@ray-js/robot-data-stream 0.0.13-beta-7 → 0.0.13-beta-9

package/lib/api/sweeperP2p.js

@@ -1,32 +1,56 @@
 import "core-js/modules/esnext.iterator.constructor.js";
-import "core-js/modules/esnext.iterator.filter.js";
 import "core-js/modules/esnext.iterator.for-each.js";
 import "core-js/modules/esnext.iterator.map.js";
+/* eslint-disable no-shadow */
 import Base64 from 'base64-js';
-import { join, map, once, padStart } from 'lodash-es';
-import { FILE_NAME_MAP, FileNameEnum } from '../constant';
+import { join, map, padStart, once } from 'lodash-es';
 import { trace } from '../trace';
-import { checkIfDirIsExist, createFilePath } from '../ttt';
+import { logger, logP2PDataIfEnabled } from '../utils';
 import P2pApi from './p2pApi';
-/**
- * 基于P2p工具类的扫地机扩展实现
- */
-
-// 需要初始化的文件名列表（不包括 wifi_map）
-const FILE_NAMES_TO_INIT = [FileNameEnum.map, FileNameEnum.mapStructured, FileNameEnum.cleanPath, FileNameEnum.ai, FileNameEnum.aiHD, FileNameEnum.mapStream, FileNameEnum.mapStructuredStream, FileNameEnum.cleanPathStream, FileNameEnum.aiStream, FileNameEnum.aiHDStream];
 
 /**
- * 创建初始化的 Map，所有键值都设置为初始值
+ * 基于P2p工具类的扫地机扩展实现
  */
-const createInitializedMap = initialValue => {
-  return new Map(FILE_NAMES_TO_INIT.map(key => [key, initialValue]));
-};
 
-/**
- * 创建初始化的 Map，值为新的 Map 实例
- */
-const createMapOfMaps = () => {
-  return new Map(FILE_NAMES_TO_INIT.map(key => [key, new Map()]));
+const FILE_NAME_MAP = {
+  // raw类型地图点数据
+  'map.bin': {
+    type: 0
+  },
+  // 结构化点数据
+  'map_structured.bin': {
+    type: 6
+  },
+  'cleanPath.bin': {
+    type: 1
+  },
+  'map.bin.stream': {
+    type: 0
+  },
+  'map_structured.bin.stream': {
+    type: 6
+  },
+  'cleanPath.bin.stream': {
+    type: 1
+  },
+  'ai.bin': {
+    type: 4
+  },
+  'ai.bin.stream': {
+    type: 4
+  },
+  'aiHD_XXXX_YYYY.bin': {
+    type: 5
+  },
+  'aiHD_XXXX_YYYY.bin.stream': {
+    type: 5
+  },
+  'wifi_map.bin': {
+    type: 7
+  },
+  'wifi_map.bin.stream': {
+    type: 7
+  }
 };
 
 // 走p2p流传输(新) or 读取bin文件(旧)
@@ -44,11 +68,11 @@ export class SweeperP2p extends P2pApi {
     this.cacheData = {};
     this.exitFiles = [];
     this.firstPackageTime = Date.now();
-    // 使用辅助函数初始化 Map，减少重复代码
-    this.packetTotalMap = createInitializedMap(-1);
-    this.packetSerialNumberCacheMap = createInitializedMap(-1);
-    this.fileLengthCacheMap = createInitializedMap(-1);
-    this.packetDataCacheMap = createMapOfMaps();
+    this.enableCustomLog = false;
+    this.packetTotalMap = new Map([['map.bin', -1], ['map_structured.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.bin.stream', -1], ['map_structured.bin.stream', -1], ['cleanPath.bin.stream', -1], ['ai.bin.stream', -1], ['aiHD_XXXX_YYYY.bin.stream', -1]]);
+    this.packetSerialNumberCacheMap = new Map([['map.bin', -1], ['map_structured.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.bin.stream', -1], ['map_structured.bin.stream', -1], ['cleanPath.bin.stream', -1], ['ai.bin.stream', -1], ['aiHD_XXXX_YYYY.bin.stream', -1]]);
+    this.fileLengthCacheMap = new Map([['map.bin', -1], ['map_structured.bin', -1], ['cleanPath.bin', -1], ['ai.bin', -1], ['aiHD_XXXX_YYYY.bin', -1], ['map.bin.stream', -1], ['map_structured.bin.stream', -1], ['cleanPath.bin.stream', -1], ['ai.bin.stream', -1], ['aiHD_XXXX_YYYY.bin.stream', -1]]);
+    this.packetDataCacheMap = new Map([['map.bin', new Map()], ['map_structured.bin', new Map()], ['cleanPath.bin', new Map()], ['ai.bin', new Map()], ['aiHD_XXXX_YYYY.bin', new Map()], ['map.bin.stream', new Map()], ['map_structured.bin.stream', new Map()], ['cleanPath.bin.stream', new Map()], ['ai.bin.stream', new Map()], ['aiHD_XXXX_YYYY.bin.stream', new Map()]]);
   }
   setStreamFilePath = () => {
     // this.streamFilePath = this.cacheDir + `/${this.albumName}/${devId}/stream`;
@@ -65,7 +89,7 @@ export class SweeperP2p extends P2pApi {
     if (/usr/.test(this.cacheDir)) {
       this.dataFilePath = this.cacheDir;
     } else {
-      this.dataFilePath = this.cacheDir + 'usr';
+      this.streamFilePath = this.cacheDir + 'usr';
     }
     // 检查存储文件目录是否存在
     // this.initFilePath(this.dataFilePath);
@@ -89,17 +113,70 @@ export class SweeperP2p extends P2pApi {
     return this.dataFilePath + '/' + fileName;
   };
 
+  /**
+   * 创建文件路径文件夹
+   * @param filePath
+   * @returns
+   */
+  createFilePath = filePath => {
+    try {
+      ty.getFileSystemManager().mkdirSync({
+        dirPath: filePath,
+        recursive: true
+      });
+      logger('info', {
+        msg: 'mkdirSync success: filePath ==>',
+        filePath
+      }, this.onLogger);
+      return true;
+    } catch (e) {
+      logger('error', {
+        msg: 'mkdirSync error ==>',
+        e
+      }, this.onLogger);
+      return false;
+    }
+  };
+
+  /**
+   * 检查当前文件目录是否存在
+   * @param filePath
+   * @returns
+   */
+  checkIfDirIsExist = filePath => {
+    return new Promise(resolve => {
+      ty.getFileSystemManager().access({
+        path: filePath,
+        success(params) {
+          logger('info', {
+            msg: 'file access success ==>',
+            params
+          }, this.onLogger);
+          resolve(true);
+        },
+        fail(params) {
+          logger('warn', {
+            msg: 'file access fail ==>',
+            params
+          }, this.onLogger);
+          resolve(false);
+        }
+      });
+    });
+  };
+
   /**
    * 初始化文件目录
    * @param filePath
    * @returns
    */
   initFilePath = async filePath => {
-    const isDir = await checkIfDirIsExist(filePath);
+    const isDir = await this.checkIfDirIsExist(filePath);
     if (!isDir) {
-      return await createFilePath(filePath, this.onLogger);
+      const result = this.createFilePath(filePath);
+      return result;
     }
-    return true;
+    return isDir;
   };
 
   /**
@@ -107,183 +184,77 @@ export class SweeperP2p extends P2pApi {
    * @param filename
    */
   getFileType = filename => {
-    // 首先尝试精确匹配 FILE_NAME_MAP 中的键
-    if (filename in FILE_NAME_MAP) {
-      return FILE_NAME_MAP[filename].type;
+    if (filename.indexOf('map_structured') !== -1) {
+      return 6;
     }
-
-    // 处理 aiHD_XXXX_YYYY.bin 模式（XXXX_YYYY 会被替换为实际值）
-
-    if (/^aiHD.*\.bin(\.stream)?$/.test(filename)) {
-      return FILE_NAME_MAP[FileNameEnum.aiHD].type;
+    if (filename.indexOf('map.') !== -1) {
+      return 0;
     }
-
-    // 按优先级顺序匹配文件名（更具体的模式优先）
-    // 注意：map_structured 必须在 map 之前匹配
-    const matchOrder = [{
-      pattern: /map_structured/,
-      enumKey: FileNameEnum.mapStructured
-    }, {
-      pattern: /^map\./,
-      enumKey: FileNameEnum.map
-    }, {
-      pattern: /cleanPath/,
-      enumKey: FileNameEnum.cleanPath
-    }, {
-      pattern: /^ai\./,
-      enumKey: FileNameEnum.ai
-    }, {
-      pattern: /wifi_map/,
-      enumKey: FileNameEnum.wifiMap
-    }];
-    for (const {
-      pattern,
-      enumKey
-    } of matchOrder) {
-      if (pattern.test(filename)) {
-        return FILE_NAME_MAP[enumKey].type;
-      }
+    if (filename.indexOf('cleanPath') !== -1) {
+      return 1;
+    }
+    if (filename.indexOf('ai.') !== -1) {
+      return 4;
+    }
+    if (filename.indexOf('aiHD') !== -1) {
+      return 5;
+    }
+    if (filename.indexOf('wifi_map') !== -1) {
+      return 7;
     }
-
-    // 默认返回 2
     return 2;
   };
 
-  /**
-   * 根据文件类型处理数据并调用相应的回调函数
-   */
-  handleDataByType = (() => {
-    var _this = this;
-    return function (type, hexValue) {
-      let shouldCache = arguments.length > 2 && arguments[2] !== undefined ? arguments[2] : true;
-      if (_this.cacheData[type] === hexValue) {
-        return;
-      }
-      switch (type) {
-        case 0:
-        case 6:
-          _this.onReceiveMapData(hexValue);
-          if (shouldCache) {
-            _this.cacheData[type] = hexValue;
-          }
-          break;
-        case 1:
-          _this.log.info({
-            msg: 'push new path data'
-          });
-          _this.onReceivePathData(hexValue);
-          if (shouldCache) {
-            _this.cacheData[type] = hexValue;
-          }
-          break;
-        case 4:
-          _this.onReceiveAIPicData(hexValue);
-          break;
-        case 5:
-          _this.onReceiveAIPicHDData(hexValue);
-          break;
-        case 7:
-          _this.onReceiveWifiMapData(hexValue);
-          break;
-        default:
-          break;
-      }
-    };
-  })();
-
   /**
    * 设备连接状态发生改变
    * @param data
    */
   sessionStatusCallback = data => {
-    this.log.info({
+    logger('info', {
       msg: 'sessionStatusCallback ==>',
       data
-    });
+    }, this.onLogger);
     if (data) {
       const {
         status
       } = data;
       if (status < 0) {
-        this.log.info({
+        logger('info', {
           msg: 'receive disconnect notice ==>',
           status
-        });
+        }, this.onLogger);
+        logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'session_status_disconnect', `Session disconnected, status: ${status}`);
         this.isConnected = false;
         if (!this.isConnecting) {
+          logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'session_reconnect_start', 'Starting reconnect after session disconnect');
           this.reconnectP2p(() => {
+            logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'session_reconnect_success', 'Reconnected successfully, restarting data observer');
             // 重连之后重新开启文件下载, 这里的成功不需要注册断开事件
             this.startObserverSweeperDataByP2P(this.downloadType, this.devId, this.onReceiveMapData, this.onReceivePathData, this.onReceiveAIPicData, this.onReceiveAIPicHDData, this.onReceiveWifiMapData);
           }, '');
         } else {
-          this.log.warn({
+          logger('warn', {
             msg: 'receive disconnect notice, but connectDevice is connecting'
-          });
+          }, this.onLogger);
+          logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'session_disconnect_ignored', 'Disconnect notice ignored, device is already connecting');
         }
       }
     }
   };
 
-  /**
-   * 创建下载失败时的重连回调函数
-   */
-  createReconnectCallback = () => {
-    return () => {
-      this.log.error({
-        msg: `${this.downloadType} p2p downloadStream failed and try reConnect Device===>`
-      });
-      this.removeP2pDownloadEvent();
-      this.disconnectDevice().then(() => {
-        this.isConnected = false;
-        this.isConnecting = false;
-        this.connectDevice(() => {
-          // 重连之后重新开启文件下载, 这里的成功不需要注册断开事件
-          this.startObserverSweeperDataByP2P(this.downloadType, this.devId, this.onReceiveMapData, this.onReceivePathData, this.onReceiveAIPicData, this.onReceiveAIPicHDData, this.onReceiveWifiMapData);
-        });
-      });
-    };
-  };
-
-  /**
-   * 执行文件下载逻辑
-   */
-  async executeDownload(exitFiles, filePath) {
-    if (exitFiles.length === 0) {
-      return;
-    }
-    if (shouldDownloadStream) {
-      // 开启p2p流传输
-      await this.downloadStream({
-        files: exitFiles
-      }, this.albumName, () => {
-        this.log.info({
-          msg: `${this.downloadType} p2p downloadStream success===>`
-        });
-      }, this.createReconnectCallback());
-    } else if (await this.initFilePath(filePath)) {
-      // 每次要下载前都需要先检查文件目录是否存在 防止中间过程被删除掉文件目录
-      await this.downloadFile({
-        files: exitFiles
-      }, this.albumName, filePath);
-    }
-    this.firstPackageTime = Date.now();
-  }
-
   /**
    * 开始进行文件下载
    * @param downloadType
    * 0: 下载断开 1: 持续下载
    */
   startObserverSweeperDataByP2P = async (downloadType, devId, onReceiveMapData, onReceivePathData, onReceiveAIPicData, onReceiveAIPicHDData, onReceiveWifiMapData, onDefineStructuredMode) => {
-    var _this$file;
-    if (![0, 1].includes(downloadType)) {
-      this.log.warn({
+    var _this$file$items;
+    if (![0, 1].some(item => item === downloadType)) {
+      logger('warn', {
         msg: 'download type must be 0 or 1'
-      });
+      }, this.onLogger);
       return;
     }
-
-    // 初始化回调函数
     this.onReceiveMapData = onReceiveMapData;
     this.onReceivePathData = onReceivePathData;
     this.onReceiveWifiMapData = onReceiveWifiMapData;
@@ -294,9 +265,10 @@ export class SweeperP2p extends P2pApi {
     this.onReceiveAIPicHDData = onReceiveAIPicHDData || (() => {
       // do nothing
     });
-    this.log.info({
+    logger('info', {
       msg: 'startObserverSweeperDataByP2P ==>'
-    });
+    }, this.onLogger);
+    logP2PDataIfEnabled(this.enableCustomLog, devId, 'start_observer_sweeper_data', `Starting observer, downloadType: ${downloadType}`);
     trace.pointFn({
       devId,
       eventName: 'startObserverSweeperDataByP2P'
@@ -304,27 +276,105 @@ export class SweeperP2p extends P2pApi {
     this.downloadType = downloadType;
     this.setDataFilePath(devId);
     this.setStreamFilePath(devId);
-
     // 先移除监听,再重新注册
     this.removeP2pDownloadEvent();
     this.registerP2pDownloadEvent();
-
-    // 查询文件列表
     if (!this.file) {
+      var _this$file;
       // @ts-ignore
       this.file = await this.queryAlbumFileIndexs(this.albumName);
+      logP2PDataIfEnabled(this.enableCustomLog, devId, 'query_album_files', `Query album files completed, file count: ${((_this$file = this.file) === null || _this$file === void 0 || (_this$file = _this$file.items) === null || _this$file === void 0 ? void 0 : _this$file.length) || 0}`);
+    }
+    if (this.file && ((_this$file$items = this.file.items) === null || _this$file$items === void 0 ? void 0 : _this$file$items.length) > 0) {
+      if (this.downloadType === 0) {
+        const exitFiles = this.queryNeedFiles(this.file.items);
+        // 赋值
+        this.exitFiles = exitFiles;
+        if (exitFiles.length > 0) {
+          logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_files_start', `Starting download, files: ${exitFiles.join(',')}, downloadType: ${downloadType}`);
+          if (shouldDownloadStream) {
+            // 开启p2p流传输
+            logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_start', `Starting stream download, files count: ${exitFiles.length}`);
+            await this.downloadStream({
+              files: exitFiles
+            }, this.albumName, () => {
+              logger('info', {
+                msg: `${downloadType} p2p downloadStream success===>`
+              }, this.onLogger);
+              logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_success', `Stream download success, downloadType: ${downloadType}`);
+            }, () => {
+              logger('error', {
+                msg: `${downloadType} p2p downloadStream failed and try reConnect Device===>`
+              }, this.onLogger);
+              logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_fail', `Stream download failed, attempting reconnect, downloadType: ${downloadType}`);
+              this.removeP2pDownloadEvent();
+              this.disconnectDevice().then(() => {
+                this.isConnected = false;
+                this.isConnecting = false;
+                logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_reconnect', 'Reconnecting device after stream download failure');
+                this.connectDevice(() => {
+                  // 重连之后重新开启文件下载, 这里的成功不需要注册断开事件
+                  this.startObserverSweeperDataByP2P(this.downloadType, this.devId, this.onReceiveMapData, this.onReceivePathData, this.onReceiveAIPicData, this.onReceiveAIPicHDData, this.onReceiveWifiMapData);
+                });
+              });
+            });
+          } else if (await this.initFilePath(this.dataFilePath)) {
+            logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_file_start', `Starting file download, files count: ${exitFiles.length}`);
+            await this.downloadFile({
+              files: exitFiles
+            }, this.albumName, this.dataFilePath);
+            logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_file_complete', `File download completed, files count: ${exitFiles.length}`);
+          }
+          this.firstPackageTime = Date.now();
+        } else {
+          logP2PDataIfEnabled(this.enableCustomLog, devId, 'no_files_to_download', 'No files found to download');
+        }
+      } else if (this.downloadType === 1) {
+        const exitFiles = this.queryNeedFiles(this.file.items);
+        // 赋值
+        this.exitFiles = exitFiles;
+        if (exitFiles.length > 0) {
+          logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_files_start', `Starting download, files: ${exitFiles.join(',')}, downloadType: ${downloadType}`);
+          if (shouldDownloadStream) {
+            // 开启p2p流传输
+            logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_start', `Starting stream download, files count: ${exitFiles.length}`);
+            await this.downloadStream({
+              files: exitFiles
+            }, this.albumName, () => {
+              logger('info', {
+                msg: `${downloadType} p2p downloadStream success===>`
+              }, this.onLogger);
+              logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_success', `Stream download success, downloadType: ${downloadType}`);
+            }, () => {
+              logger('error', {
+                msg: `${downloadType} p2p downloadStream failed and try reConnect Device===>`
+              }, this.onLogger);
+              logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_fail', `Stream download failed, attempting reconnect, downloadType: ${downloadType}`);
+              this.removeP2pDownloadEvent();
+              this.disconnectDevice().then(() => {
+                this.isConnected = false;
+                this.isConnecting = false;
+                logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_stream_reconnect', 'Reconnecting device after stream download failure');
+                this.connectDevice(() => {
+                  // 重连之后重新开启文件下载, 这里的成功不需要注册断开事件
+                  this.startObserverSweeperDataByP2P(this.downloadType, this.devId, this.onReceiveMapData, this.onReceivePathData, this.onReceiveAIPicData, this.onReceiveAIPicHDData, this.onReceiveWifiMapData);
+                });
+              });
+            });
+          } else if (await this.initFilePath(this.streamFilePath)) {
+            // 每次要下载前都需要先检查文件目录是否存在 防止中间过程被删除掉文件目录
+            logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_file_start', `Starting file download, files count: ${exitFiles.length}`);
+            await this.downloadFile({
+              files: exitFiles
+            }, this.albumName, this.streamFilePath);
+            logP2PDataIfEnabled(this.enableCustomLog, devId, 'download_file_complete', `File download completed, files count: ${exitFiles.length}`);
+          }
+          this.firstPackageTime = Date.now();
+        } else {
+          logP2PDataIfEnabled(this.enableCustomLog, devId, 'no_files_to_download', 'No files found to download');
+        }
+      }
     }
-    if (!((_this$file = this.file) !== null && _this$file !== void 0 && (_this$file = _this$file.items) !== null && _this$file !== void 0 && _this$file.length)) {
-      return;
-    }
-
-    // 根据 downloadType 选择文件路径
-    const filePath = downloadType === 0 ? this.dataFilePath : this.streamFilePath;
-    const exitFiles = this.queryNeedFiles(this.file.items);
-    this.exitFiles = exitFiles;
-
-    // 执行下载
-    await this.executeDownload(exitFiles, filePath);
   };
 
   /**
@@ -335,6 +385,7 @@ export class SweeperP2p extends P2pApi {
    * @returns
    */
   appendDownloadStreamDuringTask = (files, successCb, failCb) => {
+    logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'append_download_stream', `Appending files to download stream, files: ${files.join(',')}`);
     return this.appendDownloadStream({
       files: [...this.exitFiles, ...files]
     }, this.albumName, successCb, failCb);
@@ -344,9 +395,10 @@ export class SweeperP2p extends P2pApi {
    * 注册下载有关的监听
    */
   registerP2pDownloadEvent = () => {
-    this.log.info({
+    logger('info', {
       msg: 'registerP2pDownloadEvent ==>'
-    });
+    }, this.onLogger);
+    logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'register_download_event', `Registering download events, shouldDownloadStream: ${shouldDownloadStream}`);
     if (shouldDownloadStream) {
       // p2p数据流监听
       this.offP2pStreamPacketReceive = this.onP2pStreamPacketReceive(this.p2pStreamPacketReceiveCallback);
@@ -367,25 +419,30 @@ export class SweeperP2p extends P2pApi {
    * 移除下载有关的监听
    */
   removeP2pDownloadEvent = () => {
-    var _this$offFileDownload, _this$offP2pStreamPac;
-    this.log.info({
+    logger('info', {
       msg: 'removeP2pDownloadEvent ==>'
-    });
+    }, this.onLogger);
+    logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'remove_download_event', 'Removing download events');
     if (shouldDownloadStream) {
-      // 重置所有 Map 的值为初始状态
-      FILE_NAMES_TO_INIT.forEach(key => {
+      [...this.packetSerialNumberCacheMap.keys()].forEach(key => {
         this.packetSerialNumberCacheMap.set(key, -1);
+      });
+      [...this.fileLengthCacheMap.keys()].forEach(key => {
         this.fileLengthCacheMap.set(key, -1);
+      });
+      [...this.packetTotalMap.keys()].forEach(key => {
         this.packetTotalMap.set(key, -1);
+      });
+      [...this.packetDataCacheMap.keys()].forEach(key => {
         this.packetDataCacheMap.set(key, new Map());
       });
     }
     this.cacheData = {};
-    (_this$offFileDownload = this.offFileDownloadComplete) === null || _this$offFileDownload === void 0 || _this$offFileDownload.call(this);
-    (_this$offP2pStreamPac = this.offP2pStreamPacketReceive) === null || _this$offP2pStreamPac === void 0 || _this$offP2pStreamPac.call(this);
+    this.offFileDownloadComplete && this.offFileDownloadComplete();
+    this.offP2pStreamPacketReceive && this.offP2pStreamPacketReceive();
 
-    // this.offDownLoadProgressUpdate?.();
-    // this.offTotalDownLoadProgressUpdate?.();
+    // this.offDownLoadProgressUpdate && this.offDownLoadProgressUpdate();
+    // this.offTotalDownLoadProgressUpdate && this.offTotalDownLoadProgressUpdate();
   };
 
   /**
@@ -399,6 +456,7 @@ export class SweeperP2p extends P2pApi {
         index
       } = data;
       if (fileName) {
+        logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'file_download_complete', `File download completed, fileName: ${fileName}, index: ${index}`);
         this.fileIndex = index;
         const path = this.downloadType === 0 ? this.getDataFilePath(fileName) : this.getStreamFilePath(fileName);
         this.readFileFromPath(fileName, path);
@@ -431,18 +489,24 @@ export class SweeperP2p extends P2pApi {
       this.initStructuredMode(((_FILE_NAME_MAP$fileNa = FILE_NAME_MAP[fileName]) === null || _FILE_NAME_MAP$fileNa === void 0 ? void 0 : _FILE_NAME_MAP$fileNa.type) === 6);
     }
 
+    // 记录第一个包和最后一个包的接收
+    if (packetType === 1 || packetType === 3) {
+      logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'packet_first_received', `First packet received, fileName: ${fileName}, fileSerialNumber: ${fileSerialNumber}, packetIndex: ${packetIndex}`);
+    }
+
     // 因为XXXX_YYYYY会被替换为坐标值，所以这里需要替换一下
 
     if (/^aiHD.*\.bin$/.test(fileName)) {
-      fileName = FileNameEnum.aiHD;
+      fileName = 'aiHD_XXXX_YYYY.bin';
     } else if (/^aiHD.*\.bin.stream$/.test(fileName)) {
-      fileName = FileNameEnum.aiHDStream;
+      fileName = 'aiHD_XXXX_YYYY.bin.stream';
     }
     const cachePacketMap = this.packetDataCacheMap.get(fileName);
     if (!cachePacketMap) {
-      this.log.warn({
+      logger('warn', {
         msg: `p2pStreamPacketReceiveCallback: fileName : ${fileName} is not support`
-      });
+      }, this.onLogger);
+      logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'packet_unsupported_file', `Unsupported file name: ${fileName}`);
       return;
     }
     const cacheSerialNumber = this.packetSerialNumberCacheMap.get(fileName);
@@ -476,16 +540,18 @@ export class SweeperP2p extends P2pApi {
         }).join('');
         const cacheFileLength = this.fileLengthCacheMap.get(fileName);
         if (cacheFileLength > 0 && hexValue.length !== cacheFileLength * 2) {
-          this.log.warn({
+          logger('warn', {
             msg: `p2pStreamPacketReceiveCallback: fileName : ${fileName} length mismatch, expected: ${cacheFileLength * 2}, received: ${hexValue.length}`
-          });
+          }, this.onLogger);
+          logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'packet_length_mismatch', `Packet length mismatch, fileName: ${fileName}, expected: ${cacheFileLength * 2}, received: ${hexValue.length}`);
           return;
         }
         if (this.firstPackageTime > 0 && fileName.indexOf('map') !== -1) {
           const packageTime = Date.now() - this.firstPackageTime;
-          this.log.info({
+          logger('info', {
             msg: `receive first full package, cost time: ${packageTime} ms, fileName: ${fileName}`
-          });
+          }, this.onLogger);
+          logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'first_full_package_received', `First full package received, fileName: ${fileName}, costTime: ${packageTime}ms`);
           trace.pointFn({
             devId: this.devId,
             eventName: 'receiveFirstFullPackage'
@@ -495,7 +561,29 @@ export class SweeperP2p extends P2pApi {
         const {
           type
         } = FILE_NAME_MAP[fileName];
-        this.handleDataByType(type, hexValue);
+        if (this.cacheData[type] !== hexValue) {
+          logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'data_received', `Data received and processed, fileName: ${fileName}, type: ${type}, dataLength: ${hexValue.length}`);
+          if (type === 0 || type === 6) {
+            this.onReceiveMapData(hexValue);
+            this.cacheData[type] = hexValue;
+          }
+          if (type === 1) {
+            logger('info', {
+              msg: `push new path data`
+            }, this.onLogger);
+            this.onReceivePathData(hexValue);
+            this.cacheData[type] = hexValue;
+          }
+          if (type === 4) {
+            this.onReceiveAIPicData(hexValue);
+          }
+          if (type === 5) {
+            this.onReceiveAIPicHDData(hexValue);
+          }
+          if (type === 7) {
+            this.onReceiveWifiMapData(hexValue);
+          }
+        }
       }
     }
   };
@@ -507,6 +595,7 @@ export class SweeperP2p extends P2pApi {
    */
   readFileFromPath = (fileName, filePath) => {
     if (!this.setReading(fileName)) return;
+    logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'read_file_start', `Starting to read file, fileName: ${fileName}`);
     try {
       ty.getFileSystemManager().readFile({
         filePath,
@@ -517,65 +606,92 @@ export class SweeperP2p extends P2pApi {
           const bytes = Base64.toByteArray(params.data);
           const hexValue = join(map(bytes, d => padStart(d.toString(16), 2, '0')), '');
           const type = this.getFileType(fileName);
-          if (hexValue.length === 0) {
-            this.log.warn({
-              msg: 'receive empty data'
-            });
-            return;
+          if (this.cacheData[type] !== hexValue) {
+            if (hexValue.length === 0) {
+              logger('warn', {
+                msg: 'receive empty data'
+              }, this.onLogger);
+              logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'read_file_empty', `Read file returned empty data, fileName: ${fileName}`);
+              return;
+            }
+            if (type === 0 || type === 6) {
+              this.onReceiveMapData(hexValue);
+            }
+            if (type === 1) {
+              this.onReceivePathData(hexValue);
+            }
+            if (type === 4) {
+              this.onReceiveAIPicData(hexValue);
+            }
+            if (type === 5) {
+              this.onReceiveAIPicHDData(hexValue);
+            }
+            if (type === 7) {
+              this.onReceiveWifiMapData(hexValue);
+            }
+            this.cacheData[type] = hexValue;
+            logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'read_file_success', `File read and processed successfully, fileName: ${fileName}, type: ${type}`);
           }
-          this.handleDataByType(type, hexValue);
         },
         fail: e => {
-          this.log.warn({
+          logger('warn', {
             msg: 'readFileFromPath failed ==>',
             e
-          });
+          }, this.onLogger);
+          const errorMsg = (e === null || e === void 0 ? void 0 : e.errorMsg) || (e === null || e === void 0 ? void 0 : e.errorCode) || JSON.stringify(e) || 'unknown';
+          logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'read_file_fail', `File read failed, fileName: ${fileName}, error: ${errorMsg}`);
           this.resetReading(fileName);
         }
       });
     } catch (e) {
       this.resetReading(fileName);
-      this.log.error({
+      logger('error', {
         msg: 'readFileFromPath ==>',
         e
-      });
+      }, this.onLogger);
+      const errorMsg = (e === null || e === void 0 ? void 0 : e.errorMsg) || (e === null || e === void 0 ? void 0 : e.errorCode) || JSON.stringify(e) || 'unknown';
+      logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'read_file_error', `File read error, fileName: ${fileName}, error: ${errorMsg}`);
     }
   };
-
-  /**
-   * 根据文件名获取对应的 reading 状态标志
-   */
-  getReadingFlag = fileName => {
-    if (fileName.includes('map_structured') || fileName.includes('map.')) {
-      return 'readingMap';
-    }
-    if (fileName.includes('cleanPath')) {
-      return 'readingClean';
+  setReading = fileName => {
+    if (fileName.indexOf('map_structured') !== -1) {
+      if (this.readingMap === true) return false;
+      this.readingMap = true;
+      return true;
     }
-    if (fileName.includes('ai.') && !fileName.includes('aiHD')) {
-      return 'readingAI';
+    if (fileName.indexOf('map.') !== -1) {
+      if (this.readingMap === true) return false;
+      this.readingMap = true;
+      return true;
     }
-    if (fileName.includes('aiHD')) {
-      return 'readingHD';
+    if (fileName.indexOf('cleanPath') !== -1) {
+      if (this.readingClean === true) return false;
+      this.readingClean = true;
+      return true;
     }
-    return null;
-  };
-  setReading = fileName => {
-    const flag = this.getReadingFlag(fileName);
-    if (!flag) {
+    if (fileName.indexOf('ai.') !== -1) {
+      if (this.readingAI === true) return false;
+      this.readingAI = true;
       return true;
     }
-    const readingState = this[flag];
-    if (readingState) {
-      return false;
+    if (fileName.indexOf('aiHD') !== -1) {
+      if (this.readingHD === true) return false;
+      this.readingHD = true;
+      return true;
     }
-    this[flag] = true;
     return true;
   };
   resetReading = fileName => {
-    const flag = this.getReadingFlag(fileName);
-    if (flag) {
-      this[flag] = false;
+    if (fileName.indexOf('map_structured') !== -1) {
+      this.readingMap = false;
+    } else if (fileName.indexOf('map.') !== -1) {
+      this.readingMap = false;
+    } else if (fileName.indexOf('cleanPath') !== -1) {
+      this.readingClean = false;
+    } else if (fileName.indexOf('ai.') !== -1) {
+      this.readingAI = false;
+    } else if (fileName.indexOf('aiHD') !== -1) {
+      this.readingHD = false;
     }
   };
 
@@ -584,11 +700,21 @@ export class SweeperP2p extends P2pApi {
    * @param fileList
    */
   queryNeedFiles = fileList => {
-    if (!(fileList !== null && fileList !== void 0 && fileList.length)) {
-      return [];
-    }
-    const pattern = this.downloadType === 0 ? /\.bin$/ : /\.bin\.stream$/;
-    return fileList.filter(item => pattern.test(item.filename)).map(item => item.filename);
+    const exitFiles = [];
+    const streamPattern = /bin.stream$/;
+    const dataPattern = /bin$/;
+    fileList && fileList.forEach(item => {
+      if (this.downloadType === 0) {
+        if (dataPattern.test(item.filename)) {
+          exitFiles.push(item.filename);
+        }
+      } else if (this.downloadType === 1) {
+        if (streamPattern.test(item.filename)) {
+          exitFiles.push(item.filename);
+        }
+      }
+    });
+    return exitFiles;
   };
 
   /**
@@ -597,13 +723,15 @@ export class SweeperP2p extends P2pApi {
   // eslint-disable-next-line @typescript-eslint/explicit-module-boundary-types, consistent-return
   stopObserverSweeperDataByP2P = () => {
     try {
-      this.log.info({
+      logger('info', {
         msg: `isConnected: ${this.isConnected}, devId: ${this.devId}`
-      });
+      }, this.onLogger);
+      logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'stop_observer_start', `Stopping observer, isConnected: ${this.isConnected}`);
       if (this.isConnected) {
-        this.log.info({
+        logger('info', {
           msg: `try disconnect device, devId: ${this.devId}`
-        });
+        }, this.onLogger);
+        logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'stop_observer_disconnect', 'Disconnecting device');
         this.disconnectDevice();
       }
       this.removeP2pDownloadEvent();
@@ -612,12 +740,14 @@ export class SweeperP2p extends P2pApi {
 
       // 先销毁断开监听
       typeof this.offSessionStatusChange === 'function' && this.offSessionStatusChange();
+      logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'stop_observer_complete', 'Observer stopped successfully');
       // 销毁初始化时,先进行断连操作
     } catch (e) {
-      this.log.error({
+      logger('error', {
         msg: 'stopObserverSweeperDataByP2P occur error ==>',
         e
-      });
+      }, this.onLogger);
+      logP2PDataIfEnabled(this.enableCustomLog, this.devId, 'stop_observer_error', `Error stopping observer: ${(e === null || e === void 0 ? void 0 : e.message) || 'unknown'}`);
       return false;
     }
   };