@ray-js/robot-map-sdk 0.0.3-beta-9 → 0.0.3-beta-10

package/dist/application/MapApplication.js

@@ -1 +1 @@
-import{Application as e,isMobile as t,Assets as a}from"pixi.js";import{Interaction as n}from"./Interaction.js";import{merge as r}from"lodash-es";import{proxy as i}from"valtio/vanilla";import{MAIN_INSTANCE_KEY as s}from"../constant/index.js";import o from"mitt";import{Logger as c}from"../utils/logger.js";import{AppContext as h}from"./AppService.js";import{nanoid as d}from"nanoid/non-secure";import{calculateLineEndpoints as p}from"../utils/algorithm.js";import{ViewportContainer as m}from"./ViewportContainer.js";import{AppContainer as l}from"./AppContainer.js";import{MapManager as g}from"../managers/MapManager.js";import{PathManager as u}from"../managers/PathManager.js";import{HeatmapManager as w}from"../managers/HeatmapManager.js";import{ControlsManager as M}from"../managers/ControlsManager.js";import{DetectedObjectManager as y}from"../managers/DetectedObjectManager.js";import{CustomElementsManager as f}from"../managers/CustomElementsManager.js";import{RoomManager as x}from"../managers/RoomManager.js";import{getOptimalAntialiasingStrategy as S}from"../utils/browser.js";import{DEFAULT_CONFIG as b,DEFAULT_RUNTIME_CONFIG as v}from"../constant/config.js";class C extends e{mapState=null;components={};managers={};config=b;runtime;scaleMin=.5;scaleMax=5;events={};instanceKey;containerElement;emitter=o();tickerState={renderReasons:new Set,renderTimer:null};pendingAsyncRender=!1;isFirstMapDraw=!0;constructor(e=s){super(),this.instanceKey=e,h.registerInstance(e,this),globalThis.__PIXI_APP__=this}async initialize(e){return h.provideAsync(this,async()=>{const{resizeTo:a,events:n,config:o,runtime:c={},...h}=e;this.config=r(this.config,o??{}),this.runtime=i(Object.assign({},v,c));const d=this.instanceKey===s;this.containerElement=a;const p=d?{textureGCMaxIdle:t.any?180:3600,textureGCCheckCountMax:t.any?100:50,autoStart:!1,eventFeatures:{move:!0,globalMove:!1,click:!0,wheel:!0}}:{textureGCMaxIdle:60,textureGCCheckCountMax:10,autoStart:!1,eventFeatures:{move:!1,globalMove:!1,click:!1,wheel:!1}};await this.init({resizeTo:d?a:void 0,preferWebGLVersion:2,resolution:window.devicePixelRatio||1,antialias:S(),autoDensity:!0,backgroundColor:this.config.global.backgroundColor,...p,...h}),this.preloadAssets(),this.scaleMax=this.config.interaction.zoomRange.max,this.scaleMin=this.config.interaction.zoomRange.min,this.events=n,this.initializeViewportContainer(),this.initializeInteraction(),this.initializeAppContainer(),this.managers.mapManager=new g,this.managers.heatmapManager=new w,this.managers.pathManager=new u,this.managers.controlsManager=new M,this.managers.detectedObjectManager=new y,this.managers.customElementsManager=new f,this.managers.roomsManager=new x,document.addEventListener("visibilitychange",this.onVisibilityChange)})}async drawMap(e){return h.provideAsync(this,async()=>{c.log("[Map] drawMap",e);const{size:t,resolution:a,origin:n}=e;n[0]===this.mapState?.origin.x&&n[1]===this.mapState?.origin.y||(this.managers.pathManager.updatePositionByOrigin(...n),this.managers.controlsManager.updatePositionByOrigin(...n),this.managers.detectedObjectManager.updatePositionByOrigin(...n),this.managers.customElementsManager.updatePositionByOrigin(...n)),this.mapState={id:e.id,status:1===e.status,origin:{x:n[0],y:n[1]},charger:{x:e.charger.coordinate[0],y:e.charger.coordinate[1]},chargerDirection:e.charger.angle??0,resolution:a,width:t[0],height:t[1]},this.isFirstMapDraw&&(this.isFirstMapDraw=!1,this.events?.onMapFirstDrawed?.(this.mapState)),this.events?.onMapDrawed?.(this.mapState),await this.managers.mapManager.drawMap(e),this.renderOnce()})}async drawRasterMap(e){return h.provideAsync(this,async()=>{c.log("[Map] drawRasterMap",e);const{mapHeader:t,mapData:a}=e,{originX:n,originY:r}=t;n===this.mapState?.origin.x&&r===this.mapState?.origin.y||(this.managers.pathManager.updatePositionByOrigin(n,r),this.managers.controlsManager.updatePositionByOrigin(n,r),this.managers.detectedObjectManager.updatePositionByOrigin(n,r),this.managers.customElementsManager.updatePositionByOrigin(n,r)),this.mapState={id:t.id,status:t.mapStable,origin:{x:n,y:r},charger:{x:t.chargeX,y:t.chargeY},chargerDirection:t.chargeDirection??0,resolution:100*t.mapResolution,width:t.mapWidth,height:t.mapHeight,version:t.version},this.isFirstMapDraw&&(this.isFirstMapDraw=!1,this.events?.onMapFirstDrawed?.(this.mapState)),this.events?.onMapDrawed?.(this.mapState),await this.managers.mapManager.drawRasterMap(a.parsed,this.mapState),this.renderOnce()})}drawPath(e){return h.provide(this,()=>{c.log("[Path] drawPath",e),this.events?.onPathDrawed?.({id:e.pathHeader.pathId,type:e.pathHeader.type,direction:e.pathHeader.direction,count:e.pathHeader.count,initFlag:e.pathHeader.initFlag,robotPosition:e.pathPoints[e.pathPoints.length-1]??null}),this.managers.pathManager.draw(e),this.renderOnce()})}async drawRoomProperty(e){return h.provide(this,()=>{c.log("[Room] drawRoomProperty",e),this.events?.onRoomPropertiesDrawed?.(e),this.managers.roomsManager.drawRoomProperty(e),this.renderOnceNextFrame()})}drawHeatmap({mapData:e,heatmapPoints:t,useGradient:a=!0}){return h.provide(this,()=>{c.log("[Heatmap] drawHeatmap",t),this.managers.heatmapManager.draw({mapData:e,heatmapPoints:t,useGradient:a}),this.renderOnce()})}drawForbiddenSweepZones(e){return h.provide(this,()=>{c.log("[Controls] drawForbiddenSweepZones",e),this.managers.controlsManager.drawForbiddenSweepZones(e),this.renderOnceNextFrame()})}drawForbiddenMopZones(e){return h.provide(this,()=>{c.log("[Controls] drawForbiddenMopZones",e),this.managers.controlsManager.drawForbiddenMopZones(e),this.renderOnceNextFrame()})}drawCleanZones(e){return h.provide(this,()=>{c.log("[Controls] drawCleanZones",e),this.managers.controlsManager.drawCleanZones(e),this.renderOnceNextFrame()})}drawVirtualWalls(e){return h.provide(this,()=>{c.log("[Controls] drawVirtualWalls",e),this.managers.controlsManager.drawVirtualWalls(e),this.renderOnceNextFrame()})}drawSpots(e){return h.provide(this,()=>{c.log("[Controls] drawSpots",e),this.managers.controlsManager.drawSpots(e),this.renderOnceNextFrame()})}async drawDetectedObjects(e){return h.provideAsync(this,async()=>{c.log("[DetectedObject] drawDetectedObjects",e),await this.managers.detectedObjectManager.drawDetectedObjects(e),this.renderOnceNextFrame()})}async drawCustomElements(e){return h.provideAsync(this,async()=>{c.log("[CustomElements] drawCustomElements",e),await this.managers.customElementsManager.drawCustomElements(e),this.renderOnceNextFrame()})}getForbiddenSweepZones(){return this.managers.controlsManager.getForbiddenSweepZones()}getForbiddenMopZones(){return this.managers.controlsManager.getForbiddenMopZones()}getCleanZones(){return this.managers.controlsManager.getCleanZones()}getVirtualWalls(){return this.managers.controlsManager.getVirtualWalls()}getSpots(){return this.managers.controlsManager.getSpots()}getEffectiveDividerPoints(){return this.managers.controlsManager.getEffectiveDividerPoints()}getDividerEndPoints(){return this.managers.controlsManager.getDividerEndPoints()}resetPanZoom(){this.components.interaction.setPanZoom()}fitMapToView(e,t=!1){return h.provide(this,()=>{if(!e||e.minX===e.maxX||e.minY===e.maxY)return void c.warn("地图边界无效，无法自动适配视图");const a=this.config.map.autoPaddingPercent||.1,n=this.getViewportBounds(),r=e.maxX-e.minX,i=e.maxY-e.minY,s=n.width,o=n.height,h=s*(1-2*a)/r,d=o*(1-2*a)/i,p=Math.min(h,d),m=Math.max(this.config.interaction.fitMinScale,this.scaleMin),l=Math.min(this.config.interaction.fitMaxScale,this.scaleMax),g=Math.max(m,Math.min(l,p)),u=s/2-(e.minX+r/2)*g,w=o/2-(e.minY+i/2)*g;this.components.interaction.setPanZoom({targetPosition:{x:u,y:w},targetScale:{x:g,y:g},setCenter:!0,setScale:!0},t)})}getViewportBounds(){return this.components.viewportContainer?.getViewportBounds()||{x:0,y:0,width:this.renderer.width,height:this.renderer.height}}updateRuntime(e){Object.assign(this.runtime,e),this.renderOnceNextFrame()}metersToPixels(e){return this.mapState?.resolution?e*(1/(this.mapState.resolution/100)):(c.warn("Map resolution not available, using default resolution (5cm/pixel)"),20*e)}pixelsToMeters(e){return this.mapState?.resolution?e*(this.mapState.resolution/100):(c.warn("Map resolution not available, using default resolution (5cm/pixel)"),.05*e)}toFixedSize(e,t){return e/(t??this.components.appContainer.scale.x)}fromFixedSize(e,t){return e*(t??this.components.appContainer.scale.x)}getViewportCenterPoint(){if(!this.mapState)return c.warn("Map state not available, cannot calculate center point"),null;const e=this.getViewportBounds(),t=e.x+e.width/2,a=e.y+e.height/2,n=this.components.appContainer,r=n.scale.x,i=(t-n.x)/r,s=(a-n.y)/r;return{x:i-this.mapState.origin.x,y:s-this.mapState.origin.y}}getMapCenterPoint(){if(!this.mapState)return c.warn("Map state not available, cannot calculate map center point"),null;const e=this.managers.mapManager.mapBounds;if(e.minX===1/0||e.minY===1/0||e.maxX===-1/0||e.maxY===-1/0)return c.warn("Invalid map bounds, cannot calculate map center point"),null;const t=(e.minX+e.maxX)/2,a=(e.minY+e.maxY)/2;return{x:t-this.mapState.origin.x,y:a-this.mapState.origin.y}}getWallPointsByViewportCenter(e){const{width:t=this.config.controls.virtualWall.minWidth,direction:a="horizontal",offsetX:n=0,offsetY:r=0}=e||{},i=this.getViewportCenterPoint()||{x:0,y:0},s=this.metersToPixels(t);return p(i.x,i.y,s,a).map(e=>({x:e.x+n,y:e.y+r}))}getForbiddenSweepZonePointsByViewportCenter(e){const t=this.config.controls.forbiddenSweepZone,{size:a=t.minSize,offsetX:n=0,offsetY:r=0}=e||{};return this.generateZonePoints(a,n,r)}getForbiddenMopZonePointsByViewportCenter(e){const t=this.config.controls.forbiddenMopZone,{size:a=t.minSize,offsetX:n=0,offsetY:r=0}=e||{};return this.generateZonePoints(a,n,r)}getCleanZonePointsByViewportCenter(e){const t=this.config.controls.cleanZone,{size:a=t.minSize,offsetX:n=0,offsetY:r=0}=e||{};return this.generateZonePoints(a,n,r)}getSpotPointByViewportCenter(e){const{offsetX:t=0,offsetY:a=0}=e||{},n=this.getViewportCenterPoint()||{x:0,y:0};return{x:n.x+t,y:n.y+a}}async snapshot(){this.render(),await new Promise(e=>setTimeout(e,0));const{snapshot:e}=this.config;return await this.renderer.extract.base64({target:this.components.appContainer,format:e.format,quality:e.quality,resolution:e.resolution,antialias:e.antialias})}async snapshotByData({map:e,path:t,roomProperties:a,customElements:n,forbiddenSweepZones:r,forbiddenMopZones:i,virtualWalls:s,detectedObjects:o},h={}){const p=`SNAPSHOT_${d()}`;c.log(`[MapApplication] ${p} snapshot start`);const m=new C(p);try{if(await m.initialize({config:this.config,runtime:h}),!e)throw new Error("Map data is required");if(e.startsWith("7b22")){const{decodeMapStructured:t}=await import("@ray-js/robot-protocol"),a=t(e);await m.drawMap(a)}else{const{decodeMap:t}=await import("@ray-js/robot-protocol"),a=t(e);if(!a)throw new Error("Failed to decode raster map data");await m.drawRasterMap(a)}if(t){const{decodePath:e}=await import("@ray-js/robot-protocol"),a=e(t);m.drawPath(a)}a&&a.length>0&&m.drawRoomProperty(a),r&&r.length>0&&m.drawForbiddenSweepZones(r),i&&i.length>0&&m.drawForbiddenMopZones(i),s&&s.length>0&&m.drawVirtualWalls(s),o&&o.length>0&&await m.drawDetectedObjects(o),n&&n.length>0&&await m.drawCustomElements(n);const d=await m.snapshot();return c.log(`[MapApplication] ${p} snapshot completed successfully`),d}catch(e){throw c.error(`[MapApplication] ${p} snapshot other map failed:`,e),e}finally{c.log(`[MapApplication] ${p} destroy`),m.destroy()}}renderOnce(){c.log("[Pixi] renderOnce"),this.render()}renderOnceNextFrame(){this.pendingAsyncRender||(this.pendingAsyncRender=!0,requestAnimationFrame(()=>{c.log("[Pixi] renderOnceNextFrame"),this.render(),this.pendingAsyncRender=!1}))}requestRender(e,t=!1){t?(this.tickerState.renderReasons.add(e),this.ticker.started||(c.debug(`🎬 [Ticker] START: ${e}`),this.ticker.start())):this.renderOnceNextFrame()}stopRender(e){this.tickerState.renderReasons.delete(e),0===this.tickerState.renderReasons.size&&this.scheduleStopRender("final",100)}destroy(){h.unregisterInstance(this.instanceKey),this.tickerState.renderTimer&&clearTimeout(this.tickerState.renderTimer),this.tickerState.renderReasons.clear(),this.emitter.all.clear(),document.removeEventListener("visibilitychange",this.onVisibilityChange),this.managers.pathManager.destroy(),this.managers.mapManager.destroy(),this.managers.controlsManager.destroy(),this.managers.detectedObjectManager.destroy(),this.managers.customElementsManager.destroy(),this.managers.roomsManager.destroy(),this.components.interaction.destroy(),this.components.viewportContainer.destroy(),this.components.appContainer.destroy(),super.destroy()}initializeViewportContainer(){this.components.viewportContainer=new m(this.config,this.containerElement),this.stage.addChild(this.components.viewportContainer)}initializeAppContainer(){this.components.appContainer=new l,this.components.interaction.addChild(this.components.appContainer)}initializeInteraction(){this.components.interaction=new n,this.components.viewportContainer.addChild(this.components.interaction)}scheduleStopRender(e,t){this.tickerState.renderTimer&&clearTimeout(this.tickerState.renderTimer),this.tickerState.renderTimer=setTimeout(()=>{this.tickerState.renderReasons.delete(e),0===this.tickerState.renderReasons.size&&(c.debug("⏸️ [Ticker] STOP"),this.ticker.stop())},t)}generateZonePoints(e,t,a){const n=this.getViewportCenterPoint()||{x:0,y:0},r=this.metersToPixels(e)/2,i=n.x+t,s=n.y+a;return[{x:i-r,y:s-r},{x:i+r,y:s-r},{x:i+r,y:s+r},{x:i-r,y:s+r}]}preloadAssets(){const e=this.config.robot.icon.src,t=this.config.chargingStation.icon.src,n=[];a.add({alias:"robot",src:e}),n.push("robot"),a.add({alias:"chargingStation",src:t}),n.push("chargingStation"),a.add({alias:"deleteIcon",src:this.config.controls.deleteIconSrc}),n.push("deleteIcon"),a.add({alias:"rotateIcon",src:this.config.controls.rotateIconSrc}),n.push("rotateIcon"),a.add({alias:"scaleIcon",src:this.config.controls.scaleIconSrc}),n.push("scaleIcon"),a.add({alias:"moveIcon",src:this.config.controls.moveIconSrc}),n.push("moveIcon"),a.add({alias:"checkmark",src:this.config.room.selectionIndicator.iconSrc}),n.push("checkmark"),a.add({alias:"spotIcon",src:this.config.controls.spot.iconSrc}),n.push("spotIcon"),this.config.room.property.cleanMode.assets.forEach((e,t)=>{const r=`cleanMode_${t}`;a.add({alias:r,src:e}),n.push(r)}),this.config.room.property.suction.assets.forEach((e,t)=>{const r=`fan_${t}`;a.add({alias:r,src:e}),n.push(r)}),this.config.room.property.cistern.assets.forEach((e,t)=>{const r=`water_${t}`;a.add({alias:r,src:e}),n.push(r)}),this.config.room.property.cleanTimes.assets.forEach((e,t)=>{const r=`cleanTimes${t+1}`;a.add({alias:r,src:e}),n.push(r)}),a.backgroundLoad(n)}onVisibilityChange=()=>{"visible"===document.visibilityState||this.components.interaction?.clearTouches()}}export{C as MapApplication};
+import{Application as e,isMobile as t,Assets as n}from"pixi.js";import{Interaction as a}from"./Interaction.js";import{merge as r}from"lodash-es";import{proxy as i}from"valtio/vanilla";import{MAIN_INSTANCE_KEY as o}from"../constant/index.js";import s from"mitt";import{Logger as c}from"../utils/logger.js";import{AppContext as h}from"./AppService.js";import{nanoid as d}from"nanoid/non-secure";import{calculateLineEndpoints as p,areStructuredRoomsAdjacent as m,areMultipleRoomsConnected as l,areRasterRoomsAdjacent as g}from"../utils/algorithm.js";import{ViewportContainer as u}from"./ViewportContainer.js";import{AppContainer as w}from"./AppContainer.js";import{MapManager as f}from"../managers/MapManager.js";import{PathManager as M}from"../managers/PathManager.js";import{HeatmapManager as y}from"../managers/HeatmapManager.js";import{ControlsManager as x}from"../managers/ControlsManager.js";import{DetectedObjectManager as S}from"../managers/DetectedObjectManager.js";import{CustomElementsManager as v}from"../managers/CustomElementsManager.js";import{RoomManager as b}from"../managers/RoomManager.js";import{getOptimalAntialiasingStrategy as P}from"../utils/browser.js";import{DEFAULT_CONFIG as C,DEFAULT_RUNTIME_CONFIG as R}from"../constant/config.js";class O extends e{mapState=null;components={};managers={};config=C;runtime;scaleMin=.5;scaleMax=5;events={};instanceKey;containerElement;emitter=s();tickerState={renderReasons:new Set,renderTimer:null};pendingAsyncRender=!1;isFirstMapDraw=!0;constructor(e=o){super(),this.instanceKey=e,h.registerInstance(e,this),globalThis.__PIXI_APP__=this}async initialize(e){return h.provideAsync(this,async()=>{const{resizeTo:n,events:a,config:s,runtime:c={},...h}=e;this.config=r(this.config,s??{}),this.runtime=i(Object.assign({},R,c));const d=this.instanceKey===o;this.containerElement=n;const p=d?{textureGCMaxIdle:t.any?180:3600,textureGCCheckCountMax:t.any?100:50,autoStart:!1,eventFeatures:{move:!0,globalMove:!1,click:!0,wheel:!0}}:{textureGCMaxIdle:60,textureGCCheckCountMax:10,autoStart:!1,eventFeatures:{move:!1,globalMove:!1,click:!1,wheel:!1}};await this.init({resizeTo:d?n:void 0,preferWebGLVersion:2,resolution:window.devicePixelRatio||1,antialias:P(),autoDensity:!0,backgroundColor:this.config.global.backgroundColor,...p,...h}),this.preloadAssets(),this.scaleMax=this.config.interaction.zoomRange.max,this.scaleMin=this.config.interaction.zoomRange.min,this.events=a,this.initializeViewportContainer(),this.initializeInteraction(),this.initializeAppContainer(),this.managers.mapManager=new f,this.managers.heatmapManager=new y,this.managers.pathManager=new M,this.managers.controlsManager=new x,this.managers.detectedObjectManager=new S,this.managers.customElementsManager=new v,this.managers.roomsManager=new b,document.addEventListener("visibilitychange",this.onVisibilityChange)})}async drawMap(e){return h.provideAsync(this,async()=>{c.log("[Map] drawMap",e);const{size:t,resolution:n,origin:a}=e;a[0]===this.mapState?.origin.x&&a[1]===this.mapState?.origin.y||(this.managers.pathManager.updatePositionByOrigin(...a),this.managers.controlsManager.updatePositionByOrigin(...a),this.managers.detectedObjectManager.updatePositionByOrigin(...a),this.managers.customElementsManager.updatePositionByOrigin(...a)),this.mapState={id:e.id,status:1===e.status,origin:{x:a[0],y:a[1]},charger:{x:e.charger.coordinate[0],y:e.charger.coordinate[1]},chargerDirection:e.charger.angle??0,resolution:n,width:t[0],height:t[1]},this.isFirstMapDraw&&(this.isFirstMapDraw=!1,this.events?.onMapFirstDrawed?.(this.mapState)),this.events?.onMapDrawed?.(this.mapState),await this.managers.mapManager.drawMap(e),this.renderOnce()})}async drawRasterMap(e){return h.provideAsync(this,async()=>{c.log("[Map] drawRasterMap",e);const{mapHeader:t,mapData:n}=e,{originX:a,originY:r}=t;a===this.mapState?.origin.x&&r===this.mapState?.origin.y||(this.managers.pathManager.updatePositionByOrigin(a,r),this.managers.controlsManager.updatePositionByOrigin(a,r),this.managers.detectedObjectManager.updatePositionByOrigin(a,r),this.managers.customElementsManager.updatePositionByOrigin(a,r)),this.mapState={id:t.id,status:t.mapStable,origin:{x:a,y:r},charger:{x:t.chargeX,y:t.chargeY},chargerDirection:t.chargeDirection??0,resolution:100*t.mapResolution,width:t.mapWidth,height:t.mapHeight,version:t.version},this.isFirstMapDraw&&(this.isFirstMapDraw=!1,this.events?.onMapFirstDrawed?.(this.mapState)),this.events?.onMapDrawed?.(this.mapState),await this.managers.mapManager.drawRasterMap(n.parsed,this.mapState),this.renderOnce()})}drawPath(e){return h.provide(this,()=>{c.log("[Path] drawPath",e),this.events?.onPathDrawed?.({id:e.pathHeader.pathId,type:e.pathHeader.type,direction:e.pathHeader.direction,count:e.pathHeader.count,initFlag:e.pathHeader.initFlag,robotPosition:e.pathPoints[e.pathPoints.length-1]??null}),this.managers.pathManager.draw(e),this.renderOnce()})}async drawRoomProperty(e){return h.provide(this,()=>{c.log("[Room] drawRoomProperty",e),this.events?.onRoomPropertiesDrawed?.(e),this.managers.roomsManager.drawRoomProperty(e),this.renderOnceNextFrame()})}drawHeatmap({mapData:e,heatmapPoints:t,useGradient:n=!0}){return h.provide(this,()=>{c.log("[Heatmap] drawHeatmap",t),this.managers.heatmapManager.draw({mapData:e,heatmapPoints:t,useGradient:n}),this.renderOnce()})}drawForbiddenSweepZones(e){return h.provide(this,()=>{c.log("[Controls] drawForbiddenSweepZones",e),this.managers.controlsManager.drawForbiddenSweepZones(e),this.renderOnceNextFrame()})}drawForbiddenMopZones(e){return h.provide(this,()=>{c.log("[Controls] drawForbiddenMopZones",e),this.managers.controlsManager.drawForbiddenMopZones(e),this.renderOnceNextFrame()})}drawCleanZones(e){return h.provide(this,()=>{c.log("[Controls] drawCleanZones",e),this.managers.controlsManager.drawCleanZones(e),this.renderOnceNextFrame()})}drawVirtualWalls(e){return h.provide(this,()=>{c.log("[Controls] drawVirtualWalls",e),this.managers.controlsManager.drawVirtualWalls(e),this.renderOnceNextFrame()})}drawSpots(e){return h.provide(this,()=>{c.log("[Controls] drawSpots",e),this.managers.controlsManager.drawSpots(e),this.renderOnceNextFrame()})}async drawDetectedObjects(e){return h.provideAsync(this,async()=>{c.log("[DetectedObject] drawDetectedObjects",e),await this.managers.detectedObjectManager.drawDetectedObjects(e),this.renderOnceNextFrame()})}async drawCustomElements(e){return h.provideAsync(this,async()=>{c.log("[CustomElements] drawCustomElements",e),await this.managers.customElementsManager.drawCustomElements(e),this.renderOnceNextFrame()})}getForbiddenSweepZones(){return this.managers.controlsManager.getForbiddenSweepZones()}getForbiddenMopZones(){return this.managers.controlsManager.getForbiddenMopZones()}getCleanZones(){return this.managers.controlsManager.getCleanZones()}getVirtualWalls(){return this.managers.controlsManager.getVirtualWalls()}getSpots(){return this.managers.controlsManager.getSpots()}getEffectiveDividerPoints(){return this.managers.controlsManager.getEffectiveDividerPoints()}getDividerEndPoints(){return this.managers.controlsManager.getDividerEndPoints()}resetPanZoom(){this.components.interaction.setPanZoom()}fitMapToView(e,t=!1){return h.provide(this,()=>{if(!e||e.minX===e.maxX||e.minY===e.maxY)return void c.warn("地图边界无效，无法自动适配视图");const n=this.config.map.autoPaddingPercent||.1,a=this.getViewportBounds(),r=e.maxX-e.minX,i=e.maxY-e.minY,o=a.width,s=a.height,h=o*(1-2*n)/r,d=s*(1-2*n)/i,p=Math.min(h,d),m=Math.max(this.config.interaction.fitMinScale,this.scaleMin),l=Math.min(this.config.interaction.fitMaxScale,this.scaleMax),g=Math.max(m,Math.min(l,p)),u=o/2-(e.minX+r/2)*g,w=s/2-(e.minY+i/2)*g;this.components.interaction.setPanZoom({targetPosition:{x:u,y:w},targetScale:{x:g,y:g},setCenter:!0,setScale:!0},t)})}getViewportBounds(){return this.components.viewportContainer?.getViewportBounds()||{x:0,y:0,width:this.renderer.width,height:this.renderer.height}}updateRuntime(e){Object.assign(this.runtime,e),this.renderOnceNextFrame()}metersToPixels(e){return this.mapState?.resolution?e*(1/(this.mapState.resolution/100)):(c.warn("Map resolution not available, using default resolution (5cm/pixel)"),20*e)}pixelsToMeters(e){return this.mapState?.resolution?e*(this.mapState.resolution/100):(c.warn("Map resolution not available, using default resolution (5cm/pixel)"),.05*e)}toFixedSize(e,t){return e/(t??this.components.appContainer.scale.x)}fromFixedSize(e,t){return e*(t??this.components.appContainer.scale.x)}getViewportCenterPoint(){if(!this.mapState)return c.warn("Map state not available, cannot calculate center point"),null;const e=this.getViewportBounds(),t=e.x+e.width/2,n=e.y+e.height/2,a=this.components.appContainer,r=a.scale.x,i=(t-a.x)/r,o=(n-a.y)/r;return{x:i-this.mapState.origin.x,y:o-this.mapState.origin.y}}getMapCenterPoint(){if(!this.mapState)return c.warn("Map state not available, cannot calculate map center point"),null;const e=this.managers.mapManager.mapBounds;if(e.minX===1/0||e.minY===1/0||e.maxX===-1/0||e.maxY===-1/0)return c.warn("Invalid map bounds, cannot calculate map center point"),null;const t=(e.minX+e.maxX)/2,n=(e.minY+e.maxY)/2;return{x:t-this.mapState.origin.x,y:n-this.mapState.origin.y}}getWallPointsByViewportCenter(e){const{width:t=this.config.controls.virtualWall.minWidth,direction:n="horizontal",offsetX:a=0,offsetY:r=0}=e||{},i=this.getViewportCenterPoint()||{x:0,y:0},o=this.metersToPixels(t);return p(i.x,i.y,o,n).map(e=>({x:e.x+a,y:e.y+r}))}getForbiddenSweepZonePointsByViewportCenter(e){const t=this.config.controls.forbiddenSweepZone,{size:n=t.minSize,offsetX:a=0,offsetY:r=0}=e||{};return this.generateZonePoints(n,a,r)}getForbiddenMopZonePointsByViewportCenter(e){const t=this.config.controls.forbiddenMopZone,{size:n=t.minSize,offsetX:a=0,offsetY:r=0}=e||{};return this.generateZonePoints(n,a,r)}getCleanZonePointsByViewportCenter(e){const t=this.config.controls.cleanZone,{size:n=t.minSize,offsetX:a=0,offsetY:r=0}=e||{};return this.generateZonePoints(n,a,r)}getSpotPointByViewportCenter(e){const{offsetX:t=0,offsetY:n=0}=e||{},a=this.getViewportCenterPoint()||{x:0,y:0};return{x:a.x+t,y:a.y+n}}areRoomsAdjacent(e,t=3){return h.provide(this,()=>{if(!e||0===e.length)return c.warn("[Room] No room IDs provided"),!1;if(1===e.length)return!0;const n=Array.from(new Set(e));return 1===n.length||(void 0!==this.mapState?.version?this.areRasterRoomsAdjacentInternal(n,t):this.areStructuredRoomsAdjacentInternal(n,t))})}areStructuredRoomsAdjacentInternal(e,t){const n=[];for(const t of e){const e=this.managers.mapManager.getRoomById(t);if(!e)return c.warn(`[Room] Room ${t} not found in map`),!1;if(!e.outlinePoints||0===e.outlinePoints.length)return c.warn(`[Room] Room ${t} has no outline points`),!1;n.push({id:t,points:e.outlinePoints})}const a=[];for(let e=0;e<n.length;e++)for(let r=e+1;r<n.length;r++){const i=n[e],o=n[r];m(i.points,o.points,t)&&a.push([e,r])}return l(n.length,a)}areRasterRoomsAdjacentInternal(e,t){if(!this.mapState)return c.warn("[Room] Map state not available"),!1;const n=this.mapState.width,a=[];for(const t of e){const e=this.managers.mapManager.getRasterRoomPixels(t);if(!e)return c.warn(`[Room] Room ${t} pixel data not found in raster map`),!1;a.push({id:t,pixels:e})}const r=[];for(let e=0;e<a.length;e++)for(let i=e+1;i<a.length;i++){const o=a[e],s=a[i];g(o.pixels,s.pixels,n,t)&&r.push([e,i])}return l(a.length,r)}async snapshot(){this.render(),await new Promise(e=>setTimeout(e,0));const{snapshot:e}=this.config;return await this.renderer.extract.base64({target:this.components.appContainer,format:e.format,quality:e.quality,resolution:e.resolution,antialias:e.antialias})}async snapshotByData({map:e,path:t,roomProperties:n,customElements:a,forbiddenSweepZones:r,forbiddenMopZones:i,virtualWalls:o,detectedObjects:s},h={}){const p=`SNAPSHOT_${d()}`;c.log(`[MapApplication] ${p} snapshot start`);const m=new O(p);try{if(await m.initialize({config:this.config,runtime:h}),!e)throw new Error("Map data is required");if(e.startsWith("7b22")){const{decodeMapStructured:t}=await import("@ray-js/robot-protocol"),n=t(e);await m.drawMap(n)}else{const{decodeMap:t}=await import("@ray-js/robot-protocol"),n=t(e);if(!n)throw new Error("Failed to decode raster map data");await m.drawRasterMap(n)}if(t){const{decodePath:e}=await import("@ray-js/robot-protocol"),n=e(t);m.drawPath(n)}n&&n.length>0&&m.drawRoomProperty(n),r&&r.length>0&&m.drawForbiddenSweepZones(r),i&&i.length>0&&m.drawForbiddenMopZones(i),o&&o.length>0&&m.drawVirtualWalls(o),s&&s.length>0&&await m.drawDetectedObjects(s),a&&a.length>0&&await m.drawCustomElements(a);const d=await m.snapshot();return c.log(`[MapApplication] ${p} snapshot completed successfully`),d}catch(e){throw c.error(`[MapApplication] ${p} snapshot other map failed:`,e),e}finally{c.log(`[MapApplication] ${p} destroy`),m.destroy()}}renderOnce(){c.log("[Pixi] renderOnce"),this.render()}renderOnceNextFrame(){this.pendingAsyncRender||(this.pendingAsyncRender=!0,requestAnimationFrame(()=>{c.log("[Pixi] renderOnceNextFrame"),this.render(),this.pendingAsyncRender=!1}))}requestRender(e,t=!1){t?(this.tickerState.renderReasons.add(e),this.ticker.started||(c.debug(`🎬 [Ticker] START: ${e}`),this.ticker.start())):this.renderOnceNextFrame()}stopRender(e){this.tickerState.renderReasons.delete(e),0===this.tickerState.renderReasons.size&&this.scheduleStopRender("final",100)}destroy(){h.unregisterInstance(this.instanceKey),this.tickerState.renderTimer&&clearTimeout(this.tickerState.renderTimer),this.tickerState.renderReasons.clear(),this.emitter.all.clear(),document.removeEventListener("visibilitychange",this.onVisibilityChange),this.managers.pathManager.destroy(),this.managers.mapManager.destroy(),this.managers.controlsManager.destroy(),this.managers.detectedObjectManager.destroy(),this.managers.customElementsManager.destroy(),this.managers.roomsManager.destroy(),this.components.interaction.destroy(),this.components.viewportContainer.destroy(),this.components.appContainer.destroy(),super.destroy()}initializeViewportContainer(){this.components.viewportContainer=new u(this.config,this.containerElement),this.stage.addChild(this.components.viewportContainer)}initializeAppContainer(){this.components.appContainer=new w,this.components.interaction.addChild(this.components.appContainer)}initializeInteraction(){this.components.interaction=new a,this.components.viewportContainer.addChild(this.components.interaction)}scheduleStopRender(e,t){this.tickerState.renderTimer&&clearTimeout(this.tickerState.renderTimer),this.tickerState.renderTimer=setTimeout(()=>{this.tickerState.renderReasons.delete(e),0===this.tickerState.renderReasons.size&&(c.debug("⏸️ [Ticker] STOP"),this.ticker.stop())},t)}generateZonePoints(e,t,n){const a=this.getViewportCenterPoint()||{x:0,y:0},r=this.metersToPixels(e)/2,i=a.x+t,o=a.y+n;return[{x:i-r,y:o-r},{x:i+r,y:o-r},{x:i+r,y:o+r},{x:i-r,y:o+r}]}preloadAssets(){const e=this.config.robot.icon.src,t=this.config.chargingStation.icon.src,a=[];n.add({alias:"robot",src:e}),a.push("robot"),n.add({alias:"chargingStation",src:t}),a.push("chargingStation"),n.add({alias:"deleteIcon",src:this.config.controls.deleteIconSrc}),a.push("deleteIcon"),n.add({alias:"rotateIcon",src:this.config.controls.rotateIconSrc}),a.push("rotateIcon"),n.add({alias:"scaleIcon",src:this.config.controls.scaleIconSrc}),a.push("scaleIcon"),n.add({alias:"moveIcon",src:this.config.controls.moveIconSrc}),a.push("moveIcon"),n.add({alias:"checkmark",src:this.config.room.selectionIndicator.iconSrc}),a.push("checkmark"),n.add({alias:"spotIcon",src:this.config.controls.spot.iconSrc}),a.push("spotIcon"),this.config.room.property.cleanMode.assets.forEach((e,t)=>{const r=`cleanMode_${t}`;n.add({alias:r,src:e}),a.push(r)}),this.config.room.property.suction.assets.forEach((e,t)=>{const r=`fan_${t}`;n.add({alias:r,src:e}),a.push(r)}),this.config.room.property.cistern.assets.forEach((e,t)=>{const r=`water_${t}`;n.add({alias:r,src:e}),a.push(r)}),this.config.room.property.cleanTimes.assets.forEach((e,t)=>{const r=`cleanTimes${t+1}`;n.add({alias:r,src:e}),a.push(r)}),n.backgroundLoad(a)}onVisibilityChange=()=>{"visible"===document.visibilityState||this.components.interaction?.clearTouches()}}export{O as MapApplication};

package/dist/constant/methods.js

@@ -1 +1 @@
-const e=["resetPanZoom","getForbiddenSweepZones","getForbiddenMopZones","getCleanZones","getVirtualWalls","getSpots","getViewportCenterPoint","getMapCenterPoint","getWallPointsByViewportCenter","getForbiddenSweepZonePointsByViewportCenter","getForbiddenMopZonePointsByViewportCenter","getCleanZonePointsByViewportCenter","getSpotPointByViewportCenter","getEffectiveDividerPoints","getDividerEndPoints","snapshot","snapshotByData"],o=["onMapFirstDrawed","onMapDrawed","onPathDrawed","onRoomPropertiesDrawed","onClickRoom","onClickRoomProperties","onRemoveForbiddenSweepZone","onRemoveForbiddenMopZone","onRemoveCleanZone","onRemoveVirtualWall","onUpdateForbiddenSweepZone","onUpdateForbiddenMopZone","onUpdateCleanZone","onUpdateVirtualWall","onUpdateSpot","onUpdateDivider","onClickForbiddenSweepZone","onClickForbiddenMopZone","onClickCleanZone","onClickVirtualWall","onClickSpot","onClickDetectedObject","onClickCustomElement"];export{e as MAP_API_METHODS,o as MAP_CALLBACK_METHODS};
+const e=["areRoomsAdjacent","resetPanZoom","getForbiddenSweepZones","getForbiddenMopZones","getCleanZones","getVirtualWalls","getSpots","getViewportCenterPoint","getMapCenterPoint","getWallPointsByViewportCenter","getForbiddenSweepZonePointsByViewportCenter","getForbiddenMopZonePointsByViewportCenter","getCleanZonePointsByViewportCenter","getSpotPointByViewportCenter","getEffectiveDividerPoints","getDividerEndPoints","snapshot","snapshotByData"],o=["onMapFirstDrawed","onMapDrawed","onPathDrawed","onRoomPropertiesDrawed","onClickRoom","onClickRoomProperties","onRemoveForbiddenSweepZone","onRemoveForbiddenMopZone","onRemoveCleanZone","onRemoveVirtualWall","onUpdateForbiddenSweepZone","onUpdateForbiddenMopZone","onUpdateCleanZone","onUpdateVirtualWall","onUpdateSpot","onUpdateDivider","onClickForbiddenSweepZone","onClickForbiddenMopZone","onClickCleanZone","onClickVirtualWall","onClickSpot","onClickDetectedObject","onClickCustomElement"];export{e as MAP_API_METHODS,o as MAP_CALLBACK_METHODS};

package/dist/index.d.ts

@@ -1727,7 +1727,7 @@ declare type Managers = {
     roomsManager: RoomManager;
 };
 
-export declare const MAP_API_METHODS: readonly ["resetPanZoom", "getForbiddenSweepZones", "getForbiddenMopZones", "getCleanZones", "getVirtualWalls", "getSpots", "getViewportCenterPoint", "getMapCenterPoint", "getWallPointsByViewportCenter", "getForbiddenSweepZonePointsByViewportCenter", "getForbiddenMopZonePointsByViewportCenter", "getCleanZonePointsByViewportCenter", "getSpotPointByViewportCenter", "getEffectiveDividerPoints", "getDividerEndPoints", "snapshot", "snapshotByData"];
+export declare const MAP_API_METHODS: readonly ["areRoomsAdjacent", "resetPanZoom", "getForbiddenSweepZones", "getForbiddenMopZones", "getCleanZones", "getVirtualWalls", "getSpots", "getViewportCenterPoint", "getMapCenterPoint", "getWallPointsByViewportCenter", "getForbiddenSweepZonePointsByViewportCenter", "getForbiddenMopZonePointsByViewportCenter", "getCleanZonePointsByViewportCenter", "getSpotPointByViewportCenter", "getEffectiveDividerPoints", "getDividerEndPoints", "snapshot", "snapshotByData"];
 
 export declare const MAP_CALLBACK_METHODS: readonly ["onMapFirstDrawed", "onMapDrawed", "onPathDrawed", "onRoomPropertiesDrawed", "onClickRoom", "onClickRoomProperties", "onRemoveForbiddenSweepZone", "onRemoveForbiddenMopZone", "onRemoveCleanZone", "onRemoveVirtualWall", "onUpdateForbiddenSweepZone", "onUpdateForbiddenMopZone", "onUpdateCleanZone", "onUpdateVirtualWall", "onUpdateSpot", "onUpdateDivider", "onClickForbiddenSweepZone", "onClickForbiddenMopZone", "onClickCleanZone", "onClickVirtualWall", "onClickSpot", "onClickDetectedObject", "onClickCustomElement"];
 
@@ -1884,6 +1884,18 @@ export declare interface MapApi {
         offsetX?: number;
         offsetY?: number;
     }): Point;
+    /**
+     * 判断指定的房间是否相邻（连通）
+     *
+     * 支持结构化地图和点阵地图两种协议。对于多个房间，使用连通性算法判断：
+     * 只要房间之间能通过相邻关系连接起来，就认为它们是相邻的。
+     * 例如：房间A和B相邻，房间B和C相邻，则认为A、B、C三个房间都相邻。
+     *
+     * @param roomIds - 要检测的房间ID数组
+     * @param threshold - 距离阈值（像素），默认为5。两个房间的边界点距离小于等于此阈值时认为相邻
+     * @returns 是否所有指定的房间都相邻（连通）
+     */
+    areRoomsAdjacent(roomIds: number[], threshold?: number): boolean;
     /**
      * 地图截图
      *
@@ -2254,6 +2266,29 @@ export declare class MapApplication extends Application implements MapApi {
         offsetX?: number;
         offsetY?: number;
     }): Point;
+    /**
+     * 判断指定的房间是否相邻（连通）
+     *
+     * 支持结构化地图和点阵地图两种协议。对于多个房间，使用连通性算法判断：
+     * 只要房间之间能通过相邻关系连接起来，就认为它们是相邻的。
+     * 例如：房间A和B相邻，房间B和C相邻，则认为A、B、C三个房间都相邻。
+     *
+     * @param roomIds - 要检测的房间ID数组
+     * @param threshold - 距离阈值（像素），默认为3。两个房间的边界点距离小于等于此阈值时认为相邻
+     * @returns 是否所有指定的房间都相邻（连通）
+     *
+     * @example
+     * ```typescript
+     * // 判断两个房间是否相邻
+     * const isAdjacent = mapApi.areRoomsAdjacent([1, 2])
+     *
+     * // 判断三个房间是否相邻（连通），使用自定义阈值
+     * const isAdjacent = mapApi.areRoomsAdjacent([1, 2, 3], 8)
+     * ```
+     */
+    areRoomsAdjacent(roomIds: number[], threshold?: number): boolean;
+    /* Excluded from this release type: areStructuredRoomsAdjacentInternal */
+    /* Excluded from this release type: areRasterRoomsAdjacentInternal */
     /**
      * 地图截图
      *
@@ -2605,6 +2640,7 @@ declare class MapManager {
     mapBounds: Bounds;
     private lastMapId;
     private roomGeometryMap;
+    private rasterRoomPixelsMap;
     private carpetData;
     private unsubscribeFns;
     constructor();
@@ -2657,6 +2693,12 @@ declare class MapManager {
      * @param rasterData 解析后的栅格数据
      */
     private generateRoomGeometryFromRaster;
+    /**
+     * 获取点阵房间的像素数据
+     * @param roomId 房间ID
+     * @returns 像素索引数组，如果不存在则返回 undefined
+     */
+    getRasterRoomPixels(roomId: number): Uint32Array | undefined;
     destroy(): void;
 }