@wemap/providers 14.7.0 → 14.8.0-beta.0

package/dist/cdn/wemap-providers.umd.js

@@ -1,3 +1,3 @@
 (function(e,t){typeof exports==`object`&&typeof module<`u`?t(exports,require("@wemap/geo"),require("@wemap/maths"),require("@wemap/routers"),require("@wemap/utils"),require("@wemap/camera")):typeof define==`function`&&define.amd?define([`exports`,`@wemap/geo`,`@wemap/maths`,`@wemap/routers`,`@wemap/utils`,`@wemap/camera`],t):(e=typeof globalThis<`u`?globalThis:e||self,t((e.Wemap=e.Wemap||{},e.Wemap.Providers={}),e.Wemap.Geo,e.Wemap.Maths,e.Wemap.Routers,e.Wemap.Utils,e.Wemap.Camera))})(this,function(e,t,n,r,i,a){Object.defineProperty(e,Symbol.toStringTag,{value:`Module`});var o=class e extends t.UserPosition{source;static fromUserPosition(t,n){let r=new e(t.lat,t.lng,t.alt,t.level,t.time,t.accuracy,t.bearing);return r.source=n,r}clone(){return e.fromUserPosition(super.clone(),this.source)}},s=class extends t.Attitude{},c=class extends t.Attitude{},l={useMapMatching:!0,ignoreProviders:[],optionalProviders:[],stopOnError:!0,checkAvailabilityOnStart:!0,get hasPoleStar(){return this.optionalProviders.includes(`PoleStar`)}},u=Object.defineProperty,d=(e,t,n)=>t in e?u(e,t,{enumerable:!0,configurable:!0,writable:!0,value:n}):e[t]=n,f=(e,t,n)=>(d(e,typeof t==`symbol`?t:t+``,n),n),p=[`error`,`ok`,`warn`,`flux`,`deprecated`,`info`,`log`,`debug`];function m(e){return`wemap`in e}var h=class e{static enable(t){e.ENABLED=!!t}static level(t){return arguments.length&&(e.LOG_LEVEL=t),e.LOG_LEVEL}static clearHistory(){e.HISTORY=[]}static _canUseLog(t){let n=p.indexOf(t),r=p.indexOf(e.LOG_LEVEL);return r!==-1&&n<=r}static _getColorByType(e){let t=null;switch(e){case`flux`:t=`background-color: #0083E0; color: #FFFFFF;`;break;case`ok`:t=`background-color: #00FF22; color: #272727;`;break;case`deprecated`:t=`background-color: #CA0AFA; color: #FFFFFF;`;break;case`error`:t=`background-color: #CC0000; color: #FFFFFF;`;break;case`warn`:t=`background-color: #DD7908; color: #FFFFFF;`;break;case`debug`:t=`background-color: #999999; color: #FFFFFF;`;break;case`info`:t=`background-color: #DCFF4E; color: #000000;`;break;default:t=`background-color: #F4F4F4; color: #999999;`;break}return t}static _getOriginByType(e,t){let n=null,r=null,i=t;if(arguments.length<2)return``;try{for(n=``,r=e.stack&&e.stack.length?e.stack.split(`
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O=o-(Math.PI/2-C(e)),pe=Math.sin(O),me=Math.cos(O),k=-h*me-m*pe,A=g,j=h*pe-m*me,he=k!==0||A!==0?ae(se(Math.atan2(A,k)),2):0,ge=A!==0||k!==0&&j!==0?oe(se(Math.atan2(j*Math.sin(Math.atan2(A,k)),A))):0;return{declination:ae(he,2),inclination:ae(ge,2),intensity:Math.round(Math.sqrt(k**2+A**2+j**2)),northIntensity:Math.round(k),eastIntensity:Math.round(A),verticalIntensity:Math.round(j),horizontalIntensity:Math.round(Math.sqrt(k**2+A**2))}},k=class e extends Error{static DEFAULT_MESSAGE=`It seems that you ask for IMU events on a desktop browser`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},A=class e extends Error{static DEFAULT_MESSAGE=`Impossible to retrieve events, a sensor is missing`;constructor(t){super(t||e.DEFAULT_MESSAGE)}from(e){return this.message+=` from `+e,this}},j=class extends A{constructor(e){super(e)}},he=class e extends Error{static DEFAULT_MESSAGE=`Geolocation api is missing`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},ge=class e extends Error{static DEFAULT_MESSAGE=`Geolocation permission denied`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},_e=class e extends Error{static DEFAULT_MESSAGE=`Geolocation position unavailable`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},M={DEFAULT_ALTITUDE:1.6},N=new class e extends y{static DEFAULT_DISCARD_POSITIONS_ABOVE=50;discardPositionsAbove=e.DEFAULT_DISCARD_POSITIONS_ABOVE;enableHighAccuracy=!0;geoLocationId;getName=()=>`GnssWifi`;get positionOptions(){return{enableHighAccuracy:this.enableHighAccuracy,timeout:1/0,maximumAge:0}}availability(){return typeof navigator==`object`&&navigator.geolocation?Promise.resolve():Promise.resolve(new he)}start(){navigator.geolocation.getCurrentPosition(this.onNewPosition,this.onPositionError,this.positionOptions),setTimeout(()=>{this.geoLocationId=navigator.geolocation.watchPosition(this.onNewPosition,this.onPositionError,this.positionOptions)},150)}stop(){this.geoLocationId!==void 0&&navigator.geolocation.clearWatch(this.geoLocationId)}onNewPosition=e=>{let{coords:r}=e;if(!r)return;let a;r.heading&&(a=(0,n.deg2rad)(r.heading));let o=i.TimeUtils.unixTimestampToPreciseTime(e.timestamp)/1e3,s=new t.UserPosition(r.latitude,r.longitude,M.DEFAULT_ALTITUDE,null,o,r.accuracy,a);this.enableHighAccuracy&&typeof this.discardPositionsAbove==`number`&&r.accuracy>this.discardPositionsAbove||this.notify(s)};onPositionError=e=>{g.warn(`[Providers] watchPosition error: [${e.code}] ${e.message}`);let t;switch(e.code){case 1:t=new ge(e.message);break;case 2:t=new _e(e.message);break;default:t=Error(e.message)}this.notifyError(t)}},ve=class e extends Error{static DEFAULT_MESSAGE=`ARCore is missing`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},ye=class e extends Error{static DEFAULT_MESSAGE=`Native interface is missing. 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y{absoluteAttitudeProviderId;arCoreProviderId;absoluteAttitudeEvent;getName=()=>`GeoRelativePositionFromArCore`;availability(){return b.every([P.getAvailability(),X.getAvailability()])}start(){this.arCoreProviderId=P.addEventListener(this.onArCoreEvents,this.notifyError),this.absoluteAttitudeProviderId=X.addEventListener(e=>this.absoluteAttitudeEvent=e,this.notifyError)}stop(){P.removeEventListener(this.arCoreProviderId),X.removeEventListener(this.absoluteAttitudeProviderId)}onArCoreEvents=e=>{let t=e.relativeAttitude,n=e.relativePosition;t&&n&&this.absoluteAttitudeEvent&&this.compute(n,t,this.absoluteAttitudeEvent)};compute(e,n,r){let i=r.heading-n.heading,a=Math.cos(i)*e.x-Math.sin(i)*e.z,o=-Math.sin(i)*e.x-Math.cos(i)*e.z,s=e.y,c=new t.GeoRelativePosition(a,o,s,e.time,0,r.heading);this.notify(c)}},xe={acc:.5,gyr:.3},Se={acc:.5,gyr:.3,yc:2},Ce=class{P;accRef;cRef;noises;quaternion;constructor(e=[0,0,1],t=[-1,0,0]){this.accRef=e,this.cRef=t,this.P=n.Matrix4.fromDiagVector([,,,,].fill(.1**2)),this.quaternion=null,this.noises={},this.setRelativeNoises(xe),this.setAbsoluteNoises(Se)}setRelativeNoises(e){this.noises.relative={acc:n.Matrix3.diag([,,,].fill(e.acc**2)),gyr:n.Matrix3.diag([,,,].fill(e.gyr**2))}}setAbsoluteNoises(e){this.noises.absolute={acc:n.Matrix3.diag([,,,].fill(e.acc**2)),gyr:n.Matrix3.diag([,,,].fill(e.gyr**2)),yc:n.Matrix3.diag([,,,].fill(e.yc**2))}}tryInitialize(e,t){let r=n.Vector3.normalize(e);if(t){let e=n.Vector3.normalize(t),i=n.Vector3.normalize(n.Vector3.cross(e,r)),a=n.Vector3.cross(r,i),o=[[i[0],a[0],r[0]],[i[1],a[1],r[1]],[i[2],a[2],r[2]]];this.quaternion=n.Quaternion.fromMatrix3Matlab(o)}else{let e=n.Vector3.dot(r,this.accRef)+1,t=n.Vector3.cross(r,this.accRef),i=[e,t[0],t[1],t[2]];i=n.Quaternion.normalize(i),this.quaternion=i}return this.quaternion}update(e,t,r,i){if(!this.quaternion)return this.tryInitialize(t,i);let a=this.quaternion,o=a,s=n.Vector3.multiplyScalar(r,.5*e),c=this.computeC([1,s[0],s[1],s[2]]),l=n.Matrix4.multiplyVector(c,a),u=n.Matrix3.diag([o[0],o[0],o[0]]),d=n.Matrix3.skew([o[1],o[2],o[3]]),f=[-1*o[1],-1*o[2],-1*o[3]],p=n.Matrix.concatRow([f],n.Matrix3.sum(d,u)),m=n.Matrix4.multiplyScalar(n.Matrix.multiply(n.Matrix.multiply(p,this.noises[i?`absolute`:`relative`].gyr),n.Matrix.transpose(p)),(e/2)**2),h=n.Matrix4.sum(n.Matrix4.multiply(n.Matrix4.multiply(c,this.P),n.Matrix4.transpose(c)),m),g=n.Vector3.normalize(t),_,v,y;if(i){let e=n.Vector3.normalize(i),t=n.Vector3.cross(g,e),r=n.Vector3.normalize(t),a=n.Vector3.subtract(r,n.Quaternion.rotateMatlab(l,this.cRef)),o=n.Vector3.subtract(g,n.Quaternion.rotateMatlab(l,this.accRef));_=n.Vector.concat(a,o);let s=this.jacobianES(l,this.cRef),c=this.jacobianES(l,this.accRef);y=n.Matrix.concatRow(s,c);let u=n.Matrix.concatLine(this.noises.absolute.yc,n.Matrix3.zeros),d=n.Matrix.concatLine(n.Matrix3.zeros,this.noises.absolute.acc),f=n.Matrix.concatRow(u,d);v=n.Matrix.multiply(n.Matrix.multiply(h,n.Matrix.transpose(y)),n.Matrix.inverse(n.Matrix.sum(n.Matrix.multiply(n.Matrix.multiply(y,h),n.Matrix.transpose(y)),f)))}else{_=n.Vector3.subtract(g,n.Quaternion.rotateMatlab(l,this.accRef)),y=this.jacobianES(l,this.accRef);let e=this.noises.relative.acc;v=n.Matrix.multiply(n.Matrix.multiply(h,n.Matrix.transpose(y)),n.Matrix3.inverse(n.Matrix3.sum(n.Matrix.multiply(n.Matrix.multiply(y,h),n.Matrix.transpose(y)),e)))}a=n.Quaternion.sum(l,n.Matrix.multiplyVector(v,_));let b=n.Matrix4.multiply(n.Matrix4.subtract(n.Matrix4.identity,n.Matrix.multiply(v,y)),h);return a=n.Quaternion.normalize(a),this.quaternion=a,this.P=b,a}computeC(e){return[[e[0],-e[1],-e[2],-e[3]],[e[1],e[0],e[3],-e[2]],[e[2],-e[3],e[0],e[1]],[e[3],e[2],-e[1],e[0]]]}jacobianES(e,t){let[n,r,i,a]=e,[o,s,c]=t;return[[2*a*s-2*i*c,2*i*s+2*a*c,2*r*s-2*n*c-4*i*o,2*n*s+2*r*c-4*a*o],[2*r*c-2*a*o,2*n*c-4*r*s+2*i*o,2*r*o+2*a*c,2*i*c-2*n*o-4*a*s],[2*i*o-2*r*s,2*a*o-4*r*c-2*n*s,2*n*o-4*i*c+2*a*s,2*r*o+2*i*s]]}},F=new class extends y{getName=()=>`IMU`;availability(){return i.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new k)}start(){let e=()=>window.addEventListener(`devicemotion`,this.parseDeviceMotionEvent,!0),t=DeviceMotionEvent.requestPermission||void 0;t?t().then(t=>{if(t!==`granted`)throw Error(`Permission not granted`);e()}).catch(this.notifyError):e()}stop(){window.removeEventListener(`devicemotion`,this.parseDeviceMotionEvent,!0)}parseDeviceMotionEvent=e=>{let t=e.timeStamp/1e3,r;if(e.accelerationIncludingGravity){let{x:t,y:n,z:a}=e.accelerationIncludingGravity;typeof t==`number`&&typeof n==`number`&&typeof a==`number`&&(r=[t,n,a],(i.BrowserUtils.getName()===i.Browser.SAFARI||i.BrowserUtils.getName()===i.Browser.IOS_WEBVIEW)&&(r[0]*=-1,r[1]*=-1,r[2]*=-1))}let a;if(e.rotationRate){let{alpha:t,beta:r,gamma:i}=e.rotationRate;typeof t==`number`&&typeof r==`number`&&typeof i==`number`&&(a=[(0,n.deg2rad)(t),(0,n.deg2rad)(r),(0,n.deg2rad)(i)])}(r||a)&&this.notify({...r&&{acceleration:{timestamp:t,values:r}},...a&&{angularRate:{timestamp:t,values:a}}})}},we=class e extends A{static DEFAULT_MESSAGE=`Impossible to retrieve Acceleration data`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},I=new class extends y{imuProviderId;getName=()=>`Accelerometer`;availability=()=>F.getAvailability();start(){this.imuProviderId=F.addEventListener(e=>{e.acceleration?this.notify(e.acceleration):this.notifyError(new we().from(`devicemotion`))},this.notifyError)}stop(){F.removeEventListener(this.imuProviderId)}},Te=class extends A{static DEFAULT_MESSAGE=`Impossible to retrieve Angular Rate data`;constructor(e){super(e||A.DEFAULT_MESSAGE)}},L=new class extends y{imuProviderId;getName=()=>`Gyroscope`;availability=()=>F.getAvailability();start(){this.imuProviderId=F.addEventListener(e=>{e.angularRate?this.notify(e.angularRate):this.notifyError(new Te().from(`devicemotion`))},this.notifyError)}stop(){F.removeEventListener(this.imuProviderId)}},Ee=new class e extends y{static DEFAULT_DRIFT=(0,n.deg2rad)(5)/60;accelerometerProviderId;ekfAttitude=new Ce;gyroscopeEvent;gyroscopeProviderId;lastTimestamp=0;getName=()=>`RelativeAttitudeFromEkf`;availability(){return b.every([I.getAvailability(),L.getAvailability()])}start(){this.accelerometerProviderId=I.addEventListener(e=>this.onAccelerometerEvent(e),e=>this.notifyError(e)),this.gyroscopeProviderId=L.addEventListener(e=>this.gyroscopeEvent=e,e=>this.notifyError(e))}stop(){I.removeEventListener(this.accelerometerProviderId),L.removeEventListener(this.gyroscopeProviderId)}onAccelerometerEvent=t=>{if(!this.gyroscopeEvent)return;let{values:n,timestamp:r}=t;if(this.lastTimestamp===0){this.lastTimestamp=r;return}let i=r-this.lastTimestamp;this.lastTimestamp=r;let a=this.ekfAttitude.update(i,n,this.gyroscopeEvent.values);if(a){let t=new s(a,r,e.DEFAULT_DRIFT);this.notify(t)}}},R=new class e extends y{static DEFAULT_DRIFT=(0,n.deg2rad)(5)/60;getName=()=>`RelativeAttitudeFromBrowser`;availability(){return i.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new k)}start(){let e=()=>window.addEventListener(`deviceorientation`,this.onDeviceOrientationEvent,!0),t=DeviceOrientationEvent.requestPermission||void 0;t?t().then(t=>{if(t!==`granted`)throw Error(`Permission not granted`);e()}).catch(e=>this.notifyError(e)):e()}stop(){window.removeEventListener(`deviceorientation`,this.onDeviceOrientationEvent,!0)}onDeviceOrientationEvent=t=>{if(typeof t.alpha!=`number`||typeof t.beta!=`number`||typeof t.gamma!=`number`){this.notifyError(new A().from(`deviceorientation`));return}let r=new s(n.Rotations.eulerToQuaternionZXYDegrees([t.alpha,t.beta,t.gamma]),t.timeStamp/1e3,e.DEFAULT_DRIFT);this.notify(r)}},z=new class e extends y{static THRESHOLD=10;static DELAY_CONSIDERATION=3;gyroscopeProviderId;getName=()=>`HighRotationsProvider`;availability=()=>L.getAvailability();start(){this.gyroscopeProviderId=L.addEventListener(this._parseGyroscopeEvent,this.notifyError)}stop(){L.removeEventListener(this.gyroscopeProviderId)}isInProgress(){return!this.lastEvent||!L.lastEvent?!1:L.lastEvent.timestamp-this.lastEvent.timestamp<e.DELAY_CONSIDERATION}_parseGyroscopeEvent=t=>{let{values:r,timestamp:i}=t;n.Vector3.norm(r)>e.THRESHOLD&&this.notify({timestamp:i})}},B=new class e extends y{static DEFAULT_DRIFT=(0,n.deg2rad)(5)/60;_highRotationsProviderId;listenerId;provider;getName=()=>`RelativeAttitudeFromInertial`;availability(){return b.some([Ee.getAvailability(),R.getAvailability()])}start(){Ee.getAvailability().then(e=>{this.provider=e?R:Ee,this.listenerId=this.provider.addEventListener(e=>this._parseEvent(e),this.notifyError),this._highRotationsProviderId=z.addEventListener(null,this.notifyError)})}_parseEvent(t){let n=t.clone();if(z.isInProgress()){let t=(n.accuracy||0)+e.DEFAULT_DRIFT*100;t=Math.min(t,Math.PI),n.accuracy=t}this.notify(n)}stop(){this.provider&&(this.provider.removeEventListener(this.listenerId),delete this.provider),z.removeEventListener(this._highRotationsProviderId)}},De=class e{static MIN_TIME_BETWEEN_STEPS=.4;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=1;frequency=0;lastVerticalAcc=0;maxAcceleration=0;lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;compute(t,n){let r=!1,i=n[2],a=t-this.lastStepTimestamp;if(i>this.lastVerticalAcc)i>this.maxAcceleration&&(this.maxAcceleration=i);else if(this.maxAcceleration>e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&a>e.MIN_TIME_BETWEEN_STEPS){this.maxAcceleration=0;let n=t-this.lastStepTimestamp;this.frequency=Math.min(Math.max(1/n,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),r=!0,this.lastStepTimestamp=t}else this.maxAcceleration=0;return this.lastVerticalAcc=i,r}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepTimestamp?this.lastStepSize*this.frequency:0}},Oe=class e{static WINDOW_TIME=.3;static MIN_TIME_BETWEEN_STEPS=.4;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=1.5;static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD=-1;frequency=0;lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;slidingWindow=[];compute(t,n){if(this.lastStepTimestamp&&this.lastStepTimestamp+e.MIN_TIME_BETWEEN_STEPS>t)return!1;let r=-(2**53-1),i=2**53-1,a=e.WINDOW_TIME;if(this.slidingWindow.forEach((e,n,o)=>{e.timestamp<t-a?o.splice(n,1):(r=Math.max(e.verticalAcc,r),i=Math.min(e.verticalAcc,i))}),this.slidingWindow.push({timestamp:t,verticalAcc:n[2]}),r>e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&i<e.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){let n=this.lastStepTimestamp?t-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/n,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),this.lastStepTimestamp=t,!0}return!1}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepTimestamp?this.lastStepSize*this.frequency:0}},ke=class e{static WINDOW_TIME=.3;static MIN_TIME_BETWEEN_STEPS=.4;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=.75;static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD=-.3;frequency=0;influence=.2;slidingWindow=[];lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;previousVerticalAcc=0;compute(t,n,r){let i=this.influence*(n[2]*2)+(1-this.influence)*this.previousVerticalAcc;if(this.previousVerticalAcc=i,Math.sqrt(r[0]**2+r[1]**2+r[2]**2)>.75||this.lastStepTimestamp&&this.lastStepTimestamp+e.MIN_TIME_BETWEEN_STEPS>t)return!1;let a=-(2**53-1),o=2**53-1;if(this.slidingWindow.forEach((n,r,i)=>{n.timestamp<t-e.WINDOW_TIME?i.splice(r,1):(a=Math.max(n.verticalAcc,a),o=Math.min(n.verticalAcc,o))}),this.slidingWindow.push({timestamp:t,verticalAcc:i}),a>e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&o<e.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){let n=this.lastStepTimestamp?t-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/n,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),this.lastStepTimestamp=t,!0}return!1}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepSize&&this.frequency?this.lastStepSize*this.frequency:0}mean(e){let t=0,n=0;for(let n=0;n<e.length;++n)t+=e[n].verticalAcc;return n=t/e.length,n}stddev(e){let t=this.mean(e),n=0;for(let r=0;r<e.length;++r)n+=(e[r].verticalAcc-t)**2;return Math.sqrt(n/e.length)}},Ae=class e{static WINDOW_TIME=.6;static MIN_TIME_BETWEEN_STEPS=.6;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=.2;static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD=-.1;frequency=0;influence=.05;slidingWindow=[];lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;previousVerticalAcc=0;previousHorizontalAcc=0;compute(t,n){let r=this.influence*n[2]+(1-this.influence)*this.previousVerticalAcc;if(this.previousVerticalAcc=r,this.slidingWindow=this.slidingWindow.filter(n=>n.timestamp>=t-e.WINDOW_TIME),this.slidingWindow.push({timestamp:t,verticalAcc:r}),this.lastStepTimestamp&&this.lastStepTimestamp+e.MIN_TIME_BETWEEN_STEPS>t)return!1;let i=Number.MIN_VALUE,a=-1,o=!1;if(this.slidingWindow.forEach((t,n)=>{t.verticalAcc>i&&t.verticalAcc>=e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&(i=t.verticalAcc,a=n,o=!0)}),!o)return!1;let s=!1,c=Number.MAX_VALUE;for(let t=0;t<a;t++){let n=this.slidingWindow[t].verticalAcc;if(c=Math.min(c,n),n<e.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){s=!0;break}}if(!s)return!1;let l=i-c,u=i-.5*l,d=!1;for(let e=a+1;e<this.slidingWindow.length;e++)if(this.slidingWindow[e].verticalAcc<=u){d=!0;break}if(!d)return!1;let f=this.lastStepTimestamp?t-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/f,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),this.lastStepTimestamp=t,!0}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepSize&&this.frequency?this.lastStepSize*this.frequency:0}mean(e){let t=0,n=0;for(let n=0;n<e.length;++n)t+=e[n];return n=t/e.length,n}stddev(e){let t=this.mean(e),n=0;for(let r=0;r<e.length;++r)n+=(e[r]-t)**2;return Math.sqrt(n/e.length)}},V=new class e extends y{static DEFAULT_STEP_SIZE_MULTIPLIER=1;static DEFAULT_ALGORITHM=`minMaxPeaks3`;accelerometerProviderId;attitudeProviderId;gyroscopeProviderId;angularRateEvent;attitudeEvent;numOfSteps=0;stepDetector;_stepSizeMultiplier=e.DEFAULT_STEP_SIZE_MULTIPLIER;_algorithm=e.DEFAULT_ALGORITHM;_accValues=[];constructor(){super(),this.algorithm=this._algorithm}getName=()=>`StepDetector`;availability(){return b.every([I.getAvailability(),L.getAvailability(),B.getAvailability()])}start(){this.numOfSteps=0,this.accelerometerProviderId=I.addEventListener(this.onAccelerometerEvent,this.notifyError),this.gyroscopeProviderId=L.addEventListener(e=>this.angularRateEvent=e,this.notifyError),this.attitudeProviderId=B.addEventListener(e=>this.attitudeEvent=e,this.notifyError)}stop(){I.removeEventListener(this.accelerometerProviderId),L.removeEventListener(this.gyroscopeProviderId),B.removeEventListener(this.attitudeProviderId)}onAccelerometerEvent=t=>{if(!this.attitudeEvent||!this.angularRateEvent)return;let{values:n,timestamp:r}=t,i=e.computeLinearAcceleration(this.attitudeEvent.quaternion,n);if(this.stepDetector.compute(r,i,this.angularRateEvent.values)){let e=this.stepDetector.lastStepSize*this._stepSizeMultiplier;this.numOfSteps++,this.notify({size:e,number:this.numOfSteps})}};static computeLinearAcceleration(e,r){let i=n.Quaternion.rotateMatlab(n.Quaternion.inverse(e),r);return i[2]-=t.Constants.EARTH_GRAVITY,i}set stepSizeMultiplier(e){this._stepSizeMultiplier=e}get stepSizeMultiplier(){return this._stepSizeMultiplier}set algorithm(e){switch(e){case`ladetto`:this.stepDetector=new De;break;case`minMaxPeaks`:this.stepDetector=new Oe;break;case`minMaxPeaks2`:this.stepDetector=new ke;break;default:e=`minMaxPeaks3`,this.stepDetector=new Ae;break}this._algorithm=e}get algorithm(){return this._algorithm}},je=new class extends y{absoluteAttitudeProviderId;stepDetectionProviderId;attitudeEvent;misalignmentError=(0,n.deg2rad)(3);getName=()=>`Pdr`;availability(){return b.every([V.getAvailability(),X.getAvailability()])}start(){this.stepDetectionProviderId=V.addEventListener(this.onStepEvent,this.notifyError),this.absoluteAttitudeProviderId=X.addEventListener(e=>this.attitudeEvent=e,this.notifyError)}stop(){V.removeEventListener(this.stepDetectionProviderId),X.removeEventListener(this.absoluteAttitudeProviderId)}onStepEvent=e=>{if(!this.attitudeEvent)return;let n=e.size,r=this.attitudeEvent,i=r.heading,a=r.accuracy+this.misalignmentError,o=n/2*Math.sin(a/2),s=r.time,c=new t.GeoRelativePosition(n*Math.sin(i),n*Math.cos(i),0,s,o,i);this.notify(c)}},H=new class extends y{providerId;geoRelativeProvider;getName=()=>`GeoRelativePosition`;availability(){return b.some([je.getAvailability(),be.getAvailability()])}async start(){let e=await be.getAvailability();this.geoRelativeProvider=e?je:be,this.providerId=this.geoRelativeProvider.addEventListener(this.notify,this.notifyError)}stop(){this.geoRelativeProvider?.removeEventListener(this.providerId),delete this.geoRelativeProvider}},Me={name:`@wemap/providers`,version:`14.6.1`,description:`Sensor, positioning and VPS providers for the Wemap SDK.`,license:`UNLICENSED`,author:`Wemap SAS`,homepage:`https://github.com/wemap/wemap-sdk-js#readme`,repository:{type:`git`,url:`git+https://github.com/wemap/wemap-sdk-js.git`,directory:`packages/providers`},bugs:{url:`https://github.com/wemap/wemap-sdk-js/issues`},keywords:[`wemap`,`sdk`,`providers`,`vps`],type:`module`,publishConfig:{access:`public`},main:`./dist/index.js`,types:`./dist/index.d.ts`,exports:{".":{import:`./dist/index.js`,types:`./dist/index.d.ts`}},sideEffects:!1,files:[`dist`],dependencies:{"@wemap/camera":`14.6.1`,"@wemap/core":`14.6.1`,"@wemap/geo":`14.6.1`,"@wemap/maths":`14.6.1`,"@wemap/osm":`14.6.1`,"@wemap/routers":`14.6.1`,"@wemap/utils":`14.6.1`},devDependencies:{"@wemap/logger-legacy":`^13.3.0`,geomag:`^1.0.0`}},Ne=new class extends y{providerId;getName=()=>`InclinationFromAcc`;availability=()=>I.getAvailability();start(){this.providerId=I.addEventListener(this.onAccelerometerEvent,this.notifyError)}stop(){I.removeEventListener(this.providerId)}onAccelerometerEvent=e=>{let t=e.values,n=window.orientation||0,r=Math.sqrt(t[0]*t[0]+t[1]*t[1]+t[2]*t[2]),i=[t[0]/r,t[1]/r,t[2]/r],a=[i[2]+1,i[1],-i[0],0],o=Math.sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]),s=[a[0]/o,a[1]/o,a[2]/o,0],c;c=n===0?Math.asin(2*s[1]*s[0]):n===90?-Math.asin(2*s[2]*s[0]):n===-90?Math.asin(2*s[2]*s[0]):-Math.asin(2*s[1]*s[0]),this.notify(c)}},U=new class extends y{providerId;getName=()=>`InclinationFromRelativeAttitude`;availability=()=>B.getAvailability();start(){this.providerId=B.addEventListener(e=>{let t=this.enuQuatToInclination(e.quaternion);this.notify(t)},this.notifyError)}stop(){B.removeEventListener(this.providerId)}enuQuatToInclination(e){let t=window.orientation||0;return t===0?Math.asin(2*(e[2]*e[3]+e[1]*e[0])):t===90?Math.asin(2*(e[1]*e[3]-e[2]*e[0])):t===-90?Math.asin(2*(e[2]*e[0]-e[1]*e[3])):-Math.asin(2*(e[2]*e[3]+e[1]*e[0]))}},W=new class extends y{provider;providerId;getName=()=>`Inclination`;availability(){return b.some([Ne.getAvailability(),U.getAvailability()])}async start(){let e=()=>{this.provider=Ne,this.providerId=this.provider.addEventListener(this.notify,this.notifyError)};await U.getAvailability()?(this.provider=U,this.providerId=this.provider.addEventListener(this.notify,()=>{U.removeEventListener(this.providerId),e()})):e()}stop(){this.provider&&this.provider.removeEventListener(this.providerId)}},Pe=class e{size;calibration;coarse;device;constructor(e,t=null,n=null,r=null){this.size=e,this.calibration=t,this.coarse=n,this.device=r}toJson(){return{size:[this.size.width,this.size.height],...this.calibration&&{calibration:this.calibration},...this.coarse&&{coarse:{...this.coarse.attitude&&{attitude:this.coarse.attitude.toJson()},...this.coarse.position&&{position:this.coarse.position.toJson()}}},...this.device!==null&&{device:this.device}}}static fromJson(n){return new e({width:n.size[0],height:n.size[1]},n.calibration,{...n.coarse?.position&&{position:t.UserPosition.fromJson(n.coarse.position)},...n.coarse?.attitude&&{attitude:t.Attitude.fromJson(n.coarse.attitude)}},n.device)}},Fe=class e{metadata;image;imageQuality;localPose;constructor(e,t,n=.8,r=null){this.metadata=e,this.image=t,this.imageQuality=n,this.localPose=r}toJson(){return{image:(0,a.canvasToBase64)(this.image,`image/jpeg`,this.imageQuality),...this.localPose&&{local_pose:this.localPose},...this.metadata.toJson()}}static fromJson(t){return new e(Pe.fromJson(t),(0,a.base64ToCanvas)(t.image))}toFormData(){let e=this.image.toDataURL(`image/jpeg`,this.imageQuality).split(`,`)[1]||``,t=atob(e),n=new Uint8Array(t.length);for(let e=0;e<t.length;e++)n[e]=t.charCodeAt(e);let r=new FormData;r.append(`image`,new Blob([n],{type:`image/jpeg`}),`image.jpg`);let i=this.metadata.toJson();return i.calibration&&r.append(`calibration`,JSON.stringify(i.calibration)),i.coarse&&r.append(`coarse`,JSON.stringify(i.coarse)),i.device&&r.append(`device`,JSON.stringify(i.device)),this.localPose&&r.append(`local_pose`,JSON.stringify(this.localPose)),r}},Ie=class e{success;attitude;position;constructor(e,t=null,n=null){this.success=e,this.attitude=t,this.position=n}toJson(){return{success:this.success,attitude:this.attitude?.toJson(),position:this.position?.toJson()}}static fromJson(n,r=null){let i=null;n.attitude&&(i=t.Attitude.fromJson(n.attitude),i.time=r);let a=null;return n.position&&(a=t.UserPosition.fromJson(n.position),a.time=r),new e(n.success,i,a)}},Le=class{static _prepareRequest(e,t=null,n=null,r=null,o=null){let s=(0,a.reduceImageSize)(e,720,720),c=i.UserAgentUtils.getDeviceFromUserAgent()||{};return r&&(c.session_id=r.session_id,c.installation_id=r.installation_id,c.attempt_id=r.attempt_id,c.caller=r.caller),new Fe(new Pe({width:s.width,height:s.height},t,n,c),s,.8,o)}static async relocalize(e,t,n=null,r=null,a=null,o=null,s=null){let c=i.TimeUtils.preciseTime()/1e3,l=this._prepareRequest(t,n,r,a,o),u;try{let t=l.toFormData();u=await fetch(e,{method:`POST`,body:t,headers:Object.assign({Accept:`application/vnd.geopose+json; version=1`},s||{})})}catch{return g.debug(`[VPS] Server respond error`),null}if(u.status!==200)return g.debug(`[VPS] Server respond error`),null;let d=await u.json(),f=Ie.fromJson(d,c);return g.debug(`[VPS] Server respond ${f.success?`success`:`not found`}`),f}static getHeadingFromQuaternion(e){let[t,n,r,i]=e,a=Math.sqrt(2)/2,o=[a*(t-n),a*(t+n),a*(r+i),a*(i-r)];return-Math.atan2(2*o[3]*o[0]-2*o[2]*o[1],1-2*o[1]**2-2*o[3]**2)}},G=new class extends y{arCoreMonitoringId;arCoreProviderId;inertialProviderId;getName=()=>`RelativeAttitude`;availability=()=>B.getAvailability();start(){this.arCoreMonitoringId=P.addMonitoringListener(()=>{this.listenArCore(),this.unlistenInertial()},()=>{this.unlistenArCore(),this.listenInertial()}),P.state===`started`?this.listenArCore():this.listenInertial()}stop(){P.removeMonitoringListener(this.arCoreMonitoringId),this.unlistenArCore(),this.unlistenInertial()}listenInertial=()=>{this.inertialProviderId=B.addEventListener(this.notify,this.notifyError)};unlistenInertial=()=>{B.removeEventListener(this.inertialProviderId)};listenArCore=()=>{this.arCoreProviderId=P.addEventListener(e=>this.notify(e.relativeAttitude),null,!1)};unlistenArCore=()=>{P.removeEventListener(this.arCoreProviderId)}},Re=class{_providerId;_isRunning=!1;_dataOnStart=null;tickStart(){this._dataOnStart=null,!this._isRunning&&(this._isRunning=!0,this._providerId=R.addEventListener(e=>{this._dataOnStart||=e}))}tickEnd(){if(!this._isRunning)return g.warn(`You have to call tickStart before tickEnd`),null;if(this._internalStop(),!this._dataOnStart)return g.warn(`Delay was too short between tickStart and tickEnd or RelativeAttitudeProvider cannot be retrieved.`),null;let e=R.lastEvent;return t.Attitude.diff(this._dataOnStart,e)}_internalStop(){R.removeEventListener(this._providerId),delete this._providerId,this._isRunning=!1}release(){this._isRunning&&this._internalStop()}},ze=class e extends Error{static DEFAULT_MESSAGE=`PoleStar is missing`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},K=new class extends y{getName=()=>`PoleStar`;constructor(){super(),this.addMethodsToNativeJsProvider()}availability(){try{return this.nativeProvider.checkAvailability(),Promise.resolve()}catch(e){return Promise.resolve(e)}}setApiKey(e){this.nativeProvider.setApiKey(e)}start(){this.nativeProvider.start()}stop(){this.nativeProvider.stop()}get nativeProvider(){if(!this.nativeInterface)throw new ye;let e=this.nativeInterface.getPoleStarProvider();if(!e)throw new ze;return e}addMethodsToNativeJsProvider(){this.nativeJsInterface&&(this.nativeJsInterface.polestar={callbackError:e=>this.notifyError(Error(e)),callbackPosition:e=>{let t=JSON.parse(e),r=i.TimeUtils.unixTimestampToPreciseTime(t.time)/1e3,a=new o(t.lat,t.lng,M.DEFAULT_ALTITUDE,t.alt/5,r,t.accuracy,(0,n.deg2rad)(t.bearing));this.notify(a)}})}},q=new class e extends y{static MIN_TIME_BETWEEN_TWO_REQUESTS=1e3;static DEFAULT_MIN_INCLINATION_FOR_REQUEST=(0,n.deg2rad)(60);static DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST=200;static DEFAULT_USE_COARSE_POSE=!0;static DEFAULT_REQUEST_CALLER=`@wemap/providers(VpsProvider) ${Me.version}`;static CAMERA_TO_SMARTPHONE_ROT=n.Quaternion.fromAxisAngle([1,0,0],Math.PI);static ENU_TO_ARCORE_ROT=n.Quaternion.fromAxisAngle([1,0,0],-Math.PI/2);static _scanFailureCallbackUniqueId=0;_relativeRotationCalc;_serverError=!1;_cameraError=!1;_camera=null;_endpoint=null;_inclinationProviderId;_minInclinationForRequest=e.DEFAULT_MIN_INCLINATION_FOR_REQUEST;_waitTimeMinInclinationForRequest=e.DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST;_useCoarsePose=e.DEFAULT_USE_COARSE_POSE;_requestCaller=e.DEFAULT_REQUEST_CALLER;_sessionId;_attemptIdCounter=0;_currentAttemptId=null;_scanFailureCallbacks=[];constructor(){super(),this._sessionId=this._generateUuid()}getName=()=>`Vps`;availability=()=>a.Camera.checkAvailability();start(){this._inclinationProviderId=W.addEventListener(),this._relativeRotationCalc=new Re,a.SharedCameras.on(`added`,this._onCameraDetected),a.SharedCameras.on(`removed`,this._onCameraRemoved),a.SharedCameras.list.length&&(a.SharedCameras.list.length>1&&g.warn(`It seems that more than 1 camera has been detected for VPS. Taking the first...`),this._useCamera(a.SharedCameras.list[0].camera))}stop(){W.removeEventListener(this._inclinationProviderId),this._relativeRotationCalc?.release(),a.SharedCameras.off(`added`,this._onCameraDetected),a.SharedCameras.off(`removed`,this._onCameraRemoved),this._camera=null}_onCameraDetected=({camera:e})=>{this._camera&&g.warn(`It seems that more than 1 camera has been detected for VPS. Taking the first...`),this._useCamera(e)};_onCameraRemoved=()=>{this._camera?(this._camera.off(`started`,this._internalStart),this._camera.off(`stopped`,this._internalStop)):g.warn(`There is no previously detected camera but once has stopped`),this._camera=null};_useCamera(e){this._camera=e,e.on(`started`,this._internalStart),e.on(`stopped`,this._internalStop),e.state===`started`&&this._internalStart()}_internalStart=async()=>{if(!this._endpoint){this.notifyError(Error(`VPS endpoint has not been set before calling start()`));return}let r=null,a=()=>this.state===`stopped`;for(;!a();){if(r!==null){let t=i.TimeUtils.preciseTime()-r,n=Math.max(0,e.MIN_TIME_BETWEEN_TWO_REQUESTS-t);await new Promise(e=>setTimeout(e,n))}if(r=i.TimeUtils.preciseTime(),a()||!this._camera||this._camera.state!==`started`)break;let o=W.lastEvent?W.lastEvent:null;if(o!==null&&o<this._minInclinationForRequest){await new Promise(e=>setTimeout(e,this._waitTimeMinInclinationForRequest));continue}this._relativeRotationCalc?.tickStart();let s=await this._camera.currentImage;if(!s)continue;let l=null,u=J.getBestPositionEvent(N.lastEvent,K.lastEvent);this._useCoarsePose&&(u||X.lastEvent)&&(l={...u&&{position:u},...X.lastEvent&&{attitude:X.lastEvent}}),this._currentAttemptId===null&&(this._attemptIdCounter+=1,this._currentAttemptId=this._attemptIdCounter);let d=G.lastEvent,f=H.lastEvent,p=d&&f?{position:n.Quaternion.rotate(e.ENU_TO_ARCORE_ROT,[f.x,f.y,f.z]),orientation:n.Quaternion.multiply(e.ENU_TO_ARCORE_ROT,d.quaternion)}:null,m=await Le.relocalize(this._endpoint,s,null,l,{session_id:this._sessionId,installation_id:null,...this._currentAttemptId!==null&&{attempt_id:this._currentAttemptId},caller:this._requestCaller},p);if(!m||!m.success){this._scanFailureCallbacks.forEach(({id:e,callback:t})=>t({listenerId:e,sessionId:this._sessionId,attemptId:this._currentAttemptId}));continue}this._currentAttemptId=null;let h=m.attitude.quaternion,g=n.Quaternion.multiply(h,e.CAMERA_TO_SMARTPHONE_ROT),_=n.Quaternion.multiply(n.Quaternion.fromAxisAngle([0,0,1],(0,n.deg2rad)(window.orientation||0)),g),v=this._relativeRotationCalc?.tickEnd()||new t.Attitude([1,0,0,0]),y=new c(n.Quaternion.multiply(_,v.quaternion),m.attitude.time,m.attitude.accuracy),b=m.position.clone();if(b.accuracy===null&&(b.accuracy=5),a())break;this.notify({absoluteAttitude:y,absolutePosition:b})}};_internalStop=()=>{};_generateUuid(){return typeof crypto<`u`&&typeof crypto.randomUUID==`function`?crypto.randomUUID():`xxxxxxxx-xxxx-4xxx-yxxx-xxxxxxxxxxxx`.replace(/[xy]/g,e=>{let t=Math.random()*16|0;return(e===`x`?t:t&3|8).toString(16)})}addScanFailureListener(t){let n=++e._scanFailureCallbackUniqueId;return this._scanFailureCallbacks.push({id:n,callback:t}),n}removeScanFailureListener(e){this._scanFailureCallbacks=this._scanFailureCallbacks.filter(({id:t})=>t!==e)}resetCurrentAttempt(){this._currentAttemptId=null}get endpoint(){return this._endpoint}set endpoint(e){this._endpoint=e}get minInclinationForRequest(){return this._minInclinationForRequest}set minInclinationForRequest(e){this._minInclinationForRequest=e}get waitTimeMinInclinationForRequest(){return this._waitTimeMinInclinationForRequest}set waitTimeMinInclinationForRequest(e){this._waitTimeMinInclinationForRequest=e}get useCoarsePose(){return this._useCoarsePose}set useCoarsePose(e){this._useCoarsePose=e}get requestCaller(){return this._requestCaller}set requestCaller(e){this._requestCaller=e}},J=new class e extends y{static ACCURACY_RELOC_RATIO=1;static USE_MM_FOR_FEED=!0;_polestarProviderId;_vpsProviderId;_gnssWifiProviderId;_relativePositionProviderId;_mapMatchingHandlerId;useAllAbsolutePositions=!1;_waitUntilNextVpsPosition=!1;_lastPolestarFix=null;ignoreGnssWifi=!1;_lastKnownLevel=null;getName=()=>`AbsolutePosition`;_adaptBeforeNotify(e){return e.level===null?e.level=this._lastKnownLevel:this._lastKnownLevel=e.level,e}availability(){return b.some([H.getAvailability(),N.getAvailability(),...l.hasPoleStar?[K.getAvailability()]:[],q.getAvailability()])}start(){H.getAvailability().then(e=>{e||(this._relativePositionProviderId=H.addEventListener(e=>this._onRelativePosition(e)))}),this._gnssWifiProviderId=N.addEventListener(e=>{if(this.ignoreGnssWifi)return;let t=e.clone();t.bearing=null,this._onAbsolutePosition(t,`gnss-wifi`,!1)}),this._vpsProviderId=q.addEventListener(e=>this._onAbsolutePosition(e.absolutePosition,`vps`),this.notifyError,!1),l.hasPoleStar&&(this._polestarProviderId=K.addEventListener(e=>{if(this._lastPolestarFix=i.TimeUtils.preciseTime(),!this._onAbsolutePosition(e,`polestar`)&&this.lastEvent?.level===null){let t=this.lastEvent.clone();t.level=e.level,this.notify(t)}})),this._mapMatchingHandlerId=$.addEventListener()}stop(){this._relativePositionProviderId&&(H.removeEventListener(this._relativePositionProviderId),delete this._relativePositionProviderId),this._gnssWifiProviderId&&(N.removeEventListener(this._gnssWifiProviderId),delete this._gnssWifiProviderId),this._vpsProviderId&&(q.removeEventListener(this._vpsProviderId),delete this._vpsProviderId),this._polestarProviderId&&(K.removeEventListener(this._polestarProviderId),delete this._polestarProviderId),$.removeEventListener(this._mapMatchingHandlerId)}_shouldTakeIntoAccountNewAbsolutePosition(n,r=!0){let i=n,a=this.lastEvent||null;if(!a)return!0;let o=i.accuracy*e.ACCURACY_RELOC_RATIO<=a.accuracy;if(o)return!0;let s=a.distanceTo(i)>a.accuracy+i.accuracy;if(s)return!0;let c=s&&i.accuracy<=a.accuracy;return!!(o&&c||r&&!t.Level.equals(i.level,a.level))}_onAbsolutePosition(e,t,n=!0){if(!this._shouldTakeIntoAccountNewAbsolutePosition(e,n)&&!this.useAllAbsolutePositions)return!1;let r=o.fromUserPosition(e,t),i=this.lastEvent?this.lastEvent:null;return i&&(n||(r.level=i.level),r.bearing===null&&(r.bearing=i.bearing)),$.canUseMapMatching()?$.notifyPositionFromAbsolute(r):(this.notify(r),!0)}_onRelativePosition(e){if(!this.lastEvent||this._waitUntilNextVpsPosition)return!1;let t=this.lastEvent,n=e,r=Math.sqrt(n.x**2+n.y**2),i=Math.atan2(n.x,n.y),a=t.alt===null?null:n.z,s=t.destinationPoint(r,i,a);s.bearing=n.bearing,s.time=n.time,s.accuracy+=n.accuracy;let c=o.fromUserPosition(s,`relative`);return $.canUseMapMatching()?$.notifyPositionFromRelative(c):(this.notify(c),!0)}feed(n){let r;if(n instanceof t.UserPosition){if(n.time===null)throw Error(`the time of the position is not defined`);if(n.accuracy===null)throw Error(`the accuracy of the position is not defined`);r=o.fromUserPosition(n,n.source??`feed`)}else throw Error(`data is nor an UserPosition or an AbsolutePositionEvent`);if(!e.USE_MM_FOR_FEED||!$.canUseMapMatching()){this.notify(r);return}$.notifyPositionFromFeed(r)}getBestPositionEvent(...e){return e.reduce((e,t)=>{if(!e)return t;if(!t||t.accuracy===null||t.time===null)return e;let{accuracy:n,time:r}=t,{accuracy:i,time:a}=e;return n<i+1.3888*(r-a)?t:e},null)}},Y=new class e extends y{DEFAULT_ACCURACY=(0,n.deg2rad)(15);absolutePositionProviderId;absolutePositionEvent;declinationQuaternion;magQuaternion;magQuaternionTimestamp;iosPreviousQuat;iosIsSkyMode=null;getName=()=>`AbsoluteAttitudeFromBrowser`;availability(){return i.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new k)}start(){let e=()=>{switch(i.BrowserUtils.getName()){case i.Browser.CHROME:window.addEventListener(`deviceorientationabsolute`,this.onDeviceOrientationChromeEvent,!0);break;case i.Browser.SAFARI:case i.Browser.IOS_WEBVIEW:window.addEventListener(`deviceorientation`,this.onDeviceOrientationSafariEvent,!0);break}},t=DeviceOrientationEvent.requestPermission||void 0;t?t().then(t=>{if(t!==`granted`)throw Error(`Permission not granted`);e()}).catch(this.notifyError):e();let n=J.lastEvent;n?this.onAbsolutePositionEvent(n):this.absolutePositionProviderId=J.addEventListener(this.onAbsolutePositionEvent,this.notifyError,!1)}stop(){switch(i.BrowserUtils.getName()){case i.Browser.CHROME:window.removeEventListener(`deviceorientationabsolute`,this.onDeviceOrientationChromeEvent,!0);break;case i.Browser.SAFARI:case i.Browser.IOS_WEBVIEW:window.removeEventListener(`deviceorientation`,this.onDeviceOrientationSafariEvent,!0);break}J.removeEventListener(this.absolutePositionProviderId)}onDeviceOrientationChromeEvent=e=>{if(this.magQuaternionTimestamp=e.timeStamp/1e3,typeof e.alpha!=`number`||typeof e.beta!=`number`||typeof e.gamma!=`number`){this.notifyError(new A().from(`deviceorientationabsolute`));return}this.magQuaternion=n.Rotations.eulerToQuaternionZXYDegrees([e.alpha,e.beta,e.gamma]),this.compute()};onDeviceOrientationSafariEvent=t=>{if(this.magQuaternionTimestamp=t.timeStamp/1e3,typeof t.beta!=`number`||typeof t.gamma!=`number`){this.notifyError(new A().from(`deviceorientation`));return}if(typeof t.webkitCompassHeading!=`number`){this.notifyError(new j().from(`deviceorientation`));return}let r,[i,a,o,s]=n.Rotations.eulerToQuaternionZXYDegrees([t.webkitCompassHeading,t.beta,t.gamma]),c=(0,n.rad2deg)(Math.acos(i**2-a**2-o**2+s**2)),l=null;c>136?l=!0:c<134?l=!1:this.iosPreviousQuat&&this.iosIsSkyMode!==null&&(l=n.Quaternion.distance([i,a,o,s],this.iosPreviousQuat)<.5?this.iosIsSkyMode:!this.iosIsSkyMode),this.iosPreviousQuat=[i,a,o,s],this.iosIsSkyMode=l,l!==void 0&&(r=l?180-t.webkitCompassHeading:e.webkitCompassToHeading(t.webkitCompassHeading,t.beta,t.gamma),this.magQuaternion=n.Rotations.eulerToQuaternionZXYDegrees([r,t.beta,t.gamma]),this.compute())};compute(){if(!this.declinationQuaternion||!this.magQuaternion||!this.absolutePositionEvent)return;let e=new c(n.Quaternion.multiply(this.declinationQuaternion,this.magQuaternion),this.magQuaternionTimestamp,this.DEFAULT_ACCURACY);this.notify(e)}onAbsolutePositionEvent=e=>{this.absolutePositionEvent=e;let t=me(e.lat,e.lng);this.declinationQuaternion=n.Quaternion.fromAxisAngle([0,0,1],-(0,n.deg2rad)(t.declination)),J.removeEventListener(this.absolutePositionProviderId),delete this.absolutePositionProviderId,this.compute()};static webkitCompassToHeading(e,t,r){let i=(0,n.deg2rad)(e),a=(0,n.deg2rad)(t),o=(0,n.deg2rad)(r),s=Math.cos(i/2),c=Math.cos(a/2),l=Math.cos(o/2),u=Math.sin(i/2),d=Math.sin(a/2),f=Math.sin(o/2),p=s*c*l-u*d*f,m=u*c*l+s*d*f;return(0,n.rad2deg)(-2*Math.atan(m/p))}},X=new class e extends y{static REL_ABS_DIVERGENCE_ANGLE_THRESHOLD=(0,n.deg2rad)(25);static REL_ABS_DIVERGENCE_TIME_THRESHOLD=2.5;static REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD=(0,n.deg2rad)(15);_absAttitudeFromBrowser;_vpsProviderId;fromBrowserProviderId;highRotationProviderId;inclinationProviderId;relativeAttitudeProviderId;_attitudeFromBrowserErrored=!1;_attitudeFromRelativeErrored=!1;_relativeAttitude=null;_relativeAccuracy=0;_lastForcedHeadingEvent;_relAbsQuat;_wasHighRotationInProgress=!1;_timeFirstDivergence=null;_callbackMagCalibration;getName=()=>`AbsoluteAttitude`;availability(){return b.some([Y.getAvailability(),G.getAvailability()])}start(){this.fromBrowserProviderId=Y.addEventListener(this._onAttitudeFromBrowser,e=>{this._attitudeFromBrowserErrored=!0,this._onError(e)}),this._vpsProviderId=q.addEventListener(e=>this._onAttitudeFromVps(e.absoluteAttitude),e=>this.notifyError(e),!1),this.relativeAttitudeProviderId=G.addEventListener(this._onRelativeAttitudeEvent,e=>{this._attitudeFromRelativeErrored=!0,this._onError(e)}),this.inclinationProviderId=W.addEventListener(),this.highRotationProviderId=z.addEventListener()}stop(){Y.removeEventListener(this.fromBrowserProviderId),G.removeEventListener(this.relativeAttitudeProviderId),W.removeEventListener(this.inclinationProviderId),z.removeEventListener(this.highRotationProviderId),q.removeEventListener(this._vpsProviderId)}_setCallbackMagCalibration(e){this._callbackMagCalibration=e}_onError=e=>{this._attitudeFromBrowserErrored&&this._attitudeFromRelativeErrored&&this.notifyError(e)};_forceHeadingForRelative=e=>{if(this.lastEvent&&e.accuracy>this.lastEvent.accuracy)return;let t=t=>{let r=t.heading;this._relAbsQuat=n.Quaternion.fromAxisAngle([0,0,1],r-e.heading),this._relativeAccuracy=0,this._lastForcedHeadingEvent=e};if(this._relativeAttitude){t(this._relativeAttitude);return}let r=G.addEventListener(e=>{t(e),G.removeEventListener(r)})};_onRelativeAttitudeEvent=r=>{let{quaternion:i,accuracy:a,time:o}=r;if(this._relativeAttitude&&(this._relativeAccuracy+=(o-this._relativeAttitude.time)*a),this._relativeAttitude=r,!this._lastForcedHeadingEvent||!this._relAbsQuat)return;let s=Math.min((this._lastForcedHeadingEvent.accuracy||0)+this._relativeAccuracy,Math.PI),l=z.isInProgress(),u=!1;if(this._absAttitudeFromBrowser){let{accuracy:r,heading:a}=this._absAttitudeFromBrowser;if(this._wasHighRotationInProgress&&!l)this._forceHeadingForRelative(this._absAttitudeFromBrowser);else if(r<s){let r=new t.Attitude(n.Quaternion.multiply(this._relAbsQuat,i)),s=Math.abs((0,n.diffAngle)(r.heading,a)),c=W.lastEvent;s>e.REL_ABS_DIVERGENCE_ANGLE_THRESHOLD&&c!==null&&Math.abs(c-Math.PI/4)>e.REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD&&(u=!0,this._timeFirstDivergence!==null&&o-this._timeFirstDivergence>e.REL_ABS_DIVERGENCE_TIME_THRESHOLD?(this._forceHeadingForRelative(this._absAttitudeFromBrowser),this._callbackMagCalibration?.({angle:s}),this._timeFirstDivergence=null):this._timeFirstDivergence===null&&(this._timeFirstDivergence=o))}}u||(this._timeFirstDivergence=null),this._wasHighRotationInProgress=l;let d=new c(n.Quaternion.multiply(this._relAbsQuat,i),o,s);this.notify(d)};_onAttitudeFromBrowser=e=>{if(this._absAttitudeFromBrowser=e,!this._lastForcedHeadingEvent){this._forceHeadingForRelative(e);return}};_onAttitudeFromVps=e=>{this._forceHeadingForRelative(e)};feed(e){if(e instanceof t.AbsoluteHeading){if(e.time===null)throw Error(`the time of the absolute heading is not defined`);if(e.accuracy===null)throw Error(`the accuracy of the absolute heading is not defined`);this._forceHeadingForRelative(e)}else if(e instanceof c){if(e.time===null)throw Error(`the time of the attitude is not defined`);if(e.accuracy===null)throw Error(`the accuracy of the attitude is not defined`);this._forceHeadingForRelative(e)}else throw Error(`data is nor an AbsoluteHeading or an Attitude object`)}},Z=new class e extends y{static SLIDING_WINDOW_TIME=.3;static STD_THRESHOLD=.075;static CONSIDER_TURN_UNTIL=1;providerId;slidingWindow=[];getName=()=>`Turn`;availability=()=>G.getAvailability();start(){this.providerId=G.addEventListener(this._parseRelativeAttitude,this.notifyError)}stop(){G.removeEventListener(this.providerId)}isTurning(){return!this.lastEvent||!G.lastEvent?!1:G.lastEvent.time-this.lastEvent.timestamp<e.CONSIDER_TURN_UNTIL}_parseRelativeAttitude=t=>{let{heading:r}=t,i=t.time;this.slidingWindow=this.slidingWindow.filter(t=>t[0]>=i-e.SLIDING_WINDOW_TIME),this.slidingWindow.push([i,r]),(0,n.std)(this.slidingWindow.map(e=>e[1]))>e.STD_THRESHOLD&&this.notify({timestamp:i})}},Q=new class e extends y{static DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE=2;_turnProviderId;_stepProviderId;_countSteps=0;_stepsConsideredForStraightLine=e.DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE;getName=()=>`StraightLine`;availability(){return b.every([Z.getAvailability(),V.getAvailability()])}start(){this._turnProviderId=Z.addEventListener(this._onTurn),this._stepProviderId=V.addEventListener(this._onStep)}stop(){Z.removeEventListener(this._turnProviderId),V.removeEventListener(this._stepProviderId)}_onTurn=()=>{this._countSteps>=this._stepsConsideredForStraightLine&&this.notify(!1),this._countSteps=0};_onStep=()=>{this._countSteps++,this._countSteps===this._stepsConsideredForStraightLine&&this.notify(!0)};isStraight(){return this._countSteps>=this._stepsConsideredForStraightLine}get numStepsDetectedFromLastTurn(){return this._countSteps}get stepsConsideredForStraightLine(){return this._stepsConsideredForStraightLine}set stepsConsideredForStraightLine(e){this._stepsConsideredForStraightLine=e}},$=new class e extends y{static DEFAULT_MM_MAX_ANGLE=(0,n.deg2rad)(30);static DEFAULT_MM_MAX_DIST=30;static DEFAULT_USE_ITINERARY_START_AS_POSITION=!1;static DEFAULT_USE_ORIENTATION_MATCHING=!0;static DEFAULT_MM_HUGE_JUMP_DISTANCE=3;static DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE=2;static DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING=3;static DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING=5;static DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE=3;static DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD=(0,n.deg2rad)(3);static DEFAULT_USE_STRICT=!1;_mapMatchingMaxDistance=e.DEFAULT_MM_MAX_DIST;_mapMatchingMaxAngleBearing=e.DEFAULT_MM_MAX_ANGLE;_useItineraryStartAsPosition=e.DEFAULT_USE_ITINERARY_START_AS_POSITION;_useOrientationMatching=e.DEFAULT_USE_ORIENTATION_MATCHING;_hugeJumpDistance=e.DEFAULT_MM_HUGE_JUMP_DISTANCE;_disableMMCloseToATurnDistance=e.DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE;_minStepsBetweenOrientationMatching=e.DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING;_minStepsForOrientationMatching=e.DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING;_lastProjectionsWindowSize=e.DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE;_lastProjectionsEdgeAngleThreshold=e.DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD;_useStrict=e.DEFAULT_USE_STRICT;_graph=null;_internalProvidersStarted=!1;_straightLineProviderId;_turnProviderId;_stepProviderId;_projectionsWithAbsAndWithoutRelAttitudeInARow=[];_countStepsFromLastMatching=0;_lastProjections=[];_itineraryInfoManager=null;getName=()=>`MapMatchingHandler`;availability=()=>Promise.resolve();start(){this.graph&&this._startInternalProviders()}stop(){this._stopInternalProviders()}_manageStartStop=()=>{this.graph&&!this._internalProvidersStarted?this._startInternalProviders():!this.graph&&this._internalProvidersStarted&&this._stopInternalProviders()};_startInternalProviders(){this.enabled&&this._internalProvidersStarted||(this._straightLineProviderId=Q.addEventListener(),this._turnProviderId=Z.addEventListener(),this._stepProviderId=V.addEventListener(()=>this._countStepsFromLastMatching++),this._internalProvidersStarted=!0)}_stopInternalProviders(){this.enabled&&!this._internalProvidersStarted||(Q.removeEventListener(this._straightLineProviderId),Z.removeEventListener(this._turnProviderId),V.removeEventListener(this._stepProviderId),this._internalProvidersStarted=!1)}get enabled(){return l.useMapMatching}get graph(){return this._graph}set graph(e){this._graph=e,this._itineraryInfoManager=null,this.notify({...e&&{graph:e}}),this._manageStartStop(),this.canUseMapMatching()}set itinerary(e){this._graph=e?e.toGraph():null,this._itineraryInfoManager=new r.ItineraryInfoManager(e),this.notify({...e&&{itinerary:e}}),this._manageStartStop(),this.canUseMapMatching()&&e&&this._notifyPositionFromItineraryInput(e)}canUseMapMatching(){return this.enabled&&this.graph}_notifyPositionFromItineraryInput(e){if(!this._useItineraryStartAsPosition||!e.origin)return;let n=J.lastEvent||null,r=t.UserPosition.fromCoordinates(e.origin);if(n)r.alt=n.alt,r.time=n.time,r.accuracy=n.accuracy+r.distanceTo(n),r.bearing=n.bearing;else if(e.coords.length>=2)r.alt=M.DEFAULT_ALTITUDE,r.time=i.TimeUtils.preciseTime(),r.accuracy=0,r.bearing=e.coords[0].bearingTo(e.coords[1]);else return;let a=this.getProjection(r,!0);a?J.notify(a.coords):J.notify(r)}notifyPositionFromFeed(e){let t=this.getProjection(e,!0,!1);if(this._useStrict&&t){J.notify(t.coords);return}if(!t){J.notify(e);return}J.notify(t.coords)}notifyPositionFromAbsolute(e){if(this._useStrict){let t=this.getProjection(e);if(t)return J.notify(t.coords),!0}let t=null;if(e.bearing!==null&&(t=this.getProjection(e,!0,!0)),!t)return J.notify(e),!0;let n=t.distanceFromNearestElement>this._hugeJumpDistance;return n&&!Q.isStraight()||n&&this._detectWrongBigJump(t)?!1:(J.notify(t.coords),this.tryOrientationMatching(t),!0)}notifyPositionFromRelative(e){let t=this.getProjection(e,!0,!0);if(this._useStrict&&t)return J.notify(t.coords),!0;if(Z.isTurning())return this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections=[],J.notify(e),!0;if(t){this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections.push(t),this._lastProjections.length>this._lastProjectionsWindowSize&&this._lastProjections.shift();let n=t.distanceFromNearestElement>this._hugeJumpDistance;return n&&!Q.isStraight()||n&&this._detectWrongBigJump(t)||!this._areLastProjectionsInTheSameDirection()||this._disableMMCloseToATurnDistance>0&&this._hasTurnInCircle(t.coords,this._disableMMCloseToATurnDistance)?(J.notify(e),!0):(J.notify(t.coords),this.tryOrientationMatching(t),!0)}if(Q.isStraight()){let t=e.clone();t.bearing=Y.lastEvent?.heading||null;let n=this.getProjection(t,!0,!0);if(n)return this._projectionsWithAbsAndWithoutRelAttitudeInARow.push(n),this._projectionsWithAbsAndWithoutRelAttitudeInARow.length<3||(this._lastProjections.push(n),this._lastProjections.length>this._lastProjectionsWindowSize&&this._lastProjections.shift(),!this._areLastProjectionsInTheSameDirection())?(J.notify(e),!0):(J.notify(n.coords),this.tryOrientationMatching(n),!0)}return this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections=[],J.notify(e),!0}_detectWrongBigJump(e){if(this._itineraryInfoManager&&J.lastEvent){let t=this._itineraryInfoManager.getInfo(J.lastEvent),n=this._itineraryInfoManager.getInfo(e.coords);if(t&&n&&t.traveledDistance>n.traveledDistance&&t.traveledDistance-n.traveledDistance>e.origin.accuracy&&e.distanceFromNearestElement>e.origin.accuracy&&e.origin.distanceTo(J.lastEvent)<e.origin.accuracy+J.lastEvent.accuracy)return!0}return!1}_areLastProjectionsInTheSameDirection(){if(this._lastProjections.length===0)return!1;let e=this._lastProjections[0];return!this._lastProjections.some(t=>!(t.nearestElement instanceof r.Edge)||!(e.nearestElement instanceof r.Edge)||(0,n.diffAngleLines)(t.nearestElement.bearing,e.nearestElement.bearing)>this._lastProjectionsEdgeAngleThreshold)}_nodeHasTurn(t){if(!this._graph)return;let r=this._graph.edges.filter(e=>e.vertex1===t||e.vertex2===t);for(let t=0;t<r.length;t++)for(let i=t+1;i<r.length;i++)if((0,n.diffAngleLines)(r[t].bearing,r[i].bearing)>e.DEFAULT_MM_MAX_ANGLE)return!0;return!1}_hasTurnInCircle(e,n){let r=this._graph;return r?r.vertices.filter(r=>r.coords.distanceTo(e)<=n&&t.Level.intersect(r.coords.level,e.level)).some(e=>this._nodeHasTurn(e)):!1}tryOrientationMatching(e){if(!this._useOrientationMatching||this.state!==`started`||this._countStepsFromLastMatching<this._minStepsBetweenOrientationMatching||Q.numStepsDetectedFromLastTurn<this._minStepsForOrientationMatching)return;let{nearestElement:i,origin:a}=e;if(!(i instanceof r.Edge))return;let o,s=(0,n.diffAngle)(i.bearing,a.bearing),c=(0,n.diffAngle)(i.bearing+Math.PI,a.bearing);o=Math.abs(s)<Math.abs(c)?i.bearing:(i.bearing+Math.PI)%(2*Math.PI);let l=new t.AbsoluteHeading(o,a.time,0);X._forceHeadingForRelative(l),this._countStepsFromLastMatching=0}getProjection(e,t,n){let r={...t&&!this._useStrict&&{maxDistance:this._mapMatchingMaxDistance},...n&&!this._useStrict&&{maxBearingAngle:this._mapMatchingMaxAngleBearing}};return this._graph?.getProjection(e,r)}get maxDistance(){return this._mapMatchingMaxDistance}set maxDistance(e){this._mapMatchingMaxDistance=e}get maxAngleBearing(){return this._mapMatchingMaxAngleBearing}set maxAngleBearing(e){this._mapMatchingMaxAngleBearing=e}get useItineraryStartAsPosition(){return this._useItineraryStartAsPosition}set useItineraryStartAsPosition(e){this._useItineraryStartAsPosition=e}get useOrientationMatching(){return this._useOrientationMatching}set useOrientationMatching(e){this._useOrientationMatching=e}get hugeJumpDistance(){return this._hugeJumpDistance}set hugeJumpDistance(e){this._hugeJumpDistance=e}get disableMMCloseToATurnDistance(){return this._disableMMCloseToATurnDistance}set disableMMCloseToATurnDistance(e){this._disableMMCloseToATurnDistance=e}get minStepsBetweenOrientationMatching(){return this._minStepsBetweenOrientationMatching}set minStepsBetweenOrientationMatching(e){this._minStepsBetweenOrientationMatching=e}get minStepsForOrientationMatching(){return this._minStepsForOrientationMatching}set minStepsForOrientationMatching(e){this._minStepsForOrientationMatching=e}get lastProjectionsWindowSize(){return this._lastProjectionsWindowSize}set lastProjectionsWindowSize(e){this._lastProjectionsWindowSize=e}get lastProjectionsEdgeAngleThreshold(){return this._lastProjectionsEdgeAngleThreshold}set lastProjectionsEdgeAngleThreshold(e){this._lastProjectionsEdgeAngleThreshold=e}get useStrict(){return this._useStrict}set useStrict(e){this._useStrict=e}},Be=class e{static DEFAULT_FREQUENCY=60;static DEFAULT_FLYBY_TIME=1;positionsQueue=[];previousPosition=null;timeoutNotify;callback;frequency;constructor(t,n=e.DEFAULT_FREQUENCY){this.callback=t,this.frequency=n}feed(n,r=e.DEFAULT_FLYBY_TIME){if(!(n instanceof t.UserPosition))throw TypeError(`newPosition is not instance of UserPosition`);if(n.time===null)throw Error(`newPosition does not have time property`);let i;if(this.positionsQueue.length===0?i=this.previousPosition:(i=this.positionsQueue[0],this.positionsQueue=[]),i){let e=n.time,a=i.distanceTo(n),o=i.bearingTo(n),s=1,c=this.frequency*r+1,l=t.Level.clone(n.level);for(;s<c+1;){let t=i.destinationPoint(a*s/c,o);t.time=e+(s-1)/this.frequency,t.level=l,t.bearing=n.bearing,t.accuracy=Math.max(t.accuracy+(n.accuracy-t.accuracy)*s/c,0),this.positionsQueue.push(t),s++}this.timeoutNotify&&clearTimeout(this.timeoutNotify)}else this.positionsQueue.push(n.clone());this.previousPosition=n,this._notifyNext()}_notifyNext=()=>{this.positionsQueue.length&&(this.callback?.(this.positionsQueue.shift()),this.positionsQueue.length===0?delete this.timeoutNotify:this.timeoutNotify=setTimeout(this._notifyNext,1e3/this.frequency))};clear(){clearTimeout(this.timeoutNotify),delete this.timeoutNotify,this.positionsQueue=[]}},Ve=class e{static ROTATION_SPEED_JUMP_THRESHOLD=(0,n.deg2rad)(180);static ROTATION_SPEED_CONVERGENCE=(0,n.deg2rad)(10);static HIGH_JUMP_THRESHOLD=(0,n.deg2rad)(20);static ROTATION_SPEED_HIGH_JUMP_CONVERGENCE=(0,n.deg2rad)(100);static PITCH_UNCERTAINITY_HEADING_THRESHOLD=(0,n.deg2rad)(5);_previousAttitude;_smoothing=null;callback;constructor(e){this.callback=e}feed(r){if(r.time===null)throw Error(`newAttitude does not have time property`);let{_previousAttitude:i}=this;if(this._previousAttitude=r,!i){this.callback(r);return}if(e.isJump(i,r)){let a=this._smoothing===null?i:this._smoothing.interpAttitude(i),o=a.heading,s=r.heading,c=(0,n.diffAngle)(s,o),l=Math.abs(c)<e.HIGH_JUMP_THRESHOLD?e.ROTATION_SPEED_CONVERGENCE:e.ROTATION_SPEED_HIGH_JUMP_CONVERGENCE,u=a.time,d=Math.abs(c)/l,f=c<0?-1:1;this._smoothing={toTime:u+d,interpAttitude:e=>{let r=l*(e.time-u),i=o+r*f,a=n.Quaternion.fromAxisAngle([0,0,1],s-i);return new t.Attitude(n.Quaternion.multiply(a,e.quaternion),e.time,e.accuracy)}}}if(this._smoothing!==null)if(r.time>=this._smoothing.toTime)this._smoothing=null;else{let e=this._smoothing.interpAttitude(r);this.callback(e);return}this.callback(r)}static isJump(t,r){let i=t.heading,a=r.heading,o=(0,n.diffAngle)(a,i),s=r.time-t.time,[c,l,u,d]=r.quaternion;return Math.abs(Math.asin(2*(c*l+u*d))-Math.PI/4)<e.PITCH_UNCERTAINITY_HEADING_THRESHOLD?!1:Math.abs(o)>e.ROTATION_SPEED_JUMP_THRESHOLD*s}},He=new class extends y{getName=()=>`MagnetometerCalibrationProvider`;availability=()=>X.getAvailability();constructor(){super(),X._setCallbackMagCalibration(e=>this.state===`started`&&this.notify(e))}start(){}stop(){}},Ue=class e extends Error{static DEFAULT_MESSAGE=`IP Resolver failed`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},We=new class extends y{getName=()=>`Ip`;availability=()=>Promise.resolve();async start(){let e=await fetch(`https://ipinfo.io/geo?token=24a7ca2f3b489d`);if(!e){this.notifyError(new Ue);return}let n=i.TimeUtils.preciseTime()/1e3,r=(await e.json()).loc.split(`,`),a=new t.UserPosition(parseFloat(r[0]),parseFloat(r[1]),null,null,n,1e5);this.notify(a)}stop(){}},Ge=class e{static MAX_CONSECUTIVE_FAILURES=10;intervalMs;enabled;timeoutId=null;listenerId=null;scanFailureListenerId=null;isBackgroundScanRunning=!1;consecutiveFailures=0;_status;statusCallbacks=new Set;onResult;onError;constructor(e,t,n){this.onResult=t,this.onError=n,this.intervalMs=e.intervalMs??3e4,this.enabled=e.enabled??!1,this._status=this.enabled?`idle`:`disabled`}get status(){return this._status}setEnabled(e){this.enabled=e,e?!this.isBackgroundScanRunning&&!this.timeoutId&&this.setStatus(`idle`):(this.clear(),this.setStatus(`disabled`))}onStatusChange(e){return this.statusCallbacks.add(e),()=>{this.offStatusChange(e)}}offStatusChange(e){this.statusCallbacks.delete(e)}schedule(){this.enabled&&(this.clearTimeoutOnly(),this.timeoutId=setTimeout(()=>{this.timeoutId=null,this.startBackgroundScan()},this.intervalMs),this.setStatus(`scheduled`))}async cancelRunningScan(){this.isBackgroundScanRunning&&(this.listenerId!==null&&(q.removeEventListener(this.listenerId),this.listenerId=null,q.stop()),this.scanFailureListenerId!==null&&(q.removeScanFailureListener(this.scanFailureListenerId),this.scanFailureListenerId=null),this.isBackgroundScanRunning=!1,this.setStatus(this.enabled?`idle`:`disabled`))}clear(){this.clearTimeoutOnly(),this.listenerId!==null&&(q.removeEventListener(this.listenerId),this.listenerId=null),this.scanFailureListenerId!==null&&(q.removeScanFailureListener(this.scanFailureListenerId),this.scanFailureListenerId=null),this.isBackgroundScanRunning=!1,this.setStatus(this.enabled?`idle`:`disabled`)}runNow(){this.enabled&&(this.clearTimeoutOnly(),this.startBackgroundScan())}clearTimeoutOnly(){this.timeoutId!==null&&(clearTimeout(this.timeoutId),this.timeoutId=null),this.enabled&&!this.isBackgroundScanRunning&&this.setStatus(`idle`)}async startBackgroundScan(){if(!this.enabled||this.isBackgroundScanRunning||this.listenerId!==null)return;let t=await q.getAvailability();if(t instanceof Error){this.onError(t),this.setStatus(`idle`);return}this.isBackgroundScanRunning=!0,this.setStatus(`scanning`),this.scanFailureListenerId=q.addScanFailureListener(t=>{!this.isBackgroundScanRunning||this.scanFailureListenerId===null||t.listenerId!==this.scanFailureListenerId||(this.consecutiveFailures+=1,this.consecutiveFailures>=e.MAX_CONSECUTIVE_FAILURES&&(this.consecutiveFailures=0,q.resetCurrentAttempt(),this.cleanupListener(),this.schedule()))}),this.listenerId=q.addEventListener(e=>{this.consecutiveFailures=0,this.cleanupListener(),this.onResult(e),this.schedule()},e=>{this.cleanupListener(),this.onError(e),this.schedule()})}cleanupListener(){this.listenerId!==null&&(q.removeEventListener(this.listenerId),this.listenerId=null),this.scanFailureListenerId!==null&&(q.removeScanFailureListener(this.scanFailureListenerId),this.scanFailureListenerId=null),q.stop(),this.isBackgroundScanRunning=!1,this.enabled?this.setStatus(`idle`):this.setStatus(`disabled`)}setStatus(e){this._status!==e&&(this._status=e,this.statusCallbacks.forEach(t=>{try{t(e)}catch(e){console.error(`[VpsBackgroundScanner] Error in status listener`,e)}}))}},Ke=new class extends y{providerId;getName=()=>`Barcode`;availability=()=>P.getAvailability();start(){P.enableBarcodeScanner(),this.providerId=P.addEventListener(e=>e.barcode&&this.notify(e.barcode),this.notifyError)}stop(){P.disableBarcodeScanner(),P.removeEventListener(this.providerId)}},qe=new class extends y{providerId;getName=()=>`CameraNative`;availability=()=>Promise.resolve();start(){P.state!==`stopped`&&this.notify(`started`),this.providerId=P.addMonitoringListener(()=>this.notify(`started`),()=>this.notify(`stopped`))}stop(){P.removeMonitoringListener(this.providerId)}},Je=new class extends y{providerId;getName=()=>`CameraProjectionMatrix`;availability=()=>P.getAvailability();start(){this.providerId=P.addEventListener(e=>e.cameraProjection&&this.notify(e.cameraProjection),this.notifyError)}stop(){P.removeEventListener(this.providerId)}};e.AbsoluteAttitude=c,e.AbsoluteAttitudeFromBrowserProvider=Y,e.AbsoluteAttitudeProvider=X,e.AbsolutePosition=o,e.AbsolutePositionProvider=J,e.AccelerometerProvider=I,e.ArCoreProvider=P,e.AttitudeSmoother=Ve,e.BarcodeProvider=Ke,e.CameraNativeProvider=qe,e.CameraProjectionMatrixProvider=Je,e.Constants=M,e.GeoRelativePositionFromArCoreProvider=be,e.GeoRelativePositionProvider=H,e.GnssWifiProvider=N,e.GyroscopeProvider=L,e.HighRotationsProvider=z,e.ImageRelocalization=Le,e.ImuProvider=F,e.InclinationFromAccProvider=Ne,e.InclinationFromRelativeAttitudeProvider=U,e.InclinationProvider=W,e.IpProvider=We,e.MagnetometerCalibrationProvider=He,e.MapMatchingHandler=$,e.PdrProvider=je,e.PoleStarProvider=K,e.PositionSmoother=Be,e.ProvidersLoggerOld=_,e.ProvidersOptions=l,e.RelativeAttitude=s,e.RelativeAttitudeFromBrowserProvider=R,e.RelativeAttitudeFromEkfProvider=Ee,e.RelativeAttitudeFromInertialProvider=B,e.RelativeAttitudeProvider=G,e.RelativeRotationCalc=Re,e.StepDetectionMinMaxPeaks2=ke,e.StepDetectionMinMaxPeaks3=Ae,e.StepProvider=V,e.StraightLineProvider=Q,e.TurnProvider=Z,e.VpsBackgroundScanner=Ge,e.VpsMetadata=Pe,e.VpsProvider=q,e.VpsRequest=Fe,e.VpsResponse=Ie});
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e=n.Vector3.dot(r,this.accRef)+1,t=n.Vector3.cross(r,this.accRef),i=[e,t[0],t[1],t[2]];i=n.Quaternion.normalize(i),this.quaternion=i}return this.quaternion}update(e,t,r,i){if(!this.quaternion)return this.tryInitialize(t,i);let a=this.quaternion,o=a,s=n.Vector3.multiplyScalar(r,.5*e),c=this.computeC([1,s[0],s[1],s[2]]),l=n.Matrix4.multiplyVector(c,a),u=n.Matrix3.diag([o[0],o[0],o[0]]),d=n.Matrix3.skew([o[1],o[2],o[3]]),f=[-1*o[1],-1*o[2],-1*o[3]],p=n.Matrix.concatRow([f],n.Matrix3.sum(d,u)),m=n.Matrix4.multiplyScalar(n.Matrix.multiply(n.Matrix.multiply(p,this.noises[i?`absolute`:`relative`].gyr),n.Matrix.transpose(p)),(e/2)**2),h=n.Matrix4.sum(n.Matrix4.multiply(n.Matrix4.multiply(c,this.P),n.Matrix4.transpose(c)),m),g=n.Vector3.normalize(t),_,v,y;if(i){let e=n.Vector3.normalize(i),t=n.Vector3.cross(g,e),r=n.Vector3.normalize(t),a=n.Vector3.subtract(r,n.Quaternion.rotateMatlab(l,this.cRef)),o=n.Vector3.subtract(g,n.Quaternion.rotateMatlab(l,this.accRef));_=n.Vector.concat(a,o);let s=this.jacobianES(l,this.cRef),c=this.jacobianES(l,this.accRef);y=n.Matrix.concatRow(s,c);let u=n.Matrix.concatLine(this.noises.absolute.yc,n.Matrix3.zeros),d=n.Matrix.concatLine(n.Matrix3.zeros,this.noises.absolute.acc),f=n.Matrix.concatRow(u,d);v=n.Matrix.multiply(n.Matrix.multiply(h,n.Matrix.transpose(y)),n.Matrix.inverse(n.Matrix.sum(n.Matrix.multiply(n.Matrix.multiply(y,h),n.Matrix.transpose(y)),f)))}else{_=n.Vector3.subtract(g,n.Quaternion.rotateMatlab(l,this.accRef)),y=this.jacobianES(l,this.accRef);let e=this.noises.relative.acc;v=n.Matrix.multiply(n.Matrix.multiply(h,n.Matrix.transpose(y)),n.Matrix3.inverse(n.Matrix3.sum(n.Matrix.multiply(n.Matrix.multiply(y,h),n.Matrix.transpose(y)),e)))}a=n.Quaternion.sum(l,n.Matrix.multiplyVector(v,_));let b=n.Matrix4.multiply(n.Matrix4.subtract(n.Matrix4.identity,n.Matrix.multiply(v,y)),h);return a=n.Quaternion.normalize(a),this.quaternion=a,this.P=b,a}computeC(e){return[[e[0],-e[1],-e[2],-e[3]],[e[1],e[0],e[3],-e[2]],[e[2],-e[3],e[0],e[1]],[e[3],e[2],-e[1],e[0]]]}jacobianES(e,t){let[n,r,i,a]=e,[o,s,c]=t;return[[2*a*s-2*i*c,2*i*s+2*a*c,2*r*s-2*n*c-4*i*o,2*n*s+2*r*c-4*a*o],[2*r*c-2*a*o,2*n*c-4*r*s+2*i*o,2*r*o+2*a*c,2*i*c-2*n*o-4*a*s],[2*i*o-2*r*s,2*a*o-4*r*c-2*n*s,2*n*o-4*i*c+2*a*s,2*r*o+2*i*s]]}},F=new class extends y{getName=()=>`IMU`;availability(){return i.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new A)}start(){let e=()=>window.addEventListener(`devicemotion`,this.parseDeviceMotionEvent,!0),t=DeviceMotionEvent.requestPermission||void 0;t?t().then(t=>{if(t!==`granted`)throw Error(`Permission not granted`);e()}).catch(this.notifyError):e()}stop(){window.removeEventListener(`devicemotion`,this.parseDeviceMotionEvent,!0)}parseDeviceMotionEvent=e=>{let t=e.timeStamp/1e3,r;if(e.accelerationIncludingGravity){let{x:t,y:n,z:a}=e.accelerationIncludingGravity;typeof t==`number`&&typeof n==`number`&&typeof a==`number`&&(r=[t,n,a],(i.BrowserUtils.getName()===i.Browser.SAFARI||i.BrowserUtils.getName()===i.Browser.IOS_WEBVIEW)&&(r[0]*=-1,r[1]*=-1,r[2]*=-1))}let a;if(e.rotationRate){let{alpha:t,beta:r,gamma:i}=e.rotationRate;typeof t==`number`&&typeof r==`number`&&typeof i==`number`&&(a=[(0,n.deg2rad)(t),(0,n.deg2rad)(r),(0,n.deg2rad)(i)])}(r||a)&&this.notify({...r&&{acceleration:{timestamp:t,values:r}},...a&&{angularRate:{timestamp:t,values:a}}})}},we=class e extends j{static DEFAULT_MESSAGE=`Impossible to retrieve Acceleration data`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},I=new class extends y{imuProviderId;getName=()=>`Accelerometer`;availability=()=>F.getAvailability();start(){this.imuProviderId=F.addEventListener(e=>{e.acceleration?this.notify(e.acceleration):this.notifyError(new we().from(`devicemotion`))},this.notifyError)}stop(){F.removeEventListener(this.imuProviderId)}},Te=class extends j{static DEFAULT_MESSAGE=`Impossible to retrieve Angular Rate data`;constructor(e){super(e||j.DEFAULT_MESSAGE)}},L=new class extends y{imuProviderId;getName=()=>`Gyroscope`;availability=()=>F.getAvailability();start(){this.imuProviderId=F.addEventListener(e=>{e.angularRate?this.notify(e.angularRate):this.notifyError(new Te().from(`devicemotion`))},this.notifyError)}stop(){F.removeEventListener(this.imuProviderId)}},Ee=new class e extends y{static DEFAULT_DRIFT=(0,n.deg2rad)(5)/60;accelerometerProviderId;ekfAttitude=new Ce;gyroscopeEvent;gyroscopeProviderId;lastTimestamp=0;getName=()=>`RelativeAttitudeFromEkf`;availability(){return b.every([I.getAvailability(),L.getAvailability()])}start(){this.accelerometerProviderId=I.addEventListener(e=>this.onAccelerometerEvent(e),e=>this.notifyError(e)),this.gyroscopeProviderId=L.addEventListener(e=>this.gyroscopeEvent=e,e=>this.notifyError(e))}stop(){I.removeEventListener(this.accelerometerProviderId),L.removeEventListener(this.gyroscopeProviderId)}onAccelerometerEvent=t=>{if(!this.gyroscopeEvent)return;let{values:n,timestamp:r}=t;if(this.lastTimestamp===0){this.lastTimestamp=r;return}let i=r-this.lastTimestamp;this.lastTimestamp=r;let a=this.ekfAttitude.update(i,n,this.gyroscopeEvent.values);if(a){let t=new s(a,r,e.DEFAULT_DRIFT);this.notify(t)}}},R=new class e extends y{static DEFAULT_DRIFT=(0,n.deg2rad)(5)/60;getName=()=>`RelativeAttitudeFromBrowser`;availability(){return i.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new A)}start(){let e=()=>window.addEventListener(`deviceorientation`,this.onDeviceOrientationEvent,!0),t=DeviceOrientationEvent.requestPermission||void 0;t?t().then(t=>{if(t!==`granted`)throw Error(`Permission not granted`);e()}).catch(e=>this.notifyError(e)):e()}stop(){window.removeEventListener(`deviceorientation`,this.onDeviceOrientationEvent,!0)}onDeviceOrientationEvent=t=>{if(typeof t.alpha!=`number`||typeof t.beta!=`number`||typeof t.gamma!=`number`){this.notifyError(new j().from(`deviceorientation`));return}let r=new s(n.Rotations.eulerToQuaternionZXYDegrees([t.alpha,t.beta,t.gamma]),t.timeStamp/1e3,e.DEFAULT_DRIFT);this.notify(r)}},z=new class e extends y{static THRESHOLD=10;static DELAY_CONSIDERATION=3;gyroscopeProviderId;getName=()=>`HighRotationsProvider`;availability=()=>L.getAvailability();start(){this.gyroscopeProviderId=L.addEventListener(this._parseGyroscopeEvent,this.notifyError)}stop(){L.removeEventListener(this.gyroscopeProviderId)}isInProgress(){return!this.lastEvent||!L.lastEvent?!1:L.lastEvent.timestamp-this.lastEvent.timestamp<e.DELAY_CONSIDERATION}_parseGyroscopeEvent=t=>{let{values:r,timestamp:i}=t;n.Vector3.norm(r)>e.THRESHOLD&&this.notify({timestamp:i})}},B=new class e extends y{static DEFAULT_DRIFT=(0,n.deg2rad)(5)/60;_highRotationsProviderId;listenerId;provider;getName=()=>`RelativeAttitudeFromInertial`;availability(){return b.some([Ee.getAvailability(),R.getAvailability()])}start(){Ee.getAvailability().then(e=>{this.provider=e?R:Ee,this.listenerId=this.provider.addEventListener(e=>this._parseEvent(e),this.notifyError),this._highRotationsProviderId=z.addEventListener(null,this.notifyError)})}_parseEvent(t){let n=t.clone();if(z.isInProgress()){let t=(n.accuracy||0)+e.DEFAULT_DRIFT*100;t=Math.min(t,Math.PI),n.accuracy=t}this.notify(n)}stop(){this.provider&&(this.provider.removeEventListener(this.listenerId),delete this.provider),z.removeEventListener(this._highRotationsProviderId)}},De=class e{static MIN_TIME_BETWEEN_STEPS=.4;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=1;frequency=0;lastVerticalAcc=0;maxAcceleration=0;lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;compute(t,n){let r=!1,i=n[2],a=t-this.lastStepTimestamp;if(i>this.lastVerticalAcc)i>this.maxAcceleration&&(this.maxAcceleration=i);else if(this.maxAcceleration>e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&a>e.MIN_TIME_BETWEEN_STEPS){this.maxAcceleration=0;let n=t-this.lastStepTimestamp;this.frequency=Math.min(Math.max(1/n,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),r=!0,this.lastStepTimestamp=t}else this.maxAcceleration=0;return this.lastVerticalAcc=i,r}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepTimestamp?this.lastStepSize*this.frequency:0}},Oe=class e{static WINDOW_TIME=.3;static MIN_TIME_BETWEEN_STEPS=.4;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=1.5;static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD=-1;frequency=0;lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;slidingWindow=[];compute(t,n){if(this.lastStepTimestamp&&this.lastStepTimestamp+e.MIN_TIME_BETWEEN_STEPS>t)return!1;let r=-(2**53-1),i=2**53-1,a=e.WINDOW_TIME;if(this.slidingWindow.forEach((e,n,o)=>{e.timestamp<t-a?o.splice(n,1):(r=Math.max(e.verticalAcc,r),i=Math.min(e.verticalAcc,i))}),this.slidingWindow.push({timestamp:t,verticalAcc:n[2]}),r>e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&i<e.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){let n=this.lastStepTimestamp?t-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/n,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),this.lastStepTimestamp=t,!0}return!1}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepTimestamp?this.lastStepSize*this.frequency:0}},ke=class e{static WINDOW_TIME=.3;static MIN_TIME_BETWEEN_STEPS=.4;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=.75;static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD=-.3;frequency=0;influence=.2;slidingWindow=[];lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;previousVerticalAcc=0;compute(t,n,r){let i=this.influence*(n[2]*2)+(1-this.influence)*this.previousVerticalAcc;if(this.previousVerticalAcc=i,Math.sqrt(r[0]**2+r[1]**2+r[2]**2)>.75||this.lastStepTimestamp&&this.lastStepTimestamp+e.MIN_TIME_BETWEEN_STEPS>t)return!1;let a=-(2**53-1),o=2**53-1;if(this.slidingWindow.forEach((n,r,i)=>{n.timestamp<t-e.WINDOW_TIME?i.splice(r,1):(a=Math.max(n.verticalAcc,a),o=Math.min(n.verticalAcc,o))}),this.slidingWindow.push({timestamp:t,verticalAcc:i}),a>e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&o<e.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){let n=this.lastStepTimestamp?t-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/n,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),this.lastStepTimestamp=t,!0}return!1}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepSize&&this.frequency?this.lastStepSize*this.frequency:0}mean(e){let t=0,n=0;for(let n=0;n<e.length;++n)t+=e[n].verticalAcc;return n=t/e.length,n}stddev(e){let t=this.mean(e),n=0;for(let r=0;r<e.length;++r)n+=(e[r].verticalAcc-t)**2;return Math.sqrt(n/e.length)}},Ae=class e{static WINDOW_TIME=.6;static MIN_TIME_BETWEEN_STEPS=.6;static MAX_FRENQUENCY=4;static MIN_FRENQUENCY=1;static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD=.2;static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD=-.1;frequency=0;influence=.05;slidingWindow=[];lastStepTimestamp=-e.MIN_TIME_BETWEEN_STEPS;previousVerticalAcc=0;previousHorizontalAcc=0;compute(t,n){let r=this.influence*n[2]+(1-this.influence)*this.previousVerticalAcc;if(this.previousVerticalAcc=r,this.slidingWindow=this.slidingWindow.filter(n=>n.timestamp>=t-e.WINDOW_TIME),this.slidingWindow.push({timestamp:t,verticalAcc:r}),this.lastStepTimestamp&&this.lastStepTimestamp+e.MIN_TIME_BETWEEN_STEPS>t)return!1;let i=Number.MIN_VALUE,a=-1,o=!1;if(this.slidingWindow.forEach((t,n)=>{t.verticalAcc>i&&t.verticalAcc>=e.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&(i=t.verticalAcc,a=n,o=!0)}),!o)return!1;let s=!1,c=Number.MAX_VALUE;for(let t=0;t<a;t++){let n=this.slidingWindow[t].verticalAcc;if(c=Math.min(c,n),n<e.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){s=!0;break}}if(!s)return!1;let l=i-c,u=i-.5*l,d=!1;for(let e=a+1;e<this.slidingWindow.length;e++)if(this.slidingWindow[e].verticalAcc<=u){d=!0;break}if(!d)return!1;let f=this.lastStepTimestamp?t-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/f,e.MIN_FRENQUENCY),e.MAX_FRENQUENCY),this.lastStepTimestamp=t,!0}get lastStepSize(){return this.frequency?.45+.2*this.frequency:0}get speed(){return this.lastStepSize&&this.frequency?this.lastStepSize*this.frequency:0}mean(e){let t=0,n=0;for(let n=0;n<e.length;++n)t+=e[n];return n=t/e.length,n}stddev(e){let t=this.mean(e),n=0;for(let r=0;r<e.length;++r)n+=(e[r]-t)**2;return Math.sqrt(n/e.length)}},V=new class e extends y{static DEFAULT_STEP_SIZE_MULTIPLIER=1;static DEFAULT_ALGORITHM=`minMaxPeaks3`;accelerometerProviderId;attitudeProviderId;gyroscopeProviderId;angularRateEvent;attitudeEvent;numOfSteps=0;stepDetector;_stepSizeMultiplier=e.DEFAULT_STEP_SIZE_MULTIPLIER;_algorithm=e.DEFAULT_ALGORITHM;_accValues=[];constructor(){super(),this.algorithm=this._algorithm}getName=()=>`StepDetector`;availability(){return b.every([I.getAvailability(),L.getAvailability(),B.getAvailability()])}start(){this.numOfSteps=0,this.accelerometerProviderId=I.addEventListener(this.onAccelerometerEvent,this.notifyError),this.gyroscopeProviderId=L.addEventListener(e=>this.angularRateEvent=e,this.notifyError),this.attitudeProviderId=B.addEventListener(e=>this.attitudeEvent=e,this.notifyError)}stop(){I.removeEventListener(this.accelerometerProviderId),L.removeEventListener(this.gyroscopeProviderId),B.removeEventListener(this.attitudeProviderId)}onAccelerometerEvent=t=>{if(!this.attitudeEvent||!this.angularRateEvent)return;let{values:n,timestamp:r}=t,i=e.computeLinearAcceleration(this.attitudeEvent.quaternion,n);if(this.stepDetector.compute(r,i,this.angularRateEvent.values)){let e=this.stepDetector.lastStepSize*this._stepSizeMultiplier;this.numOfSteps++,this.notify({size:e,number:this.numOfSteps})}};static computeLinearAcceleration(e,r){let i=n.Quaternion.rotateMatlab(n.Quaternion.inverse(e),r);return i[2]-=t.Constants.EARTH_GRAVITY,i}set stepSizeMultiplier(e){this._stepSizeMultiplier=e}get stepSizeMultiplier(){return this._stepSizeMultiplier}set algorithm(e){switch(e){case`ladetto`:this.stepDetector=new De;break;case`minMaxPeaks`:this.stepDetector=new Oe;break;case`minMaxPeaks2`:this.stepDetector=new ke;break;default:e=`minMaxPeaks3`,this.stepDetector=new Ae;break}this._algorithm=e}get algorithm(){return this._algorithm}},je=new class extends y{absoluteAttitudeProviderId;stepDetectionProviderId;attitudeEvent;misalignmentError=(0,n.deg2rad)(3);getName=()=>`Pdr`;availability(){return b.every([V.getAvailability(),X.getAvailability()])}start(){this.stepDetectionProviderId=V.addEventListener(this.onStepEvent,this.notifyError),this.absoluteAttitudeProviderId=X.addEventListener(e=>this.attitudeEvent=e,this.notifyError)}stop(){V.removeEventListener(this.stepDetectionProviderId),X.removeEventListener(this.absoluteAttitudeProviderId)}onStepEvent=e=>{if(!this.attitudeEvent)return;let n=e.size,r=this.attitudeEvent,i=r.heading,a=r.accuracy+this.misalignmentError,o=n/2*Math.sin(a/2),s=r.time,c=new t.GeoRelativePosition(n*Math.sin(i),n*Math.cos(i),0,s,o,i);this.notify(c)}},H=new class extends y{providerId;geoRelativeProvider;getName=()=>`GeoRelativePosition`;availability(){return b.some([je.getAvailability(),be.getAvailability()])}async start(){let e=await be.getAvailability();this.geoRelativeProvider=e?je:be,this.providerId=this.geoRelativeProvider.addEventListener(this.notify,this.notifyError)}stop(){this.geoRelativeProvider?.removeEventListener(this.providerId),delete this.geoRelativeProvider}},Me={name:`@wemap/providers`,version:`14.7.1`,description:`Sensor, positioning and VPS providers for the Wemap SDK.`,license:`UNLICENSED`,author:`Wemap SAS`,homepage:`https://github.com/wemap/wemap-sdk-js#readme`,repository:{type:`git`,url:`git+https://github.com/wemap/wemap-sdk-js.git`,directory:`packages/providers`},bugs:{url:`https://github.com/wemap/wemap-sdk-js/issues`},keywords:[`wemap`,`sdk`,`providers`,`vps`],type:`module`,publishConfig:{access:`public`},main:`./dist/index.js`,types:`./dist/index.d.ts`,exports:{".":{import:`./dist/index.js`,types:`./dist/index.d.ts`}},sideEffects:!1,files:[`dist`],dependencies:{"@wemap/camera":`14.7.1`,"@wemap/core":`14.7.1`,"@wemap/geo":`14.7.1`,"@wemap/maths":`14.7.1`,"@wemap/osm":`14.7.1`,"@wemap/routers":`14.7.1`,"@wemap/utils":`14.7.1`},devDependencies:{"@wemap/logger-legacy":`^13.3.0`,geomag:`^1.0.0`}},Ne=new class extends y{providerId;getName=()=>`InclinationFromAcc`;availability=()=>I.getAvailability();start(){this.providerId=I.addEventListener(this.onAccelerometerEvent,this.notifyError)}stop(){I.removeEventListener(this.providerId)}onAccelerometerEvent=e=>{let t=e.values,n=window.orientation||0,r=Math.sqrt(t[0]*t[0]+t[1]*t[1]+t[2]*t[2]),i=[t[0]/r,t[1]/r,t[2]/r],a=[i[2]+1,i[1],-i[0],0],o=Math.sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]),s=[a[0]/o,a[1]/o,a[2]/o,0],c;c=n===0?Math.asin(2*s[1]*s[0]):n===90?-Math.asin(2*s[2]*s[0]):n===-90?Math.asin(2*s[2]*s[0]):-Math.asin(2*s[1]*s[0]),this.notify(c)}},U=new class extends y{providerId;getName=()=>`InclinationFromRelativeAttitude`;availability=()=>B.getAvailability();start(){this.providerId=B.addEventListener(e=>{let t=this.enuQuatToInclination(e.quaternion);this.notify(t)},this.notifyError)}stop(){B.removeEventListener(this.providerId)}enuQuatToInclination(e){let t=window.orientation||0;return t===0?Math.asin(2*(e[2]*e[3]+e[1]*e[0])):t===90?Math.asin(2*(e[1]*e[3]-e[2]*e[0])):t===-90?Math.asin(2*(e[2]*e[0]-e[1]*e[3])):-Math.asin(2*(e[2]*e[3]+e[1]*e[0]))}},W=new class extends y{provider;providerId;getName=()=>`Inclination`;availability(){return b.some([Ne.getAvailability(),U.getAvailability()])}async start(){let e=()=>{this.provider=Ne,this.providerId=this.provider.addEventListener(this.notify,this.notifyError)};await U.getAvailability()?(this.provider=U,this.providerId=this.provider.addEventListener(this.notify,()=>{U.removeEventListener(this.providerId),e()})):e()}stop(){this.provider&&this.provider.removeEventListener(this.providerId)}},Pe=class e{size;calibration;coarse;device;constructor(e,t=null,n=null,r=null){this.size=e,this.calibration=t,this.coarse=n,this.device=r}toJson(){return{size:[this.size.width,this.size.height],...this.calibration&&{calibration:this.calibration},...this.coarse&&{coarse:{...this.coarse.attitude&&{attitude:this.coarse.attitude.toJson()},...this.coarse.position&&{position:this.coarse.position.toJson()}}},...this.device!==null&&{device:this.device}}}static fromJson(n){return new e({width:n.size[0],height:n.size[1]},n.calibration,{...n.coarse?.position&&{position:t.UserPosition.fromJson(n.coarse.position)},...n.coarse?.attitude&&{attitude:t.Attitude.fromJson(n.coarse.attitude)}},n.device)}},Fe=class e{metadata;image;imageQuality;localPose;constructor(e,t,n=.8,r=null){this.metadata=e,this.image=t,this.imageQuality=n,this.localPose=r}toJson(){return{image:(0,a.canvasToBase64)(this.image,`image/jpeg`,this.imageQuality),...this.localPose&&{local_pose:this.localPose},...this.metadata.toJson()}}static fromJson(t){return new e(Pe.fromJson(t),(0,a.base64ToCanvas)(t.image))}toFormData(){let e=this.image.toDataURL(`image/jpeg`,this.imageQuality).split(`,`)[1]||``,t=atob(e),n=new Uint8Array(t.length);for(let e=0;e<t.length;e++)n[e]=t.charCodeAt(e);let r=new FormData;r.append(`image`,new Blob([n],{type:`image/jpeg`}),`image.jpg`);let i=this.metadata.toJson();return i.calibration&&r.append(`calibration`,JSON.stringify(i.calibration)),i.coarse&&r.append(`coarse`,JSON.stringify(i.coarse)),i.device&&r.append(`device`,JSON.stringify(i.device)),this.localPose&&r.append(`local_pose`,JSON.stringify(this.localPose)),r}},Ie=class e{success;attitude;position;constructor(e,t=null,n=null){this.success=e,this.attitude=t,this.position=n}toJson(){return{success:this.success,attitude:this.attitude?.toJson(),position:this.position?.toJson()}}static fromJson(n,r=null){let i=null;n.attitude&&(i=t.Attitude.fromJson(n.attitude),i.time=r);let a=null;return n.position&&(a=t.UserPosition.fromJson(n.position),a.time=r),new e(n.success,i,a)}},Le=class{static REQUEST_TIMEOUT_MS=2e4;static _prepareRequest(e,t=null,n=null,r=null,o=null){let s=(0,a.reduceImageSize)(e,720,720),c=i.UserAgentUtils.getDeviceFromUserAgent()||{};return r&&(c.session_id=r.session_id,c.installation_id=r.installation_id,c.attempt_id=r.attempt_id,c.caller=r.caller),new Fe(new Pe({width:s.width,height:s.height},t,n,c),s,.8,o)}static async relocalize(e,t,n=null,r=null,a=null,o=null,s=null){let c=i.TimeUtils.preciseTime()/1e3,l=this._prepareRequest(t,n,r,a,o),u;try{let t=l.toFormData();u=await fetch(e,{method:`POST`,body:t,signal:AbortSignal.timeout(this.REQUEST_TIMEOUT_MS),headers:Object.assign({Accept:`application/vnd.geopose+json; version=1`},s||{})})}catch{return g.debug(`[VPS] Server respond error`),null}if(u.status!==200)return g.debug(`[VPS] Server respond error`),null;let d=await u.json(),f=Ie.fromJson(d,c);return g.debug(`[VPS] Server respond ${f.success?`success`:`not found`}`),f}static getHeadingFromQuaternion(e){let[t,n,r,i]=e,a=Math.sqrt(2)/2,o=[a*(t-n),a*(t+n),a*(r+i),a*(i-r)];return-Math.atan2(2*o[3]*o[0]-2*o[2]*o[1],1-2*o[1]**2-2*o[3]**2)}},G=new class extends y{arCoreMonitoringId;arCoreProviderId;inertialProviderId;getName=()=>`RelativeAttitude`;availability=()=>B.getAvailability();start(){this.arCoreMonitoringId=P.addMonitoringListener(()=>{this.listenArCore(),this.unlistenInertial()},()=>{this.unlistenArCore(),this.listenInertial()}),P.state===`started`?this.listenArCore():this.listenInertial()}stop(){P.removeMonitoringListener(this.arCoreMonitoringId),this.unlistenArCore(),this.unlistenInertial()}listenInertial=()=>{this.inertialProviderId=B.addEventListener(this.notify,this.notifyError)};unlistenInertial=()=>{B.removeEventListener(this.inertialProviderId)};listenArCore=()=>{this.arCoreProviderId=P.addEventListener(e=>this.notify(e.relativeAttitude),null,!1)};unlistenArCore=()=>{P.removeEventListener(this.arCoreProviderId)}},Re=class{_providerId;_isRunning=!1;_dataOnStart=null;tickStart(){this._dataOnStart=null,!this._isRunning&&(this._isRunning=!0,this._providerId=R.addEventListener(e=>{this._dataOnStart||=e}))}tickEnd(){if(!this._isRunning)return g.warn(`You have to call tickStart before tickEnd`),null;if(this._internalStop(),!this._dataOnStart)return g.warn(`Delay was too short between tickStart and tickEnd or RelativeAttitudeProvider cannot be retrieved.`),null;let e=R.lastEvent;return t.Attitude.diff(this._dataOnStart,e)}_internalStop(){R.removeEventListener(this._providerId),delete this._providerId,this._isRunning=!1}release(){this._isRunning&&this._internalStop()}},ze=class e extends Error{static DEFAULT_MESSAGE=`PoleStar is missing`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},K=new class extends y{getName=()=>`PoleStar`;constructor(){super(),this.addMethodsToNativeJsProvider()}availability(){try{return this.nativeProvider.checkAvailability(),Promise.resolve()}catch(e){return Promise.resolve(e)}}setApiKey(e){this.nativeProvider.setApiKey(e)}start(){this.nativeProvider.start()}stop(){this.nativeProvider.stop()}get nativeProvider(){if(!this.nativeInterface)throw new ye;let e=this.nativeInterface.getPoleStarProvider();if(!e)throw new ze;return e}addMethodsToNativeJsProvider(){this.nativeJsInterface&&(this.nativeJsInterface.polestar={callbackError:e=>this.notifyError(Error(e)),callbackPosition:e=>{let t=JSON.parse(e),r=i.TimeUtils.unixTimestampToPreciseTime(t.time)/1e3,a=new o(t.lat,t.lng,_e.DEFAULT_ALTITUDE,t.alt/5,r,t.accuracy,(0,n.deg2rad)(t.bearing));this.notify(a)}})}},q=new class e extends y{static MIN_TIME_BETWEEN_TWO_REQUESTS=1e3;static DEFAULT_MAX_SCAN_DURATION=12e4;static DEFAULT_MIN_INCLINATION_FOR_REQUEST=(0,n.deg2rad)(60);static DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST=200;static DEFAULT_USE_COARSE_POSE=!0;static DEFAULT_REQUEST_CALLER=`@wemap/providers(VpsProvider) ${Me.version}`;static CAMERA_TO_SMARTPHONE_ROT=n.Quaternion.fromAxisAngle([1,0,0],Math.PI);static ENU_TO_ARCORE_ROT=n.Quaternion.fromAxisAngle([1,0,0],-Math.PI/2);static _scanFailureCallbackUniqueId=0;_relativeRotationCalc;_serverError=!1;_cameraError=!1;_camera=null;_endpoint=null;_inclinationProviderId;_maxScanDuration=e.DEFAULT_MAX_SCAN_DURATION;_minInclinationForRequest=e.DEFAULT_MIN_INCLINATION_FOR_REQUEST;_waitTimeMinInclinationForRequest=e.DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST;_useCoarsePose=e.DEFAULT_USE_COARSE_POSE;_requestCaller=e.DEFAULT_REQUEST_CALLER;_sessionId;_loopId=0;_attemptIdCounter=0;_currentAttemptId=null;_scanFailureCallbacks=[];constructor(){super(),this._sessionId=this._generateUuid()}getName=()=>`Vps`;availability=()=>a.Camera.checkAvailability();start(){this._inclinationProviderId=W.addEventListener(),this._relativeRotationCalc=new Re,a.SharedCameras.on(`added`,this._onCameraDetected),a.SharedCameras.on(`removed`,this._onCameraRemoved),a.SharedCameras.list.length&&(a.SharedCameras.list.length>1&&g.warn(`It seems that more than 1 camera has been detected for VPS. Taking the first...`),this._useCamera(a.SharedCameras.list[0].camera))}stop(){W.removeEventListener(this._inclinationProviderId),this._relativeRotationCalc?.release(),a.SharedCameras.off(`added`,this._onCameraDetected),a.SharedCameras.off(`removed`,this._onCameraRemoved),this._camera?.off(`started`,this._internalStart),this._camera?.off(`stopped`,this._internalStop),this._camera=null}_onCameraDetected=({camera:e})=>{this._camera&&g.warn(`It seems that more than 1 camera has been detected for VPS. Taking the first...`),this._useCamera(e)};_onCameraRemoved=()=>{this._camera?(this._camera.off(`started`,this._internalStart),this._camera.off(`stopped`,this._internalStop)):g.warn(`There is no previously detected camera but once has stopped`),this._camera=null};_useCamera(e){this._camera=e,e.on(`started`,this._internalStart),e.on(`stopped`,this._internalStop),e.state===`started`&&this._internalStart()}_internalStart=async()=>{if(!this._endpoint){this.notifyError(Error(`VPS endpoint has not been set before calling start()`));return}let r=null,a=++this._loopId,o=()=>this.state===`stopped`||a!==this._loopId,s=this._maxScanDuration>0?i.TimeUtils.preciseTime()+this._maxScanDuration:null;for(;!o();){if(r!==null){let t=i.TimeUtils.preciseTime()-r,n=Math.max(0,e.MIN_TIME_BETWEEN_TWO_REQUESTS-t);await new Promise(e=>setTimeout(e,n))}if(r=i.TimeUtils.preciseTime(),o()||!this._camera||this._camera.state!==`started`)break;if(s!==null&&i.TimeUtils.preciseTime()>s){this.notifyError(Error(`VPS scan gave up after ${this._maxScanDuration} ms without a match`));break}let a=W.lastEvent?W.lastEvent:null;if(a!==null&&a<this._minInclinationForRequest){await new Promise(e=>setTimeout(e,this._waitTimeMinInclinationForRequest));continue}if(typeof document<`u`&&document.hidden){await new Promise(e=>setTimeout(e,this._waitTimeMinInclinationForRequest));continue}this._relativeRotationCalc?.tickStart();let l=await this._camera.currentImage;if(!l)continue;let u=null,d=J.getBestPositionEvent(N.lastEvent,K.lastEvent);this._useCoarsePose&&(d||X.lastEvent)&&(u={...d&&{position:d},...X.lastEvent&&{attitude:X.lastEvent}}),this._currentAttemptId===null&&(this._attemptIdCounter+=1,this._currentAttemptId=this._attemptIdCounter);let f=G.lastEvent,p=H.lastEvent,m=f&&p?{position:n.Quaternion.rotate(e.ENU_TO_ARCORE_ROT,[p.x,p.y,p.z]),orientation:n.Quaternion.multiply(e.ENU_TO_ARCORE_ROT,f.quaternion)}:null,h=await Le.relocalize(this._endpoint,l,null,u,{session_id:this._sessionId,installation_id:null,...this._currentAttemptId!==null&&{attempt_id:this._currentAttemptId},caller:this._requestCaller},m);if(!h||!h.success){this._scanFailureCallbacks.forEach(({id:e,callback:t})=>t({listenerId:e,sessionId:this._sessionId,attemptId:this._currentAttemptId}));continue}this._currentAttemptId=null;let g=h.attitude.quaternion,_=n.Quaternion.multiply(g,e.CAMERA_TO_SMARTPHONE_ROT),v=n.Quaternion.multiply(n.Quaternion.fromAxisAngle([0,0,1],(0,n.deg2rad)(window.orientation||0)),_),y=this._relativeRotationCalc?.tickEnd()||new t.Attitude([1,0,0,0]),b=new c(n.Quaternion.multiply(v,y.quaternion),h.attitude.time,h.attitude.accuracy),ee=h.position.clone();if(ee.accuracy===null&&(ee.accuracy=5),o())break;this.notify({absoluteAttitude:b,absolutePosition:ee})}};_internalStop=()=>{};_generateUuid(){return typeof crypto<`u`&&typeof crypto.randomUUID==`function`?crypto.randomUUID():`xxxxxxxx-xxxx-4xxx-yxxx-xxxxxxxxxxxx`.replace(/[xy]/g,e=>{let t=Math.random()*16|0;return(e===`x`?t:t&3|8).toString(16)})}addScanFailureListener(t){let n=++e._scanFailureCallbackUniqueId;return this._scanFailureCallbacks.push({id:n,callback:t}),n}removeScanFailureListener(e){this._scanFailureCallbacks=this._scanFailureCallbacks.filter(({id:t})=>t!==e)}resetCurrentAttempt(){this._currentAttemptId=null}get endpoint(){return this._endpoint}set endpoint(e){this._endpoint=e}get maxScanDuration(){return this._maxScanDuration}set maxScanDuration(e){this._maxScanDuration=e}get minInclinationForRequest(){return this._minInclinationForRequest}set minInclinationForRequest(e){this._minInclinationForRequest=e}get waitTimeMinInclinationForRequest(){return this._waitTimeMinInclinationForRequest}set waitTimeMinInclinationForRequest(e){this._waitTimeMinInclinationForRequest=e}get useCoarsePose(){return this._useCoarsePose}set useCoarsePose(e){this._useCoarsePose=e}get requestCaller(){return this._requestCaller}set requestCaller(e){this._requestCaller=e}},J=new class e extends y{static ACCURACY_RELOC_RATIO=1;static USE_MM_FOR_FEED=!0;_polestarProviderId;_vpsProviderId;_gnssWifiProviderId;_relativePositionProviderId;_mapMatchingHandlerId;useAllAbsolutePositions=!1;_waitUntilNextVpsPosition=!1;_lastPolestarFix=null;ignoreGnssWifi=!1;_lastKnownLevel=null;getName=()=>`AbsolutePosition`;_adaptBeforeNotify(e){return e.level===null?e.level=this._lastKnownLevel:this._lastKnownLevel=e.level,e}availability(){return b.some([H.getAvailability(),N.getAvailability(),...l.hasPoleStar?[K.getAvailability()]:[],q.getAvailability()])}start(){H.getAvailability().then(e=>{e||(this._relativePositionProviderId=H.addEventListener(e=>this._onRelativePosition(e)))}),this._gnssWifiProviderId=N.addEventListener(e=>{if(this.ignoreGnssWifi)return;let t=e.clone();t.bearing=null,this._onAbsolutePosition(t,`gnss-wifi`,!1)}),this._vpsProviderId=q.addEventListener(e=>this._onAbsolutePosition(e.absolutePosition,`vps`),this.notifyError,!1),l.hasPoleStar&&(this._polestarProviderId=K.addEventListener(e=>{if(this._lastPolestarFix=i.TimeUtils.preciseTime(),!this._onAbsolutePosition(e,`polestar`)&&this.lastEvent?.level===null){let t=this.lastEvent.clone();t.level=e.level,this.notify(t)}})),this._mapMatchingHandlerId=$.addEventListener()}stop(){this._relativePositionProviderId&&(H.removeEventListener(this._relativePositionProviderId),delete this._relativePositionProviderId),this._gnssWifiProviderId&&(N.removeEventListener(this._gnssWifiProviderId),delete this._gnssWifiProviderId),this._vpsProviderId&&(q.removeEventListener(this._vpsProviderId),delete this._vpsProviderId),this._polestarProviderId&&(K.removeEventListener(this._polestarProviderId),delete this._polestarProviderId),$.removeEventListener(this._mapMatchingHandlerId)}_shouldTakeIntoAccountNewAbsolutePosition(n,r=!0){let i=n,a=this.lastEvent||null;if(!a)return!0;let o=i.accuracy*e.ACCURACY_RELOC_RATIO<=a.accuracy;if(o)return!0;let s=a.distanceTo(i)>a.accuracy+i.accuracy;if(s)return!0;let c=s&&i.accuracy<=a.accuracy;return!!(o&&c||r&&!t.Level.equals(i.level,a.level))}_onAbsolutePosition(e,t,n=!0){if(!this._shouldTakeIntoAccountNewAbsolutePosition(e,n)&&!this.useAllAbsolutePositions)return!1;let r=o.fromUserPosition(e,t),i=this.lastEvent?this.lastEvent:null;return i&&(n||(r.level=i.level),r.bearing===null&&(r.bearing=i.bearing)),$.canUseMapMatching()?$.notifyPositionFromAbsolute(r):(this.notify(r),!0)}_onRelativePosition(e){if(!this.lastEvent||this._waitUntilNextVpsPosition)return!1;let t=this.lastEvent,n=e,r=Math.sqrt(n.x**2+n.y**2),i=Math.atan2(n.x,n.y),a=t.alt===null?null:n.z,s=t.destinationPoint(r,i,a);s.bearing=n.bearing,s.time=n.time,s.accuracy+=n.accuracy;let c=o.fromUserPosition(s,`relative`);return $.canUseMapMatching()?$.notifyPositionFromRelative(c):(this.notify(c),!0)}feed(n){let r;if(n instanceof t.UserPosition){if(n.time===null)throw Error(`the time of the position is not defined`);if(n.accuracy===null)throw Error(`the accuracy of the position is not defined`);r=o.fromUserPosition(n,n.source??`feed`)}else throw Error(`data is nor an UserPosition or an AbsolutePositionEvent`);if(!e.USE_MM_FOR_FEED||!$.canUseMapMatching()){this.notify(r);return}$.notifyPositionFromFeed(r)}getBestPositionEvent(...e){return e.reduce((e,t)=>{if(!e)return t;if(!t||t.accuracy===null||t.time===null)return e;let{accuracy:n,time:r}=t,{accuracy:i,time:a}=e;return n<i+1.3888*(r-a)?t:e},null)}},Y=new class e extends y{DEFAULT_ACCURACY=(0,n.deg2rad)(15);absolutePositionProviderId;absolutePositionEvent;declinationQuaternion;magQuaternion;magQuaternionTimestamp;iosPreviousQuat;iosIsSkyMode=null;getName=()=>`AbsoluteAttitudeFromBrowser`;availability(){return i.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new A)}start(){let e=()=>{switch(i.BrowserUtils.getName()){case i.Browser.CHROME:window.addEventListener(`deviceorientationabsolute`,this.onDeviceOrientationChromeEvent,!0);break;case i.Browser.SAFARI:case i.Browser.IOS_WEBVIEW:window.addEventListener(`deviceorientation`,this.onDeviceOrientationSafariEvent,!0);break}},t=DeviceOrientationEvent.requestPermission||void 0;t?t().then(t=>{if(t!==`granted`)throw Error(`Permission not granted`);e()}).catch(this.notifyError):e();let n=J.lastEvent;n?this.onAbsolutePositionEvent(n):this.absolutePositionProviderId=J.addEventListener(this.onAbsolutePositionEvent,this.notifyError,!1)}stop(){switch(i.BrowserUtils.getName()){case i.Browser.CHROME:window.removeEventListener(`deviceorientationabsolute`,this.onDeviceOrientationChromeEvent,!0);break;case i.Browser.SAFARI:case i.Browser.IOS_WEBVIEW:window.removeEventListener(`deviceorientation`,this.onDeviceOrientationSafariEvent,!0);break}J.removeEventListener(this.absolutePositionProviderId)}onDeviceOrientationChromeEvent=e=>{if(this.magQuaternionTimestamp=e.timeStamp/1e3,typeof e.alpha!=`number`||typeof e.beta!=`number`||typeof e.gamma!=`number`){this.notifyError(new j().from(`deviceorientationabsolute`));return}this.magQuaternion=n.Rotations.eulerToQuaternionZXYDegrees([e.alpha,e.beta,e.gamma]),this.compute()};onDeviceOrientationSafariEvent=t=>{if(this.magQuaternionTimestamp=t.timeStamp/1e3,typeof t.beta!=`number`||typeof t.gamma!=`number`){this.notifyError(new j().from(`deviceorientation`));return}if(typeof t.webkitCompassHeading!=`number`){this.notifyError(new M().from(`deviceorientation`));return}let r,[i,a,o,s]=n.Rotations.eulerToQuaternionZXYDegrees([t.webkitCompassHeading,t.beta,t.gamma]),c=(0,n.rad2deg)(Math.acos(i**2-a**2-o**2+s**2)),l=null;c>136?l=!0:c<134?l=!1:this.iosPreviousQuat&&this.iosIsSkyMode!==null&&(l=n.Quaternion.distance([i,a,o,s],this.iosPreviousQuat)<.5?this.iosIsSkyMode:!this.iosIsSkyMode),this.iosPreviousQuat=[i,a,o,s],this.iosIsSkyMode=l,l!==void 0&&(r=l?180-t.webkitCompassHeading:e.webkitCompassToHeading(t.webkitCompassHeading,t.beta,t.gamma),this.magQuaternion=n.Rotations.eulerToQuaternionZXYDegrees([r,t.beta,t.gamma]),this.compute())};compute(){if(!this.declinationQuaternion||!this.magQuaternion||!this.absolutePositionEvent)return;let e=new c(n.Quaternion.multiply(this.declinationQuaternion,this.magQuaternion),this.magQuaternionTimestamp,this.DEFAULT_ACCURACY);this.notify(e)}onAbsolutePositionEvent=e=>{this.absolutePositionEvent=e;let t=pe(e.lat,e.lng);this.declinationQuaternion=n.Quaternion.fromAxisAngle([0,0,1],-(0,n.deg2rad)(t.declination)),J.removeEventListener(this.absolutePositionProviderId),delete this.absolutePositionProviderId,this.compute()};static webkitCompassToHeading(e,t,r){let i=(0,n.deg2rad)(e),a=(0,n.deg2rad)(t),o=(0,n.deg2rad)(r),s=Math.cos(i/2),c=Math.cos(a/2),l=Math.cos(o/2),u=Math.sin(i/2),d=Math.sin(a/2),f=Math.sin(o/2),p=s*c*l-u*d*f,m=u*c*l+s*d*f;return(0,n.rad2deg)(-2*Math.atan(m/p))}},X=new class e extends y{static REL_ABS_DIVERGENCE_ANGLE_THRESHOLD=(0,n.deg2rad)(25);static REL_ABS_DIVERGENCE_TIME_THRESHOLD=2.5;static REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD=(0,n.deg2rad)(15);_absAttitudeFromBrowser;_vpsProviderId;fromBrowserProviderId;highRotationProviderId;inclinationProviderId;relativeAttitudeProviderId;_attitudeFromBrowserErrored=!1;_attitudeFromRelativeErrored=!1;_relativeAttitude=null;_relativeAccuracy=0;_lastForcedHeadingEvent;_relAbsQuat;_wasHighRotationInProgress=!1;_timeFirstDivergence=null;_callbackMagCalibration;getName=()=>`AbsoluteAttitude`;availability(){return b.some([Y.getAvailability(),G.getAvailability()])}start(){this.fromBrowserProviderId=Y.addEventListener(this._onAttitudeFromBrowser,e=>{this._attitudeFromBrowserErrored=!0,this._onError(e)}),this._vpsProviderId=q.addEventListener(e=>this._onAttitudeFromVps(e.absoluteAttitude),e=>this.notifyError(e),!1),this.relativeAttitudeProviderId=G.addEventListener(this._onRelativeAttitudeEvent,e=>{this._attitudeFromRelativeErrored=!0,this._onError(e)}),this.inclinationProviderId=W.addEventListener(),this.highRotationProviderId=z.addEventListener()}stop(){Y.removeEventListener(this.fromBrowserProviderId),G.removeEventListener(this.relativeAttitudeProviderId),W.removeEventListener(this.inclinationProviderId),z.removeEventListener(this.highRotationProviderId),q.removeEventListener(this._vpsProviderId)}_setCallbackMagCalibration(e){this._callbackMagCalibration=e}_onError=e=>{this._attitudeFromBrowserErrored&&this._attitudeFromRelativeErrored&&this.notifyError(e)};_forceHeadingForRelative=e=>{if(this.lastEvent&&e.accuracy>this.lastEvent.accuracy)return;let t=t=>{let r=t.heading;this._relAbsQuat=n.Quaternion.fromAxisAngle([0,0,1],r-e.heading),this._relativeAccuracy=0,this._lastForcedHeadingEvent=e};if(this._relativeAttitude){t(this._relativeAttitude);return}let r=G.addEventListener(e=>{t(e),G.removeEventListener(r)})};_onRelativeAttitudeEvent=r=>{let{quaternion:i,accuracy:a,time:o}=r;if(this._relativeAttitude&&(this._relativeAccuracy+=(o-this._relativeAttitude.time)*a),this._relativeAttitude=r,!this._lastForcedHeadingEvent||!this._relAbsQuat)return;let s=Math.min((this._lastForcedHeadingEvent.accuracy||0)+this._relativeAccuracy,Math.PI),l=z.isInProgress(),u=!1;if(this._absAttitudeFromBrowser){let{accuracy:r,heading:a}=this._absAttitudeFromBrowser;if(this._wasHighRotationInProgress&&!l)this._forceHeadingForRelative(this._absAttitudeFromBrowser);else if(r<s){let r=new t.Attitude(n.Quaternion.multiply(this._relAbsQuat,i)),s=Math.abs((0,n.diffAngle)(r.heading,a)),c=W.lastEvent;s>e.REL_ABS_DIVERGENCE_ANGLE_THRESHOLD&&c!==null&&Math.abs(c-Math.PI/4)>e.REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD&&(u=!0,this._timeFirstDivergence!==null&&o-this._timeFirstDivergence>e.REL_ABS_DIVERGENCE_TIME_THRESHOLD?(this._forceHeadingForRelative(this._absAttitudeFromBrowser),this._callbackMagCalibration?.({angle:s}),this._timeFirstDivergence=null):this._timeFirstDivergence===null&&(this._timeFirstDivergence=o))}}u||(this._timeFirstDivergence=null),this._wasHighRotationInProgress=l;let d=new c(n.Quaternion.multiply(this._relAbsQuat,i),o,s);this.notify(d)};_onAttitudeFromBrowser=e=>{if(this._absAttitudeFromBrowser=e,!this._lastForcedHeadingEvent){this._forceHeadingForRelative(e);return}};_onAttitudeFromVps=e=>{this._forceHeadingForRelative(e)};feed(e){if(e instanceof t.AbsoluteHeading){if(e.time===null)throw Error(`the time of the absolute heading is not defined`);if(e.accuracy===null)throw Error(`the accuracy of the absolute heading is not defined`);this._forceHeadingForRelative(e)}else if(e instanceof c){if(e.time===null)throw Error(`the time of the attitude is not defined`);if(e.accuracy===null)throw Error(`the accuracy of the attitude is not defined`);this._forceHeadingForRelative(e)}else throw Error(`data is nor an AbsoluteHeading or an Attitude object`)}},Z=new class e extends y{static SLIDING_WINDOW_TIME=.3;static STD_THRESHOLD=.075;static CONSIDER_TURN_UNTIL=1;providerId;slidingWindow=[];getName=()=>`Turn`;availability=()=>G.getAvailability();start(){this.providerId=G.addEventListener(this._parseRelativeAttitude,this.notifyError)}stop(){G.removeEventListener(this.providerId)}isTurning(){return!this.lastEvent||!G.lastEvent?!1:G.lastEvent.time-this.lastEvent.timestamp<e.CONSIDER_TURN_UNTIL}_parseRelativeAttitude=t=>{let{heading:r}=t,i=t.time;this.slidingWindow=this.slidingWindow.filter(t=>t[0]>=i-e.SLIDING_WINDOW_TIME),this.slidingWindow.push([i,r]),(0,n.std)(this.slidingWindow.map(e=>e[1]))>e.STD_THRESHOLD&&this.notify({timestamp:i})}},Q=new class e extends y{static DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE=2;_turnProviderId;_stepProviderId;_countSteps=0;_stepsConsideredForStraightLine=e.DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE;getName=()=>`StraightLine`;availability(){return b.every([Z.getAvailability(),V.getAvailability()])}start(){this._turnProviderId=Z.addEventListener(this._onTurn),this._stepProviderId=V.addEventListener(this._onStep)}stop(){Z.removeEventListener(this._turnProviderId),V.removeEventListener(this._stepProviderId)}_onTurn=()=>{this._countSteps>=this._stepsConsideredForStraightLine&&this.notify(!1),this._countSteps=0};_onStep=()=>{this._countSteps++,this._countSteps===this._stepsConsideredForStraightLine&&this.notify(!0)};isStraight(){return this._countSteps>=this._stepsConsideredForStraightLine}get numStepsDetectedFromLastTurn(){return this._countSteps}get stepsConsideredForStraightLine(){return this._stepsConsideredForStraightLine}set stepsConsideredForStraightLine(e){this._stepsConsideredForStraightLine=e}},$=new class e extends y{static DEFAULT_MM_MAX_ANGLE=(0,n.deg2rad)(30);static DEFAULT_MM_MAX_DIST=30;static DEFAULT_USE_ITINERARY_START_AS_POSITION=!1;static DEFAULT_USE_ORIENTATION_MATCHING=!1;static DEFAULT_MM_HUGE_JUMP_DISTANCE=3;static DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE=2;static DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING=3;static DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING=5;static DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE=3;static DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD=(0,n.deg2rad)(3);static DEFAULT_USE_STRICT=!1;_mapMatchingMaxDistance=e.DEFAULT_MM_MAX_DIST;_mapMatchingMaxAngleBearing=e.DEFAULT_MM_MAX_ANGLE;_useItineraryStartAsPosition=e.DEFAULT_USE_ITINERARY_START_AS_POSITION;_useOrientationMatching=e.DEFAULT_USE_ORIENTATION_MATCHING;_hugeJumpDistance=e.DEFAULT_MM_HUGE_JUMP_DISTANCE;_disableMMCloseToATurnDistance=e.DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE;_minStepsBetweenOrientationMatching=e.DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING;_minStepsForOrientationMatching=e.DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING;_lastProjectionsWindowSize=e.DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE;_lastProjectionsEdgeAngleThreshold=e.DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD;_useStrict=e.DEFAULT_USE_STRICT;_graph=null;_internalProvidersStarted=!1;_straightLineProviderId;_turnProviderId;_stepProviderId;_projectionsWithAbsAndWithoutRelAttitudeInARow=[];_countStepsFromLastMatching=0;_lastProjections=[];_itineraryInfoManager=null;getName=()=>`MapMatchingHandler`;availability=()=>Promise.resolve();start(){this.graph&&this._startInternalProviders()}stop(){this._stopInternalProviders()}_manageStartStop=()=>{this.graph&&!this._internalProvidersStarted?this._startInternalProviders():!this.graph&&this._internalProvidersStarted&&this._stopInternalProviders()};_startInternalProviders(){this.enabled&&this._internalProvidersStarted||(this._straightLineProviderId=Q.addEventListener(),this._turnProviderId=Z.addEventListener(),this._stepProviderId=V.addEventListener(()=>this._countStepsFromLastMatching++),this._internalProvidersStarted=!0)}_stopInternalProviders(){this.enabled&&!this._internalProvidersStarted||(Q.removeEventListener(this._straightLineProviderId),Z.removeEventListener(this._turnProviderId),V.removeEventListener(this._stepProviderId),this._internalProvidersStarted=!1)}get enabled(){return l.useMapMatching}get graph(){return this._graph}set graph(e){this._graph=e,this._itineraryInfoManager=null,this.notify({...e&&{graph:e}}),this._manageStartStop(),this.canUseMapMatching()}set itinerary(e){this._graph=e?e.toGraph():null,this._itineraryInfoManager=new r.ItineraryInfoManager(e),this.notify({...e&&{itinerary:e}}),this._manageStartStop(),this.canUseMapMatching()&&e&&this._notifyPositionFromItineraryInput(e)}canUseMapMatching(){return this.enabled&&this.graph}_notifyPositionFromItineraryInput(e){if(!this._useItineraryStartAsPosition||!e.origin)return;let n=J.lastEvent||null,r=t.UserPosition.fromCoordinates(e.origin);if(n)r.alt=n.alt,r.time=n.time,r.accuracy=n.accuracy+r.distanceTo(n),r.bearing=n.bearing;else if(e.coords.length>=2)r.alt=_e.DEFAULT_ALTITUDE,r.time=i.TimeUtils.preciseTime(),r.accuracy=0,r.bearing=e.coords[0].bearingTo(e.coords[1]);else return;let a=this.getProjection(r,!0);a?J.notify(a.coords):J.notify(r)}notifyPositionFromFeed(e){let t=this.getProjection(e,!0,!1);if(this._useStrict&&t){J.notify(t.coords);return}if(!t){J.notify(e);return}J.notify(t.coords)}notifyPositionFromAbsolute(e){if(this._useStrict){let t=this.getProjection(e);if(t)return J.notify(t.coords),!0}let t=null;if(e.bearing!==null&&(t=this.getProjection(e,!0,!0)),!t)return J.notify(e),!0;let n=t.distanceFromNearestElement>this._hugeJumpDistance;return n&&!Q.isStraight()||n&&this._detectWrongBigJump(t)?!1:(J.notify(t.coords),this.tryOrientationMatching(t),!0)}notifyPositionFromRelative(e){let t=this.getProjection(e,!0,!0);if(this._useStrict&&t)return J.notify(t.coords),!0;if(Z.isTurning())return this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections=[],J.notify(e),!0;if(t){this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections.push(t),this._lastProjections.length>this._lastProjectionsWindowSize&&this._lastProjections.shift();let n=t.distanceFromNearestElement>this._hugeJumpDistance;return n&&!Q.isStraight()||n&&this._detectWrongBigJump(t)||!this._areLastProjectionsInTheSameDirection()||this._disableMMCloseToATurnDistance>0&&this._hasTurnInCircle(t.coords,this._disableMMCloseToATurnDistance)?(J.notify(e),!0):(J.notify(t.coords),this.tryOrientationMatching(t),!0)}if(Q.isStraight()){let t=e.clone();t.bearing=Y.lastEvent?.heading||null;let n=this.getProjection(t,!0,!0);if(n)return this._projectionsWithAbsAndWithoutRelAttitudeInARow.push(n),this._projectionsWithAbsAndWithoutRelAttitudeInARow.length<3||(this._lastProjections.push(n),this._lastProjections.length>this._lastProjectionsWindowSize&&this._lastProjections.shift(),!this._areLastProjectionsInTheSameDirection())?(J.notify(e),!0):(J.notify(n.coords),this.tryOrientationMatching(n),!0)}return this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections=[],J.notify(e),!0}_detectWrongBigJump(e){if(this._itineraryInfoManager&&J.lastEvent){let t=this._itineraryInfoManager.getInfo(J.lastEvent),n=this._itineraryInfoManager.getInfo(e.coords);if(t&&n&&t.traveledDistance>n.traveledDistance&&t.traveledDistance-n.traveledDistance>e.origin.accuracy&&e.distanceFromNearestElement>e.origin.accuracy&&e.origin.distanceTo(J.lastEvent)<e.origin.accuracy+J.lastEvent.accuracy)return!0}return!1}_areLastProjectionsInTheSameDirection(){if(this._lastProjections.length===0)return!1;let e=this._lastProjections[0];return!this._lastProjections.some(t=>!(t.nearestElement instanceof r.Edge)||!(e.nearestElement instanceof r.Edge)||(0,n.diffAngleLines)(t.nearestElement.bearing,e.nearestElement.bearing)>this._lastProjectionsEdgeAngleThreshold)}_nodeHasTurn(t){if(!this._graph)return;let r=this._graph.edges.filter(e=>e.vertex1===t||e.vertex2===t);for(let t=0;t<r.length;t++)for(let i=t+1;i<r.length;i++)if((0,n.diffAngleLines)(r[t].bearing,r[i].bearing)>e.DEFAULT_MM_MAX_ANGLE)return!0;return!1}_hasTurnInCircle(e,n){let r=this._graph;return r?r.vertices.filter(r=>r.coords.distanceTo(e)<=n&&t.Level.intersect(r.coords.level,e.level)).some(e=>this._nodeHasTurn(e)):!1}tryOrientationMatching(e){if(!this._useOrientationMatching||this.state!==`started`||this._countStepsFromLastMatching<this._minStepsBetweenOrientationMatching||Q.numStepsDetectedFromLastTurn<this._minStepsForOrientationMatching)return;let{nearestElement:i,origin:a}=e;if(!(i instanceof r.Edge))return;let o,s=(0,n.diffAngle)(i.bearing,a.bearing),c=(0,n.diffAngle)(i.bearing+Math.PI,a.bearing);o=Math.abs(s)<Math.abs(c)?i.bearing:(i.bearing+Math.PI)%(2*Math.PI);let l=new t.AbsoluteHeading(o,a.time,0);X._forceHeadingForRelative(l),this._countStepsFromLastMatching=0}getProjection(e,t,n){let r={...t&&!this._useStrict&&{maxDistance:this._mapMatchingMaxDistance},...n&&!this._useStrict&&{maxBearingAngle:this._mapMatchingMaxAngleBearing}};return this._graph?.getProjection(e,r)}get maxDistance(){return this._mapMatchingMaxDistance}set maxDistance(e){this._mapMatchingMaxDistance=e}get maxAngleBearing(){return this._mapMatchingMaxAngleBearing}set maxAngleBearing(e){this._mapMatchingMaxAngleBearing=e}get useItineraryStartAsPosition(){return this._useItineraryStartAsPosition}set useItineraryStartAsPosition(e){this._useItineraryStartAsPosition=e}get useOrientationMatching(){return this._useOrientationMatching}set useOrientationMatching(e){this._useOrientationMatching=e}get hugeJumpDistance(){return this._hugeJumpDistance}set hugeJumpDistance(e){this._hugeJumpDistance=e}get disableMMCloseToATurnDistance(){return this._disableMMCloseToATurnDistance}set disableMMCloseToATurnDistance(e){this._disableMMCloseToATurnDistance=e}get minStepsBetweenOrientationMatching(){return this._minStepsBetweenOrientationMatching}set minStepsBetweenOrientationMatching(e){this._minStepsBetweenOrientationMatching=e}get minStepsForOrientationMatching(){return this._minStepsForOrientationMatching}set minStepsForOrientationMatching(e){this._minStepsForOrientationMatching=e}get lastProjectionsWindowSize(){return this._lastProjectionsWindowSize}set lastProjectionsWindowSize(e){this._lastProjectionsWindowSize=e}get lastProjectionsEdgeAngleThreshold(){return this._lastProjectionsEdgeAngleThreshold}set lastProjectionsEdgeAngleThreshold(e){this._lastProjectionsEdgeAngleThreshold=e}get useStrict(){return this._useStrict}set useStrict(e){this._useStrict=e}},Be=class e{static DEFAULT_FREQUENCY=60;static DEFAULT_FLYBY_TIME=1;positionsQueue=[];previousPosition=null;timeoutNotify;callback;frequency;constructor(t,n=e.DEFAULT_FREQUENCY){this.callback=t,this.frequency=n}feed(n,r=e.DEFAULT_FLYBY_TIME){if(!(n instanceof t.UserPosition))throw TypeError(`newPosition is not instance of UserPosition`);if(n.time===null)throw Error(`newPosition does not have time property`);let i;if(this.positionsQueue.length===0?i=this.previousPosition:(i=this.positionsQueue[0],this.positionsQueue=[]),i){let e=n.time,a=i.distanceTo(n),o=i.bearingTo(n),s=1,c=this.frequency*r+1,l=t.Level.clone(n.level);for(;s<c+1;){let t=i.destinationPoint(a*s/c,o);t.time=e+(s-1)/this.frequency,t.level=l,t.bearing=n.bearing,t.accuracy=Math.max(t.accuracy+(n.accuracy-t.accuracy)*s/c,0),this.positionsQueue.push(t),s++}this.timeoutNotify&&clearTimeout(this.timeoutNotify)}else this.positionsQueue.push(n.clone());this.previousPosition=n,this._notifyNext()}_notifyNext=()=>{this.positionsQueue.length&&(this.callback?.(this.positionsQueue.shift()),this.positionsQueue.length===0?delete this.timeoutNotify:this.timeoutNotify=setTimeout(this._notifyNext,1e3/this.frequency))};clear(){clearTimeout(this.timeoutNotify),delete this.timeoutNotify,this.positionsQueue=[]}},Ve=class e{static ROTATION_SPEED_JUMP_THRESHOLD=(0,n.deg2rad)(180);static ROTATION_SPEED_CONVERGENCE=(0,n.deg2rad)(10);static HIGH_JUMP_THRESHOLD=(0,n.deg2rad)(20);static ROTATION_SPEED_HIGH_JUMP_CONVERGENCE=(0,n.deg2rad)(100);static PITCH_UNCERTAINITY_HEADING_THRESHOLD=(0,n.deg2rad)(5);_previousAttitude;_smoothing=null;callback;constructor(e){this.callback=e}feed(r){if(r.time===null)throw Error(`newAttitude does not have time property`);let{_previousAttitude:i}=this;if(this._previousAttitude=r,!i){this.callback(r);return}if(e.isJump(i,r)){let a=this._smoothing===null?i:this._smoothing.interpAttitude(i),o=a.heading,s=r.heading,c=(0,n.diffAngle)(s,o),l=Math.abs(c)<e.HIGH_JUMP_THRESHOLD?e.ROTATION_SPEED_CONVERGENCE:e.ROTATION_SPEED_HIGH_JUMP_CONVERGENCE,u=a.time,d=Math.abs(c)/l,f=c<0?-1:1;this._smoothing={toTime:u+d,interpAttitude:e=>{let r=l*(e.time-u),i=o+r*f,a=n.Quaternion.fromAxisAngle([0,0,1],s-i);return new t.Attitude(n.Quaternion.multiply(a,e.quaternion),e.time,e.accuracy)}}}if(this._smoothing!==null)if(r.time>=this._smoothing.toTime)this._smoothing=null;else{let e=this._smoothing.interpAttitude(r);this.callback(e);return}this.callback(r)}static isJump(t,r){let i=t.heading,a=r.heading,o=(0,n.diffAngle)(a,i),s=r.time-t.time,[c,l,u,d]=r.quaternion;return Math.abs(Math.asin(2*(c*l+u*d))-Math.PI/4)<e.PITCH_UNCERTAINITY_HEADING_THRESHOLD?!1:Math.abs(o)>e.ROTATION_SPEED_JUMP_THRESHOLD*s}},He=new class extends y{getName=()=>`MagnetometerCalibrationProvider`;availability=()=>X.getAvailability();constructor(){super(),X._setCallbackMagCalibration(e=>this.state===`started`&&this.notify(e))}start(){}stop(){}},Ue=class e extends Error{static DEFAULT_MESSAGE=`IP Resolver failed`;constructor(t){super(t||e.DEFAULT_MESSAGE)}},We=new class extends y{getName=()=>`Ip`;availability=()=>Promise.resolve();async start(){let e=await fetch(`https://ipinfo.io/geo?token=24a7ca2f3b489d`);if(!e){this.notifyError(new Ue);return}let n=i.TimeUtils.preciseTime()/1e3,r=(await e.json()).loc.split(`,`),a=new t.UserPosition(parseFloat(r[0]),parseFloat(r[1]),null,null,n,1e5);this.notify(a)}stop(){}},Ge=class e{static MAX_CONSECUTIVE_FAILURES=10;intervalMs;maxDurationMs;expiresAt=null;enabled;timeoutId=null;listenerId=null;scanFailureListenerId=null;isBackgroundScanRunning=!1;consecutiveFailures=0;_status;statusCallbacks=new Set;onResult;onError;constructor(e,t,n){this.onResult=t,this.onError=n,this.intervalMs=e.intervalMs??3e4,this.maxDurationMs=e.maxDurationMs??30*6e4,this.enabled=e.enabled??!1,this._status=this.enabled?`idle`:`disabled`}get status(){return this._status}setEnabled(e){this.enabled=e,e?!this.isBackgroundScanRunning&&!this.timeoutId&&this.setStatus(`idle`):(this.clear(),this.setStatus(`disabled`))}onStatusChange(e){return this.statusCallbacks.add(e),()=>{this.offStatusChange(e)}}offStatusChange(e){this.statusCallbacks.delete(e)}schedule(){if(this.enabled){if(this.maxDurationMs>0&&this.expiresAt===null&&(this.expiresAt=Date.now()+this.maxDurationMs),this.expired){this.clearTimeoutOnly();return}this.clearTimeoutOnly(),this.timeoutId=setTimeout(()=>{this.timeoutId=null,this.startBackgroundScan()},this.intervalMs),this.setStatus(`scheduled`)}}async cancelRunningScan(){this.isBackgroundScanRunning&&(this.listenerId!==null&&(q.removeEventListener(this.listenerId),this.listenerId=null,q.stop()),this.scanFailureListenerId!==null&&(q.removeScanFailureListener(this.scanFailureListenerId),this.scanFailureListenerId=null),this.isBackgroundScanRunning=!1,this.setStatus(this.enabled?`idle`:`disabled`))}clear(){this.expiresAt=null,this.clearTimeoutOnly(),this.listenerId!==null&&(q.removeEventListener(this.listenerId),this.listenerId=null),this.scanFailureListenerId!==null&&(q.removeScanFailureListener(this.scanFailureListenerId),this.scanFailureListenerId=null),this.isBackgroundScanRunning=!1,this.setStatus(this.enabled?`idle`:`disabled`)}runNow(){if(this.enabled){if(this.expired){this.clearTimeoutOnly();return}this.clearTimeoutOnly(),this.startBackgroundScan()}}resetBudget(){this.expiresAt=null}get expired(){return this.expiresAt!==null&&Date.now()>=this.expiresAt}clearTimeoutOnly(){this.timeoutId!==null&&(clearTimeout(this.timeoutId),this.timeoutId=null),this.enabled&&!this.isBackgroundScanRunning&&this.setStatus(`idle`)}async startBackgroundScan(){if(!this.enabled||this.isBackgroundScanRunning||this.listenerId!==null)return;if(this.expired){this.setStatus(`idle`);return}let t=await q.getAvailability();if(t instanceof Error){this.onError(t),this.setStatus(`idle`);return}this.isBackgroundScanRunning=!0,this.setStatus(`scanning`),this.scanFailureListenerId=q.addScanFailureListener(t=>{!this.isBackgroundScanRunning||this.scanFailureListenerId===null||t.listenerId!==this.scanFailureListenerId||(this.consecutiveFailures+=1,this.consecutiveFailures>=e.MAX_CONSECUTIVE_FAILURES&&(this.consecutiveFailures=0,q.resetCurrentAttempt(),this.cleanupListener(),this.schedule()))}),this.listenerId=q.addEventListener(e=>{this.consecutiveFailures=0,this.cleanupListener(),this.onResult(e),this.schedule()},e=>{this.cleanupListener(),this.onError(e),this.schedule()})}cleanupListener(){this.listenerId!==null&&(q.removeEventListener(this.listenerId),this.listenerId=null),this.scanFailureListenerId!==null&&(q.removeScanFailureListener(this.scanFailureListenerId),this.scanFailureListenerId=null),q.stop(),this.isBackgroundScanRunning=!1,this.enabled?this.setStatus(`idle`):this.setStatus(`disabled`)}setStatus(e){this._status!==e&&(this._status=e,this.statusCallbacks.forEach(t=>{try{t(e)}catch(e){console.error(`[VpsBackgroundScanner] Error in status listener`,e)}}))}},Ke=new class extends y{providerId;getName=()=>`Barcode`;availability=()=>P.getAvailability();start(){P.enableBarcodeScanner(),this.providerId=P.addEventListener(e=>e.barcode&&this.notify(e.barcode),this.notifyError)}stop(){P.disableBarcodeScanner(),P.removeEventListener(this.providerId)}},qe=new class extends y{providerId;getName=()=>`CameraNative`;availability=()=>Promise.resolve();start(){P.state!==`stopped`&&this.notify(`started`),this.providerId=P.addMonitoringListener(()=>this.notify(`started`),()=>this.notify(`stopped`))}stop(){P.removeMonitoringListener(this.providerId)}},Je=new class extends y{providerId;getName=()=>`CameraProjectionMatrix`;availability=()=>P.getAvailability();start(){this.providerId=P.addEventListener(e=>e.cameraProjection&&this.notify(e.cameraProjection),this.notifyError)}stop(){P.removeEventListener(this.providerId)}};e.AbsoluteAttitude=c,e.AbsoluteAttitudeFromBrowserProvider=Y,e.AbsoluteAttitudeProvider=X,e.AbsolutePosition=o,e.AbsolutePositionProvider=J,e.AccelerometerProvider=I,e.ArCoreProvider=P,e.AttitudeSmoother=Ve,e.BarcodeProvider=Ke,e.CameraNativeProvider=qe,e.CameraProjectionMatrixProvider=Je,e.Constants=_e,e.GeoRelativePositionFromArCoreProvider=be,e.GeoRelativePositionProvider=H,e.GnssWifiProvider=N,e.GyroscopeProvider=L,e.HighRotationsProvider=z,e.ImageRelocalization=Le,e.ImuProvider=F,e.InclinationFromAccProvider=Ne,e.InclinationFromRelativeAttitudeProvider=U,e.InclinationProvider=W,e.IpProvider=We,e.MagnetometerCalibrationProvider=He,e.MapMatchingHandler=$,e.PdrProvider=je,e.PoleStarProvider=K,e.PositionSmoother=Be,e.ProvidersLoggerOld=_,e.ProvidersOptions=l,e.RelativeAttitude=s,e.RelativeAttitudeFromBrowserProvider=R,e.RelativeAttitudeFromEkfProvider=Ee,e.RelativeAttitudeFromInertialProvider=B,e.RelativeAttitudeProvider=G,e.RelativeRotationCalc=Re,e.StepDetectionMinMaxPeaks2=ke,e.StepDetectionMinMaxPeaks3=Ae,e.StepProvider=V,e.StraightLineProvider=Q,e.TurnProvider=Z,e.VpsBackgroundScanner=Ge,e.VpsMetadata=Pe,e.VpsProvider=q,e.VpsRequest=Fe,e.VpsResponse=Ie});

package/dist/index.js

@@ -1919,7 +1919,7 @@ var ke = function(e, t, n) {
 	}
 }(), $e = {
 	name: "@wemap/providers",
-	version: "14.6.1",
+	version: "14.7.1",
 	description: "Sensor, positioning and VPS providers for the Wemap SDK.",
 	license: "UNLICENSED",
 	author: "Wemap SAS",
@@ -1947,13 +1947,13 @@ var ke = function(e, t, n) {
 	sideEffects: !1,
 	files: ["dist"],
 	dependencies: {
-		"@wemap/camera": "14.6.1",
-		"@wemap/core": "14.6.1",
-		"@wemap/geo": "14.6.1",
-		"@wemap/maths": "14.6.1",
-		"@wemap/osm": "14.6.1",
-		"@wemap/routers": "14.6.1",
-		"@wemap/utils": "14.6.1"
+		"@wemap/camera": "14.7.1",
+		"@wemap/core": "14.7.1",
+		"@wemap/geo": "14.7.1",
+		"@wemap/maths": "14.7.1",
+		"@wemap/osm": "14.7.1",
+		"@wemap/routers": "14.7.1",
+		"@wemap/utils": "14.7.1"
 	},
 	devDependencies: {
 		"@wemap/logger-legacy": "^13.3.0",
@@ -2097,6 +2097,7 @@ var ke = function(e, t, n) {
 		return n.position && (a = o.fromJson(n.position), a.time = r), new e(n.success, i, a);
 	}
 }, at = class {
+	static REQUEST_TIMEOUT_MS = 2e4;
 	static _prepareRequest(e, t = null, n = null, r = null, i = null) {
 		let a = ne(e, 720, 720), o = w.getDeviceFromUserAgent() || {};
 		return r && (o.session_id = r.session_id, o.installation_id = r.installation_id, o.attempt_id = r.attempt_id, o.caller = r.caller), new rt(new nt({
@@ -2111,6 +2112,7 @@ var ke = function(e, t, n) {
 			l = await fetch(e, {
 				method: "POST",
 				body: t,
+				signal: AbortSignal.timeout(this.REQUEST_TIMEOUT_MS),
 				headers: Object.assign({ Accept: "application/vnd.geopose+json; version=1" }, o || {})
 			});
 		} catch {
@@ -2221,6 +2223,7 @@ var ke = function(e, t, n) {
 	}
 }(), J = new class e extends j {
 	static MIN_TIME_BETWEEN_TWO_REQUESTS = 1e3;
+	static DEFAULT_MAX_SCAN_DURATION = 12e4;
 	static DEFAULT_MIN_INCLINATION_FOR_REQUEST = m(60);
 	static DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST = 200;
 	static DEFAULT_USE_COARSE_POSE = !0;
@@ -2242,11 +2245,13 @@ var ke = function(e, t, n) {
 	_camera = null;
 	_endpoint = null;
 	_inclinationProviderId;
+	_maxScanDuration = e.DEFAULT_MAX_SCAN_DURATION;
 	_minInclinationForRequest = e.DEFAULT_MIN_INCLINATION_FOR_REQUEST;
 	_waitTimeMinInclinationForRequest = e.DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST;
 	_useCoarsePose = e.DEFAULT_USE_COARSE_POSE;
 	_requestCaller = e.DEFAULT_REQUEST_CALLER;
 	_sessionId;
+	_loopId = 0;
 	_attemptIdCounter = 0;
 	_currentAttemptId = null;
 	_scanFailureCallbacks = [];
@@ -2259,7 +2264,7 @@ var ke = function(e, t, n) {
 		this._inclinationProviderId = K.addEventListener(), this._relativeRotationCalc = new ot(), T.on("added", this._onCameraDetected), T.on("removed", this._onCameraRemoved), T.list.length && (T.list.length > 1 && A.warn("It seems that more than 1 camera has been detected for VPS. Taking the first..."), this._useCamera(T.list[0].camera));
 	}
 	stop() {
-		K.removeEventListener(this._inclinationProviderId), this._relativeRotationCalc?.release(), T.off("added", this._onCameraDetected), T.off("removed", this._onCameraRemoved), this._camera = null;
+		K.removeEventListener(this._inclinationProviderId), this._relativeRotationCalc?.release(), T.off("added", this._onCameraDetected), T.off("removed", this._onCameraRemoved), this._camera?.off("started", this._internalStart), this._camera?.off("stopped", this._internalStop), this._camera = null;
 	}
 	_onCameraDetected = ({ camera: e }) => {
 		this._camera && A.warn("It seems that more than 1 camera has been detected for VPS. Taking the first..."), this._useCamera(e);
@@ -2275,40 +2280,48 @@ var ke = function(e, t, n) {
 			this.notifyError(/* @__PURE__ */ Error("VPS endpoint has not been set before calling start()"));
 			return;
 		}
-		let n = null, r = () => this.state === "stopped";
-		for (; !r();) {
+		let n = null, r = ++this._loopId, i = () => this.state === "stopped" || r !== this._loopId, a = this._maxScanDuration > 0 ? C.preciseTime() + this._maxScanDuration : null;
+		for (; !i();) {
 			if (n !== null) {
 				let t = C.preciseTime() - n, r = Math.max(0, e.MIN_TIME_BETWEEN_TWO_REQUESTS - t);
 				await new Promise((e) => setTimeout(e, r));
 			}
-			if (n = C.preciseTime(), r() || !this._camera || this._camera.state !== "started") break;
-			let i = K.lastEvent ? K.lastEvent : null;
-			if (i !== null && i < this._minInclinationForRequest) {
+			if (n = C.preciseTime(), i() || !this._camera || this._camera.state !== "started") break;
+			if (a !== null && C.preciseTime() > a) {
+				this.notifyError(/* @__PURE__ */ Error(`VPS scan gave up after ${this._maxScanDuration} ms without a match`));
+				break;
+			}
+			let r = K.lastEvent ? K.lastEvent : null;
+			if (r !== null && r < this._minInclinationForRequest) {
+				await new Promise((e) => setTimeout(e, this._waitTimeMinInclinationForRequest));
+				continue;
+			}
+			if (typeof document < "u" && document.hidden) {
 				await new Promise((e) => setTimeout(e, this._waitTimeMinInclinationForRequest));
 				continue;
 			}
 			this._relativeRotationCalc?.tickStart();
-			let a = await this._camera.currentImage;
-			if (!a) continue;
-			let o = null, s = Y.getBestPositionEvent(Ie.lastEvent, ct.lastEvent);
-			this._useCoarsePose && (s || X.lastEvent) && (o = {
-				...s && { position: s },
+			let o = await this._camera.currentImage;
+			if (!o) continue;
+			let s = null, c = Y.getBestPositionEvent(Ie.lastEvent, ct.lastEvent);
+			this._useCoarsePose && (c || X.lastEvent) && (s = {
+				...c && { position: c },
 				...X.lastEvent && { attitude: X.lastEvent }
 			}), this._currentAttemptId === null && (this._attemptIdCounter += 1, this._currentAttemptId = this._attemptIdCounter);
-			let c = q.lastEvent, l = Qe.lastEvent, d = c && l ? {
+			let l = q.lastEvent, d = Qe.lastEvent, f = l && d ? {
 				position: u.rotate(e.ENU_TO_ARCORE_ROT, [
-					l.x,
-					l.y,
-					l.z
+					d.x,
+					d.y,
+					d.z
 				]),
-				orientation: u.multiply(e.ENU_TO_ARCORE_ROT, c.quaternion)
-			} : null, f = await at.relocalize(this._endpoint, a, null, o, {
+				orientation: u.multiply(e.ENU_TO_ARCORE_ROT, l.quaternion)
+			} : null, p = await at.relocalize(this._endpoint, o, null, s, {
 				session_id: this._sessionId,
 				installation_id: null,
 				...this._currentAttemptId !== null && { attempt_id: this._currentAttemptId },
 				caller: this._requestCaller
-			}, d);
-			if (!f || !f.success) {
+			}, f);
+			if (!p || !p.success) {
 				this._scanFailureCallbacks.forEach(({ id: e, callback: t }) => t({
 					listenerId: e,
 					sessionId: this._sessionId,
@@ -2317,20 +2330,20 @@ var ke = function(e, t, n) {
 				continue;
 			}
 			this._currentAttemptId = null;
-			let p = f.attitude.quaternion, h = u.multiply(p, e.CAMERA_TO_SMARTPHONE_ROT), g = u.multiply(u.fromAxisAngle([
+			let h = p.attitude.quaternion, g = u.multiply(h, e.CAMERA_TO_SMARTPHONE_ROT), _ = u.multiply(u.fromAxisAngle([
 				0,
 				0,
 				1
-			], m(window.orientation || 0)), h), _ = this._relativeRotationCalc?.tickEnd() || new t([
+			], m(window.orientation || 0)), g), v = this._relativeRotationCalc?.tickEnd() || new t([
 				1,
 				0,
 				0,
 				0
-			]), v = new ae(u.multiply(g, _.quaternion), f.attitude.time, f.attitude.accuracy), y = f.position.clone();
-			if (y.accuracy === null && (y.accuracy = 5), r()) break;
+			]), y = new ae(u.multiply(_, v.quaternion), p.attitude.time, p.attitude.accuracy), b = p.position.clone();
+			if (b.accuracy === null && (b.accuracy = 5), i()) break;
 			this.notify({
-				absoluteAttitude: v,
-				absolutePosition: y
+				absoluteAttitude: y,
+				absolutePosition: b
 			});
 		}
 	};
@@ -2360,6 +2373,12 @@ var ke = function(e, t, n) {
 	set endpoint(e) {
 		this._endpoint = e;
 	}
+	get maxScanDuration() {
+		return this._maxScanDuration;
+	}
+	set maxScanDuration(e) {
+		this._maxScanDuration = e;
+	}
 	get minInclinationForRequest() {
 		return this._minInclinationForRequest;
 	}
@@ -2724,7 +2743,7 @@ var ke = function(e, t, n) {
 	static DEFAULT_MM_MAX_ANGLE = m(30);
 	static DEFAULT_MM_MAX_DIST = 30;
 	static DEFAULT_USE_ITINERARY_START_AS_POSITION = !1;
-	static DEFAULT_USE_ORIENTATION_MATCHING = !0;
+	static DEFAULT_USE_ORIENTATION_MATCHING = !1;
 	static DEFAULT_MM_HUGE_JUMP_DISTANCE = 3;
 	static DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE = 2;
 	static DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING = 3;
@@ -3041,6 +3060,8 @@ var ke = function(e, t, n) {
 }(), ht = class e {
 	static MAX_CONSECUTIVE_FAILURES = 10;
 	intervalMs;
+	maxDurationMs;
+	expiresAt = null;
 	enabled;
 	timeoutId = null;
 	listenerId = null;
@@ -3052,7 +3073,7 @@ var ke = function(e, t, n) {
 	onResult;
 	onError;
 	constructor(e, t, n) {
-		this.onResult = t, this.onError = n, this.intervalMs = e.intervalMs ?? 3e4, this.enabled = e.enabled ?? !1, this._status = this.enabled ? "idle" : "disabled";
+		this.onResult = t, this.onError = n, this.intervalMs = e.intervalMs ?? 3e4, this.maxDurationMs = e.maxDurationMs ?? 30 * 6e4, this.enabled = e.enabled ?? !1, this._status = this.enabled ? "idle" : "disabled";
 	}
 	get status() {
 		return this._status;
@@ -3069,24 +3090,46 @@ var ke = function(e, t, n) {
 		this.statusCallbacks.delete(e);
 	}
 	schedule() {
-		this.enabled && (this.clearTimeoutOnly(), this.timeoutId = setTimeout(() => {
-			this.timeoutId = null, this.startBackgroundScan();
-		}, this.intervalMs), this.setStatus("scheduled"));
+		if (this.enabled) {
+			if (this.maxDurationMs > 0 && this.expiresAt === null && (this.expiresAt = Date.now() + this.maxDurationMs), this.expired) {
+				this.clearTimeoutOnly();
+				return;
+			}
+			this.clearTimeoutOnly(), this.timeoutId = setTimeout(() => {
+				this.timeoutId = null, this.startBackgroundScan();
+			}, this.intervalMs), this.setStatus("scheduled");
+		}
 	}
 	async cancelRunningScan() {
 		this.isBackgroundScanRunning && (this.listenerId !== null && (J.removeEventListener(this.listenerId), this.listenerId = null, J.stop()), this.scanFailureListenerId !== null && (J.removeScanFailureListener(this.scanFailureListenerId), this.scanFailureListenerId = null), this.isBackgroundScanRunning = !1, this.setStatus(this.enabled ? "idle" : "disabled"));
 	}
 	clear() {
-		this.clearTimeoutOnly(), this.listenerId !== null && (J.removeEventListener(this.listenerId), this.listenerId = null), this.scanFailureListenerId !== null && (J.removeScanFailureListener(this.scanFailureListenerId), this.scanFailureListenerId = null), this.isBackgroundScanRunning = !1, this.setStatus(this.enabled ? "idle" : "disabled");
+		this.expiresAt = null, this.clearTimeoutOnly(), this.listenerId !== null && (J.removeEventListener(this.listenerId), this.listenerId = null), this.scanFailureListenerId !== null && (J.removeScanFailureListener(this.scanFailureListenerId), this.scanFailureListenerId = null), this.isBackgroundScanRunning = !1, this.setStatus(this.enabled ? "idle" : "disabled");
 	}
 	runNow() {
-		this.enabled && (this.clearTimeoutOnly(), this.startBackgroundScan());
+		if (this.enabled) {
+			if (this.expired) {
+				this.clearTimeoutOnly();
+				return;
+			}
+			this.clearTimeoutOnly(), this.startBackgroundScan();
+		}
+	}
+	resetBudget() {
+		this.expiresAt = null;
+	}
+	get expired() {
+		return this.expiresAt !== null && Date.now() >= this.expiresAt;
 	}
 	clearTimeoutOnly() {
 		this.timeoutId !== null && (clearTimeout(this.timeoutId), this.timeoutId = null), this.enabled && !this.isBackgroundScanRunning && this.setStatus("idle");
 	}
 	async startBackgroundScan() {
 		if (!this.enabled || this.isBackgroundScanRunning || this.listenerId !== null) return;
+		if (this.expired) {
+			this.setStatus("idle");
+			return;
+		}
 		let t = await J.getAvailability();
 		if (t instanceof Error) {
 			this.onError(t), this.setStatus("idle");

package/dist/src/mapmatching/MapMatchingHandler.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"MapMatchingHandler.d.ts","sourceRoot":"","sources":["../../../src/mapmatching/MapMatchingHandler.ts"],"names":[],"mappings":"AAAA,OAAO,EAA0B,YAAY,EAAE,WAAW,EAAE,MAAM,YAAY,CAAC;AAE/E,OAAO,EAAQ,KAAK,EAAE,eAAe,EAAE,SAAS,EAAE,oBAAoB,EAAE,MAAM,EAAE,MAAM,gBAAgB,CAAC;AAQvG,OAAO,QAAQ,MAAM,uBAAuB,CAAC;AAI7C,OAAO,EAAE,gBAAgB,EAAE,MAAM,iBAAiB,CAAC;AAGnD,KAAK,gBAAgB,GAAG;IAAE,KAAK,CAAC,EAAE,KAAK,CAAC;IAAC,SAAS,CAAC,EAAE,SAAS,GAAG,IAAI,CAAA;CAAE,CAAC;AACxE,cAAM,kBAAmB,SAAQ,QAAQ,CAAC,gBAAgB,CAAC;IAEvD,MAAM,CAAC,oBAAoB,SAAe;IAC1C,MAAM,CAAC,mBAAmB,SAAM;IAChC,MAAM,CAAC,uCAAuC,UAAS;IACvD,MAAM,CAAC,gCAAgC,UAAS;IAChD,MAAM,CAAC,6BAA6B,SAAK;IACzC,MAAM,CAAC,2CAA2C,SAAK;IACvD,MAAM,CAAC,8CAA8C,SAAK;IAC1D,MAAM,CAAC,0CAA0C,SAAK;IACtD,MAAM,CAAC,oCAAoC,SAAK;IAChD,MAAM,CAAC,6CAA6C,SAAc;IAClE,MAAM,CAAC,kBAAkB,UAAS;IAElC,uBAAuB,SAA0C;IACjE,2BAA2B,SAA2C;IACtE,4BAA4B,UAA8D;IAC1F,uBAAuB,UAAuD;IAC9E,iBAAiB,SAAoD;IACrE,8BAA8B,SAAkE;IAChG,mCAAmC,SAAqE;IACxG,+BAA+B,SAAiE;IAChG,0BAA0B,SAA2D;IACrF,kCAAkC,SAAoE;IACtG,UAAU,UAAyC;IAEnD,MAAM,EAAE,KAAK,GAAG,IAAI,CAAQ;IAC5B,yBAAyB,UAAS;IAClC,uBAAuB,CAAC,EAAE,MAAM,CAAC;IACjC,eAAe,CAAC,EAAE,MAAM,CAAC;IACzB,eAAe,CAAC,EAAE,MAAM,CAAC;IACzB,8CAA8C,EAAE,eAAe,EAAE,CAAM;IACvE,2BAA2B,SAAK;IAChC,gBAAgB,EAAE,eAAe,EAAE,CAAM;IAEzC,qBAAqB,EAAE,oBAAoB,GAAG,IAAI,CAAQ;IAG1D,OAAO,eAA8B;IAErC,YAAY,sBAA2B;IAEvC,KAAK;IAML,IAAI;IAIJ,gBAAgB,aAMf;IAED,uBAAuB;IAavB,sBAAsB;IAatB,IAAI,OAAO,YAEV;IAED,IAAI,KAAK,iBAER;IAED,IAAI,KAAK,CAAC,KAAK,cAAA,EAYd;IAED,IAAI,SAAS,CAAC,SAAS,EAAE,SAAS,GAAG,IAAI,EAWxC;IAED,iBAAiB;IAKjB,OAAO,CAAC,iCAAiC;IAsCzC,sBAAsB,CAAC,gBAAgB,EAAE,gBAAgB;IAiBzD;;OAEG;IACH,0BAA0B,CAAC,WAAW,EAAE,gBAAgB;IA8CxD;;OAEG;IACH,0BAA0B,CAAC,WAAW,EAAE,gBAAgB;IAwGxD,mBAAmB,CAAC,UAAU,EAAE,eAAe,CAAC,YAAY,CAAC;IAmB7D,qCAAqC;IAgBrC,YAAY,CAAC,MAAM,EAAE,MAAM;IAiB3B,gBAAgB,CAAC,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,MAAM;IAYpD,sBAAsB,CAAC,UAAU,EAAE,eAAe,CAAC,YAAY,CAAC;IAuChE,aAAa,CAAC,QAAQ,EAAE,YAAY,EAAE,WAAW,CAAC,EAAE,OAAO,EAAE,UAAU,CAAC,EAAE,OAAO;IAQjF,IAAI,WAAW,WAEd;IAED,IAAI,WAAW,CAAC,WAAW,QAAA,EAE1B;IAED,IAAI,eAAe,WAElB;IAED,IAAI,eAAe,CAAC,eAAe,QAAA,EAElC;IAED,IAAI,2BAA2B,YAE9B;IAED,IAAI,2BAA2B,CAAC,2BAA2B,SAAA,EAE1D;IAED,IAAI,sBAAsB,YAEzB;IAED,IAAI,sBAAsB,CAAC,sBAAsB,SAAA,EAEhD;IAED,IAAI,gBAAgB,WAEnB;IAED,IAAI,gBAAgB,CAAC,gBAAgB,QAAA,EAEpC;IAED,IAAI,6BAA6B,WAEhC;IAED,IAAI,6BAA6B,CAAC,6BAA6B,QAAA,EAE9D;IAED,IAAI,kCAAkC,WAErC;IAED,IAAI,kCAAkC,CAAC,kCAAkC,QAAA,EAExE;IAED,IAAI,8BAA8B,WAEjC;IAED,IAAI,8BAA8B,CAAC,8BAA8B,QAAA,EAEhE;IAED,IAAI,yBAAyB,WAE5B;IAED,IAAI,yBAAyB,CAAC,yBAAyB,QAAA,EAEtD;IAED,IAAI,iCAAiC,WAEpC;IAED,IAAI,iCAAiC,CAAC,iCAAiC,QAAA,EAEtE;IAED,IAAI,SAAS,IAIY,OAAO,CAF/B;IAED,IAAI,SAAS,CAAC,SAAS,EAAE,OAAO,EAE/B;CACJ;;AAED,wBAAwC"}

package/dist/src/providers/vision/vps/ImageRelocalization.d.ts

@@ -4,6 +4,12 @@ import { CoarsePose, VpsDeviceMetadata } from './VpsMetadata';
 import { default as VpsRequest, LocalPose } from './VpsRequest';
 import { default as VpsResponse } from './VpsResponse';
 declare class ImageRelocalization {
+    /**
+     * Give up on a `/geopose` call that never answers. Without it a stalled
+     * request wedges the scan loop for as long as the browser keeps the socket
+     * open, and the camera stays on behind it.
+     */
+    static REQUEST_TIMEOUT_MS: number;
     static _prepareRequest(imageCanvas: HTMLCanvasElement, calibration?: Calibration | null, coarsePose?: CoarsePose | null, deviceMetadata?: Pick<VpsDeviceMetadata, 'session_id' | 'installation_id' | 'attempt_id' | 'caller'> | null, localPose?: LocalPose | null): VpsRequest;
     static relocalize(endpointUrl: string, imageCanvas: HTMLCanvasElement, calibration?: Calibration | null, coarsePose?: CoarsePose | null, deviceMetadata?: Pick<VpsDeviceMetadata, 'session_id' | 'installation_id' | 'attempt_id' | 'caller'> | null, localPose?: LocalPose | null, customHeaders?: Record<string, string> | null): Promise<VpsResponse | null>;
     static getHeadingFromQuaternion(quaternion: Quaternion_t): number;

package/dist/src/providers/vision/vps/ImageRelocalization.d.ts.map

@@ -1 +1 @@
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package/dist/src/providers/vision/vps/VpsBackgroundScanner.d.ts

@@ -25,6 +25,16 @@ export interface VpsBackgroundScanOptions {
     intervalMs?: number;
     /** Whether the background scanner is enabled (default: false). */
     enabled?: boolean;
+    /**
+     * How long background scanning may keep running on its own before it stops and
+     * waits for the user (default: 30 minutes; `0` removes the limit).
+     *
+     * Nothing else bounds it: a page left open scans, fails, reschedules and scans
+     * again for as long as the tab lives. Once it is spent the scanner reports
+     * `'idle'` and stays there; {@link resetBudget} re-arms it, and consumers are
+     * expected to call it on a user-initiated scan.
+     */
+    maxDurationMs?: number;
 }
 /**
  * A small state machine around {@link VpsProvider} that can:
@@ -39,6 +49,8 @@ export interface VpsBackgroundScanOptions {
 export declare class VpsBackgroundScanner {
     private static readonly MAX_CONSECUTIVE_FAILURES;
     private readonly intervalMs;
+    private readonly maxDurationMs;
+    private expiresAt;
     private enabled;
     private timeoutId;
     private listenerId;
@@ -96,6 +108,15 @@ export declare class VpsBackgroundScanner {
      * callbacks provided to the constructor.
      */
     runNow(): void;
+    /**
+     * Re-arm the time budget.
+     *
+     * Call it whenever the user asks for a scan themselves: the budget exists to
+     * stop scanning for someone who walked away, not for someone still using the app.
+     */
+    resetBudget(): void;
+    /** Whether background scanning has used up its time budget. */
+    private get expired();
     private clearTimeoutOnly;
     private startBackgroundScan;
     private cleanupListener;

package/dist/src/providers/vision/vps/VpsBackgroundScanner.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"VpsBackgroundScanner.d.ts","sourceRoot":"","sources":["../../../../../src/providers/vision/vps/VpsBackgroundScanner.ts"],"names":[],"mappings":"AAAA,OAAoB,EAAE,KAAK,QAAQ,EAA4B,MAAM,eAAe,CAAC;AAErF;;;;;;;;;;;;;;;;GAgBG;AACH,MAAM,MAAM,uBAAuB,GAAG,UAAU,GAAG,MAAM,GAAG,WAAW,GAAG,UAAU,CAAC;AAErF;;GAEG;AACH,MAAM,WAAW,wBAAwB;IACvC,sFAAsF;IACtF,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,kEAAkE;IAClE,OAAO,CAAC,EAAE,OAAO,CAAC;IAClB;;;;;;;;OAQG;IACH,aAAa,CAAC,EAAE,MAAM,CAAC;CACxB;AAED;;;;;;;;;GASG;AACH,qBAAa,oBAAoB;IAC/B,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,wBAAwB,CAAM;IAEtD,OAAO,CAAC,QAAQ,CAAC,UAAU,CAAS;IACpC,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,SAAS,CAAuB;IACxC,OAAO,CAAC,OAAO,CAAU;IACzB,OAAO,CAAC,SAAS,CAA8C;IAC/D,OAAO,CAAC,UAAU,CAAuB;IACzC,OAAO,CAAC,qBAAqB,CAAuB;IACpD,OAAO,CAAC,uBAAuB,CAAS;IACxC,OAAO,CAAC,mBAAmB,CAAK;IAChC,OAAO,CAAC,OAAO,CAA0B;IACzC,OAAO,CAAC,eAAe,CAAwD;IAE/E,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAA4B;IACrD,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAyB;IAEjD;;;;OAIG;gBACS,OAAO,EAAE,wBAAwB,EAAE,QAAQ,EAAE,CAAC,KAAK,EAAE,QAAQ,KAAK,IAAI,EAAE,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI;IASnH,IAAI,MAAM,IAAI,uBAAuB,CAEpC;IAED;;;;;OAKG;IACH,UAAU,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAUlC;;;;OAIG;IACH,cAAc,CAAC,QAAQ,EAAE,CAAC,MAAM,EAAE,uBAAuB,KAAK,IAAI,GAAG,MAAM,IAAI;IAO/E;;OAEG;IACH,eAAe,CAAC,QAAQ,EAAE,CAAC,MAAM,EAAE,uBAAuB,KAAK,IAAI,GAAG,IAAI;IAI1E;;;OAGG;IACH,QAAQ,IAAI,IAAI;IAqBhB;;;;;OAKG;IACG,iBAAiB,IAAI,OAAO,CAAC,IAAI,CAAC;IAmBxC;;OAEG;IACH,KAAK,IAAI,IAAI;IAeb;;;;;OAKG;IACH,MAAM,IAAI,IAAI;IAYd;;;;;OAKG;IACH,WAAW,IAAI,IAAI;IAInB,+DAA+D;IAC/D,OAAO,KAAK,OAAO,GAElB;IAED,OAAO,CAAC,gBAAgB;YAUV,mBAAmB;IAmDjC,OAAO,CAAC,eAAe;IAkBvB,OAAO,CAAC,SAAS;CAclB"}

package/dist/src/providers/vision/vps/VpsProvider.d.ts

@@ -13,6 +13,12 @@ export type VpsScanFailureEvent = {
 };
 declare class VpsProvider extends Provider<VpsEvent> {
     static MIN_TIME_BETWEEN_TWO_REQUESTS: number;
+    /**
+     * How long a single scan may keep hitting `/geopose` before giving up, in ms.
+     * A scan nobody is watching (a tab left open on a desk) otherwise requests
+     * once a second forever. `0` disables the limit.
+     */
+    static DEFAULT_MAX_SCAN_DURATION: number;
     static DEFAULT_MIN_INCLINATION_FOR_REQUEST: number;
     static DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST: number;
     static DEFAULT_USE_COARSE_POSE: boolean;
@@ -26,11 +32,13 @@ declare class VpsProvider extends Provider<VpsEvent> {
     _camera: Camera | null;
     _endpoint: string | null;
     _inclinationProviderId?: number;
+    _maxScanDuration: number;
     _minInclinationForRequest: number;
     _waitTimeMinInclinationForRequest: number;
     _useCoarsePose: boolean;
     _requestCaller: string;
     _sessionId: string;
+    _loopId: number;
     _attemptIdCounter: number;
     _currentAttemptId: number | null;
     _scanFailureCallbacks: {
@@ -55,6 +63,8 @@ declare class VpsProvider extends Provider<VpsEvent> {
     resetCurrentAttempt(): void;
     get endpoint(): string | null;
     set endpoint(endpoint: string | null);
+    get maxScanDuration(): number;
+    set maxScanDuration(maxScanDuration: number);
     get minInclinationForRequest(): number;
     set minInclinationForRequest(minInclinationForRequest: number);
     get waitTimeMinInclinationForRequest(): number;

package/dist/src/providers/vision/vps/VpsProvider.d.ts.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wemap/providers",
-  "version": "14.7.0",
+  "version": "14.8.0-beta.0",
   "description": "Sensor, positioning and VPS providers for the Wemap SDK.",
   "license": "UNLICENSED",
   "author": "Wemap SAS",
@@ -36,13 +36,13 @@
     "dist"
   ],
   "dependencies": {
-    "@wemap/camera": "14.7.0",
-    "@wemap/core": "14.7.0",
-    "@wemap/geo": "14.7.0",
-    "@wemap/maths": "14.7.0",
-    "@wemap/osm": "14.7.0",
-    "@wemap/routers": "14.7.0",
-    "@wemap/utils": "14.7.0"
+    "@wemap/camera": "14.8.0-beta.0",
+    "@wemap/core": "14.8.0-beta.0",
+    "@wemap/geo": "14.8.0-beta.0",
+    "@wemap/maths": "14.8.0-beta.0",
+    "@wemap/osm": "14.8.0-beta.0",
+    "@wemap/routers": "14.8.0-beta.0",
+    "@wemap/utils": "14.8.0-beta.0"
   },
   "devDependencies": {
     "@wemap/logger-legacy": "^13.3.0",