): Promise<PropertyResult[]>;\n  callAction(\n    base: CommonInput,\n    action: { siid: number; aiid: number; in?: unknown[] },\n  ): Promise<unknown>;\n}\n\n/** Default deps using the real `DreamePush` and `src/cloud/commands.ts`. */\nexport function defaultBaseDeviceDeps(): BaseDeviceDeps {\n  return {\n    createPush: (device, session, region, onAuthFailure) =>\n      new DreamePush({\n        device,\n        session,\n        region,\n        ...(onAuthFailure !== undefined ? { onAuthFailure } : {}),\n      }),\n    getProperties: (base, props) => defaultGetProperties(base, props),\n    getCachedProperties: (base, props) => defaultGetCachedProperties(base, props),\n    setProperties: (base, writes) => defaultSetProperties(base, writes),\n    callAction: (base, action) => defaultCallAction(base, action),\n  };\n}\n\nexport type BaseDeviceEvents = {\n  propertyChanged: [PropertyChangedEvent];\n  stateChanged: [StateChangedEvent];\n  event: [DeviceEvent];\n  error: [Error];\n};\n\nexport interface BaseDeviceInput {\n  device: DreameDevice;\n  region: DreameRegion;\n  /** Always reads the LATEST session — the facade owns the variable. */\n  sessionRef: () => DreameSession;\n  /**\n   * Force-refresh callback handed to the underlying push so it can self-heal a\n   * broker CONNACK auth-refusal (stale token) by minting a fresh session.\n   * Wired by the facade to `Nodreame.reauthenticate()`.\n   */\n  onAuthFailure?: () => Promise<DreameSession>;\n  deps?: BaseDeviceDeps;\n  /** Eager-seed the cache on `start()`. Default true. */\n  fetchInitialValues?: boolean;\n  /** Properties to seed when `fetchInitialValues` is true. Default `[]`. */\n  initialProps?: MiotProp[];\n  /** Poll interval (ms) while MQTT is down. Default 30000; 0 disables. */\n  pollIntervalMs?: number;\n  /** Capability set (defaults to the no-op resolver). */\n  capabilities?: DeviceCapabilities;\n}\n\nconst DEFAULT_POLL_INTERVAL_MS = 30000;\n\n/**\n * A device-type-agnostic live handle for one Dreame device.\n *\n * Generic over its event map so subclasses can WIDEN the typed emitter with\n * their own events (e.g. the vacuum's `'map'` event) without a banned cast.\n * `Events` is constrained to extend {@link BaseDeviceEvents} so every internal\n * `emit(...)` call stays type-safe, and it defaults to {@link BaseDeviceEvents}\n * so a bare `BaseDevice` reference behaves exactly as before.\n */\nexport class BaseDevice<\n  Events extends BaseDeviceEvents = BaseDeviceEvents,\n> extends TypedEmitter<Events> {\n  readonly #device: DreameDevice;\n  readonly #region: DreameRegion;\n  readonly #sessionRef: () => DreameSession;\n  readonly #onAuthFailure: (() => Promise<DreameSession>) | undefined;\n  readonly #deps: BaseDeviceDeps;\n  readonly #fetchInitial: boolean;\n  readonly #initialProps: MiotProp[];\n  readonly #pollIntervalMs: number;\n  readonly #capabilities: DeviceCapabilities;\n  readonly #cache = new Map<string, PropertyState>();\n  #push: PushLike | null = null;\n  #mqttHealthy = false;\n  #pollTimer: ReturnType<typeof setInterval> | null = null;\n  #closed = false;\n\n  constructor(input: BaseDeviceInput) {\n    super();\n    this.#device = input.device;\n    this.#region = input.region;\n    this.#sessionRef = input.sessionRef;\n    this.#onAuthFailure = input.onAuthFailure;\n    this.#deps = input.deps ?? defaultBaseDeviceDeps();\n    this.#fetchInitial = input.fetchInitialValues ?? true;\n    this.#initialProps = input.initialProps ?? [];\n    this.#pollIntervalMs = input.pollIntervalMs ?? DEFAULT_POLL_INTERVAL_MS;\n    this.#capabilities =\n      input.capabilities ?? new DefaultCapabilityResolver().resolve(input.device.model);\n  }\n\n  get deviceId(): string {\n    return this.#device.did;\n  }\n\n  get model(): string {\n    return this.#device.model;\n  }\n\n  get name(): string {\n    return this.#device.name;\n  }\n\n  get capabilities(): DeviceCapabilities {\n    return this.#capabilities;\n  }\n\n  /** Snapshot of all cached property states. */\n  get properties(): readonly PropertyState[] {\n    return [...this.#cache.values()];\n  }\n\n  /** Read a cached property, or `undefined` if never observed. */\n  getProperty(siid: number, piid: number): PropertyState | undefined {\n    return this.#cache.get(key(siid, piid));\n  }\n\n  #base(): CommonInput {\n    return { session: this.#sessionRef(), region: this.#region, did: this.#device.did };\n  }\n\n  /** The region this handle is bound to. Subclasses use it to build map fetches. */\n  protected get region(): DreameRegion {\n    return this.#region;\n  }\n\n  /** Latest session snapshot. Subclasses use it for out-of-band fetches (maps). */\n  protected currentSession(): DreameSession {\n    return this.#sessionRef();\n  }\n\n  /** Open the push, wire events, optionally seed the cache. */\n  async start(): Promise<void> {\n    const push = this.#deps.createPush(\n      this.#device,\n      this.#sessionRef(),\n      this.#region,\n      this.#onAuthFailure,\n    );\n    this.#push = push;\n    push.on('properties', (changes) => this.#onProperties(changes));\n    push.on('event', (ev) =>\n      this.emit('event', {\n        deviceId: ev.did || this.#device.did,\n        siid: ev.siid,\n        eiid: ev.eiid,\n        arguments: ev.arguments,\n      }),\n    );\n    push.on('error', (err) => this.emit('error', err));\n    push.on('connect', () => this.#onMqttUp());\n    push.on('close', () => this.#onMqttDown());\n    await push.open();\n    this.#onMqttUp();\n    if (this.#fetchInitial && this.#initialProps.length > 0) {\n      await this.refreshProperties(this.#initialProps);\n    }\n  }\n\n  /** Live-read properties, update the cache, return the raw results. */\n  async refreshProperties(props: MiotProp[]): Promise<PropertyResult[]> {\n    this.#assertOpen();\n    const results = await this.#deps.getProperties(this.#base(), props);\n    this.#seedFromResults(results);\n    return results;\n  }\n\n  /**\n   * Read the CLOUD-CACHED (shadow) values of `props` WITHOUT waking the device,\n   * update the cache, and emit `propertyChanged`/`stateChanged` just like\n   * {@link refreshProperties} — but sourced from the cloud shadow endpoint, so\n   * it works for standby/offline robots (and never surfaces a false 80001).\n   */\n  async refreshCachedProperties(props: MiotProp[]): Promise<PropertyResult[]> {\n    this.#assertOpen();\n    const results = await this.#deps.getCachedProperties(this.#base(), props);\n    this.#seedFromResults(results);\n    return results;\n  }\n\n  /** Mirror a PropertyResult[] into the cache + emit the change events. */\n  #seedFromResults(results: PropertyResult[]): void {\n    const changes: PropertyChange[] = [];\n    for (const r of results) {\n      if (typeof r.siid === 'number' && typeof r.piid === 'number') {\n        changes.push({ did: this.#device.did, siid: r.siid, piid: r.piid, value: r.value });\n      }\n    }\n    if (changes.length > 0) {\n      this.#onProperties(changes);\n    }\n  }\n\n  /** Write a property to the device. */\n  async setProperty(write: PropertyWrite): Promise<PropertyResult[]> {\n    this.#assertOpen();\n    return this.#deps.setProperties(this.#base(), [write]);\n  }\n\n  /** Invoke a MIoT action on the device. */\n  async callAction(siid: number, aiid: number, input: unknown[] = []): Promise<unknown> {\n    this.#assertOpen();\n    return this.#deps.callAction(this.#base(), { siid, aiid, in: input });\n  }\n\n  /** Guard against use after {@link close}. */\n  #assertOpen(): void {\n    if (this.#closed) {\n      throw new DreameTransportError('device handle is closed');\n    }\n  }\n\n  /** Propagate a refreshed session to the underlying push. */\n  async applySession(session: DreameSession): Promise<void> {\n    if (this.#push) {\n      await this.#push.refreshSession(session);\n    }\n  }\n\n  /** Tear down: stop polling, close the push. */\n  async close(): Promise<void> {\n    this.#closed = true;\n    this.#stopPolling();\n    const push = this.#push;\n    this.#push = null;\n    if (push) {\n      await push.close();\n    }\n    this.removeAllListeners();\n  }\n\n  #onProperties(changes: PropertyChange[]): void {\n    const emitted: PropertyChangedEvent[] = [];\n    const now = Date.now();\n    for (const c of changes) {\n      const k = key(c.siid, c.piid);\n      const previous = this.#cache.get(k);\n      this.#cache.set(k, { siid: c.siid, piid: c.piid, value: c.value, updatedAt: now });\n      const ev: PropertyChangedEvent = {\n        deviceId: this.#device.did,\n        siid: c.siid,\n        piid: c.piid,\n        value: c.value,\n        previousValue: previous ? previous.value : null,\n      };\n      emitted.push(ev);\n      this.emit('propertyChanged', ev);\n    }\n    if (emitted.length > 0) {\n      this.emit('stateChanged', { deviceId: this.#device.did, changes: emitted });\n    }\n  }\n\n  #onMqttUp(): void {\n    this.#mqttHealthy = true;\n    this.#stopPolling();\n  }\n\n  #onMqttDown(): void {\n    this.#mqttHealthy = false;\n    this.#startPolling();\n  }\n\n  #startPolling(): void {\n    if (this.#closed || this.#pollTimer || this.#pollIntervalMs <= 0) {\n      return;\n    }\n    if (this.#initialProps.length === 0) {\n      return;\n    }\n    this.#pollTimer = setInterval(() => {\n      if (this.#mqttHealthy) {\n        this.#stopPolling();\n        return;\n      }\n      void this.refreshProperties(this.#initialProps).catch((err: unknown) => {\n        this.emit('error', err instanceof Error ? err : new Error(String(err)));\n      });\n    }, this.#pollIntervalMs);\n  }\n\n  #stopPolling(): void {\n    if (this.#pollTimer) {\n      clearInterval(this.#pollTimer);\n      this.#pollTimer = null;\n    }\n  }\n}\n\nfunction key(siid: number, piid: number): string {\n  return `${siid}.${piid}`;\n}\n","/**\n * Vacuum MIoT property + action maps (ported from malard/node-dreame\n * src/spec/{vacuum,battery,settings,consumable}-props.ts, MIT — attribution\n * retained). P3 subset only (state/commands/consumables); map/dock/schedule\n * tables land in later phases. VERIFIED/ASSUMED annotations preserved.\n */\n\n/** Vacuum service properties (siid 2 = state machine, siid 4 = task cluster). */\nexport const VACUUM_PROP = {\n  /** VERIFIED r2532a — MiotState enum. */\n  STATE: { siid: 2, piid: 1 } as const,\n  /** VERIFIED r2532a — single-value error/fault code (see MiotError). */\n  ERROR: { siid: 2, piid: 2 } as const,\n  /** VERIFIED r2449a — writable CleaningMode (plain 0..3). SAFE write path. */\n  CLEAN_MODE_SETTING: { siid: 2, piid: 6 } as const,\n  /** VERIFIED r2532a — multi-value comma-separated fault-list mirror. */\n  FAULTS_STR: { siid: 4, piid: 18 } as const,\n  /** VERIFIED r2532a — Dreame \"task status\" enum (TaskStatus). */\n  TASK_STATUS: { siid: 4, piid: 1 } as const,\n  /** ASSUMED Tasshack types.py:573 — job runtime (minutes). */\n  CLEANING_TIME: { siid: 4, piid: 2 } as const,\n  /** ASSUMED Tasshack types.py:574 — area cleaned (m²). */\n  CLEANED_AREA: { siid: 4, piid: 3 } as const,\n  /** ASSUMED Tasshack types.py:575 — suction enum (SuctionLevel). */\n  SUCTION_LEVEL: { siid: 4, piid: 4 } as const,\n  /** ASSUMED Tasshack types.py:576 — water flow during cleaning (WaterVolume). */\n  WATER_VOLUME: { siid: 4, piid: 5 } as const,\n  /** ASSUMED Tasshack types.py:1479 — relocation state machine (0/1/10/11). */\n  RELOCATION_STATUS: { siid: 4, piid: 20 } as const,\n  /**\n   * VERIFIED r2449a — packed (0x1400 capability mask | CleaningMode low-2-bits).\n   * READ-ONLY here: do NOT write directly (drops mask → bricks next clean).\n   * Use CLEAN_MODE_SETTING (siid 2 piid 6) to change clean mode.\n   */\n  CLEANING_MODE: { siid: 4, piid: 23 } as const,\n  /** VERIFIED r2532a — Child Lock boolean. */\n  CHILD_LOCK: { siid: 4, piid: 27 } as const,\n  /**\n   * AI obstacle-detection toggle bundle (Tasshack types.py:1609 — `AI_DETECTION`,\n   * siid 4 piid 22). The value packs ALL AI-obstacle switches into ONE property,\n   * encoded as EITHER an int bitmask (`DreameVacuumAIProperty`) OR a JSON string\n   * (`DreameVacuumStrAIProperty`) depending on firmware. Decode/encode per-feature\n   * via `ai-detection.ts` ({@link decodeAiFeature} / {@link encodeAiFeatureWrite}).\n   */\n  AI_DETECTION: { siid: 4, piid: 22 } as const,\n  /**\n   * Auto-switch settings bundle (Tasshack types.py — `AUTO_SWITCH_SETTINGS`,\n   * siid 4 piid 50). A JSON string packing every secondary toggle/setting as\n   * `[{\"k\":<key>,\"v\":<int>}, …]`. Decode/encode per-setting via `auto-switch.ts`.\n   */\n  AUTO_SWITCH_SETTINGS: { siid: 4, piid: 50 } as const,\n  /** VERIFIED r2532a 2026-05-03 — task progress percentage 0..100. */\n  TASK_PROGRESS_PCT: { siid: 4, piid: 63 } as const,\n  /** VERIFIED r2532a — mop-drying progress (minutes ticking during MopDrying). */\n  DRYING_PROGRESS: { siid: 4, piid: 64 } as const,\n  /**\n   * Map \"PATH\" push — the OSS object name of the latest map frame the robot\n   * uploaded (the value passed to {@link VacuumDevice.getMap}). Arrives via the\n   * MQTT push during/after cleaning; NOT in `DEFAULT_PROPS` because it is not\n   * polled (it is pushed). Read it through {@link VacuumDevice.mapFilename}.\n   */\n  MAP_PATH: { siid: 6, piid: 3 } as const,\n} as const;\n\n/**\n * Vacuum-service actions. `callAction` builds the single-OBJECT params shape\n * (an array surfaces a misleading code 80001). START_CUSTOM carries the\n * segment/zone/spot payload as in-params (piid 1 = mode, piid 10 = JSON).\n */\nexport const VACUUM_ACTION = {\n  /** ASSUMED Tasshack — start cleaning. */\n  START: { siid: 2, aiid: 1 } as const,\n  /** VERIFIED r2532a — pause (code 0 while idle). */\n  PAUSE: { siid: 2, aiid: 2 } as const,\n  /** ASSUMED Tasshack — return to dock / charge. */\n  CHARGE: { siid: 3, aiid: 1 } as const,\n  /** ASSUMED Tasshack — START_CUSTOM (segment/zone/spot; needs in payload). */\n  START_CUSTOM: { siid: 4, aiid: 1 } as const,\n  /** VERIFIED r2532a — stop (code 0 while idle). */\n  STOP: { siid: 4, aiid: 2 } as const,\n  /** VERIFIED r2532a 2026-05-02 — clear warning (code 0). */\n  CLEAR_WARNING: { siid: 4, aiid: 3 } as const,\n  /** ASSUMED Tasshack — start dock mop wash. */\n  START_WASHING: { siid: 4, aiid: 4 } as const,\n  /** VERIFIED r2532a 2026-05-02 — locate (robot beeps, code 0). */\n  LOCATE: { siid: 7, aiid: 1 } as const,\n  /** ASSUMED Tasshack — manual auto-empty trigger. */\n  START_AUTO_EMPTY: { siid: 15, aiid: 1 } as const,\n} as const;\n\n/** Battery service (siid 3). */\nexport const BATTERY_PROP = {\n  /** VERIFIED r2532a — battery percentage. */\n  LEVEL: { siid: 3, piid: 1 } as const,\n  /** VERIFIED r2532a — charging status (ChargingStatus). */\n  CHARGING_STATUS: { siid: 3, piid: 2 } as const,\n} as const;\n\n/** Settings service — P3 needs voice volume only. */\nexport const SETTINGS_PROP = {\n  /** ASSUMED Tasshack types.py:642 — voice volume 0-100. */\n  VOLUME: { siid: 7, piid: 1 } as const,\n} as const;\n\n/** Consumables — % remaining (VERIFIED r2532a; note filter % is on piid 1). */\nexport const CONSUMABLE_PROP = {\n  MAIN_BRUSH_LEFT: { siid: 9, piid: 2 } as const,\n  SIDE_BRUSH_LEFT: { siid: 10, piid: 2 } as const,\n  FILTER_LEFT: { siid: 11, piid: 1 } as const,\n} as const;\n\n/** START_CUSTOM mode ints (siid 4 piid 1 in-param). Tasshack device.py. */\nexport const CUSTOM_CLEAN_MODE = {\n  SEGMENT: 18,\n  ZONE: 19,\n  SPOT: 20,\n} as const;\n","/**\n * Vacuum MIoT enum definitions (ported from malard/node-dreame\n * src/spec/enums.ts, MIT — attribution retained). Only the state/command\n * enums P3 needs are ported here; dock/schedule enums land in later phases.\n * Annotations (VERIFIED <date> / ASSUMED from Tasshack) are preserved.\n */\n\n/**\n * VERIFIED on r2532a 2026-05-02 — MIoT STATE (siid 2 piid 1). Sourced from\n * the device's keyDefine v8 JSON. 19 values verified live across a full\n * cleaning task; sub-mode: value 1 = vacuum-only, value 12 = vacuum+mop.\n */\nexport enum MiotState {\n  Cleaning = 1,\n  Standby = 2,\n  Paused = 3,\n  PausedAlt = 4,\n  ReturningToCharge = 5,\n  Charging = 6,\n  Mopping = 7,\n  MopDrying = 8,\n  MopCleaning = 9,\n  ReturningToWash = 10,\n  Mapping = 11,\n  CleaningAlt = 12,\n  ChargingComplete = 13,\n  Updating = 14,\n  CallToClean = 15,\n  AutoRepairBase = 16,\n  ReturnInstallMop = 17,\n  ReturnRemoveMop = 18,\n  WaterSupplyDrainTest = 19,\n  CleanMopRefillWater = 20,\n  PausedCleaning = 21,\n  AutoEmptying = 22,\n  RemoteCleaning = 23,\n  IntelligentCharging = 24,\n  SecondCleaning = 25,\n  Following = 26,\n  PartialCleaning = 27,\n  ReturnToEmpty = 28,\n  WaitingForTask = 29,\n  CleanWashboardBase = 30,\n  // ASSUMED from Tasshack (DreameVacuumState) — codes 31-38 not yet live-verified.\n  ReturningToDrain = 31,\n  Draining = 32,\n  AutoWaterDraining = 33,\n  Emptying = 34,\n  DustBagDrying = 35,\n  DustBagDryingPaused = 36,\n  HeadingToExtraCleaning = 37,\n  ExtraCleaning = 38,\n  FindingPetPaused = 95,\n  FindingPet = 96,\n  ShortcutRunning = 97,\n  CameraMonitoring = 98,\n  CameraMonitoringPaused = 99,\n  InitialDeepClean = 101,\n  // ASSUMED from Tasshack (DreameVacuumState) — codes 102-108.\n  InitialDeepCleanPaused = 102,\n  Sanitizing = 103,\n  SanitizingWithDry = 104,\n  ChangingMop = 105,\n  ChangingMopPaused = 106,\n  FloorMaintaining = 107,\n  FloorMaintainingPaused = 108,\n}\n\n/** VERIFIED on r2532a 2026-05-02 — ChargingStatus (siid 3 piid 2). */\nexport enum ChargingStatus {\n  Charging = 1,\n  Discharging = 2,\n  Returning = 5,\n}\n\n/** VERIFIED on r2532a 2026-05-02 — SuctionLevel (siid 4 piid 4). X50 labels. */\nexport enum SuctionLevel {\n  Quiet = 0,\n  Standard = 1,\n  Intense = 2,\n  Max = 3,\n}\n\n/** ASSUMED from Tasshack — WaterVolume (siid 4 piid 5). NOT YET verified on r2532a. */\nexport enum WaterVolume {\n  Low = 1,\n  Medium = 2,\n  High = 3,\n}\n\n/**\n * VERIFIED on r2449a 2026-05-21 — plain 0..3 value space written via\n * CLEAN_MODE_SETTING (siid 2 piid 6). The raw CLEANING_MODE field (siid 4\n * piid 23) packs this in its low 2 bits OR'd with a 0x1400 capability mask;\n * prefer CLEAN_MODE_SETTING to avoid the bitfield trap.\n */\nexport enum CleaningMode {\n  Sweeping = 0,\n  Mopping = 1,\n  SweepAndMop = 2,\n  MopAfterSweep = 3,\n}\n\n/**\n * Error / fault value space for ERROR (siid 2 piid 2) and FAULTS_STR\n * (siid 4 piid 18). This is the FULL Tasshack `DreameVacuumErrorCode` table\n * (types.py) — every documented integer is mapped. Members whose names were\n * VERIFIED live on r2532a keep their verified labels even where the donor uses\n * a different label for the same integer (annotated inline); the rest carry the\n * donor's documented name. UNKNOWN (-1) is intentionally omitted — an unknown\n * code falls through the cast-free lookup and surfaces as the raw number.\n */\nexport enum MiotError {\n  Clear = 0, // donor NO_ERROR\n  WheelRotationAnomaly = 1, // donor DROP (VERIFIED label kept)\n  Cliff = 2,\n  Bumper = 3,\n  Gesture = 4,\n  BumperRepeat = 5,\n  DropRepeat = 6,\n  OpticalFlow = 7,\n  Box = 8,\n  TankBox = 9,\n  WaterBoxEmpty = 10,\n  BoxFull = 11,\n  Brush = 12,\n  SideBrush = 13,\n  Fan = 14,\n  LeftWheelMotor = 15,\n  RightWheelMotor = 16,\n  TurnSuffocate = 17,\n  RobotLifted = 18, // donor FORWARD_SUFFOCATE (VERIFIED label kept)\n  ChargerGet = 19,\n  BatteryLow = 20,\n  ChargeFault = 21,\n  BatteryPercentageAnomaly = 22, // donor BATTERY_PERCENTAGE\n  Heart = 23,\n  CameraOcclusion = 24,\n  Move = 25,\n  FlowShielding = 26,\n  InfraredShielding = 27,\n  ChargeNoElectric = 28,\n  BatteryFault = 29,\n  FanSpeedError = 30,\n  LeftWheelSpeed = 31,\n  RightWheelSpeed = 32,\n  Bmi055Acce = 33,\n  Bmi055Gyro = 34,\n  Xv7001 = 35,\n  LeftMagnet = 36,\n  RightMagnet = 37,\n  FlowError = 38,\n  InfraredFault = 39,\n  CameraFault = 40,\n  StrongMagnet = 41,\n  WaterPump = 42,\n  Rtc = 43,\n  AutoKeyTrig = 44,\n  P3v3 = 45,\n  CameraIdle = 46,\n  Blocked = 47,\n  LdsError = 48,\n  LdsBumper = 49,\n  WaterPump2 = 50,\n  FilterBlocked = 51,\n  Edge = 54,\n  Carpet = 55,\n  Laser = 56,\n  Edge2 = 57,\n  Ultrasonic = 58,\n  NoGoZone = 59,\n  Route = 61,\n  Route2 = 62,\n  Blocked2 = 63,\n  Blocked3 = 64,\n  Restricted = 65,\n  Restricted2 = 66,\n  Restricted3 = 67,\n  TaskComplete = 68, // donor REMOVE_MOP (VERIFIED label kept)\n  MopRemoved = 69,\n  MopRemoved2 = 70,\n  MopPadStopRotate = 71,\n  MopPadStopRotate2 = 72,\n  ManualMopInstallRequired = 74, // donor MOP_INSTALL_FAILED (VERIFIED label kept)\n  LowBatteryTurnOff = 75,\n  DirtyTankNotInstalled = 76,\n  RobotInHiddenRoom = 78,\n  LdsFailedToLift = 79,\n  RobotStuck = 80,\n  RobotStuckRepeat = 81,\n  SlipperyFloor = 82,\n  UnknownError = 84,\n  CheckMopInstall = 85,\n  DirtyWaterTankFull = 86,\n  RetractableLegStuck = 88,\n  InternalError = 89,\n  RobotStuck2 = 90,\n  RobotStuckOnTables = 91,\n  RobotStuckOnPassage = 92,\n  RobotStuckOnThreshold = 93,\n  RobotStuckOnLowLyingArea = 94,\n  RobotStuckOnRamp = 95,\n  RobotStuckOnObstacle = 96,\n  RobotStuckOnPet = 97,\n  RobotStuckOnSlipperySurface = 98,\n  RobotStuckOnCarpet = 99,\n  BinFull = 101,\n  BinOpen = 102,\n  BinOpen2 = 103,\n  BinFull2 = 104,\n  WastewaterTankFull = 105, // donor WATER_TANK (VERIFIED label kept)\n  DirtyWaterTank = 106,\n  CleanWaterTankEmpty = 107, // donor WATER_TANK_DRY (VERIFIED label kept)\n  DirtyWaterTank2 = 108,\n  DirtyWaterTankBlocked = 109,\n  DirtyWaterTankPump = 110,\n  MopPad = 111,\n  WetMopPad = 112,\n  WashboardFilterNeedsCleaning = 114, // donor CLEAN_MOP_PAD (VERIFIED label kept)\n  CleanTankLevel = 116,\n  StationDisconnected = 117,\n  DirtyTankLevel = 118,\n  WashboardLevel = 119,\n  MopPadsMissing = 120, // donor NO_MOP_IN_STATION (VERIFIED label kept)\n  DustBagFull = 121,\n  UnknownWarning = 122,\n  SelfTestFailed = 123,\n  WashboardNotWorking = 124,\n  DrainageFailed = 125,\n  MopNotDetected = 126,\n  MopHolderError = 127,\n  DockError = 128,\n  WashFailed = 129,\n  RobotStuckOnCurtain = 200,\n  EdgeMopStopRotate = 201,\n  EdgeMopDetached = 202,\n  ChassisLiftMalfunction = 203,\n  InternalError2 = 207,\n  MopCoverError = 209,\n  RollerMopError = 210,\n  OnboardWaterTankEmpty = 213,\n  OnboardDirtyWaterTankFull = 214,\n  MopNotInstalled = 215,\n  RollerMopError2 = 218,\n  FluffingRollerError = 222,\n  MopCoverError2 = 223,\n  BlockedByObstacle = 226,\n  ReturnToChargeFailed = 1000,\n}\n\n/**\n * TASK_STATUS (siid 4 piid 1). Codes 1/2/3/6/12/14 carry the labels VERIFIED\n * live on r2532a 2026-05-02 — these are KEPT verbatim because they were\n * observed against real task transitions and differ from the donor's labels for\n * the same integers (donor: 1=AUTO_CLEANING, 2=ZONE_CLEANING, 3=SEGMENT_CLEANING,\n * 6=AUTO_CLEANING_PAUSED, 12=MOPPING_PAUSED, 14=ZONE_MOPPING_PAUSED). The\n * remaining members are ASSUMED from Tasshack `DreameVacuumTaskStatus`\n * (types.py) — added so documented codes resolve to a name. Unknown codes\n * surface as raw via {@link VacuumDevice.taskStatusRaw}.\n */\nexport enum TaskStatus {\n  // ASSUMED from Tasshack\n  Completed = 0,\n  // VERIFIED live\n  InterruptedOrPaused = 1,\n  Active = 2,\n  Transitioning = 3,\n  // ASSUMED from Tasshack\n  SpotCleaning = 4,\n  FastMapping = 5,\n  // VERIFIED live\n  OnDockIdle = 6,\n  // ASSUMED from Tasshack\n  ZoneCleaningPaused = 7,\n  SegmentCleaningPaused = 8,\n  SpotCleaningPaused = 9,\n  MapCleaningPaused = 10,\n  DockingPaused = 11,\n  // VERIFIED live\n  TransientPauseEdge = 12,\n  // ASSUMED from Tasshack\n  SegmentMoppingPaused = 13,\n  // VERIFIED live\n  NeedsIntervention = 14,\n  // ASSUMED from Tasshack\n  AutoMoppingPaused = 15,\n  AutoDockingPaused = 16,\n  SegmentDockingPaused = 17,\n  ZoneDockingPaused = 18,\n  CruisingPath = 20,\n  CruisingPathPaused = 21,\n  CruisingPoint = 22,\n  CruisingPointPaused = 23,\n  SummonCleanPaused = 24,\n  ReturningInstallMop = 25,\n  ReturningRemoveMop = 26,\n  StationCleaning = 27,\n  PetFinding = 30,\n  AutoCleaningWashingPaused = 31,\n  AreaCleaningWashingPaused = 32,\n  CustomCleaningWashingPaused = 33,\n}\n","/**\n * Cast-free decode primitives shared by the vacuum and mower model layers.\n * `enumLookup` was a private helper in vacuum-device.ts (P3); promoted here so\n * the mower reuses it verbatim with no banned cast. The narrower relies on\n * `members.find(...)` being `E | undefined`, so no `as` is needed to turn a raw\n * number back into an enum literal.\n */\n\n/** Coerce a raw MIoT value to a number, or null. */\nexport function asNum(value: unknown): number | null {\n  return typeof value === 'number' ? value : null;\n}\n\n/**\n * Returns a narrower: a raw number (or null) maps to the matching ENUM-typed\n * member, or null when not a member. Cast-free.\n */\nexport function enumLookup<E extends number>(\n  members: readonly E[],\n): (n: number | null) => E | null {\n  const set = new Set<number>(members);\n  return (n) => (n !== null && set.has(n) ? (members.find((m) => m === n) ?? null) : null);\n}\n","/**\n * Cast-free decode helpers for vacuum state (ported from node-dreame\n * src/vacuum/state.ts, MIT). The donor's `asEnum` used `num as T`; this\n * port replaces it with a numeric-membership check so callers can narrow\n * with no banned cast.\n */\n\n// asNum now lives in the shared module so vacuum + mower share one cast-free\n// implementation. parseFaultList / enumMembers stay vacuum-specific below.\nexport { asNum } from '../_shared/decode.js';\n\n/** Numeric members of a TS numeric enum object (ascending insertion order). */\nexport function enumMembers(enumObj: Record<string, unknown>): number[] {\n  return Object.values(enumObj).filter((v): v is number => typeof v === 'number');\n}\n\n/**\n * Parse the multi-value FAULTS_STR (siid 4 piid 18) into an array of fault\n * ints. Comma-separated when multiple conditions are latched; the single\n * case is the int as a string. Empty / \"0\" / whitespace → []. A bare\n * non-zero number is accepted as a one-element list.\n */\nexport function parseFaultList(value: unknown): number[] {\n  if (typeof value !== 'string') {\n    if (typeof value === 'number' && value !== 0) {\n      return [value];\n    }\n    return [];\n  }\n  const trimmed = value.trim();\n  if (trimmed === '' || trimmed === '0') {\n    return [];\n  }\n  const codes: number[] = [];\n  for (const part of trimmed.split(',')) {\n    const n = Number.parseInt(part.trim(), 10);\n    if (Number.isFinite(n) && n !== 0) {\n      codes.push(n);\n    }\n  }\n  return codes;\n}\n","/**\n * AI obstacle-detection codec. The robot packs ALL AI-obstacle toggles into a\n * SINGLE MIoT property — `AI_DETECTION` (siid 4 piid 22) — whose value is EITHER\n * an `int` bitmask OR a `str` JSON object, depending on firmware generation.\n * Ported from the Tasshack `dreame-vacuum` HA integration (v2.0.0b25):\n *   - INT  ←→ `DreameVacuumAIProperty`     (bitwise flags)\n *   - JSON ←→ `DreameVacuumStrAIProperty`  ({ \"<key>\": bool })\n *\n * This module exposes per-feature decode + a read-modify-write encode that\n * preserves the other features, so a consumer can present each AI toggle as an\n * independent boolean without knowing which on-wire encoding the model uses.\n */\n\n/** Canonical AI-obstacle feature keys. A given model exposes a subset. */\nexport type DreameAiFeature =\n  | 'furnitureDetection'\n  | 'obstacleDetection'\n  | 'obstaclePicture'\n  | 'fluidDetection'\n  | 'petDetection'\n  | 'obstacleImageUpload'\n  | 'petAvoidance'\n  | 'fuzzyObstacleDetection'\n  | 'petPicture'\n  | 'petFocusedDetection'\n  | 'largeParticlesBoost'\n  | 'humanDetection';\n\n/**\n * Bit value in the INT-encoded `AI_DETECTION` (Tasshack `DreameVacuumAIProperty`).\n * A feature absent here has no int representation (JSON-only).\n */\nexport const AI_FEATURE_BIT: Readonly<Partial<Record<DreameAiFeature, number>>> = {\n  furnitureDetection: 1,\n  obstacleDetection: 2,\n  obstaclePicture: 4,\n  fluidDetection: 8,\n  petDetection: 16,\n  obstacleImageUpload: 32,\n  // AI_IMAGE = 64 is an internal flag, not a user toggle — intentionally omitted.\n  petAvoidance: 128,\n  fuzzyObstacleDetection: 256,\n  petPicture: 512,\n  petFocusedDetection: 1024,\n  largeParticlesBoost: 2048,\n};\n\n/**\n * Key in the JSON-string-encoded `AI_DETECTION` (Tasshack\n * `DreameVacuumStrAIProperty`). A feature absent here has no JSON representation.\n */\nexport const AI_FEATURE_JSON_KEY: Readonly<Partial<Record<DreameAiFeature, string>>> = {\n  obstacleDetection: 'obstacle_detect_switch',\n  obstacleImageUpload: 'obstacle_app_display_switch',\n  petDetection: 'whether_have_pet',\n  humanDetection: 'human_detect_switch',\n  furnitureDetection: 'furniture_detect_switch',\n  fluidDetection: 'fluid_detect_switch',\n};\n\n/** The raw on-wire `AI_DETECTION` value: an int bitmask, a JSON string, or absent. */\nexport type AiDetectionRaw = number | string | null;\n\nfunction isRecord(v: unknown): v is Record<string, unknown> {\n  return v !== null && typeof v === 'object' && !Array.isArray(v);\n}\n\n/** Parse a JSON-string AI payload into an object, or null when not an object. */\nfunction parseJsonPayload(raw: string): Record<string, unknown> | null {\n  try {\n    const parsed: unknown = JSON.parse(raw);\n    return isRecord(parsed) ? parsed : null;\n  } catch {\n    return null;\n  }\n}\n\n/** Coerce a JSON value (bool | 1/0 | \"1\"/\"0\") to a boolean, or null when ambiguous. */\nfunction coerceBool(v: unknown): boolean | null {\n  if (typeof v === 'boolean') return v;\n  if (v === 1 || v === '1') return true;\n  if (v === 0 || v === '0') return false;\n  return null;\n}\n\n/**\n * Decode ONE AI feature's on/off state from the raw `AI_DETECTION` value,\n * transparently handling both the int-bitmask and JSON-string encodings.\n * Returns `null` when the value is absent, the encoding cannot represent the\n * feature, or the JSON payload omits the key.\n */\nexport function decodeAiFeature(raw: AiDetectionRaw, feature: DreameAiFeature): boolean | null {\n  if (typeof raw === 'number') {\n    const bit = AI_FEATURE_BIT[feature];\n    if (bit === undefined) return null;\n    return (raw & bit) === bit;\n  }\n  if (typeof raw === 'string') {\n    const key = AI_FEATURE_JSON_KEY[feature];\n    if (key === undefined) return null;\n    const payload = parseJsonPayload(raw);\n    if (payload === null) return null;\n    return coerceBool(payload[key]);\n  }\n  return null;\n}\n\n/**\n * Compute the value to WRITE back to `AI_DETECTION` after toggling ONE feature,\n * preserving the on-wire encoding and the other features. Mirrors Tasshack\n * `set_ai_detection`: an int payload is the full new bitmask; a JSON payload\n * carries ONLY the changed key (the device merges it server-side).\n *\n * Throws when the current value/encoding is unknown (a blind read-modify-write\n * could clobber the other features) or the feature has no representation in the\n * active encoding.\n */\nexport function encodeAiFeatureWrite(\n  raw: AiDetectionRaw,\n  feature: DreameAiFeature,\n  value: boolean,\n): number | string {\n  if (typeof raw === 'number') {\n    const bit = AI_FEATURE_BIT[feature];\n    if (bit === undefined) {\n      throw new Error(\n        `encodeAiFeatureWrite: feature \"${feature}\" has no int-bitmask representation`,\n      );\n    }\n    return value ? raw | bit : raw & ~bit;\n  }\n  if (typeof raw === 'string') {\n    const key = AI_FEATURE_JSON_KEY[feature];\n    if (key === undefined) {\n      throw new Error(`encodeAiFeatureWrite: feature \"${feature}\" has no JSON-key representation`);\n    }\n    return JSON.stringify({ [key]: value });\n  }\n  throw new Error(\n    `encodeAiFeatureWrite: AI_DETECTION value not yet known — cannot safely toggle \"${feature}\"`,\n  );\n}\n","/**\n * Auto-switch settings codec. The robot packs a large bundle of secondary\n * cleaning toggles + multi-value settings into a SINGLE MIoT property —\n * `AUTO_SWITCH_SETTINGS` (siid 4 piid 50) — whose value is a JSON string.\n * Ported from the Tasshack `dreame-vacuum` HA integration (v2.0.0b25,\n * `DreameVacuumAutoSwitchProperty` + `set_auto_switch_property`):\n *\n *   - READ  : a JSON LIST `[{\"k\":\"LessColl\",\"v\":1}, …]` (or a single\n *             `{\"k\":…,\"v\":…}` object) — every supported key/value pair.\n *   - WRITE : a SINGLE `{\"k\":\"LessColl\",\"v\":0}` object carrying ONLY the\n *             changed key; the device merges it server-side.\n *\n * Unlike `AI_DETECTION` this family is JSON-ONLY (no int-bitmask variant) and the\n * values are arbitrary ints (booleans 0/1, small enums, and `-1`/`-n` \"not\n * applicable\" sentinels) — the codec returns the raw int and leaves the\n * boolean-vs-enum interpretation to the caller. Presence is data-driven: a key is\n * \"supported\" iff it appears in the decoded payload (exactly how Tasshack derives\n * `auto_switch_data`).\n */\n\n/** Canonical auto-switch keys. A given model reports a subset. */\nexport type AutoSwitchKey =\n  | 'collisionAvoidance'\n  | 'fillLight'\n  | 'autoDrying'\n  | 'stainAvoidance'\n  | 'moppingType'\n  | 'cleanGenius'\n  | 'widerCornerCoverage'\n  | 'floorDirectionCleaning'\n  | 'petFocusedCleaning'\n  | 'autoRecleaning'\n  | 'autoRewashing'\n  | 'mopPadSwing'\n  | 'autoCharging'\n  | 'humanFollow'\n  | 'maxSuctionPower'\n  | 'smartDrying'\n  | 'drainageConfirmResult'\n  | 'drainageTestResult'\n  | 'hotWashing'\n  | 'uvSterilization'\n  | 'cleaningRoute'\n  | 'customMoppingMode'\n  | 'moppingMode'\n  | 'selfCleanFrequency'\n  | 'intensiveCarpetCleaning'\n  | 'gapCleaningExtension'\n  | 'moppingUnderFurnitures'\n  | 'ultraCleanMode'\n  | 'streamingVoicePrompt'\n  | 'mopExtend'\n  | 'mopExtendFrequency'\n  | 'sideReach'\n  | 'intelligentStainCleaning';\n\n/**\n * Short on-wire key for each setting inside the `AUTO_SWITCH_SETTINGS` JSON\n * (Tasshack `DreameVacuumAutoSwitchProperty`). These opaque strings are the\n * device's own identifiers and must match byte-for-byte.\n */\nexport const AUTO_SWITCH_JSON_KEY: Readonly<Record<AutoSwitchKey, string>> = {\n  collisionAvoidance: 'LessColl',\n  fillLight: 'FillinLight',\n  autoDrying: 'AutoDry',\n  stainAvoidance: 'StainIdentify',\n  moppingType: 'CleanType',\n  cleanGenius: 'SmartHost',\n  widerCornerCoverage: 'MeticulousTwist',\n  floorDirectionCleaning: 'MaterialDirectionClean',\n  petFocusedCleaning: 'PetPartClean',\n  autoRecleaning: 'SmartAutoMop',\n  autoRewashing: 'SmartAutoWash',\n  mopPadSwing: 'MopScalable',\n  autoCharging: 'SmartCharge',\n  humanFollow: 'MonitorHumanFollow',\n  maxSuctionPower: 'SuctionMax',\n  smartDrying: 'SmartDrying',\n  drainageConfirmResult: 'FluctuationConfirmResult',\n  drainageTestResult: 'FluctuationTestResult',\n  hotWashing: 'HotWash',\n  uvSterilization: 'UVLight',\n  cleaningRoute: 'CleanRoute',\n  customMoppingMode: 'MopEffectSwitch',\n  moppingMode: 'MopEffectState',\n  selfCleanFrequency: 'BackWashType',\n  intensiveCarpetCleaning: 'CarpetFineClean',\n  gapCleaningExtension: 'LacuneMopScalable',\n  moppingUnderFurnitures: 'MopScalable2',\n  ultraCleanMode: 'SuperWash',\n  streamingVoicePrompt: 'MonitorPromptLevel',\n  mopExtend: 'MopExtrSwitch',\n  mopExtendFrequency: 'ExtrFreq',\n  sideReach: 'SbrushExtrSwitch',\n  intelligentStainCleaning: 'HeavyStainSmart',\n};\n\n/** Reverse map: on-wire key → canonical key (built once). */\nconst JSON_KEY_TO_CANONICAL: Readonly<Record<string, AutoSwitchKey>> = Object.fromEntries(\n  (Object.entries(AUTO_SWITCH_JSON_KEY) as [AutoSwitchKey, string][]).map(([k, v]) => [v, k]),\n);\n\n/** The raw on-wire `AUTO_SWITCH_SETTINGS` value: a JSON string, or absent. */\nexport type AutoSwitchRaw = string | null;\n\n/** Coerce a JSON value (number | numeric string) to a finite int, or null. */\nfunction coerceInt(v: unknown): number | null {\n  if (typeof v === 'number') return Number.isFinite(v) ? v : null;\n  if (typeof v === 'string' && v.trim() !== '') {\n    const n = Number(v);\n    return Number.isFinite(n) ? n : null;\n  }\n  return null;\n}\n\n/**\n * Parse the raw `AUTO_SWITCH_SETTINGS` value into a `{ on-wire key → int }` map.\n * Accepts the list form (`[{\"k\":…,\"v\":…}, …]`) and the single-object form\n * (`{\"k\":…,\"v\":…}`). Returns null when the value is absent or unparseable.\n */\nfunction parseAutoSwitchMap(raw: AutoSwitchRaw): Map<string, number> | null {\n  if (typeof raw !== 'string' || raw.length <= 2) return null;\n  let parsed: unknown;\n  try {\n    parsed = JSON.parse(raw);\n  } catch {\n    return null;\n  }\n  const out = new Map<string, number>();\n  const add = (entry: unknown): void => {\n    if (entry === null || typeof entry !== 'object') return;\n    const rec = entry as Record<string, unknown>;\n    if (typeof rec['k'] !== 'string') return;\n    const value = coerceInt(rec['v']);\n    if (value !== null) out.set(rec['k'], value);\n  };\n  if (Array.isArray(parsed)) {\n    for (const entry of parsed) add(entry);\n  } else {\n    add(parsed);\n  }\n  return out.size > 0 ? out : null;\n}\n\n/**\n * Decode ONE auto-switch setting's int value from the packed\n * `AUTO_SWITCH_SETTINGS` payload. Returns `null` when the value is absent or the\n * key is not present in the payload (i.e. unsupported by this model/firmware).\n */\nexport function decodeAutoSwitch(raw: AutoSwitchRaw, key: AutoSwitchKey): number | null {\n  const map = parseAutoSwitchMap(raw);\n  if (map === null) return null;\n  const jsonKey = AUTO_SWITCH_JSON_KEY[key];\n  return map.has(jsonKey) ? (map.get(jsonKey) ?? null) : null;\n}\n\n/**\n * The auto-switch keys the payload actually reports (presence-driven — mirrors\n * Tasshack `auto_switch_data`). On-wire keys with no canonical mapping (newer\n * firmware extras like `MopFullyScalable`) are skipped. Order follows\n * {@link AUTO_SWITCH_JSON_KEY} for determinism.\n */\nexport function supportedAutoSwitchKeys(raw: AutoSwitchRaw): readonly AutoSwitchKey[] {\n  const map = parseAutoSwitchMap(raw);\n  if (map === null) return [];\n  const present: AutoSwitchKey[] = [];\n  for (const key of Object.keys(AUTO_SWITCH_JSON_KEY) as AutoSwitchKey[]) {\n    if (map.has(AUTO_SWITCH_JSON_KEY[key])) present.push(key);\n  }\n  return present;\n}\n\n/** All `{ canonical key → int }` pairs the payload reports (canonical keys only). */\nexport function decodeAutoSwitchAll(\n  raw: AutoSwitchRaw,\n): Readonly<Partial<Record<AutoSwitchKey, number>>> {\n  const map = parseAutoSwitchMap(raw);\n  if (map === null) return {};\n  const out: Partial<Record<AutoSwitchKey, number>> = {};\n  for (const [jsonKey, value] of map) {\n    const canonical = JSON_KEY_TO_CANONICAL[jsonKey];\n    if (canonical !== undefined) out[canonical] = value;\n  }\n  return out;\n}\n\n/**\n * Compute the value to WRITE to `AUTO_SWITCH_SETTINGS` for ONE setting. Mirrors\n * Tasshack `set_auto_switch_property`: a SINGLE `{\"k\":<key>,\"v\":<int>}` object\n * (NOT the full list) — the device merges it server-side, so the other settings\n * are preserved without a read-modify-write.\n */\nexport function encodeAutoSwitchWrite(key: AutoSwitchKey, value: number): string {\n  return JSON.stringify({ k: AUTO_SWITCH_JSON_KEY[key], v: Math.trunc(value) });\n}\n","/**\n * Vacuum consumable/maintenance map (ported from Tasshack `dreame-vacuum`\n * v2.0.0b25 — property + action mappings). Each consumable lives on its own MIoT\n * service `siid`: a remaining-life `%` property (`siid/piid`) and a \"reset to\n * 100%\" action (`siid/aiid 1`). A model exposes only a SUBSET — which is\n * discovered by PRESENCE (the device reports the life property) rather than a\n * hardcoded per-model list, mirroring how the HA integration derives support.\n */\n\n/** Stable consumable keys (kebab-case so a consumer can use them verbatim). */\nexport type DreameConsumableKey =\n  | 'main-brush'\n  | 'side-brush'\n  | 'filter'\n  | 'sensor'\n  | 'tank-filter'\n  | 'mop-pad'\n  | 'silver-ion'\n  | 'detergent'\n  | 'squeegee'\n  | 'deodorizer'\n  | 'wheel'\n  | 'scale-inhibitor'\n  | 'dust-bag';\n\n/** One consumable's wire coordinates: remaining-life property + optional reset action. */\nexport interface ConsumableSpec {\n  readonly key: DreameConsumableKey;\n  readonly label: string;\n  /** Remaining-life % property (0..100). */\n  readonly life: { readonly siid: number; readonly piid: number };\n  /** \"Mark replaced / reset life\" action, or null when the model exposes none. */\n  readonly reset: { readonly siid: number; readonly aiid: number } | null;\n}\n\n/**\n * Every consumable nodedreame knows. The reset action shares the consumable's\n * service `siid` with `aiid 1` (Tasshack action map). `dust-bag` has a life\n * property but no reset action.\n */\nexport const VACUUM_CONSUMABLES: readonly ConsumableSpec[] = [\n  {\n    key: 'main-brush',\n    label: 'Main Brush',\n    life: { siid: 9, piid: 2 },\n    reset: { siid: 9, aiid: 1 },\n  },\n  {\n    key: 'side-brush',\n    label: 'Side Brush',\n    life: { siid: 10, piid: 2 },\n    reset: { siid: 10, aiid: 1 },\n  },\n  { key: 'filter', label: 'Filter', life: { siid: 11, piid: 1 }, reset: { siid: 11, aiid: 1 } },\n  { key: 'sensor', label: 'Sensor', life: { siid: 16, piid: 1 }, reset: { siid: 16, aiid: 1 } },\n  {\n    key: 'tank-filter',\n    label: 'Tank Filter',\n    life: { siid: 17, piid: 1 },\n    reset: { siid: 17, aiid: 1 },\n  },\n  { key: 'mop-pad', label: 'Mop Pad', life: { siid: 18, piid: 1 }, reset: { siid: 18, aiid: 1 } },\n  {\n    key: 'silver-ion',\n    label: 'Silver-ion',\n    life: { siid: 19, piid: 2 },\n    reset: { siid: 19, aiid: 1 },\n  },\n  {\n    key: 'detergent',\n    label: 'Detergent',\n    life: { siid: 20, piid: 1 },\n    reset: { siid: 20, aiid: 1 },\n  },\n  { key: 'squeegee', label: 'Squeegee', life: { siid: 24, piid: 1 }, reset: { siid: 24, aiid: 1 } },\n  {\n    key: 'deodorizer',\n    label: 'Deodorizer',\n    life: { siid: 29, piid: 2 },\n    reset: { siid: 29, aiid: 1 },\n  },\n  { key: 'wheel', label: 'Wheel', life: { siid: 30, piid: 2 }, reset: { siid: 30, aiid: 1 } },\n  {\n    key: 'scale-inhibitor',\n    label: 'Scale Inhibitor',\n    life: { siid: 31, piid: 2 },\n    reset: { siid: 31, aiid: 1 },\n  },\n  { key: 'dust-bag', label: 'Dust Bag', life: { siid: 27, piid: 17 }, reset: null },\n] as const;\n\n/** Lookup a consumable spec by key (undefined for an unknown key). */\nexport function consumableSpec(key: DreameConsumableKey): ConsumableSpec | undefined {\n  return VACUUM_CONSUMABLES.find((c) => c.key === key);\n}\n\n/** Narrow an arbitrary string to a known {@link DreameConsumableKey} — lets a\n *  string-keyed consumer (e.g. a generic consumables cap) validate before\n *  calling the typed reset path with no cast. */\nexport function isDreameConsumableKey(key: string): key is DreameConsumableKey {\n  return VACUUM_CONSUMABLES.some((c) => c.key === key);\n}\n\n/** A resolved consumable reading: which consumable, its remaining life %, and\n *  whether a reset action exists. Only the consumables the model REPORTS appear. */\nexport interface ConsumableReading {\n  readonly key: DreameConsumableKey;\n  readonly label: string;\n  readonly leftPct: number;\n  readonly resettable: boolean;\n}\n","/**\n * Per-model vacuum capability records (ported from malard/node-dreame\n * src/capabilities.ts, MIT — attribution retained) plus a resolver that\n * adapts the rich record into the generic CapabilityResolver the BaseDevice\n * expects. r2538z is added mirroring r2532a (X50 sibling), marked unverified\n * until live-confirmed.\n */\nimport { SuctionLevel, WaterVolume } from './enums.js';\nimport type { DreameAiFeature } from './ai-detection.js';\nimport type { CapabilityResolver, DeviceCapabilities } from '../../device/capability.js';\n\n/**\n * AI-obstacle features the X50 family exposes (live-verified on `dreame.vacuum.r2538z`\n * via the Dreamehome/HA superset 2026-06-29). `petPicture`/`petFocusedDetection` read\n * `unavailable` on this model, so they are intentionally excluded.\n */\nconst X50_AI_FEATURES: readonly DreameAiFeature[] = [\n  'obstacleDetection',\n  'petDetection',\n  'furnitureDetection',\n  'fluidDetection',\n  'obstaclePicture',\n  'obstacleImageUpload',\n  'fuzzyObstacleDetection',\n];\n\n/** Rich vacuum capability record. `canX` = behaviour, `hasX` = hardware. */\nexport interface VacuumCapabilities {\n  model: string;\n  /** true when the record came from the curated table (false = fallback / assumed). */\n  verified: boolean;\n  canMop: boolean;\n  canAutoInstallMop: boolean;\n  hasSideBrush: boolean;\n  hasCamera: boolean;\n  hasCarpetSensor: boolean;\n  hasAiObstacleDetection: boolean;\n  canAutoEmpty: boolean;\n  canMopWash: boolean;\n  canMopDry: boolean;\n  canHeatMopWater: boolean;\n  hasDetergentReservoir: boolean;\n  canCleanPerRoom: boolean;\n  supportsVirtualWalls: boolean;\n  supportsNoGoZones: boolean;\n  hasChildLock: boolean;\n  supportsMultiFloor: boolean;\n  /** Decodes/fetches the binary live/saved map (envelope → pixel grid → segments). */\n  canMap: boolean;\n  supportedSuctionLevels: readonly SuctionLevel[];\n  supportedWaterVolumes: readonly WaterVolume[];\n  /**\n   * The AI-obstacle toggles this model exposes (subset of {@link DreameAiFeature}),\n   * each surfaced as an independent boolean from the packed `AI_DETECTION` property.\n   * Empty when `hasAiObstacleDetection` is false.\n   */\n  supportedAiFeatures: readonly DreameAiFeature[];\n}\n\nconst FALLBACK: Omit<VacuumCapabilities, 'model'> = {\n  verified: false,\n  canMop: false,\n  canAutoInstallMop: false,\n  hasSideBrush: true,\n  hasCamera: false,\n  hasCarpetSensor: false,\n  hasAiObstacleDetection: false,\n  canAutoEmpty: false,\n  canMopWash: false,\n  canMopDry: false,\n  canHeatMopWater: false,\n  hasDetergentReservoir: false,\n  canCleanPerRoom: false,\n  supportsVirtualWalls: false,\n  supportsNoGoZones: false,\n  hasChildLock: false,\n  supportsMultiFloor: false,\n  // Map decoding is model-agnostic (binary frame format is identical across\n  // the lineup); the fallback record leaves it false so an unknown model does\n  // not advertise a feature we have not verified its firmware exposes.\n  canMap: false,\n  supportedSuctionLevels: [\n    SuctionLevel.Quiet,\n    SuctionLevel.Standard,\n    SuctionLevel.Intense,\n    SuctionLevel.Max,\n  ],\n  supportedWaterVolumes: [WaterVolume.Low, WaterVolume.Medium, WaterVolume.High],\n  // An unknown model advertises no AI toggles until its feature set is verified.\n  supportedAiFeatures: [],\n};\n\n/** Full-feature X50-family record body (r2532a verified; r2538z assumed sibling). */\nconst X50_FAMILY: Omit<VacuumCapabilities, 'model' | 'verified'> = {\n  canMop: true,\n  canAutoInstallMop: true,\n  hasSideBrush: true,\n  hasCamera: true,\n  hasCarpetSensor: true,\n  hasAiObstacleDetection: true,\n  canAutoEmpty: true,\n  canMopWash: true,\n  canMopDry: true,\n  canHeatMopWater: true,\n  hasDetergentReservoir: true,\n  canCleanPerRoom: true,\n  supportsVirtualWalls: true,\n  supportsNoGoZones: true,\n  hasChildLock: true,\n  supportsMultiFloor: true,\n  canMap: true,\n  supportedSuctionLevels: [\n    SuctionLevel.Quiet,\n    SuctionLevel.Standard,\n    SuctionLevel.Intense,\n    SuctionLevel.Max,\n  ],\n  supportedWaterVolumes: [WaterVolume.Low, WaterVolume.Medium, WaterVolume.High],\n  supportedAiFeatures: X50_AI_FEATURES,\n};\n\nfunction deepFreeze<T>(obj: T): T {\n  if (obj && typeof obj === 'object' && !Object.isFrozen(obj)) {\n    Object.freeze(obj);\n    for (const v of Object.values(obj)) {\n      deepFreeze(v);\n    }\n  }\n  return obj;\n}\n\nexport const MODEL_CAPABILITIES: Readonly<Record<string, VacuumCapabilities>> = {\n  /** Dreame X40 Ultra Complete — VERIFIED r2449a (2026-05-21). */\n  'dreame.vacuum.r2449a': { model: 'dreame.vacuum.r2449a', verified: true, ...X50_FAMILY },\n  /** Dreame X50 Ultra Complete — VERIFIED r2532a (firmware 4.3.9_2199, 2026-05-02). */\n  'dreame.vacuum.r2532a': { model: 'dreame.vacuum.r2532a', verified: true, ...X50_FAMILY },\n  /**\n   * Dreame r2538z — the user's device. ASSUMED from the r2532a (X50) sibling:\n   * same dock-side feature set is the working hypothesis. Marked verified:false\n   * until confirmed live (e2e). Flip to true + drop this note once verified.\n   */\n  'dreame.vacuum.r2538z': { model: 'dreame.vacuum.r2538z', verified: false, ...X50_FAMILY },\n};\n\nfor (const entry of Object.values(MODEL_CAPABILITIES)) {\n  deepFreeze(entry);\n}\n\n/** Resolve a model to its rich vacuum capability record (frozen / fallback). */\nexport function getVacuumCapabilities(model: string): VacuumCapabilities {\n  const known = MODEL_CAPABILITIES[model];\n  if (known) {\n    return known;\n  }\n  return deepFreeze({ model, ...FALLBACK });\n}\n\n/** Map the rich record's booleans → the generic capability token set. */\nfunction tokensFor(c: VacuumCapabilities): Set<string> {\n  const tokens = new Set<string>();\n  const add = (flag: boolean, token: string): void => {\n    if (flag) {\n      tokens.add(token);\n    }\n  };\n  add(c.canMop, 'mop');\n  add(c.canAutoInstallMop, 'auto-install-mop');\n  add(c.hasSideBrush, 'side-brush');\n  add(c.hasCamera, 'camera');\n  add(c.hasCarpetSensor, 'carpet-sensor');\n  add(c.hasAiObstacleDetection, 'ai-obstacle');\n  add(c.canAutoEmpty, 'auto-empty');\n  add(c.canMopWash, 'mop-wash');\n  add(c.canMopDry, 'mop-dry');\n  add(c.canHeatMopWater, 'heat-mop-water');\n  add(c.hasDetergentReservoir, 'detergent');\n  add(c.canCleanPerRoom, 'clean-per-room');\n  add(c.supportsVirtualWalls, 'virtual-walls');\n  add(c.supportsNoGoZones, 'no-go-zones');\n  add(c.hasChildLock, 'child-lock');\n  add(c.supportsMultiFloor, 'multi-floor');\n  return tokens;\n}\n\nclass VacuumCapabilitySet implements DeviceCapabilities {\n  readonly model: string;\n  readonly #tokens: ReadonlySet<string>;\n  constructor(model: string, tokens: ReadonlySet<string>) {\n    this.model = model;\n    this.#tokens = tokens;\n  }\n  has(token: string): boolean {\n    return this.#tokens.has(token);\n  }\n  list(): readonly string[] {\n    return [...this.#tokens];\n  }\n}\n\n/** Resolver that the BaseDevice accepts via BaseDeviceInput.capabilities. */\nexport class VacuumCapabilityResolver implements CapabilityResolver {\n  resolve(model: string): DeviceCapabilities {\n    return new VacuumCapabilitySet(model, tokensFor(getVacuumCapabilities(model)));\n  }\n}\n","import { z } from 'zod';\n\n/**\n * The third-video endpoints wrap their payload in a double `data` envelope:\n * `{ code, success, msg, data: { requestId, data: <payload> } }`. `code === 0`\n * means success (already enforced by the HTTP layer); these schemas narrow the\n * payload. All are permissive (`.passthrough()`) — the cloud adds fields freely.\n */\n\n/** `tx/user/accesstoken` → `data.data = { token, userId, expireAt }` (expireAt: epoch seconds). */\nexport const VideoAccessTokenResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({\n        data: z\n          .object({\n            token: z.string(),\n            userId: z.union([z.string(), z.number()]).optional(),\n            expireAt: z.number().optional(),\n          })\n          .passthrough(),\n      })\n      .passthrough(),\n  })\n  .passthrough();\nexport type VideoAccessTokenResponse = z.infer<typeof VideoAccessTokenResponseSchema>;\n\n/** `aliIot/getAuthCodeV3` → `data` is a hex string (the Aliyun authCode blob). */\nexport const AuthCodeResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z.string(),\n  })\n  .passthrough();\nexport type AuthCodeResponse = z.infer<typeof AuthCodeResponseSchema>;\n\n/** `tx/mgr/family/getFamilyId` → `data.data.familyId`. */\nexport const FamilyIdResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({ data: z.object({ familyId: z.string() }).passthrough() })\n      .passthrough(),\n  })\n  .passthrough();\nexport type FamilyIdResponse = z.infer<typeof FamilyIdResponseSchema>;\n\n/**\n * `tx/mgr/dev/getIdentity` → the device's TENCENT IoT triple.\n *\n * Absent until the device is actually provisioned on `tx`: on 2026-09-05 this\n * endpoint answered `设备三元组不存在` (\"the triple does not exist\") for an X50\n * that was then on `ali`, and on 2026-09-16 the same device — moved to `tx` —\n * returned a full triple. So a failure here is a vendor statement, not a bug.\n */\nexport const TencentIdentityResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({\n        data: z\n          .object({\n            productId: z.string(),\n            deviceName: z.string(),\n            deviceId: z.string().optional(),\n            secretId: z.string().optional(),\n            secretKey: z.string().optional(),\n          })\n          .passthrough(),\n      })\n      .passthrough(),\n  })\n  .passthrough();\nexport type TencentIdentityResponse = z.infer<typeof TencentIdentityResponseSchema>;\n\n/**\n * `tx/dev/getP2PInfo` → the xp2p session descriptor.\n *\n * An OPAQUE string — measured at 35 characters on an X50, and NOT JSON: it is\n * the handle Tencent's xp2p SDK consumes, not a relay URL. Nothing here parses\n * it, because there is nothing in it we can read.\n */\nexport const TencentP2PInfoResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: z\n      .object({ data: z.object({ p2pInfo: z.string() }).passthrough() })\n      .passthrough(),\n  })\n  .passthrough();\nexport type TencentP2PInfoResponse = z.infer<typeof TencentP2PInfoResponseSchema>;\n\n/** Nested `deviceInfo` block within a device record, carrying the video vendor hints. */\nexport const DeviceVideoInfoSchema = z\n  .object({\n    model: z.string().optional(),\n    displayName: z.string().optional(),\n    permit: z.string().optional(),\n    videoDynamicVendor: z.boolean().optional(),\n    defaultVendors: z.array(z.string()).optional(),\n    productId: z.union([z.string(), z.number()]).optional(),\n  })\n  .passthrough();\n\n/** A device record as returned by `device/info` (`data` = single record). */\nexport const DeviceInfoRecordSchema = z\n  .object({\n    did: z.union([z.string(), z.number()]).optional(),\n    model: z.string().optional(),\n    customName: z.string().optional(),\n    vendor: z.string().optional(),\n    online: z.boolean().optional(),\n    lwt: z.number().optional(),\n    property: z.string().optional(),\n    bindDomain: z.string().optional(),\n    deviceInfo: DeviceVideoInfoSchema.optional(),\n  })\n  .passthrough();\nexport type DeviceInfoRecord = z.infer<typeof DeviceInfoRecordSchema>;\n\nexport const DeviceInfoResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    msg: z.string().nullish(),\n    data: DeviceInfoRecordSchema,\n  })\n  .passthrough();\nexport type DeviceInfoResponse = z.infer<typeof DeviceInfoResponseSchema>;\n","import type { DeviceInfoRecord } from './schemas.js';\nimport type { DeviceVideoProfile, VideoVendor } from './types.js';\n\nconst KNOWN_VENDORS: readonly string[] = ['tx', 'ali'];\n\nfunction asVendor(v: string | undefined | null): VideoVendor | null {\n  return v === 'tx' || v === 'ali' ? v : null;\n}\n\n/** Parse the stringified `property` blob for the fields we care about (iotId, lwt). */\nfunction parseProperty(property: string | undefined): { iotId: string | null; lwt: number | null } {\n  if (!property) {\n    return { iotId: null, lwt: null };\n  }\n  try {\n    const p = JSON.parse(property) as { iotId?: unknown; lwt?: unknown };\n    return {\n      iotId: typeof p.iotId === 'string' && p.iotId.length > 0 ? p.iotId : null,\n      lwt: typeof p.lwt === 'number' ? p.lwt : null,\n    };\n  } catch {\n    return { iotId: null, lwt: null };\n  }\n}\n\n/**\n * Derive a {@link DeviceVideoProfile} from a raw device record. Pure — no I/O —\n * so it is unit-testable against captured records. `videoCapable` is true when\n * the cloud marks the device `permit: \"video\"` or lists any supported vendor.\n */\nexport function toVideoProfile(record: DeviceInfoRecord): DeviceVideoProfile {\n  const info = record.deviceInfo ?? {};\n  const supportedVendors = (info.defaultVendors ?? []).filter((v): v is VideoVendor =>\n    KNOWN_VENDORS.includes(v),\n  );\n  const prop = parseProperty(record.property);\n  const online = record.online === true || record.lwt === 1 || prop.lwt === 1;\n  return {\n    did: String(record.did ?? ''),\n    model: String(record.model ?? info.model ?? ''),\n    displayName: info.displayName ?? null,\n    videoCapable: info.permit === 'video' || supportedVendors.length > 0,\n    currentVendor: asVendor(record.vendor),\n    supportedVendors,\n    dynamicVendor: info.videoDynamicVendor === true,\n    iotId: prop.iotId,\n    online,\n  };\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type { DreameSession } from '../cloud/types.js';\nimport {\n  httpPostJsonBody,\n  RequestContext,\n  type BaseResponse,\n  type FetchImpl,\n} from '../transport/http.js';\nimport {\n  AuthCodeResponseSchema,\n  DeviceInfoResponseSchema,\n  FamilyIdResponseSchema,\n  TencentIdentityResponseSchema,\n  TencentP2PInfoResponseSchema,\n  VideoAccessTokenResponseSchema,\n} from './schemas.js';\nimport { toVideoProfile } from './profile.js';\nimport type {\n  DeviceVideoProfile,\n  TencentDeviceIdentity,\n  TencentP2PDescriptor,\n  VideoAccessToken,\n} from './types.js';\n\n/** Path prefixes for the two video control-plane services on the region host. */\nconst P_THIRD_VIDEO = '/dreame-third-video';\nconst P_SMARTHOME = '/dreame-smarthome';\nconst P_USER_IOT = '/dreame-user-iot';\n\n/** `os` form value the app sends; the cloud accepts any of android/iOS/1/2. */\nconst DEFAULT_OS = 'android';\n\n/** Shared inputs for every video control-plane call. Mirrors `listDevices`. */\nexport interface VideoRequestInput {\n  session: DreameSession;\n  region: DreameRegion;\n  ctx?: RequestContext;\n  country?: string;\n  lang?: string;\n  apiHost?: string;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n}\n\nfunction resolveCtx(input: VideoRequestInput): RequestContext {\n  return input.ctx ?? RequestContext.from({ ...input, host: input.apiHost });\n}\n\nfunction passthrough(input: VideoRequestInput): {\n  accessToken: string;\n  signal?: AbortSignal;\n  timeoutMs?: number;\n} {\n  return {\n    accessToken: input.session.accessToken,\n    ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n  };\n}\n\n/**\n * Mint the short-lived third-video access token. Required as a body field by the\n * device-scoped video calls (getIdentity, getP2PInfo, …).\n */\nexport async function getVideoAccessToken(input: VideoRequestInput): Promise<VideoAccessToken> {\n  const ctx = resolveCtx(input);\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_THIRD_VIDEO}/tx/user/accesstoken`,\n    body: { os: DEFAULT_OS },\n    context: 'video accesstoken',\n    ...passthrough(input),\n  });\n  const parsed = VideoAccessTokenResponseSchema.parse(raw);\n  const d = parsed.data.data;\n  return {\n    token: d.token,\n    userId: d.userId !== undefined ? String(d.userId) : null,\n    // Cloud reports expiry in epoch-seconds; expose epoch-ms like DreameSession.\n    expiresAt: d.expireAt !== undefined ? d.expireAt * 1000 : 0,\n  };\n}\n\n/**\n * Fetch the Aliyun authCode blob (`getAuthCodeV3`). This opaque hex string is the\n * material exchanged with Aliyun IoT to obtain a LinkVisual identity — the first\n * step of the Aliyun media path.\n */\nexport async function getAliyunAuthCode(input: VideoRequestInput): Promise<string> {\n  const ctx = resolveCtx(input);\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_SMARTHOME}/aliIot/getAuthCodeV3`,\n    body: { os: DEFAULT_OS },\n    context: 'aliyun authCode',\n    ...passthrough(input),\n  });\n  return AuthCodeResponseSchema.parse(raw).data;\n}\n\n/**\n * Fetch the account's video `familyId` (used to scope some vendor calls). This\n * endpoint requires the third-video access token in the body — pass one via\n * `videoToken`, otherwise a fresh one is minted with {@link getVideoAccessToken}.\n */\nexport async function getVideoFamilyId(\n  input: VideoRequestInput & { videoToken?: string },\n): Promise<string> {\n  const ctx = resolveCtx(input);\n  const videoToken = input.videoToken ?? (await getVideoAccessToken({ ...input, ctx })).token;\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_THIRD_VIDEO}/tx/mgr/family/getFamilyId`,\n    body: { accesstoken: videoToken, os: DEFAULT_OS },\n    context: 'video familyId',\n    ...passthrough(input),\n  });\n  return FamilyIdResponseSchema.parse(raw).data.data.familyId;\n}\n\n/**\n * The device's TENCENT IoT triple.\n *\n * Only meaningful while the device sits on the `tx` vendor: the cloud answers\n * `设备三元组不存在` (\"the triple does not exist\") otherwise, which this\n * surfaces as a thrown {@link DreameError} like any other refusal — a device on\n * `ali` has no Tencent identity, and that is a statement about the device, not\n * a failure of the call.\n */\nexport async function getTencentIdentity(\n  input: VideoRequestInput & { did: string; videoToken?: string },\n): Promise<TencentDeviceIdentity> {\n  const ctx = resolveCtx(input);\n  const videoToken = input.videoToken ?? (await getVideoAccessToken({ ...input, ctx })).token;\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_THIRD_VIDEO}/tx/mgr/dev/getIdentity`,\n    body: { accesstoken: videoToken, os: DEFAULT_OS, did: input.did },\n    context: 'tencent identity',\n    ...passthrough(input),\n  });\n  const d = TencentIdentityResponseSchema.parse(raw).data.data;\n  return {\n    productId: d.productId,\n    deviceName: d.deviceName,\n    deviceId: d.deviceId ?? null,\n    secretId: d.secretId ?? null,\n    secretKey: d.secretKey ?? null,\n  };\n}\n\n/**\n * The xp2p session descriptor for a device on the `tx` vendor.\n *\n * ## This may WAKE THE CAMERA\n *\n * It is the Tencent equivalent of asking for a stream, so it is never called\n * as part of a status read.\n *\n * The result is opaque (see {@link TencentP2PDescriptor}) and is useless\n * without an xp2p implementation: measured on an X50 on 2026-09-16, the\n * sibling `tx/dev/getRtcInfo` — the TRTC path, which WOULD be portable — answers\n * 404 for this model. So the only media plane Tencent offers this device is the\n * proprietary UDP P2P one.\n */\nexport async function getTencentP2PInfo(\n  input: VideoRequestInput & { did: string; videoToken?: string },\n): Promise<TencentP2PDescriptor> {\n  const ctx = resolveCtx(input);\n  const videoToken = input.videoToken ?? (await getVideoAccessToken({ ...input, ctx })).token;\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_THIRD_VIDEO}/tx/dev/getP2PInfo`,\n    body: { accesstoken: videoToken, os: DEFAULT_OS, did: input.did },\n    context: 'tencent p2p info',\n    ...passthrough(input),\n  });\n  return { p2pInfo: TencentP2PInfoResponseSchema.parse(raw).data.data.p2pInfo };\n}\n\n/**\n * Resolve a device's video profile (vendor, supported vendors, Aliyun iotId,\n * capability) from its cloud record. `did` is the Dreame device id.\n */\nexport async function getDeviceVideoProfile(\n  input: VideoRequestInput & { did: string },\n): Promise<DeviceVideoProfile> {\n  const ctx = resolveCtx(input);\n  const raw = await httpPostJsonBody<BaseResponse>({\n    ctx,\n    path: `${P_USER_IOT}/iotuserbind/device/info`,\n    body: { did: input.did },\n    context: 'device video info',\n    ...passthrough(input),\n  });\n  return toVideoProfile(DeviceInfoResponseSchema.parse(raw).data);\n}\n","import type { DreameRegion } from '../../auth/config.js';\n\n/**\n * Aliyun IoT App SDK credentials for the Dreamehome app. These are app-global\n * constants baked into the shipped Dreamehome binary — NOT a user secret. The\n * appKey is public and the appSecret only signs the app's own API-Gateway\n * requests (identically for every install); they rotate only with a new app\n * release. Verified against the live x-ca signature (see signing.test.ts).\n * (SAST note: shipped public client credentials, not a leaked user secret.)\n */\nexport const ALIYUN_APP_KEY = '33974273';\nexport const ALIYUN_APP_SECRET = '65a62f03ae5eda97af962fecc2e3efa6';\n\n/** Aliyun IoT region id per Dreame region. Only `eu-central-1` is verified live. */\nexport const ALIYUN_REGION_ID: Record<DreameRegion, string> = {\n  eu: 'eu-central-1',\n  de: 'eu-central-1',\n  us: 'us-east-1',\n  cn: 'cn-shanghai',\n  ru: 'eu-central-1',\n  sg: 'ap-southeast-1',\n  in: 'ap-southeast-1',\n  tw: 'cn-shanghai',\n};\n\n/** IoT App identity/session host (createSessionByAuthCode, connect). */\nexport function livingAccountHost(regionId: string): string {\n  return `living-account.${regionId}.aliyuncs.com`;\n}\n\n/** IoT API gateway host (vision/customer/*). */\nexport function apiIotHost(regionId: string): string {\n  return `${regionId}.api-iot.aliyuncs.com`;\n}\n\nexport const VISION_STREAM_QUERY = '/vision/customer/stream/query';\n","import { randomUUID } from 'node:crypto';\nimport { z } from 'zod';\nimport { defaultFetch, type FetchImpl } from '../../transport/fetch.js';\nimport { DreameApiError } from '../../transport/errors.js';\nimport { ALIYUN_APP_KEY, ALIYUN_APP_SECRET, apiIotHost, livingAccountHost } from './constants.js';\nimport { signApiGatewayRequest } from './signing.js';\n\n/** Aliyun OpenAccount session from loginbyoauth. */\nexport interface OaSession {\n  sid: string;\n  refreshToken: string;\n  openId: string;\n}\n\n/** Aliyun IoT session (the iotToken used by every LinkVisual call). */\nexport interface IotSession {\n  iotToken: string;\n  refreshToken: string;\n  identityId: string;\n  /** Epoch-ms at which iotToken expires. */\n  expiresAt: number;\n}\n\nconst LoginByOauthSchema = z\n  .object({\n    data: z\n      .object({\n        data: z\n          .object({\n            loginSuccessResult: z\n              .object({\n                sid: z.string(),\n                refreshToken: z.string().optional(),\n                token: z.string().optional(),\n                openAccount: z.object({ openId: z.string().optional() }).passthrough().optional(),\n              })\n              .passthrough(),\n          })\n          .passthrough(),\n      })\n      .passthrough(),\n  })\n  .passthrough();\n\nconst CreateSessionSchema = z\n  .object({\n    code: z.number().optional(),\n    message: z.string().nullish(),\n    data: z\n      .object({\n        iotToken: z.string(),\n        refreshToken: z.string().optional(),\n        identityId: z.string().optional(),\n        iotTokenExpire: z.number().optional(),\n      })\n      .passthrough(),\n  })\n  .passthrough();\n\nasync function postJson(url: string, headers: Record<string, string>, body: string, fetchImpl: FetchImpl, ctx: string): Promise<unknown> {\n  const res = await fetchImpl(url, { method: 'POST', headers, body });\n  const text = await res.text();\n  try {\n    return JSON.parse(text);\n  } catch {\n    throw new DreameApiError(`${ctx} returned non-JSON (status ${res.status})`, res.status);\n  }\n}\n\nexport interface LoginByOauthInput {\n  authCode: string;\n  regionId: string;\n  deviceId?: string;\n  utdid?: string;\n  fetchImpl?: FetchImpl;\n}\n\n/** Exchange the Dreame authCode for an Aliyun OpenAccount session (step 2). */\nexport async function loginByOauth(input: LoginByOauthInput): Promise<OaSession> {\n  const host = livingAccountHost(input.regionId);\n  const riskControlInfo = {\n    createIfNotExist: 'true', sdkVersion: '3.4.0.27', openaccountVersion: '3.4.0.27',\n    platformName: 'iOS', netType: 'wifi', brand: 'Apple', USE_H5_NC: 'true',\n    deviceId: input.deviceId ?? randomUUID(), locale: 'en-US', platformVersion: '26.5.2',\n    platform: 'iPhone', appKey: ALIYUN_APP_KEY, USE_OA_PWD_ENCRYPT: 'true',\n    model: 'iPhone16,2', utdid: input.utdid ?? randomUUID().replace(/-/g, '').slice(0, 20),\n    appVersion: '1895',\n  };\n  const value = JSON.stringify({\n    riskControlInfo, oauthPlateform: 23, oauthAppKey: ALIYUN_APP_KEY, authCode: input.authCode,\n  });\n  const signed = signApiGatewayRequest({\n    method: 'POST', host, path: '/api/prd/loginbyoauth.json',\n    appKey: ALIYUN_APP_KEY, appSecret: ALIYUN_APP_SECRET,\n    form: { loginByOauthRequest: value },\n  });\n  const json = await postJson(`https://${host}/api/prd/loginbyoauth.json`, signed.headers, signed.body,\n    input.fetchImpl ?? defaultFetch, 'loginbyoauth');\n  const r = LoginByOauthSchema.parse(json).data.data.loginSuccessResult;\n  return {\n    sid: r.sid,\n    refreshToken: r.refreshToken ?? '',\n    openId: r.openAccount?.openId ?? '',\n  };\n}\n\nexport interface CreateIotSessionInput {\n  /** The OpenAccount `sid` from {@link loginByOauth}. */\n  sid: string;\n  regionId: string;\n  fetchImpl?: FetchImpl;\n}\n\n/** Exchange the OA `sid` for an Aliyun IoT session / iotToken (step 3). */\nexport async function createIotSession(input: CreateIotSessionInput): Promise<IotSession> {\n  const host = apiIotHost(input.regionId);\n  const path = '/account/createSessionByAuthCode';\n  const payload = {\n    id: randomUUID().toUpperCase(),\n    params: { request: { appKey: ALIYUN_APP_KEY, authCode: input.sid, accountType: 'OA_SESSION' } },\n    request: { apiVer: '1.0.4', language: 'en-US', appKey: ALIYUN_APP_KEY },\n    version: '1.0.0',\n  };\n  const signed = signApiGatewayRequest({\n    method: 'POST', host, path, appKey: ALIYUN_APP_KEY, appSecret: ALIYUN_APP_SECRET,\n    json: payload, extraCaHeaders: { 'X-Ca-Stage': 'RELEASE' },\n  });\n  const json = await postJson(`https://${host}${path}`, signed.headers, signed.body,\n    input.fetchImpl ?? defaultFetch, 'createSessionByAuthCode');\n  const parsed = CreateSessionSchema.parse(json);\n  if (parsed.code !== 200 && parsed.code !== 0) {\n    throw new DreameApiError(`createSession rejected: code=${parsed.code} msg=${parsed.message ?? '?'}`, 200, parsed);\n  }\n  const d = parsed.data;\n  return {\n    iotToken: d.iotToken,\n    refreshToken: d.refreshToken ?? '',\n    identityId: d.identityId ?? '',\n    expiresAt: Date.now() + (d.iotTokenExpire ?? 72000) * 1000,\n  };\n}\n","import { createHash, createHmac } from 'node:crypto';\n\n/**\n * Aliyun API Gateway (\"x-ca\") request signing, HmacSHA1. Used by the LinkVisual\n * video endpoints the Dreamehome app talks to (living-account + api-iot hosts).\n *\n * The string to sign is:\n *   METHOD\\n Accept\\n Content-MD5\\n Content-Type\\n Date\\n <signed-headers-block> <resource>\n * where the signed-headers block is `Name:Value\\n` for each header named in\n * `X-Ca-Signature-Headers`, sorted case-insensitively, and `resource` is the\n * path plus, for form bodies, the `?`-joined sorted form params.\n *\n * Verified byte-for-byte against a captured connect.json request (see tests).\n */\n\nexport interface SignedRequest {\n  headers: Record<string, string>;\n  body: string;\n}\n\nexport interface SignInput {\n  method: 'POST' | 'GET';\n  host: string;\n  path: string;\n  appKey: string;\n  appSecret: string;\n  /** JSON payload → sent as the raw body with a Content-MD5. */\n  json?: unknown;\n  /** Form fields → sent as application/x-www-form-urlencoded and folded into the resource. */\n  form?: Record<string, string>;\n  /** Extra x-ca headers to sign (e.g. `{ 'X-Ca-Stage': 'RELEASE' }`). */\n  extraCaHeaders?: Record<string, string>;\n  /** Overrides for deterministic tests. */\n  nonce?: string;\n  timestamp?: number;\n  date?: string;\n}\n\nconst CT_JSON = 'application/json; charset=UTF-8';\nconst CT_FORM = 'application/x-www-form-urlencoded; charset=UTF-8';\n\nfunction md5Base64(s: string): string {\n  return createHash('md5').update(s, 'utf8').digest('base64');\n}\n\n/** Build the x-ca headers + body for a request. */\nexport function signApiGatewayRequest(input: SignInput): SignedRequest {\n  const accept = CT_JSON;\n  const contentType = input.json !== undefined ? CT_JSON : CT_FORM;\n  const date = input.date ?? new Date().toUTCString();\n\n  let body: string;\n  let contentMd5 = '';\n  let formParams: Record<string, string> | undefined;\n  if (input.json !== undefined) {\n    body = JSON.stringify(input.json);\n    contentMd5 = md5Base64(body);\n  } else {\n    const form = input.form ?? {};\n    body = Object.entries(form)\n      .map(([k, v]) => `${k}=${encodeURIComponent(v)}`)\n      .join('&');\n    formParams = form;\n  }\n\n  const caHeaders: Record<string, string> = {\n    'X-Ca-Key': input.appKey,\n    'X-Ca-Nonce': input.nonce ?? crypto.randomUUID().toUpperCase(),\n    'X-Ca-Timestamp': String(input.timestamp ?? Date.now()),\n    'X-Ca-Version': '1',\n    ...(input.extraCaHeaders ?? {}),\n  };\n\n  const signedHeaderNames = Object.keys(caHeaders).sort((a, b) =>\n    a.toLowerCase() < b.toLowerCase() ? -1 : a.toLowerCase() > b.toLowerCase() ? 1 : 0,\n  );\n  const headerBlock = signedHeaderNames.map((k) => `${k}:${caHeaders[k]}\\n`).join('');\n\n  let resource = input.path;\n  if (formParams && Object.keys(formParams).length > 0) {\n    const sorted = Object.keys(formParams).sort();\n    resource += '?' + sorted.map((k) => `${k}=${formParams[k]}`).join('&');\n  }\n\n  const stringToSign = `${input.method}\\n${accept}\\n${contentMd5}\\n${contentType}\\n${date}\\n${headerBlock}${resource}`;\n  const signature = createHmac('sha1', input.appSecret).update(stringToSign, 'utf8').digest('base64');\n\n  const headers: Record<string, string> = {\n    'Content-Type': contentType,\n    Accept: accept,\n    Date: date,\n    'X-Ca-Signature': signature,\n    'X-Ca-Signature-Method': 'HmacSHA1',\n    'X-Ca-Signature-Headers': signedHeaderNames.join(','),\n    ...caHeaders,\n  };\n  if (contentMd5) {\n    headers['Content-MD5'] = contentMd5;\n  }\n  return { headers, body };\n}\n","import { z } from 'zod';\nimport { defaultFetch, type FetchImpl } from '../../transport/fetch.js';\nimport { DreameApiError, DreameDeviceOfflineError } from '../../transport/errors.js';\n\n/** LinkVisual code meaning the device's video agent isn't connected yet (waking). */\nexport const VISION_DEVICE_OFFLINE = 9201;\nimport {\n  ALIYUN_APP_KEY,\n  ALIYUN_APP_SECRET,\n  apiIotHost,\n  VISION_STREAM_QUERY,\n} from './constants.js';\nimport { signApiGatewayRequest } from './signing.js';\n\n/** LinkVisual live-stream descriptor returned by /vision/customer/stream/query. */\nexport interface StreamInfo {\n  /** Connection strategies the cloud offers, e.g. [\"Direct\",\"Relay\",\"NAT\"]. */\n  typeList: string[];\n  /** RTMP relay URL. Plain (playable directly) when requested with relayEncrypted:false. */\n  relayUrl: string | null;\n  /** AES key/iv for the relay payload — present (non-empty) only when relayEncrypted:true. */\n  relayDecryptKey: { iv: string; key: string } | null;\n  /** P2P (Direct/NAT) parameters: STUN/TURN + the WebSocket signaling URL. */\n  p2pInfo: {\n    stunUrl?: string;\n    alterStunUrl?: string;\n    signalUrl?: string;\n    portDetectStunUrlList?: string[];\n  } | null;\n  supportVisionPtz?: boolean;\n}\n\nconst StreamQueryResponseSchema = z\n  .object({\n    code: z.number().optional(),\n    message: z.string().nullish(),\n    data: z\n      .object({\n        typeList: z.array(z.string()).optional(),\n        relayUrl: z.string().optional(),\n        relayDecryptKey: z\n          .object({ iv: z.string().optional(), key: z.string().optional() })\n          .passthrough()\n          .optional(),\n        p2pInfo: z\n          .object({\n            stunUrl: z.string().optional(),\n            alterStunUrl: z.string().optional(),\n            signalUrl: z.string().optional(),\n            portDetectStunUrlList: z.array(z.string()).optional(),\n          })\n          .passthrough()\n          .optional(),\n        supportVisionPtz: z.boolean().optional(),\n      })\n      .passthrough()\n      .optional(),\n  })\n  .passthrough();\n\nexport interface StreamQueryInput {\n  /** Aliyun IoT region id, e.g. `eu-central-1`. */\n  regionId: string;\n  /** Short-lived IoT identity token (from createSessionByAuthCode). */\n  iotToken: string;\n  /** LinkVisual device id. */\n  iotId: string;\n  /**\n   * When false (default) the relay RTMP carries a PLAIN (unencrypted) FLV, so it\n   * can be handed straight to ffmpeg. When true the payload is AES-encrypted and\n   * `relayDecryptKey` is returned.\n   */\n  relayEncrypted?: boolean;\n  /** 0 = HD main stream (default). */\n  streamType?: number;\n  appKey?: string;\n  appSecret?: string;\n  fetchImpl?: FetchImpl;\n  signal?: AbortSignal;\n}\n\n/**\n * Query the LinkVisual live stream for a device. Returns the relay RTMP URL and\n * P2P parameters. Note: each returned relay token is single-use — request a\n * fresh one per consumer.\n */\nexport async function streamQuery(input: StreamQueryInput): Promise<StreamInfo> {\n  const appKey = input.appKey ?? ALIYUN_APP_KEY;\n  const appSecret = input.appSecret ?? ALIYUN_APP_SECRET;\n  const host = apiIotHost(input.regionId);\n  const payload = {\n    id: crypto.randomUUID().toUpperCase(),\n    params: {\n      streamType: input.streamType ?? 0,\n      needDomainName: true,\n      relayEncryptType: 0,\n      clientType: 'iOS',\n      iotId: input.iotId,\n      enablePortPredict: true,\n      enableWebSocket: true,\n      forceIFrame: true,\n      cacheDuration: 3000,\n      relayEncrypted: input.relayEncrypted ?? false,\n    },\n    request: { language: 'en-US', appKey, iotToken: input.iotToken, apiVer: '2.2.0' },\n    version: '1.0.0',\n  };\n  const signed = signApiGatewayRequest({\n    method: 'POST',\n    host,\n    path: VISION_STREAM_QUERY,\n    appKey,\n    appSecret,\n    json: payload,\n    extraCaHeaders: { 'X-Ca-Stage': 'RELEASE' },\n  });\n\n  const fetchImpl = input.fetchImpl ?? defaultFetch;\n  const res = await fetchImpl(`https://${host}${VISION_STREAM_QUERY}`, {\n    method: 'POST',\n    headers: signed.headers,\n    body: signed.body,\n    ...(input.signal ? { signal: input.signal } : {}),\n  });\n  const text = await res.text();\n  let json: unknown;\n  try {\n    json = JSON.parse(text);\n  } catch {\n    throw new DreameApiError(`stream/query returned non-JSON (status ${res.status})`, res.status);\n  }\n  const parsed = StreamQueryResponseSchema.parse(json);\n  if (parsed.code === VISION_DEVICE_OFFLINE) {\n    // The device's video agent is not connected yet — querying wakes it via the\n    // LinkVisual cloud, so this is retryable (see DreameVideoSession.getStreamInfo).\n    throw new DreameDeviceOfflineError(\n      `stream/query: device video agent offline (code ${VISION_DEVICE_OFFLINE}) — retry to wake`,\n      res.status,\n      parsed,\n    );\n  }\n  if (parsed.code !== 200 && parsed.code !== 0) {\n    throw new DreameApiError(\n      `stream/query rejected: code=${parsed.code} msg=${parsed.message ?? '?'}`,\n      res.status,\n      parsed,\n    );\n  }\n  const d = parsed.data ?? {};\n  const dk = d.relayDecryptKey;\n  const hasKey = dk && dk.iv && dk.key;\n  const p = d.p2pInfo;\n  const p2pInfo: StreamInfo['p2pInfo'] = p\n    ? {\n        ...(p.stunUrl !== undefined ? { stunUrl: p.stunUrl } : {}),\n        ...(p.alterStunUrl !== undefined ? { alterStunUrl: p.alterStunUrl } : {}),\n        ...(p.signalUrl !== undefined ? { signalUrl: p.signalUrl } : {}),\n        ...(p.portDetectStunUrlList !== undefined\n          ? { portDetectStunUrlList: p.portDetectStunUrlList }\n          : {}),\n      }\n    : null;\n  return {\n    typeList: d.typeList ?? [],\n    relayUrl: d.relayUrl ?? null,\n    relayDecryptKey: hasKey ? { iv: dk.iv as string, key: dk.key as string } : null,\n    p2pInfo,\n    ...(d.supportVisionPtz !== undefined ? { supportVisionPtz: d.supportVisionPtz } : {}),\n  };\n}\n","import type { DreameRegion } from '../../auth/config.js';\nimport type { DreameSession } from '../../cloud/types.js';\nimport type { FetchImpl } from '../../transport/http.js';\nimport { getAliyunAuthCode } from '../client.js';\nimport { ALIYUN_REGION_ID } from './constants.js';\nimport { DreameDeviceOfflineError } from '../../transport/errors.js';\nimport { createIotSession, loginByOauth, type IotSession } from './identity.js';\nimport { streamQuery, type StreamInfo } from './vision.js';\n\n/** Default budget to wake a cold device via retried stream/query. */\nconst DEFAULT_WAKE_TIMEOUT_MS = 30_000;\nconst DEFAULT_WAKE_POLL_MS = 2_000;\n\nconst sleep = (ms: number): Promise<void> => new Promise((r) => setTimeout(r, ms));\n\n/** Refresh the IoT session this many ms before it actually expires. */\nconst REFRESH_LEEWAY_MS = 60_000;\n\nexport interface DreameVideoSessionInput {\n  /** An authenticated Dreame account session (from `Nodreame`). */\n  session: DreameSession;\n  region: DreameRegion;\n  fetchImpl?: FetchImpl;\n}\n\n/**\n * High-level video session for a Dreame account. Establishes and caches the\n * Aliyun IoT identity (iotToken), and mints fresh LinkVisual RTMP stream URLs\n * on demand. Each returned relay URL is single-use — call {@link getStreamInfo}\n * (or {@link getRtmpUrl}) once per consumer.\n *\n * The plain (unencrypted) relay URL is a standard RTMP stream: hand it straight\n * to ffmpeg / scrypted / camstack. No local muxing or RTSP server required here.\n */\nexport class DreameVideoSession {\n  readonly #session: DreameSession;\n  readonly #region: DreameRegion;\n  readonly #regionId: string;\n  readonly #fetchImpl: FetchImpl | undefined;\n  #iot: IotSession | null = null;\n  #inFlight: Promise<IotSession> | null = null;\n\n  constructor(input: DreameVideoSessionInput) {\n    this.#session = input.session;\n    this.#region = input.region;\n    this.#regionId = ALIYUN_REGION_ID[input.region];\n    this.#fetchImpl = input.fetchImpl;\n  }\n\n  /** The resolved Aliyun IoT region id (e.g. `eu-central-1`). */\n  get regionId(): string {\n    return this.#regionId;\n  }\n\n  /** Mint (or reuse) a valid Aliyun IoT session, refreshing before expiry. */\n  async ensureIotSession(): Promise<IotSession> {\n    const cur = this.#iot;\n    if (cur && Date.now() < cur.expiresAt - REFRESH_LEEWAY_MS) {\n      return cur;\n    }\n    if (this.#inFlight) {\n      return this.#inFlight;\n    }\n    this.#inFlight = this.#mint();\n    try {\n      this.#iot = await this.#inFlight;\n      return this.#iot;\n    } finally {\n      this.#inFlight = null;\n    }\n  }\n\n  async #mint(): Promise<IotSession> {\n    const base = {\n      session: this.#session,\n      region: this.#region,\n      ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n    };\n    const authCode = await getAliyunAuthCode(base);\n    const oa = await loginByOauth({\n      authCode,\n      regionId: this.#regionId,\n      ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n    });\n    return createIotSession({\n      sid: oa.sid,\n      regionId: this.#regionId,\n      ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n    });\n  }\n\n  /**\n   * Mint a fresh LinkVisual stream descriptor for a device. `encrypted:false`\n   * (default) yields a plain RTMP relay URL directly playable by ffmpeg.\n   *\n   * A camera that has been idle reports \"device offline\" until the query wakes\n   * its video agent via the LinkVisual cloud. This transparently retries on that\n   * (up to `wakeTimeoutMs`, default 30s) so a single call returns a live stream;\n   * pass `wakeTimeoutMs: 0` to fail fast instead.\n   */\n  async getStreamInfo(\n    iotId: string,\n    opts?: { encrypted?: boolean; wakeTimeoutMs?: number; pollMs?: number },\n  ): Promise<StreamInfo> {\n    const deadline = Date.now() + (opts?.wakeTimeoutMs ?? DEFAULT_WAKE_TIMEOUT_MS);\n    const pollMs = opts?.pollMs ?? DEFAULT_WAKE_POLL_MS;\n    for (;;) {\n      const iot = await this.ensureIotSession();\n      try {\n        return await streamQuery({\n          regionId: this.#regionId,\n          iotToken: iot.iotToken,\n          iotId,\n          relayEncrypted: opts?.encrypted ?? false,\n          ...(this.#fetchImpl ? { fetchImpl: this.#fetchImpl } : {}),\n        });\n      } catch (err) {\n        if (err instanceof DreameDeviceOfflineError && Date.now() + pollMs < deadline) {\n          await sleep(pollMs);\n          continue;\n        }\n        throw err;\n      }\n    }\n  }\n\n  /**\n   * Convenience: mint a fresh plain RTMP relay URL for a device, or `null` when\n   * the device is not currently streaming (no relay available).\n   */\n  async getRtmpUrl(iotId: string): Promise<string | null> {\n    const info = await this.getStreamInfo(iotId, { encrypted: false });\n    return info.relayUrl;\n  }\n}\n","import type { DeviceVideoProfile } from './types.js';\n\n/**\n * Why this device cannot open a camera channel — or `null` when it can.\n *\n * The camera path needs one thing from the cloud: the `iotId`, which is the\n * CHANNEL id `startMonitor` addresses (for both vendors — see\n * `startMonitorParams`). When it is absent the call cannot proceed, and for a\n * long time that was reported as a single sentence covering four different\n * situations:\n *\n *   \"device has no LinkVisual iotId; not a camera device or not provisioned\"\n *\n * A CamStack operator met it on a robot whose camera they had just enabled in\n * the Dreame app (2026-09-16). Working out which of the four they were in\n * meant reading this library's source — the sentence names a MISSING FIELD,\n * not a cause, and the profile sitting right next to it already knows whether\n * the device is a camera at all, whether it is online, and which vendors it is\n * on and supports.\n *\n * The four states want four different actions:\n *\n *   - not a camera        → wrong device; nothing done here will help\n *   - offline             → wait; the binding is published BY the device\n *   - camera, online, no channel → open it once in the vendor app, which is\n *                           what creates the binding\n *   - channel present     → not this function's business\n *\n * Pure, so it is testable against captured profiles without a cloud.\n */\nexport function explainNoCameraChannel(profile: DeviceVideoProfile): string | null {\n  if (profile.iotId) {\n    return null;\n  }\n  const who = `${profile.model || 'unknown model'} (${profile.did || 'no did'})`;\n  if (!profile.videoCapable) {\n    return (\n      `${who} is not a camera: the cloud lists no video permit and no supported ` +\n      `video vendor for it, so there is no channel to open.`\n    );\n  }\n  if (!profile.online) {\n    return (\n      `${who} is a camera but is OFFLINE. The video binding is published by the ` +\n      `device itself, so there is nothing to read until it connects — this is ` +\n      `not a provisioning fault.`\n    );\n  }\n  const supports = profile.supportedVendors.length > 0 ? profile.supportedVendors.join(', ') : 'none';\n  // ON A VENDOR WE DO NOT SPEAK.\n  //\n  // `iotId` is read from the ALIYUN bind endpoint (`iotuserbind/device/info`),\n  // so a device provisioned on Tencent has none BY CONSTRUCTION — it is not\n  // missing, it does not live there. Measured on a live X50 on 2026-09-16\n  // while its owner was watching the stream in the Dreame app: `vendor: 'tx'`,\n  // `supports: ['tx','ali']`, `iotId: null`.\n  //\n  // Telling that owner to \"open it once in the app to create the binding\" is\n  // advice that cannot work, and it was given — while the app was streaming.\n  // A diagnostic that sends someone to do a useless thing is worse than one\n  // that says nothing, so this case says what is actually true.\n  if (profile.currentVendor === 'tx') {\n    return (\n      `${who} is a camera and online, but is provisioned on the TENCENT video ` +\n      `vendor (vendor: tx; supports: ${supports}), and this library implements ` +\n      `only the Aliyun LinkVisual path — the channel id it needs lives on ` +\n      `Aliyun and a tx device has none. Re-pairing or re-opening the camera in ` +\n      `the app will not change this.`\n    );\n  }\n  // A camera, online, on no vendor at all: it has never bound to the video\n  // service. Streaming it once in the vendor app is what creates the binding —\n  // and here that advice is right.\n  const on = profile.currentVendor ?? 'none';\n  return (\n    `${who} is a camera and online, but has no video channel yet ` +\n    `(vendor: ${on}; supports: ${supports}). The device has not bound to the ` +\n    `video service — open its camera once in the Dreame app to create the ` +\n    `binding, then retry.`\n  );\n}\n","/**\n * MIoT surface of the Dreame camera service (SIID 10001), reversed byte-exact\n * from the r2538z (X50) React-Native plugin `Monitor` model. Every camera\n * control the app issues is a MIoT `action` on this service; the values below\n * are the verbatim aiid/piid maps from the bundle.\n */\n\n/** The camera/monitor service id. Same across the X40/X50 vacuum class. */\nexport const MONITOR_SIID = 10001;\n\n/** Action instance ids on {@link MONITOR_SIID}. */\nexport const MONITOR_AIID = {\n  /** Stream lifecycle + keep-alive (monitor start/end, keep_alive). */\n  CAMERA_OPERATE: 1,\n  /** Two-way intercom start/end. */\n  VOICE_OPERATE: 2,\n  /** Generic property-scoped operations. */\n  PROPERTY_OPERATE: 3,\n  /** Privacy access-code gate (launch/verify/set/reset). */\n  ACCESS_CODE_OPERATE: 4,\n  /** Video-vendor SDK init / switch. */\n  VIDEO_VENDOR: 7,\n} as const;\n\n/** Property instance ids on {@link MONITOR_SIID}. */\nexport const MONITOR_PIID = {\n  MONITOR_STATUS: 1,\n  MONITOR_AUDIO_STATUS: 2,\n  MONITOR_RECORD_STATUS: 4,\n  TAKE_PHOTO: 5,\n  KEEP_ALIVE: 6,\n  MONITOR_FAULTS: 7,\n  FILL_LIGHT_SET: 9,\n  CAMERA_LIGHT_SWITCH: 10,\n  VIDEO_VENDOR_STATUS: 11,\n  GET_PROPERTY: 99,\n  PERSON_DATA: 110,\n  VIDEO_OBSTACLE_SWITCH: 111,\n  VIDEO_OBSTACLE_DATA: 112,\n  MONITOR_TASK_STATUS: 103,\n  UPLOAD_STATUS: 1003,\n  GET_ACCESS_CODE: 1100,\n  SET_ACCESS_CODE: 1101,\n  VERIFY_ACCESS_CODE: 1102,\n  MONITOR_REST_MODE: 1103,\n  SET_ACCESS_HOT_STATUS: 1104,\n  MONITOR_SPACE: 2003,\n} as const;\n\n/**\n * The `token` field the `startMonitor` action expects, keyed by vendor. Aliyun\n * LinkVisual uses the literal `\"alify\"`; Tencent uses `\"tx\"`. (Agora passes an\n * RTC access token instead and is not modelled here.)\n */\nexport const MONITOR_VENDOR_TOKEN: Record<'ali' | 'tx', string> = {\n  ali: 'alify',\n  tx: 'tx',\n};\n\n/** Fill-light: values 40..100 are manual %, below 40 (or 101) select auto. */\nexport const FILL_LIGHT_MIN = 40;\n\n/**\n * The vacuum work service (SIID 4). The camera has no gimbal — \"PTZ\" and the\n * camera-adjacent controls (remote drive, go-to-point, person-follow) drive the\n * robot itself through this service.\n */\nexport const VACUUM_SIID = 4;\nexport const VACUUM_MOVE = {\n  /** Remote-drive state property (set_properties), sent ~1 Hz while held. */\n  REMOTE_STATE_PIID: 15,\n  /** Work-mode action instance (go-to-point, cruise, person-follow start). */\n  WORK_AIID: 1,\n  /** Work-mode stop action instance (person-follow stop). */\n  STOP_AIID: 2,\n  /** piid carrying the work-mode selector value in the WORK action. */\n  MODE_PIID: 1,\n  /** piid carrying the point-info JSON in the WORK action. */\n  POINT_PIID: 10,\n  /** Work-mode selector values. */\n  MODE_SPOT: 23, // go to point (MonitorSpotMode)\n  MODE_CRUISE: 22, // cruise / patrol / find-pet\n  MODE_PERSON_FOLLOW: 26,\n  MODE_SPOT_CLEAN: 20, // spot-clean the current position (SpotClean)\n  /** Auto-switch setter property (fill-light auto/full toggle lives here). */\n  AUTO_SWITCH_PIID: 50,\n} as const;\n\n/** Return-to-dock / charge action (battery service). */\nexport const VACUUM_CHARGE = { siid: 3, aiid: 1 } as const;\n\n/**\n * Voice/audio service (SIID 7). aiid 1 = position/locate (robot beeps), aiid 2 =\n * playSound (play a sound clip by id, carried in piid 4).\n */\nexport const VOICE_SIID = 7;\nexport const VOICE_LOCATE_AIID = 1;\nexport const VOICE_PLAY_SOUND_AIID = 2;\nexport const VOICE_SOUND_PIID = 4;\n/** Locate action — the robot beeps so you can find it. */\nexport const VACUUM_LOCATE = { siid: VOICE_SIID, aiid: VOICE_LOCATE_AIID } as const;\n\n/** Pet-teasing sound clips playable via {@link VOICE_PLAY_SOUND_AIID}. */\nexport const PET_SOUNDS = {\n  meow: 684,\n  bark: 685,\n  footsteps: 686,\n  purring: 687,\n  tickTock: 688,\n} as const;\nexport type PetSound = keyof typeof PET_SOUNDS;\n\n/** Common whole-robot actions (usable as camera presets). */\nexport const VACUUM_ACTIONS = {\n  startClean: { siid: 2, aiid: 1 },\n  pauseClean: { siid: 2, aiid: 2 },\n  stopClean: { siid: 4, aiid: 2 },\n  dockWash: { siid: 4, aiid: 4 },\n  autoEmpty: { siid: 15, aiid: 1 },\n} as const;\nexport type VacuumActionKey = keyof typeof VACUUM_ACTIONS;\n","/**\n * Pure protocol helpers for the camera monitor service — no I/O, so every wire\n * shape here is unit-testable in isolation. The device wraps each action value\n * as `JSON.stringify({ ...params, session })`, where `session` is a per-session\n * correlation token; these builders reproduce that envelope exactly.\n */\nimport { createHash } from 'node:crypto';\nimport { MONITOR_PIID, MONITOR_VENDOR_TOKEN } from './constants.js';\n\n/** One `in[]` entry of a MIoT action: a piid plus a JSON-encoded value. */\nexport interface MonitorActionInput {\n  readonly piid: number;\n  readonly value: string;\n}\n\n/** The parsed shape of a device action reply (`callAction` resolves to this). */\nexport interface MonitorActionResult {\n  readonly code?: number;\n  readonly out?: ReadonlyArray<{ piid?: number; value?: unknown }>;\n  readonly result?: { out?: ReadonlyArray<{ piid?: number; value?: unknown }> };\n}\n\n/**\n * Per-session correlation token, exactly as the app's `Monitor.updateSession()`:\n * `MD5(accountId + \"_\" + epochMillis)`. Pass an explicit `now` for deterministic\n * tests. `accountId` is the Dreame account uid.\n */\nexport function makeMonitorSession(accountId: string, now: number = Date.now()): string {\n  return createHash('md5').update(`${accountId}_${now}`).digest('hex');\n}\n\n/** SHA-256 hex of a privacy access code, as `Monitor.verifyAccessCode` sends it. */\nexport function hashAccessCode(code: string): string {\n  return createHash('sha256').update(code).digest('hex');\n}\n\n/**\n * Build a single action `in[]` entry: merge `params` with the `session` (session\n * wins on key clash, matching the plugin) and JSON-encode. `params` of `null`\n * yields just `{ session }`.\n */\nexport function buildActionInput(\n  piid: number,\n  params: Record<string, unknown> | null,\n  session: string,\n): MonitorActionInput {\n  const value = JSON.stringify({ ...(params ?? {}), session });\n  return { piid, value };\n}\n\n/** `startMonitor` value params for a given vendor + channel (iotId). */\nexport function startMonitorParams(\n  iotId: string,\n  vendor: 'ali' | 'tx',\n  area: string,\n): Record<string, unknown> {\n  return {\n    token: MONITOR_VENDOR_TOKEN[vendor],\n    channelId: iotId,\n    area,\n    operType: 'monitor',\n    operation: 'start',\n  };\n}\n\n/** `stopMonitor` value params. */\nexport function stopMonitorParams(): Record<string, unknown> {\n  return { operType: 'monitor', operation: 'end' };\n}\n\n/** `keep_alive` value params. `videoStatus` is `preparing` until the relay is up, then `opened`. */\nexport function keepAliveParams(videoStatus: 'preparing' | 'opened'): Record<string, unknown> {\n  return { operType: 'keep_alive', videoStatus };\n}\n\n/** `getAccessCodeLaunch` params — primes the camera pipeline and reports PIN state. */\nexport function accessCodeLaunchParams(): Record<string, unknown> {\n  return { open: true };\n}\n\n/** `verifyAccessCode` params from a plaintext code. `lazymode` mirrors the app default. */\nexport function verifyAccessCodeParams(code: string, lazymode = 0): Record<string, unknown> {\n  return { oldcode: hashAccessCode(code), lazymode };\n}\n\n/** `intercom` start params. `phone:1` marks a video-call intercom. */\nexport function intercomStartParams(opts?: {\n  needRecordSound?: boolean;\n  videoCall?: boolean;\n}): Record<string, unknown> {\n  return {\n    operType: 'intercom',\n    operation: 'start',\n    ...(opts?.needRecordSound !== undefined ? { need_record_sound: opts.needRecordSound } : {}),\n    ...(opts?.videoCall ? { phone: 1 } : {}),\n  };\n}\n\n/** `intercom` stop params. */\nexport function intercomStopParams(): Record<string, unknown> {\n  return { operType: 'intercom', operation: 'end' };\n}\n\n/** Fill-light brightness params. Value is sent as a STRING, per the plugin. */\nexport function fillLightParams(value: number): Record<string, unknown> {\n  return { value: String(value) };\n}\n\n/** Device-side snapshot (`takephoto`) params. */\nexport function takePhotoParams(): Record<string, unknown> {\n  return { operType: 'takephoto', operation: 'start' };\n}\n\n/**\n * Remote-drive value (siid 4 / piid 15), sent ~1 Hz while a direction is held.\n * `spdv` = forward speed (200 fwd, 0 stop), `spdw` = turn (45 left, -45 right,\n * 180 turn-around, 0 straight). Pass an explicit `now` for deterministic tests.\n */\nexport function remoteDriveValue(\n  spdv: number,\n  spdw: number,\n  now: number = Date.now(),\n): string {\n  return JSON.stringify({\n    spdv,\n    spdw,\n    audio: 'false',\n    random: Math.floor(Math.random() * 1000),\n    timestamp: now,\n  });\n}\n\n/** Named remote-drive directions, mapping to (spdv, spdw). */\nexport const DRIVE_DIRECTIONS = {\n  forward: [200, 0],\n  left: [0, 45],\n  right: [0, -45],\n  turnAround: [0, 180],\n  stop: [0, 0],\n} as const;\nexport type DriveDirection = keyof typeof DRIVE_DIRECTIONS;\n\n/** The device business `code` from an action reply (0 = accepted); `null` if absent. */\nexport function actionCode(res: unknown): number | null {\n  const r = res as MonitorActionResult | null | undefined;\n  return typeof r?.code === 'number' ? r.code : null;\n}\n\n/** First `out[0].value` from an action reply (handles both `out` and `result.out`). */\nexport function firstOutValue(res: unknown): unknown {\n  const r = res as MonitorActionResult | null | undefined;\n  const out = r?.out ?? r?.result?.out;\n  return Array.isArray(out) && out.length > 0 ? out[0]?.value : undefined;\n}\n","import type { VideoVendor } from '../types.js';\n\n/**\n * Switching a device between its video backends.\n *\n * ## Why this exists\n *\n * A Dreame robot can be provisioned on Aliyun LinkVisual (`ali`) or Tencent\n * IoT-Video (`tx`), and a dual-vendor device (`videoDynamicVendor: true`,\n * `defaultVendors: ['tx','ali']`) moves between them. Which one it sits on is\n * not cosmetic: the two have entirely different media planes. Measured on an\n * X50 on 2026-09-16, while it sat on `tx`:\n *\n *   tx/dev/getRtcInfo  → 404      (the TRTC path does not exist for it)\n *   tx/dev/getP2PInfo  → an opaque 35-char xp2p handle\n *\n * so a `tx` device can only be streamed through Tencent's proprietary UDP P2P\n * stack, while the SAME device on `ali` streams through a plain RTMP relay this\n * library already implements end to end.\n *\n * The app switches with the very action this module builds — its own internal\n * debug page calls `changeVideoVendor('tx'|'ali')` — and then polls the status\n * until the device reports the new SDK initialised.\n *\n * ## The action\n *\n * `MONITOR_AIID.VIDEO_VENDOR` with `{vendor}` SWITCHES; the same action with\n * `null` merely initialises whatever vendor the device is already on, which is\n * what `#tryPrime` has always done. One value apart, two different operations.\n */\n\n/** Params for the vendor-switch action. `null` params init the current vendor\n *  instead, which is a different operation — see the module docblock. */\nexport function videoVendorSwitchParams(vendor: VideoVendor): Record<string, unknown> {\n  return { vendor };\n}\n\n/** What the device reports about its video SDK. */\nexport interface VideoVendorStatus {\n  readonly vendor: VideoVendor | null;\n  /** `1` once the SDK for {@link vendor} is up. A switch is not done until this. */\n  readonly initStatus: number | null;\n}\n\n/**\n * Parse `videoVendorStatus` (property 11) — a JSON STRING inside the property\n * value, as every status on this service is.\n *\n * Never throws: an unreadable status is \"we do not know\", and a caller that\n * polls must not die on one malformed tick.\n */\nexport function parseVideoVendorStatus(raw: unknown): VideoVendorStatus {\n  const text =\n    typeof raw === 'string' ? raw : typeof raw === 'object' && raw !== null ? null : null;\n  const source: unknown = text === null ? raw : safeJson(text);\n  if (typeof source !== 'object' || source === null) {\n    return { vendor: null, initStatus: null };\n  }\n  const v: unknown = Reflect.get(source, 'vendor');\n  const s: unknown = Reflect.get(source, 'initStatus');\n  return {\n    vendor: v === 'ali' || v === 'tx' ? v : null,\n    initStatus: typeof s === 'number' ? s : null,\n  };\n}\n\nfunction safeJson(text: string): unknown {\n  try {\n    return JSON.parse(text);\n  } catch {\n    return null;\n  }\n}\n\n/** True when the device reports the requested vendor, initialised. */\nexport function vendorSwitchSettled(status: VideoVendorStatus, wanted: VideoVendor): boolean {\n  return status.vendor === wanted && status.initStatus === 1;\n}\n","/**\n * Autonomous cold-start of a Dreame vacuum camera stream.\n *\n * Reproduces the exact sequence the r2538z (X50) app runs when you open the\n * camera — verified end-to-end against a deep-cold device:\n *\n *   1. getAccessCodeLaunch  (aiid 4 / piid 1100 {open:true})  — primes the pipeline\n *   2. initCameraSdk        (aiid 7 / piid 11   {})           — boots the on-device video agent\n *   3. startMonitor         (aiid 1 / piid 1    …start)       — on code:-1 with a PIN set,\n *      verifyAccessCode     (aiid 4 / piid 1102 sha256(PIN))  — satisfy the privacy gate,\n *      startMonitor (retry)                                    — now accepted (code:0 + encryptionKey)\n *   4. keep_alive loop      (aiid 1 / piid 6)                 — every ~10s, or the device tears down\n *   5. stream/query (Aliyun LinkVisual)                        — mint the plain RTMP relay URL\n *\n * The resulting relay URL is a standard RTMP stream (H.264 + AAC) any consumer\n * (scrypted / camstack / ffmpeg) can pull directly. Call {@link close} to stop\n * the keep-alive loop and release the monitor on the device.\n */\nimport { DreameError } from '../../transport/errors.js';\nimport {\n  MONITOR_AIID,\n  MONITOR_PIID,\n  MONITOR_SIID,\n  VACUUM_SIID,\n  VACUUM_MOVE,\n  VACUUM_CHARGE,\n  VACUUM_LOCATE,\n  VACUUM_ACTIONS,\n  VOICE_SIID,\n  VOICE_PLAY_SOUND_AIID,\n  VOICE_SOUND_PIID,\n  PET_SOUNDS,\n  type PetSound,\n  type VacuumActionKey,\n} from './constants.js';\nimport {\n  accessCodeLaunchParams,\n  actionCode,\n  buildActionInput,\n  fillLightParams,\n  firstOutValue,\n  intercomStartParams,\n  intercomStopParams,\n  keepAliveParams,\n  makeMonitorSession,\n  remoteDriveValue,\n  startMonitorParams,\n  stopMonitorParams,\n  takePhotoParams,\n  verifyAccessCodeParams,\n  DRIVE_DIRECTIONS,\n  type DriveDirection,\n} from './protocol.js';\n\n/**\n * MIoT device transport the controller drives — satisfied by a nodedreame device\n * handle (VacuumDevice). `setProperty` is optional so callAction-only fakes still\n * satisfy the interface; the robot-drive helpers require it.\n */\nexport interface MonitorActionCaller {\n  callAction(siid: number, aiid: number, input: unknown[]): Promise<unknown>;\n  setProperty?(write: { siid: number; piid: number; value: unknown }): Promise<unknown>;\n}\n\n/** Minimal relay minter — satisfied by {@link DreameVideoSession}. */\nexport interface RelayMinter {\n  getStreamInfo(\n    iotId: string,\n    opts?: { encrypted?: boolean; wakeTimeoutMs?: number; pollMs?: number },\n  ): Promise<{ relayUrl: string | null }>;\n}\n\nexport interface DreameCameraControllerInput {\n  /** MIoT action transport (the device handle). */\n  readonly device: MonitorActionCaller;\n  /** Aliyun relay minter (a {@link DreameVideoSession}). */\n  readonly relay: RelayMinter;\n  /** LinkVisual channel id for this device (`iotId`). */\n  readonly iotId: string;\n  /** Dreame account uid — seeds the per-session correlation token. */\n  readonly accountId: string;\n  /** Video vendor. Only `ali` mints an RTMP relay; defaults to `ali`. */\n  readonly vendor?: 'ali' | 'tx';\n  /** Privacy access code (PIN) set at pairing, if any. Required to wake a coded camera. */\n  readonly accessCode?: string;\n  /** Aliyun region code the device reports as `area`; defaults to `'4'`. */\n  readonly area?: string;\n  /** Keep-alive cadence in ms (app default 10s). */\n  readonly keepAliveIntervalMs?: number;\n  /** Max time to wait for the relay to come up while the device wakes. */\n  readonly wakeTimeoutMs?: number;\n  /** Reported when a keep-alive tick fails (the stream is likely dying). */\n  readonly onKeepAliveError?: (err: unknown) => void;\n  /** Optional line logger (nodelink-style). Defaults to no-op. */\n  readonly log?: (line: string) => void;\n}\n\n/** A live camera stream: the pullable relay URL plus the device's per-stream key. */\nexport interface CameraStreamHandle {\n  /** Plain RTMP relay URL (H.264 + AAC). Single stream; re-open for another consumer. */\n  readonly rtmpUrl: string;\n  /** Device-generated per-session encryption key echoed by `startMonitor`. */\n  readonly encryptionKey: string | null;\n}\n\nconst DEFAULT_KEEP_ALIVE_MS = 10_000;\nconst DEFAULT_AREA = '4';\n\nexport class DreameCameraController {\n  readonly #device: MonitorActionCaller;\n  readonly #relay: RelayMinter;\n  readonly #iotId: string;\n  readonly #accountId: string;\n  readonly #vendor: 'ali' | 'tx';\n  readonly #accessCode: string | undefined;\n  readonly #area: string;\n  readonly #keepAliveIntervalMs: number;\n  readonly #wakeTimeoutMs: number | undefined;\n  readonly #onKeepAliveError: ((err: unknown) => void) | undefined;\n  readonly #log: (line: string) => void;\n\n  #session: string | null = null;\n  #keepAliveTimer: ReturnType<typeof setInterval> | null = null;\n  #opened = false;\n\n  constructor(input: DreameCameraControllerInput) {\n    this.#device = input.device;\n    this.#relay = input.relay;\n    this.#iotId = input.iotId;\n    this.#accountId = input.accountId;\n    this.#vendor = input.vendor ?? 'ali';\n    this.#accessCode = input.accessCode;\n    this.#area = input.area ?? DEFAULT_AREA;\n    this.#keepAliveIntervalMs = input.keepAliveIntervalMs ?? DEFAULT_KEEP_ALIVE_MS;\n    this.#wakeTimeoutMs = input.wakeTimeoutMs;\n    this.#onKeepAliveError = input.onKeepAliveError;\n    this.#log = input.log ?? ((): void => {});\n  }\n\n  #logLine(msg: string): void {\n    this.#log(`[nodedreame:monitor] ${msg}`);\n  }\n\n  /** True while a monitor session is active (between {@link open} and {@link close}). */\n  get isOpen(): boolean {\n    return this.#opened;\n  }\n\n  /** Send one camera action, resolving to the raw device reply. */\n  async #action(aiid: number, piid: number, params: Record<string, unknown> | null): Promise<unknown> {\n    if (!this.#session) {\n      throw new DreameError('camera controller has no session; call open() first');\n    }\n    const input = buildActionInput(piid, params, this.#session);\n    return this.#device.callAction(MONITOR_SIID, aiid, [input]);\n  }\n\n  /**\n   * Run the full cold-start sequence and return a live relay URL. Starts the\n   * keep-alive loop; the caller MUST {@link close} when done to release the\n   * device. Throws if the monitor cannot be started or no relay comes up.\n   */\n  async open(): Promise<CameraStreamHandle> {\n    if (this.#opened) {\n      throw new DreameError('camera stream already open');\n    }\n    this.#session = makeMonitorSession(this.#accountId);\n    this.#logLine(`open: vendor=${this.#vendor} iotId=${this.#iotId} area=${this.#area}`);\n\n    // 1) Prime the pipeline + boot the on-device video agent (best-effort:\n    // failures here are non-fatal, startMonitor is the real gate).\n    await this.#tryPrime();\n\n    // 2) startMonitor — retry once behind the privacy gate if refused.\n    const startRes = await this.#startMonitorWithGate();\n    const encryptionKey = asString(firstOutValue(startRes));\n    this.#logLine(`startMonitor accepted (encryptionKey=${encryptionKey ? 'yes' : 'no'})`);\n\n    // 3) keep the monitor alive from now on (device tears down without it).\n    this.#opened = true;\n    this.#startKeepAlive();\n\n    // 4) mint the relay (transparently retries while the device wakes).\n    let relayUrl: string | null;\n    try {\n      const info = await this.#relay.getStreamInfo(this.#iotId, {\n        encrypted: false,\n        ...(this.#wakeTimeoutMs !== undefined ? { wakeTimeoutMs: this.#wakeTimeoutMs } : {}),\n      });\n      relayUrl = info.relayUrl;\n    } catch (err) {\n      this.#logLine(`relay mint failed: ${err instanceof Error ? err.message : String(err)}`);\n      await this.close();\n      throw err;\n    }\n    if (!relayUrl) {\n      await this.close();\n      throw new DreameError('monitor started but no relay URL was returned');\n    }\n    this.#logLine('relay up');\n\n    return { rtmpUrl: relayUrl, encryptionKey };\n  }\n\n  async #tryPrime(): Promise<void> {\n    try {\n      await this.#action(MONITOR_AIID.ACCESS_CODE_OPERATE, MONITOR_PIID.GET_ACCESS_CODE, accessCodeLaunchParams());\n    } catch {\n      /* non-fatal */\n    }\n    try {\n      await this.#action(MONITOR_AIID.VIDEO_VENDOR, MONITOR_PIID.VIDEO_VENDOR_STATUS, null);\n    } catch {\n      /* non-fatal */\n    }\n  }\n\n  async #startMonitorWithGate(): Promise<unknown> {\n    const params = startMonitorParams(this.#iotId, this.#vendor, this.#area);\n    let res = await this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.MONITOR_STATUS, params);\n    if (actionCode(res) === 0) {\n      return res;\n    }\n    this.#logLine(`startMonitor refused (code ${actionCode(res) ?? '?'}); verifying access code`);\n    // Refused: the camera's per-session privacy gate needs the PIN verified.\n    if (this.#accessCode) {\n      await this.#action(\n        MONITOR_AIID.ACCESS_CODE_OPERATE,\n        MONITOR_PIID.VERIFY_ACCESS_CODE,\n        verifyAccessCodeParams(this.#accessCode),\n      );\n      res = await this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.MONITOR_STATUS, params);\n    }\n    if (actionCode(res) !== 0) {\n      const code = actionCode(res);\n      throw new DreameError(\n        `startMonitor refused (code ${code ?? '?'})` +\n          (this.#accessCode ? '' : '; device likely requires an accessCode'),\n      );\n    }\n    return res;\n  }\n\n  #startKeepAlive(): void {\n    this.#stopKeepAlive();\n    this.#keepAliveTimer = setInterval(() => {\n      void this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.KEEP_ALIVE, keepAliveParams('opened')).catch(\n        (err: unknown) => this.#onKeepAliveError?.(err),\n      );\n    }, this.#keepAliveIntervalMs);\n    // Don't hold the event loop open on the keep-alive timer alone.\n    this.#keepAliveTimer.unref?.();\n  }\n\n  #stopKeepAlive(): void {\n    if (this.#keepAliveTimer) {\n      clearInterval(this.#keepAliveTimer);\n      this.#keepAliveTimer = null;\n    }\n  }\n\n  /**\n   * Mint a FRESH single-use RTMP relay URL for the already-open monitor. Each\n   * consumer needs its own relay URL, so call this once per ffmpeg/consumer.\n   * Throws if the stream is not open.\n   */\n  async mintRelayUrl(): Promise<string> {\n    if (!this.#opened) {\n      throw new DreameError('camera stream is not open; call open() first');\n    }\n    const info = await this.#relay.getStreamInfo(this.#iotId, {\n      encrypted: false,\n      ...(this.#wakeTimeoutMs !== undefined ? { wakeTimeoutMs: this.#wakeTimeoutMs } : {}),\n    });\n    if (!info.relayUrl) {\n      throw new DreameError('no relay URL available for the open monitor');\n    }\n    return info.relayUrl;\n  }\n\n  /** Start the two-way intercom session (control plane only; see module docs on mic uplink). */\n  async startIntercom(opts?: { needRecordSound?: boolean; videoCall?: boolean }): Promise<unknown> {\n    return this.#action(MONITOR_AIID.VOICE_OPERATE, MONITOR_PIID.MONITOR_AUDIO_STATUS, intercomStartParams(opts));\n  }\n\n  /** Stop the two-way intercom session. */\n  async stopIntercom(): Promise<unknown> {\n    return this.#action(MONITOR_AIID.VOICE_OPERATE, MONITOR_PIID.MONITOR_AUDIO_STATUS, intercomStopParams());\n  }\n\n  /** Set the fill-light brightness (40–100 = manual %, below 40 / 101 = auto). */\n  async setFillLight(value: number): Promise<unknown> {\n    return this.#action(MONITOR_AIID.PROPERTY_OPERATE, MONITOR_PIID.FILL_LIGHT_SET, fillLightParams(value));\n  }\n\n  /**\n   * Device-side snapshot: the robot captures a still and uploads it to cloud\n   * storage (read the result back from the `uploadStatus` property). Prefer a\n   * frame-grab from the live stream for an instant image.\n   */\n  async takePhoto(): Promise<unknown> {\n    return this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.TAKE_PHOTO, takePhotoParams());\n  }\n\n  /**\n   * Remote-drive the robot (\"PTZ\" substitute — the camera is fixed, the robot\n   * moves). `spdv` = forward speed, `spdw` = turn; send repeatedly (~1 Hz) while\n   * a direction is held, then `stop`. Only valid while the stream is open.\n   */\n  async drive(spdv: number, spdw: number): Promise<unknown> {\n    this.#requireSession();\n    if (!this.#device.setProperty) {\n      throw new DreameError('device does not support setProperty; cannot remote-drive');\n    }\n    return this.#device.setProperty({\n      siid: VACUUM_SIID,\n      piid: VACUUM_MOVE.REMOTE_STATE_PIID,\n      value: remoteDriveValue(spdv, spdw),\n    });\n  }\n\n  /** Remote-drive by named direction (forward/left/right/turnAround/stop). */\n  async driveDirection(direction: DriveDirection): Promise<unknown> {\n    const [spdv, spdw] = DRIVE_DIRECTIONS[direction];\n    return this.drive(spdv, spdw);\n  }\n\n  /** Start person-follow mode (robot tracks a detected person). */\n  async startPersonFollow(): Promise<unknown> {\n    this.#requireSession();\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_PERSON_FOLLOW },\n    ]);\n  }\n\n  /**\n   * Universal stop for the current work mode — stops person-follow, spot-clean,\n   * go-to-point, cruise, etc. (siid 4 / aiid 2).\n   */\n  async stopWork(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.STOP_AIID, []);\n  }\n\n  /** Stop person-follow mode (alias for {@link stopWork}). */\n  async stopPersonFollow(): Promise<unknown> {\n    return this.stopWork();\n  }\n\n  /** Spot-clean the robot's current position (WorkMode SpotClean). */\n  async spotClean(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_SPOT_CLEAN },\n    ]);\n  }\n\n  /** Play one of the robot's sound clips (e.g. pet sounds) by id. */\n  async playSound(soundId: number): Promise<unknown> {\n    return this.#device.callAction(VOICE_SIID, VOICE_PLAY_SOUND_AIID, [\n      { piid: VOICE_SOUND_PIID, value: soundId },\n    ]);\n  }\n\n  /** Play a named pet-teasing sound (meow/bark/footsteps/purring/tickTock). */\n  async playPetSound(sound: PetSound): Promise<unknown> {\n    return this.playSound(PET_SOUNDS[sound]);\n  }\n\n  /** Run a common whole-robot action (startClean/pauseClean/stopClean/dockWash/autoEmpty). */\n  async runVacuumAction(action: VacuumActionKey): Promise<unknown> {\n    const a = VACUUM_ACTIONS[action];\n    return this.#device.callAction(a.siid, a.aiid, []);\n  }\n\n  /** Find-pet: cruise the home looking for the pet. */\n  async findPet(): Promise<unknown> {\n    this.#requireSession();\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_CRUISE },\n      { piid: VACUUM_MOVE.POINT_PIID, value: JSON.stringify({ findpet: '' }) },\n    ]);\n  }\n\n  /** Send the robot to a map point (`spoint` current, `tpoint` targets). */\n  async goToPoint(spoint: number[][], tpoint: number[][]): Promise<unknown> {\n    this.#requireSession();\n    return this.#device.callAction(VACUUM_SIID, VACUUM_MOVE.WORK_AIID, [\n      { piid: VACUUM_MOVE.MODE_PIID, value: VACUUM_MOVE.MODE_SPOT },\n      { piid: VACUUM_MOVE.POINT_PIID, value: JSON.stringify({ spoint, tpoint }) },\n    ]);\n  }\n\n  /** Toggle the fill light between auto (`full=false`) and full-on (`full=true`). */\n  async setFillLightAuto(full: boolean): Promise<unknown> {\n    if (!this.#device.setProperty) {\n      throw new DreameError('device does not support setProperty; cannot toggle fill light');\n    }\n    return this.#device.setProperty({\n      siid: VACUUM_SIID,\n      piid: VACUUM_MOVE.AUTO_SWITCH_PIID,\n      value: JSON.stringify({ k: 'FillinLight', v: full ? 1 : 0 }),\n    });\n  }\n\n  /**\n   * Send the robot back to its dock to charge (\"go home\"). Works regardless of\n   * stream state — usable as a standalone command or a PTZ \"home\" preset.\n   */\n  async returnToDock(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_CHARGE.siid, VACUUM_CHARGE.aiid, []);\n  }\n\n  /** Locate the robot — it beeps. Works regardless of stream state. */\n  async locate(): Promise<unknown> {\n    return this.#device.callAction(VACUUM_LOCATE.siid, VACUUM_LOCATE.aiid, []);\n  }\n\n  #requireSession(): void {\n    if (!this.#opened) {\n      throw new DreameError('camera stream is not open; call open() first');\n    }\n  }\n\n  /** Stop the keep-alive loop and release the monitor on the device. Idempotent. */\n  async close(): Promise<void> {\n    this.#stopKeepAlive();\n    if (!this.#opened) {\n      this.#session = null;\n      return;\n    }\n    this.#opened = false;\n    this.#logLine('close: stopping monitor');\n    try {\n      await this.#action(MONITOR_AIID.CAMERA_OPERATE, MONITOR_PIID.MONITOR_STATUS, stopMonitorParams());\n    } finally {\n      this.#session = null;\n    }\n  }\n}\n\nfunction asString(v: unknown): string | null {\n  return typeof v === 'string' ? v : null;\n}\n","/**\n * Outer-envelope handling for Dreame map blobs.\n *\n * Wire format: URL-safe base64 → optional AES-256-CBC decrypt → zlib\n * inflate → 27-byte binary header + width*height pixel grid + UTF-8\n * JSON tail. This module covers the first three steps; header / tail\n * parsing live in `header.ts` / `tail.ts`.\n */\n\nimport { createDecipheriv, createHash } from 'node:crypto';\nimport * as zlib from 'node:zlib';\nimport type { VacuumMapDecodeOptions } from './types.js';\n\n/** Bytes 0-26 are the fixed-layout binary header. */\nexport const HEADER_SIZE = 27;\n\n/** Sentinel value in `robot.a` / `charger.a` meaning \"absent\". */\nexport const ANGLE_ABSENT = 0x7fff;\n\n/** Frame-type byte values from the header. */\nexport const FRAME_TYPE = {\n  I: 73,\n  P: 80,\n  W: 87,\n} as const;\n\nexport class MapDecodeError extends Error {\n  constructor(message: string, options?: { cause?: unknown }) {\n    super(message, options);\n    this.name = 'MapDecodeError';\n  }\n}\n\n/**\n * Unwrap a raw MAP_DATA envelope value: URL-safe base64 → optional\n * AES-256-CBC decrypt → zlib inflate. The returned buffer starts with\n * the 27-byte header.\n *\n * If the value contains a comma, everything after the first comma is\n * treated as the per-blob AES key and AES is forced on (matching the\n * outer-envelope convention from Tasshack `map.py:3759-3792`). If `opts.key`\n * and `opts.iv` are also supplied, the embedded key wins.\n */\nexport function unwrapEnvelope(value: string, opts: VacuumMapDecodeOptions = {}): Buffer {\n  const commaIdx = value.indexOf(',');\n  const b64 = commaIdx >= 0 ? value.slice(0, commaIdx) : value;\n  const embeddedKey = commaIdx >= 0 ? value.slice(commaIdx + 1) : null;\n\n  const standard = b64.replace(/-/g, '+').replace(/_/g, '/');\n  let bytes: Buffer;\n  try {\n    bytes = Buffer.from(standard, 'base64');\n  } catch (err) {\n    throw new MapDecodeError('envelope: base64 decode failed', { cause: err });\n  }\n  if (bytes.length === 0) {\n    throw new MapDecodeError('envelope: empty payload after base64 decode');\n  }\n\n  const key = embeddedKey ?? opts.key ?? null;\n  if (key) {\n    if (!opts.iv) {\n      throw new MapDecodeError(\n        'envelope: AES key supplied but no IV — pass `opts.iv` (16-byte ASCII)',\n      );\n    }\n    bytes = aesCbcDecrypt(bytes, key, opts.iv);\n  }\n\n  let inflated: Buffer;\n  try {\n    inflated = zlib.inflateSync(bytes);\n  } catch (err) {\n    throw new MapDecodeError('envelope: zlib inflate failed', { cause: err });\n  }\n\n  // Some models/firmwares DOUBLE-wrap live-clean frames: the first inflate yields\n  // a URL-safe base64 STRING of ANOTHER zlib stream rather than the binary frame\n  // (verified on dreame.vacuum.r2538z — head decodes to the `78 xx` zlib magic).\n  // Peel extra base64→zlib layers until the payload is binary (bounded, so a\n  // pathological input can't loop). A genuine binary frame is NOT entirely\n  // base64-text (its int16 header fields + 0x00 padding fail the check), so the\n  // single-wrap path is untouched.\n  let guard = 0;\n  while (guard < MAX_EXTRA_WRAP_LAYERS && looksLikeBase64Zlib(inflated)) {\n    const text = inflated.toString('latin1').replace(/-/g, '+').replace(/_/g, '/');\n    try {\n      inflated = zlib.inflateSync(Buffer.from(text, 'base64'));\n    } catch (err) {\n      throw new MapDecodeError('envelope: nested zlib inflate failed', { cause: err });\n    }\n    guard += 1;\n  }\n  return inflated;\n}\n\n/** Upper bound on nested base64+zlib layers peeled by {@link unwrapEnvelope}. */\nconst MAX_EXTRA_WRAP_LAYERS = 4;\n\n/**\n * Heuristic: does this buffer look like a base64-text wrapper around ANOTHER\n * zlib stream (rather than a binary map frame)? True only when the WHOLE buffer\n * is URL-safe-base64 characters AND a short prefix decodes to the zlib magic\n * byte `0x78`. A binary frame contains non-base64 bytes (header int16s / `0x00`\n * padding), so it never matches.\n */\nexport function looksLikeBase64Zlib(buf: Buffer): boolean {\n  if (buf.length < 8) return false;\n  for (const b of buf) {\n    const isB64 =\n      (b >= 0x41 && b <= 0x5a) || // A-Z\n      (b >= 0x61 && b <= 0x7a) || // a-z\n      (b >= 0x30 && b <= 0x39) || // 0-9\n      b === 0x2b ||\n      b === 0x2f || // + /\n      b === 0x2d ||\n      b === 0x5f || // - _ (url-safe)\n      b === 0x3d; // =\n    if (!isB64) return false;\n  }\n  try {\n    const prefix = buf.subarray(0, 16).toString('latin1').replace(/-/g, '+').replace(/_/g, '/');\n    const decoded = Buffer.from(prefix, 'base64');\n    return decoded.length >= 2 && decoded[0] === 0x78;\n  } catch {\n    return false;\n  }\n}\n\nfunction aesCbcDecrypt(cipher: Buffer, rawKey: string, iv: string): Buffer {\n  const keyBytes = Buffer.from(\n    createHash('sha256').update(rawKey).digest('hex').slice(0, 32),\n    'utf8',\n  );\n  const ivBytes = Buffer.from(iv, 'utf8');\n  if (ivBytes.length !== 16) {\n    throw new MapDecodeError(`envelope: AES IV must be 16 ASCII bytes, got ${ivBytes.length}`);\n  }\n  try {\n    const decipher = createDecipheriv('aes-256-cbc', keyBytes, ivBytes);\n    decipher.setAutoPadding(false);\n    return Buffer.concat([decipher.update(cipher), decipher.final()]);\n  } catch (err) {\n    throw new MapDecodeError('envelope: AES decrypt failed', { cause: err });\n  }\n}\n","/**\n * 27-byte binary header at the start of every inflated map frame.\n * Layout per `docs/live-map-format.md` §\"27-byte header\".\n */\n\nimport type { MapFrameType } from './types.js';\nimport { FRAME_TYPE, HEADER_SIZE, MapDecodeError } from './envelope.js';\n\nexport interface MapHeader {\n  mapId: number;\n  frameId: number;\n  frameType: MapFrameType;\n  robotX: number;\n  robotY: number;\n  robotA: number;\n  chargerX: number;\n  chargerY: number;\n  chargerA: number;\n  gridSize: number;\n  width: number;\n  height: number;\n  left: number;\n  top: number;\n}\n\nexport function parseMapHeader(buf: Buffer): MapHeader {\n  if (buf.length < HEADER_SIZE) {\n    throw new MapDecodeError(`header: need ${HEADER_SIZE} bytes, got ${buf.length}`);\n  }\n  return {\n    mapId: buf.readInt16LE(0),\n    frameId: buf.readInt16LE(2),\n    frameType: frameTypeFromByte(buf[4]!),\n    robotX: buf.readInt16LE(5),\n    robotY: buf.readInt16LE(7),\n    robotA: buf.readInt16LE(9),\n    chargerX: buf.readInt16LE(11),\n    chargerY: buf.readInt16LE(13),\n    chargerA: buf.readInt16LE(15),\n    gridSize: buf.readInt16LE(17),\n    width: buf.readInt16LE(19),\n    height: buf.readInt16LE(21),\n    left: buf.readInt16LE(23),\n    top: buf.readInt16LE(25),\n  };\n}\n\nfunction frameTypeFromByte(b: number): MapFrameType {\n  switch (b) {\n    case FRAME_TYPE.I:\n      return 'I';\n    case FRAME_TYPE.P:\n      return 'P';\n    case FRAME_TYPE.W:\n      return 'W';\n    default:\n      throw new MapDecodeError(`header: unknown frame_type byte ${b}`);\n  }\n}\n","/**\n * JSON tail extraction from an inflated map frame buffer.\n *\n * The tail is UTF-8 JSON immediately after the header + pixel grid;\n * `MapTail` (`./types.ts`) describes the subset of keys we consume.\n *\n * `parseFrame` is the composed seam used by both `decodeVacuumMap`\n * and the rism-recurse path inside it — keeping the\n * \"header → tail\" sequence in one place ensures the two call sites\n * can't drift independently.\n */\n\nimport { HEADER_SIZE, MapDecodeError } from './envelope.js';\nimport { parseMapHeader, type MapHeader } from './header.js';\nimport type { MapTail } from './types.js';\n\nexport function sliceTailText(inflated: Buffer, header: MapHeader): string {\n  const start = HEADER_SIZE + header.width * header.height;\n  if (inflated.length < start) {\n    throw new MapDecodeError(\n      `tail: inflated payload shorter than header+pixels (${inflated.length} < ${start})`,\n    );\n  }\n  return inflated.subarray(start).toString('utf8');\n}\n\n/**\n * Narrow a parsed JSON value to the loose `MapTail` shape without a\n * cast: `MapTail` is an all-optional interface with a\n * `[key: string]: unknown` index signature, so any plain non-null\n * object satisfies it once we've confirmed it is a record. A non-object\n * JSON top-level (number, string, array, null) is rejected.\n */\nfunction asMapTail(value: unknown): MapTail {\n  if (typeof value !== 'object' || value === null || Array.isArray(value)) {\n    throw new MapDecodeError('tail: JSON top-level is not an object');\n  }\n  const record: Record<string, unknown> = { ...value };\n  return record;\n}\n\nexport function parseMapJsonTail(text: string): MapTail {\n  if (!text) {\n    return {};\n  }\n  let parsed: unknown;\n  try {\n    parsed = JSON.parse(text);\n  } catch (err) {\n    throw new MapDecodeError('tail: JSON parse failed', { cause: err });\n  }\n  return asMapTail(parsed);\n}\n\n/**\n * Parse the header + JSON tail from an already-inflated frame buffer.\n *\n * Combines `parseMapHeader` + `sliceTailText` + `parseMapJsonTail`,\n * which the decoder, the rism-recurse path, and (deliberately not)\n * `merge.ts` invoke as a unit. Centralising the sequence keeps the\n * call sites in lockstep — the alternative is to drift independently\n * if one is updated without the others.\n *\n * Pure; doesn't unwrap base64 — call `unwrapEnvelope` first.\n */\nexport function parseFrame(inflated: Buffer): { header: MapHeader; tail: MapTail } {\n  const header = parseMapHeader(inflated);\n  const tail = parseMapJsonTail(sliceTailText(inflated, header));\n  return { header, tail };\n}\n","/**\n * Dreame room SEGMENT-TYPE → display-name table. A robot segment carries a\n * `type` code in its `seg_inf` record; the Dreamehome app (and the HA\n * `dreame_vacuum` integration) render a localized DEFAULT name from that code\n * when the user has NOT assigned a custom name. A custom-named room is stored\n * with `type === 0` plus a base64 `name`. Ported verbatim from the donor\n * `dreame/types.py SEGMENT_TYPE_CODE_TO_NAME`.\n */\nexport const SEGMENT_TYPE_CODE_TO_NAME: Readonly<Record<number, string>> = {\n  0: 'Room',\n  1: 'Living Room',\n  2: 'Primary Bedroom',\n  3: 'Study',\n  4: 'Kitchen',\n  5: 'Dining Hall',\n  6: 'Bathroom',\n  7: 'Balcony',\n  8: 'Corridor',\n  9: 'Utility Room',\n  10: 'Closet',\n  11: 'Meeting Room',\n  12: 'Office',\n  13: 'Fitness Area',\n  14: 'Recreation Area',\n  15: 'Secondary Bedroom',\n};\n\n/** Decode a base64 segment name to UTF-8, or `null` on malformed input. */\nfunction safeBase64ToUtf8(s: string): string | null {\n  try {\n    return Buffer.from(s, 'base64').toString('utf8');\n  } catch {\n    return null;\n  }\n}\n\n/**\n * Resolve a segment's display name, mirroring the donor `Segment.set_name`:\n *  1. a known room `type` (≠ 0) wins → its localized default name, suffixed\n *     `\" {index+1}\"` for the 2nd+ room of the same type (e.g. `Bedroom 2`);\n *  2. otherwise a user-assigned base64 `customName` (stored with `type === 0`);\n *  3. otherwise `null` (the caller renders a `Room <id>` fallback).\n *\n * @param type        `seg_inf.<id>.type` room-category code (0 = custom/none).\n * @param index       `seg_inf.<id>.index` ordinal among same-type rooms.\n * @param customName  `seg_inf.<id>.name` — base64-encoded user name, if any.\n */\nexport function resolveSegmentName(\n  type: number | undefined,\n  index: number | undefined,\n  customName: string | undefined,\n): string | null {\n  if (type !== undefined && type !== 0 && SEGMENT_TYPE_CODE_TO_NAME[type] !== undefined) {\n    const base = SEGMENT_TYPE_CODE_TO_NAME[type];\n    return index !== undefined && index > 0 ? `${base} ${index + 1}` : base;\n  }\n  if (typeof customName === 'string' && customName.length > 0) {\n    return safeBase64ToUtf8(customName);\n  }\n  return null;\n}\n","/**\n * Pixel-grid decoder for fsm:1 (path B / frame-map mode) — the layout\n * r2532a uses. Walks the grid row-by-row and emits run-length\n * `MapLayer` entries the renderer can blit straight onto canvas\n * without tracking individual pixels.\n *\n * The fsm:0 (variant A) layout is documented in the roadmap but isn't\n * exercised by any captured fixture; not implemented.\n */\n\nimport type { MapDimensions, MapLayer, MapRun, MapSegment, MapTail } from './types.js';\nimport { resolveSegmentName } from './segment-types.js';\n\n/**\n * Pixel-byte classifications for path B (`fsm: 1`).\n *\n * Layout (per roadmap):\n *   bits 7-2 = segment_id (top 6 bits, range 0..63)\n *   bits 1-0 = meta (low 2 bits)\n *\n * Special segment ids: 63 = WALL, 62 = FLOOR, 61 = UNKNOWN.\n * When the top 6 bits are zero, the low 2 bits encode markers\n * (01 = NEW_SEGMENT, 10 = WALL).\n * The `11` low-bit meta is a CARPET overlay independent of segment id.\n *\n * v1 layer types collapse this down to `wall | floor | segment`.\n * Carpet overlay is dropped for now — extending the v1 contract is a\n * separate decision (see types.ts MapLayerType).\n */\nexport type PixelClass = 'wall' | 'floor' | 'segment' | 'outside';\n\n/**\n * Classify a single pixel byte under fsm:1 (path B) layout.\n *\n * `kind` is the primary mutually-exclusive class. `carpet` is an\n * independent overlay flag (low bits == 11): it can co-occur with any\n * primary class — a carpet floor, a carpet pixel inside a segment, etc.\n * The wall marker (low bits == 10 with high bits zero) and the carpet\n * marker share the low-bits field, so a pixel cannot be both \"wall\n * marker\" and \"carpet\" at the same time.\n */\nexport function classifyPixelFsm1(byte: number): {\n  kind: PixelClass;\n  segmentId?: number;\n  carpet?: true;\n} {\n  if (byte === 0) {\n    return { kind: 'outside' };\n  }\n  const seg = byte >> 2;\n  const meta = byte & 3;\n  const isCarpet = meta === 3;\n\n  if (seg === 63) {\n    return isCarpet ? { kind: 'wall', carpet: true } : { kind: 'wall' };\n  }\n  if (seg === 62) {\n    return isCarpet ? { kind: 'floor', carpet: true } : { kind: 'floor' };\n  }\n  if (seg === 61) {\n    return { kind: 'outside' };\n  }\n  if (seg === 0) {\n    if (meta === 2) {\n      return { kind: 'wall' };\n    }\n    if (isCarpet) {\n      return { kind: 'outside', carpet: true };\n    }\n    return { kind: 'outside' };\n  }\n  return isCarpet\n    ? { kind: 'segment', segmentId: seg, carpet: true }\n    : { kind: 'segment', segmentId: seg };\n}\n\n/**\n * Walk the pixel grid row-by-row and emit run-length layers. Each row\n * resets the run state; runs never cross row boundaries (so the renderer\n * doesn't need to know the width to interpret them).\n *\n * Two kinds of run accumulation happen in parallel:\n *   - the primary classification (wall / floor / segment) — one run per\n *     contiguous same-class span\n *   - the carpet overlay — one run per contiguous carpet span, regardless\n *     of underlying primary class (a carpet stripe spanning the boundary\n *     between segment 5 and segment 7 produces one carpet run)\n */\nexport function decodePixelGridFsm1(pixels: Buffer, width: number, height: number): MapLayer[] {\n  const wallRuns: MapRun[] = [];\n  const floorRuns: MapRun[] = [];\n  const segmentRuns = new Map<number, MapRun[]>();\n  const carpetRuns: MapRun[] = [];\n\n  for (let y = 0; y < height; y++) {\n    const rowBase = y * width;\n    let runStart = -1;\n    let runKind: PixelClass = 'outside';\n    let runSegmentId = 0;\n    let carpetStart = -1;\n    for (let x = 0; x <= width; x++) {\n      const byte = x < width ? pixels[rowBase + x]! : 0;\n      const c =\n        x < width ? classifyPixelFsm1(byte) : { kind: 'outside' as const, carpet: undefined };\n      const sameAsRun =\n        runStart >= 0 &&\n        c.kind === runKind &&\n        (c.kind !== 'segment' || c.segmentId === runSegmentId);\n      if (!sameAsRun) {\n        // Emit the previous primary run (if any).\n        if (runStart >= 0 && runKind !== 'outside') {\n          const length = x - runStart;\n          const run: MapRun = [runStart, y, length];\n          if (runKind === 'wall') {\n            wallRuns.push(run);\n          } else if (runKind === 'floor') {\n            floorRuns.push(run);\n          } else if (runKind === 'segment') {\n            let bucket = segmentRuns.get(runSegmentId);\n            if (!bucket) {\n              bucket = [];\n              segmentRuns.set(runSegmentId, bucket);\n            }\n            bucket.push(run);\n          }\n        }\n        // Start a new primary run.\n        if (x < width && c.kind !== 'outside') {\n          runStart = x;\n          runKind = c.kind;\n          runSegmentId = c.kind === 'segment' ? c.segmentId! : 0;\n        } else {\n          runStart = -1;\n        }\n      }\n\n      // Carpet overlay accumulates independently of primary classification.\n      const isCarpet = c.carpet === true;\n      if (isCarpet && carpetStart < 0) {\n        carpetStart = x;\n      } else if (!isCarpet && carpetStart >= 0) {\n        carpetRuns.push([carpetStart, y, x - carpetStart]);\n        carpetStart = -1;\n      }\n    }\n  }\n\n  const layers: MapLayer[] = [];\n  if (wallRuns.length > 0) {\n    layers.push({ type: 'wall', runs: wallRuns });\n  }\n  if (floorRuns.length > 0) {\n    layers.push({ type: 'floor', runs: floorRuns });\n  }\n  for (const [id, runs] of [...segmentRuns.entries()].sort(([a], [b]) => a - b)) {\n    layers.push({ type: 'segment', segmentId: id, runs });\n  }\n  if (carpetRuns.length > 0) {\n    layers.push({ type: 'carpet', runs: carpetRuns });\n  }\n  return layers;\n}\n\n/**\n * Project decoded pixel-grid layers into per-segment metadata: bbox\n * and centroid in mm world-frame, plus the optional `seg_inf.<id>`\n * fields (name, neighbours, material, direction). `tail.sa` flags\n * which segments are in the device's current cleaning set.\n */\nexport function collectSegments(\n  layers: MapLayer[],\n  dim: MapDimensions,\n  tail: MapTail,\n): MapSegment[] {\n  const activeIds = new Set<number>();\n  for (const entry of tail.sa ?? []) {\n    if (Array.isArray(entry) && typeof entry[0] === 'number') {\n      activeIds.add(entry[0]);\n    }\n  }\n\n  const segs: MapSegment[] = [];\n  for (const layer of layers) {\n    if (layer.type !== 'segment' || layer.segmentId === undefined) {\n      continue;\n    }\n    const id = layer.segmentId;\n    let xMinPx = Infinity;\n    let yMinPx = Infinity;\n    let xMaxPx = -Infinity;\n    let yMaxPx = -Infinity;\n    let sumXPx = 0;\n    let sumYPx = 0;\n    let count = 0;\n    for (const [x, y, len] of layer.runs) {\n      if (x < xMinPx) {\n        xMinPx = x;\n      }\n      if (y < yMinPx) {\n        yMinPx = y;\n      }\n      if (x + len - 1 > xMaxPx) {\n        xMaxPx = x + len - 1;\n      }\n      if (y > yMaxPx) {\n        yMaxPx = y;\n      }\n      // centroid sum: for a run of `len` pixels starting at `x`, the\n      // x-sum is len*x + (0+1+...+len-1) = len*x + len*(len-1)/2\n      sumXPx += len * x + (len * (len - 1)) / 2;\n      sumYPx += len * y;\n      count += len;\n    }\n    if (count === 0) {\n      continue;\n    }\n\n    const meta = tail.seg_inf?.[String(id)] ?? null;\n    const bbox = {\n      xMin: dim.left + xMinPx * dim.gridSize,\n      yMin: dim.top + yMinPx * dim.gridSize,\n      xMax: dim.left + (xMaxPx + 1) * dim.gridSize,\n      yMax: dim.top + (yMaxPx + 1) * dim.gridSize,\n    };\n    const centroid = {\n      x: dim.left + (sumXPx / count) * dim.gridSize,\n      y: dim.top + (sumYPx / count) * dim.gridSize,\n    };\n\n    segs.push({\n      id,\n      // Mirror the donor: a room-type code (≠0) yields a localized default name\n      // (e.g. \"Kitchen\"), else the user's custom base64 name, else null.\n      name: resolveSegmentName(meta?.type, meta?.index, meta?.name),\n      bbox,\n      centroid,\n      neighbours: meta?.nei_id ?? [],\n      floorMaterial: meta?.material ?? null,\n      floorDirection: meta?.direction ?? null,\n      active: activeIds.has(id),\n    });\n  }\n  return segs;\n}\n","/**\n * Cleaning-path string parser. Wire format: a flat sequence of\n * `<op-letter><x>,<y>` ops in the JSON tail's `tr` field. Op letters\n * are M (mop), W (sweep+mop), S (sweep), L (line moveTo); lowercase\n * `l` is a P-frame line continuation, treated as L after the merge\n * layer concatenates prev+P trs.\n */\n\nimport type { MapPath, MapPathType } from './types.js';\n\nconst PATH_TYPE_FROM_OP: Record<string, MapPathType> = {\n  M: 'mop',\n  W: 'sweep-and-mop',\n  S: 'sweep',\n  L: 'line',\n};\n\nconst PATH_OP_REGEX = /([MWSLl])(-?\\d+),(-?\\d+)/g;\n\n/**\n * Parse Dreame's compact path string into typed segments.\n *\n * Each op letter starts a new segment:\n *   M = mop,   W = sweep+mop,   S = sweep,   L = line moveTo,\n *   l = P-frame line continuation (treated as L per Tasshack map.py:3987).\n *\n * Coordinates are millimetres world-frame for `mop` / `sweep` /\n * `sweep-and-mop` waypoints. **Line ops are RELATIVE deltas** to the\n * preceding absolute waypoint (or the previous point within the same\n * line). The accumulator unwinds them so every surfaced point is\n * absolute world-frame mm — verified live 2026-05-07 against r2532a\n * (without unwinding, 1000s of `line` deltas all cluster around the\n * world origin and render as a tight artifact).\n *\n * When a `line` op appears with no preceding absolute waypoint\n * (e.g. when `tr` starts with `L`/`l` and there's no anchor to\n * accumulate against — rare but possible at the very start of a\n * fresh subscription), the points are emitted literally. Callers\n * downstream of the merge layer don't see this path because P-frame\n * `tr` concatenation always prepends the prior absolute waypoint.\n */\nexport function parsePathTr(tr: string): MapPath[] {\n  if (!tr) {\n    return [];\n  }\n  // Locally mutable so we can push as we walk the regex matches; widened\n  // to the public `readonly`-decorated MapPath shape on return.\n  type MutablePath = { type: MapPathType; points: { x: number; y: number }[] };\n  const out: MutablePath[] = [];\n  let current: MutablePath | null = null;\n  let anchor: { x: number; y: number } | null = null;\n  for (const m of tr.matchAll(PATH_OP_REGEX)) {\n    const opRaw = m[1]!;\n    const xRaw = Number(m[2]);\n    const yRaw = Number(m[3]);\n    const op = opRaw === 'l' ? 'L' : opRaw;\n    const type = PATH_TYPE_FROM_OP[op];\n    if (!type) {\n      continue;\n    }\n    if (type === 'line' && anchor !== null) {\n      // Accumulate the relative delta against the running anchor.\n      const abs: { x: number; y: number } = {\n        x: anchor.x + xRaw,\n        y: anchor.y + yRaw,\n      };\n      if (!current || current.type !== type) {\n        // New line segment: seed with the anchor itself so the line\n        // draws a continuous trace from the preceding waypoint.\n        current = { type, points: [{ x: anchor.x, y: anchor.y }, abs] };\n        out.push(current);\n      } else {\n        current.points.push(abs);\n      }\n      anchor = abs;\n    } else {\n      // Either an absolute waypoint (S / W / M) or a `line` with no\n      // anchor yet — emit literally.\n      const pt = { x: xRaw, y: yRaw };\n      if (!current || current.type !== type) {\n        current = { type, points: [pt] };\n        out.push(current);\n      } else {\n        current.points.push(pt);\n      }\n      if (type !== 'line') {\n        // Absolute waypoint — update the anchor for any following\n        // `line` op to accumulate against.\n        anchor = pt;\n      }\n    }\n  }\n  return out;\n}\n","/**\n * Wire-value coercion helpers used by the map decoder modules.\n *\n * Dreame's tail JSON ships some numeric fields as strings (notably\n * `ai_obstacle` records' position fields and the rect/line corner\n * arrays) and some as numbers. Both forms decode to the same world-\n * frame mm value; these helpers normalise.\n *\n * Both return `null` on non-numeric / non-finite input — callers\n * decide whether to skip the entry or substitute a default.\n */\n\nexport function parseFloatField(v: unknown): number | null {\n  if (typeof v === 'number') {\n    return Number.isFinite(v) ? v : null;\n  }\n  if (typeof v === 'string') {\n    const n = Number(v);\n    return Number.isFinite(n) ? n : null;\n  }\n  return null;\n}\n\nexport function parseIntField(v: unknown): number | null {\n  const n = parseFloatField(v);\n  return n === null ? null : Math.trunc(n);\n}\n","/**\n * AI-detected obstacles parser. Wire format: the JSON tail's\n * `ai_obstacle` field is an array of positional records (~14 fields\n * each on r2532a). Field layout per `docs/live-map-format.md`.\n */\n\nimport type { MapObstacle } from './types.js';\nimport { parseFloatField, parseIntField } from './field-utils.js';\n\n/**\n * Decode one `ai_obstacle` entry. Field layout observed on r2532a\n * (2026-05-02 fixtures), 14 positional string fields:\n *   [0] x mm           [1] y mm           [2] type id\n *   [3] confidence 0-1 [4] timestamp.usec [5] photo file path\n *   [6] photo id       [7..10] bbox-like  [11..13] unknown small ints\n *\n * We use field 6 as `id` (numeric, fits comfortably in a JS number) and\n * field 4 (timestamp) is preserved via the schema's existing fields.\n * `photoKey` is left null — no AES key has been observed at this layer\n * on the live channel; it likely arrives via a separate cloud lookup.\n */\nexport function parseObstacles(raw: unknown[]): MapObstacle[] {\n  const out: MapObstacle[] = [];\n  for (const entry of raw) {\n    if (!Array.isArray(entry) || entry.length < 6) {\n      continue;\n    }\n    const x = parseFloatField(entry[0]);\n    const y = parseFloatField(entry[1]);\n    const type = parseIntField(entry[2]);\n    const confRaw = parseFloatField(entry[3]);\n    if (x === null || y === null || type === null) {\n      continue;\n    }\n    const photoFileName = typeof entry[5] === 'string' ? entry[5] : null;\n    const idCandidate = parseIntField(entry[6]);\n    const id = idCandidate ?? Math.round((parseFloatField(entry[4]) ?? 0) * 1e6);\n    out.push({\n      id,\n      x,\n      y,\n      type,\n      confidence: confRaw === null ? 0 : Math.round(confRaw * 100),\n      photoFileName,\n      photoKey: null,\n    });\n  }\n  return out;\n}\n","/**\n * User-defined map geometry — the `vw`, `vws`, `walls_info`,\n * `sneak_areas` / `sneak_areas_end` blocks of the JSON tail.\n *\n * On r2532a fw 4.3.9_2199 (verified 2026-05-07) the live I-frame's\n * top-level tail does NOT carry these blocks; they live inside the\n * embedded saved-map blob (`tail.rism`). `decodeVacuumMap` recurses\n * into rism and merges the inner geometry onto the outer `VacuumMap`,\n * so consumers see \"all geometry for this floor\" regardless of which\n * tail physically carried it.\n */\n\nimport type {\n  MapLowLyingArea,\n  MapRestrictedArea,\n  MapRoom,\n  MapRoomWall,\n  MapStorey,\n  MapTail,\n  MapVirtualWall,\n  MapWallsInfo,\n} from './types.js';\nimport { parseFloatField } from './field-utils.js';\n\n/**\n * Parse the `vw` (and optional `vws`) blocks — Dreame's user-defined\n * geometry. Tasshack `dev` `map.py:4597-4702` is the canonical\n * reference; we mirror its shape interpretations:\n *\n * `vw` (classic block):\n *   - `vw.line`: `[x0,y0,x1,y1]` line segments — virtual walls.\n *   - `vw.rect`: `[x0,y0,x1,y1, angle?]` axis-aligned no-go\n *     rectangles. Corners get sorted so the bbox is well-formed\n *     regardless of wire order.\n *   - `vw.mop`: same shape as `vw.rect`, no-mop zones.\n *   - `vw.nocpt`: `[x0,y0,x1,y1]` \"do not cross\" no-go rectangles —\n *     verified live 2026-05-07 on r2532a as additional no-go zones\n *     the user marked in the app. (Note: NOT carpets despite the\n *     name; Tasshack `map.py:4668` reads them as no-go rects.)\n *\n * `vws` (X50 threshold block — only present when the user has\n * configured thresholds; absent on older firmware):\n *   - `vws.vwsl`: `[x0,y0,x1,y1]` lines. When `vws.npthrsd` is\n *     present in the SAME `vws` object, these are *passable*\n *     thresholds (`kind: \"threshold\", passable: true`). When\n *     `npthrsd` is absent, they're \"virtual\" thresholds\n *     (`kind: \"threshold\"` with no `passable` hint).\n *   - `vws.npthrsd`: `[x0,y0,x1,y1]` lines — *impassable* thresholds\n *     (`kind: \"threshold\", passable: false`). Verified live\n *     2026-05-07 on r2532a fw 4.3.9_2199.\n *\n * `vw.cliff` and `vws.cliff` (line segments) and `vws.ramp` (areas)\n * have been observed empty on r2532a; they're not surfaced here\n * until a fixture exists for the populated form. `vw.addcpt` /\n * `vws.rec_*` recommendation mirrors are also out of scope for now.\n *\n * Returns empty arrays when both blocks are absent — there's no\n * meaningful difference between \"no walls configured\" and \"this\n * frame doesn't carry the field\" at the public-API layer, and the\n * merge layer + rism recurse handle the latter via fallback.\n */\nexport function parseVirtualWalls(\n  vw:\n    | {\n        line?: number[][];\n        rect?: number[][];\n        mop?: number[][];\n        nocpt?: number[][];\n      }\n    | undefined,\n  vws?: { vwsl?: number[][]; npthrsd?: number[][] },\n): { virtualWalls: MapVirtualWall[]; restrictedAreas: MapRestrictedArea[] } {\n  const virtualWalls: MapVirtualWall[] = [];\n  const restrictedAreas: MapRestrictedArea[] = [];\n\n  if (vw) {\n    for (const line of vw.line ?? []) {\n      const wall = parseLine(line, 'wall');\n      if (wall) {\n        virtualWalls.push(wall);\n      }\n    }\n    for (const rect of vw.rect ?? []) {\n      const area = parseRestrictedArea('noGo', rect);\n      if (area) {\n        restrictedAreas.push(area);\n      }\n    }\n    for (const rect of vw.mop ?? []) {\n      const area = parseRestrictedArea('noMop', rect);\n      if (area) {\n        restrictedAreas.push(area);\n      }\n    }\n    for (const rect of vw.nocpt ?? []) {\n      const area = parseRestrictedArea('noGo', rect);\n      if (area) {\n        restrictedAreas.push(area);\n      }\n    }\n  }\n\n  if (vws) {\n    const npthrsdPresent = Array.isArray(vws.npthrsd) && vws.npthrsd.length > 0;\n    for (const line of vws.vwsl ?? []) {\n      // vwsl semantics flip on the presence of npthrsd in the same block.\n      const wall = parseLine(line, 'threshold');\n      if (wall) {\n        if (npthrsdPresent) {\n          wall.passable = true;\n        }\n        // else: leave `passable` absent — these are \"virtual\" thresholds\n        // from older firmware that doesn't split the two.\n        virtualWalls.push(wall);\n      }\n    }\n    for (const line of vws.npthrsd ?? []) {\n      const wall = parseLine(line, 'threshold');\n      if (wall) {\n        wall.passable = false;\n        virtualWalls.push(wall);\n      }\n    }\n  }\n\n  return { virtualWalls, restrictedAreas };\n}\n\nfunction parseLine(raw: unknown, kind: 'wall' | 'threshold'): MapVirtualWall | null {\n  if (!Array.isArray(raw) || raw.length < 4) {\n    return null;\n  }\n  const x0 = parseFloatField(raw[0]);\n  const y0 = parseFloatField(raw[1]);\n  const x1 = parseFloatField(raw[2]);\n  const y1 = parseFloatField(raw[3]);\n  if (x0 === null || y0 === null || x1 === null || y1 === null) {\n    return null;\n  }\n  // `kind` is omitted from the emitted object when it would be the\n  // default (\"wall\"), matching the historical wire-empty case so\n  // identity comparisons in existing tests don't break unnecessarily.\n  if (kind === 'wall') {\n    return { from: { x: x0, y: y0 }, to: { x: x1, y: y1 } };\n  }\n  return { from: { x: x0, y: y0 }, to: { x: x1, y: y1 }, kind };\n}\n\nfunction parseRestrictedArea(kind: 'noGo' | 'noMop', raw: unknown): MapRestrictedArea | null {\n  if (!Array.isArray(raw) || raw.length < 4) {\n    return null;\n  }\n  const a = parseFloatField(raw[0]);\n  const b = parseFloatField(raw[1]);\n  const c = parseFloatField(raw[2]);\n  const d = parseFloatField(raw[3]);\n  if (a === null || b === null || c === null || d === null) {\n    return null;\n  }\n  const xMin = Math.min(a, c);\n  const xMax = Math.max(a, c);\n  const yMin = Math.min(b, d);\n  const yMax = Math.max(b, d);\n  const area: MapRestrictedArea = {\n    kind,\n    bbox: { xMin, yMin, xMax, yMax },\n  };\n  const e = raw.length > 4 ? parseFloatField(raw[4]) : null;\n  if (e !== null) {\n    area.angle = e;\n  }\n  return area;\n}\n\n/**\n * Parse the saved-map's per-room wall geometry. Wire shape (verified\n * 2026-05-07 against r2532a fw 4.3.9_2199):\n *\n * ```\n * {\n *   version_flag: 3,\n *   storeys: [{\n *     rooms: [{\n *       room_id: 10,\n *       walls: [{\n *         type:      0,        // 0 = solid wall, 1 = opening (observed)\n *         beg_pt_x:  -8225,\n *         beg_pt_y:  9275,\n *         end_pt_x:  -9025,\n *         end_pt_y:  9275,\n *         normal_x:  0,        // unit-vector pointing into the room\n *         normal_y:  -1\n *       }, …]\n *     }, …]\n *   }, …]\n * }\n * ```\n *\n * Returns `null` if the wire object is missing or has no storeys —\n * the public field on `VacuumMap` is null in that case rather than an\n * empty `MapWallsInfo`.\n */\nexport function parseWallsInfo(\n  raw: NonNullable<MapTail['walls_info']> | undefined,\n): MapWallsInfo | null {\n  if (!raw || !Array.isArray(raw.storeys) || raw.storeys.length === 0) {\n    return null;\n  }\n  const storeys: MapStorey[] = [];\n  for (const s of raw.storeys) {\n    if (!s || !Array.isArray(s.rooms)) {\n      continue;\n    }\n    const rooms: MapRoom[] = [];\n    for (const r of s.rooms) {\n      if (!r || typeof r.room_id !== 'number' || !Array.isArray(r.walls)) {\n        continue;\n      }\n      const walls: MapRoomWall[] = [];\n      for (const w of r.walls) {\n        if (\n          !w ||\n          typeof w.type !== 'number' ||\n          typeof w.beg_pt_x !== 'number' ||\n          typeof w.beg_pt_y !== 'number' ||\n          typeof w.end_pt_x !== 'number' ||\n          typeof w.end_pt_y !== 'number' ||\n          typeof w.normal_x !== 'number' ||\n          typeof w.normal_y !== 'number'\n        ) {\n          continue;\n        }\n        walls.push({\n          type: w.type,\n          from: { x: w.beg_pt_x, y: w.beg_pt_y },\n          to: { x: w.end_pt_x, y: w.end_pt_y },\n          normal: { x: w.normal_x, y: w.normal_y },\n        });\n      }\n      rooms.push({ roomId: r.room_id, walls });\n    }\n    storeys.push({ rooms });\n  }\n  if (storeys.length === 0) {\n    return null;\n  }\n  return {\n    versionFlag: typeof raw.version_flag === 'number' ? raw.version_flag : 0,\n    storeys,\n  };\n}\n\ninterface SneakAreaEntry {\n  id?: number;\n  type?: number;\n  hide?: number;\n  roi?: number[];\n  ms?: number;\n  area?: number;\n}\n\n/**\n * Aggregate of every geometry-bearing field surfaced from the tail.\n * `decodeVacuumMap` parses one of these per tail and the rism-recurse\n * path uses `coalesceGeometry` to fill in fields the outer tail left\n * empty.\n */\nexport interface MapGeometry {\n  virtualWalls: MapVirtualWall[];\n  restrictedAreas: MapRestrictedArea[];\n  lowLyingAreas: MapLowLyingArea[];\n  wallsInfo: MapWallsInfo | null;\n}\n\n/**\n * Decode every geometry-bearing field from a tail in one shot.\n *\n * Adding a new geometry block (e.g. `vw.cliff` once we get a fixture)\n * is a one-line edit here — `decodeVacuumMap` and the rism-recurse\n * path automatically pick up the new field via `coalesceGeometry`.\n */\nexport function parseTailGeometry(tail: MapTail): MapGeometry {\n  const { virtualWalls, restrictedAreas } = parseVirtualWalls(tail.vw, tail.vws);\n  return {\n    virtualWalls,\n    restrictedAreas,\n    lowLyingAreas: parseLowLyingAreas(tail.sneak_areas_end, tail.sneak_areas),\n    wallsInfo: parseWallsInfo(tail.walls_info),\n  };\n}\n\n/**\n * `true` when every geometry field has at least one entry. Used by\n * the rism-recurse path to skip the inner decode when the outer tail\n * already supplied everything.\n */\nexport function isGeometryComplete(g: MapGeometry): boolean {\n  return (\n    g.virtualWalls.length > 0 &&\n    g.restrictedAreas.length > 0 &&\n    g.lowLyingAreas.length > 0 &&\n    g.wallsInfo !== null\n  );\n}\n\n/**\n * Merge two `MapGeometry` snapshots. `primary` wins on every field\n * that's non-empty there; `fallback` fills the rest. Used by the\n * rism-recurse path: outer tail's geometry as primary, inner saved-\n * map blob's geometry as fallback.\n */\nexport function coalesceGeometry(primary: MapGeometry, fallback: MapGeometry): MapGeometry {\n  return {\n    virtualWalls: primary.virtualWalls.length > 0 ? primary.virtualWalls : fallback.virtualWalls,\n    restrictedAreas:\n      primary.restrictedAreas.length > 0 ? primary.restrictedAreas : fallback.restrictedAreas,\n    lowLyingAreas:\n      primary.lowLyingAreas.length > 0 ? primary.lowLyingAreas : fallback.lowLyingAreas,\n    wallsInfo: primary.wallsInfo !== null ? primary.wallsInfo : fallback.wallsInfo,\n  };\n}\n\n/**\n * Parse low-clearance \"sneak under furniture\" zones from a tail's\n * `sneak_areas` / `sneak_areas_end` arrays. Verified live 2026-05-07\n * on r2532a fw 4.3.9_2199 (every observed entry was a 4-corner rect,\n * 8 ints in `roi`); Tasshack `dev` `map.py:4776-4809` parses\n * arbitrary even-length polygons, so we surface points as-emitted\n * without coercing to a bounding box.\n *\n * `sneak_areas_end` is preferred when both fields are present in the\n * same tail — it carries the saved `area` field. `sneak_areas` is the\n * live-fly variant.\n */\nexport function parseLowLyingAreas(\n  end: SneakAreaEntry[] | undefined,\n  live: SneakAreaEntry[] | undefined,\n): MapLowLyingArea[] {\n  const source = end && end.length > 0 ? end : live;\n  if (!source) {\n    return [];\n  }\n  const out: MapLowLyingArea[] = [];\n  for (const entry of source) {\n    if (!entry || !Array.isArray(entry.roi) || entry.roi.length < 4 || entry.roi.length % 2 !== 0) {\n      continue;\n    }\n    const points: { x: number; y: number }[] = [];\n    let badPoint = false;\n    for (let i = 0; i + 1 < entry.roi.length; i += 2) {\n      const x = parseFloatField(entry.roi[i]);\n      const y = parseFloatField(entry.roi[i + 1]);\n      if (x === null || y === null) {\n        badPoint = true;\n        break;\n      }\n      points.push({ x, y });\n    }\n    if (badPoint || points.length === 0) {\n      continue;\n    }\n    const id = typeof entry.id === 'number' ? entry.id : -1;\n    const area: MapLowLyingArea = { id, points };\n    if (typeof entry.area === 'number') {\n      area.area = entry.area;\n    }\n    out.push(area);\n  }\n  return out;\n}\n","/**\n * Cleaned-area overlay decoder for the JSON tail's `decmap` field.\n *\n * `decmap` is a recursive map envelope embedded as a base64 string —\n * the same outer-envelope shape as the parent (URL-safe base64 →\n * zlib → 27-byte header + pixel grid + UTF-8 JSON tail) but with a\n * different per-pixel encoding. Inner pixel encoding uses only the\n * low 2 bits (`& 0x03`): `1` → cleaned, `2` → dirty, others ignored.\n *\n * Tasshack reference: `dev` `map.py:5162-5233`.\n */\n\nimport { HEADER_SIZE, unwrapEnvelope } from './envelope.js';\nimport { parseMapHeader, type MapHeader } from './header.js';\nimport type { MapCleanedAreaOverlay, MapRun } from './types.js';\n\n/**\n * Decode the `decmap` recursive blob into a `MapCleanedAreaOverlay`.\n *\n * Returns `null` for any decode failure — the parent decode should\n * never abort because of a malformed inner blob.\n */\nexport function parseCleanedAreaOverlay(decmap: string): MapCleanedAreaOverlay | null {\n  if (!decmap) {\n    return null;\n  }\n  let inflated: Buffer;\n  try {\n    inflated = unwrapEnvelope(decmap);\n  } catch {\n    return null;\n  }\n  if (inflated.length < HEADER_SIZE) {\n    return null;\n  }\n  let header: MapHeader;\n  try {\n    header = parseMapHeader(inflated);\n  } catch {\n    return null;\n  }\n  const pixelStart = HEADER_SIZE;\n  const pixelEnd = pixelStart + header.width * header.height;\n  if (inflated.length < pixelEnd || header.width <= 0 || header.height <= 0) {\n    return null;\n  }\n  const pixels = inflated.subarray(pixelStart, pixelEnd);\n  const { cleaned, dirty } = decodeCleanedAreaPixels(pixels, header.width, header.height);\n\n  const overlay: MapCleanedAreaOverlay = {\n    dimensions: {\n      left: header.left,\n      top: header.top,\n      width: header.width,\n      height: header.height,\n      gridSize: header.gridSize,\n    },\n    cleaned,\n    dirty,\n  };\n\n  // Pull out CleanArea from the inner JSON tail when present — opaque\n  // to us, useful for downstream stats.\n  if (inflated.length > pixelEnd) {\n    const tailText = inflated.subarray(pixelEnd).toString('utf8');\n    if (tailText) {\n      try {\n        const innerTail: unknown = JSON.parse(tailText);\n        if (\n          typeof innerTail === 'object' &&\n          innerTail !== null &&\n          !Array.isArray(innerTail) &&\n          'CleanArea' in innerTail\n        ) {\n          overlay.cleanedSegments = innerTail.CleanArea;\n        }\n      } catch {\n        // Inner tail malformed — keep the pixel decoding, drop the stats.\n      }\n    }\n  }\n\n  return overlay;\n}\n\nfunction decodeCleanedAreaPixels(\n  pixels: Buffer,\n  width: number,\n  height: number,\n): { cleaned: MapRun[]; dirty: MapRun[] } {\n  const cleaned: MapRun[] = [];\n  const dirty: MapRun[] = [];\n  for (let y = 0; y < height; y++) {\n    let cleanStart = -1;\n    let dirtyStart = -1;\n    const rowOff = y * width;\n    for (let x = 0; x < width; x++) {\n      const v = pixels[rowOff + x]! & 0x03;\n      if (v === 1) {\n        if (dirtyStart >= 0) {\n          dirty.push([dirtyStart, y, x - dirtyStart]);\n          dirtyStart = -1;\n        }\n        if (cleanStart < 0) {\n          cleanStart = x;\n        }\n      } else if (v === 2) {\n        if (cleanStart >= 0) {\n          cleaned.push([cleanStart, y, x - cleanStart]);\n          cleanStart = -1;\n        }\n        if (dirtyStart < 0) {\n          dirtyStart = x;\n        }\n      } else {\n        if (cleanStart >= 0) {\n          cleaned.push([cleanStart, y, x - cleanStart]);\n          cleanStart = -1;\n        }\n        if (dirtyStart >= 0) {\n          dirty.push([dirtyStart, y, x - dirtyStart]);\n          dirtyStart = -1;\n        }\n      }\n    }\n    if (cleanStart >= 0) {\n      cleaned.push([cleanStart, y, width - cleanStart]);\n    }\n    if (dirtyStart >= 0) {\n      dirty.push([dirtyStart, y, width - dirtyStart]);\n    }\n  }\n  return { cleaned, dirty };\n}\n","/**\n * P-frame merging.\n *\n * The live channel emits a base I-frame (full snapshot, OSS-fetched per\n * Phase 0 finding) followed by sequential P-frames carrying byte-add\n * deltas plus updated robot/dock pose, latest obstacle list, and an\n * incremental `tr` path fragment. To keep an up-to-date renderable map,\n * each P-frame must be merged onto the running state.\n *\n * Strategy (matches Tasshack `dreame/map.py:5018-5070`):\n *   - allocate a new pixel buffer sized to the union of (prev bbox,\n *     P-frame bbox) in world-frame mm\n *   - copy prev pixels into the new buffer at the offset of prev's\n *     world-frame origin within the union\n *   - byte-add each P-frame pixel into the new buffer at its offset\n *     (`out[i] = (out[i] + p[i]) & 0xFF`, intentional 8-bit wrap)\n *   - re-stamp the result as `frame_type = I` (73). The pixel grid is\n *     now an absolute classification, not a delta — and `decodeVacuumMap`\n *     deliberately skips pixel decode on P-frames, so the merged buffer\n *     must look like an I-frame to round-trip cleanly\n *   - merge JSON tail: prefer P's keys (latest state), but APPEND P's\n *     `tr` to prev's (the path is incremental), and fall back to prev's\n *     `seg_inf` when P doesn't carry one (most P-frames don't)\n *   - advance `frame_id` to P's, keep `map_id`\n *\n * The result is a synthetic inflated frame buffer that\n * `decodeVacuumMap(buffer)` consumes normally. No envelope wrap.\n *\n * For sequence enforcement: `mergePFrame` throws `OutOfOrderFrameError`\n * when `pframe.frameId !== prev.frameId + 1`. The frame-orchestration\n * follow-up uses this to queue or trigger a re-request.\n */\n\nimport { FRAME_TYPE, HEADER_SIZE, MapDecodeError, unwrapEnvelope } from './envelope.js';\nimport { parseMapHeader } from './header.js';\nimport { parseMapJsonTail, sliceTailText } from './tail.js';\nimport type { VacuumMapDecodeOptions, MapTail } from './types.js';\n\nexport class OutOfOrderFrameError extends Error {\n  readonly expectedFrameId: number;\n  readonly actualFrameId: number;\n  constructor(expectedFrameId: number, actualFrameId: number) {\n    super(`map: out-of-order P-frame (expected frame_id=${expectedFrameId}, got ${actualFrameId})`);\n    this.name = 'OutOfOrderFrameError';\n    this.expectedFrameId = expectedFrameId;\n    this.actualFrameId = actualFrameId;\n  }\n}\n\n/**\n * Merge a P-frame onto the previous (I-frame or already-merged) inflated\n * frame buffer. Returns a new inflated buffer re-stamped as `frame_type=I`.\n *\n * Both inputs must already be unwrapped (`unwrapEnvelope` applied). For\n * envelope-string inputs use `mergePFrameEnvelope` or `applyVacuumPFrame`.\n */\nexport function mergePFrame(prevInflated: Buffer, pFrameInflated: Buffer): Buffer {\n  const prevHeader = parseMapHeader(prevInflated);\n  const pHeader = parseMapHeader(pFrameInflated);\n\n  if (pHeader.frameType !== 'P') {\n    throw new MapDecodeError(`mergePFrame: expected P-frame, got frame_type=${pHeader.frameType}`);\n  }\n  if (pHeader.mapId !== prevHeader.mapId) {\n    throw new MapDecodeError(\n      `mergePFrame: map_id mismatch (prev=${prevHeader.mapId}, P=${pHeader.mapId}) — request a fresh I-frame`,\n    );\n  }\n  if (pHeader.frameId !== prevHeader.frameId + 1) {\n    throw new OutOfOrderFrameError(prevHeader.frameId + 1, pHeader.frameId);\n  }\n  if (prevHeader.gridSize !== pHeader.gridSize && pHeader.width > 0 && pHeader.height > 0) {\n    throw new MapDecodeError(\n      `mergePFrame: grid_size changed mid-stream (${prevHeader.gridSize} → ${pHeader.gridSize})`,\n    );\n  }\n\n  const prevTail = parseMapJsonTail(sliceTailText(prevInflated, prevHeader));\n  const pTail = parseMapJsonTail(sliceTailText(pFrameInflated, pHeader));\n\n  // ── compute union bbox ──────────────────────────────────────────────\n  // tail.origin and header.left/top agree on r2532a fsm:1 captures —\n  // prefer the tail value when present, fall back to the header.\n  const prevLeft = prevTail.origin?.[0] ?? prevHeader.left;\n  const prevTop = prevTail.origin?.[1] ?? prevHeader.top;\n  const grid = prevHeader.gridSize;\n  const prevRight = prevLeft + prevHeader.width * grid;\n  const prevBottom = prevTop + prevHeader.height * grid;\n\n  // P-frames with width=0,height=0 represent \"no spatial change\" — robot\n  // moved or obstacle list updated, but no pixel deltas. Skip the bbox\n  // union and the byte-add loop in that case.\n  const hasPixelDelta = pHeader.width > 0 && pHeader.height > 0;\n  let unionLeft = prevLeft;\n  let unionTop = prevTop;\n  let unionWidth = prevHeader.width;\n  let unionHeight = prevHeader.height;\n  let pLeft = 0;\n  let pTop = 0;\n\n  if (hasPixelDelta) {\n    pLeft = pTail.origin?.[0] ?? pHeader.left;\n    pTop = pTail.origin?.[1] ?? pHeader.top;\n    const pRight = pLeft + pHeader.width * grid;\n    const pBottom = pTop + pHeader.height * grid;\n\n    if ((pLeft - prevLeft) % grid !== 0 || (pTop - prevTop) % grid !== 0) {\n      throw new MapDecodeError(\n        `mergePFrame: P-frame origin not aligned to prev grid (offset=${pLeft - prevLeft},${pTop - prevTop} vs grid=${grid})`,\n      );\n    }\n\n    unionLeft = Math.min(prevLeft, pLeft);\n    unionTop = Math.min(prevTop, pTop);\n    const unionRight = Math.max(prevRight, pRight);\n    const unionBottom = Math.max(prevBottom, pBottom);\n    unionWidth = (unionRight - unionLeft) / grid;\n    unionHeight = (unionBottom - unionTop) / grid;\n  }\n\n  // ── allocate new pixel grid + copy prev pixels in ───────────────────\n  const newPixels = Buffer.alloc(unionWidth * unionHeight);\n  const prevPixelEnd = HEADER_SIZE + prevHeader.width * prevHeader.height;\n  if (prevInflated.length < prevPixelEnd) {\n    throw new MapDecodeError(\n      `mergePFrame: prev buffer truncated (need ${prevPixelEnd} bytes for header+pixels, got ${prevInflated.length})`,\n    );\n  }\n  const prevPixels = prevInflated.subarray(HEADER_SIZE, prevPixelEnd);\n  const prevDxPx = (prevLeft - unionLeft) / grid;\n  const prevDyPx = (prevTop - unionTop) / grid;\n  for (let y = 0; y < prevHeader.height; y++) {\n    const srcOff = y * prevHeader.width;\n    const dstOff = (prevDyPx + y) * unionWidth + prevDxPx;\n    prevPixels.copy(newPixels, dstOff, srcOff, srcOff + prevHeader.width);\n  }\n\n  // ── byte-add P pixels at their offset ───────────────────────────────\n  if (hasPixelDelta) {\n    const pPixelEnd = HEADER_SIZE + pHeader.width * pHeader.height;\n    if (pFrameInflated.length < pPixelEnd) {\n      throw new MapDecodeError(\n        `mergePFrame: P buffer truncated (need ${pPixelEnd} bytes for header+pixels, got ${pFrameInflated.length})`,\n      );\n    }\n    const pPixels = pFrameInflated.subarray(HEADER_SIZE, pPixelEnd);\n    const pDxPx = (pLeft - unionLeft) / grid;\n    const pDyPx = (pTop - unionTop) / grid;\n    for (let y = 0; y < pHeader.height; y++) {\n      const dstRow = (pDyPx + y) * unionWidth + pDxPx;\n      const srcRow = y * pHeader.width;\n      for (let x = 0; x < pHeader.width; x++) {\n        newPixels[dstRow + x] = (newPixels[dstRow + x]! + pPixels[srcRow + x]!) & 0xff;\n      }\n    }\n  }\n\n  // ── build new header (re-stamped as I-frame, union bbox) ────────────\n  const newHeader = Buffer.alloc(HEADER_SIZE);\n  newHeader.writeInt16LE(prevHeader.mapId, 0);\n  newHeader.writeInt16LE(pHeader.frameId, 2);\n  newHeader[4] = FRAME_TYPE.I;\n  newHeader.writeInt16LE(pHeader.robotX, 5);\n  newHeader.writeInt16LE(pHeader.robotY, 7);\n  newHeader.writeInt16LE(pHeader.robotA, 9);\n  newHeader.writeInt16LE(pHeader.chargerX, 11);\n  newHeader.writeInt16LE(pHeader.chargerY, 13);\n  newHeader.writeInt16LE(pHeader.chargerA, 15);\n  newHeader.writeInt16LE(grid, 17);\n  newHeader.writeInt16LE(unionWidth, 19);\n  newHeader.writeInt16LE(unionHeight, 21);\n  newHeader.writeInt16LE(unionLeft, 23);\n  newHeader.writeInt16LE(unionTop, 25);\n\n  // ── merge JSON tail ─────────────────────────────────────────────────\n  const mergedTail = mergeTails(prevTail, pTail, unionLeft, unionTop);\n  const tailBytes = Buffer.from(JSON.stringify(mergedTail), 'utf8');\n\n  return Buffer.concat([newHeader, newPixels, tailBytes]);\n}\n\n/**\n * Convenience wrapper: accept envelope strings (or raw buffers) for both\n * inputs and return the merged inflated buffer.\n */\nexport function mergePFrameEnvelope(\n  prev: Buffer | string,\n  pframe: Buffer | string,\n  prevOpts?: VacuumMapDecodeOptions,\n  pframeOpts?: VacuumMapDecodeOptions,\n): Buffer {\n  const prevBuf = typeof prev === 'string' ? unwrapEnvelope(prev, prevOpts) : prev;\n  const pBuf = typeof pframe === 'string' ? unwrapEnvelope(pframe, pframeOpts) : pframe;\n  return mergePFrame(prevBuf, pBuf);\n}\n\n/**\n * Construct the merged JSON tail. P-frame's tail is taken as the base\n * (it carries the latest robot/dock/obstacle/etc. state); a few keys\n * need explicit treatment:\n *\n *   - `origin` is overwritten with the union origin\n *   - `tr` (cleaning path) is concatenated: `prev.tr + p.tr`. P-frame\n *     uses lowercase `l` for line continuation; `parsePathTr` already\n *     normalises that, so plain concatenation is correct\n *   - `seg_inf` falls back to prev's when P doesn't supply one (typical;\n *     P-frames re-send seg_inf only on segment metadata changes)\n *   - `sa` (active segments) similarly falls back to prev's when absent\n */\nfunction mergeTails(\n  prev: MapTail,\n  p: MapTail,\n  unionLeft: number,\n  unionTop: number,\n): Record<string, unknown> {\n  const merged: Record<string, unknown> = { ...p };\n  merged.origin = [unionLeft, unionTop];\n\n  const prevTr = typeof prev.tr === 'string' ? prev.tr : '';\n  const pTr = typeof p.tr === 'string' ? p.tr : '';\n  if (prevTr || pTr) {\n    merged.tr = prevTr + pTr;\n  } else {\n    delete merged.tr;\n  }\n\n  if (!('seg_inf' in p) && 'seg_inf' in prev) {\n    merged.seg_inf = prev.seg_inf;\n  }\n  if (!('sa' in p) && 'sa' in prev) {\n    merged.sa = prev.sa;\n  }\n  // User-defined geometry + persistent overlay blocks are\n  // configuration, not live state — most P-frames don't re-send any\n  // of them. Fall back to prev when absent so the running state\n  // retains user-defined geometry / cleaned-area / saved-map across\n  // the chain. To wire a new persistent tail key (e.g. `vw.cliff`\n  // when we get a fixture), add it here and to `MapTail` in types.\n  for (const key of PERSISTENT_TAIL_KEYS) {\n    if (!(key in p) && key in prev) {\n      merged[key] = prev[key];\n    }\n  }\n  return merged;\n}\n\n/**\n * Tail-JSON keys that represent persistent floor-plan / saved-map /\n * cleaning-progress configuration — re-emitted by the device only on\n * full snapshots, not every P-frame. `mergeTails` falls these back\n * from prev when the P-frame's tail doesn't carry them, so the\n * running merged state keeps the user's geometry between full\n * snapshots.\n */\nexport const PERSISTENT_TAIL_KEYS = [\n  'vw',\n  'vws',\n  'sneak_areas',\n  'sneak_areas_end',\n  'walls_info',\n  'rism',\n  'decmap',\n] as const;\n","/**\n * Public entry-point for decoding a single map-frame envelope into a\n * `VacuumMap`. Composes the per-concern modules:\n *\n *   - `envelope.ts`      — base64 / AES / zlib unwrap\n *   - `header.ts`        — 27-byte binary header\n *   - `tail.ts`          — UTF-8 JSON tail (+ `parseFrame` seam)\n *   - `pixel-grid.ts`    — fsm:1 pixel decode + segment collect\n *   - `path.ts`          — `tr` cleaning-path string parser\n *   - `obstacles.ts`     — AI-detected obstacle records\n *   - `geometry.ts`      — `vw` / `vws` / `walls_info` / sneak-zones\n *   - `cleaned-area.ts`  — recursive `decmap` overlay\n *\n * Public surface: the `decodeVacuumMap` / `applyVacuumPFrame` functions\n * plus `MapDecodeError` (from `envelope.ts`) and the small wire-format\n * constants. Per-concern parsers are also re-exported via the sub-tree\n * barrel for callers that want to feed raw bytes through specific stages.\n *\n * The donor's stateless `MapDecoder` class is adapted here into plain\n * functions — `decode`/`applyPFrame` carried no instance state, so a\n * function form is a clean simplification.\n */\n\nimport type {\n  VacuumMap,\n  VacuumMapDecodeOptions,\n  MapDimensions,\n  MapPose,\n  MapTail,\n  RawSegInf,\n} from './types.js';\nimport { ANGLE_ABSENT, HEADER_SIZE, looksLikeBase64Zlib, unwrapEnvelope } from './envelope.js';\nimport type { MapHeader } from './header.js';\nimport { parseFrame } from './tail.js';\nimport { collectSegments, decodePixelGridFsm1 } from './pixel-grid.js';\nimport { parsePathTr } from './path.js';\nimport { parseObstacles } from './obstacles.js';\nimport { coalesceGeometry, isGeometryComplete, parseTailGeometry } from './geometry.js';\nimport { parseCleanedAreaOverlay } from './cleaned-area.js';\nimport { mergePFrame, mergePFrameEnvelope } from './merge.js';\n\n/**\n * Decode a single frame envelope to a `VacuumMap`. Accepts the raw MQTT\n * value (URL-safe base64 string, optionally with `,<aes-key>` suffix),\n * the raw fetched OSS bytes (a `Buffer` that is STILL the base64 envelope —\n * `OssFetcher.fetchBlob` returns the object bytes verbatim, NOT inflated), or\n * already-inflated frame bytes (`Buffer`). Pure — no IO.\n */\nexport function decodeVacuumMap(\n  input: Buffer | string,\n  opts: VacuumMapDecodeOptions = {},\n): VacuumMap {\n  // A `Buffer` may be either an already-inflated frame (tests / the P-frame merge\n  // primitive) OR the raw fetched OSS bytes, which are STILL the base64+zlib\n  // envelope (the live `getMap` path). Detect the latter — a base64 wrapper around\n  // a zlib stream — and run it through `unwrapEnvelope` (base64 → zlib, peeling any\n  // extra wrap layers); an already-inflated binary frame fails the check and is\n  // used verbatim.\n  const inflated =\n    typeof input === 'string'\n      ? unwrapEnvelope(input, opts)\n      : looksLikeBase64Zlib(input)\n        ? unwrapEnvelope(input.toString('latin1'), opts)\n        : input;\n  const { header, tail } = parseFrame(inflated);\n\n  const dimensions = mergeDimensions(header, tail);\n  const robot = pose(header.robotX, header.robotY, header.robotA, tail.nr === true);\n  const dock = pose(header.chargerX, header.chargerY, header.chargerA, tail.nc === true);\n  const docked = tail.oc === true;\n\n  // Pixel grid in a P-frame is byte-add deltas over a previous I-frame's\n  // grid, not absolute classifications — decoding it standalone produces\n  // garbage (high-byte deltas masquerade as segment ids). Only run the\n  // pixel decoder on I-frames; the merge layer produces a synthetic\n  // I-frame for ongoing P-frame state.\n  const pixelStart = HEADER_SIZE;\n  const pixelEnd = pixelStart + header.width * header.height;\n  const pixelGrid = inflated.subarray(pixelStart, pixelEnd);\n  const canDecodePixels =\n    header.frameType === 'I' && pixelGrid.length === header.width * header.height;\n  const layers = canDecodePixels ? decodePixelGridFsm1(pixelGrid, header.width, header.height) : [];\n\n  const paths = parsePathTr(tail.tr ?? '');\n  const obstacles = parseObstacles(tail.ai_obstacle ?? []);\n  let geometry = parseTailGeometry(tail);\n  // The persistent saved-map blob is embedded inline as `tail.rism`\n  // (URL-safe-base64 + zlib + same envelope shape). On r2532a fw\n  // 4.3.9_2199 the outer tail's geometry blocks are absent and the\n  // geometry lives only in the inner saved-map's tail. The live frame's\n  // `seg_inf` also typically OMITS the user room NAMES — those live in the\n  // saved map. Recurse once to surface geometry AND names; if the inner blob\n  // fails to decode (corrupt / unexpected shape / missing AES IV) leave the\n  // outer values as-is and swallow — must never break the outer frame.\n  // Recurses one level only — the inner saved-map blob carries no `rism`.\n  let segTail = tail;\n  const outerHasNames = Object.values(tail.seg_inf ?? {}).some(\n    (m) => typeof m?.name === 'string' && m.name.length > 0,\n  );\n  if (\n    (!isGeometryComplete(geometry) || !outerHasNames) &&\n    typeof tail.rism === 'string' &&\n    tail.rism.length > 0\n  ) {\n    try {\n      const innerInflated = unwrapEnvelope(tail.rism);\n      const { tail: innerTail } = parseFrame(innerInflated);\n      if (!isGeometryComplete(geometry)) {\n        geometry = coalesceGeometry(geometry, parseTailGeometry(innerTail));\n      }\n      if (!outerHasNames && innerTail.seg_inf) {\n        segTail = mergeSegInfNames(tail, innerTail.seg_inf);\n      }\n    } catch {\n      // intentional — outer frame remains valid even if rism is unreadable\n    }\n  }\n  const segments = canDecodePixels ? collectSegments(layers, dimensions, segTail) : [];\n  const cleanedArea = typeof tail.decmap === 'string' ? parseCleanedAreaOverlay(tail.decmap) : null;\n\n  return {\n    mapId: header.mapId,\n    frameId: header.frameId,\n    frameType: header.frameType,\n    timestamp: tail.timestamp_ms ?? 0,\n    rotation: tail.mra ?? 0,\n    dimensions,\n    robot,\n    dock,\n    docked,\n    layers,\n    segments,\n    paths,\n    obstacles,\n    ...geometry,\n    cleanedArea,\n  };\n}\n\n/**\n * Merge a P-frame onto a previous (I-frame or already-merged) inflated\n * frame buffer and decode the result. Returns both the merged buffer\n * (so callers can chain further merges without re-allocating) and the\n * decoded `VacuumMap`.\n *\n * Throws `OutOfOrderFrameError` when `pframe.frameId !== prev.frameId + 1`.\n *\n * Inputs are envelope strings or already-unwrapped buffers — both\n * sides are normalised internally via `unwrapEnvelope` when given a\n * string, with the matching `VacuumMapDecodeOptions` for the AES key/IV.\n */\nexport function applyVacuumPFrame(\n  prev: Buffer | string,\n  pframe: Buffer | string,\n  opts: { prev?: VacuumMapDecodeOptions; pframe?: VacuumMapDecodeOptions } = {},\n): { buffer: Buffer; data: VacuumMap } {\n  const merged =\n    typeof prev === 'string' || typeof pframe === 'string'\n      ? mergePFrameEnvelope(prev, pframe, opts.prev, opts.pframe)\n      : mergePFrame(prev, pframe);\n  return { buffer: merged, data: decodeVacuumMap(merged) };\n}\n\n/**\n * Merge saved-map (`rism`) `seg_inf` NAMES into the outer tail so\n * {@link collectSegments} surfaces real room names. Outer fields win for every\n * key EXCEPT `name`, which is taken from the inner saved map when the outer\n * entry has no (non-empty) name. Returns a new tail (no mutation).\n */\nfunction mergeSegInfNames(tail: MapTail, innerSegInf: Record<string, RawSegInf>): MapTail {\n  const outer = tail.seg_inf ?? {};\n  const ids = new Set([...Object.keys(outer), ...Object.keys(innerSegInf)]);\n  const merged: Record<string, RawSegInf> = {};\n  for (const id of ids) {\n    const o = outer[id] ?? {};\n    const inner = innerSegInf[id] ?? {};\n    const name = typeof o.name === 'string' && o.name.length > 0 ? o.name : inner.name;\n    merged[id] = { ...inner, ...o, ...(name !== undefined ? { name } : {}) };\n  }\n  return { ...tail, seg_inf: merged };\n}\n\nfunction mergeDimensions(header: MapHeader, tail: MapTail): MapDimensions {\n  const left = tail.origin?.[0] ?? header.left;\n  const top = tail.origin?.[1] ?? header.top;\n  return {\n    left,\n    top,\n    width: header.width,\n    height: header.height,\n    gridSize: header.gridSize,\n  };\n}\n\nfunction pose(x: number, y: number, angle: number, absent: boolean): MapPose | null {\n  if (absent || angle === ANGLE_ABSENT) {\n    return null;\n  }\n  return { x, y, angle };\n}\n","/**\n * Raster PNG renderer for a decoded `VacuumMap`.\n *\n * node-dreame ships only the structured model (no image); this is NEW. We paint\n * the run-length `layers` (floor / segments / carpet / walls) one pixel per grid\n * cell (× an optional integer upscale `scale`), then composite the world-frame\n * overlays on top: restricted areas (no-go / no-mop), virtual walls, the cleaning\n * path polylines, AI obstacles, the charger, and the robot (body + heading). A\n * `colorScheme` picks the palette and every overlay is independently toggleable,\n * mirroring how the Home Assistant integration exposes map customization.\n *\n * Coordinate transform: every overlay coordinate is mm in the world frame.\n * `dimensions.left` / `.top` are the world-mm of pixel (0,0) and `.gridSize` is\n * mm-per-pixel, so `xPx = (worldX - left) / gridSize` (then × `scale`).\n *\n * Y IS FLIPPED. Dreame's grid has world-Y increasing DOWNWARD relative to how\n * the robot/dock/app present the floor, so rendering rows top-down produced a\n * VERTICALLY MIRRORED map vs the Dreamehome app / Home Assistant (live-confirmed\n * on r2538z). We reflect in cell space — `yPx = ((height - 1) - cellY) × scale` —\n * applied identically to the run-length base layers ({@link paintRun}) and the\n * world-frame overlays ({@link worldToPx}) so they stay pixel-aligned, and the\n * robot heading's Y component is negated ({@link drawRobot}). Glyph labels are\n * drawn upright (only their anchor is flipped).\n *\n * Pure: only `pngjs` + arithmetic. No casts.\n */\n\nimport { PNG } from 'pngjs';\nimport type {\n  VacuumMap,\n  MapLayer,\n  MapRun,\n  MapPoint,\n  MapPose,\n  MapDimensions,\n  MapCleanedAreaOverlay,\n} from './types.js';\n\n/** A named map palette — node-dreame's own distinct visual styles. */\nexport type MapColorScheme = 'flat' | 'dark-neon' | 'materico';\n\nexport interface RenderVacuumPngOptions {\n  /** Integer upscale factor (nearest-neighbour). Default 1. */\n  scale?: number;\n  /** Palette. Default `'flat'`. */\n  colorScheme?: MapColorScheme;\n  /** Draw the cleaning/mopping path polylines. Default true. */\n  showPath?: boolean;\n  /** Draw the robot marker (body + heading). Default true. */\n  showRobot?: boolean;\n  /** Draw the charger / dock marker. Default true. */\n  showCharger?: boolean;\n  /** Draw no-go / no-mop restricted areas. Default true. */\n  showNoGo?: boolean;\n  /** Draw user-defined virtual walls. Default true. */\n  showVirtualWalls?: boolean;\n  /** Draw AI-detected obstacle markers. Default true. */\n  showObstacles?: boolean;\n  /** Draw the segment id as a tiny label at each room centroid. Default false. */\n  showSegmentLabels?: boolean;\n  /** Draw each room's NAME (falls back to `Room <id>`) at its centroid. Default\n   *  false. Mutually useful with `showSegmentLabels` (names take the centroid). */\n  showSegmentNames?: boolean;\n  /** Tint the cleaned-area overlay (`cleanedArea.cleaned`) when present. Default false. */\n  showCleanedArea?: boolean;\n  /** Outline low-clearance \"sneak under furniture\" zones. Default true. */\n  showFurniture?: boolean;\n  /** Colour AI obstacle markers by their `type` (else a single accent). Default true. */\n  colorObstaclesByType?: boolean;\n}\n\ntype Rgba = readonly [number, number, number, number];\n\n/** Per-scheme colour set. Segment fills derive from `segHsv` (golden-angle hue). */\ninterface Palette {\n  floor: Rgba;\n  wall: Rgba;\n  carpet: Rgba;\n  /** Segment fill saturation / value (hue is per-id golden angle). */\n  segSat: number;\n  segVal: number;\n  path: Rgba;\n  robotBody: Rgba;\n  robotHeading: Rgba;\n  charger: Rgba;\n  noGoFill: Rgba;\n  noGoBorder: Rgba;\n  noMopFill: Rgba;\n  noMopBorder: Rgba;\n  virtualWall: Rgba;\n  obstacle: Rgba;\n  label: Rgba;\n}\n\nconst SCHEMES: Record<MapColorScheme, Palette> = {\n  // Flat-design: soft neutral floor, bright low-saturation segment fills, thin\n  // mid-grey walls, a single vivid accent for the path.\n  flat: {\n    floor: [236, 239, 241, 255],\n    wall: [120, 132, 145, 255],\n    carpet: [205, 185, 160, 200],\n    segSat: 0.28,\n    segVal: 0.99,\n    path: [255, 138, 101, 240],\n    robotBody: [38, 50, 56, 255],\n    robotHeading: [255, 255, 255, 255],\n    charger: [38, 166, 154, 255],\n    noGoFill: [239, 83, 80, 60],\n    noGoBorder: [229, 57, 53, 210],\n    noMopFill: [66, 165, 245, 55],\n    noMopBorder: [30, 136, 229, 200],\n    virtualWall: [229, 57, 53, 225],\n    obstacle: [255, 167, 38, 255],\n    label: [55, 71, 79, 255],\n  },\n  // Dark-neon: near-black floor with high-saturation glowing segment fills, a\n  // bright cyan path and magenta robot.\n  'dark-neon': {\n    floor: [16, 18, 27, 255],\n    wall: [5, 6, 10, 255],\n    carpet: [60, 50, 80, 200],\n    segSat: 0.85,\n    segVal: 0.95,\n    path: [0, 230, 255, 240],\n    robotBody: [255, 45, 170, 255],\n    robotHeading: [255, 255, 255, 255],\n    charger: [0, 255, 150, 255],\n    noGoFill: [255, 40, 90, 80],\n    noGoBorder: [255, 40, 90, 235],\n    noMopFill: [40, 130, 255, 75],\n    noMopBorder: [40, 160, 255, 225],\n    virtualWall: [255, 40, 90, 235],\n    obstacle: [255, 220, 0, 255],\n    label: [230, 240, 255, 255],\n  },\n  // Materico (Material-design): light grey surface, Material-palette segment\n  // fills, indigo/teal accents.\n  materico: {\n    floor: [245, 245, 245, 255],\n    wall: [97, 97, 97, 255],\n    carpet: [188, 170, 144, 205],\n    segSat: 0.55,\n    segVal: 0.93,\n    path: [63, 81, 181, 235],\n    robotBody: [48, 63, 159, 255],\n    robotHeading: [255, 255, 255, 255],\n    charger: [0, 150, 136, 255],\n    noGoFill: [244, 67, 54, 65],\n    noGoBorder: [211, 47, 47, 215],\n    noMopFill: [33, 150, 243, 60],\n    noMopBorder: [25, 118, 210, 205],\n    virtualWall: [211, 47, 47, 225],\n    obstacle: [255, 152, 0, 255],\n    label: [33, 33, 33, 255],\n  },\n};\n\n/** HSV (h in degrees, s/v in 0..1) → opaque RGBA. */\nfunction hsvToRgba(h: number, s: number, v: number): Rgba {\n  const c = v * s;\n  const hp = (((h % 360) + 360) % 360) / 60;\n  const x = c * (1 - Math.abs((hp % 2) - 1));\n  let r = 0;\n  let g = 0;\n  let b = 0;\n  if (hp < 1) {\n    r = c;\n    g = x;\n  } else if (hp < 2) {\n    r = x;\n    g = c;\n  } else if (hp < 3) {\n    g = c;\n    b = x;\n  } else if (hp < 4) {\n    g = x;\n    b = c;\n  } else if (hp < 5) {\n    r = x;\n    b = c;\n  } else {\n    r = c;\n    b = x;\n  }\n  const m = v - c;\n  return [Math.round((r + m) * 255), Math.round((g + m) * 255), Math.round((b + m) * 255), 255];\n}\n\n/** Deterministic per-segment palette (golden-angle hue spread) under a scheme. */\nfunction segmentColor(id: number, pal: Palette): Rgba {\n  const hue = (id * 137.508) % 360;\n  return hsvToRgba(hue, pal.segSat, pal.segVal);\n}\n\nexport function renderVacuumPng(map: VacuumMap, opts: RenderVacuumPngOptions = {}): Buffer {\n  const scale = Math.max(1, Math.trunc(opts.scale ?? 1));\n  // Default + resilient fallback to 'flat' for any unknown/legacy scheme value.\n  const pal = SCHEMES[opts.colorScheme ?? 'flat'] ?? SCHEMES.flat;\n  const w = Math.max(1, map.dimensions.width * scale);\n  const h = Math.max(1, map.dimensions.height * scale);\n  const png = new PNG({ width: w, height: h });\n  png.data.fill(0); // transparent background\n\n  const dim = map.dimensions;\n\n  // 1) Spatial layers (floor / segments / carpet / walls), painted in order.\n  for (const layer of map.layers) {\n    paintLayer(png, layer, dim.height, scale, pal);\n  }\n\n  // 1b) Cleaned-area overlay — a translucent tint over already-cleaned cells,\n  // reprojected from the inner overlay grid onto the parent grid. Drawn over the\n  // base layers but under every marker/zone. Opt-in (default off).\n  if (opts.showCleanedArea === true && map.cleanedArea !== null) {\n    paintCleanedArea(png, map.cleanedArea, dim, scale, pal.path);\n  }\n\n  // 2) Restricted areas — translucent fill + opaque border.\n  if (opts.showNoGo !== false) {\n    for (const area of map.restrictedAreas) {\n      const fill = area.kind === 'noMop' ? pal.noMopFill : pal.noGoFill;\n      const border = area.kind === 'noMop' ? pal.noMopBorder : pal.noGoBorder;\n      const a = worldToPx(area.bbox.xMin, area.bbox.yMin, dim, scale);\n      const b = worldToPx(area.bbox.xMax, area.bbox.yMax, dim, scale);\n      fillRect(png, a.x, a.y, b.x, b.y, fill);\n      strokeRect(png, a.x, a.y, b.x, b.y, border);\n    }\n  }\n\n  // 3) Virtual walls — opaque line segments.\n  if (opts.showVirtualWalls !== false) {\n    for (const vw of map.virtualWalls) {\n      const a = worldToPx(vw.from.x, vw.from.y, dim, scale);\n      const b = worldToPx(vw.to.x, vw.to.y, dim, scale);\n      drawLine(png, a.x, a.y, b.x, b.y, pal.virtualWall, Math.max(1, scale));\n    }\n  }\n\n  // 4) Cleaning path polylines (\"linee di lavaggio\").\n  if (opts.showPath !== false) {\n    for (const path of map.paths) {\n      drawPolyline(png, path.points, dim, scale, pal.path, Math.max(1, scale));\n    }\n  }\n\n  // 4b) Low-clearance \"sneak under furniture\" zones — outlined translucent\n  // polygons. Default on.\n  if (opts.showFurniture !== false) {\n    for (const zone of map.lowLyingAreas) {\n      paintFurnitureZone(png, zone.points, dim, scale);\n    }\n  }\n\n  // 5) AI obstacles — coloured AND shaped by type by default so distinct hazards\n  // read differently (the full type→icon table lives browser-side; here we vary\n  // colour + a small shape set as a lightweight raster stand-in).\n  if (opts.showObstacles !== false) {\n    const byType = opts.colorObstaclesByType !== false;\n    for (const ob of map.obstacles) {\n      const p = worldToPx(ob.x, ob.y, dim, scale);\n      const r = Math.max(2, scale * 2);\n      if (byType) {\n        drawObstacleShape(png, p.x, p.y, r, ob.type, obstacleColor(ob.type));\n      } else {\n        drawDiamond(png, p.x, p.y, r, pal.obstacle);\n      }\n    }\n  }\n\n  // 6) Charger / dock.\n  if (opts.showCharger !== false && map.dock !== null) {\n    drawCharger(png, map.dock, dim, scale, pal);\n  }\n\n  // 7) Robot (body + heading wedge) — drawn last so it sits on top.\n  if (opts.showRobot !== false && map.robot !== null) {\n    drawRobot(png, map.robot, dim, scale, pal);\n  }\n\n  // 8) Room labels at centroids — the NAME when requested (falls back to\n  // `ROOM <id>` for an unnamed room), else just the numeric id. Names win the\n  // centroid when both flags are set.\n  if (opts.showSegmentNames === true || opts.showSegmentLabels === true) {\n    for (const seg of map.segments) {\n      const p = worldToPx(seg.centroid.x, seg.centroid.y, dim, scale);\n      const text = opts.showSegmentNames === true ? labelText(seg.name, seg.id) : String(seg.id);\n      drawLabel(png, p.x, p.y, text, pal.label, Math.max(1, scale));\n    }\n  }\n\n  return PNG.sync.write(png);\n}\n\n// ── Coordinate transform ────────────────────────────────────────────────────\n\ninterface Px {\n  x: number;\n  y: number;\n}\n\n/** World-mm → scaled pixel coordinate. Y is reflected in cell space so the map\n *  matches the Dreamehome app / HA orientation (see file header). */\nfunction worldToPx(worldX: number, worldY: number, dim: MapDimensions, scale: number): Px {\n  const cellY = (worldY - dim.top) / dim.gridSize;\n  return {\n    x: Math.round(((worldX - dim.left) / dim.gridSize) * scale),\n    y: Math.round((dim.height - 1 - cellY) * scale),\n  };\n}\n\n// ── Layer painting (run-length) ─────────────────────────────────────────────\n\nfunction paintLayer(\n  png: PNG,\n  layer: MapLayer,\n  dimHeight: number,\n  scale: number,\n  pal: Palette,\n): void {\n  const color =\n    layer.type === 'segment'\n      ? segmentColor(layer.segmentId ?? 0, pal)\n      : layer.type === 'wall'\n        ? pal.wall\n        : layer.type === 'carpet'\n          ? pal.carpet\n          : pal.floor;\n  for (const run of layer.runs) {\n    paintRun(png, run, dimHeight, color, scale);\n  }\n}\n\n/** Fill the scale×scale block of every pixel in a `[xPx, yPx, len]` run. The row\n *  is reflected (`(height-1)-yPx`) to match {@link worldToPx}'s Y flip. */\nfunction paintRun(png: PNG, run: MapRun, dimHeight: number, color: Rgba, scale: number): void {\n  const [xPx, yPx, len] = run;\n  const baseY = (dimHeight - 1 - yPx) * scale;\n  for (let i = 0; i < len; i += 1) {\n    const baseX = (xPx + i) * scale;\n    for (let dy = 0; dy < scale; dy += 1) {\n      for (let dx = 0; dx < scale; dx += 1) {\n        setPixel(png, baseX + dx, baseY + dy, color);\n      }\n    }\n  }\n}\n\n// ── Pixel primitives ────────────────────────────────────────────────────────\n\n/** Opaque write (or alpha-composite when the colour is translucent). */\nfunction setPixel(png: PNG, x: number, y: number, color: Rgba): void {\n  if (x < 0 || y < 0 || x >= png.width || y >= png.height) return;\n  const off = (y * png.width + x) * 4;\n  const a = color[3];\n  if (a >= 255) {\n    png.data[off] = color[0];\n    png.data[off + 1] = color[1];\n    png.data[off + 2] = color[2];\n    png.data[off + 3] = 255;\n    return;\n  }\n  // Source-over alpha composite onto the existing pixel.\n  const sa = a / 255;\n  const da = (png.data[off + 3] ?? 0) / 255;\n  const outA = sa + da * (1 - sa);\n  if (outA <= 0) return;\n  for (let k = 0; k < 3; k += 1) {\n    const src = color[k] ?? 0;\n    const dst = png.data[off + k] ?? 0;\n    png.data[off + k] = Math.round((src * sa + dst * da * (1 - sa)) / outA);\n  }\n  png.data[off + 3] = Math.round(outA * 255);\n}\n\n/** Translucent (or opaque) axis-aligned filled rectangle, endpoints inclusive. */\nfunction fillRect(png: PNG, x0: number, y0: number, x1: number, y1: number, color: Rgba): void {\n  const xa = Math.min(x0, x1);\n  const xb = Math.max(x0, x1);\n  const ya = Math.min(y0, y1);\n  const yb = Math.max(y0, y1);\n  for (let y = ya; y <= yb; y += 1) {\n    for (let x = xa; x <= xb; x += 1) {\n      setPixel(png, x, y, color);\n    }\n  }\n}\n\n/** Rectangle border (1px). */\nfunction strokeRect(png: PNG, x0: number, y0: number, x1: number, y1: number, color: Rgba): void {\n  const xa = Math.min(x0, x1);\n  const xb = Math.max(x0, x1);\n  const ya = Math.min(y0, y1);\n  const yb = Math.max(y0, y1);\n  for (let x = xa; x <= xb; x += 1) {\n    setPixel(png, x, ya, color);\n    setPixel(png, x, yb, color);\n  }\n  for (let y = ya; y <= yb; y += 1) {\n    setPixel(png, xa, y, color);\n    setPixel(png, xb, y, color);\n  }\n}\n\n/** Bresenham line with a square pen of side `thickness`. */\nfunction drawLine(\n  png: PNG,\n  x0: number,\n  y0: number,\n  x1: number,\n  y1: number,\n  color: Rgba,\n  thickness: number,\n): void {\n  let x = x0;\n  let y = y0;\n  const dx = Math.abs(x1 - x0);\n  const dy = -Math.abs(y1 - y0);\n  const sx = x0 < x1 ? 1 : -1;\n  const sy = y0 < y1 ? 1 : -1;\n  let err = dx + dy;\n  const r = Math.max(0, Math.trunc((thickness - 1) / 2));\n  for (;;) {\n    for (let oy = -r; oy <= r; oy += 1) {\n      for (let ox = -r; ox <= r; ox += 1) {\n        setPixel(png, x + ox, y + oy, color);\n      }\n    }\n    if (x === x1 && y === y1) break;\n    const e2 = 2 * err;\n    if (e2 >= dy) {\n      err += dy;\n      x += sx;\n    }\n    if (e2 <= dx) {\n      err += dx;\n      y += sy;\n    }\n  }\n}\n\n/** Connect consecutive world-frame points with line segments. */\nfunction drawPolyline(\n  png: PNG,\n  points: readonly MapPoint[],\n  dim: MapDimensions,\n  scale: number,\n  color: Rgba,\n  thickness: number,\n): void {\n  for (let i = 1; i < points.length; i += 1) {\n    const p0 = points[i - 1];\n    const p1 = points[i];\n    if (p0 === undefined || p1 === undefined) continue;\n    const a = worldToPx(p0.x, p0.y, dim, scale);\n    const b = worldToPx(p1.x, p1.y, dim, scale);\n    drawLine(png, a.x, a.y, b.x, b.y, color, thickness);\n  }\n}\n\n/** Filled disk (square-distance) of radius `r` centred at `cx,cy`. */\nfunction drawDisk(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  const rr = r * r;\n  for (let dy = -r; dy <= r; dy += 1) {\n    for (let dx = -r; dx <= r; dx += 1) {\n      if (dx * dx + dy * dy <= rr) setPixel(png, cx + dx, cy + dy, color);\n    }\n  }\n}\n\n// ── Markers ─────────────────────────────────────────────────────────────────\n\nfunction drawRobot(\n  png: PNG,\n  robot: MapPose,\n  dim: MapDimensions,\n  scale: number,\n  pal: Palette,\n): void {\n  const p = worldToPx(robot.x, robot.y, dim, scale);\n  const r = Math.max(3, scale * 3);\n  drawDisk(png, p.x, p.y, r, pal.robotBody);\n  // Heading wedge: a short line from the centre toward `angle` (degrees, CCW).\n  // The Y axis is flipped (see worldToPx), so the screen-Y component is negated\n  // to keep the arrow pointing the real direction.\n  const rad = (robot.angle * Math.PI) / 180;\n  const hx = Math.round(p.x + Math.cos(rad) * r);\n  const hy = Math.round(p.y - Math.sin(rad) * r);\n  drawLine(png, p.x, p.y, hx, hy, pal.robotHeading, Math.max(1, Math.trunc(scale / 2) + 1));\n}\n\nfunction drawCharger(\n  png: PNG,\n  dock: MapPose,\n  dim: MapDimensions,\n  scale: number,\n  pal: Palette,\n): void {\n  const p = worldToPx(dock.x, dock.y, dim, scale);\n  const r = Math.max(2, scale * 2);\n  // A small filled square reads as a dock base.\n  fillRect(png, p.x - r, p.y - r, p.x + r, p.y + r, pal.charger);\n}\n\n/** Filled diamond (Manhattan disk) of radius `r` — used for AI obstacle markers\n *  so they read distinctly from the round robot body. */\nfunction drawDiamond(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  for (let dy = -r; dy <= r; dy += 1) {\n    const w = r - Math.abs(dy);\n    for (let dx = -w; dx <= w; dx += 1) {\n      setPixel(png, cx + dx, cy + dy, color);\n    }\n  }\n}\n\n/** Deterministic per-type obstacle colour (golden-ish hue spread). The integer\n *  `ObstacleType` → human label table lives browser-side; here we only need a\n *  stable, visually distinct hue per type. */\nfunction obstacleColor(type: number): Rgba {\n  const hue = (Math.abs(Math.trunc(type)) * 47) % 360;\n  return hsvToRgba(hue, 0.85, 0.95);\n}\n\n/** Filled axis-aligned square. */\nfunction drawSquare(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  fillRect(png, cx - r, cy - r, cx + r, cy + r, color);\n}\n\n/** Filled upward triangle (apex up), height/half-width `r`. */\nfunction drawTriangle(png: PNG, cx: number, cy: number, r: number, color: Rgba): void {\n  for (let dy = -r; dy <= r; dy += 1) {\n    // Width grows from apex (dy=-r) to base (dy=+r).\n    const w = Math.round(((dy + r) / (2 * r)) * r);\n    for (let dx = -w; dx <= w; dx += 1) {\n      setPixel(png, cx + dx, cy + dy, color);\n    }\n  }\n}\n\n/** Draw an AI-obstacle marker whose SHAPE varies by type (diamond / square /\n *  triangle / disk), a lightweight raster stand-in for the app's per-type icons. */\nfunction drawObstacleShape(\n  png: PNG,\n  cx: number,\n  cy: number,\n  r: number,\n  type: number,\n  color: Rgba,\n): void {\n  switch (Math.abs(Math.trunc(type)) % 4) {\n    case 0:\n      drawDiamond(png, cx, cy, r, color);\n      return;\n    case 1:\n      drawSquare(png, cx, cy, r, color);\n      return;\n    case 2:\n      drawTriangle(png, cx, cy, r, color);\n      return;\n    default:\n      drawDisk(png, cx, cy, r, color);\n  }\n}\n\n/** Outline colour for low-clearance furniture zones — a translucent violet that\n *  reads on both light and dark schemes. */\nconst FURNITURE_LINE: Rgba = [150, 110, 200, 235];\n\n/** Outline a low-clearance furniture polygon (closes the loop). */\nfunction paintFurnitureZone(\n  png: PNG,\n  points: readonly MapPoint[],\n  dim: MapDimensions,\n  scale: number,\n): void {\n  if (points.length < 2) return;\n  for (let i = 0; i < points.length; i += 1) {\n    const a = points[i];\n    const b = points[(i + 1) % points.length];\n    if (a === undefined || b === undefined) continue;\n    const pa = worldToPx(a.x, a.y, dim, scale);\n    const pb = worldToPx(b.x, b.y, dim, scale);\n    drawLine(png, pa.x, pa.y, pb.x, pb.y, FURNITURE_LINE, Math.max(1, scale));\n  }\n}\n\n/** Tint already-cleaned cells, reprojecting the inner overlay grid (its OWN\n *  dimensions) onto the parent pixel grid. The tint derives from the scheme's\n *  path colour at low alpha. */\nfunction paintCleanedArea(\n  png: PNG,\n  overlay: MapCleanedAreaOverlay,\n  parentDim: MapDimensions,\n  scale: number,\n  baseColor: Rgba,\n): void {\n  const tint: Rgba = [baseColor[0], baseColor[1], baseColor[2], 55];\n  const inner = overlay.dimensions;\n  const block = Math.max(1, Math.round((inner.gridSize / parentDim.gridSize) * scale));\n  for (const [xPx, yPx, len] of overlay.cleaned) {\n    for (let i = 0; i < len; i += 1) {\n      const worldX = inner.left + (xPx + i) * inner.gridSize;\n      const worldY = inner.top + yPx * inner.gridSize;\n      const p = worldToPx(worldX, worldY, parentDim, scale);\n      for (let dy = 0; dy < block; dy += 1) {\n        for (let dx = 0; dx < block; dx += 1) {\n          setPixel(png, p.x + dx, p.y + dy, tint);\n        }\n      }\n    }\n  }\n}\n\n/** Build a renderable room label: uppercase the name (accents stripped, only\n *  glyph-defined chars kept, capped length), falling back to `ROOM <id>` when a\n *  room is unnamed or reduces to nothing renderable. */\nfunction labelText(name: string | null, id: number): string {\n  const raw = (name ?? '').trim();\n  const base = raw.length > 0 ? raw : `ROOM ${id}`;\n  const upper = base\n    .toUpperCase()\n    .normalize('NFD')\n    .replace(/[\\u0300-\\u036f]/g, '');\n  let out = '';\n  for (const ch of upper) {\n    if (GLYPHS[ch] !== undefined) out += ch;\n  }\n  const trimmed = out.trim().slice(0, 14);\n  return trimmed.length > 0 ? trimmed : `ROOM ${id}`;\n}\n\n// ── Tiny 3×5 digit/sign font for segment labels ─────────────────────────────\n\n// Each glyph is 5 rows of a 3-bit mask (bit 2 = left column). Only the\n// characters that can appear in `String(segmentId)` are defined; an unknown\n// char is skipped so an unexpected id never throws.\nconst GLYPHS: Record<string, readonly number[]> = {\n  '0': [0b111, 0b101, 0b101, 0b101, 0b111],\n  '1': [0b010, 0b110, 0b010, 0b010, 0b111],\n  '2': [0b111, 0b001, 0b111, 0b100, 0b111],\n  '3': [0b111, 0b001, 0b111, 0b001, 0b111],\n  '4': [0b101, 0b101, 0b111, 0b001, 0b001],\n  '5': [0b111, 0b100, 0b111, 0b001, 0b111],\n  '6': [0b111, 0b100, 0b111, 0b101, 0b111],\n  '7': [0b111, 0b001, 0b010, 0b010, 0b010],\n  '8': [0b111, 0b101, 0b111, 0b101, 0b111],\n  '9': [0b111, 0b101, 0b111, 0b001, 0b111],\n  '-': [0b000, 0b000, 0b111, 0b000, 0b000],\n  ' ': [0b000, 0b000, 0b000, 0b000, 0b000],\n  A: [0b010, 0b101, 0b111, 0b101, 0b101],\n  B: [0b110, 0b101, 0b110, 0b101, 0b110],\n  C: [0b011, 0b100, 0b100, 0b100, 0b011],\n  D: [0b110, 0b101, 0b101, 0b101, 0b110],\n  E: [0b111, 0b100, 0b110, 0b100, 0b111],\n  F: [0b111, 0b100, 0b110, 0b100, 0b100],\n  G: [0b011, 0b100, 0b101, 0b101, 0b011],\n  H: [0b101, 0b101, 0b111, 0b101, 0b101],\n  I: [0b111, 0b010, 0b010, 0b010, 0b111],\n  J: [0b001, 0b001, 0b001, 0b101, 0b010],\n  K: [0b101, 0b101, 0b110, 0b101, 0b101],\n  L: [0b100, 0b100, 0b100, 0b100, 0b111],\n  M: [0b101, 0b111, 0b111, 0b101, 0b101],\n  N: [0b101, 0b111, 0b111, 0b111, 0b101],\n  O: [0b010, 0b101, 0b101, 0b101, 0b010],\n  P: [0b110, 0b101, 0b110, 0b100, 0b100],\n  Q: [0b010, 0b101, 0b101, 0b110, 0b011],\n  R: [0b110, 0b101, 0b110, 0b101, 0b101],\n  S: [0b011, 0b100, 0b010, 0b001, 0b110],\n  T: [0b111, 0b010, 0b010, 0b010, 0b010],\n  U: [0b101, 0b101, 0b101, 0b101, 0b111],\n  V: [0b101, 0b101, 0b101, 0b101, 0b010],\n  W: [0b101, 0b101, 0b111, 0b111, 0b101],\n  X: [0b101, 0b101, 0b010, 0b101, 0b101],\n  Y: [0b101, 0b101, 0b010, 0b010, 0b010],\n  Z: [0b111, 0b001, 0b010, 0b100, 0b111],\n};\n\n/** Draw `text` centred on `cx,cy` using the 3×5 bitmap font (× `px` per cell). */\nfunction drawLabel(png: PNG, cx: number, cy: number, text: string, color: Rgba, px: number): void {\n  const glyphW = 3 * px;\n  const glyphH = 5 * px;\n  const gap = px;\n  const totalW = text.length * glyphW + Math.max(0, text.length - 1) * gap;\n  let originX = Math.round(cx - totalW / 2);\n  const originY = Math.round(cy - glyphH / 2);\n  for (const ch of text) {\n    const glyph = GLYPHS[ch];\n    if (glyph !== undefined) {\n      for (let row = 0; row < 5; row += 1) {\n        const bits = glyph[row];\n        if (bits === undefined) continue;\n        for (let col = 0; col < 3; col += 1) {\n          if ((bits & (1 << (2 - col))) === 0) continue;\n          for (let sy = 0; sy < px; sy += 1) {\n            for (let sx = 0; sx < px; sx += 1) {\n              setPixel(png, originX + col * px + sx, originY + row * px + sy, color);\n            }\n          }\n        }\n      }\n    }\n    originX += glyphW + gap;\n  }\n}\n","/**\n * WiFi-signal map decode + render.\n *\n * The robot builds a Wi-Fi coverage map (map service SIID 6: action `wifiMap`\n * aiid 4 requests the last stored one, prop `PropWifiMap` piid 15 advertises the\n * OSS object). The blob is the SAME envelope/format as a normal map — a 27-byte\n * header + a width*height pixel grid — but each pixel's low nibble encodes the\n * Wi-Fi signal level instead of a floor/wall class (reversed from the app's\n * `getWifiMapInfo`, `mapInfo[i] & 15`):\n *\n *   10 = unreached (measured, no usable signal)\n *   11 = 1 bar (weakest)   12 = 2 bars   13 = 3 bars   14 = 4 bars (strongest)\n *\n * `left/top/gridSize` (world origin + mm-per-cell) and the robot/charger poses\n * come from the header, so a single blob is enough to sample the signal at any\n * world point — including the robot's own position.\n */\nimport { PNG } from 'pngjs';\nimport type { MapDimensions, MapPose } from './types.js';\nimport { unwrapEnvelope, looksLikeBase64Zlib, HEADER_SIZE, ANGLE_ABSENT } from './envelope.js';\nimport { parseMapHeader } from './header.js';\nimport type { VacuumMapDecodeOptions } from './types.js';\n\n/** Bars (1–4) keyed by the raw pixel nibble; 10 = unreached (0 bars). */\nconst NIBBLE_TO_BARS: Record<number, number> = { 10: 0, 11: 1, 12: 2, 13: 3, 14: 4 };\nconst isWifiNibble = (n: number): boolean => n >= 10 && n <= 14;\n\n/** Heatmap colours, matching the app (weakest→strongest), plus unreached + map outline. */\nconst NIBBLE_RGBA: Record<number, [number, number, number, number]> = {\n  2: [0xb0, 0xb6, 0xbe, 0xff], // map border (context)\n  3: [0xf2, 0xf4, 0xf7, 0xff], // mapped floor (context)\n  10: [0xe5, 0xea, 0xee, 0xff], // unreached\n  11: [0xd9, 0xe2, 0xef, 0xff], // 1 bar\n  12: [0xcd, 0xda, 0xef, 0xff], // 2 bars\n  13: [0xa1, 0xbd, 0xf2, 0xff], // 3 bars\n  14: [0x81, 0xa8, 0xf5, 0xff], // 4 bars\n};\n\nexport interface WifiSignalMap {\n  readonly dimensions: MapDimensions;\n  /** Robot pose from the frame header, or null when absent. */\n  readonly robot: MapPose | null;\n  /** Charging-dock pose from the frame header, or null when absent. */\n  readonly dock: MapPose | null;\n  /** Raw per-cell nibble (`pixel & 15`), row-major (width*height). */\n  readonly cells: Uint8Array;\n  /** Signal bars (1–4) at a world point, 0 = unreached, or null = no Wi-Fi data / off-map. */\n  signalAt(worldX: number, worldY: number): number | null;\n  /** Signal bars at the robot's own position (or null when unknown). */\n  readonly currentSignal: number | null;\n}\n\nconst poseOrNull = (x: number, y: number, a: number): MapPose | null =>\n  x === 0 && y === 0 ? null : { x, y, angle: a === ANGLE_ABSENT ? 0 : a };\n\n/** Decode a Wi-Fi map blob (raw string/Buffer or already-inflated) into signal cells + geometry. */\nexport function decodeWifiSignalMap(\n  input: string | Buffer,\n  opts: VacuumMapDecodeOptions = {},\n): WifiSignalMap {\n  const inflated =\n    typeof input === 'string'\n      ? unwrapEnvelope(input, opts)\n      : looksLikeBase64Zlib(input)\n        ? unwrapEnvelope(input.toString('latin1'), opts)\n        : input;\n\n  const header = parseMapHeader(inflated);\n  const { width, height, gridSize, left, top } = header;\n  const pixelEnd = HEADER_SIZE + width * height;\n  const grid = inflated.subarray(HEADER_SIZE, pixelEnd);\n\n  const cells = new Uint8Array(width * height);\n  for (let i = 0; i < cells.length; i++) cells[i] = (grid[i] ?? 0) & 0x0f;\n\n  const dimensions: MapDimensions = { left, top, width, height, gridSize };\n  const robot = poseOrNull(header.robotX, header.robotY, header.robotA);\n  const dock = poseOrNull(header.chargerX, header.chargerY, header.chargerA);\n\n  const signalAt = (worldX: number, worldY: number): number | null => {\n    if (gridSize <= 0) return null;\n    const col = Math.floor((worldX - left) / gridSize);\n    const row = Math.floor((worldY - top) / gridSize);\n    if (col < 0 || col >= width || row < 0 || row >= height) return null;\n    const nibble = cells[row * width + col] ?? 0;\n    return isWifiNibble(nibble) ? NIBBLE_TO_BARS[nibble]! : null;\n  };\n\n  return {\n    dimensions,\n    robot,\n    dock,\n    cells,\n    signalAt,\n    currentSignal: robot ? signalAt(robot.x, robot.y) : null,\n  };\n}\n\nexport interface RenderWifiSignalPngOptions {\n  /** Upscale factor (each map cell → scale×scale px). Default 4. */\n  scale?: number;\n  /** Draw a marker at the robot position. Default true. */\n  markRobot?: boolean;\n}\n\n/**\n * Render a simple Wi-Fi coverage heatmap PNG (weakest→strongest blue, unreached\n * grey, no-data transparent), with an optional robot marker — a ready-to-show\n * image for consumers.\n */\nexport function renderWifiSignalPng(map: WifiSignalMap, opts: RenderWifiSignalPngOptions = {}): Buffer {\n  const scale = Math.max(1, Math.floor(opts.scale ?? 4));\n  const { width, height, left, top, gridSize } = map.dimensions;\n  const png = new PNG({ width: width * scale, height: height * scale, colorType: 6 });\n\n  for (let row = 0; row < height; row++) {\n    for (let col = 0; col < width; col++) {\n      const nibble = map.cells[row * width + col] ?? 0;\n      const rgba = NIBBLE_RGBA[nibble];\n      if (!rgba) continue; // no Wi-Fi data here → leave transparent\n      for (let dy = 0; dy < scale; dy++) {\n        for (let dx = 0; dx < scale; dx++) {\n          const px = (col * scale + dx) + (row * scale + dy) * width * scale;\n          const o = px << 2;\n          png.data[o] = rgba[0];\n          png.data[o + 1] = rgba[1];\n          png.data[o + 2] = rgba[2];\n          png.data[o + 3] = rgba[3];\n        }\n      }\n    }\n  }\n\n  if ((opts.markRobot ?? true) && map.robot && gridSize > 0) {\n    const cx = Math.floor((map.robot.x - left) / gridSize) * scale + Math.floor(scale / 2);\n    const cy = Math.floor((map.robot.y - top) / gridSize) * scale + Math.floor(scale / 2);\n    const r = Math.max(2, scale);\n    for (let dy = -r; dy <= r; dy++) {\n      for (let dx = -r; dx <= r; dx++) {\n        if (dx * dx + dy * dy > r * r) continue;\n        const x = cx + dx;\n        const y = cy + dy;\n        if (x < 0 || y < 0 || x >= width * scale || y >= height * scale) continue;\n        const o = (x + y * width * scale) << 2;\n        png.data[o] = 0xff;\n        png.data[o + 1] = 0x45;\n        png.data[o + 2] = 0x00;\n        png.data[o + 3] = 0xff;\n      }\n    }\n  }\n\n  return PNG.sync.write(png);\n}\n","/**\n * Resolve a Dreame OSS object name (advertised via the PATH push,\n * `siid 6 piid 3`) to a signed download URL and fetch the blob.\n *\n * Endpoint: `POST /dreame-user-iot/iotfile/getDownloadUrl`\n * Body:     `{ did, model, filename, region }`\n * Response: `{ code: 0, data: \"<signed-url-string>\" }` — `data` is the\n *           URL string itself, not a nested `{ url }` object.\n *\n * The signed URL is good for ~1 hour (Aliyun signature). We cache it\n * for 30 min by default and on cache hit append `current=<unix_ts>` to\n * bust any intermediate caches (Tasshack convention).\n *\n * v1 only handles live blobs (the I-frame parked in OSS by the device).\n * Permanent saved-map blobs use a different filename mangling — deferred.\n *\n * ADAPTED from node-dreame's `src/map/oss-fetch.ts`: the only changes are\n * import-path rewrites onto our transport (`RequestContext`/`httpPostJson`\n * from `transport/http`, `DreameApiError`/`DreameTransportError` from\n * `transport/errors`, `DreameRegion` from `auth/config`) and typing the\n * injected fetch seam as our `FetchImpl` (undici-backed) rather than the\n * donor's global `typeof fetch` — so the mock type-checks with no cast.\n */\n\nimport type { DreameRegion } from '../../../auth/config.js';\nimport { RequestContext, httpPostJson } from '../../../transport/http.js';\nimport type { FetchImpl } from '../../../transport/fetch.js';\nimport { defaultFetch } from '../../../transport/fetch.js';\nimport { DreameApiError, DreameTransportError } from '../../../transport/errors.js';\n\nconst OSS_DOWNLOAD_PATH = '/dreame-user-iot/iotfile/getDownloadUrl';\nconst DEFAULT_TTL_MS = 30 * 60 * 1000;\n\nexport interface OssFetchInput {\n  /** Resolved API host (e.g. `eu.iot.dreame.tech:13267`). */\n  host: string;\n  /** Bearer token from the active `DreameSession`. */\n  accessToken: string;\n  /** Region — used for header construction and the body's `region` field. */\n  region: DreameRegion;\n  /** Optional `country` override for headers (defaults from region). */\n  country?: string;\n  /** Optional `lang` override for headers (defaults from region). */\n  lang?: string;\n  /** Device id. */\n  did: string;\n  /** Device model. */\n  model: string;\n  /** OSS object name (`ali_dreame/<uid>/<did>/<n>`). */\n  filename: string;\n  /** Caller-supplied AbortSignal — composed with the HTTP timeout. */\n  signal?: AbortSignal;\n  /** Per-request timeout override in ms. Pass `0` to disable. */\n  timeoutMs?: number;\n}\n\nexport interface OssFetcherOpts {\n  /** Cache TTL in ms. Default 30 min. */\n  ttlMs?: number;\n  /** Inject a clock (for tests). Default `Date.now`. */\n  now?: () => number;\n  /** Inject fetch (for tests). Default the shared undici-backed `defaultFetch`. */\n  fetchImpl?: FetchImpl;\n}\n\ninterface OssResolveResponse {\n  code?: number;\n  msg?: string;\n  data?: string;\n}\n\ninterface CacheEntry {\n  url: string;\n  expiresAt: number;\n}\n\n/**\n * Minimal fetcher seam consumed by `VacuumDevice.getMap`. Lets callers\n * inject a custom signed-blob fetcher (e.g. a cache-backed or proxied one)\n * without depending on the concrete {@link OssFetcher} class. The real\n * {@link OssFetcher} implements this interface.\n */\nexport interface OssFetcherLike {\n  fetchBlob(input: OssFetchInput): Promise<Buffer>;\n}\n\nexport class OssFetcher implements OssFetcherLike {\n  private readonly ttlMs: number;\n  private readonly now: () => number;\n  private readonly fetchImpl: FetchImpl;\n  private readonly cache = new Map<string, CacheEntry>();\n  /** In-flight fetchBlob calls, keyed `did:filename`. Lets us coalesce concurrent fetches for the same blob. */\n  private readonly inflight = new Map<string, Promise<Buffer>>();\n\n  constructor(opts: OssFetcherOpts = {}) {\n    this.ttlMs = opts.ttlMs ?? DEFAULT_TTL_MS;\n    this.now = opts.now ?? Date.now;\n    this.fetchImpl = opts.fetchImpl ?? defaultFetch;\n  }\n\n  /**\n   * Resolve `input.filename` to a signed download URL. Uses the cache\n   * when fresh; on cache hit returns the cached URL with\n   * `current=<unix_ts>` appended (using `&` if the URL already has a\n   * query string — Aliyun signed URLs always do).\n   */\n  async resolveUrl(input: OssFetchInput): Promise<string> {\n    const key = `${input.did}:${input.filename}`;\n    const now = this.now();\n    const cached = this.cache.get(key);\n    if (cached && cached.expiresAt > now) {\n      const sep = cached.url.includes('?') ? '&' : '?';\n      return `${cached.url}${sep}current=${Math.floor(now / 1000)}`;\n    }\n\n    const ctx = RequestContext.from({ ...input, fetchImpl: this.fetchImpl });\n\n    const resp = await httpPostJson<OssResolveResponse>({\n      ctx,\n      url: ctx.url(OSS_DOWNLOAD_PATH),\n      headers: ctx.headers({\n        accessToken: input.accessToken,\n        contentType: 'application/json',\n      }),\n      body: JSON.stringify({\n        did: input.did,\n        model: input.model,\n        filename: input.filename,\n        region: input.region,\n      }),\n      context: 'oss download url',\n      ...(input.signal !== undefined ? { signal: input.signal } : {}),\n      ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n    });\n\n    if (typeof resp.data !== 'string' || resp.data.length === 0) {\n      throw new DreameApiError(\n        `oss download url response missing data: ${JSON.stringify(resp).slice(0, 200)}`,\n        200,\n        resp,\n      );\n    }\n\n    this.cache.set(key, { url: resp.data, expiresAt: now + this.ttlMs });\n    return resp.data;\n  }\n\n  /**\n   * Resolve, GET the signed URL, and return the raw bytes.\n   *\n   * Concurrent calls for the same `(did, filename)` pair are coalesced\n   * into a single network request — the second caller awaits the first's\n   * Promise instead of issuing a duplicate fetch.\n   */\n  async fetchBlob(input: OssFetchInput): Promise<Buffer> {\n    const key = `${input.did}:${input.filename}`;\n    const existing = this.inflight.get(key);\n    if (existing) {\n      return existing;\n    }\n    const promise = this.#doFetchBlob(input).finally(() => {\n      this.inflight.delete(key);\n    });\n    this.inflight.set(key, promise);\n    return promise;\n  }\n\n  async #doFetchBlob(input: OssFetchInput): Promise<Buffer> {\n    const url = await this.resolveUrl(input);\n    let res: Awaited<ReturnType<FetchImpl>>;\n    try {\n      res = await this.fetchImpl(url, {\n        method: 'GET',\n        ...(input.signal !== undefined ? { signal: input.signal } : {}),\n      });\n    } catch (err) {\n      throw new DreameTransportError(`oss download network error`, err);\n    }\n    if (!res.ok) {\n      const text = await res.text().catch(() => '');\n      throw new DreameApiError(\n        `oss download failed: ${res.status} ${text.slice(0, 200)}`,\n        res.status,\n      );\n    }\n    return Buffer.from(await res.arrayBuffer());\n  }\n\n  /** Drop all cached URLs. */\n  clearCache(): void {\n    this.cache.clear();\n  }\n}\n","import {\n  BaseDevice,\n  type BaseDeviceInput,\n  type BaseDeviceEvents,\n} from '../../device/base-device.js';\nimport {\n  VACUUM_PROP,\n  VACUUM_ACTION,\n  BATTERY_PROP,\n  SETTINGS_PROP,\n  CONSUMABLE_PROP,\n  CUSTOM_CLEAN_MODE,\n} from './properties.js';\nimport {\n  ChargingStatus,\n  CleaningMode,\n  MiotState,\n  SuctionLevel,\n  TaskStatus,\n  WaterVolume,\n} from './enums.js';\nimport { asNum, parseFaultList } from './decode.js';\nimport {\n  decodeAiFeature,\n  encodeAiFeatureWrite,\n  type AiDetectionRaw,\n  type DreameAiFeature,\n} from './ai-detection.js';\nimport {\n  decodeAutoSwitch,\n  encodeAutoSwitchWrite,\n  supportedAutoSwitchKeys,\n  type AutoSwitchKey,\n  type AutoSwitchRaw,\n} from './auto-switch.js';\nimport {\n  VACUUM_CONSUMABLES,\n  consumableSpec,\n  type ConsumableReading,\n  type DreameConsumableKey,\n} from './consumables.js';\nimport { enumLookup } from '../_shared/decode.js';\nimport {\n  VacuumCapabilityResolver,\n  getVacuumCapabilities,\n  type VacuumCapabilities,\n} from './capabilities.js';\nimport { DreameError } from '../../transport/errors.js';\nimport { DreameVideoSession } from '../../video/aliyun/session.js';\nimport { explainNoCameraChannel } from '../../video/camera-availability.js';\nimport { getDeviceVideoProfile } from '../../video/client.js';\nimport { MONITOR_AIID, MONITOR_PIID, MONITOR_SIID } from '../../video/monitor/constants.js';\nimport { buildActionInput, makeMonitorSession } from '../../video/monitor/protocol.js';\nimport {\n  parseVideoVendorStatus,\n  vendorSwitchSettled,\n  videoVendorSwitchParams,\n  type VideoVendorStatus,\n} from '../../video/monitor/vendor.js';\nimport type { VideoVendor } from '../../video/types.js';\nimport {\n  DreameCameraController,\n  type RelayMinter,\n} from '../../video/monitor/controller.js';\nimport {\n  decodeVacuumMap,\n  applyVacuumPFrame,\n  MapDecodeError,\n  OssFetcher,\n  decodeWifiSignalMap,\n  renderWifiSignalPng,\n  type VacuumMap,\n  type VacuumMapDecodeOptions,\n  type OssFetchInput,\n  type OssFetcherLike,\n  type WifiSignalMap,\n  type RenderWifiSignalPngOptions,\n} from './map/index.js';\nimport { OutOfOrderFrameError } from './map/merge.js';\nimport { looksLikeBase64Zlib, unwrapEnvelope } from './map/envelope.js';\nimport { REGION_HOSTS } from '../../auth/config.js';\n\n/** Knobs for the segment/zone/spot helpers. Defaults pull from cached state. */\nexport interface CleanOpts {\n  repeats?: number;\n  fan?: number;\n  water?: number;\n}\n\n/**\n * The vacuum widens the {@link BaseDeviceEvents} map with a `'map'` event,\n * emitted by {@link VacuumDevice.getMap} once a fresh map has been decoded.\n * Declaring it here lets `VacuumDevice extends BaseDevice<VacuumDeviceEvents>`\n * type the emitter with no banned cast.\n */\nexport type VacuumDeviceEvents = BaseDeviceEvents & {\n  map: [VacuumMap];\n};\n\n/** Input to {@link VacuumDevice.getMap}. */\nexport interface VacuumGetMapInput {\n  /** OSS object name advertised via the PATH push (siid 6 piid 3). */\n  filename: string;\n  /**\n   * Inject the signed-blob fetcher (tests pass a fake). Defaults to a fresh\n   * {@link OssFetcher}. Typed as {@link OssFetcherLike} so consumers can pass\n   * any object exposing a compatible `fetchBlob`.\n   */\n  fetcher?: OssFetcherLike;\n  /** Optional AES key for an encrypted blob (hex). */\n  key?: string;\n  /** Optional AES IV for an encrypted blob (hex). */\n  iv?: string;\n  /** Override the API host (defaults from the device region). */\n  host?: string;\n  /** Per-request timeout override in ms. */\n  timeoutMs?: number;\n  /** Caller-supplied AbortSignal. */\n  signal?: AbortSignal;\n}\n\n/** Input to {@link VacuumDevice.getWifiSignalMap} / {@link VacuumDevice.getCurrentSignal}. */\nexport interface WifiSignalMapInput {\n  /** Request the last stored map first (default true). `false` = read what's advertised. */\n  requestFresh?: boolean;\n  /** Poll interval (ms) while waiting for the OSS object to be advertised. Default 2500. */\n  pollMs?: number;\n  /** Max wait (ms) for the map to become available. Default 20000. */\n  maxWaitMs?: number;\n  /** Inject the signed-blob fetcher (tests pass a fake). */\n  fetcher?: OssFetcherLike;\n  /** Optional AES key/iv for an encrypted blob (hex). */\n  key?: string;\n  iv?: string;\n  /** Override the API host (defaults from the device region). */\n  host?: string;\n  /** Per-request timeout override in ms. */\n  timeoutMs?: number;\n  /** Caller-supplied AbortSignal. */\n  signal?: AbortSignal;\n}\n\nconst SUCTION = enumLookup<SuctionLevel>([\n  SuctionLevel.Quiet,\n  SuctionLevel.Standard,\n  SuctionLevel.Intense,\n  SuctionLevel.Max,\n]);\nconst WATER = enumLookup<WaterVolume>([WaterVolume.Low, WaterVolume.Medium, WaterVolume.High]);\nconst CLEAN_MODE = enumLookup<CleaningMode>([\n  CleaningMode.Sweeping,\n  CleaningMode.Mopping,\n  CleaningMode.SweepAndMop,\n  CleaningMode.MopAfterSweep,\n]);\nconst STATE = enumLookup<MiotState>(\n  Object.values(MiotState).filter((v): v is MiotState => typeof v === 'number'),\n);\nconst CHARGING = enumLookup<ChargingStatus>([\n  ChargingStatus.Charging,\n  ChargingStatus.Discharging,\n  ChargingStatus.Returning,\n]);\nconst TASK = enumLookup<TaskStatus>([\n  TaskStatus.InterruptedOrPaused,\n  TaskStatus.Active,\n  TaskStatus.Transitioning,\n  TaskStatus.OnDockIdle,\n  TaskStatus.TransientPauseEdge,\n  TaskStatus.NeedsIntervention,\n]);\n\n/** A typed Dreame-vacuum handle (state + capability-gated commands). */\nexport class VacuumDevice extends BaseDevice<VacuumDeviceEvents> {\n  readonly #caps: VacuumCapabilities;\n  #lastMap: VacuumMap | null = null;\n\n  constructor(input: BaseDeviceInput) {\n    super({\n      ...input,\n      // Inject the vacuum resolver so the inherited generic `capabilities`\n      // getter carries the vacuum token set (no banned cast).\n      capabilities:\n        input.capabilities ?? new VacuumCapabilityResolver().resolve(input.device.model),\n    });\n    this.#caps = getVacuumCapabilities(input.device.model);\n  }\n\n  /** Rich, vacuum-specific capability record (booleans + supported enums). */\n  get vacuumCapabilities(): VacuumCapabilities {\n    return this.#caps;\n  }\n\n  /**\n   * The suction levels this model supports, as a {@link SuctionLevel} enum array\n   * (from the capability record). Lets a consumer see which fan speeds are\n   * selectable without reaching into {@link vacuumCapabilities}.\n   */\n  get supportedSuctionLevels(): readonly SuctionLevel[] {\n    return this.#caps.supportedSuctionLevels;\n  }\n  /** The water/mop volumes this model supports, as a {@link WaterVolume} enum array. */\n  get supportedWaterVolumes(): readonly WaterVolume[] {\n    return this.#caps.supportedWaterVolumes;\n  }\n\n  #num(siid: number, piid: number): number | null {\n    return asNum(this.getProperty(siid, piid)?.value);\n  }\n\n  // -- typed state --------------------------------------------------------\n  get statusRaw(): number | null {\n    return this.#num(VACUUM_PROP.STATE.siid, VACUUM_PROP.STATE.piid);\n  }\n  get status(): MiotState | null {\n    return STATE(this.statusRaw);\n  }\n  get battery(): number | null {\n    return this.#num(BATTERY_PROP.LEVEL.siid, BATTERY_PROP.LEVEL.piid);\n  }\n  get chargingRaw(): number | null {\n    return this.#num(BATTERY_PROP.CHARGING_STATUS.siid, BATTERY_PROP.CHARGING_STATUS.piid);\n  }\n  get charging(): ChargingStatus | null {\n    return CHARGING(this.chargingRaw);\n  }\n  get isCharging(): boolean {\n    return this.charging === ChargingStatus.Charging;\n  }\n  /** Docked => MiotState Charging or ChargingComplete (on the dock). */\n  get isDocked(): boolean {\n    const s = this.status;\n    return s === MiotState.Charging || s === MiotState.ChargingComplete;\n  }\n  get suctionRaw(): number | null {\n    return this.#num(VACUUM_PROP.SUCTION_LEVEL.siid, VACUUM_PROP.SUCTION_LEVEL.piid);\n  }\n  get suction(): SuctionLevel | null {\n    return SUCTION(this.suctionRaw);\n  }\n  get waterRaw(): number | null {\n    return this.#num(VACUUM_PROP.WATER_VOLUME.siid, VACUUM_PROP.WATER_VOLUME.piid);\n  }\n  get water(): WaterVolume | null {\n    return WATER(this.waterRaw);\n  }\n  /** Reads the SAFE CLEAN_MODE_SETTING (siid 2 piid 6), plain 0-3. */\n  get cleaningModeRaw(): number | null {\n    return this.#num(VACUUM_PROP.CLEAN_MODE_SETTING.siid, VACUUM_PROP.CLEAN_MODE_SETTING.piid);\n  }\n  get cleaningMode(): CleaningMode | null {\n    return CLEAN_MODE(this.cleaningModeRaw);\n  }\n  get taskStatusRaw(): number | null {\n    return this.#num(VACUUM_PROP.TASK_STATUS.siid, VACUUM_PROP.TASK_STATUS.piid);\n  }\n  get taskStatus(): TaskStatus | null {\n    return TASK(this.taskStatusRaw);\n  }\n  get errorCode(): number | null {\n    return this.#num(VACUUM_PROP.ERROR.siid, VACUUM_PROP.ERROR.piid);\n  }\n  get faults(): readonly number[] {\n    return parseFaultList(\n      this.getProperty(VACUUM_PROP.FAULTS_STR.siid, VACUUM_PROP.FAULTS_STR.piid)?.value,\n    );\n  }\n  get taskProgressPct(): number | null {\n    return this.#num(VACUUM_PROP.TASK_PROGRESS_PCT.siid, VACUUM_PROP.TASK_PROGRESS_PCT.piid);\n  }\n  get mainBrushLeftPct(): number | null {\n    return this.#num(CONSUMABLE_PROP.MAIN_BRUSH_LEFT.siid, CONSUMABLE_PROP.MAIN_BRUSH_LEFT.piid);\n  }\n  get sideBrushLeftPct(): number | null {\n    return this.#num(CONSUMABLE_PROP.SIDE_BRUSH_LEFT.siid, CONSUMABLE_PROP.SIDE_BRUSH_LEFT.piid);\n  }\n  get filterLeftPct(): number | null {\n    return this.#num(CONSUMABLE_PROP.FILTER_LEFT.siid, CONSUMABLE_PROP.FILTER_LEFT.piid);\n  }\n  get volume(): number | null {\n    return this.#num(SETTINGS_PROP.VOLUME.siid, SETTINGS_PROP.VOLUME.piid);\n  }\n\n  // -- consumables --------------------------------------------------------\n  /**\n   * Remaining-life % (0..100) for one consumable, or `null` when the model does\n   * not report it (presence == support). Call {@link refreshConsumables} first\n   * on a docked robot so the cloud-shadow life values are seeded.\n   */\n  consumableLeftPct(key: DreameConsumableKey): number | null {\n    const spec = consumableSpec(key);\n    if (spec === undefined) return null;\n    return this.#num(spec.life.siid, spec.life.piid);\n  }\n\n  /**\n   * The consumables this model EXPOSES — discovered by presence (a reported\n   * life property), mirroring how the HA integration derives support. Each\n   * reading carries the current remaining-life % and whether a reset action\n   * exists. Empty until the life properties have been observed (push) or seeded\n   * via {@link refreshConsumables}.\n   */\n  get supportedConsumables(): readonly ConsumableReading[] {\n    return VACUUM_CONSUMABLES.flatMap((spec) => {\n      const leftPct = this.#num(spec.life.siid, spec.life.piid);\n      return leftPct === null\n        ? []\n        : [{ key: spec.key, label: spec.label, leftPct, resettable: spec.reset !== null }];\n    });\n  }\n\n  /**\n   * Seed EVERY consumable life property from the cloud shadow (no robot wake) so\n   * {@link supportedConsumables} reflects the full set on a docked robot. The\n   * consumable life values are static settings the robot rarely re-pushes over\n   * MQTT, so a fresh connect surfaces only the actively-changing ones without this.\n   */\n  async refreshConsumables(): Promise<void> {\n    await this.refreshCachedProperties(VACUUM_CONSUMABLES.map((c) => c.life));\n  }\n\n  /**\n   * Reset (mark replaced → life back to 100%) one consumable via its MIoT reset\n   * action. Rejects when the model exposes no reset action for the key (e.g.\n   * `dust-bag`) or the key is unknown.\n   */\n  async resetConsumable(key: DreameConsumableKey): Promise<unknown> {\n    const spec = consumableSpec(key);\n    if (spec === undefined || spec.reset === null) {\n      throw new DreameError(`resetConsumable: no reset action for consumable \"${key}\"`);\n    }\n    return this.callAction(spec.reset.siid, spec.reset.aiid, []);\n  }\n\n  // -- AI obstacle-detection ----------------------------------------------\n  /**\n   * The raw `AI_DETECTION` value (siid 4 piid 22) — an int bitmask or a JSON\n   * string, depending on firmware — or `null` when not yet observed. Prefer the\n   * decoded {@link aiFeature} / {@link supportedAiFeatures} surface.\n   */\n  get aiDetectionRaw(): AiDetectionRaw {\n    const v = this.getProperty(VACUUM_PROP.AI_DETECTION.siid, VACUUM_PROP.AI_DETECTION.piid)?.value;\n    return typeof v === 'number' || typeof v === 'string' ? v : null;\n  }\n\n  /** The AI-obstacle toggles this model exposes (from its capability record). */\n  get supportedAiFeatures(): readonly DreameAiFeature[] {\n    return this.#caps.supportedAiFeatures;\n  }\n\n  /**\n   * Read ONE AI-obstacle toggle's on/off state, decoded from the packed\n   * `AI_DETECTION` value (transparent across the int / JSON encodings). `null`\n   * when the value is unobserved or the feature is not representable.\n   */\n  aiFeature(feature: DreameAiFeature): boolean | null {\n    return decodeAiFeature(this.aiDetectionRaw, feature);\n  }\n\n  /**\n   * Seed {@link aiDetectionRaw} from the CLOUD SHADOW (the last value the robot\n   * pushed for `AI_DETECTION`, siid 4 piid 22) WITHOUT waking it. The AI-obstacle\n   * toggles are STATIC settings the robot rarely re-pushes over MQTT, so a fresh\n   * connect to an idle robot has no value cached — call this on activate to\n   * surface the current toggles. Emits the usual `propertyChanged`/`stateChanged`\n   * (so a watching consumer re-decodes) and returns the resolved raw value\n   * (`null` when the model has no AI detection or the shadow carries none yet).\n   */\n  async refreshAiDetection(): Promise<AiDetectionRaw> {\n    if (!this.#caps.hasAiObstacleDetection) return null;\n    await this.refreshCachedProperties([VACUUM_PROP.AI_DETECTION]);\n    return this.aiDetectionRaw;\n  }\n\n  /**\n   * Toggle ONE AI-obstacle feature, preserving the others via a read-modify-write\n   * of the packed `AI_DETECTION` property (mirrors Tasshack `set_ai_detection`).\n   * Capability-gated on `hasAiObstacleDetection`; rejects when the current value\n   * is unknown (a blind write would clobber the other toggles).\n   */\n  async setAiFeature(feature: DreameAiFeature, value: boolean): Promise<unknown> {\n    this.#requireCap(this.#caps.hasAiObstacleDetection, 'setAiFeature', 'AI obstacle detection');\n    const next = encodeAiFeatureWrite(this.aiDetectionRaw, feature, value);\n    return this.setProperty({ ...VACUUM_PROP.AI_DETECTION, value: next });\n  }\n\n  // -- auto-switch settings -----------------------------------------------\n  /**\n   * The raw `AUTO_SWITCH_SETTINGS` value (siid 4 piid 50) — a JSON string packing\n   * every secondary toggle/setting — or `null` when not yet observed. Prefer the\n   * decoded {@link autoSwitchProperty} / {@link supportedAutoSwitchKeys} surface.\n   */\n  get autoSwitchRaw(): AutoSwitchRaw {\n    const v = this.getProperty(\n      VACUUM_PROP.AUTO_SWITCH_SETTINGS.siid,\n      VACUUM_PROP.AUTO_SWITCH_SETTINGS.piid,\n    )?.value;\n    return typeof v === 'string' ? v : null;\n  }\n\n  /** Whether this model reports the packed auto-switch bundle at all. */\n  get hasAutoSwitchSettings(): boolean {\n    return this.autoSwitchRaw !== null;\n  }\n\n  /**\n   * The auto-switch settings this model reports, decoded from the packed value.\n   * Presence-driven (a key appears iff the payload carries it) — mirrors\n   * Tasshack `auto_switch_data`.\n   */\n  get supportedAutoSwitchKeys(): readonly AutoSwitchKey[] {\n    return supportedAutoSwitchKeys(this.autoSwitchRaw);\n  }\n\n  /**\n   * Read ONE auto-switch setting's int value, decoded from the packed\n   * `AUTO_SWITCH_SETTINGS` payload. `null` when the value is unobserved or the\n   * key is not present. The value is an opaque int (boolean 0/1, a small enum, or\n   * a `-1`/`-n` \"not applicable\" sentinel) — the caller interprets it.\n   */\n  autoSwitchProperty(key: AutoSwitchKey): number | null {\n    return decodeAutoSwitch(this.autoSwitchRaw, key);\n  }\n\n  /**\n   * Seed {@link autoSwitchRaw} from the CLOUD SHADOW (the last value the robot\n   * pushed for `AUTO_SWITCH_SETTINGS`, siid 4 piid 50) WITHOUT waking it. Like the\n   * AI bundle these are STATIC settings the robot rarely re-pushes over MQTT, so a\n   * fresh connect to an idle robot has no value cached — call this on activate to\n   * surface the current settings. Returns the resolved raw value (`null` when the\n   * shadow carries none yet).\n   */\n  async refreshAutoSwitch(): Promise<AutoSwitchRaw> {\n    await this.refreshCachedProperties([VACUUM_PROP.AUTO_SWITCH_SETTINGS]);\n    return this.autoSwitchRaw;\n  }\n\n  /**\n   * Set ONE auto-switch setting. Mirrors Tasshack `set_auto_switch_property`: a\n   * single-key `{\"k\":<key>,\"v\":<int>}` write the device merges server-side (the\n   * other settings are preserved without a read-modify-write). Rejects when the\n   * model does not report the bundle.\n   */\n  async setAutoSwitchProperty(key: AutoSwitchKey, value: number): Promise<unknown> {\n    this.#requireCap(this.hasAutoSwitchSettings, 'setAutoSwitchProperty', 'auto-switch settings');\n    const next = encodeAutoSwitchWrite(key, value);\n    return this.setProperty({ ...VACUUM_PROP.AUTO_SWITCH_SETTINGS, value: next });\n  }\n\n  // -- command helpers ----------------------------------------------------\n  #resolveCleanOpts(opts: CleanOpts): { repeats: number; fan: number; water: number } {\n    const repeats = Math.max(1, Math.trunc(opts.repeats ?? 1));\n    const fan = opts.fan ?? this.suctionRaw ?? SuctionLevel.Standard;\n    const water = opts.water ?? this.waterRaw ?? WaterVolume.Medium;\n    return { repeats, fan, water };\n  }\n\n  #startCustom(mode: number, payload: Record<string, unknown>): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.START_CUSTOM.siid, VACUUM_ACTION.START_CUSTOM.aiid, [\n      { piid: 1, value: mode },\n      { piid: 10, value: JSON.stringify(payload) },\n    ]);\n  }\n\n  #requireCap(flag: boolean, op: string, feature: string): void {\n    if (!flag) {\n      throw new DreameError(`${op}: model ${this.model} does not support ${feature}`);\n    }\n  }\n\n  // -- no-arg commands ----------------------------------------------------\n  /**\n   * Start cleaning (MIoT action siid 2 aiid 1). Named `startCleaning` — NOT\n   * `start` — because `BaseDevice.start()` is the lifecycle method that opens\n   * the MQTT push, and the facade relies on that meaning. Donor `node-dreame`\n   * names this `start()` only because its standalone `Vacuum` class owns no\n   * lifecycle method to collide with.\n   */\n  startCleaning(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.START.siid, VACUUM_ACTION.START.aiid, []);\n  }\n  pause(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.PAUSE.siid, VACUUM_ACTION.PAUSE.aiid, []);\n  }\n  stop(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.STOP.siid, VACUUM_ACTION.STOP.aiid, []);\n  }\n  /** Return to the dock / charge (MIoT action CHARGE, siid 3 aiid 1). */\n  dock(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.CHARGE.siid, VACUUM_ACTION.CHARGE.aiid, []);\n  }\n  locate(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.LOCATE.siid, VACUUM_ACTION.LOCATE.aiid, []);\n  }\n  clearWarning(): Promise<unknown> {\n    return this.callAction(VACUUM_ACTION.CLEAR_WARNING.siid, VACUUM_ACTION.CLEAR_WARNING.aiid, []);\n  }\n  async startAutoEmpty(): Promise<unknown> {\n    this.#requireCap(this.#caps.canAutoEmpty, 'startAutoEmpty', 'auto-empty');\n    return this.callAction(\n      VACUUM_ACTION.START_AUTO_EMPTY.siid,\n      VACUUM_ACTION.START_AUTO_EMPTY.aiid,\n      [],\n    );\n  }\n\n  // -- settings writes ----------------------------------------------------\n  /** Type-safe suction write. Validates against the model's supported levels. */\n  setSuction(level: SuctionLevel): Promise<unknown> {\n    return this.setSuctionRaw(level);\n  }\n  /**\n   * Untyped suction write: validates an arbitrary number against the model's\n   * supported levels and rejects with `RangeError` on an invalid input. This\n   * is the raw-input entry point so callers (and tests) can exercise validation\n   * with no type assertions. `async` so the guard surfaces as a rejection.\n   */\n  async setSuctionRaw(level: number): Promise<unknown> {\n    if (!this.#caps.supportedSuctionLevels.includes(level)) {\n      throw new RangeError(`setSuction: unsupported suction level ${String(level)}`);\n    }\n    return this.setProperty({ ...VACUUM_PROP.SUCTION_LEVEL, value: level });\n  }\n  /** Type-safe water-volume write. Validates against supported volumes. */\n  setWater(volume: WaterVolume): Promise<unknown> {\n    return this.setWaterRaw(volume);\n  }\n  /** Untyped water-volume write: validates an arbitrary number (zero casts). */\n  async setWaterRaw(volume: number): Promise<unknown> {\n    if (!this.#caps.supportedWaterVolumes.includes(volume)) {\n      throw new RangeError(`setWater: unsupported water volume ${String(volume)}`);\n    }\n    return this.setProperty({ ...VACUUM_PROP.WATER_VOLUME, value: volume });\n  }\n  /** SAFE clean-mode write — uses CLEAN_MODE_SETTING (siid 2 piid 6), never the 0x1400 bitfield. */\n  setCleaningMode(mode: CleaningMode): Promise<unknown> {\n    return this.setProperty({ ...VACUUM_PROP.CLEAN_MODE_SETTING, value: mode });\n  }\n\n  // -- targeted cleaning --------------------------------------------------\n  async cleanSegments(ids: number[], opts: CleanOpts = {}): Promise<unknown> {\n    // Argument validation precedes capability gating (donor convention): an\n    // empty array throws RangeError regardless of model capability.\n    if (ids.length === 0) {\n      throw new RangeError('cleanSegments: ids must not be empty');\n    }\n    this.#requireCap(this.#caps.canCleanPerRoom, 'cleanSegments', 'per-room cleaning');\n    const { repeats, fan, water } = this.#resolveCleanOpts(opts);\n    const selects = ids.map((id) => [id, repeats, fan, water, 1]);\n    return this.#startCustom(CUSTOM_CLEAN_MODE.SEGMENT, { selects });\n  }\n  async cleanZones(\n    zones: Array<{ x0: number; y0: number; x1: number; y1: number }>,\n    opts: CleanOpts = {},\n  ): Promise<unknown> {\n    // Argument validation precedes capability gating (donor convention): an\n    // empty array throws RangeError regardless of model capability.\n    if (zones.length === 0) {\n      throw new RangeError('cleanZones: zones must not be empty');\n    }\n    this.#requireCap(this.#caps.canCleanPerRoom, 'cleanZones', 'per-room cleaning');\n    const { repeats, fan, water } = this.#resolveCleanOpts(opts);\n    const areas = zones.map((z) => [\n      Math.round(z.x0),\n      Math.round(z.y0),\n      Math.round(z.x1),\n      Math.round(z.y1),\n      repeats,\n      fan,\n      water,\n    ]);\n    return this.#startCustom(CUSTOM_CLEAN_MODE.ZONE, { areas });\n  }\n  /**\n   * Send the robot to clean a single point (the SPOT custom-clean action,\n   * mode 20). ASSUMED: Tasshack's \"go to point\" is the same SPOT action — this\n   * is exposed as `cleanSpot` because it maps to the spot/custom-clean action,\n   * not a distinct go-to. No separate `goTo` is exposed.\n   */\n  async cleanSpot(point: { x: number; y: number }, opts: CleanOpts = {}): Promise<unknown> {\n    this.#requireCap(this.#caps.canCleanPerRoom, 'cleanSpot', 'per-room cleaning');\n    const { repeats, fan, water } = this.#resolveCleanOpts(opts);\n    const points = [[Math.round(point.x), Math.round(point.y), repeats, fan, water]];\n    return this.#startCustom(CUSTOM_CLEAN_MODE.SPOT, { points });\n  }\n\n  /**\n   * Seed the cache from the CLOUD SHADOW (last-known values) WITHOUT waking the\n   * robot — reads {@link VacuumDevice.DEFAULT_PROPS} from the cloud-cached\n   * endpoint. After it resolves, every typed getter (status/battery/suction/\n   * water/cleaningMode/error/charging…) reflects the cached values, so a\n   * standby/docked vacuum reports its state exactly as the Dreamehome app does.\n   */\n  async refreshFromCache(): Promise<void> {\n    await this.refreshCachedProperties([...VacuumDevice.DEFAULT_PROPS]);\n  }\n\n  // -- maps ---------------------------------------------------------------\n  /** The most-recently-decoded map, or `null` until {@link getMap} succeeds. */\n  get lastMap(): VacuumMap | null {\n    return this.#lastMap;\n  }\n\n  /**\n   * The OSS object name of the latest map frame the robot advertised via its\n   * PATH push (siid 6 piid 3), or `null` when none has been observed yet (the\n   * robot has not uploaded a map since connect). This is the `filename` to pass\n   * to {@link getMap} — or just call {@link fetchLatestMap}.\n   */\n  get mapFilename(): string | null {\n    const v = this.getProperty(VACUUM_PROP.MAP_PATH.siid, VACUUM_PROP.MAP_PATH.piid)?.value;\n    return typeof v === 'string' && v.length > 0 ? v : null;\n  }\n\n  /**\n   * Convenience: fetch + decode the LATEST map frame the robot advertised,\n   * reading {@link mapFilename} and delegating to {@link getMap}. Returns `null`\n   * when no map filename has been observed yet (vs throwing) so a consumer can\n   * poll it safely; once a filename is present it behaves exactly like\n   * {@link getMap} (capability-gated on `canMap`, caches {@link lastMap}, emits\n   * `'map'`). The `fetcher`/`key`/`iv`/`host`/`timeoutMs`/`signal` overrides are\n   * forwarded verbatim.\n   */\n  async fetchLatestMap(opts: Omit<VacuumGetMapInput, 'filename'> = {}): Promise<VacuumMap | null> {\n    const filename = this.mapFilename;\n    if (filename === null) return null;\n    return this.getMap({ filename, ...opts });\n  }\n\n  /**\n   * Seed {@link mapFilename} from the CLOUD SHADOW (the last value the robot\n   * pushed for siid 6 piid 3) WITHOUT waking it — so a docked/idle robot can\n   * surface its LAST cleaning map without a fresh clean. Emits the usual\n   * `propertyChanged`/`stateChanged` (so a map-watching consumer re-renders) and\n   * returns the resolved {@link mapFilename} (null when the model has no map or\n   * the shadow carries no map path yet).\n   *\n   * NOTE: the shadow holds the last LIVE-PATH filename; its OSS blob may have\n   * expired, in which case a follow-up {@link fetchLatestMap} rejects — treat\n   * that as \"no saved map available\".\n   */\n  async refreshSavedMapFilename(): Promise<string | null> {\n    if (!this.#caps.canMap) return null;\n    await this.refreshCachedProperties([VACUUM_PROP.MAP_PATH]);\n    return this.mapFilename;\n  }\n\n  /**\n   * The current room/segment id, derived from the most-recently-decoded map's\n   * active-segment set (`sa`). `null` when no map has been fetched or no\n   * segment is currently active. REPLACES the P3 \"intentionally not exposed\"\n   * placeholder — the value now comes from the decoded map layer (P5).\n   */\n  get currentSegmentId(): number | null {\n    return this.#lastMap?.segments.find((s) => s.active)?.id ?? null;\n  }\n\n  /**\n   * Fetch the current saved/live-map blob (OSS), decode it, cache it as\n   * {@link lastMap}, emit a `'map'` event, and return the {@link VacuumMap}.\n   *\n   * Capability-gated on `canMap`. The `filename` is the OSS object name the\n   * caller resolves from a `mapInfo`/PATH push. The fetcher is injectable so\n   * tests drive it with a synthetic blob and no live network.\n   *\n   * NOTE: active live-frame P-frame STREAMING (continuous merge orchestration)\n   * is a documented follow-up; `getMap` resolves a single frame here. The\n   * `applyVacuumPFrame` merge primitive ships separately for that work.\n   */\n  async getMap(input: VacuumGetMapInput): Promise<VacuumMap> {\n    this.#requireCap(this.#caps.canMap, 'getMap', 'map decoding');\n    const blob = await this.#fetchMapBlob(input);\n    const map = decodeVacuumMap(blob, this.#decodeOpts(input));\n    this.#lastMap = map;\n    this.emit('map', map);\n    return map;\n  }\n\n  /** Fetch the raw OSS blob (still the base64+zlib envelope) for a map frame. */\n  async #fetchMapBlob(input: VacuumGetMapInput): Promise<Buffer> {\n    const session = this.currentSession();\n    const region = this.region;\n    const fetcher = input.fetcher ?? new OssFetcher();\n    const fetchInput: OssFetchInput = {\n      host: input.host ?? REGION_HOSTS[region],\n      accessToken: session.accessToken,\n      region,\n      did: this.deviceId,\n      model: this.model,\n      filename: input.filename,\n      ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n      ...(input.signal !== undefined ? { signal: input.signal } : {}),\n    };\n    return fetcher.fetchBlob(fetchInput);\n  }\n\n  /** The AES key/iv decode options, threaded from a {@link VacuumGetMapInput}. */\n  #decodeOpts(input: Pick<VacuumGetMapInput, 'key' | 'iv'>): VacuumMapDecodeOptions {\n    return {\n      ...(input.key !== undefined ? { key: input.key } : {}),\n      ...(input.iv !== undefined ? { iv: input.iv } : {}),\n    };\n  }\n\n  /**\n   * Fetch the robot's Wi-Fi signal map — the last stored coverage heatmap, with\n   * NO robot movement. Requests it (map service `wifiMap` action, siid 6 aiid 4),\n   * polls `PropWifiMap` (6/15) for the OSS object it advertises, fetches + decodes\n   * it into a per-cell signal grid + geometry + robot/dock poses. The signal at\n   * any world point (incl. the robot's own position) is a lookup — see\n   * {@link WifiSignalMap.signalAt} / {@link WifiSignalMap.currentSignal}.\n   *\n   * Pass `requestFresh: false` to skip the request and read whatever is already\n   * advertised. Throws if no Wi-Fi map exists yet (never run on this device).\n   */\n  async getWifiSignalMap(input: WifiSignalMapInput = {}): Promise<WifiSignalMap> {\n    if (input.requestFresh !== false) {\n      try {\n        await this.callAction(6, 4, []);\n      } catch {\n        /* best-effort: the object may already be advertised */\n      }\n    }\n    const pollMs = input.pollMs ?? 2500;\n    const deadline = Date.now() + (input.maxWaitMs ?? 20_000);\n    let objectName = '';\n    for (;;) {\n      const res = await this.refreshProperties([{ siid: 6, piid: 15 }]);\n      const val = res[0]?.value;\n      if (typeof val === 'string' && val.length > 0) {\n        objectName = val;\n        break;\n      }\n      if (Date.now() + pollMs >= deadline) {\n        throw new DreameError('wifi signal map not available (none stored yet, or request timed out)');\n      }\n      await new Promise((r) => setTimeout(r, pollMs));\n    }\n    // The property is `\"<n>,<oss-object-name>\"`; the OSS fetcher wants the object name.\n    const filename = objectName.replace(/^\\d+,/, '');\n    const blob = await this.#fetchMapBlob({\n      filename,\n      ...(input.fetcher ? { fetcher: input.fetcher } : {}),\n      ...(input.host ? { host: input.host } : {}),\n      ...(input.timeoutMs !== undefined ? { timeoutMs: input.timeoutMs } : {}),\n      ...(input.signal ? { signal: input.signal } : {}),\n    });\n    return decodeWifiSignalMap(blob, this.#decodeOpts(input));\n  }\n\n  /**\n   * Render the Wi-Fi signal map as a simple PNG heatmap image (weakest→strongest,\n   * unreached grey, robot marker) — ready to display. Convenience over\n   * {@link getWifiSignalMap} + {@link renderWifiSignalPng}.\n   */\n  async getWifiSignalImage(\n    input: WifiSignalMapInput & RenderWifiSignalPngOptions = {},\n  ): Promise<Buffer> {\n    const map = await this.getWifiSignalMap(input);\n    return renderWifiSignalPng(map, input);\n  }\n\n  /**\n   * The one-call \"current Wi-Fi signal\": fetches the signal map and returns the\n   * bars (1–4, 0 = unreached) at the robot's own position, or null when unknown.\n   */\n  async getCurrentSignal(input: WifiSignalMapInput = {}): Promise<number | null> {\n    const map = await this.getWifiSignalMap(input);\n    return map.currentSignal;\n  }\n\n  /**\n   * The merge base for live P-frame streaming — always an INFLATED frame buffer.\n   * An I-frame (re)seeds it; each P-frame merge replaces it with the merged\n   * inflated buffer (so further P-frames stack). `null` until the first I-frame\n   * (or after an out-of-order / map-id reset).\n   */\n  #mapStreamBase: Buffer | null = null;\n\n  /** Drop the P-frame merge base so the next I-frame re-seeds the stream. */\n  resetMapStream(): void {\n    this.#mapStreamBase = null;\n  }\n\n  /** Inflate an OSS blob to a raw frame buffer (live envelope → zlib; verbatim if already inflated). */\n  #inflateFrame(blob: Buffer, opts: VacuumMapDecodeOptions): Buffer {\n    return looksLikeBase64Zlib(blob) ? unwrapEnvelope(blob.toString('latin1'), opts) : blob;\n  }\n\n  /**\n   * Fetch the latest advertised map frame and fold it into a continuously\n   * updating map. An I-frame (re)seeds the merge base and renders standalone; a\n   * P-frame is merged onto the base via {@link applyVacuumPFrame} so the live\n   * grid stays COMPLETE (a P-frame decoded standalone is only byte-deltas). On an\n   * out-of-order P-frame or a map-id change the base is dropped and `null`\n   * returned — the next I-frame re-seeds. Returns `null` when no frame is\n   * advertised yet, or a P-frame arrives before any I-frame.\n   *\n   * Caches {@link lastMap} and emits `'map'` exactly like {@link getMap}, so a\n   * map-watching consumer (e.g. the camstack map child) gets a fresh complete\n   * frame on every push during a live clean.\n   */\n  async fetchLatestMapStreaming(\n    opts: Omit<VacuumGetMapInput, 'filename'> = {},\n  ): Promise<VacuumMap | null> {\n    this.#requireCap(this.#caps.canMap, 'fetchLatestMapStreaming', 'map decoding');\n    const filename = this.mapFilename;\n    if (filename === null) return null;\n    const input: VacuumGetMapInput = { filename, ...opts };\n    const decodeOpts = this.#decodeOpts(input);\n    const blob = await this.#fetchMapBlob(input);\n    const inflated = this.#inflateFrame(blob, decodeOpts);\n    const frame = decodeVacuumMap(inflated, decodeOpts);\n\n    if (frame.frameType === 'I') {\n      this.#mapStreamBase = inflated;\n      this.#lastMap = frame;\n      this.emit('map', frame);\n      return frame;\n    }\n\n    if (frame.frameType === 'P') {\n      if (this.#mapStreamBase === null) return null; // need an I-frame first\n      try {\n        // Both base and incoming frame are inflated buffers → mergePFrame path.\n        const { buffer, data } = applyVacuumPFrame(this.#mapStreamBase, inflated);\n        this.#mapStreamBase = buffer;\n        this.#lastMap = data;\n        this.emit('map', data);\n        return data;\n      } catch (err) {\n        // Out-of-order or a fresh map (id mismatch / grid change): drop the base\n        // and wait for the next I-frame to re-seed rather than render garbage.\n        if (err instanceof OutOfOrderFrameError || err instanceof MapDecodeError) {\n          this.#mapStreamBase = null;\n          return null;\n        }\n        throw err;\n      }\n    }\n\n    // 'W' (saved-map) or any other type: render standalone, leave the base as-is.\n    this.#lastMap = frame;\n    this.emit('map', frame);\n    return frame;\n  }\n\n  /**\n   * Build a {@link DreameCameraController} for this device's camera, wired to\n   * both planes it needs: the MIoT action transport (this device handle) and a\n   * fresh Aliyun {@link DreameVideoSession} for the relay. Call\n   * `controller.open()` to autonomously cold-start the stream and get a pullable\n   * RTMP URL, then `controller.close()` to release it.\n   *\n   * The camera's per-session privacy gate means a coded camera needs its PIN:\n   * pass `accessCode` (the code set at pairing). `iotId` is resolved from the\n   * device's cloud video profile when not supplied.\n   */\n  async createCameraController(opts?: {\n    /** LinkVisual channel id; resolved from the cloud profile when omitted. */\n    iotId?: string;\n    /** Privacy PIN set at pairing (required to wake a coded camera). */\n    accessCode?: string;\n    /** Video vendor; defaults to `ali` (the only vendor that mints an RTMP relay). */\n    vendor?: 'ali' | 'tx';\n    /** Aliyun region code reported as `area`; defaults to `'4'`. */\n    area?: string;\n    /** Keep-alive cadence in ms (default 10s). */\n    keepAliveIntervalMs?: number;\n    /** Max time to wait for the relay while the device wakes. */\n    wakeTimeoutMs?: number;\n    /** Reported when a keep-alive tick fails. */\n    onKeepAliveError?: (err: unknown) => void;\n    /** Optional nodelink-style line logger. */\n    log?: (line: string) => void;\n    /** Reuse an existing relay minter (e.g. a shared {@link DreameVideoSession}). */\n    relay?: RelayMinter;\n  }): Promise<DreameCameraController> {\n    const session = this.currentSession();\n    const region = this.region;\n    const relay =\n      opts?.relay ?? new DreameVideoSession({ session, region });\n    // The profile is KEPT, not reduced to its `iotId` and discarded. When the\n    // channel is missing it is the only thing that can say why — see\n    // `explainNoCameraChannel`. The old sentence named the missing field and\n    // covered four different causes with it, and telling them apart meant\n    // reading this library's source.\n    let iotId = opts?.iotId ?? null;\n    if (!iotId) {\n      const profile = await getDeviceVideoProfile({ session, region, did: this.deviceId });\n      iotId = profile.iotId;\n      if (!iotId) {\n        throw new DreameError(explainNoCameraChannel(profile) ?? 'device has no video channel');\n      }\n    }\n    return new DreameCameraController({\n      device: this,\n      relay,\n      iotId,\n      accountId: session.uid,\n      ...(opts?.vendor ? { vendor: opts.vendor } : {}),\n      ...(opts?.accessCode !== undefined ? { accessCode: opts.accessCode } : {}),\n      ...(opts?.area ? { area: opts.area } : {}),\n      ...(opts?.keepAliveIntervalMs !== undefined\n        ? { keepAliveIntervalMs: opts.keepAliveIntervalMs }\n        : {}),\n      ...(opts?.wakeTimeoutMs !== undefined ? { wakeTimeoutMs: opts.wakeTimeoutMs } : {}),\n      ...(opts?.onKeepAliveError ? { onKeepAliveError: opts.onKeepAliveError } : {}),\n      ...(opts?.log ? { log: opts.log } : {}),\n    });\n  }\n\n  /**\n   * What video backend this robot is on, and whether that backend's SDK is up.\n   *\n   * A CACHED read by default: the cloud shadow answers for a robot on its dock\n   * without waking it, which is the whole point of asking before deciding how\n   * to stream. Pass `{ live: true }` when the answer must be current — while a\n   * switch settles, for instance.\n   */\n  async readVideoVendorStatus(opts?: { live?: boolean }): Promise<VideoVendorStatus> {\n    const props = [{ siid: MONITOR_SIID, piid: MONITOR_PIID.VIDEO_VENDOR_STATUS }];\n    const results = opts?.live === true\n      ? await this.refreshProperties(props)\n      : await this.refreshCachedProperties(props);\n    return parseVideoVendorStatus(results[0]?.value);\n  }\n\n  /**\n   * Move this robot onto a video backend, and WAIT until it is really there.\n   *\n   * The two backends are not interchangeable: measured on an X50 on\n   * 2026-09-16, a robot on `tx` offers only Tencent's proprietary UDP P2P\n   * plane (`getRtcInfo` answers 404), while the same robot on `ali` streams\n   * through a plain RTMP relay this library implements end to end. So which\n   * one it sits on decides whether it can be streamed at all.\n   *\n   * The device reports the NEW vendor before its SDK is up, which is why the\n   * app polls rather than trusting the action's return — and why this resolves\n   * on `initStatus === 1` and not a moment earlier. A half-switched robot\n   * answers questions about a backend it cannot yet serve.\n   *\n   * Only meaningful on a dual-vendor device (`videoDynamicVendor`, with the\n   * target in `defaultVendors`); a device that cannot move simply never\n   * settles, and this reports that as a timeout rather than a silent success.\n   */\n  async setVideoVendor(\n    vendor: VideoVendor,\n    opts?: { timeoutMs?: number; pollIntervalMs?: number },\n  ): Promise<VideoVendorStatus> {\n    const already = await this.readVideoVendorStatus({ live: true });\n    if (vendorSwitchSettled(already, vendor)) {\n      return already;\n    }\n    // THROUGH THE ONE BUILDER. The device wants `value` as a JSON STRING that\n    // also carries a `session`; an object without one is silently ignored —\n    // measured on an X50 on 2026-09-16, which stayed on `tx` with\n    // `initStatus: 1` and never protested. Hand-shaping this payload is how\n    // that happened, so it is shaped where every other camera action is.\n    const session = makeMonitorSession(this.currentSession().uid);\n    await this.callAction(MONITOR_SIID, MONITOR_AIID.VIDEO_VENDOR, [\n      buildActionInput(MONITOR_PIID.VIDEO_VENDOR_STATUS, videoVendorSwitchParams(vendor), session),\n    ]);\n    // The app's own cadence: every 5 s, ten times.\n    const every = opts?.pollIntervalMs ?? 5_000;\n    const deadline = Date.now() + (opts?.timeoutMs ?? every * 10);\n    let last = already;\n    while (Date.now() < deadline) {\n      await new Promise((r) => setTimeout(r, every));\n      last = await this.readVideoVendorStatus({ live: true });\n      if (vendorSwitchSettled(last, vendor)) {\n        return last;\n      }\n    }\n    throw new DreameError(\n      `video vendor did not settle on \"${vendor}\" within the timeout ` +\n        `(last seen: vendor=${last.vendor ?? 'unknown'}, initStatus=${String(last.initStatus)})`,\n    );\n  }\n\n  /** Props worth seeding on start() / polling — exported for the facade. */\n  static readonly DEFAULT_PROPS = [\n    VACUUM_PROP.STATE,\n    VACUUM_PROP.ERROR,\n    VACUUM_PROP.FAULTS_STR,\n    VACUUM_PROP.TASK_STATUS,\n    VACUUM_PROP.SUCTION_LEVEL,\n    VACUUM_PROP.WATER_VOLUME,\n    VACUUM_PROP.CLEAN_MODE_SETTING,\n    VACUUM_PROP.TASK_PROGRESS_PCT,\n    VACUUM_PROP.AI_DETECTION,\n    BATTERY_PROP.LEVEL,\n    BATTERY_PROP.CHARGING_STATUS,\n    CONSUMABLE_PROP.MAIN_BRUSH_LEFT,\n    CONSUMABLE_PROP.SIDE_BRUSH_LEFT,\n    CONSUMABLE_PROP.FILTER_LEFT,\n    SETTINGS_PROP.VOLUME,\n  ] as const;\n}\n","/**\n * Mower MIoT property / action / event identifiers and the embedded\n * scheduling-task opcode payloads, reverse-engineered from\n * antondaubert/dreame-mower (const.py + device.py _build_*_task_payload).\n * Only KNOWN/useful ids are ported; the donor's unnamed SERVICE2_PROPERTY_* /\n * SERVICE5_PROPERTY_* are intentionally omitted.\n *\n * Encoding note: the four siid-5 actions (START_MOWING/STOP/DOCK/PAUSE) take NO\n * in-params. Targeted starts + resume are sent as ACTIONS on SCHEDULING_TASK\n * (siid 2 piid 50) whose in-params are `[ <opcodeObject> ]` — a one-element\n * array carrying the raw {m,p,o,d?} object (NOT the vacuum's {piid,value} form).\n */\n\n/** Mower service properties (subset; unnamed reverse-engineered props skipped). */\nexport const MOWER_PROP = {\n  /** VERIFIED-by-donor — 20-byte heartbeat (sentinel 0xCE at [0]/[19]); byte 11\n   *  battery, byte 12 main-state, byte 13 task sub-state. See parseHeartbeat. */\n  HEARTBEAT: { siid: 1, piid: 1 } as const,\n  /** VERIFIED-by-donor — pose + coverage telemetry (binary). P4 uses progress % only. */\n  POSE_COVERAGE: { siid: 1, piid: 4 } as const,\n  /** VERIFIED-by-donor — MowerStatus (DeviceStatus). */\n  STATUS: { siid: 2, piid: 1 } as const,\n  /** VERIFIED-by-donor — device code blob (model/region). Not decoded in P4. */\n  DEVICE_CODE: { siid: 2, piid: 2 } as const,\n  /** VERIFIED-by-donor — mission task descriptor object {t,d:{...}}; also the action target. */\n  SCHEDULING_TASK: { siid: 2, piid: 50 } as const,\n  /** VERIFIED-by-donor — mission completion summary (often empty). */\n  SCHEDULING_SUMMARY: { siid: 2, piid: 52 } as const,\n  /** VERIFIED-by-donor — per-zone control status {status:[[zone,code],...]}. */\n  MOWER_CONTROL_STATUS: { siid: 2, piid: 56 } as const,\n  /** VERIFIED-by-donor — battery percentage 0-100. */\n  BATTERY: { siid: 3, piid: 1 } as const,\n  /** VERIFIED-by-donor — MowerChargingStatus. */\n  CHARGING_STATUS: { siid: 3, piid: 2 } as const,\n  /** VERIFIED-by-donor — task status code (MowerTaskStatus; mostly diagnostic). */\n  TASK_STATUS: { siid: 5, piid: 104 } as const,\n} as const;\n\n/** Mower actions (siid 5). No in-params — parity with the donor execute_action. */\nexport const MOWER_ACTION = {\n  START_MOWING: { siid: 5, aiid: 1 } as const,\n  STOP: { siid: 5, aiid: 2 } as const,\n  DOCK: { siid: 5, aiid: 3 } as const,\n  PAUSE: { siid: 5, aiid: 4 } as const,\n} as const;\n\n/** Mower events. */\nexport const MOWER_EVENT = {\n  /** VERIFIED-by-donor — mission completion (siid 4 eiid 1). */\n  MISSION_COMPLETION: { siid: 4, eiid: 1 } as const,\n} as const;\n\n/**\n * Embedded scheduling-task opcodes carried in SCHEDULING_TASK (2:50) action\n * in-params. `m:'a'` = action, `p` = priority, `o` = opcode, `d` = data.\n * RESUME (o:5) is the donor's TASK_PAYLOAD_RESUME (continueControl).\n */\nexport const TASK_OPCODE = {\n  RESUME: { m: 'a', p: 0, o: 5 } as const,\n  ALL_AREA: 100,\n  EDGE: 101,\n  ZONE: 102,\n  SPOT: 103,\n  SET_CURRENT_MAP: 200,\n} as const;\n\n/** A fresh resume opcode object (never share the frozen literal across calls). */\nexport function buildResumePayload(): { m: string; p: number; o: number } {\n  return { m: 'a', p: 0, o: 5 };\n}\n\n/** All-area start: o:100, region_id=[mapId], area_id=[]. device.py _build_all_area_task_payload. */\nexport function buildAllAreaPayload(mapId: number): {\n  m: string;\n  p: number;\n  o: number;\n  d: { region_id: number[]; area_id: number[] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.ALL_AREA, d: { region_id: [mapId], area_id: [] } };\n}\n\n/** Zone start: o:102, region=zoneIds. device.py _build_zone_task_payload. */\nexport function buildZonePayload(zoneIds: number[]): {\n  m: string;\n  p: number;\n  o: number;\n  d: { region: number[] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.ZONE, d: { region: [...zoneIds] } };\n}\n\n/** Edge start: o:101, edge=contourIdPairs. device.py _build_edge_task_payload. */\nexport function buildEdgePayload(contourIds: number[][]): {\n  m: string;\n  p: number;\n  o: number;\n  d: { edge: number[][] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.EDGE, d: { edge: contourIds.map((c) => [...c]) } };\n}\n\n/** Spot start: o:103, area=spotAreaIds. device.py _build_spot_task_payload. */\nexport function buildSpotPayload(spotAreaIds: number[]): {\n  m: string;\n  p: number;\n  o: number;\n  d: { area: number[] };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.SPOT, d: { area: [...spotAreaIds] } };\n}\n\n/** Switch active map: o:200, idx=mapIndex. device.py _build_set_current_map_payload. */\nexport function buildSetCurrentMapPayload(mapIndex: number): {\n  m: string;\n  p: number;\n  o: number;\n  d: { idx: number };\n} {\n  return { m: 'a', p: 0, o: TASK_OPCODE.SET_CURRENT_MAP, d: { idx: mapIndex } };\n}\n\n/**\n * CMS consumable getter payload `{m:'g', t:'CMS'}` — read the blade/brush/robot\n * minute counters. Sent as the single in-param of the SCHEDULING_TASK (2:50)\n * action. device.py `_build_get_consumable_payload`.\n */\nexport function buildGetConsumablePayload(): { m: string; t: string } {\n  return { m: 'g', t: 'CMS' };\n}\n\n/**\n * CMS consumable setter payload `{m:'s', t:'CMS', d:{value:[...]}}` — write the\n * three counters (used to reset one to 0). device.py\n * `_build_set_consumable_payload`. Throws on a non-3 / negative counter list.\n */\nexport function buildSetConsumablePayload(values: number[]): {\n  m: string;\n  t: string;\n  d: { value: number[] };\n} {\n  const normalized = values.map((v) => Math.trunc(v));\n  if (normalized.length !== 3) {\n    throw new RangeError(`CMS values must contain exactly 3 counters; got ${normalized.length}`);\n  }\n  if (normalized.some((v) => v < 0)) {\n    throw new RangeError(`CMS values cannot be negative; got ${JSON.stringify(normalized)}`);\n  }\n  return { m: 's', t: 'CMS', d: { value: normalized } };\n}\n","/**\n * Mower MIoT enum value spaces, reverse-engineered from antondaubert/dreame-mower\n * (const.py DeviceStatus + STATUS_MAPPING + CHARGING_STATUS_MAPPING, and\n * property/mower_control.py + service5.py). The donor is a working HA\n * integration, so these are VERIFIED-by-donor; members annotated ASSUMED are\n * not yet corroborated. The integer is always the source of truth.\n */\n\n/** VERIFIED-by-donor — STATUS_PROPERTY (siid 2 piid 1), const.py DeviceStatus. */\nexport enum MowerStatus {\n  NoStatus = 0,\n  Mowing = 1,\n  Standby = 2,\n  Paused = 3,\n  PausedDueToErrors = 4,\n  ReturningToCharge = 5,\n  Charging = 6,\n  Mapping = 11,\n  ChargingComplete = 13,\n  Updating = 14,\n}\n\n/** VERIFIED-by-donor — CHARGING_STATUS_PROPERTY (siid 3 piid 2), CHARGING_STATUS_MAPPING. */\nexport enum MowerChargingStatus {\n  NotDocked = 0,\n  Charging = 1,\n  NotCharging = 2,\n  ChargingCompleted = 3,\n  ReturnToCharge = 5,\n  /** Charging paused: battery temperature too low (donor issue #40). */\n  ChargingPausedLowTemperature = 16,\n}\n\n/**\n * VERIFIED-by-donor — per-zone control code in MOWER_CONTROL_STATUS (siid 2\n * piid 56) `status` array entries `[zone_id, code]`. mower_control.py.\n */\nexport enum MowerControlAction {\n  /** Zone waiting in a multi-zone session. */\n  Queued = -1,\n  /** Actively mowing. */\n  Continue = 0,\n  Completed = 2,\n  Pause = 4,\n}\n\n/**\n * Observed TASK_STATUS codes (siid 5 piid 104), service5.py TASK_STATUS_MAPPING.\n * Only `SpotIncomplete` (7) has a confirmed meaning; the donor explicitly marks\n * codes 2/3/10/13 as \"Unknown task status: N\" (observed after RAIN/LOST/\n * LOW_BATTERY events). Those are NOT invented as named members — they surface as\n * raw via {@link MowerDevice.taskStatusRaw}. This is the FULL documented set:\n * the donor names exactly one code.\n */\nexport enum MowerTaskStatus {\n  /** \"Task incomplete - spot mowing\". */\n  SpotIncomplete = 7,\n}\n\n/**\n * Mower device-code / fault value space for DEVICE_CODE (siid 2 piid 2). This is\n * the FULL donor `BASE_DEVICE_CODES` registry (property/device_code.py), codes\n * 0..73 contiguous. Each integer is documented by the donor with a name +\n * severity (INFO / WARNING / ERROR — noted inline). 0 = NO_DEVICE_CODE (normal\n * operation). Codes not in this table (model-specific extensions) fall through\n * the cast-free lookup and surface as raw via {@link MowerDevice.faultRaw}.\n *\n * Two donor names repeat at different integers; the second occurrence is\n * suffixed (`LidarDirtyWarning` 38, `BatteryOverheatWarning` 42) to keep enum\n * member names unique while preserving the integer source of truth.\n */\nexport enum MowerFault {\n  NoDeviceCode = 0, // INFO\n  Tilted = 1, // ERROR\n  Trapped = 2, // ERROR\n  NarrowPathToStation = 3, // ERROR\n  LeftWheel = 4, // ERROR\n  RightWheel = 5, // ERROR\n  LiftMotor = 6, // ERROR\n  Cutter = 7, // ERROR\n  SidedMotor = 8, // ERROR\n  CrashPlate = 9, // ERROR\n  Charging = 10, // ERROR\n  BatteryOverheat = 11, // ERROR\n  LidarCovered = 12, // ERROR\n  LidarOverheatWithoutMap = 13, // ERROR\n  LidarOverheatWithMap = 14, // ERROR\n  LidarOverheat = 15, // ERROR\n  LidarDirty = 16, // ERROR\n  LidarAbnormal = 17, // ERROR\n  LocationWeak = 18, // ERROR\n  LocationLost = 19, // ERROR\n  Sensor = 20, // ERROR\n  InForbiddenArea = 21, // ERROR\n  OutOfMap = 22, // ERROR\n  EmergencyStop = 23, // ERROR\n  BatteryLow = 24, // ERROR\n  MapFileCrack = 25, // ERROR\n  AwayFromMap = 26, // ERROR\n  HumanDetected = 27, // ERROR\n  BladeLoss = 28, // ERROR\n  StationLoss = 29, // ERROR\n  MaintainLoss = 30, // ERROR\n  BackChargeFailed = 31, // WARNING\n  DockingFailed = 32, // WARNING\n  LocatingFailedWithMap = 33, // WARNING\n  LocatingFailedWithoutMap = 34, // WARNING\n  LocatingAbnormal = 35, // WARNING\n  TaskStartFailed = 36, // WARNING\n  PathImpassable = 37, // ERROR\n  LidarDirtyWarning = 38, // WARNING (donor LIDAR_DIRTY at 38)\n  CamDirty = 39, // WARNING\n  CamAbnormal = 40, // WARNING\n  CamCover = 41, // WARNING\n  BatteryOverheatWarning = 42, // WARNING (donor BATTERY_OVERHEAT at 42)\n  BatteryTempLow = 43, // WARNING\n  AutobuildBorder = 44, // WARNING\n  AutobuildSide = 45, // WARNING\n  BorderFinish = 46, // INFO\n  NewMap = 47, // INFO\n  TaskFinish = 48, // INFO\n  DestinationNotReachable = 49, // INFO\n  TaskStart = 50, // INFO\n  CruiseStart = 51, // INFO\n  PointAndGoStart = 52, // INFO\n  ScheduleStart = 53, // INFO\n  BatteryLowReturning = 54, // INFO\n  BatteryLowScheduleSuspend = 55, // INFO\n  BadWeatherProtecting = 56, // INFO\n  RainScheduleInterupted = 57, // INFO\n  RainScheduleSuspend = 58, // INFO\n  ForzenReturning = 59, // INFO\n  FrozenScheduleSuspend = 60, // INFO\n  NotDisturbReturning = 61, // INFO\n  NotDisturbScheduleSuspend = 62, // INFO\n  WorkingScheduleSuspend = 63, // INFO\n  RemoteControlingScheduleSuspend = 64, // INFO\n  EmergencyStoppedScheduleSuspend = 65, // INFO\n  TopCoverOpenScheduleSuspend = 66, // INFO\n  FaultModeScheduleSuspend = 67, // INFO\n  ScheduleTimeout = 68, // INFO\n  StationNotConnectedToWorkingArea = 69, // INFO\n  ContinueFromBreakpoint = 70, // INFO\n  IdleTimeoutReturning = 71, // INFO\n  PauseTimeoutReturning = 72, // INFO\n  TopCoverOpen = 73, // ERROR\n}\n\n/** Severity class of a mower DEVICE_CODE (2:2 / {@link MowerFault}). */\nexport type MowerFaultSeverity = 'info' | 'warning' | 'error';\n\n/**\n * Classify a mower device-code by severity, matching the INFO/WARNING/ERROR\n * annotations on {@link MowerFault}. Most codes are status/INFO (e.g. 50\n * TaskStart); only a subset are actionable. Unknown codes default to `info`.\n */\nexport function mowerFaultSeverity(code: number | null): MowerFaultSeverity {\n  if (code === null) return 'info';\n  if ((code >= 1 && code <= 30) || code === 37 || code === 73) return 'error';\n  if ((code >= 31 && code <= 36) || (code >= 38 && code <= 45)) return 'warning';\n  return 'info';\n}\n","/**\n * Cast-free mower decoders. Re-exports the shared numeric primitives, and adds\n * the two structured-payload parsers the typed getters consume:\n *   - parseTaskDescriptor : SCHEDULING_TASK (2:50) {t,d:{...}} -> typed task\n *   - parseControlStatus  : MOWER_CONTROL_STATUS (2:56) {status:[[zone,code]]}\n * Ported from antondaubert/dreame-mower property/{scheduling,mower_control}.py.\n * The binary pose-track geometry (1:4) is OUT OF SCOPE here (P5).\n */\nimport { MowerControlAction } from './enums.js';\nimport { enumLookup } from '../_shared/decode.js';\n\nexport { asNum, enumLookup } from '../_shared/decode.js';\n\n/** Typed scheduling task descriptor (subset of the donor TaskHandler fields). */\nexport interface MowerTaskDescriptor {\n  taskType: string;\n  executionActive: boolean;\n  /** `d.o` — coverage target % or mode sentinel. */\n  coverageTarget: number;\n  taskActive: boolean;\n  areaId: number[] | null;\n  regionId: number[] | null;\n  elapsedTime: number | null;\n}\n\nfunction isRecord(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\nfunction numArrayOrNull(v: unknown): number[] | null {\n  if (!Array.isArray(v)) {\n    return null;\n  }\n  const out: number[] = [];\n  for (const n of v) {\n    if (typeof n !== 'number') {\n      return null;\n    }\n    out.push(n);\n  }\n  return out;\n}\n\n/**\n * Parse the SCHEDULING_TASK descriptor (2:50). Required fields `d.exe`,\n * `d.o`, `d.status` must be present (matching the donor's KeyError-bubble);\n * optional area_id/region_id/time default to null. Returns null on any\n * malformed input — no throw, no cast.\n */\nexport function parseTaskDescriptor(value: unknown): MowerTaskDescriptor | null {\n  if (!isRecord(value)) {\n    return null;\n  }\n  const t = value['t'];\n  const d = value['d'];\n  if (typeof t !== 'string' || !isRecord(d)) {\n    return null;\n  }\n  const exe = d['exe'];\n  const o = d['o'];\n  const status = d['status'];\n  if (typeof exe !== 'boolean' || typeof o !== 'number' || typeof status !== 'boolean') {\n    return null;\n  }\n  return {\n    taskType: t === 'TASK' ? 'TASK' : 'UNKNOWN',\n    executionActive: exe,\n    coverageTarget: o,\n    taskActive: status,\n    areaId: numArrayOrNull(d['area_id']),\n    regionId: numArrayOrNull(d['region_id']),\n    elapsedTime: typeof d['time'] === 'number' ? d['time'] : null,\n  };\n}\n\nconst controlLookup = enumLookup<MowerControlAction>([\n  MowerControlAction.Queued,\n  MowerControlAction.Continue,\n  MowerControlAction.Completed,\n  MowerControlAction.Pause,\n]);\n\n/** Map a raw 2:56 entry code to a MowerControlAction, or null. Cast-free. */\nexport function controlActionFor(code: number): MowerControlAction | null {\n  return controlLookup(code);\n}\n\n/** Typed mower control status (2:56). */\nexport interface MowerControlState {\n  action: MowerControlAction | null;\n  statusCode: number | null;\n  zones: number[][];\n}\n\n/**\n * Parse MOWER_CONTROL_STATUS (2:56). `status` is `[[zone_id, code], ...]`.\n * Primary action = the actively-mowing zone (code 0), else the first entry.\n * Empty array -> null action. Warn-and-tolerate: an UNKNOWN code does NOT drop\n * the whole structure — the zone is surfaced as-is and its `action` resolves to\n * null (only the primary's action goes null when the primary itself is unknown).\n * Still returns null on a malformed PAIR shape (non-array / <2 / non-numeric).\n * No cast.\n */\nexport function parseControlStatus(value: unknown): MowerControlState | null {\n  if (!isRecord(value)) {\n    return null;\n  }\n  const status = value['status'];\n  if (!Array.isArray(status)) {\n    return null;\n  }\n  if (status.length === 0) {\n    return { action: null, statusCode: null, zones: [] };\n  }\n  const zones: number[][] = [];\n  for (const entry of status) {\n    const pair = numArrayOrNull(entry);\n    if (pair === null || pair.length < 2) {\n      return null;\n    }\n    // `numArrayOrNull` already guarantees an all-number array and the length\n    // check guarantees >=2 elements, so the pair is pushed as-is (no per-index\n    // undefined guard needed — that branch would be unreachable / dead).\n    zones.push(pair);\n  }\n  const primary = zones.find((e) => e[1] === 0) ?? zones[0];\n  const code = primary?.[1] ?? null;\n  return {\n    action: code === null ? null : controlActionFor(code),\n    statusCode: code,\n    zones,\n  };\n}\n\n// -- CMS consumables (custom action on SCHEDULING_TASK 2:50) -----------------\n\n/** Canonical CMS consumable counter keys (blade, brush, robot maintenance). */\nexport type MowerConsumableKey = 'blade' | 'brush' | 'maintenance';\n\n/** One CMS consumable counter: minutes used + total + remaining %. */\nexport interface MowerConsumableReading {\n  readonly key: MowerConsumableKey;\n  /** Minutes of run-time accrued on this counter (counts UP). */\n  readonly usedMinutes: number;\n  /** Counter's full-life duration in minutes. */\n  readonly totalMinutes: number;\n  /** Remaining life percentage (0..100, one decimal). */\n  readonly remainingPercent: number;\n}\n\n/**\n * CMS counter layout, ported from antondaubert/dreame-mower `device.py`\n * (CONSUMABLE_COUNTER_TOTAL_MINUTES + CONSUMABLE_COUNTER_INDEX). The getter\n * returns `[blade_min, brush_min, robot_min]`; index/total are fixed per model.\n */\nconst MOWER_CONSUMABLES: ReadonlyArray<{\n  readonly key: MowerConsumableKey;\n  readonly index: number;\n  readonly totalMinutes: number;\n}> = [\n  { key: 'blade', index: 0, totalMinutes: 6000 },\n  { key: 'brush', index: 1, totalMinutes: 30000 },\n  { key: 'maintenance', index: 2, totalMinutes: 3600 },\n];\n\n/** Map a consumable key (incl. aliases) to its CMS counter index. */\nexport function mowerConsumableIndex(item: string): number | null {\n  switch (item.trim().toLowerCase()) {\n    case 'blade':\n    case 'blades':\n      return 0;\n    case 'brush':\n    case 'cleaning_brush':\n      return 1;\n    case 'robot':\n    case 'maintenance':\n    case 'robot_maintenance':\n      return 2;\n    default:\n      return null;\n  }\n}\n\nfunction toInt(v: unknown): number | null {\n  if (typeof v === 'number' && Number.isFinite(v)) {\n    return Math.trunc(v);\n  }\n  if (typeof v === 'string') {\n    const n = Number(v);\n    return Number.isFinite(n) ? Math.trunc(n) : null;\n  }\n  return null;\n}\n\n/**\n * Pull the first successful data payload out of a custom-action result. Mirrors\n * the donor `_extract_custom_action_data`: the result itself when it carries a\n * `value` list, else its `d` object, else the first non-error `out[].d`.\n */\nfunction extractCustomActionData(result: unknown): Record<string, unknown> | null {\n  if (!isRecord(result)) {\n    return null;\n  }\n  if (Array.isArray(result['value'])) {\n    return result;\n  }\n  if (isRecord(result['d'])) {\n    return result['d'];\n  }\n  const out = result['out'];\n  if (!Array.isArray(out)) {\n    return null;\n  }\n  for (const entry of out) {\n    if (!isRecord(entry)) {\n      continue;\n    }\n    const r = entry['r'];\n    const code = entry['code'];\n    const rError = r !== undefined && r !== null && r !== 0;\n    const codeError = code !== undefined && code !== null && code !== 0;\n    if (rError && codeError) {\n      continue;\n    }\n    if (isRecord(entry['d'])) {\n      return entry['d'];\n    }\n  }\n  return null;\n}\n\n/**\n * Extract the raw `[blade, brush, robot]` minute counters from a CMS getter\n * result, or null if the response is malformed. Cast-free, no throw.\n */\nexport function extractMowerConsumableValues(result: unknown): number[] | null {\n  const data = extractCustomActionData(result);\n  if (data === null) {\n    return null;\n  }\n  const values = data['value'];\n  if (!Array.isArray(values) || values.length < 3) {\n    return null;\n  }\n  const out: number[] = [];\n  for (const v of values.slice(0, 3)) {\n    const n = toInt(v);\n    if (n === null) {\n      return null;\n    }\n    out.push(n);\n  }\n  return out;\n}\n\n/**\n * Parse a CMS getter result into typed consumable readings (blade/brush/\n * maintenance) with remaining %. Returns null on a malformed response.\n */\nexport function parseMowerConsumables(result: unknown): readonly MowerConsumableReading[] | null {\n  const values = extractMowerConsumableValues(result);\n  if (values === null) {\n    return null;\n  }\n  return MOWER_CONSUMABLES.map((c) => {\n    const used = values[c.index] ?? 0;\n    const remaining = c.totalMinutes - used;\n    const pct = Math.max(0, Math.min(100, Math.round((remaining / c.totalMinutes) * 1000) / 10));\n    return {\n      key: c.key,\n      usedMinutes: used,\n      totalMinutes: c.totalMinutes,\n      remainingPercent: pct,\n    };\n  });\n}\n\n// -- heartbeat task sub-state (HEARTBEAT 1:1) --------------------------------\n\n/** Decoded mowing task sub-state (heartbeat byte 13), or null when no mowing\n *  session is in progress. Ported from antondaubert/dreame-mower\n *  `property_misc.py` Property11Handler. */\nexport type MowerTaskSubState =\n  | 'idle'\n  | 'starting'\n  | 'mowing'\n  | 'paused'\n  | 'finished'\n  | 'failed'\n  | 'exit'\n  | 'returning-to-dock';\n\n/** Ordered sub-state table; the heartbeat encodes `subState = base + index`. */\nexport const MOWER_TASK_SUBSTATES: readonly MowerTaskSubState[] = [\n  'idle',\n  'starting',\n  'mowing',\n  'paused',\n  'finished',\n  'failed',\n  'exit',\n  'returning-to-dock',\n];\n\nconst HEARTBEAT_SENTINEL = 0xce; // 206 — byte[0] and byte[last]\nconst HEARTBEAT_SUBSTATE_BASE = 33;\nconst HEARTBEAT_MAIN_STATE_MOWING = 4;\n\n/** Typed heartbeat decode: battery byte, main-state, and (when mowing) the task\n *  sub-state. */\nexport interface MowerHeartbeat {\n  /** Raw battery byte (byte 11) — percent with a charging flag in the high bits. */\n  readonly rawBattery: number;\n  /** `(byte12 & 0x0F) - 1`; 4 = mowing. */\n  readonly mainState: number;\n  /** Raw sub-state byte (byte 13). */\n  readonly subStateRaw: number;\n  /** Decoded sub-state when a mowing session is active, else null. */\n  readonly taskSubState: MowerTaskSubState | null;\n}\n\n/**\n * Decode the 20-byte HEARTBEAT (1:1) blob. Returns null when the payload is not a\n * well-formed heartbeat (wrong length / missing 0xCE sentinels). The task\n * sub-state is only meaningful while `mainState === 4` (mowing); in any other\n * main state there is no active mowing task (returns `taskSubState: null`).\n */\nexport function parseMowerHeartbeat(value: unknown): MowerHeartbeat | null {\n  if (!Array.isArray(value) || value.length < 14) {\n    return null;\n  }\n  const bytes: number[] = [];\n  for (const b of value) {\n    if (typeof b !== 'number') {\n      return null;\n    }\n    bytes.push(b);\n  }\n  if (bytes[0] !== HEARTBEAT_SENTINEL || bytes[bytes.length - 1] !== HEARTBEAT_SENTINEL) {\n    return null;\n  }\n  const rawBattery = bytes[11] ?? 0;\n  const mainState = ((bytes[12] ?? 0) & 0x0f) - 1;\n  const subStateRaw = bytes[13] ?? 0;\n  const taskSubState =\n    mainState === HEARTBEAT_MAIN_STATE_MOWING\n      ? (MOWER_TASK_SUBSTATES[subStateRaw - HEARTBEAT_SUBSTATE_BASE] ?? null)\n      : null;\n  return { rawBattery, mainState, subStateRaw, taskSubState };\n}\n\n// -- mowing progress (POSE_COVERAGE 1:4 task block) --------------------------\n\nconst POSE_SENTINEL = 0xce; // 206 — frames a sentinel-wrapped pose-coverage blob\n\n/** Decoded mowing-progress signal from the POSE_COVERAGE (1:4) `task` block. */\nexport interface MowerMowingProgress {\n  /** 0..100 — overall mowing completion. */\n  readonly progressPercent: number;\n  /** Already-finished area in m². */\n  readonly currentAreaSqm: number;\n  /** Total target area in m². */\n  readonly totalAreaSqm: number;\n}\n\n/** Coerce a POSE_COVERAGE (1:4) raw value to a flat byte array, or null. */\nfunction poseBytes(value: unknown): number[] | null {\n  if (!Array.isArray(value)) return null;\n  const bytes: number[] = [];\n  for (const b of value) {\n    if (typeof b !== 'number') return null;\n    bytes.push(b);\n  }\n  return bytes;\n}\n\n/**\n * Locate the 10-byte `task` block inside a POSE_COVERAGE (1:4) frame and decode\n * the mowing progress. Frame shapes (ported from antondaubert/dreame-mower\n * `pose_coverage.py`):\n *   - sentinel-framed `[CE] pose(6) trace(15) task(10) [CE]` (33B) / `…task(10) trace2(11) [CE]` (44B)\n *     → task at offset 22;\n *   - alt `task(10) [CE] [+trace]` (no leading sentinel, ≥11B) → task at offset 0.\n * The 22B `[CE] pose trace` and 13B `[CE] pose extra` shapes carry NO task → null.\n *\n * `task` layout: `[2:4] percent u16LE (value×100) [4:7] total u24LE (centi-m²)\n * [7:10] finished u24LE (centi-m²)`.\n */\nexport function parseMowingProgress(value: unknown): MowerMowingProgress | null {\n  const bytes = poseBytes(value);\n  if (bytes === null || bytes.length < 11) return null;\n  const last = bytes[bytes.length - 1];\n  const head = bytes[0];\n\n  let offset: number | null = null;\n  if (head !== POSE_SENTINEL && last === POSE_SENTINEL) {\n    offset = 0; // alt format: task block leads\n  } else if (head === POSE_SENTINEL && last === POSE_SENTINEL && bytes.length >= 33) {\n    offset = 22; // standard sentinel-framed frame with a task block\n  }\n  if (offset === null || offset + 10 > bytes.length) return null;\n\n  const rawPercent = (bytes[offset + 2] ?? 0) | ((bytes[offset + 3] ?? 0) << 8);\n  const total =\n    (bytes[offset + 4] ?? 0) | ((bytes[offset + 5] ?? 0) << 8) | ((bytes[offset + 6] ?? 0) << 16);\n  const finish =\n    (bytes[offset + 7] ?? 0) | ((bytes[offset + 8] ?? 0) << 8) | ((bytes[offset + 9] ?? 0) << 16);\n\n  return {\n    progressPercent: rawPercent ? Math.min(100, rawPercent / 100) : 0,\n    currentAreaSqm: finish / 100,\n    totalAreaSqm: total / 100,\n  };\n}\n","/**\n * Per-model mower capability records + a resolver adapting the rich record into\n * the generic CapabilityResolver the BaseDevice expects (mirrors the vacuum\n * capability layer). The donor (antondaubert/dreame-mower) has no per-model\n * capability matrix for mowers, so the targeted-mowing flags are ASSUMED working\n * hypotheses from the donor command surface; verified:false until live-checked.\n */\nimport type { CapabilityResolver, DeviceCapabilities } from '../../device/capability.js';\n\n/** Rich mower capability record. `canX` = behaviour the model accepts. */\nexport interface MowerCapabilities {\n  model: string;\n  /** true only for live-confirmed records (false = assumed / fallback). */\n  verified: boolean;\n  /** Zone-selective mowing (2:50 o:102). */\n  canMowZones: boolean;\n  /** Edge / contour mowing (2:50 o:101). */\n  canMowEdges: boolean;\n  /** Spot mowing (2:50 o:103). */\n  canMowSpots: boolean;\n  /** All-area, map-targeted start (2:50 o:100). */\n  canMowAllArea: boolean;\n  /** Resume after pause (2:50 o:5). Generic to the mower action surface. */\n  canResume: boolean;\n  /** Has a scheduling task descriptor (2:50). */\n  canSchedule: boolean;\n  /** Fetches/parses the batched vector map (MAP.* JSON → zones/paths/contours). */\n  canMap: boolean;\n}\n\nconst FALLBACK: Omit<MowerCapabilities, 'model'> = {\n  verified: false,\n  canMowZones: false,\n  canMowEdges: false,\n  canMowSpots: false,\n  canMowAllArea: false,\n  canResume: true,\n  canSchedule: true,\n  // Vector-map parsing is model-agnostic, but an unknown model leaves it false\n  // until its firmware is verified to expose the batch device-data surface.\n  canMap: false,\n};\n\n/** A1-family body (ASSUMED from the donor command surface; not live-verified). */\nconst A1_FAMILY: Omit<MowerCapabilities, 'model' | 'verified'> = {\n  canMowZones: true,\n  canMowEdges: true,\n  canMowSpots: true,\n  canMowAllArea: true,\n  canResume: true,\n  canSchedule: true,\n  canMap: true,\n};\n\nfunction deepFreeze<T>(obj: T): T {\n  if (obj && typeof obj === 'object' && !Object.isFrozen(obj)) {\n    Object.freeze(obj);\n    for (const v of Object.values(obj)) {\n      deepFreeze(v);\n    }\n  }\n  return obj;\n}\n\nexport const MODEL_CAPABILITIES: Readonly<Record<string, MowerCapabilities>> = {\n  /** Dreame A1 — the user's mower. ASSUMED from the donor command surface. */\n  'dreame.mower.p2255': { model: 'dreame.mower.p2255', verified: false, ...A1_FAMILY },\n};\n\nfor (const entry of Object.values(MODEL_CAPABILITIES)) {\n  deepFreeze(entry);\n}\n\n/** Resolve a model to its rich mower capability record (frozen / fallback). */\nexport function getMowerCapabilities(model: string): MowerCapabilities {\n  const known = MODEL_CAPABILITIES[model];\n  if (known) {\n    return known;\n  }\n  return deepFreeze({ model, ...FALLBACK });\n}\n\n/** Map the rich record's booleans -> the generic capability token set. */\nfunction tokensFor(c: MowerCapabilities): Set<string> {\n  const tokens = new Set<string>();\n  const add = (flag: boolean, token: string): void => {\n    if (flag) {\n      tokens.add(token);\n    }\n  };\n  add(c.canMowZones, 'mow-zones');\n  add(c.canMowEdges, 'mow-edges');\n  add(c.canMowSpots, 'mow-spots');\n  add(c.canMowAllArea, 'mow-all-area');\n  add(c.canResume, 'resume');\n  add(c.canSchedule, 'schedule');\n  return tokens;\n}\n\nclass MowerCapabilitySet implements DeviceCapabilities {\n  readonly model: string;\n  readonly #tokens: ReadonlySet<string>;\n  constructor(model: string, tokens: ReadonlySet<string>) {\n    this.model = model;\n    this.#tokens = tokens;\n  }\n  has(token: string): boolean {\n    return this.#tokens.has(token);\n  }\n  list(): readonly string[] {\n    return [...this.#tokens];\n  }\n}\n\n/** Resolver the BaseDevice accepts via BaseDeviceInput.capabilities. */\nexport class MowerCapabilityResolver implements CapabilityResolver {\n  resolve(model: string): DeviceCapabilities {\n    return new MowerCapabilitySet(model, tokensFor(getMowerCapabilities(model)));\n  }\n}\n","/**\n * Parser for mower vector map data from the Dreame batch device-data API.\n *\n * PORT of antondaubert/dreame-mower's `map_data_parser.py`. The batch API\n * returns map data split across numbered keys (`MAP.0`, `MAP.1`, …); these\n * chunks are concatenated in numeric order to form a complete JSON string. The\n * JSON carries polygon-based zone boundaries, navigation paths, contours and\n * metadata. `M_PATH.*` keys carry the mow-path trace the same chunked way.\n *\n * Wire values arrive as `unknown`; every shape is narrowed with type-guards\n * (no `as` casts). Malformed entries are skipped (warn-and-tolerate), mirroring\n * the donor's try/except. The Python `vector_map_to_map_data` bridge and the\n * internal recursive `maps: dict` cache are intentionally NOT ported — the SVG\n * renderer consumes the structured `MowerMap` directly.\n */\nimport type {\n  MowerMap,\n  MowerZone,\n  MowerSpotArea,\n  MowerPathEntry,\n  MowerContour,\n  MowerMapBoundary,\n  MowerMowPath,\n  MowerAvailableMap,\n  MowerPoint,\n} from './types.js';\n\n/** Sentinel pair in M_PATH data marking a path-segment break. */\nconst PATH_SENTINEL_X = 32767;\nconst PATH_SENTINEL_Y = -32768;\n\nfunction isRecord(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\nfunction asNumber(v: unknown, fallback: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : fallback;\n}\n\nfunction asString(v: unknown, fallback: string): string {\n  return typeof v === 'string' ? v : fallback;\n}\n\n/** Translate the batch map index into the task-level region identifier. */\nfunction mapIdFromIndex(mapIndex: number): number {\n  return mapIndex + 1;\n}\n\nfunction escapeRegex(s: string): string {\n  return s.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\$&');\n}\n\n/**\n * Reassemble chunked data from the batch API into a single string.\n *\n * PORT of `reassemble_map_chunks`. Keys like `MAP.0`, `MAP.1`, … `MAP.N` are\n * concatenated in NUMERIC order; the `MAP.info` key (metadata) is skipped.\n * Wire values are strings; non-string values are skipped defensively.\n *\n * @param batchData raw `get_batch_device_datas` response map\n * @param prefix key prefix to match, e.g. `'MAP'` or `'M_PATH'`\n * @returns concatenated string, or `null` if no matching keys are found\n */\nexport function reassembleMapChunks(\n  batchData: Record<string, unknown>,\n  prefix: string,\n): string | null {\n  const pattern = new RegExp(`^${escapeRegex(prefix)}\\\\.(\\\\d+)$`);\n  const chunks: Array<{ idx: number; value: string }> = [];\n  for (const [key, value] of Object.entries(batchData)) {\n    const match = pattern.exec(key);\n    if (match && typeof value === 'string') {\n      const idx = Number(match[1]);\n      chunks.push({ idx, value });\n    }\n  }\n  if (chunks.length === 0) {\n    return null;\n  }\n  chunks.sort((a, b) => a.idx - b.idx);\n  return chunks.map((c) => c.value).join('');\n}\n\n/** Parse a `MAP.info`/`M_PATH.info` digit string into a split offset (>=0). */\nfunction parseSplitPos(info: unknown): number {\n  if (typeof info === 'string' && /^\\d+$/.test(info)) {\n    return Number(info);\n  }\n  return 0;\n}\n\n/**\n * Extract the `value` array from a `{ dataType: 'Map', value: [...] }` block.\n * Returns `[]` unless the block is a Map with an array value, mirroring the\n * donor `_parse_polygon_list`.\n */\nfunction parsePolygonList(dataMap: unknown): readonly unknown[] {\n  if (!isRecord(dataMap) || dataMap['dataType'] !== 'Map') {\n    return [];\n  }\n  const value = dataMap['value'];\n  return Array.isArray(value) ? value : [];\n}\n\n/** Convert `[{ x, y }, …]` wire points to `MowerPoint[]`, skipping malformed. */\nfunction extractPathCoords(pathList: unknown): MowerPoint[] {\n  if (!Array.isArray(pathList)) {\n    return [];\n  }\n  const out: MowerPoint[] = [];\n  for (const p of pathList) {\n    if (isRecord(p) && typeof p['x'] === 'number' && typeof p['y'] === 'number') {\n      out.push({ x: p['x'], y: p['y'] });\n    }\n  }\n  return out;\n}\n\n/**\n * Normalize a contour identifier (string `'1,0'` or two-element array) into a\n * two-integer tuple. Throws on an invalid length — caught by the batch parser.\n */\nexport function extractContourId(raw: unknown): readonly [number, number] {\n  if (typeof raw === 'string') {\n    const parts = raw.split(',').map((part) => part.trim());\n    if (parts.length !== 2) {\n      throw new Error(`Invalid contour id: ${raw}`);\n    }\n    const a = Number(parts[0]);\n    const b = Number(parts[1]);\n    if (!Number.isFinite(a) || !Number.isFinite(b)) {\n      throw new Error(`Invalid contour id: ${raw}`);\n    }\n    return [Math.trunc(a), Math.trunc(b)];\n  }\n  if (Array.isArray(raw) && raw.length === 2) {\n    const pair: readonly unknown[] = raw;\n    const a = pair[0];\n    const b = pair[1];\n    if (typeof a === 'number' && typeof b === 'number') {\n      return [Math.trunc(a), Math.trunc(b)];\n    }\n  }\n  throw new Error(`Invalid contour id: ${JSON.stringify(raw)}`);\n}\n\n/** A `[id, data]` polygon entry on the wire. */\nfunction asEntry(entry: unknown): { id: unknown; data: Record<string, unknown> } | null {\n  if (!Array.isArray(entry) || entry.length < 2) {\n    return null;\n  }\n  const tuple: readonly unknown[] = entry;\n  const data = tuple[1];\n  if (!isRecord(data)) {\n    return null;\n  }\n  return { id: tuple[0], data };\n}\n\nfunction parseZones(list: readonly unknown[], includeTimes: boolean): MowerZone[] {\n  const out: MowerZone[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      zoneId: asNumber(id, 0),\n      path: extractPathCoords(data['path']),\n      name: asString(data['name'], ''),\n      zoneType: asNumber(data['type'], 0),\n      shapeType: includeTimes ? asNumber(data['shapeType'], 0) : 0,\n      area: includeTimes ? asNumber(data['area'], 0) : 0,\n      time: includeTimes ? asNumber(data['time'], 0) : 0,\n      etime: includeTimes ? asNumber(data['etime'], 0) : 0,\n    });\n  }\n  return out;\n}\n\nfunction parseSpotAreas(list: readonly unknown[]): MowerSpotArea[] {\n  const out: MowerSpotArea[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      areaId: Math.trunc(asNumber(id, 0)),\n      path: extractPathCoords(data['path']),\n      name: asString(data['name'], ''),\n      shapeType: asNumber(data['shapeType'], 0),\n      area: asNumber(data['area'], 0),\n    });\n  }\n  return out;\n}\n\nfunction parsePaths(list: readonly unknown[]): MowerPathEntry[] {\n  const out: MowerPathEntry[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      pathId: asNumber(id, 0),\n      path: extractPathCoords(data['path']),\n      pathType: asNumber(data['type'], 0),\n    });\n  }\n  return out;\n}\n\nfunction parseContours(list: readonly unknown[]): MowerContour[] {\n  const out: MowerContour[] = [];\n  for (const raw of list) {\n    const entry = asEntry(raw);\n    if (!entry) {\n      continue;\n    }\n    const { id, data } = entry;\n    out.push({\n      contourId: extractContourId(id),\n      path: extractPathCoords(data['path']),\n      contourType: asNumber(data['type'], 0),\n      shapeType: asNumber(data['shapeType'], 0),\n    });\n  }\n  return out;\n}\n\nfunction parseBoundary(raw: unknown): MowerMapBoundary | null {\n  if (!isRecord(raw)) {\n    return null;\n  }\n  const { x1, y1, x2, y2 } = raw;\n  if (\n    typeof x1 !== 'number' ||\n    typeof y1 !== 'number' ||\n    typeof x2 !== 'number' ||\n    typeof y2 !== 'number'\n  ) {\n    return null;\n  }\n  return { x1, y1, x2, y2 };\n}\n\n/**\n * Parse a single map JSON string into a `MowerMap`.\n *\n * PORT of `parse_mower_map`. `JSON.parse` may throw on malformed input and\n * `extractContourId` may throw on an invalid contour id — both bubble up to\n * `parseBatchMapData`, which catches and skips (the donor's try/except).\n */\nexport function parseMowerMap(mapJsonStr: string): MowerMap {\n  const data: unknown = JSON.parse(mapJsonStr);\n  if (!isRecord(data)) {\n    throw new Error('Map JSON is not an object');\n  }\n\n  const mapIndex = asNumber(data['mapIndex'], 0);\n\n  return {\n    zones: parseZones(parsePolygonList(data['mowingAreas']), true),\n    spotAreas: parseSpotAreas(parsePolygonList(data['spotAreas'])),\n    forbiddenAreas: parseZones(parsePolygonList(data['forbiddenAreas']), false),\n    paths: parsePaths(parsePolygonList(data['paths'])),\n    contours: parseContours(parsePolygonList(data['contours'])),\n    boundary: parseBoundary(data['boundary']),\n    totalArea: asNumber(data['totalArea'], 0),\n    name: asString(data['name'], ''),\n    mapIndex,\n    mapId: mapIdFromIndex(mapIndex),\n    mowPaths: [],\n    availableMaps: [],\n    currentMapId: null,\n    lastUpdated: Date.now(),\n  };\n}\n\n/**\n * Parse `M_PATH.*` keys into mow-path traces.\n *\n * PORT of `parse_mow_paths`. Reassembles the chunks, applies the `M_PATH.info`\n * split offset, extracts every `[x,y]` pair via regex, splits on the\n * `[32767,-32768]` sentinel into segments, and scales the remaining\n * coordinates ×10 (decimeters → centimeters). Always returns at most one\n * `MowerMowPath` (zone 0), matching the donor.\n */\nexport function parseMowPaths(batchData: Record<string, unknown>): MowerMowPath[] {\n  const reassembled = reassembleMapChunks(batchData, 'M_PATH');\n  if (!reassembled) {\n    return [];\n  }\n\n  const splitPos = parseSplitPos(batchData['M_PATH.info']);\n  let raw = reassembled;\n  if (splitPos > 0 && splitPos < raw.length) {\n    raw = raw.slice(splitPos);\n  }\n\n  const trimmed = raw.trim();\n  if (trimmed.length === 0 || trimmed === '[]') {\n    return [];\n  }\n\n  const pairPattern = /\\[(-?\\d+),(-?\\d+)\\]/g;\n  const rawPairs: Array<readonly [number, number]> = [];\n  for (const m of raw.matchAll(pairPattern)) {\n    rawPairs.push([Number(m[1]), Number(m[2])]);\n  }\n  if (rawPairs.length === 0) {\n    return [];\n  }\n\n  const segments: MowerPoint[][] = [];\n  let current: MowerPoint[] = [];\n  for (const [x, y] of rawPairs) {\n    if (x === PATH_SENTINEL_X && y === PATH_SENTINEL_Y) {\n      if (current.length > 0) {\n        segments.push(current);\n        current = [];\n      }\n    } else {\n      current.push({ x: x * 10, y: y * 10 });\n    }\n  }\n  if (current.length > 0) {\n    segments.push(current);\n  }\n\n  if (segments.length === 0) {\n    return [];\n  }\n  return [{ zoneId: 0, segments }];\n}\n\n/** Parse one reassembled `MAP.*` part (a JSON array of map-json-strings). */\nfunction parseMapPart(part: string): MowerMap[] {\n  const trimmed = part.trim();\n  if (trimmed.length === 0) {\n    return [];\n  }\n  let arr: unknown;\n  try {\n    arr = JSON.parse(trimmed);\n  } catch {\n    return [];\n  }\n  if (!Array.isArray(arr)) {\n    return [];\n  }\n  const out: MowerMap[] = [];\n  for (const item of arr) {\n    if (typeof item !== 'string') {\n      continue;\n    }\n    try {\n      out.push(parseMowerMap(item));\n    } catch {\n      // Skip malformed map entries (donor warn-and-tolerate).\n    }\n  }\n  return out;\n}\n\n/**\n * Parse a full batch device-data response into the primary `MowerMap`.\n *\n * PORT of `parse_batch_map_data`. Reassembles `MAP.*`, splits on the\n * `MAP.info` character length, JSON-parses each part as an array of\n * map-json-strings, parses each (skipping throwers), picks the `mapIndex === 0`\n * primary (else the first), builds `availableMaps`, attaches `mowPaths`, and\n * returns the primary. Returns `null` on an empty batch or no valid arrays.\n *\n * The donor's recursive `maps: dict` cache is intentionally NOT ported — it is\n * internal HA active-map bookkeeping; we surface `availableMaps` instead.\n */\nexport function parseBatchMapData(batchData: Record<string, unknown>): MowerMap | null {\n  if (Object.keys(batchData).length === 0) {\n    return null;\n  }\n\n  const rawMap = reassembleMapChunks(batchData, 'MAP');\n  if (!rawMap) {\n    return null;\n  }\n\n  const splitPos = parseSplitPos(batchData['MAP.info']);\n  const parts =\n    splitPos > 0 && splitPos < rawMap.length\n      ? [rawMap.slice(0, splitPos), rawMap.slice(splitPos)]\n      : [rawMap];\n\n  const parsedMaps: MowerMap[] = [];\n  for (const part of parts) {\n    parsedMaps.push(...parseMapPart(part));\n  }\n\n  if (parsedMaps.length === 0) {\n    return null;\n  }\n\n  const primary = parsedMaps.find((m) => m.mapIndex === 0) ?? parsedMaps[0];\n  if (!primary) {\n    return null;\n  }\n\n  const availableMaps: MowerAvailableMap[] = [...parsedMaps]\n    .sort((a, b) => a.mapId - b.mapId)\n    .map((m) => ({\n      mapId: m.mapId,\n      mapIndex: m.mapIndex,\n      name: m.name,\n      totalArea: m.totalArea,\n    }));\n\n  const mowPaths = parseMowPaths(batchData);\n\n  return {\n    ...primary,\n    availableMaps,\n    mowPaths,\n    currentMapId: primary.mapId,\n  };\n}\n","/**\n * Deterministic SVG renderer for a structured `MowerMap`.\n *\n * ADAPT of antondaubert/dreame-mower's `svg_map_generator.py` — only the\n * geometry path is kept. We port `calculate_bounds`, `coord_to_pixel`\n * (aspect-preserving, Y-flipped, centred), `svg_polygon` (≥3 points),\n * `svg_path_from_segments` (M/L with consecutive-pixel dedupe), and the\n * `create_svg_document`/`finish_svg_document` framing.\n *\n * The HA-coordinator-coupled chrome (legend, status overlay, timestamp, title,\n * historical-file handling, rotation-from-coordinator, live-tracking overlay,\n * mower-position circle) is DROPPED — it depends on a `coordinator`, a file\n * path and live device state we don't carry. The renderer takes only a\n * `MowerMap` + optional `{ width, height, padding }`.\n *\n * Zone `name`s are NOT rendered as text in v1 (keeps the output injection-safe\n * and minimal — no untrusted strings reach the SVG). Pure string building, no\n * deps, cast-free.\n */\nimport type { MowerMap, MowerPoint } from './types.js';\n\nexport interface RenderMowerSvgOptions {\n  /** Canvas width in pixels. Default 1200. */\n  width?: number;\n  /** Canvas height in pixels. Default 1200. */\n  height?: number;\n  /** Padding around the map content in pixels. Default 50. */\n  padding?: number;\n}\n\nconst DEFAULT_WIDTH = 1200;\nconst DEFAULT_HEIGHT = 1200;\nconst DEFAULT_PADDING = 50;\n\nconst BACKGROUND = '#f5f5f0';\nconst MAP_BOUNDARY = '#006400';\nconst MOWING_PATH = '#32cd32';\nconst NAV_PATH = '#b4b4b4';\nconst OBSTACLE_STROKE = '#ff4d00';\nconst OBSTACLE_FILL = '#ff4d0065';\nconst TEXT_COLOR = '#000000';\nconst ZONE_LABEL_COLOR = '#3c3c3c';\n\n/** Escape the five XML metacharacters so a room name can't break the SVG. */\nfunction escapeXml(s: string): string {\n  return s\n    .replace(/&/g, '&amp;')\n    .replace(/</g, '&lt;')\n    .replace(/>/g, '&gt;')\n    .replace(/\"/g, '&quot;')\n    .replace(/'/g, '&apos;');\n}\n\n/** Zone fill/outline palette — soft pastels matching the Dreame app. */\nconst ZONE_COLORS: ReadonlyArray<readonly [string, string]> = [\n  ['#a4d291c8', '#86be73'],\n  ['#a0c8dcc8', '#82aac8'],\n  ['#f0c8aac8', '#dcaf8c'],\n  ['#f0b4b4c8', '#dc9696'],\n  ['#e6dca0c8', '#d2c882'],\n  ['#beaadcc8', '#aa91c8'],\n  ['#aad7d2c8', '#8cc3be'],\n  ['#dcbea0c8', '#c8a582'],\n];\n\ninterface Bounds {\n  minX: number;\n  minY: number;\n  maxX: number;\n  maxY: number;\n}\n\n/** Sentinel coordinate value used as a path-segment break in the donor. */\nconst SENTINEL = 2147483647;\n\n/** Compute the bounding box for all points, ignoring sentinels. */\nfunction calculateBounds(allPoints: readonly MowerPoint[]): Bounds {\n  const valid = allPoints.filter((p) => p.x !== SENTINEL && p.y !== SENTINEL);\n  if (valid.length === 0) {\n    return { minX: 0, minY: 0, maxX: 100, maxY: 100 };\n  }\n  let minX = valid[0]?.x ?? 0;\n  let maxX = minX;\n  let minY = valid[0]?.y ?? 0;\n  let maxY = minY;\n  for (const p of valid) {\n    if (p.x < minX) minX = p.x;\n    if (p.x > maxX) maxX = p.x;\n    if (p.y < minY) minY = p.y;\n    if (p.y > maxY) maxY = p.y;\n  }\n  return { minX, minY, maxX, maxY };\n}\n\ninterface Pixel {\n  px: number;\n  py: number;\n}\n\n/**\n * Convert mower coordinates to image pixel coordinates: aspect-preserving\n * (smaller scale wins), centred in the available space, Y-flipped so the map\n * origin sits at the bottom-left.\n */\nfunction coordToPixel(\n  point: MowerPoint,\n  bounds: Bounds,\n  width: number,\n  height: number,\n  padding: number,\n): Pixel {\n  let { maxX, maxY } = bounds;\n  const { minX, minY } = bounds;\n  if (maxX === minX) {\n    maxX = minX + 100;\n  }\n  if (maxY === minY) {\n    maxY = minY + 100;\n  }\n  const coordWidth = maxX - minX;\n  const coordHeight = maxY - minY;\n  const availableWidth = width - 2 * padding;\n  const availableHeight = height - 2 * padding;\n  const scale = Math.min(availableWidth / coordWidth, availableHeight / coordHeight);\n  const renderedWidth = coordWidth * scale;\n  const renderedHeight = coordHeight * scale;\n  const offsetX = padding + (availableWidth - renderedWidth) / 2;\n  const offsetY = padding + (availableHeight - renderedHeight) / 2;\n  const px = Math.trunc(offsetX + (point.x - minX) * scale);\n  const py = Math.trunc(offsetY + (maxY - point.y) * scale);\n  return { px, py };\n}\n\n/** SVG `<polygon>` for ≥3 points; `''` otherwise. */\nfunction svgPolygon(\n  points: readonly MowerPoint[],\n  bounds: Bounds,\n  width: number,\n  height: number,\n  padding: number,\n  fill: string,\n  stroke: string,\n): string {\n  if (points.length < 3) {\n    return '';\n  }\n  const pixels = points\n    .map((p) => coordToPixel(p, bounds, width, height, padding))\n    .map((p) => `${p.px},${p.py}`)\n    .join(' ');\n  return `<polygon points=\"${pixels}\" fill=\"${fill}\" stroke=\"${stroke}\"/>`;\n}\n\n/**\n * SVG `<path>` (M/L) built from one or more segments, skipping consecutive\n * duplicate pixels and segments shorter than two points. `''` when nothing\n * renders.\n */\nfunction svgPathFromSegments(\n  segments: readonly (readonly MowerPoint[])[],\n  bounds: Bounds,\n  width: number,\n  height: number,\n  padding: number,\n  stroke: string,\n  strokeWidth: number,\n  dashed: boolean,\n): string {\n  const parts: string[] = [];\n  for (const segment of segments) {\n    if (segment.length < 2) {\n      continue;\n    }\n    const first = segment[0];\n    if (!first) {\n      continue;\n    }\n    let prev = coordToPixel(first, bounds, width, height, padding);\n    parts.push(`M ${prev.px} ${prev.py}`);\n    for (let i = 1; i < segment.length; i += 1) {\n      const point = segment[i];\n      if (!point) {\n        continue;\n      }\n      const pixel = coordToPixel(point, bounds, width, height, padding);\n      if (pixel.px !== prev.px || pixel.py !== prev.py) {\n        parts.push(`L ${pixel.px} ${pixel.py}`);\n        prev = pixel;\n      }\n    }\n  }\n  if (parts.length === 0) {\n    return '';\n  }\n  const dash = dashed ? ' stroke-dasharray=\"10,5\"' : '';\n  return `<path d=\"${parts.join(' ')}\" stroke=\"${stroke}\" stroke-width=\"${strokeWidth}\"${dash} fill=\"none\"/>`;\n}\n\n/**\n * Render a `MowerMap` into a deterministic SVG document string.\n *\n * Draw order (back to front): background, nav paths (dashed grey), zone fills\n * (per-zone pastel), zone outlines, mow-path tracks (orange), forbidden-area\n * polygons (red). An empty map renders a centred \"No map data available\"\n * fallback inside a closed `<svg>`.\n */\nexport function renderMowerSvg(map: MowerMap, opts: RenderMowerSvgOptions = {}): string {\n  const width = opts.width ?? DEFAULT_WIDTH;\n  const height = opts.height ?? DEFAULT_HEIGHT;\n  const padding = opts.padding ?? DEFAULT_PADDING;\n\n  const lines: string[] = [\n    '<?xml version=\"1.0\" encoding=\"UTF-8\"?>',\n    `<svg width=\"${width}\" height=\"${height}\" viewBox=\"0 0 ${width} ${height}\" xmlns=\"http://www.w3.org/2000/svg\">`,\n    `<rect width=\"100%\" height=\"100%\" fill=\"${BACKGROUND}\"/>`,\n  ];\n\n  const allPoints: MowerPoint[] = [];\n  for (const zone of map.zones) {\n    allPoints.push(...zone.path);\n  }\n  for (const area of map.forbiddenAreas) {\n    allPoints.push(...area.path);\n  }\n  for (const path of map.paths) {\n    allPoints.push(...path.path);\n  }\n  for (const contour of map.contours) {\n    allPoints.push(...contour.path);\n  }\n  for (const mp of map.mowPaths) {\n    for (const seg of mp.segments) {\n      allPoints.push(...seg);\n    }\n  }\n\n  if (allPoints.length === 0) {\n    lines.push(\n      `<text x=\"${Math.trunc(width / 2)}\" y=\"${Math.trunc(height / 2)}\" ` +\n        `font-family=\"Arial, sans-serif\" font-size=\"16\" fill=\"${TEXT_COLOR}\" ` +\n        `text-anchor=\"middle\">No map data available</text>`,\n    );\n    lines.push('</svg>');\n    return lines.join('\\n');\n  }\n\n  const bounds = calculateBounds(allPoints);\n\n  // 0. Inter-zone navigation paths — dashed grey, behind everything.\n  for (const navPath of map.paths) {\n    const dashed = svgPathFromSegments(\n      [navPath.path],\n      bounds,\n      width,\n      height,\n      padding,\n      NAV_PATH,\n      3,\n      true,\n    );\n    if (dashed) {\n      lines.push(dashed);\n    }\n  }\n\n  // 1. Zone fills — per-zone translucent pastel (always, matching the app).\n  map.zones.forEach((zone, i) => {\n    const palette = ZONE_COLORS[i % ZONE_COLORS.length];\n    const [fill, outline] = palette ?? ZONE_COLORS[0] ?? ['#cccccc', '#888888'];\n    const poly = svgPolygon(zone.path, bounds, width, height, padding, fill, outline);\n    if (poly) {\n      lines.push(poly);\n    }\n  });\n\n  // 2. Zone boundary outlines (zone-tinted).\n  map.zones.forEach((zone, i) => {\n    const outline = ZONE_COLORS[i % ZONE_COLORS.length]?.[1] ?? MAP_BOUNDARY;\n    const boundary = svgPathFromSegments(\n      [zone.path],\n      bounds,\n      width,\n      height,\n      padding,\n      outline,\n      2,\n      false,\n    );\n    if (boundary) {\n      lines.push(boundary);\n    }\n  });\n\n  // 3. Mow-path tracks — orange.\n  for (const mp of map.mowPaths) {\n    const track = svgPathFromSegments(\n      mp.segments,\n      bounds,\n      width,\n      height,\n      padding,\n      MOWING_PATH,\n      2,\n      false,\n    );\n    if (track) {\n      lines.push(track);\n    }\n  }\n\n  // 4. Forbidden-area polygons — red-ish fill.\n  for (const area of map.forbiddenAreas) {\n    const poly = svgPolygon(\n      area.path,\n      bounds,\n      width,\n      height,\n      padding,\n      OBSTACLE_FILL,\n      OBSTACLE_STROKE,\n    );\n    if (poly) {\n      lines.push(poly);\n    }\n  }\n\n  // 5. Zone NAME labels at each zone's centroid (escaped; on top of fills).\n  for (const zone of map.zones) {\n    if (zone.name.length === 0 || zone.path.length === 0) {\n      continue;\n    }\n    let sumX = 0;\n    let sumY = 0;\n    for (const p of zone.path) {\n      sumX += p.x;\n      sumY += p.y;\n    }\n    const centroid: MowerPoint = { x: sumX / zone.path.length, y: sumY / zone.path.length };\n    const { px, py } = coordToPixel(centroid, bounds, width, height, padding);\n    lines.push(\n      `<text x=\"${px}\" y=\"${py}\" font-family=\"Arial, sans-serif\" font-size=\"20\" ` +\n        `font-weight=\"bold\" fill=\"${ZONE_LABEL_COLOR}\" text-anchor=\"middle\" ` +\n        `dominant-baseline=\"middle\">${escapeXml(zone.name)}</text>`,\n    );\n  }\n\n  lines.push('</svg>');\n  return lines.join('\\n');\n}\n","import { BaseDevice, type BaseDeviceInput } from '../../device/base-device.js';\nimport { getBatchDeviceDatas as defaultGetBatchDeviceDatas } from '../../cloud/commands.js';\nimport {\n  MOWER_ACTION,\n  MOWER_PROP,\n  buildAllAreaPayload,\n  buildEdgePayload,\n  buildGetConsumablePayload,\n  buildResumePayload,\n  buildSetConsumablePayload,\n  buildSetCurrentMapPayload,\n  buildSpotPayload,\n  buildZonePayload,\n} from './properties.js';\nimport {\n  MowerChargingStatus,\n  MowerControlAction,\n  MowerFault,\n  mowerFaultSeverity,\n  MowerStatus,\n  MowerTaskStatus,\n  type MowerFaultSeverity,\n} from './enums.js';\nimport {\n  asNum,\n  enumLookup,\n  extractMowerConsumableValues,\n  mowerConsumableIndex,\n  parseControlStatus,\n  parseMowerConsumables,\n  parseMowerHeartbeat,\n  parseMowingProgress,\n  parseTaskDescriptor,\n  type MowerConsumableKey,\n  type MowerConsumableReading,\n  type MowerControlState,\n  type MowerMowingProgress,\n  type MowerTaskDescriptor,\n  type MowerTaskSubState,\n} from './decode.js';\nimport {\n  MowerCapabilityResolver,\n  getMowerCapabilities,\n  type MowerCapabilities,\n} from './capabilities.js';\nimport { DreameError } from '../../transport/errors.js';\nimport {\n  parseBatchMapData,\n  renderMowerSvg,\n  type MowerMap,\n  type RenderMowerSvgOptions,\n} from './map/index.js';\n\n/**\n * Injectable batch-fetch seam. Given a device id + the batch property groups\n * (e.g. `['MAP','M_PATH']`), resolves the raw `{ 'MAP.0': …, 'MAP.info': … }`\n * chunk dict the firmware returns. The default wires `getBatchDeviceDatas` from\n * the cloud layer — but its live endpoint path is NOT yet recovered (see\n * `cloud/commands.ts`), so production callers MUST inject a working fetcher.\n * Tests inject a fake with no cast.\n */\nexport type BatchDeviceDataFetcher = (\n  did: string,\n  props: string[],\n) => Promise<Record<string, unknown>>;\n\n/** Default batch property groups the firmware exposes the vector map under. */\nexport const DEFAULT_MAP_PROPS: readonly string[] = ['MAP', 'M_PATH'];\n\n/** Mower-specific construction input: adds the injectable batch-fetch seam. */\nexport interface MowerDeviceInput extends BaseDeviceInput {\n  /** Inject the batched device-data fetcher (maps). Tests pass a fake. */\n  getBatchDeviceDatas?: BatchDeviceDataFetcher;\n}\n\nconst STATUS = enumLookup<MowerStatus>(\n  Object.values(MowerStatus).filter((v): v is MowerStatus => typeof v === 'number'),\n);\nconst CHARGING = enumLookup<MowerChargingStatus>(\n  Object.values(MowerChargingStatus).filter((v): v is MowerChargingStatus => typeof v === 'number'),\n);\nconst TASK_STATUS = enumLookup<MowerTaskStatus>(\n  Object.values(MowerTaskStatus).filter((v): v is MowerTaskStatus => typeof v === 'number'),\n);\nconst FAULT = enumLookup<MowerFault>(\n  Object.values(MowerFault).filter((v): v is MowerFault => typeof v === 'number'),\n);\n\n/** A typed Dreame-mower handle (state + capability-gated commands). */\nexport class MowerDevice extends BaseDevice {\n  readonly #caps: MowerCapabilities;\n  readonly #fetchBatch: BatchDeviceDataFetcher | null;\n  #lastMap: MowerMap | null = null;\n\n  constructor(input: MowerDeviceInput) {\n    super({\n      ...input,\n      // Inject the mower resolver so the inherited generic `capabilities` getter\n      // carries the mower token set (no banned cast).\n      capabilities: input.capabilities ?? new MowerCapabilityResolver().resolve(input.device.model),\n    });\n    this.#caps = getMowerCapabilities(input.device.model);\n    // Default to the live cloud batch-fetch (now that the endpoint is recovered),\n    // building the account-auth CommonInput from the protected map-fetch\n    // accessors. Tests/callers may still inject a fake via `getBatchDeviceDatas`.\n    this.#fetchBatch =\n      input.getBatchDeviceDatas ??\n      ((did, props) =>\n        defaultGetBatchDeviceDatas(\n          { session: this.currentSession(), region: this.region, did },\n          props,\n        ));\n  }\n\n  /** Rich, mower-specific capability record. */\n  get mowerCapabilities(): MowerCapabilities {\n    return this.#caps;\n  }\n\n  #num(siid: number, piid: number): number | null {\n    return asNum(this.getProperty(siid, piid)?.value);\n  }\n\n  // -- typed state --------------------------------------------------------\n  get statusRaw(): number | null {\n    return this.#num(MOWER_PROP.STATUS.siid, MOWER_PROP.STATUS.piid);\n  }\n  get status(): MowerStatus | null {\n    return STATUS(this.statusRaw);\n  }\n  get battery(): number | null {\n    return this.#num(MOWER_PROP.BATTERY.siid, MOWER_PROP.BATTERY.piid);\n  }\n  get chargingRaw(): number | null {\n    return this.#num(MOWER_PROP.CHARGING_STATUS.siid, MOWER_PROP.CHARGING_STATUS.piid);\n  }\n  get charging(): MowerChargingStatus | null {\n    return CHARGING(this.chargingRaw);\n  }\n  /** Docked => on the dock (Charging / ChargingComplete state). */\n  get isDocked(): boolean {\n    const s = this.status;\n    return s === MowerStatus.Charging || s === MowerStatus.ChargingComplete;\n  }\n  get isMowing(): boolean {\n    return this.status === MowerStatus.Mowing;\n  }\n  get taskStatusRaw(): number | null {\n    return this.#num(MOWER_PROP.TASK_STATUS.siid, MOWER_PROP.TASK_STATUS.piid);\n  }\n  /**\n   * TASK_STATUS (5:104) decoded to {@link MowerTaskStatus}, or null. The donor\n   * names only code 7 (SpotIncomplete); codes 2/3/10/13 are documented \"Unknown\n   * task status\" and intentionally surface as raw via {@link taskStatusRaw}.\n   */\n  get taskStatus(): MowerTaskStatus | null {\n    return TASK_STATUS(this.taskStatusRaw);\n  }\n  get faultRaw(): number | null {\n    return this.#num(MOWER_PROP.DEVICE_CODE.siid, MOWER_PROP.DEVICE_CODE.piid);\n  }\n  /**\n   * DEVICE_CODE (2:2) decoded to a {@link MowerFault} (the donor's\n   * BASE_DEVICE_CODES registry, 0..73), or null for a model-specific/undocumented\n   * code — which still surfaces as the raw number via {@link faultRaw}.\n   */\n  get fault(): MowerFault | null {\n    return FAULT(this.faultRaw);\n  }\n  /**\n   * Live mowing task sub-state decoded from the HEARTBEAT (1:1) blob —\n   * idle/starting/mowing/paused/finished/failed/exit/returning-to-dock — or null\n   * when no mowing session is in progress (or the heartbeat is absent). This is\n   * the donor's \"current task\" sensor; the heartbeat is push-only (the mower does\n   * not answer live reads), so it tracks the device while it is actively mowing.\n   */\n  get taskSubState(): MowerTaskSubState | null {\n    const hb = parseMowerHeartbeat(\n      this.getProperty(MOWER_PROP.HEARTBEAT.siid, MOWER_PROP.HEARTBEAT.piid)?.value,\n    );\n    return hb?.taskSubState ?? null;\n  }\n  /** Parsed scheduling task descriptor (2:50), or null. */\n  get task(): MowerTaskDescriptor | null {\n    return parseTaskDescriptor(\n      this.getProperty(MOWER_PROP.SCHEDULING_TASK.siid, MOWER_PROP.SCHEDULING_TASK.piid)?.value,\n    );\n  }\n  /**\n   * Mowing coverage target / progress signal from the task descriptor (`d.o`).\n   * This is the P4 progress surface; the byte-accurate pose-track % is P5.\n   */\n  get coverageTargetPct(): number | null {\n    return this.task?.coverageTarget ?? null;\n  }\n  /**\n   * Live mowing PROGRESS decoded from the POSE_COVERAGE (1:4) task block —\n   * `{progressPercent, currentAreaSqm, totalAreaSqm}` — or null when 1:4 carries\n   * no task block (idle / pose-only frame). This is the byte-accurate progress\n   * the Dreamehome app shows (vs {@link coverageTargetPct}, the task TARGET).\n   */\n  get mowingProgress(): MowerMowingProgress | null {\n    return parseMowingProgress(\n      this.getProperty(MOWER_PROP.POSE_COVERAGE.siid, MOWER_PROP.POSE_COVERAGE.piid)?.value,\n    );\n  }\n  /** Mowing completion percent (0..100) from {@link mowingProgress}, or null. */\n  get mowingProgressPct(): number | null {\n    return this.mowingProgress?.progressPercent ?? null;\n  }\n  /** Severity of the current DEVICE_CODE (2:2) — info / warning / error. */\n  get faultSeverity(): MowerFaultSeverity {\n    return mowerFaultSeverity(this.faultRaw);\n  }\n  /** Parsed per-zone control status (2:56), or null. */\n  get controlStatus(): MowerControlState | null {\n    return parseControlStatus(\n      this.getProperty(MOWER_PROP.MOWER_CONTROL_STATUS.siid, MOWER_PROP.MOWER_CONTROL_STATUS.piid)\n        ?.value,\n    );\n  }\n  get controlAction(): MowerControlAction | null {\n    return this.controlStatus?.action ?? null;\n  }\n\n  // -- command helpers ----------------------------------------------------\n  #requireCap(flag: boolean, op: string, feature: string): void {\n    if (!flag) {\n      throw new DreameError(`${op}: model ${this.model} does not support ${feature}`);\n    }\n  }\n\n  /** Send a scheduling-task action (2:50) carrying a single opcode object. */\n  #sendTask(payload: Record<string, unknown>): Promise<unknown> {\n    return this.callAction(MOWER_PROP.SCHEDULING_TASK.siid, MOWER_PROP.SCHEDULING_TASK.piid, [\n      payload,\n    ]);\n  }\n\n  // -- no-arg commands ----------------------------------------------------\n  /**\n   * Start the generic mowing action (siid 5 aiid 1). Named `startMowing` — NOT\n   * `start` — because `BaseDevice.start()` is the MQTT lifecycle method the\n   * facade relies on; overriding it would break handle startup.\n   */\n  startMowing(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.START_MOWING.siid, MOWER_ACTION.START_MOWING.aiid, []);\n  }\n  pause(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.PAUSE.siid, MOWER_ACTION.PAUSE.aiid, []);\n  }\n  stop(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.STOP.siid, MOWER_ACTION.STOP.aiid, []);\n  }\n  /** Send the mower to its dock (siid 5 aiid 3). */\n  dock(): Promise<unknown> {\n    return this.callAction(MOWER_ACTION.DOCK.siid, MOWER_ACTION.DOCK.aiid, []);\n  }\n  /**\n   * Resume mowing after a pause. Encoded as the continueControl opcode\n   * `{m:'a', p:0, o:5}` sent as the single in-param of the SCHEDULING_TASK\n   * (2:50) action — NOT a siid-5 action. Mirrors the donor TASK_PAYLOAD_RESUME.\n   */\n  async resume(): Promise<unknown> {\n    this.#requireCap(this.#caps.canResume, 'resume', 'resume');\n    return this.#sendTask(buildResumePayload());\n  }\n\n  // -- targeted mowing ----------------------------------------------------\n  /** All-area, map-targeted mowing (2:50 o:100). */\n  async startMowingAllArea(mapId: number): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowAllArea, 'startMowingAllArea', 'all-area mowing');\n    return this.#sendTask(buildAllAreaPayload(Math.trunc(mapId)));\n  }\n  /** Zone-selective mowing (2:50 o:102). */\n  async startMowingZones(zoneIds: number[]): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowZones, 'startMowingZones', 'zone mowing');\n    if (zoneIds.length === 0) {\n      throw new RangeError('startMowingZones: zoneIds must not be empty');\n    }\n    return this.#sendTask(buildZonePayload(zoneIds.map((z) => Math.trunc(z))));\n  }\n  /** Edge / contour mowing (2:50 o:101). Contour ids are two-int pairs [[1,0]]. */\n  async startMowingEdges(contourIds: number[][]): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowEdges, 'startMowingEdges', 'edge mowing');\n    if (contourIds.length === 0) {\n      throw new RangeError('startMowingEdges: contourIds must not be empty');\n    }\n    return this.#sendTask(buildEdgePayload(contourIds));\n  }\n  /** Spot mowing (2:50 o:103). */\n  async startMowingSpots(spotAreaIds: number[]): Promise<unknown> {\n    this.#requireCap(this.#caps.canMowSpots, 'startMowingSpots', 'spot mowing');\n    if (spotAreaIds.length === 0) {\n      throw new RangeError('startMowingSpots: spotAreaIds must not be empty');\n    }\n    return this.#sendTask(buildSpotPayload(spotAreaIds.map((s) => Math.trunc(s))));\n  }\n\n  /**\n   * Switch the mower's ACTIVE map (2:50 o:200). Takes a map *id* (as carried by\n   * {@link MowerMap.availableMaps}/`currentMapId`) and resolves it to the\n   * firmware's map *index* via the last-fetched map; falls back to treating the\n   * id as the index when no map has been fetched yet. Mirrors the donor\n   * `set_current_map`. Capability-gated on `canMap`.\n   */\n  async setCurrentMap(mapId: number): Promise<unknown> {\n    this.#requireCap(this.#caps.canMap, 'setCurrentMap', 'map switching');\n    const id = Math.trunc(mapId);\n    const entry = this.#lastMap?.availableMaps.find((m) => m.mapId === id);\n    const index = entry?.mapIndex ?? id;\n    return this.#sendTask(buildSetCurrentMapPayload(index));\n  }\n\n  // -- CMS consumables ----------------------------------------------------\n  /**\n   * Read the raw CMS consumable counters `[blade, brush, robot]` (minutes used),\n   * via the SCHEDULING_TASK (2:50) custom-action getter `{m:'g',t:'CMS'}`. This\n   * is a LIVE device action (it wakes the mower); rejects with\n   * {@link DreameDeviceOfflineError} when the mower is unreachable. Returns null\n   * if the response is malformed.\n   */\n  async getConsumableValues(): Promise<readonly number[] | null> {\n    const result = await this.callAction(\n      MOWER_PROP.SCHEDULING_TASK.siid,\n      MOWER_PROP.SCHEDULING_TASK.piid,\n      [buildGetConsumablePayload()],\n    );\n    return extractMowerConsumableValues(result);\n  }\n\n  /**\n   * Read the CMS consumables as typed readings (blade/brush/maintenance) with\n   * remaining %. LIVE action — see {@link getConsumableValues}. Returns null on\n   * a malformed response.\n   */\n  async getConsumables(): Promise<readonly MowerConsumableReading[] | null> {\n    const result = await this.callAction(\n      MOWER_PROP.SCHEDULING_TASK.siid,\n      MOWER_PROP.SCHEDULING_TASK.piid,\n      [buildGetConsumablePayload()],\n    );\n    return parseMowerConsumables(result);\n  }\n\n  /**\n   * Reset one CMS consumable counter to zero. Reads the current counters, zeroes\n   * the selected one (leaving the others), and writes them back via the\n   * `{m:'s',t:'CMS',d:{value:[…]}}` setter. LIVE action. Throws on an unknown\n   * item or when the current counters cannot be read.\n   */\n  async resetConsumable(item: MowerConsumableKey): Promise<void> {\n    const index = mowerConsumableIndex(item);\n    if (index === null) {\n      throw new DreameError(`resetConsumable: unknown consumable item \"${item}\"`);\n    }\n    const current = await this.getConsumableValues();\n    if (current === null) {\n      throw new DreameError('resetConsumable: failed to read current CMS counters');\n    }\n    const next = [...current];\n    next[index] = 0;\n    await this.callAction(MOWER_PROP.SCHEDULING_TASK.siid, MOWER_PROP.SCHEDULING_TASK.piid, [\n      buildSetConsumablePayload(next),\n    ]);\n  }\n\n  /**\n   * Seed the cache from the CLOUD SHADOW (last-known values) WITHOUT waking the\n   * mower — reads {@link MowerDevice.DEFAULT_PROPS} from the cloud-cached\n   * endpoint. After it resolves, every typed getter (status/battery/charging/\n   * coverage/task/controlAction…) reflects the cached values, so a docked/\n   * standby mower reports its state exactly as the Dreamehome app does.\n   */\n  async refreshFromCache(): Promise<void> {\n    await this.refreshCachedProperties([...MowerDevice.DEFAULT_PROPS]);\n  }\n\n  // -- maps ---------------------------------------------------------------\n  /** The most-recently-parsed map, or `null` until {@link getMap} succeeds. */\n  get lastMap(): MowerMap | null {\n    return this.#lastMap;\n  }\n\n  /**\n   * Fetch the batched vector-map data, parse it into a {@link MowerMap}, cache\n   * it as {@link lastMap}, and return it. Capability-gated on `canMap`.\n   *\n   * The batch fetcher is injected at construction (the live cloud endpoint path\n   * is not yet recovered — see `cloud/commands.ts`). Rejects with\n   * {@link DreameError} if no fetcher was injected or the batch yields no\n   * parseable map (asleep mower / empty data).\n   */\n  async getMap(props: readonly string[] = DEFAULT_MAP_PROPS): Promise<MowerMap> {\n    this.#requireCap(this.#caps.canMap, 'getMap', 'map parsing');\n    if (!this.#fetchBatch) {\n      throw new DreameError(\n        'getMap: no batch device-data fetcher injected (live endpoint unrecovered)',\n      );\n    }\n    const batch = await this.#fetchBatch(this.deviceId, [...props]);\n    const map = parseBatchMapData(batch);\n    if (!map) {\n      throw new DreameError('getMap: batch device-data contained no parseable map');\n    }\n    this.#lastMap = map;\n    return map;\n  }\n\n  /**\n   * Render the current map to a deterministic SVG string. Uses {@link lastMap}\n   * when present, otherwise fetches first via {@link getMap}.\n   */\n  async mapSvg(opts?: RenderMowerSvgOptions): Promise<string> {\n    const map = this.#lastMap ?? (await this.getMap());\n    return renderMowerSvg(map, opts ?? {});\n  }\n\n  /** Props worth seeding on start() / polling — exported for the facade. */\n  static readonly DEFAULT_PROPS = [\n    MOWER_PROP.HEARTBEAT,\n    MOWER_PROP.POSE_COVERAGE,\n    MOWER_PROP.STATUS,\n    MOWER_PROP.DEVICE_CODE,\n    MOWER_PROP.BATTERY,\n    MOWER_PROP.CHARGING_STATUS,\n    MOWER_PROP.TASK_STATUS,\n    MOWER_PROP.SCHEDULING_TASK,\n    MOWER_PROP.MOWER_CONTROL_STATUS,\n  ] as const;\n}\n","import type { DreameRegion } from '../auth/config.js';\nimport type { DreameDevice, DreameSession } from '../cloud/types.js';\nimport { login as defaultLogin, refresh as defaultRefresh } from '../auth/dreame-account.js';\nimport { listDevices as defaultListDevices } from '../cloud/devices.js';\nimport { BaseDevice } from '../device/base-device.js';\nimport { VacuumDevice } from '../models/vacuum/vacuum-device.js';\nimport { MowerDevice } from '../models/mower/mower-device.js';\nimport { TypedEmitter } from '../transport/typed-emitter.js';\nimport { DreameAuthError } from '../transport/errors.js';\nimport type { FetchImpl } from '../transport/http.js';\nimport type { NodreameOptions, DeviceEvent, StateChangedEvent } from './types.js';\n\nconst DEFAULT_REFRESH_LEEWAY_SECS = 100;\n\n/**\n * Device-type factory: pick the handle class by model prefix. Returns a\n * `BaseDevice` constructor (`VacuumDevice` / `MowerDevice` are subtypes, so the\n * return is covariant and needs no cast).\n */\nexport function deviceClassFor(model: string): typeof BaseDevice {\n  if (model.startsWith('dreame.vacuum.')) {\n    return VacuumDevice;\n  }\n  if (model.startsWith('dreame.mower.')) {\n    return MowerDevice;\n  }\n  return BaseDevice;\n}\n\n/** Args the facade passes to `createDevice` (a seam for tests). */\nexport interface CreateDeviceArgs {\n  device: DreameDevice;\n  region: DreameRegion;\n  sessionRef: () => DreameSession;\n  /**\n   * Force-refresh callback handed down to the device's MQTT push so it can\n   * self-heal a broker CONNACK auth-refusal (stale token). Bound by the facade\n   * to {@link Nodreame.reauthenticate}.\n   */\n  onAuthFailure?: () => Promise<DreameSession>;\n}\n\n/** Injectable collaborators — defaults wire the real P1 modules. */\nexport interface NodreameDeps {\n  login(input: {\n    email: string;\n    password: string;\n    region: DreameRegion;\n    country?: string;\n    lang?: string;\n    fetchImpl?: FetchImpl;\n  }): Promise<DreameSession>;\n  refresh(input: {\n    refreshToken: string;\n    region: DreameRegion;\n    country?: string;\n    lang?: string;\n    fetchImpl?: FetchImpl;\n  }): Promise<DreameSession>;\n  listDevices(input: {\n    session: DreameSession;\n    region: DreameRegion;\n    fetchImpl?: FetchImpl;\n  }): Promise<DreameDevice[]>;\n  createDevice(args: CreateDeviceArgs): BaseDevice;\n}\n\nfunction defaultDeps(opts: NodreameOptions): NodreameDeps {\n  return {\n    login: (input) => defaultLogin(input),\n    refresh: (input) => defaultRefresh(input),\n    listDevices: (input) => defaultListDevices(input),\n    createDevice: (args) => {\n      const DeviceClass = deviceClassFor(args.device.model);\n      return new DeviceClass({\n        device: args.device,\n        region: args.region,\n        sessionRef: args.sessionRef,\n        ...(args.onAuthFailure !== undefined ? { onAuthFailure: args.onAuthFailure } : {}),\n        ...(opts.fetchInitialValues !== undefined\n          ? { fetchInitialValues: opts.fetchInitialValues }\n          : {}),\n        ...(opts.pollIntervalMs !== undefined ? { pollIntervalMs: opts.pollIntervalMs } : {}),\n      });\n    },\n  };\n}\n\nexport type NodreameEvents = {\n  /** Re-emitted device state change, tagged with the deviceId. */\n  stateChanged: [StateChangedEvent];\n  /** Re-emitted device event, tagged with the deviceId. */\n  event: [DeviceEvent];\n  error: [Error];\n};\n\n/** Public facade for the Dreamehome cloud. */\nexport class Nodreame extends TypedEmitter<NodreameEvents> {\n  readonly #opts: NodreameOptions;\n  readonly #deps: NodreameDeps;\n  readonly #leewayMs: number;\n  #session: DreameSession | null = null;\n  #devices: BaseDevice[] = [];\n  #closed = false;\n  /** Background timer that proactively refreshes before the token expires. */\n  #refreshTimer: ReturnType<typeof setTimeout> | null = null;\n  /** Guard against overlapping proactive-refresh runs. */\n  #refreshInFlight = false;\n  /**\n   * The single in-flight refresh, shared by concurrent callers so the proactive\n   * timer and a manual `ensureSession()`/`reauthenticate()` never double-refresh.\n   */\n  #inFlightRefresh: Promise<DreameSession> | null = null;\n\n  constructor(opts: NodreameOptions, deps?: NodreameDeps) {\n    super();\n    if (!opts.username || !opts.password) {\n      throw new DreameAuthError('username and password are required');\n    }\n    this.#opts = opts;\n    this.#deps = deps ?? defaultDeps(opts);\n    this.#leewayMs = (opts.refreshLeewaySecs ?? DEFAULT_REFRESH_LEEWAY_SECS) * 1000;\n  }\n\n  get region(): DreameRegion {\n    return this.#opts.region;\n  }\n\n  get session(): DreameSession | null {\n    return this.#session;\n  }\n\n  get devices(): readonly BaseDevice[] {\n    return this.#devices;\n  }\n\n  /** Authenticate and stash the single shared session. */\n  async login(): Promise<DreameSession> {\n    this.#session = await this.#deps.login({\n      email: this.#opts.username,\n      password: this.#opts.password,\n      region: this.#opts.region,\n      ...(this.#opts.country !== undefined ? { country: this.#opts.country } : {}),\n      ...(this.#opts.lang !== undefined ? { lang: this.#opts.lang } : {}),\n      ...(this.#opts.fetchImpl !== undefined ? { fetchImpl: this.#opts.fetchImpl } : {}),\n    });\n    // Arm the proactive refresh against this session's expiry.\n    this.#scheduleProactiveRefresh();\n    return this.#session;\n  }\n\n  /** Return a valid session, refreshing proactively within the leeway window. */\n  async ensureSession(): Promise<DreameSession> {\n    const current = this.#session;\n    if (!current) {\n      return this.login();\n    }\n    if (Date.now() < current.expiresAt - this.#leewayMs) {\n      return current;\n    }\n    return this.#refreshNow(current);\n  }\n\n  /**\n   * Force a session refresh REGARDLESS of the current expiry, then propagate the\n   * new token to every live device push. Wired as each push's `onAuthFailure`:\n   * when a broker refuses a CONNECT because it considers the token stale (even\n   * though {@link ensureSession} still thinks it valid — e.g. server-side early\n   * revocation or clock skew), this mints a genuinely fresh token instead of\n   * replaying the rejected one.\n   */\n  async reauthenticate(): Promise<DreameSession> {\n    if (this.#closed) {\n      throw new DreameAuthError('client is closed');\n    }\n    const current = this.#session;\n    if (!current) {\n      return this.login();\n    }\n    return this.#refreshNow(current);\n  }\n\n  /**\n   * Refresh via the refresh-token (with a full re-login fallback) and propagate\n   * the new token to every device push. Shared by {@link ensureSession} (within\n   * the leeway window) and {@link reauthenticate} (unconditional).\n   */\n  async #refreshNow(current: DreameSession): Promise<DreameSession> {\n    // Coalesce concurrent refreshes (background timer + manual call) into one.\n    const existing = this.#inFlightRefresh;\n    if (existing) {\n      return existing;\n    }\n    const run = this.#doRefresh(current);\n    this.#inFlightRefresh = run;\n    try {\n      return await run;\n    } finally {\n      this.#inFlightRefresh = null;\n    }\n  }\n\n  async #doRefresh(current: DreameSession): Promise<DreameSession> {\n    if (current.refreshToken) {\n      // Narrow scope: the full-re-login fallback must cover ONLY a failed\n      // refresh-token GRANT — never the subsequent propagation. If we let the\n      // catch swallow a propagation failure it would trigger a spurious full\n      // re-login (and, in the fleet, tear down healthy siblings).\n      let next: DreameSession | null = null;\n      try {\n        next = await this.#deps.refresh({\n          refreshToken: current.refreshToken,\n          region: this.#opts.region,\n          ...(this.#opts.country !== undefined ? { country: this.#opts.country } : {}),\n          ...(this.#opts.lang !== undefined ? { lang: this.#opts.lang } : {}),\n          ...(this.#opts.fetchImpl !== undefined ? { fetchImpl: this.#opts.fetchImpl } : {}),\n        });\n      } catch {\n        next = null; // fall through to a full re-login\n      }\n      if (next) {\n        await this.#adoptSession(next);\n        return next;\n      }\n    }\n    const fresh = await this.login();\n    await this.#propagateSession(fresh);\n    return fresh;\n  }\n\n  /** Discover devices and build a live handle per device. */\n  async discoverDevices(): Promise<readonly BaseDevice[]> {\n    if (this.#closed) {\n      throw new DreameAuthError('client is closed');\n    }\n    const session = await this.ensureSession();\n    const records = await this.#deps.listDevices({\n      session,\n      region: this.#opts.region,\n      ...(this.#opts.fetchImpl !== undefined ? { fetchImpl: this.#opts.fetchImpl } : {}),\n    });\n    const handles = records.map((device) =>\n      this.#deps.createDevice({\n        device,\n        region: this.#opts.region,\n        sessionRef: () => this.#requireSession(),\n        onAuthFailure: () => this.reauthenticate(),\n      }),\n    );\n    for (const h of handles) {\n      h.on('stateChanged', (e) => this.emit('stateChanged', e));\n      h.on('event', (e) => this.emit('event', e));\n      // Guard the forward-emit: reactive re-auth / cap-exhaustion failures now\n      // funnel through here. An unhandled 'error' on the emitter throws, which\n      // would crash a consumer that never attached an 'error' listener.\n      h.on('error', (err) => {\n        if (this.listenerCount('error') > 0) {\n          this.emit('error', err);\n        }\n      });\n      await h.start();\n    }\n    // Close any handles from a previous discovery before adopting the new set —\n    // each holds an open MQTT push + a poll timer that would otherwise leak.\n    const previous = this.#devices;\n    this.#devices = [...handles];\n    await Promise.all(previous.map((d) => d.close()));\n    // Re-arm the proactive refresh against the session used for this discovery.\n    this.#scheduleProactiveRefresh();\n    return this.#devices;\n  }\n\n  /** Tear everything down: close every device push and clear timers. */\n  async close(): Promise<void> {\n    this.#closed = true;\n    this.#clearRefreshTimer();\n    const devices = this.#devices;\n    this.#devices = [];\n    await Promise.all(devices.map((d) => d.close()));\n    this.removeAllListeners();\n  }\n\n  #requireSession(): DreameSession {\n    if (!this.#session) {\n      throw new DreameAuthError('no active session — call login() first');\n    }\n    return this.#session;\n  }\n\n  async #adoptSession(session: DreameSession): Promise<void> {\n    this.#session = session;\n    await this.#propagateSession(session);\n    this.#scheduleProactiveRefresh();\n  }\n\n  #clearRefreshTimer(): void {\n    if (this.#refreshTimer) {\n      clearTimeout(this.#refreshTimer);\n      this.#refreshTimer = null;\n    }\n  }\n\n  /** Arm the proactive-refresh timer `delayMs` from now (clamped to ≥0). */\n  #armRefreshTimer(delayMs: number): void {\n    this.#clearRefreshTimer();\n    if (this.#closed) {\n      return;\n    }\n    this.#refreshTimer = setTimeout(\n      () => {\n        this.#refreshTimer = null;\n        void this.#runProactiveRefresh();\n      },\n      Math.max(0, delayMs),\n    );\n  }\n\n  /** (Re)arm the proactive-refresh timer against the current session's expiry. */\n  #scheduleProactiveRefresh(): void {\n    const session = this.#session;\n    if (!session) {\n      this.#clearRefreshTimer();\n      return;\n    }\n    this.#armRefreshTimer(session.expiresAt - this.#leewayMs - Date.now());\n  }\n\n  /**\n   * Timer body: refresh the session before it expires, then reschedule against\n   * the new expiry. Because {@link ensureSession} propagates the refreshed token\n   * to every device push, each MQTT connection is re-keyed BEFORE the broker\n   * would reject the old one — the reactive re-auth loop never even starts.\n   */\n  async #runProactiveRefresh(): Promise<void> {\n    if (this.#closed || this.#refreshInFlight) {\n      return;\n    }\n    this.#refreshInFlight = true;\n    try {\n      await this.ensureSession();\n      this.#refreshInFlight = false;\n      // Track the newest expiry (ensureSession may have returned the current\n      // session unchanged if the clock had not yet crossed the boundary).\n      this.#scheduleProactiveRefresh();\n    } catch (err) {\n      this.#refreshInFlight = false;\n      // Surface only when someone is listening — an unhandled 'error' on the\n      // emitter would throw. The failure is transient; the retry below recovers.\n      if (this.listenerCount('error') > 0) {\n        this.emit('error', err instanceof Error ? err : new Error(String(err)));\n      }\n      // Retry after a bounded backoff rather than hot-looping on a still-expiring\n      // session (whose boundary is already in the past ⇒ a 0ms reschedule).\n      if (!this.#closed) {\n        this.#armRefreshTimer(this.#leewayMs);\n      }\n    }\n  }\n\n  /** Push the refreshed token to every live device push. */\n  async #propagateSession(session: DreameSession): Promise<void> {\n    if (this.#closed) {\n      return;\n    }\n    // allSettled — NOT all: one device's applySession failure must NEVER reject\n    // the whole propagation. A rejected Promise.all here would (1) orphan the\n    // healthy siblings that already reconnected, (2) bubble up into #doRefresh\n    // and trigger a spurious full re-login, and (3) reach the originating push's\n    // reauth catch and tear down its live client. Each device self-heals its own\n    // reconnect (see DreamePush.refreshSession), so per-device failures are\n    // isolated here.\n    await Promise.allSettled(this.#devices.map((d) => d.applySession(session)));\n  }\n}\n","/**\n * Deep, cast-free anonymization of a value tree before it enters a DeviceDump.\n * Dumps are shared PUBLICLY, so every identity/secret/PII field is replaced with\n * {@link REDACTED}. Matching is by FIELD NAME (case-insensitive, substring) so a\n * `customName`/`accessToken`/`refresh_token` is caught regardless of casing or\n * surrounding context. Non-sensitive data (model, firmware, region, the numeric\n * property keys + their values, enum names) passes through untouched.\n *\n * Immutable: returns NEW objects/arrays; never mutates the input.\n */\n\n/** Placeholder substituted for any redacted value. */\nexport const REDACTED = '[redacted]';\n\n/**\n * Lower-cased field-name fragments that mark a sensitive field. A key matches\n * when its lower-cased form CONTAINS one of these fragments. Ordered roughly by\n * spec §5 grouping (identity/secrets, then location/PII, then free-text names).\n */\nconst SENSITIVE_KEY_FRAGMENTS: readonly string[] = [\n  // identity / secrets\n  'did',\n  // `deviceid` is listed explicitly: the bare `did` fragment does NOT match\n  // `deviceid` (the substring `did` is absent from `d-e-v-i-c-e-i-d`), yet\n  // base-device sets the real `did` as `deviceId` on raw payloads (FIX 1).\n  'deviceid',\n  'uid',\n  'token', // accessToken, refreshToken, refresh_token, token_type stripped too (safe)\n  'mac',\n  'serial',\n  'email',\n  'account',\n  'password',\n  'passwd',\n  'secret',\n  'authorization',\n  'auth',\n  'credential',\n  'apikey',\n  'api_key',\n  'clientid',\n  'client_id',\n  // location / PII\n  'gps',\n  'coordinate',\n  'latitude',\n  'longitude',\n  'lat',\n  'lon',\n  'lng',\n  'ssid',\n  'wifi',\n  'bssid',\n  'ipaddr',\n  'localip',\n  'binddomain',\n  'host',\n  'address',\n  'room',\n  'area_name',\n  'areaname',\n  'segmentname',\n  'segment_name',\n  // room/zone/map names are user-set PII (FIX 3).\n  'zone_name',\n  'zonename',\n  'map_name',\n  'mapname',\n  // map binary / geometry (location-revealing)\n  'map_info',\n  'mapinfo',\n  'mapblob',\n  // free-text device names that may carry PII. NOTE: the bare fragment `name` is\n  // intentionally NOT listed — it would over-match the catalog's command `name`\n  // field (an enum-derived, non-sensitive label like `START`). ACCEPTED\n  // TRADE-OFF: a bare `{ name: \"...\" }` in an event argument is NOT scrubbed by\n  // key. This is mitigated in practice by (a) the value-sanitizer below\n  // (sanitizeStringValue, applied to EVERY string scalar — it catches OSS\n  // paths / URLs / tokens regardless of key), and (b) the specific\n  // customName/deviceName/nickName/zoneName/mapName fragments which cover the\n  // realistic PII-bearing name cases.\n  'customname',\n  'devicename',\n  'nickname',\n];\n\n/** Bare `ip` is matched exactly (substring-`ip` would over-match e.g. `equip`). */\nconst EXACT_SENSITIVE_KEYS: ReadonlySet<string> = new Set(['ip']);\n\nfunction isSensitiveKey(key: string): boolean {\n  const lower = key.toLowerCase();\n  if (EXACT_SENSITIVE_KEYS.has(lower)) {\n    return true;\n  }\n  return SENSITIVE_KEY_FRAGMENTS.some((frag) => lower.includes(frag));\n}\n\nfunction isPlainObject(v: unknown): v is Record<string, unknown> {\n  return typeof v === 'object' && v !== null && !Array.isArray(v);\n}\n\n/**\n * Risky-VALUE patterns. A string scalar can carry a secret under a NON-sensitive\n * (e.g. numeric `\"siid.piid\"`) key — an OSS object path `ali_dreame/<uid>/<did>/<n>`,\n * a signed URL with a `token=` query param, or a long opaque secret run. These\n * never reach a key-name match, so they slip past {@link isSensitiveKey}.\n *\n * Kept DELIBERATELY conservative so the actual diagnostic signal (enum names like\n * `START`/`SweepAndMop`, numeric-ish strings, comma fault lists like `\"18,107\"`,\n * small JSON) is preserved. Only the patterns below trigger a redact.\n */\nconst RISKY_VALUE_PATTERNS: readonly RegExp[] = [\n  /:\\/\\//, // any URL scheme (https://, mqtts://, …) — signed URLs carry tokens\n  /ali_dreame\\//i, // OSS object path embedding uid/did\n  /[A-Za-z0-9_-]{32,}/, // a long opaque token run (base64/hex secrets)\n  /\\b(did|uid|token)\\s*=/i, // query-param secrets (?did=…&token=…)\n  /access/i, // accessKey / access-token / x-access-key style markers\n];\n\n/**\n * Replace a string VALUE with {@link REDACTED} when it matches a risky pattern,\n * otherwise return it unchanged. Applied to EVERY string scalar inside\n * {@link redact}, so it covers property values, event arguments, AND raw frames.\n */\nexport function sanitizeStringValue(s: string): string {\n  return RISKY_VALUE_PATTERNS.some((re) => re.test(s)) ? REDACTED : s;\n}\n\n/**\n * Recursively scrub a value. Sensitive KEYS short-circuit to {@link REDACTED};\n * every surviving string scalar is additionally passed through\n * {@link sanitizeStringValue} (value-level secret detection).\n */\nexport function redact(value: unknown): unknown {\n  if (Array.isArray(value)) {\n    return value.map((v) => redact(v));\n  }\n  if (isPlainObject(value)) {\n    const out: Record<string, unknown> = {};\n    for (const [k, v] of Object.entries(value)) {\n      out[k] = isSensitiveKey(k) ? REDACTED : redact(v);\n    }\n    return out;\n  }\n  if (typeof value === 'string') {\n    return sanitizeStringValue(value);\n  }\n  return value;\n}\n","import { z } from 'zod';\n\n/**\n * The SHARED diagnostic-dump format (spec §7). `nodedreame` and `nodewitt` fill\n * the SAME shape so dumps are diffable. {@link DeviceDump} is the public output\n * type; {@link DeviceDumpSchema} validates a built dump before export.\n *\n * `library` is a union for the shared format; this library always emits\n * `'nodedreame'`. The schema is the single source of truth — {@link DeviceDump}\n * is `z.infer` of it, so the runtime validator and the public type never drift.\n */\n\n/** A raw MIoT property value as it appears in a dump (always JSON-scalar). */\nexport type DumpScalar = string | number | boolean;\n\nconst DumpScalarSchema = z.union([z.string(), z.number(), z.boolean()]);\n\nconst PropertyObservationSchema = z.object({\n  values: z.array(DumpScalarSchema),\n  unmapped: z.array(DumpScalarSchema),\n  enum: z.string().optional(),\n  count: z.number(),\n  firstSeen: z.number(),\n  lastSeen: z.number(),\n});\n\nconst EventObservationSchema = z.object({\n  at: z.number(),\n  type: z.string(),\n  data: z.unknown().optional(),\n});\n\nconst RawFrameSchema = z.object({\n  at: z.number(),\n  source: z.string(),\n  payload: z.unknown(),\n});\n\nconst CommandSchema = z.object({\n  name: z.string(),\n  siid: z.number().optional(),\n  aiid: z.number().optional(),\n});\n\nconst SensorSchema = z.object({\n  model: z.string(),\n  channel: z.number().optional(),\n});\n\nexport const DeviceDumpSchema = z.object({\n  schemaVersion: z.literal(1),\n  library: z.union([z.literal('nodedreame'), z.literal('nodewitt')]),\n  libraryVersion: z.string(),\n  device: z.object({\n    model: z.string(),\n    firmware: z.string().optional(),\n    region: z.string().optional(),\n    type: z.string().optional(),\n  }),\n  observations: z.object({\n    properties: z.record(z.string(), PropertyObservationSchema),\n    events: z.array(EventObservationSchema),\n    rawFrames: z.array(RawFrameSchema).optional(),\n  }),\n  catalog: z.object({\n    commands: z.array(CommandSchema).optional(),\n    capabilities: z.record(z.string(), z.unknown()).optional(),\n    sensors: z.array(SensorSchema).optional(),\n  }),\n  meta: z.object({\n    startedAt: z.number(),\n    durationMs: z.number(),\n    generatedAt: z.number(),\n  }),\n});\n\n/** Public shared dump type — inferred from the schema so the two never drift. */\nexport type DeviceDump = z.infer<typeof DeviceDumpSchema>;\n","import { BaseDevice } from '../device/base-device.js';\nimport { VacuumDevice } from '../models/vacuum/vacuum-device.js';\nimport { MowerDevice } from '../models/mower/mower-device.js';\nimport { VACUUM_ACTION } from '../models/vacuum/properties.js';\nimport { MOWER_ACTION } from '../models/mower/properties.js';\nimport { enumLookup } from '../models/_shared/decode.js';\nimport {\n  ChargingStatus,\n  CleaningMode,\n  MiotState,\n  SuctionLevel,\n  TaskStatus,\n  WaterVolume,\n} from '../models/vacuum/enums.js';\nimport {\n  MowerChargingStatus,\n  MowerFault,\n  MowerStatus,\n  MowerTaskStatus,\n} from '../models/mower/enums.js';\nimport { redact } from './redact.js';\nimport { LIBRARY_VERSION } from '../support/version.js';\nimport type { DeviceEvent, PropertyChangedEvent } from '../api/types.js';\nimport type { Nodreame } from '../api/nodreame.js';\nimport { DeviceDumpSchema, type DeviceDump } from './dump-format.js';\n\n/** The `catalog` slice of a {@link DeviceDump}. */\ntype DumpCatalog = DeviceDump['catalog'];\ntype DumpCommand = NonNullable<DumpCatalog['commands']>[number];\n\n/**\n * Static command list for a device family, read from the model's `*_ACTION` map.\n * Cast-free: the maps are plain records of `{ siid, aiid }`. NEVER executes one.\n */\nfunction commandsForFamily(family: 'vacuum' | 'mower' | 'device'): DumpCommand[] {\n  const commands: DumpCommand[] = [];\n  if (family === 'vacuum') {\n    for (const [name, ref] of Object.entries(VACUUM_ACTION)) {\n      commands.push({ name, siid: ref.siid, aiid: ref.aiid });\n    }\n  } else if (family === 'mower') {\n    for (const [name, ref] of Object.entries(MOWER_ACTION)) {\n      commands.push({ name, siid: ref.siid, aiid: ref.aiid });\n    }\n  }\n  return commands;\n}\n\n/**\n * Build the STATIC catalog for a device: its declared command/action map +\n * resolved capability tokens. Reads only static maps + the capability getter —\n * NEVER invokes an action.\n */\nexport function buildCatalog(device: BaseDevice): DumpCatalog {\n  const family =\n    device instanceof VacuumDevice ? 'vacuum' : device instanceof MowerDevice ? 'mower' : 'device';\n  return {\n    commands: commandsForFamily(family),\n    capabilities: { tokens: [...device.capabilities.list()] },\n  };\n}\n\n/** A property decoder: the enum NAME + a membership test for a raw number. */\ninterface KeyDecoder {\n  enumName: string;\n  isMember(raw: number): boolean;\n}\n\nfunction decoderFor<E extends number>(enumName: string, members: readonly E[]): KeyDecoder {\n  const lookup = enumLookup<E>(members);\n  return { enumName, isMember: (raw) => lookup(raw) !== null };\n}\n\n/**\n * Per-property decoder table for the VACUUM family, keyed by `\"siid.piid\"`.\n * Mirrors the `enumLookup` wiring the vacuum device uses for its `*Raw`/decoded\n * getters. Members are extracted cast-free via the predicate `filter` (identical\n * to `vacuum-device.ts`), so a raw number is never branded with a banned cast.\n */\nexport function vacuumDecoders(): Record<string, KeyDecoder> {\n  return {\n    '2.1': decoderFor(\n      'MiotState',\n      Object.values(MiotState).filter((v): v is MiotState => typeof v === 'number'),\n    ),\n    '3.2': decoderFor(\n      'ChargingStatus',\n      Object.values(ChargingStatus).filter((v): v is ChargingStatus => typeof v === 'number'),\n    ),\n    '4.4': decoderFor(\n      'SuctionLevel',\n      Object.values(SuctionLevel).filter((v): v is SuctionLevel => typeof v === 'number'),\n    ),\n    '4.5': decoderFor(\n      'WaterVolume',\n      Object.values(WaterVolume).filter((v): v is WaterVolume => typeof v === 'number'),\n    ),\n    '2.6': decoderFor(\n      'CleaningMode',\n      Object.values(CleaningMode).filter((v): v is CleaningMode => typeof v === 'number'),\n    ),\n    '4.1': decoderFor(\n      'TaskStatus',\n      Object.values(TaskStatus).filter((v): v is TaskStatus => typeof v === 'number'),\n    ),\n  };\n}\n\n/**\n * Per-property decoder table for the MOWER family, keyed by `\"siid.piid\"`.\n * Note vacuum and mower BOTH use keys `2.1`/`3.2` for DIFFERENT enums, so the\n * family-correct table MUST be injected — there is no shared default.\n */\nexport function mowerDecoders(): Record<string, KeyDecoder> {\n  return {\n    '2.1': decoderFor(\n      'MowerStatus',\n      Object.values(MowerStatus).filter((v): v is MowerStatus => typeof v === 'number'),\n    ),\n    '3.2': decoderFor(\n      'MowerChargingStatus',\n      Object.values(MowerChargingStatus).filter(\n        (v): v is MowerChargingStatus => typeof v === 'number',\n      ),\n    ),\n    '5.104': decoderFor(\n      'MowerTaskStatus',\n      Object.values(MowerTaskStatus).filter((v): v is MowerTaskStatus => typeof v === 'number'),\n    ),\n    '2.2': decoderFor(\n      'MowerFault',\n      Object.values(MowerFault).filter((v): v is MowerFault => typeof v === 'number'),\n    ),\n  };\n}\n\ntype DumpScalar = string | number | boolean;\ntype PropertyObservation = DeviceDump['observations']['properties'][string];\n\nfunction toScalar(value: unknown): DumpScalar | null {\n  if (typeof value === 'string' || typeof value === 'number' || typeof value === 'boolean') {\n    return value;\n  }\n  return null;\n}\n\ninterface AccEntry {\n  values: DumpScalar[];\n  unmapped: DumpScalar[];\n  count: number;\n  firstSeen: number;\n  lastSeen: number;\n}\n\n/**\n * Accumulates per-property `(siid,piid)` → `\"siid.piid\"` observations: the\n * DISTINCT raw values seen (insertion order), a total `count`, first/last seen\n * timestamps, the mapped `enum` name (when a decoder is injected for the key),\n * and the subset of numeric values that DECODE TO NO KNOWN ENUM (`unmapped` —\n * the core crowd-sourcing signal). The family-correct decoder table is injected\n * at construction; a bare accumulator (no decoders) records values but never\n * flags unmapped.\n */\nexport class PropertyAccumulator {\n  readonly #decoders: Record<string, KeyDecoder>;\n  readonly #entries = new Map<string, AccEntry>();\n\n  constructor(decoders: Record<string, KeyDecoder> = {}) {\n    this.#decoders = decoders;\n  }\n\n  record(siid: number, piid: number, rawValue: unknown, at: number): void {\n    const key = `${siid}.${piid}`;\n    const scalar = toScalar(rawValue);\n    let entry = this.#entries.get(key);\n    if (!entry) {\n      entry = { values: [], unmapped: [], count: 0, firstSeen: at, lastSeen: at };\n      this.#entries.set(key, entry);\n    }\n    entry.count += 1;\n    entry.lastSeen = at;\n    if (scalar === null) {\n      return; // non-scalar (object/array/null) — recorded as an observation count only\n    }\n    if (!entry.values.includes(scalar)) {\n      entry.values.push(scalar);\n    }\n    const decoder = this.#decoders[key];\n    if (decoder && typeof scalar === 'number' && !decoder.isMember(scalar)) {\n      if (!entry.unmapped.includes(scalar)) {\n        entry.unmapped.push(scalar);\n      }\n    }\n  }\n\n  snapshot(): Record<string, PropertyObservation> {\n    const out: Record<string, PropertyObservation> = {};\n    for (const [key, e] of this.#entries) {\n      const decoder = this.#decoders[key];\n      const base: PropertyObservation = {\n        values: [...e.values],\n        unmapped: [...e.unmapped],\n        count: e.count,\n        firstSeen: e.firstSeen,\n        lastSeen: e.lastSeen,\n      };\n      out[key] = decoder ? { ...base, enum: decoder.enumName } : base;\n    }\n    return out;\n  }\n}\n\n/** Tunables for a {@link Dumper}. All optional. */\nexport interface DumperOptions {\n  /** Capture raw event/property frames into `observations.rawFrames`. Default false. */\n  captureRawFrames?: boolean;\n  /** Cap on retained raw frames (ring). Default 500. */\n  maxRawFrames?: number;\n  /** Periodic cloud-shadow refresh interval (ms). Default 30000; 0 disables. */\n  refreshIntervalMs?: number;\n}\n\n/**\n * The READ-ONLY slice of a device the {@link Dumper} consumes. Declaring it as\n * an interface lets tests inject a fake with no cast (mirrors `PushLike`). A real\n * `BaseDevice`/`VacuumDevice`/`MowerDevice` structurally satisfies it. NOTE it\n * exposes NO action/command method — the dumper literally cannot execute one.\n */\nexport interface DumperDevice {\n  readonly model: string;\n  readonly deviceId: string;\n  readonly capabilities: { list(): readonly string[]; has(t: string): boolean; model: string };\n  on(event: 'propertyChanged', cb: (e: PropertyChangedEvent) => void): this;\n  on(event: 'event', cb: (e: DeviceEvent) => void): this;\n  off(event: 'propertyChanged', cb: (e: PropertyChangedEvent) => void): this;\n  off(event: 'event', cb: (e: DeviceEvent) => void): this;\n  /** Cloud-shadow read; absent on a bare BaseDevice. Feature-detected. */\n  refreshFromCache?(): Promise<void>;\n}\n\nconst DEFAULT_REFRESH_INTERVAL_MS = 30000;\nconst DEFAULT_MAX_RAW_FRAMES = 500;\n\ntype RawFrame = NonNullable<DeviceDump['observations']['rawFrames']>[number];\n\n/**\n * A passive, READ-ONLY observer that records what a Dreame device exposes while\n * it operates. {@link start} hooks the device's `propertyChanged`/`event` stream,\n * does an initial + periodic cloud-shadow {@link DumperDevice.refreshFromCache}\n * read (feature-detected), and snapshots the static catalog at construction.\n * {@link stop} detaches every listener + clears the timer (idempotent, no leaks).\n * {@link export} assembles the ANONYMIZED, zod-valid {@link DeviceDump}. The\n * dumper NEVER executes a device command/action.\n */\nexport class Dumper {\n  readonly #device: DumperDevice;\n  readonly #opts: { captureRawFrames: boolean; maxRawFrames: number; refreshIntervalMs: number };\n  readonly #acc: PropertyAccumulator;\n  readonly #events: DeviceDump['observations']['events'] = [];\n  readonly #rawFrames: RawFrame[] = [];\n  readonly #catalog: DeviceDump['catalog'];\n  readonly #type: string;\n  readonly #onProperty: (e: PropertyChangedEvent) => void;\n  readonly #onEvent: (e: DeviceEvent) => void;\n  #timer: ReturnType<typeof setInterval> | null = null;\n  #startedAt = 0;\n  #started = false;\n\n  constructor(\n    device: DumperDevice,\n    catalog: DeviceDump['catalog'],\n    type: string,\n    decoders: Record<string, KeyDecoder>,\n    options: DumperOptions = {},\n  ) {\n    this.#device = device;\n    this.#catalog = catalog;\n    this.#type = type;\n    this.#acc = new PropertyAccumulator(decoders);\n    this.#opts = {\n      captureRawFrames: options.captureRawFrames ?? false,\n      maxRawFrames: options.maxRawFrames ?? DEFAULT_MAX_RAW_FRAMES,\n      refreshIntervalMs: options.refreshIntervalMs ?? DEFAULT_REFRESH_INTERVAL_MS,\n    };\n    // Bound listeners stored once so `off()` removes the EXACT same reference.\n    this.#onProperty = (e): void => {\n      this.#acc.record(e.siid, e.piid, e.value, Date.now());\n      this.#pushRaw('mqtt:property', e);\n    };\n    this.#onEvent = (e): void => {\n      this.#events.push({\n        at: Date.now(),\n        type: `${e.siid}.${e.eiid}`,\n        data: { arguments: e.arguments },\n      });\n      this.#pushRaw('mqtt:event', e);\n    };\n  }\n\n  /** Attach to the live stream + arm the periodic shadow refresh. Idempotent. */\n  async start(): Promise<void> {\n    if (this.#started) {\n      return;\n    }\n    this.#started = true;\n    this.#startedAt = Date.now();\n    this.#device.on('propertyChanged', this.#onProperty);\n    this.#device.on('event', this.#onEvent);\n    await this.#refresh();\n    if (this.#opts.refreshIntervalMs > 0 && this.#device.refreshFromCache) {\n      this.#timer = setInterval(() => void this.#refresh(), this.#opts.refreshIntervalMs);\n      this.#timer.unref?.();\n    }\n  }\n\n  /** Detach every listener + clear the timer. Idempotent. */\n  stop(): Promise<void> {\n    if (!this.#started) {\n      return Promise.resolve();\n    }\n    this.#started = false;\n    if (this.#timer) {\n      clearInterval(this.#timer);\n      this.#timer = null;\n    }\n    this.#device.off('propertyChanged', this.#onProperty);\n    this.#device.off('event', this.#onEvent);\n    return Promise.resolve();\n  }\n\n  /** Build the anonymized, schema-valid dump. Works live or after {@link stop}. */\n  export(): DeviceDump {\n    const now = Date.now();\n    const dump: DeviceDump = {\n      schemaVersion: 1,\n      library: 'nodedreame',\n      libraryVersion: LIBRARY_VERSION,\n      device: {\n        model: this.#device.model,\n        type: this.#type,\n      },\n      observations: {\n        properties: this.#acc.snapshot(),\n        events: [...this.#events],\n        ...(this.#opts.captureRawFrames ? { rawFrames: this.#redactFrames() } : {}),\n      },\n      catalog: this.#catalog,\n      meta: {\n        startedAt: this.#startedAt,\n        durationMs: Math.max(0, now - this.#startedAt),\n        generatedAt: now,\n      },\n    };\n    // redact(dump) returns `unknown`; DeviceDumpSchema.parse re-types it back to\n    // DeviceDump with ZERO cast (Zod's parse return type IS DeviceDump).\n    const anonymized = redact(dump);\n    return DeviceDumpSchema.parse(anonymized);\n  }\n\n  /** Deterministic pretty JSON of {@link export}. */\n  exportJson(): string {\n    return JSON.stringify(this.export(), null, 2);\n  }\n\n  async #refresh(): Promise<void> {\n    if (this.#device.refreshFromCache) {\n      try {\n        await this.#device.refreshFromCache();\n      } catch {\n        // read-only best-effort — a shadow-read failure must never crash a dump.\n      }\n    }\n  }\n\n  #pushRaw(source: string, payload: unknown): void {\n    if (!this.#opts.captureRawFrames) {\n      return;\n    }\n    this.#rawFrames.push({ at: Date.now(), source, payload });\n    if (this.#rawFrames.length > this.#opts.maxRawFrames) {\n      this.#rawFrames.shift();\n    }\n  }\n\n  #redactFrames(): RawFrame[] {\n    return this.#rawFrames.map((f) => ({ at: f.at, source: f.source, payload: redact(f.payload) }));\n  }\n}\n\n/**\n * The device family. A real device is classified by `instanceof`; a non-device\n * target (e.g. a test fake) falls back to its `model` prefix so the\n * family-correct decoder table/type still applies. Unknown → `'device'`.\n */\nfunction familyOf(device: DumperDevice): 'vacuum' | 'mower' | 'device' {\n  if (device instanceof VacuumDevice) {\n    return 'vacuum';\n  }\n  if (device instanceof MowerDevice) {\n    return 'mower';\n  }\n  if (!(device instanceof BaseDevice)) {\n    if (device.model.startsWith('dreame.vacuum.')) {\n      return 'vacuum';\n    }\n    if (device.model.startsWith('dreame.mower.')) {\n      return 'mower';\n    }\n  }\n  return 'device';\n}\n\nfunction decodersFor(device: DumperDevice): Record<string, KeyDecoder> {\n  switch (familyOf(device)) {\n    case 'vacuum':\n      return vacuumDecoders();\n    case 'mower':\n      return mowerDecoders();\n    default:\n      return {};\n  }\n}\n\nfunction typeFor(device: DumperDevice): string {\n  return familyOf(device);\n}\n\nfunction catalogFor(device: DumperDevice): DeviceDump['catalog'] {\n  // Family-based: a real device is classified by `instanceof` inside familyOf, a\n  // test fake by model prefix. Equivalent to buildCatalog for a real BaseDevice,\n  // but avoids re-narrowing to the generic BaseDevice<any>.\n  return {\n    commands: commandsForFamily(familyOf(device)),\n    capabilities: { tokens: [...device.capabilities.list()] },\n  };\n}\n\n/**\n * Create a read-only {@link Dumper} for one device. The family-correct decoder\n * table + catalog + `device.type` are chosen via cast-free `instanceof` checks;\n * an unknown family records values with no enum/unmapped detection.\n */\nexport function createDumper(target: DumperDevice, options?: DumperOptions): Dumper {\n  return new Dumper(\n    target,\n    catalogFor(target),\n    typeFor(target),\n    decodersFor(target),\n    options ?? {},\n  );\n}\n\n/**\n * Fan-out: one {@link Dumper} per discovered device on a {@link Nodreame} client\n * (read-only). Each `BaseDevice` structurally satisfies {@link DumperDevice}.\n */\nexport function createClientDumper(client: Nodreame, options?: DumperOptions): Dumper[] {\n  return client.devices.map((d) => createDumper(d, options));\n}\n","/**\n * Parsers for the robot's on-device AI detections, pushed as camera-service\n * properties (subscribe to `propertyChanged` for SIID 10001):\n *   - piid 110 (`personFollow` / PERSON_DATA): a tracked-person bounding box\n *   - piid 112 (`videoObstacleData`): a list of obstacle boxes\n *\n * The overlay for obstacle boxes is gated on `set_properties siid 28 piid 13 = 1`.\n * Payloads are JSON strings; these parsers are lenient (return `null` on garbage)\n * and normalize timestamps (the device reports nanoseconds).\n */\n\n/** A normalized detection box. Coordinates are passed through as-reported. */\nexport interface DetectionBox {\n  readonly x: number;\n  readonly y: number;\n  readonly w: number;\n  readonly h: number;\n  /** Optional label/class if the payload carries one. */\n  readonly label?: string;\n  /** Optional confidence if the payload carries one. */\n  readonly score?: number;\n}\n\nexport interface PersonFollowDetection {\n  /** Detection time in epoch milliseconds (converted from the device's ns). */\n  readonly timestampMs: number;\n  readonly box: DetectionBox | null;\n}\n\nexport interface ObstacleDetection {\n  readonly timestampMs: number;\n  readonly boxes: readonly DetectionBox[];\n}\n\nconst asRecord = (value: unknown): Record<string, unknown> | null => {\n  if (typeof value === 'string') {\n    try {\n      const parsed: unknown = JSON.parse(value);\n      return parsed && typeof parsed === 'object' ? (parsed as Record<string, unknown>) : null;\n    } catch {\n      return null;\n    }\n  }\n  return value && typeof value === 'object' ? (value as Record<string, unknown>) : null;\n};\n\nconst num = (v: unknown): number | undefined => (typeof v === 'number' && Number.isFinite(v) ? v : undefined);\n\n/** Device timestamps are nanoseconds; scale to ms (leave already-ms values alone). */\nconst toMs = (raw: unknown): number => {\n  const n = num(raw);\n  if (n === undefined) return Date.now();\n  // Heuristic: > 1e15 is almost certainly nanoseconds.\n  return n > 1e15 ? Math.round(n / 1e6) : n;\n};\n\n/** Read a box from either an array `[x,y,w,h]` or an object `{x,y,w,h,...}`. */\nconst toBox = (raw: unknown): DetectionBox | null => {\n  if (Array.isArray(raw) && raw.length >= 4) {\n    const [x, y, w, h] = raw;\n    if ([x, y, w, h].every((v) => num(v) !== undefined)) {\n      return { x: x as number, y: y as number, w: w as number, h: h as number };\n    }\n    return null;\n  }\n  const r = asRecord(raw);\n  if (!r) return null;\n  const x = num(r['x']);\n  const y = num(r['y']);\n  const w = num(r['w']) ?? num(r['width']);\n  const h = num(r['h']) ?? num(r['height']);\n  if (x === undefined || y === undefined || w === undefined || h === undefined) return null;\n  const label = typeof r['label'] === 'string' ? (r['label'] as string) : undefined;\n  const score = num(r['score']) ?? num(r['confidence']);\n  return { x, y, w, h, ...(label !== undefined ? { label } : {}), ...(score !== undefined ? { score } : {}) };\n};\n\n/** Parse a `personFollow` (piid 110) payload into a normalized detection. */\nexport function parsePersonFollow(value: unknown): PersonFollowDetection | null {\n  const r = asRecord(value);\n  if (!r) return null;\n  return {\n    timestampMs: toMs(r['timestamp'] ?? r['time']),\n    box: toBox(r['bbox'] ?? r['box']),\n  };\n}\n\n/** Parse a `videoObstacleData` (piid 112) payload into normalized boxes. */\nexport function parseObstacleData(value: unknown): ObstacleDetection | null {\n  const r = asRecord(value);\n  if (!r) return null;\n  const list = r['boxlist'] ?? r['boxes'] ?? r['boxList'];\n  const boxes: DetectionBox[] = [];\n  if (Array.isArray(list)) {\n    for (const item of list) {\n      const box = toBox(item);\n      if (box) boxes.push(box);\n    }\n  }\n  return { timestampMs: toMs(r['timestamp'] ?? r['time']), boxes };\n}\n","/**\n * Minimal Node RTMP client that replicates the Aliyun LinkVisual viewer (\"private mode\" librtmp)\n * exactly as observed on the wire (findings/dreame.pcap, findings/dr3.pcap — client->relay bytes,\n * VERIFIED) and in liblvmedia.so / liblvrtmp.so (VERIFIED by disassembly).\n *\n * Wire sequence (all four written back-to-back, BEFORE any server byte is read — like the app):\n *   C0 = 0x04, C1 = [uptime_ms u32][0 0 0 0][1528 random]           (no C2 is ever sent)\n *   connect      (txn 1, csid 3, msid 0, fmt 0) {app, tcUrl, fpad:false, capabilities:15,\n *                 audioCodecs:3191, videoCodecs:252, videoFunction:1}   — no flashVer, no objectEncoding\n *   play         (txn 2, csid 8, msid 1, fmt 0) null, <playpath>, -1000  — NO createStream (msid fixed = 1)\n *   onStatus     (txn 3, csid 3, fmt 1) null, {level:\"status\", code:\"NetStream.RequestAudioType\",\n *                 description:\"desc\", audio_type:\"1\"}\n * Then the server answers S0(0x04)+S1(1536) followed directly by RTMP messages (no S2), chunked with an\n * implicit 60000-byte chunk size. After the first server message is processed the app sends\n *   onStatus     (txn 4, csid 3, fmt 1) null, {level:\"status\", code:\"NetStream.Ping.Start\", description:\"desc\"}\n * and repeats it every 30 s (CStreamUnit::ProcessRtmpStream). The client never replies to server onStatus.\n *\n * What is ASSUMED (not observable in the pcaps, which lack the server->client direction): that the\n * server sends onStatus NetStream.Play.Start (librtmp requires it before accepting media), and that this\n * exact sequence — rather than one specific element of it — is what makes the robot publish VIDEO.\n */\nimport net from 'node:net';\nimport { EventEmitter } from 'node:events';\nimport { randomBytes } from 'node:crypto';\nimport { amfBoolean, amfNull, amfNumber, amfObject, amfString, decodeAmf0, type AmfValue } from './amf0.js';\nimport { ChunkReader, MSG, PRIVATE_MODE_CHUNK_SIZE, encodeMessage, type RtmpMessage } from './chunk.js';\nimport {\n  aacSampleRate, aacToAdts, avccToAnnexB, parseAacConfig, parseAudioTag, parseAvcConfig, parseVideoTag,\n  type AacConfig, type AvcConfig,\n} from './flv.js';\n\nexport const LV_STATUS = {\n  REQUEST_AUDIO_TYPE: 'NetStream.RequestAudioType',\n  FORCE_IFRAME_START: 'NetStream.ForceIFrame.Start',\n  PING_START: 'NetStream.Ping.Start',\n  PING_RESPONSE: 'NetStream.Ping.Response',\n  PRE_CONNECT: 'NetStream.PreConnect',\n  KEEPALIVE: 'NetStream.Keepalive',\n  SERVER_INFO: 'NetStream.ServerInfo',\n  TRANSFER_DATA: 'NetStream.TransferData',\n  PLAY_START: 'NetStream.Play.Start',\n  /** Server signals the talk (intercom uplink) channel is ready. */\n  TALK_READY: 'NetStream.TalkReady',\n} as const;\n\n/**\n * FLV audio tag header byte for the intercom uplink: G.711 A-law, 8 kHz, 16-bit,\n * mono — `(7<<4)|(0<<2)|(1<<1)|0` = 0x72. Verified against liblvmedia SetTalkInfo.\n */\nexport const TALK_AUDIO_HEADER_G711A = 0x72;\n\n/** librtmp constants observed in the app's connect (RTMP_Connect1/SendConnectPacket). */\nconst CONNECT_CAPABILITIES = 15;\nconst CONNECT_AUDIO_CODECS = 3191;\nconst CONNECT_VIDEO_CODECS = 252;\nconst CONNECT_VIDEO_FUNCTION = 1;\nconst PLAY_START_LIVE = -1000; // RTMP_LF_LIVE -> start = -1000\nconst HANDSHAKE_C0_PRIVATE = 0x04;\nconst HANDSHAKE_S0S1_LEN = 1537;\nconst DEFAULT_PING_INTERVAL_MS = 30_000; // ProcessRtmpStream: 30000\nconst DEFAULT_CACHE_DURATION_MS = 3000; // app: \"&cacheDuration=3000\"\nconst ACK_THRESHOLD_BYTES = 250_000; // librtmp: m_nClientBW(2500000)/10\nconst CSID_CONTROL = 2;\nconst CSID_COMMAND = 3;\nconst CSID_TALK = 4; // intercom uplink audio (liblvmedia IOT_RTMP_SendAudio)\nconst CSID_PLAY = 8;\nconst PLAY_STREAM_ID = 1; // RTMP_InitPrivateConfig: m_stream_id = 1\n\nexport interface StatusEvent {\n  code: string;\n  level: string;\n  description: string;\n  fields: { [key: string]: AmfValue };\n  transactionId: number;\n}\n\nexport interface VideoAccessUnitEvent {\n  data: Buffer; // Annex-B access unit (SPS/PPS prepended on keyframes)\n  isKeyframe: boolean;\n  videoType: 'H264';\n  microseconds: number;\n  time?: number;\n}\n\nexport interface AudioInfoEvent {\n  codec: 'aac' | 'g711a' | 'g711u' | 'unknown';\n  sampleRate: number;\n  channels: number;\n}\n\nexport interface LvRtmpClientOptions {\n  /** relayUrl from stream/query, e.g. rtmp://host:8000/live?token=..&session=../<key>_0 */\n  url: string;\n  /** Appended to app/tcUrl as \"&cacheDuration=N\" when not already present (the app always sends 3000). */\n  cacheDurationMs?: number;\n  /** Send the onStatus NetStream.RequestAudioType {audio_type:\"1\"} right after play (app does). */\n  requestAudioType?: boolean;\n  /** Send NetStream.Ping.Start after the first server message and then periodically (app does). */\n  ping?: boolean;\n  pingIntervalMs?: number;\n  /** Also send NetStream.ForceIFrame.Start once playing (the app sends it when it starts an MP4 record). */\n  forceIFrameOnStart?: boolean;\n  connectTimeoutMs?: number;\n  log?: (line: string) => void;\n}\n\ninterface Endpoint {\n  host: string;\n  port: number;\n  app: string;\n  tcUrl: string;\n  playpath: string;\n}\n\n/**\n * Split like librtmp/ffmpeg do: playpath = last path segment, app = everything between host and it\n * (query string included). Verified against the app's connect/play in both pcaps.\n */\nexport function parseRelayUrl(url: string, cacheDurationMs: number): Endpoint {\n  const m = /^rtmp:\\/\\/([^/:]+)(?::(\\d+))?\\/(.*)$/.exec(url);\n  if (!m) throw new Error(`not an rtmp:// url: ${url}`);\n  const host = m[1]!;\n  const port = m[2] ? Number(m[2]) : 1935;\n  const path = m[3]!;\n  const slash = path.lastIndexOf('/');\n  if (slash < 0) throw new Error(`relay url has no playpath: ${url}`);\n  let app = path.slice(0, slash);\n  const playpath = path.slice(slash + 1);\n  if (!/[?&]cacheDuration=/.test(app)) app += `${app.includes('?') ? '&' : '?'}cacheDuration=${cacheDurationMs}`;\n  return { host, port, app, playpath, tcUrl: `rtmp://${host}:${port}/${app}` };\n}\n\ntype Events = {\n  connected: [];\n  status: [StatusEvent];\n  command: [string, AmfValue[]];\n  metadata: [{ [key: string]: AmfValue }];\n  audio: [{ timestamp: number; body: Buffer }];\n  video: [{ timestamp: number; body: Buffer }];\n  videoAccessUnit: [VideoAccessUnitEvent];\n  audioFrame: [Buffer];\n  audioInfo: [AudioInfoEvent];\n  error: [Error];\n  close: [];\n};\n\nexport class LvRtmpClient extends EventEmitter<Events> {\n  private readonly opts: Required<Omit<LvRtmpClientOptions, 'log'>> & { log: (line: string) => void };\n  private readonly endpoint: Endpoint;\n  private socket: net.Socket | null = null;\n  private handshakeBuf: Buffer = Buffer.alloc(0);\n  private handshakeDone = false;\n  private c1Time = 0;\n  private reader = new ChunkReader(PRIVATE_MODE_CHUNK_SIZE);\n  private transactionId = 0;\n  private bytesIn = 0;\n  private bytesAcked = 0;\n  private ackWindow = ACK_THRESHOLD_BYTES;\n  private pingTimer: NodeJS.Timeout | null = null;\n  private firstMessageSeen = false;\n  private avcConfig: AvcConfig | null = null;\n  private aacConfig: AacConfig | null = null;\n  private closed = false;\n\n  constructor(options: LvRtmpClientOptions) {\n    super();\n    this.opts = {\n      url: options.url,\n      cacheDurationMs: options.cacheDurationMs ?? DEFAULT_CACHE_DURATION_MS,\n      requestAudioType: options.requestAudioType ?? true,\n      ping: options.ping ?? true,\n      pingIntervalMs: options.pingIntervalMs ?? DEFAULT_PING_INTERVAL_MS,\n      forceIFrameOnStart: options.forceIFrameOnStart ?? false,\n      connectTimeoutMs: options.connectTimeoutMs ?? 10_000,\n      log: options.log ?? (() => {}),\n    };\n    this.endpoint = parseRelayUrl(this.opts.url, this.opts.cacheDurationMs);\n  }\n\n  /** Open TCP, write C0+C1 and the pipelined connect/play/RequestAudioType. Resolves once written. */\n  connect(): Promise<void> {\n    return new Promise((resolve, reject) => {\n      const sock = net.createConnection({ host: this.endpoint.host, port: this.endpoint.port });\n      this.socket = sock;\n      sock.setNoDelay(true);\n      sock.setTimeout(this.opts.connectTimeoutMs, () => { if (!this.handshakeDone) this.fail(new Error('handshake timeout')); });\n      sock.once('error', (err) => { this.emit('error', err); reject(err); });\n      sock.on('data', (d) => this.onData(d));\n      sock.on('close', () => this.onClose());\n      sock.once('connect', () => {\n        this.opts.log(`tcp connected ${this.endpoint.host}:${this.endpoint.port}`);\n        sock.write(Buffer.concat([this.buildC0C1(), ...this.buildOpeningSequence()]));\n        this.emit('connected');\n        resolve();\n      });\n    });\n  }\n\n  close(): void {\n    this.closed = true;\n    if (this.pingTimer) clearInterval(this.pingTimer);\n    this.pingTimer = null;\n    this.socket?.destroy();\n  }\n\n  /** onStatus encoder — byte-exact replica of liblvmedia IOT_RTMP_SendMessage (csid 3, fmt 1, ts 0). */\n  buildStatus(code: string, extra?: readonly [string, string]): Buffer {\n    const pairs: Array<readonly [string, Buffer]> = [\n      ['level', amfString('status')],\n      ['code', amfString(code)],\n      ['description', amfString('desc')],\n    ];\n    if (extra) pairs.push([extra[0], amfString(extra[1])]);\n    const body = Buffer.concat([amfString('onStatus'), amfNumber(++this.transactionId), amfNull(), amfObject(pairs)]);\n    return encodeMessage({ fmt: 1, csid: CSID_COMMAND, type: MSG.COMMAND_AMF0, body });\n  }\n\n  sendStatus(code: string, extra?: readonly [string, string]): void {\n    this.write(this.buildStatus(code, extra));\n    this.opts.log(`>> onStatus ${code}${extra ? ` ${extra[0]}=${extra[1]}` : ''} (txn ${this.transactionId})`);\n  }\n\n  forceIFrame(): void {\n    this.sendStatus(LV_STATUS.FORCE_IFRAME_START);\n  }\n\n  // ---------------------------------------------------------------- outgoing\n\n  private buildC0C1(): Buffer {\n    this.c1Time = Math.floor(performance.now()) >>> 0;\n    const c1 = Buffer.alloc(1536);\n    c1.writeUInt32BE(this.c1Time, 0);\n    c1.writeUInt32BE(0, 4);\n    randomBytes(1528).copy(c1, 8);\n    return Buffer.concat([Buffer.from([HANDSHAKE_C0_PRIVATE]), c1]);\n  }\n\n  private buildConnect(): Buffer {\n    const obj = amfObject([\n      ['app', amfString(this.endpoint.app)],\n      ['tcUrl', amfString(this.endpoint.tcUrl)],\n      ['fpad', amfBoolean(false)],\n      ['capabilities', amfNumber(CONNECT_CAPABILITIES)],\n      ['audioCodecs', amfNumber(CONNECT_AUDIO_CODECS)],\n      ['videoCodecs', amfNumber(CONNECT_VIDEO_CODECS)],\n      ['videoFunction', amfNumber(CONNECT_VIDEO_FUNCTION)],\n    ]);\n    const body = Buffer.concat([amfString('connect'), amfNumber(++this.transactionId), obj]);\n    return encodeMessage({ fmt: 0, csid: CSID_COMMAND, msid: 0, type: MSG.COMMAND_AMF0, body });\n  }\n\n  private buildPlay(): Buffer {\n    const body = Buffer.concat([\n      amfString('play'), amfNumber(++this.transactionId), amfNull(), amfString(this.endpoint.playpath), amfNumber(PLAY_START_LIVE),\n    ]);\n    return encodeMessage({ fmt: 0, csid: CSID_PLAY, msid: PLAY_STREAM_ID, type: MSG.COMMAND_AMF0, body });\n  }\n\n  /** Exposed for the byte-exact self-test against the pcap. */\n  buildOpeningSequence(): Buffer[] {\n    const seq = [this.buildConnect(), this.buildPlay()];\n    if (this.opts.requestAudioType) seq.push(this.buildStatus(LV_STATUS.REQUEST_AUDIO_TYPE, ['audio_type', '1']));\n    return seq;\n  }\n\n  /**\n   * Push one intercom (talk-back) audio frame UPSTREAM to the device — an RTMP\n   * type-8 audio message on the talk chunk stream (csid 4, msid 1), exactly as\n   * liblvmedia's `IOT_RTMP_SendAudio` does. `payload` is the raw codec audio\n   * (default framing = G.711 A-law); `tsMs` is a running millisecond timestamp.\n   * Only meaningful after the server sends {@link LV_STATUS.TALK_READY}.\n   */\n  sendAudioFrame(payload: Buffer, tsMs: number, header: number = TALK_AUDIO_HEADER_G711A): void {\n    const body = Buffer.concat([Buffer.from([header]), payload]);\n    this.write(\n      encodeMessage({ fmt: 0, csid: CSID_TALK, msid: PLAY_STREAM_ID, timestamp: tsMs >>> 0, type: MSG.AUDIO, body }),\n    );\n  }\n\n  private write(buf: Buffer): void {\n    if (!this.socket || this.socket.destroyed) return;\n    this.socket.write(buf);\n  }\n\n  private sendAck(): void {\n    const b = Buffer.alloc(4);\n    b.writeUInt32BE(this.bytesIn >>> 0, 0);\n    this.write(encodeMessage({ fmt: 0, csid: CSID_CONTROL, msid: 0, type: MSG.ACK, body: b }));\n    this.bytesAcked = this.bytesIn;\n  }\n\n  private sendPingResponse(serverTs: Buffer): void {\n    const body = Buffer.concat([Buffer.from([0, 7]), serverTs]);\n    this.write(encodeMessage({ fmt: 0, csid: CSID_CONTROL, msid: 0, type: MSG.USER_CONTROL, body }));\n  }\n\n  private startPinging(): void {\n    if (!this.opts.ping || this.pingTimer) return;\n    this.sendStatus(LV_STATUS.PING_START);\n    this.pingTimer = setInterval(() => this.sendStatus(LV_STATUS.PING_START), this.opts.pingIntervalMs);\n  }\n\n  // ---------------------------------------------------------------- incoming\n\n  private onData(data: Buffer): void {\n    this.bytesIn += data.length;\n    let payload = data;\n    if (!this.handshakeDone) {\n      this.handshakeBuf = Buffer.concat([this.handshakeBuf, data]);\n      if (this.handshakeBuf.length < HANDSHAKE_S0S1_LEN) return;\n      this.onHandshake(this.handshakeBuf.subarray(0, HANDSHAKE_S0S1_LEN));\n      payload = this.handshakeBuf.subarray(HANDSHAKE_S0S1_LEN);\n      this.handshakeBuf = Buffer.alloc(0);\n      this.handshakeDone = true;\n      if (payload.length === 0) return;\n    }\n    let messages: RtmpMessage[];\n    try {\n      messages = this.reader.feed(payload);\n    } catch (err) {\n      this.fail(err instanceof Error ? err : new Error(String(err)));\n      return;\n    }\n    for (const m of messages) this.dispatch(m);\n    if (this.bytesIn - this.bytesAcked >= this.ackWindow) this.sendAck();\n  }\n\n  private onHandshake(s0s1: Buffer): void {\n    const s0 = s0s1[0]!;\n    const serverTime = s0s1.readUInt32BE(1);\n    const zero = s0s1.readUInt32BE(5);\n    this.opts.log(`<< S0=0x${s0.toString(16)} S1.time=${serverTime} S1.zero=0x${zero.toString(16)} (client sent 0x04; app logs a mismatch but continues)`);\n    // Robustness: a standards-mode server might append S2 (echo of our C1). liblvrtmp never reads one;\n    // detect it anyway so we do not desync if the relay behaves differently for us.\n    // (Handled lazily in dispatch: if the first \"chunk\" looks like our C1 echo we skip 1536 bytes.)\n  }\n\n  private dispatch(m: RtmpMessage): void {\n    if (!this.firstMessageSeen) {\n      this.firstMessageSeen = true;\n      this.startPinging(); // ProcessRtmpStream sends Ping.Start right after processing the first packet\n    }\n    switch (m.type) {\n      case MSG.SET_CHUNK_SIZE: {\n        const size = m.body.readUInt32BE(0) & 0x7fffffff;\n        this.opts.log(`<< SetChunkSize ${size}`);\n        this.reader.chunkSize = size;\n        return;\n      }\n      case MSG.WINDOW_ACK_SIZE:\n        this.ackWindow = Math.min(ACK_THRESHOLD_BYTES, m.body.readUInt32BE(0));\n        this.opts.log(`<< WindowAckSize ${m.body.readUInt32BE(0)}`);\n        return;\n      case MSG.SET_PEER_BW:\n        this.opts.log(`<< SetPeerBandwidth ${m.body.readUInt32BE(0)} limit=${m.body[4]}`);\n        return;\n      case MSG.ACK:\n      case MSG.ABORT:\n        return;\n      case MSG.USER_CONTROL:\n        return this.onUserControl(m.body);\n      case MSG.COMMAND_AMF0:\n        return this.onCommand(m);\n      case MSG.DATA_AMF0:\n        return this.onDataMessage(m.body);\n      case MSG.AUDIO:\n        return this.onAudio(m);\n      case MSG.VIDEO:\n        return this.onVideo(m);\n      default:\n        this.opts.log(`<< unknown message type ${m.type} len=${m.body.length}`);\n    }\n  }\n\n  private onUserControl(body: Buffer): void {\n    const event = body.readUInt16BE(0);\n    const names: { [k: number]: string } = { 0: 'StreamBegin', 1: 'StreamEOF', 2: 'StreamDry', 4: 'StreamIsRecorded', 6: 'PingRequest', 7: 'PingResponse' };\n    this.opts.log(`<< UserControl ${names[event] ?? event} ${body.subarray(2).toString('hex')}`);\n    if (event === 6) this.sendPingResponse(body.subarray(2, 6));\n  }\n\n  private onCommand(m: RtmpMessage): void {\n    let values: AmfValue[];\n    try {\n      values = decodeAmf0(m.body);\n    } catch (err) {\n      this.opts.log(`<< undecodable command: ${m.body.toString('hex')}`);\n      return;\n    }\n    const [name, txn, , info] = values;\n    this.opts.log(`<< ${String(name)} ${JSON.stringify(values.slice(1))}`);\n    this.emit('command', String(name), values);\n    if (name === 'onStatus' && info && typeof info === 'object' && !Array.isArray(info)) {\n      const fields = info as { [key: string]: AmfValue };\n      this.emit('status', {\n        code: String(fields.code ?? ''),\n        level: String(fields.level ?? ''),\n        description: String(fields.description ?? ''),\n        fields,\n        transactionId: typeof txn === 'number' ? txn : 0,\n      });\n      if (fields.code === LV_STATUS.PLAY_START && this.opts.forceIFrameOnStart) this.forceIFrame();\n    }\n  }\n\n  private onDataMessage(body: Buffer): void {\n    try {\n      const values = decodeAmf0(body);\n      this.opts.log(`<< data ${JSON.stringify(values).slice(0, 300)}`);\n      const obj = values.find((v) => v && typeof v === 'object' && !Array.isArray(v));\n      if (obj) this.emit('metadata', obj as { [key: string]: AmfValue });\n    } catch {\n      this.opts.log(`<< undecodable data message len=${body.length}`);\n    }\n  }\n\n  private onAudio(m: RtmpMessage): void {\n    this.emit('audio', { timestamp: m.timestamp, body: m.body });\n    const tag = parseAudioTag(m.body);\n    if (!tag) return;\n    if (tag.soundFormat === 10) {\n      if (tag.aacPacketType === 0) {\n        this.aacConfig = parseAacConfig(tag.data);\n        this.emit('audioInfo', { codec: 'aac', sampleRate: aacSampleRate(this.aacConfig), channels: this.aacConfig.channelConfiguration });\n        return;\n      }\n      if (this.aacConfig) this.emit('audioFrame', aacToAdts(tag.data, this.aacConfig));\n      return;\n    }\n    if (tag.soundFormat === 7 || tag.soundFormat === 8) {\n      if (!this.aacConfig) this.emit('audioInfo', { codec: tag.soundFormat === 7 ? 'g711a' : 'g711u', sampleRate: 8000, channels: 1 });\n      this.emit('audioFrame', tag.data);\n      return;\n    }\n    this.emit('audioInfo', { codec: 'unknown', sampleRate: 0, channels: tag.channels });\n  }\n\n  private onVideo(m: RtmpMessage): void {\n    this.emit('video', { timestamp: m.timestamp, body: m.body });\n    const tag = parseVideoTag(m.body);\n    if (!tag || tag.codecId !== 7) return;\n    if (tag.avcPacketType === 0) {\n      this.avcConfig = parseAvcConfig(tag.data);\n      return;\n    }\n    if (tag.avcPacketType !== 1 || !this.avcConfig) return;\n    const isKeyframe = tag.frameType === 1;\n    this.emit('videoAccessUnit', {\n      data: avccToAnnexB(tag.data, this.avcConfig, isKeyframe),\n      isKeyframe,\n      videoType: 'H264',\n      microseconds: m.timestamp * 1000,\n      time: m.timestamp + tag.compositionTime,\n    });\n  }\n\n  private fail(err: Error): void {\n    this.opts.log(`!! ${err.message}`);\n    this.emit('error', err);\n    this.close();\n  }\n\n  private onClose(): void {\n    if (this.pingTimer) clearInterval(this.pingTimer);\n    this.pingTimer = null;\n    if (!this.closed) this.opts.log('socket closed by peer');\n    this.closed = true;\n    this.emit('close');\n  }\n}\n","/**\n * Minimal AMF0 encoder/decoder — only the types LinkVisual's librtmp uses\n * (number, boolean, string, object, null, ecma-array, strict-array, long string).\n * Erasable-syntax TypeScript: runs directly under Node >= 22.6 (`node file.ts`).\n */\n\nexport const AMF0 = {\n  NUMBER: 0x00,\n  BOOLEAN: 0x01,\n  STRING: 0x02,\n  OBJECT: 0x03,\n  NULL: 0x05,\n  UNDEFINED: 0x06,\n  ECMA_ARRAY: 0x08,\n  OBJECT_END: 0x09,\n  STRICT_ARRAY: 0x0a,\n  LONG_STRING: 0x0c,\n} as const;\n\nexport type AmfValue = number | boolean | string | null | undefined | AmfValue[] | { [key: string]: AmfValue };\n\nexport function amfNumber(n: number): Buffer {\n  const b = Buffer.alloc(9);\n  b[0] = AMF0.NUMBER;\n  b.writeDoubleBE(n, 1);\n  return b;\n}\n\nexport function amfBoolean(v: boolean): Buffer {\n  return Buffer.from([AMF0.BOOLEAN, v ? 1 : 0]);\n}\n\nexport function amfString(s: string): Buffer {\n  const str = Buffer.from(s, 'utf8');\n  const b = Buffer.alloc(3 + str.length);\n  b[0] = AMF0.STRING;\n  b.writeUInt16BE(str.length, 1);\n  str.copy(b, 3);\n  return b;\n}\n\nexport function amfNull(): Buffer {\n  return Buffer.from([AMF0.NULL]);\n}\n\n/** Named property: u16 key length + key + encoded value. Order is preserved (matters for byte-exactness). */\nfunction amfNamed(key: string, value: Buffer): Buffer {\n  const k = Buffer.from(key, 'utf8');\n  const b = Buffer.alloc(2 + k.length);\n  b.writeUInt16BE(k.length, 0);\n  k.copy(b, 2);\n  return Buffer.concat([b, value]);\n}\n\n/** AMF0 object from an ordered list of [key, encodedValue] pairs. */\nexport function amfObject(pairs: ReadonlyArray<readonly [string, Buffer]>): Buffer {\n  const parts: Buffer[] = [Buffer.from([AMF0.OBJECT])];\n  for (const [k, v] of pairs) parts.push(amfNamed(k, v));\n  parts.push(Buffer.from([0x00, 0x00, AMF0.OBJECT_END]));\n  return Buffer.concat(parts);\n}\n\ninterface DecodeResult {\n  value: AmfValue;\n  next: number;\n}\n\nfunction decodeOne(buf: Buffer, pos: number): DecodeResult {\n  const type = buf[pos];\n  let p = pos + 1;\n  switch (type) {\n    case AMF0.NUMBER:\n      return { value: buf.readDoubleBE(p), next: p + 8 };\n    case AMF0.BOOLEAN:\n      return { value: buf[p] !== 0, next: p + 1 };\n    case AMF0.STRING: {\n      const len = buf.readUInt16BE(p);\n      return { value: buf.toString('utf8', p + 2, p + 2 + len), next: p + 2 + len };\n    }\n    case AMF0.LONG_STRING: {\n      const len = buf.readUInt32BE(p);\n      return { value: buf.toString('utf8', p + 4, p + 4 + len), next: p + 4 + len };\n    }\n    case AMF0.NULL:\n      return { value: null, next: p };\n    case AMF0.UNDEFINED:\n      return { value: undefined, next: p };\n    case AMF0.ECMA_ARRAY:\n    case AMF0.OBJECT: {\n      if (type === AMF0.ECMA_ARRAY) p += 4; // associative count, then same as object\n      const obj: { [key: string]: AmfValue } = {};\n      for (;;) {\n        const klen = buf.readUInt16BE(p);\n        if (klen === 0 && buf[p + 2] === AMF0.OBJECT_END) return { value: obj, next: p + 3 };\n        const key = buf.toString('utf8', p + 2, p + 2 + klen);\n        const r = decodeOne(buf, p + 2 + klen);\n        obj[key] = r.value;\n        p = r.next;\n      }\n    }\n    case AMF0.STRICT_ARRAY: {\n      const count = buf.readUInt32BE(p);\n      p += 4;\n      const arr: AmfValue[] = [];\n      for (let i = 0; i < count; i++) {\n        const r = decodeOne(buf, p);\n        arr.push(r.value);\n        p = r.next;\n      }\n      return { value: arr, next: p };\n    }\n    default:\n      throw new Error(`AMF0: unsupported type 0x${(type ?? -1).toString(16)} at ${pos}`);\n  }\n}\n\n/** Decode a whole message body into its top-level values (command name, txid, args...). */\nexport function decodeAmf0(buf: Buffer): AmfValue[] {\n  const out: AmfValue[] = [];\n  let pos = 0;\n  while (pos < buf.length) {\n    const r = decodeOne(buf, pos);\n    out.push(r.value);\n    pos = r.next;\n  }\n  return out;\n}\n","/**\n * RTMP chunk-stream framing (encoder + incremental reader).\n *\n * LinkVisual \"private mode\" facts (liblvrtmp.so RTMP_InitPrivateConfig, VERIFIED by disassembly):\n *   m_inChunkSize = m_outChunkSize = 60000, m_stream_id = 1 — and NO SetChunkSize is exchanged.\n *   Hence: we send every message as a single chunk (all control messages are < 1 KB) and we must\n *   parse inbound chunks with a 60000-byte chunk size from the start (a 128 default would desync).\n */\n\nexport const MSG = {\n  SET_CHUNK_SIZE: 1,\n  ABORT: 2,\n  ACK: 3,\n  USER_CONTROL: 4,\n  WINDOW_ACK_SIZE: 5,\n  SET_PEER_BW: 6,\n  AUDIO: 8,\n  VIDEO: 9,\n  DATA_AMF0: 18,\n  COMMAND_AMF0: 20,\n} as const;\n\nexport const PRIVATE_MODE_CHUNK_SIZE = 60000;\n\nexport interface RtmpMessage {\n  csid: number;\n  msid: number;\n  timestamp: number;\n  type: number;\n  body: Buffer;\n}\n\nexport interface EncodeOptions {\n  /** 0 = 12-byte header (LARGE), 1 = 8-byte header (MEDIUM, msid inherited). Mirrors librtmp m_headerType. */\n  fmt: 0 | 1;\n  csid: number;\n  msid?: number;\n  timestamp?: number;\n  type: number;\n  body: Buffer;\n}\n\nfunction basicHeader(fmt: number, csid: number): Buffer {\n  if (csid < 64) return Buffer.from([(fmt << 6) | csid]);\n  if (csid < 320) return Buffer.from([fmt << 6, csid - 64]);\n  return Buffer.from([(fmt << 6) | 1, (csid - 64) & 0xff, (csid - 64) >> 8]);\n}\n\n/** Encode one message as ONE chunk (no splitting) — exactly what the LinkVisual SDK does on the wire. */\nexport function encodeMessage(o: EncodeOptions): Buffer {\n  if (o.body.length > PRIVATE_MODE_CHUNK_SIZE) {\n    throw new Error(`message body ${o.body.length} exceeds private-mode chunk size ${PRIVATE_MODE_CHUNK_SIZE}`);\n  }\n  const ts = o.timestamp ?? 0;\n  const hdrLen = o.fmt === 0 ? 11 : 7;\n  const hdr = Buffer.alloc(hdrLen);\n  hdr.writeUIntBE(ts >= 0xffffff ? 0xffffff : ts, 0, 3);\n  hdr.writeUIntBE(o.body.length, 3, 3);\n  hdr[6] = o.type;\n  if (o.fmt === 0) hdr.writeUInt32LE(o.msid ?? 0, 7);\n  const ext = ts >= 0xffffff ? (() => { const e = Buffer.alloc(4); e.writeUInt32BE(ts, 0); return e; })() : Buffer.alloc(0);\n  return Buffer.concat([basicHeader(o.fmt, o.csid), hdr, ext, o.body]);\n}\n\ninterface CsidState {\n  timestamp: number;\n  delta: number;\n  length: number;\n  type: number;\n  msid: number;\n  extTs: boolean;\n  partial: Buffer[];\n  received: number;\n}\n\nfunction freshState(): CsidState {\n  return { timestamp: 0, delta: 0, length: 0, type: 0, msid: 0, extTs: false, partial: [], received: 0 };\n}\n\n/**\n * Incremental chunk reader. Feed raw TCP bytes; get complete messages back.\n * Handles fmt 0..3, 1/2/3-byte basic headers, extended timestamps (also on fmt-3\n * continuations, per spec/librtmp), and dynamic chunk-size changes.\n */\nexport class ChunkReader {\n  chunkSize: number;\n  private pending: Buffer = Buffer.alloc(0);\n  private readonly streams = new Map<number, CsidState>();\n\n  constructor(chunkSize: number = PRIVATE_MODE_CHUNK_SIZE) {\n    this.chunkSize = chunkSize;\n  }\n\n  feed(data: Buffer): RtmpMessage[] {\n    this.pending = this.pending.length ? Buffer.concat([this.pending, data]) : data;\n    const out: RtmpMessage[] = [];\n    for (;;) {\n      const consumed = this.tryReadChunk(out);\n      if (consumed === 0) break;\n      this.pending = this.pending.subarray(consumed);\n    }\n    return out;\n  }\n\n  /** Returns bytes consumed for one chunk, or 0 if more data is needed. */\n  private tryReadChunk(out: RtmpMessage[]): number {\n    const buf = this.pending;\n    if (buf.length < 1) return 0;\n    const fmt = buf[0]! >> 6;\n    let csid = buf[0]! & 0x3f;\n    let p = 1;\n    if (csid === 0) { if (buf.length < 2) return 0; csid = 64 + buf[1]!; p = 2; }\n    else if (csid === 1) { if (buf.length < 3) return 0; csid = 64 + buf[1]! + buf[2]! * 256; p = 3; }\n\n    const st = this.streams.get(csid) ?? freshState();\n    const hdrLen = fmt === 0 ? 11 : fmt === 1 ? 7 : fmt === 2 ? 3 : 0;\n    if (buf.length < p + hdrLen) return 0;\n\n    let tsField = 0;\n    if (fmt <= 2) {\n      tsField = buf.readUIntBE(p, 3);\n      if (fmt <= 1) { st.length = buf.readUIntBE(p + 3, 3); st.type = buf[p + 6]!; }\n      if (fmt === 0) st.msid = buf.readUInt32LE(p + 7);\n      st.extTs = tsField === 0xffffff;\n    }\n    p += hdrLen;\n    if (st.extTs) {\n      if (buf.length < p + 4) return 0;\n      tsField = buf.readUInt32BE(p);\n      p += 4;\n    }\n    const startOfMessage = st.received === 0;\n    if (startOfMessage) {\n      if (fmt === 0) { st.timestamp = tsField; st.delta = 0; }\n      else if (fmt <= 2) { st.delta = tsField; st.timestamp += tsField; }\n      else st.timestamp += st.delta; // fmt 3 starting a new message: reuse last delta\n    }\n\n    const take = Math.min(this.chunkSize, st.length - st.received);\n    if (buf.length < p + take) return 0;\n    st.partial.push(Buffer.from(buf.subarray(p, p + take)));\n    st.received += take;\n    if (st.received >= st.length) {\n      out.push({ csid, msid: st.msid, timestamp: st.timestamp, type: st.type, body: Buffer.concat(st.partial) });\n      st.partial = [];\n      st.received = 0;\n    }\n    this.streams.set(csid, st);\n    return p + take;\n  }\n}\n","/**\n * FLV tag payload helpers: AVC (H.264) AVCC -> Annex-B, AAC raw -> ADTS, and an FLV file writer\n * for offline verification (`ffprobe out.flv`).\n */\n\nexport interface VideoTag {\n  frameType: number; // 1 = keyframe, 2 = inter\n  codecId: number; // 7 = AVC\n  avcPacketType: number; // 0 = sequence header, 1 = NALU, 2 = end of sequence\n  compositionTime: number;\n  data: Buffer;\n}\n\nexport interface AudioTag {\n  soundFormat: number; // 10 = AAC, 7 = G.711 A-law, 8 = G.711 mu-law\n  sampleRateIndex: number; // FLV: 0=5.5k 1=11k 2=22k 3=44k (informational for AAC)\n  channels: number; // 1 or 2\n  aacPacketType: number | null; // 0 = AudioSpecificConfig, 1 = raw frame (AAC only)\n  data: Buffer;\n}\n\nexport interface AvcConfig {\n  sps: Buffer[];\n  pps: Buffer[];\n  nalLengthSize: number;\n}\n\nexport interface AacConfig {\n  objectType: number;\n  samplingFrequencyIndex: number;\n  channelConfiguration: number;\n}\n\nconst ANNEXB_START = Buffer.from([0, 0, 0, 1]);\n\nexport function parseVideoTag(body: Buffer): VideoTag | null {\n  if (body.length < 5) return null;\n  const b0 = body[0]!;\n  return {\n    frameType: b0 >> 4,\n    codecId: b0 & 0x0f,\n    avcPacketType: body[1]!,\n    compositionTime: body.readIntBE(2, 3),\n    data: body.subarray(5),\n  };\n}\n\nexport function parseAudioTag(body: Buffer): AudioTag | null {\n  if (body.length < 1) return null;\n  const b0 = body[0]!;\n  const soundFormat = b0 >> 4;\n  const isAac = soundFormat === 10;\n  if (isAac && body.length < 2) return null;\n  return {\n    soundFormat,\n    sampleRateIndex: (b0 >> 2) & 3,\n    channels: (b0 & 1) + 1,\n    aacPacketType: isAac ? body[1]! : null,\n    data: body.subarray(isAac ? 2 : 1),\n  };\n}\n\n/** Parse an AVCDecoderConfigurationRecord (FLV AVC sequence header payload). */\nexport function parseAvcConfig(rec: Buffer): AvcConfig {\n  const nalLengthSize = (rec[4]! & 3) + 1;\n  let p = 5;\n  const sps: Buffer[] = [];\n  const pps: Buffer[] = [];\n  const numSps = rec[p++]! & 0x1f;\n  for (let i = 0; i < numSps; i++) { const n = rec.readUInt16BE(p); sps.push(Buffer.from(rec.subarray(p + 2, p + 2 + n))); p += 2 + n; }\n  const numPps = rec[p++]!;\n  for (let i = 0; i < numPps; i++) { const n = rec.readUInt16BE(p); pps.push(Buffer.from(rec.subarray(p + 2, p + 2 + n))); p += 2 + n; }\n  return { sps, pps, nalLengthSize };\n}\n\n/** Length-prefixed NALUs -> Annex-B. Prepends SPS/PPS when `prependParams` is set (for keyframes). */\nexport function avccToAnnexB(data: Buffer, cfg: AvcConfig, prependParams: boolean): Buffer {\n  const parts: Buffer[] = [];\n  if (prependParams) for (const nal of [...cfg.sps, ...cfg.pps]) parts.push(ANNEXB_START, nal);\n  let p = 0;\n  while (p + cfg.nalLengthSize <= data.length) {\n    const len = data.readUIntBE(p, cfg.nalLengthSize);\n    p += cfg.nalLengthSize;\n    if (len === 0 || p + len > data.length) break;\n    parts.push(ANNEXB_START, data.subarray(p, p + len));\n    p += len;\n  }\n  return Buffer.concat(parts);\n}\n\nexport function parseAacConfig(asc: Buffer): AacConfig {\n  const a0 = asc[0]!;\n  const a1 = asc[1]!;\n  return {\n    objectType: a0 >> 3,\n    samplingFrequencyIndex: ((a0 & 7) << 1) | (a1 >> 7),\n    channelConfiguration: (a1 >> 3) & 0x0f,\n  };\n}\n\nconst AAC_SAMPLE_RATES = [96000, 88200, 64000, 48000, 44100, 32000, 24000, 22050, 16000, 12000, 11025, 8000, 7350];\n\nexport function aacSampleRate(cfg: AacConfig): number {\n  return AAC_SAMPLE_RATES[cfg.samplingFrequencyIndex] ?? 0;\n}\n\n/** Wrap one raw AAC frame in a 7-byte ADTS header. */\nexport function aacToAdts(raw: Buffer, cfg: AacConfig): Buffer {\n  const frameLen = raw.length + 7;\n  const h = Buffer.alloc(7);\n  h[0] = 0xff;\n  h[1] = 0xf1; // MPEG-4, layer 0, no CRC\n  h[2] = ((cfg.objectType - 1) << 6) | (cfg.samplingFrequencyIndex << 2) | (cfg.channelConfiguration >> 2);\n  h[3] = ((cfg.channelConfiguration & 3) << 6) | ((frameLen >> 11) & 3);\n  h[4] = (frameLen >> 3) & 0xff;\n  h[5] = ((frameLen & 7) << 5) | 0x1f;\n  h[6] = 0xfc;\n  return Buffer.concat([h, raw]);\n}\n\n/** Minimal FLV file writer (header + tags) for offline inspection. */\nexport class FlvWriter {\n  private readonly chunks: Buffer[] = [];\n\n  constructor() {\n    const hdr = Buffer.from([0x46, 0x4c, 0x56, 0x01, 0x05, 0, 0, 0, 9, 0, 0, 0, 0]);\n    this.chunks.push(hdr);\n  }\n\n  tag(type: number, timestamp: number, body: Buffer): void {\n    const h = Buffer.alloc(11);\n    h[0] = type;\n    h.writeUIntBE(body.length, 1, 3);\n    h.writeUIntBE(timestamp & 0xffffff, 4, 3);\n    h[7] = (timestamp >> 24) & 0xff;\n    const prev = Buffer.alloc(4);\n    prev.writeUInt32BE(11 + body.length, 0);\n    this.chunks.push(h, body, prev);\n  }\n\n  toBuffer(): Buffer {\n    return Buffer.concat(this.chunks);\n  }\n}\n","/**\n * G.711 A-law codec (ITU-T G.711) — the intercom uplink format for Dreame\n * cameras (8 kHz, mono, 16-bit PCM in). Pure functions, no state.\n */\n\nconst ALAW_SEG_END = [0x1f, 0x3f, 0x7f, 0xff, 0x1ff, 0x3ff, 0x7ff, 0xfff];\n\n/** Encode one 16-bit signed PCM sample to an A-law byte. */\nexport function pcm16ToALaw(sample: number): number {\n  let s = sample;\n  let sign = (~s >> 8) & 0x80; // 0x80 for positive, 0 for negative\n  if (sign === 0) s = -s;\n  if (s > 32635) s = 32635;\n\n  let aval: number;\n  if (s >= 256) {\n    let seg = 7;\n    for (let i = 0; i < 8; i++) {\n      if (s <= ALAW_SEG_END[i]!) {\n        seg = i;\n        break;\n      }\n    }\n    const mantissa = (s >> (seg + 3)) & 0x0f;\n    aval = (seg << 4) | mantissa;\n  } else {\n    aval = s >> 4;\n  }\n  return (aval ^ sign ^ 0x55) & 0xff;\n}\n\n/**\n * Encode a buffer of little-endian 16-bit PCM samples to A-law bytes\n * (one output byte per input sample).\n */\nexport function pcm16leToALaw(pcm: Buffer): Buffer {\n  const count = pcm.length >> 1;\n  const out = Buffer.allocUnsafe(count);\n  for (let i = 0; i < count; i++) {\n    out[i] = pcm16ToALaw(pcm.readInt16LE(i * 2));\n  }\n  return out;\n}\n","/**\n * End-to-end camera media pipeline: autonomously cold-start the LinkVisual\n * monitor, connect to the resulting RTMP relay, and re-emit demuxed elementary\n * frames — H.264 access units (Annex-B, SPS/PPS prepended on keyframes) and AAC\n * (ADTS) — plus lifecycle events.\n *\n * This is the reusable frame feed for any external consumer (scrypted's RFC4571\n * muxer, camstack, a file writer). It owns the {@link DreameCameraController}\n * lifecycle: {@link start} opens the monitor and connects; {@link stop} closes\n * the relay socket and releases the monitor on the device.\n */\nimport { TypedEmitter } from '../../transport/typed-emitter.js';\nimport { DreameError } from '../../transport/errors.js';\nimport type { DreameCameraController } from '../monitor/controller.js';\nimport {\n  LvRtmpClient,\n  LV_STATUS,\n  type AudioInfoEvent,\n  type StatusEvent,\n  type VideoAccessUnitEvent,\n} from './lv-rtmp-client.js';\nimport { pcm16leToALaw } from './g711.js';\n\n/** The subset of {@link LvRtmpClient} the pipeline drives — injectable for tests. */\nexport interface FrameSource {\n  connect(): Promise<void>;\n  close(): void;\n  on(event: 'videoAccessUnit', cb: (e: VideoAccessUnitEvent) => void): void;\n  on(event: 'audioFrame', cb: (buf: Buffer) => void): void;\n  on(event: 'audioInfo', cb: (info: AudioInfoEvent) => void): void;\n  on(event: 'status', cb: (e: StatusEvent) => void): void;\n  on(event: 'error', cb: (err: Error) => void): void;\n  on(event: 'close', cb: () => void): void;\n  /** Push an intercom (talk-back) audio frame upstream. */\n  sendAudioFrame(payload: Buffer, tsMs: number, header?: number): void;\n}\n\n/** Factory for the RTMP frame source; defaults to a real {@link LvRtmpClient}. */\nexport type FrameSourceFactory = (url: string) => FrameSource;\n\nexport interface DreameCameraStreamEvents {\n  /** Emitted once the relay is connected; carries the (single-use) RTMP URL. */\n  started: [{ rtmpUrl: string }];\n  /** One H.264 access unit (Annex-B). */\n  videoAccessUnit: [VideoAccessUnitEvent];\n  /** One audio frame (AAC in ADTS, or raw G.711). */\n  audioFrame: [Buffer];\n  /** Audio format, emitted once known. */\n  audioInfo: [AudioInfoEvent];\n  /** Emitted after the pipeline is fully torn down. */\n  stopped: [];\n  error: [Error];\n  [event: string]: unknown[];\n}\n\nexport interface DreameCameraStreamInput {\n  /** A controller for the target camera (not yet opened). */\n  controller: DreameCameraController;\n  /** Override the RTMP client (tests inject a fake). */\n  clientFactory?: FrameSourceFactory;\n  /** Forwarded to {@link LvRtmpClient}: send NetStream.RequestAudioType after play. */\n  requestAudioType?: boolean;\n  /** Forwarded to {@link LvRtmpClient}: send periodic NetStream.Ping. */\n  ping?: boolean;\n  /** Optional line logger for the RTMP client. */\n  log?: (line: string) => void;\n}\n\nexport class DreameCameraStream extends TypedEmitter<DreameCameraStreamEvents> {\n  readonly #controller: DreameCameraController;\n  readonly #clientFactory: FrameSourceFactory;\n  readonly #log: (line: string) => void;\n  #client: FrameSource | null = null;\n  #state: 'idle' | 'starting' | 'running' | 'stopping' = 'idle';\n  #videoFrames = 0;\n  #audioFrames = 0;\n  #talkReady = false;\n  #talkWaiters: Array<() => void> = [];\n  #talkTs = 0;\n\n  constructor(input: DreameCameraStreamInput) {\n    super();\n    this.#controller = input.controller;\n    this.#log = input.log ?? ((): void => {});\n    this.#clientFactory =\n      input.clientFactory ??\n      ((url: string): FrameSource =>\n        new LvRtmpClient({\n          url,\n          ...(input.requestAudioType !== undefined ? { requestAudioType: input.requestAudioType } : {}),\n          ...(input.ping !== undefined ? { ping: input.ping } : {}),\n          ...(input.log ? { log: input.log } : {}),\n        }));\n  }\n\n  /** True while frames are flowing. */\n  get isRunning(): boolean {\n    return this.#state === 'running';\n  }\n\n  /**\n   * Cold-start the monitor, connect to the relay, and begin emitting frames.\n   * Resolves once connected. Throws (and cleans up) if the monitor or relay\n   * connection fails.\n   */\n  async start(): Promise<{ rtmpUrl: string }> {\n    if (this.#state !== 'idle') {\n      throw new DreameError(`camera stream cannot start from state '${this.#state}'`);\n    }\n    this.#state = 'starting';\n    try {\n      this.#log('[nodedreame:stream] starting');\n      const handle = await this.#controller.open();\n      const client = this.#clientFactory(handle.rtmpUrl);\n      this.#client = client;\n      client.on('videoAccessUnit', (e) => {\n        this.#videoFrames += 1;\n        if (this.#videoFrames === 1) this.#log('[nodedreame:stream] first video access unit');\n        this.emit('videoAccessUnit', e);\n      });\n      client.on('audioFrame', (buf) => {\n        this.#audioFrames += 1;\n        if (this.#audioFrames === 1) this.#log('[nodedreame:stream] first audio frame');\n        this.emit('audioFrame', buf);\n      });\n      client.on('audioInfo', (info) => {\n        this.#log(`[nodedreame:stream] audio ${info.codec} ${info.sampleRate}Hz x${info.channels}`);\n        this.emit('audioInfo', info);\n      });\n      client.on('status', (e) => {\n        if (e.code === LV_STATUS.TALK_READY) {\n          this.#log('[nodedreame:stream] talk channel ready');\n          this.#talkReady = true;\n          const waiters = this.#talkWaiters;\n          this.#talkWaiters = [];\n          for (const w of waiters) w();\n        }\n      });\n      client.on('error', (err) => {\n        this.#log(`[nodedreame:stream] rtmp error: ${err.message}`);\n        this.emit('error', err);\n      });\n      client.on('close', () => {\n        this.#log('[nodedreame:stream] upstream relay closed');\n        // Upstream relay closed on us — tear down and surface as stopped.\n        if (this.#state === 'running') void this.stop();\n      });\n      await client.connect();\n      this.#state = 'running';\n      this.#log('[nodedreame:stream] connected to relay');\n      this.emit('started', { rtmpUrl: handle.rtmpUrl });\n      return { rtmpUrl: handle.rtmpUrl };\n    } catch (err) {\n      this.#state = 'idle';\n      await this.#safeTeardown();\n      throw err;\n    }\n  }\n\n  /** Close the relay connection and release the monitor. Idempotent. */\n  async stop(): Promise<void> {\n    if (this.#state === 'idle' || this.#state === 'stopping') return;\n    this.#state = 'stopping';\n    this.#log(`[nodedreame:stream] stopping (video=${this.#videoFrames} audio=${this.#audioFrames})`);\n    await this.#safeTeardown();\n    this.#state = 'idle';\n    this.emit('stopped');\n  }\n\n  /**\n   * Open the two-way intercom: send the MIoT start, then resolve once the relay\n   * signals the talk channel is ready (so it's safe to {@link sendTalkPcm}).\n   * Rejects if not ready within `timeoutMs`.\n   */\n  async startTalk(opts?: { needRecordSound?: boolean; videoCall?: boolean; timeoutMs?: number }): Promise<void> {\n    if (this.#state !== 'running') throw new DreameError('stream is not running; start() first');\n    this.#log('[nodedreame:stream] intercom start');\n    await this.#controller.startIntercom(\n      opts?.needRecordSound !== undefined || opts?.videoCall !== undefined\n        ? { ...(opts.needRecordSound !== undefined ? { needRecordSound: opts.needRecordSound } : {}), ...(opts.videoCall ? { videoCall: true } : {}) }\n        : undefined,\n    );\n    this.#talkTs = 0;\n    await this.whenTalkReady(opts?.timeoutMs ?? 5000);\n  }\n\n  /** Resolve when the talk channel is ready (or reject on timeout). */\n  whenTalkReady(timeoutMs = 5000): Promise<void> {\n    if (this.#talkReady) return Promise.resolve();\n    return new Promise<void>((resolve, reject) => {\n      const timer = setTimeout(() => reject(new DreameError('timed out waiting for TalkReady')), timeoutMs);\n      timer.unref?.();\n      this.#talkWaiters.push(() => {\n        clearTimeout(timer);\n        resolve();\n      });\n    });\n  }\n\n  /**\n   * Encode 16-bit LE mono PCM (8 kHz) to G.711 A-law and push it upstream.\n   * `tsMs` defaults to a running clock advanced by the frame duration.\n   */\n  sendTalkPcm(pcm16le: Buffer, tsMs?: number): void {\n    const alaw = pcm16leToALaw(pcm16le);\n    this.sendTalkAlaw(alaw, tsMs);\n  }\n\n  /** Push raw A-law audio upstream (advancing the running talk clock). */\n  sendTalkAlaw(alaw: Buffer, tsMs?: number): void {\n    if (!this.#client) throw new DreameError('stream is not running');\n    const ts = tsMs ?? this.#talkTs;\n    this.#client.sendAudioFrame(alaw, ts);\n    // A-law @ 8 kHz => 1 byte per sample => ms = samples/8.\n    this.#talkTs = ts + Math.round(alaw.length / 8);\n  }\n\n  /** Close the two-way intercom (MIoT stop). */\n  async stopTalk(): Promise<void> {\n    this.#talkReady = false;\n    this.#log('[nodedreame:stream] intercom stop');\n    await this.#controller.stopIntercom();\n  }\n\n  async #safeTeardown(): Promise<void> {\n    this.#talkReady = false;\n    this.#talkWaiters = [];\n    try {\n      this.#client?.close();\n    } catch {\n      /* ignore */\n    }\n    this.#client = null;\n    try {\n      await this.#controller.close();\n    } catch (err) {\n      this.emit('error', err instanceof Error ? err : new 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