@x-humanoid-cloud/bic-map 0.0.4 → 0.0.6

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (6) hide show
  1. package/README.en.md +12 -5
  2. package/README.md +12 -5
  3. package/dist/bic-map.mjs +12421 -0
  4. package/dist/bic-map.umd.js +1 -0
  5. package/dist/cdn/bicMap.ext.min.js +22 -0
  6. package/package.json +1 -1
package/dist/bic-map.umd.js ADDED
@@ -0,0 +1 @@
1
+ !function(t,e){"object"==typeof exports&&"undefined"!=typeof module?module.exports=e(require("maplibre-gl"),require("@turf/turf"),require("three")):"function"==typeof define&&define.amd?define(["maplibre-gl","@turf/turf","three"],e):(t="undefined"!=typeof globalThis?globalThis:t||self).BicMapPlugin=e(t.maplibregl,t.turf,t.THREE)}(this,(function(t,e,o){"use strict";function r(t){const e=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(t)for(const o in t)if("default"!==o){const r=Object.getOwnPropertyDescriptor(t,o);Object.defineProperty(e,o,r.get?r:{enumerable:!0,get:()=>t[o]})}return e.default=t,Object.freeze(e)}const n=r(e),i=r(o),a=6378137,s=5e3,l=39.9042,c=116.4074,u=.01,d=0,h=1,p=(t,e,o,r)=>{const n=(o-t)*Math.PI/180,i=(r-e)*Math.PI/180,s=Math.sin(n/2)*Math.sin(n/2)+Math.cos(t*Math.PI/180)*Math.cos(o*Math.PI/180)*Math.sin(i/2)*Math.sin(i/2),l=2*Math.atan2(Math.sqrt(s),Math.sqrt(1-s));return a*l},g={getDistance:p,validateDistance:(t,e,o,r)=>{const n=p(t,e,o,r);if(n>s)throw new Error(`距离 ${n}米 超过最大允许距离 5000米`)},getMapCorners:t=>{const{startX:e,startY:o,xGridCount:r,yGridCount:n,resolution:i}=t;return{bottomLeft:{x:e,y:o},bottomRight:{x:e+r*i,y:o},topLeft:{x:e,y:o+n*i},topRight:{x:e+r*i,y:o+n*i}}},cartesianToGPS:t=>{const{x:e,y:o,originLatitude:r=l,originLongitude:n=c,scale:i=u,bearing:s=d,zoomFactor:g=h}=t,f=i*g,m=e*f,y=o*f,b=(y*Math.cos(s)-m*Math.sin(s))/a,v=(m*Math.cos(s)+y*Math.sin(s))/(a*Math.cos(r*Math.PI/180)),w=r+180*b/Math.PI,_=n+180*v/Math.PI;try{p(r,n,w,_)}catch(x){}return{latitude:Number(w.toFixed(12)),longitude:Number(_.toFixed(12))}},GPSToCartesian:t=>{const{latitude:e,longitude:o,originLatitude:r=l,originLongitude:n=c,scale:i=u,bearing:s=d,zoomFactor:g=h}=t;try{p(r,n,e,o)}catch(x){}const 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_="canvas-map-layer",x="rectangle-layer",C="rectangle-outline-layer",E="polygon-layer",I="polygon-outline-layer",L="rectangle-draw-fill-layer",S="rectangle-draw-line-layer",M="polygon-draw-fill-layer",P="polygon-draw-line-layer",k="polygon-draw-points-layer",R="polyline-draw-fill-layer",D="polyline-draw-line-layer",T="polyline-draw-points-layer",A=[_,x,C,E,I,"batch-poi-layer","robot-markers-layer",L,S,"circle-draw-fill-layer","circle-draw-line-layer",M,P,k,R,D,T,"point-cloud-layer"];function z(t,e){if(!t||!e||!e.id)throw new Error("Invalid map or layer configuration");const o=t.getStyle().layers||[],r=A.indexOf(e.id);if(-1===r)return t.addLayer(e);let n=null;for(let i=r+1;i<A.length;i++){const t=A[i];if(o.find((e=>e.id===t))){n=t;break}}return t.addLayer(e,n)}function O(e,o=[],r={}){if(!t||!e)throw new Error("地图未初始化。");const{svgPath:n="/bicMap/assets/img/robo.png",size:i=30,onClick:a=null,GPSToCartesian:s=null}=r;let l=void 0===r.showLabels||r.showLabels;const c="robot-icon",u="robot-markers-source",d="robot-markers-layer";let h={type:"FeatureCollection",features:[]},p=[];const g=t=>t.map(((t,e)=>({type:"Feature",geometry:{type:"Point",coordinates:t.lngLat},properties:{id:t.id||`robot-${e}`,rotation:t.rotation||0,name:t.name||`机器人${e+1}`}}))),f=()=>{o.forEach(((t,e)=>{m(t,e)}))},m=(t,o)=>{const r=(t=>{var e;const o=document.createElement("div");o.className="bic-robot-label",o.style.position="absolute",o.style.pointerEvents="none",o.style.display="block",o.style.textAlign="center",o.style.marginTop="-45px",o.style.transform="translateX(-50%)",o.style.zIndex=2;const r=document.createElement("div");r.className="bic-robot-bubble-container",r.style.position="relative",r.style.padding="0",r.style.marginBottom="7px",r.style.display="inline-block";const n=document.createElement("table");n.className="bic-robot-bg-container",n.style.borderCollapse="collapse",n.style.borderRadius="6px",n.style.overflow="hidden",n.style.border="1px solid 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Error("地图未初始化。");return async function(t,e){if(!t)throw new Error("地图未初始化。");const{startX:o,startY:r,xGridCount:n,yGridCount:i,resolution:a,imagePath:s,canvasId:l="canvasMap",fitBounds:c=!0,padding:u={top:30,bottom:30,left:30,right:30},zoomFactor:d=2}=e;let h=document.getElementById(l);h||(h=document.createElement("canvas"),h.id=l,h.style.display="none",document.body.appendChild(h));try{const e=g.getMapCorners({startX:o,startY:r,xGridCount:n,yGridCount:i,resolution:a}),f=e.topLeft,m=e.topRight,b=e.bottomRight,v=e.bottomLeft,w=h.getContext("2d");let x;h.width=n,h.height=i;try{x=await y(s),w.drawImage(x,0,0,n,i)}catch(p){w.fillStyle="#808080",w.fillRect(0,0,n,i),w.strokeStyle="#cccccc",w.lineWidth=.2;const t=10;for(let e=0;e<=n;e+=t)w.beginPath(),w.moveTo(e,0),w.lineTo(e,i),w.stroke();for(let e=0;e<=i;e+=t)w.beginPath(),w.moveTo(0,e),w.lineTo(n,e),w.stroke();w.fillStyle="red",w.font="12px 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b(t)}},Q={IDLE:"idle",MOVING:"moving",ROTATING:"rotating",ARRIVED:"arrived",DWELLING:"dwelling",WAITING:"waiting",CHARGING:"charging",DOCKING:"docking",ERROR:"error",RECOVERING:"recovering",RETURNING:"returning",MANUAL:"manual",PAUSED:"paused"},tt={[Q.IDLE]:new Set([Q.MOVING,Q.ROTATING,Q.WAITING,Q.CHARGING,Q.DOCKING,Q.ERROR,Q.MANUAL]),[Q.MOVING]:new Set([Q.ARRIVED,Q.ROTATING,Q.WAITING,Q.IDLE,Q.RETURNING,Q.PAUSED,Q.ERROR]),[Q.ROTATING]:new Set([Q.MOVING,Q.IDLE,Q.ERROR]),[Q.ARRIVED]:new Set([Q.IDLE,Q.MOVING,Q.DWELLING,Q.WAITING,Q.CHARGING,Q.DOCKING,Q.ERROR,Q.PAUSED]),[Q.DWELLING]:new Set([Q.MOVING,Q.IDLE,Q.ERROR,Q.PAUSED]),[Q.WAITING]:new Set([Q.MOVING,Q.IDLE,Q.ERROR,Q.PAUSED]),[Q.CHARGING]:new Set([Q.IDLE,Q.MOVING,Q.ERROR,Q.PAUSED]),[Q.DOCKING]:new Set([Q.CHARGING,Q.IDLE,Q.MOVING,Q.ERROR,Q.PAUSED]),[Q.ERROR]:new Set([Q.RECOVERING,Q.IDLE,Q.MANUAL]),[Q.RECOVERING]:new Set([Q.MOVING,Q.ERROR,Q.IDLE]),[Q.RETURNING]:new Set([Q.DOCKING,Q.CHARGING,Q.IDLE,Q.ERROR,Q.PAUSED]),[Q.MANUAL]:new Set([Q.IDLE,Q.MOVING,Q.ERROR,Q.RECOVERING]),[Q.PAUSED]:new Set([Q.MOVING,Q.DWELLING,Q.WAITING,Q.IDLE])};function et(t,e){const o=tt[t];return!!o&&o.has(e)}const ot={PATROL:"patrol",POI:"poi",WAIT_ELEVATOR:"wait_elevator",WAIT_TRAFFIC:"wait_traffic",WAIT_DOOR:"wait_door",WAIT_SIGNAL:"wait_signal",CHARGING:"charging",DOCK:"dock",FLOOR_TRANSITION:"floor_transition",SERVICE:"service",HOLD:"hold",HANDOVER:"handover"};class rt{constructor(){this._handlers=new Map}register(t,e){this._handlers.set(t,e)}get(t){return this._handlers.get(t)}has(t){return this._handlers.has(t)}unregister(t){this._handlers.delete(t)}}class nt{constructor(){this._met=!1}evaluate(t){throw new Error("Subclass must implement evaluate()")}reset(){this._met=!1}isMet(){return this._met}}class it extends nt{constructor(t){super(),this._targetMs=t,this._started=!1}evaluate(t){this._started||(this._startTime=t.elapsed,this._started=!0);const e=this._targetMs-(t.elapsed-this._startTime);return this._met=e<=0,{met:this._met,remaining:Math.max(0,e)}}reset(){super.reset(),this._started=!1}}class at extends nt{constructor(t,e={}){super(),this._signalName=t,this._timeout=e.timeout||0,this._signalData=null,this._received=!1}evaluate(t){return t.signals&&t.signals[this._signalName]&&(this._received=!0,this._signalData=t.signals[this._signalName]),this._met=this._received,{met:this._met}}getSignalData(){return this._signalData}reset(){super.reset(),this._received=!1,this._signalData=null}}class st extends nt{constructor(t,e){super(),this._robotId=t,this._minDistance=e}evaluate(t){const e=t.robotStates&&t.robotStates[this._robotId];if(!e||!t.currentPosition)return{met:!1};const o=t.currentPosition.x-e.position.x,r=t.currentPosition.y-e.position.y,n=Math.sqrt(o*o+r*r);return this._met=n>=this._minDistance,{met:this._met,remaining:Math.max(0,this._minDistance-n)}}}class lt extends nt{constructor(t,e,o={}){super(),this._resourceType=t,this._resourceId=e,this._shared=o.shared||!1}evaluate(t){const e=t.resourceManager;if(!e)return{met:!1};const o=e.getStatus(this._resourceType,this._resourceId);return this._met="free"===o||this._shared&&"shared"===o,{met:this._met}}}class ct extends nt{constructor(...t){super(),this._conditions=t}evaluate(t){for(const e of this._conditions){if(!e.evaluate(t).met)return this._met=!1,{met:!1}}return this._met=!0,{met:!0}}reset(){super.reset();for(const t of this._conditions)t.reset()}}class ut extends nt{constructor(...t){super(),this._conditions=t}evaluate(t){for(const e of this._conditions){if(e.evaluate(t).met)return this._met=!0,{met:!0}}return this._met=!1,{met:!1}}reset(){super.reset();for(const t of this._conditions)t.reset()}}class dt extends nt{constructor(t){super(),this._condition=t}evaluate(t){const e=this._condition.evaluate(t);return this._met=!e.met,{met:this._met}}reset(){super.reset(),this._condition.reset()}}class ht extends nt{constructor(t,e={}){super(),this._type=t,this._targetValue=e.value,this._operator=e.operator||"eq"}evaluate(t){const e=t.sensors;if(!e||!(this._type in e))return{met:!1};const o=e[this._type],r=this._targetValue;switch(this._operator){case"eq":this._met=o===r;break;case"neq":this._met=o!==r;break;case"gt":this._met=o>r;break;case"gte":this._met=o>=r;break;case"lt":this._met=o<r;break;case"lte":this._met=o<=r;break;default:this._met=!1}return{met:this._met}}}class pt extends nt{constructor(t,e="free"){super(),this._zoneId=t,this._state=e}evaluate(t){const e=t.zones;return e?(this._met=e[this._zoneId]===this._state,{met:this._met}):{met:!1}}}class gt extends nt{constructor(t,e={}){super(),this._floor=t,this._direction=e.direction||null,this._elevatorId=e.elevatorId||null,this._requireDoorsOpen=!1!==e.requireDoorsOpen}evaluate(t){const e=t.elevators;if(!e)return{met:!1};const o=this._elevatorId?e[this._elevatorId]?[[this._elevatorId,e[this._elevatorId]]]:[]:Object.entries(e);for(const[,r]of o){const t=r.floor===this._floor,e=!this._direction||r.direction===this._direction,o=!this._requireDoorsOpen||!0===r.doorsOpen;if(t&&e&&o)return this._met=!0,{met:!0}}return this._met=!1,{met:!1}}}class ft extends nt{constructor(t,e={}){super(),this._color=t,this._lightId=e.lightId||null}evaluate(t){const e=t.trafficLights;return e?this._lightId?(this._met=e[this._lightId]===this._color,{met:this._met}):(this._met=Object.values(e).some((t=>t===this._color)),{met:this._met}):{met:!1}}}const mt={"guide-indoor":{type:"guide",capabilities:["patrol","announce","follow-human"],kinematics:{maxSpeed:1,acceleration:.5,rotationSpeed:90},battery:{capacity:100,drainMove:.0017,drainIdle:1e-4,drainWait:3e-4,drainRotate:8e-4},display:{markerType:"robot-guide",model3D:"guide-bot.glb",icon:"robot-guide"},sensors:["lidar","depth-camera","mic"]},"patrol-outdoor":{type:"patrol",capabilities:["patrol","surveillance","alarm"],kinematics:{maxSpeed:2.5,acceleration:1,rotationSpeed:60},battery:{capacity:200,drainMove:.003,drainIdle:2e-4,drainWait:5e-4,drainRotate:.001},display:{markerType:"robot-patrol",model3D:"patrol-bot.glb",icon:"robot-patrol"},sensors:["360-camera","thermal","gas-detector"],weatherResistant:!0},"delivery-indoor":{type:"delivery",capabilities:["transport","dock","call-elevator"],kinematics:{maxSpeed:1.5,acceleration:.8,rotationSpeed:120},battery:{capacity:150,drainMove:.002,drainIdle:15e-5,drainWait:4e-4,drainRotate:9e-4},display:{markerType:"robot-delivery",model3D:"delivery-bot.glb",icon:"robot-delivery"},sensors:["lidar","depth-camera"],cargo:{maxLoad:50,compartments:3}}};function yt(t,e={}){const o=mt[t];if(!o)throw new Error(`Unknown robot profile type: "${t}". Available types: ${Object.keys(mt).join(", ")}`);return bt(o,e)}function bt(t,e){const o={...t};for(const r of Object.keys(e))null===e[r]||"object"!=typeof e[r]||Array.isArray(e[r])||"object"!=typeof t[r]||Array.isArray(t[r])?o[r]=e[r]:o[r]=bt(t[r],e[r]);return o}class vt{constructor(){this._handlers=new Map}on(t,e){return this._handlers.has(t)||this._handlers.set(t,new Set),this._handlers.get(t).add(e),()=>this.off(t,e)}off(t,e){const o=this._handlers.get(t);o&&(o.delete(e),0===o.size&&this._handlers.delete(t))}once(t,e){const o=(...r)=>{this.off(t,o),e(...r)};return this.on(t,o)}emit(t,e){const o=this._handlers.get(t);if(o)for(const r of o)r(e,t)}waitFor(t,e){return new Promise((o=>{let r=null;const n=this.once(t,(t=>{r&&clearTimeout(r),o(t)}));e&&e>0&&(r=setTimeout((()=>{n(),o(null)}),e))}))}clear(){this._handlers.clear()}listenerCount(t){const e=this._handlers.get(t);return e?e.size:0}}class wt{constructor(t,e,o){this.resourceType=t,this.resourceId=e,this.robotId=o,this.acquiredAt=Date.now(),this._released=!1}isReleased(){return this._released}}const _t="free",xt="busy",Ct="shared";class Et{constructor(){this._resources=new Map}_makeKey(t,e){return`${t}:${e}`}registerResource(t,e){const o=this._makeKey(t,e);this._resources.has(o)||this._resources.set(o,{status:_t,robotId:null,queue:[]})}acquire(t,e,o,r={}){const n=this._makeKey(t,e);this.registerResource(t,e);const i=this._resources.get(n);return i.status===_t?(i.status=r.shared?Ct:xt,i.robotId=o,Promise.resolve(new wt(t,e,o))):r.shared&&i.status===Ct?Promise.resolve(new wt(t,e,o)):new Promise((t=>{i.queue.push({robotId:o,resolve:t,shared:!!r.shared})}))}release(t){if(t.isReleased())return;const e=this._makeKey(t.resourceType,t.resourceId),o=this._resources.get(e);if(o)if(t._released=!0,o.queue.length>0){const e=o.queue.shift();o.robotId=e.robotId,o.status=e.shared?Ct:xt,e.resolve(new wt(t.resourceType,t.resourceId,e.robotId))}else o.status=_t,o.robotId=null}getStatus(t,e){const o=this._makeKey(t,e),r=this._resources.get(o);return r?{status:r.status,robotId:r.robotId,queueLength:r.queue.length}:{status:_t,robotId:null,queueLength:0}}}const It={PENDING:"pending",IDLE:"idle",RUNNING:"running",COMPLETED:"completed",FAILED:"failed",CANCELLED:"cancelled"};class Lt{constructor(t={}){this.config=t,this._status=It.PENDING}start(t){this._status=It.RUNNING}update(t,e){return this._status}cancel(t){this._status=It.CANCELLED}getStatus(){return this._status}isCompleted(){return this._status===It.COMPLETED}reset(){this._status=It.PENDING}}class St extends Lt{constructor(t={}){super(t),this.target=t.target||[0,0],this.kinematics=t.kinematics||{maxSpeed:1,acceleration:.5,rotationSpeed:90},this.tolerance=t.tolerance||.5,this.batteryConfig=t.batteryConfig||{drainMove:.0017,drainRotate:8e-4},this.onArriveCallback=t.onArrive||null,this._started=!1}start(t){super.start(t),this._started=!0}update(t,e){if(this._status===It.COMPLETED||this._status===It.FAILED)return this._status;this._started||this.start(e);const o=t/1e3,r=this.target[0],n=this.target[1],i=e.position,a=e.heading,s=r-i.x,l=n-i.y,c=Math.sqrt(s*s+l*l);if(c<this.tolerance)return i.x=r,i.y=n,this._status=It.COMPLETED,e.phase=Q.ARRIVED,"function"==typeof this.onArriveCallback&&this.onArriveCallback(e),It.COMPLETED;const u=(180*Math.atan2(s,l)/Math.PI+360)%360,d=this.kinematics.rotationSpeed*o,h=(u-a+540)%360-180,p=Math.abs(h);if(p>1)return e.phase=Q.ROTATING,e.heading=p<=d?u:(a+Math.sign(h)*d+360)%360,void 0!==e.battery&&(e.battery=Math.max(0,e.battery-this.batteryConfig.drainRotate*t)),It.RUNNING;e.phase=Q.MOVING,e.heading=u;const g=Math.min(this.kinematics.maxSpeed*o,c),f=e.heading*Math.PI/180;return i.x+=Math.sin(f)*g,i.y+=Math.cos(f)*g,void 0!==e.battery&&(e.battery=Math.max(0,e.battery-this.batteryConfig.drainMove*t)),It.RUNNING}cancel(){this._started=!1,super.cancel()}reset(){super.reset(),this._started=!1}}class Mt extends Lt{constructor({condition:t,timeout:e=3e4}={}){super({condition:t,timeout:e}),this._condition=t,this._timeout=e,this._elapsed=0}start(t){super.start(t),this._elapsed=0,this._condition&&"function"==typeof this._condition.reset&&this._condition.reset(),t.phase=Q.WAITING}update(t,e){if(this._status!==It.RUNNING)return this._status;if(this._elapsed+=t,this._timeout>0&&this._elapsed>=this._timeout)return this._status=It.FAILED,this._status;const o={...e,elapsed:this._elapsed};return this._condition.evaluate(o).met&&(this._status=It.COMPLETED),this._status}cancel(t){super.cancel(t)}reset(){super.reset(),this._elapsed=0,this._condition&&"function"==typeof this._condition.reset&&this._condition.reset()}}class Pt extends Lt{constructor({action:t,params:e}={}){super({action:t,params:e}),this._action=t,this._params=e,this._resolved=!1,this._failed=!1,this._launched=!1}start(t){super.start(t),this._resolved=!1,this._failed=!1,this._launched=!1}update(t,e){return this._status!==It.RUNNING?this._status:(this._launched||(this._launched=!0,Promise.resolve().then((()=>this._action(e,this._params))).then((()=>{this._resolved=!0})).catch((()=>{this._failed=!0}))),this._failed?(this._status=It.FAILED,this._status):this._resolved?(this._status=It.COMPLETED,this._status):It.RUNNING)}reset(){super.reset(),this._resolved=!1,this._failed=!1,this._launched=!1}}class kt{constructor(t,e,o={}){this._id=t,this._profile="string"==typeof e?yt(e):e,this._phase=o.phase||Q.IDLE,this._position=o.position||{x:0,y:0},this._heading=o.heading||0,this._battery=void 0!==o.battery?o.battery:this._profile.battery.capacity,this._floor=o.floor||"1F",this._taskStatus=It.IDLE,this._currentTask=null,this._taskPromise=null,this._taskResolve=null,this._taskReject=null,this._phaseChangeHandlers=new Set,this._errorHandlers=new Set,this._signalHandlers=new Map,this._context={position:this._position,heading:this._heading,battery:this._battery,phase:this._phase,elapsed:0,signals:{},robotStates:{},eventBus:null,resourceManager:null,sensors:{},zones:{},elevators:{},trafficLights:{}}}getId(){return this._id}getProfile(){return this._profile}getPhase(){return this._phase}getPosition(){return{...this._position}}getHeading(){return this._heading}getBattery(){return this._battery}getFloor(){return this._floor}getTaskStatus(){return this._taskStatus}setPosition(t,e){this._position.x=t,this._position.y=e}setHeading(t){this._heading=t}setEventBus(t){this._context.eventBus=t}setResourceManager(t){this._context.resourceManager=t}updateEnv(t={}){t.sensors&&Object.assign(this._context.sensors,t.sensors),t.zones&&Object.assign(this._context.zones,t.zones),t.elevators&&Object.assign(this._context.elevators,t.elevators),t.trafficLights&&Object.assign(this._context.trafficLights,t.trafficLights)}_transitionTo(t){if(!et(this._phase,t))return!1;const e=this._phase;return this._phase=t,this._context.phase=t,this._notifyPhaseChange(e,t),!0}moveTo(t,e={}){const o=new St({target:t,tolerance:e.tolerance||.5,kinematics:this._profile.kinematics,batteryConfig:this._profile.battery,onArrive:e.onArrive});return this._executeTask(o)}waitFor(t,e={}){const o=new Mt({condition:t,timeout:void 0!==e.timeout?e.timeout:3e4});return this._executeTask(o)}performAction(t,e){const o=new Pt({action:t,params:e});return this._executeTask(o)}execute(t){return this._executeTask(t)}_executeTask(t){return this._currentTask&&this._currentTask.cancel(),this._currentTask=t,this._taskPromise=new Promise(((t,e)=>{this._taskResolve=t,this._taskReject=e})),t.start(this._context),this._taskStatus=It.RUNNING,this._taskPromise}tick(t){if(!this._currentTask||this._taskStatus!==It.RUNNING)return this._taskStatus;this._context.elapsed+=t,this._context.position=this._position,this._context.heading=this._heading,this._context.battery=this._battery,this._context.phase=this._phase;const e=this._currentTask.update(t,this._context);return this._phase=this._context.phase,this._heading=this._context.heading,this._battery=this._context.battery,e===It.COMPLETED?(this._taskStatus=It.COMPLETED,this._currentTask=null,this._taskResolve&&(this._taskResolve(),this._taskResolve=null,this._taskReject=null)):e===It.FAILED?(this._taskStatus=It.FAILED,this._currentTask=null,this._taskReject&&(this._taskReject(new Error("Task 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c=0;c<Nt.length;c++){const[h,p]=Nt[c],g=o.col+h,f=o.row+p;if(!this._isCellInBounds(g,f))continue;if(!t[f][g])continue;if(!(0===h||0===p||t[o.row][g]&&t[f][o.col]))continue;const m=this._cellIndex(g,f),y=Math.hypot(h,p),b=-1===l[e]||l[e]===c?0:this.turnPenalty,v=0!==h&&0!==p?this.diagonalPenalty:0,w=i[e]+y+b+v;w>=i[m]||(s[m]=e,l[m]=c,i[m]=w,a[m]=w+this._cellDistance(g,f,r,n),d.has(m)||(u.push(m),d.add(m)))}}return null}_hasClearance(t,e,o,r){for(let n=-r;n<=r;n++)for(let i=-r;i<=r;i++){const r=t+i,a=e+n;if(!this._isCellInBounds(r,a)||!o[a][r])return!1}return!0}_hasLineOfSight(t,e,o){let r=t.col,n=t.row;const i=e.col,a=e.row,s=Math.abs(i-r),l=Math.abs(a-n),c=r<i?1:-1,u=n<a?1:-1;let d=s-l;for(;;){if(!this._isCellInBounds(r,n)||!o[n][r])return!1;if(this.smoothClearance>0&&!this._hasClearance(r,n,o,this.smoothClearance))return!1;if(r===i&&n===a)break;const t=2*d;t>-l&&(d-=l,r+=c),t<s&&(d+=s,n+=u)}if(this._forbiddenZones){const 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n=new l.DirectionalLight(16777215,1.5);n.position.set(2,3,1).normalize(),d.add(n);const i=new l.DirectionalLight(16777215,.6);i.position.set(-1,.5,-1).normalize(),d.add(i);const a=new l.DirectionalLight(16777215,.3);a.position.set(0,1,0).normalize(),d.add(a),ge.then((o=>{(new o).load(e.url,(e=>{g=e.scene,p=e,f||(f=c.MercatorCoordinate.fromLngLat(t.getCenter(),0),m=f.meterInMercatorCoordinateUnits());for(const[t,o]of y)o.group||E(t,o)}),void 0,(t=>{}))}))},render(t,e){var o,r;if(!u||!d||!f)return;let n=null;if(Array.isArray(e)||e instanceof Float32Array)n=e;else if(e&&"object"==typeof e){const t=e.defaultProjectionData;(null==t?void 0:t.mainMatrix)&&16===t.mainMatrix.length?n=t.mainMatrix:16===(null==(o=e.projectionMatrix)?void 0:o.length)?n=e.projectionMatrix:16===(null==(r=e.modelViewProjectionMatrix)?void 0:r.length)&&(n=e.modelViewProjectionMatrix)}if(!n||16!==n.length)return;const i=performance.now(),s=b?(i-b)/1e3:.016;b=i;for(const c of y.values())c.group&&(c.mixer&&c.mixer.update(s),"manual"!==c.animState&&c.lastMoveTime&&i-c.lastMoveTime>a&&"idle"!==c.currentAnim&&I(c,"idle"));const l=m;_.set(l,-l,l),w.makeTranslation(f.x,f.y,f.z).scale(_),v.fromArray(n),h.projectionMatrix.multiplyMatrices(v,w),h.projectionMatrixInverse.copy(h.projectionMatrix).invert(),h.matrixWorld.identity(),h.matrixWorldInverse.identity(),u.resetState(),u.clearDepth(),u.render(d,h)},onRemove(){for(const t of y.values())t.mixer&&t.mixer.stopAllAction(),t.group&&(t.group.traverse((t=>{t.isMesh&&(t.geometry&&t.geometry.dispose(),Array.isArray(t.material)?t.material.forEach((t=>{t.map&&t.map.dispose(),t.dispose()})):t.material&&(t.material.map&&t.material.map.dispose(),t.material.dispose()))})),null==d||d.remove(t.group));y.clear(),g=null,p=null,u=null}};function C(t){const e=c.MercatorCoordinate.fromLngLat({lng:t[0],lat:t[1]},0),o=1/m;return{x:(e.x-f.x)*o,y:-(e.y-f.y)*o,z:(e.z-f.z)*o}}function E(t,o,r){if(!g)return;const n=g.clone(!0);!function(t){const e=new Map;t.traverse((t=>{t.isBone&&e.set(t.name,t)})),t.traverse((t=>{if(t.isSkinnedMesh){const o=t.skeleton,r=o.bones.map((t=>e.get(t.name)||t)),n=o.boneInverses.map((t=>t.clone())),i=new l.Skeleton(r,n);t.bind(i,t.bindMatrix.clone())}}))}(n);const i=new l.Group;i.add(n);const a=(e.scale??1)*(e.metersScale??1);i.scale.set(a,a,a);const c=C(o.lngLat);i.position.set(c.x,c.y,c.z);const u=e.rotateX??0,h=e.rotateY??0,f=e.rotateZ??0;n.rotation.set(u,h,f);const m=(-o.heading+s)*Math.PI/180;i.rotation.set(0,0,m);const y=new l.AnimationMixer(n),b={};if(p&&p.animations)for(const[s,d]of Object.entries(e.animations??{})){const t=l.AnimationClip.findByName(p.animations,d);if(t){const e=y.clipAction(t);e.loop=l.LoopRepeat,b[s]=e}}d.add(i),o.group=i,o.modelNode=n,o.mixer=y,o.actions=b,o.currentAnim=null,o.prevLngLat=null,o.lastMoveTime=null,o.animState="auto";I(o,e.defaultAnimation??"idle")}function I(t,e){var o,r;if(t.currentAnim===e)return;!function(t,e,o=.3){e&&(t&&t!==e&&t.fadeOut(o),e.reset().fadeIn(o).play())}(null==(o=t.actions)?void 0:o[t.currentAnim],null==(r=t.actions)?void 0:r[e],.3),t.currentAnim=e}function L(t){if(!t.prevLngLat)return void(t.prevLngLat=t.lngLat);const e=function(t,e){const o=(e[1]-t[1])*Math.PI/180,r=(e[0]-t[0])*Math.PI/180,n=Math.sin(o/2)**2+Math.cos(t[1]*Math.PI/180)*Math.cos(e[1]*Math.PI/180)*Math.sin(r/2)**2;return 12742017.6*Math.atan2(Math.sqrt(n),Math.sqrt(1-n))}(t.prevLngLat,t.lngLat);t.prevLngLat=t.lngLat;let o=e>i?"walk":"idle";"idle"===o&&null!==t.prevHeading&&Math.abs(t.heading-t.prevHeading)>5&&(o="walk"),t.prevHeading=t.heading,I(t,o),e>i&&(t.lastMoveTime=performance.now())}function S(t){const e=y.get(t);e&&(e.group&&(e.mixer&&e.mixer.stopAllAction(),null==d||d.remove(e.group),e.group=null),y.delete(t))}return n&&t.getLayer(n)?t.addLayer(x,n):t.addLayer(x),{addRobot:function({id:t,lngLat:e,heading:o=0}){if(y.has(t))return;const r={lngLat:e,heading:o,group:null,modelNode:null,mixer:null,actions:{},currentAnim:null,prevLngLat:null,prevHeading:null,lastMoveTime:null,animState:"auto"};y.set(t,r),g&&E(0,r)},updateRobot:function(t,e){const o=y.get(t);if(!o)return;const r=null!=e.lngLat,n=null!=e.heading;r&&(o.lngLat=e.lngLat),n&&(o.heading=e.heading),o.group&&(r||n)&&function(t){if(!t.group||!f)return;const e=C(t.lngLat);t.group.position.set(e.x,e.y,e.z);const o=(-t.heading+s)*Math.PI/180;t.group.rotation.set(0,0,o)}(o),r&&"auto"===o.animState&&L(o)},setAnimation:function(t,e){const o=y.get(t);o&&(o.animState="manual",I(o,e))},removeRobot:S,destroy:function(){for(const t of y.keys())S(t);t.getLayer(r)&&t.removeLayer(r),u=null,d=null}}}const me=Object.freeze(Object.defineProperty({__proto__:null,ActionTask:Pt,AnnounceTask:class extends Lt{constructor({message:t,channel:e="announce",meta:o}={}){super({message:t,channel:e,meta:o}),this._message=t,this._channel=e,this._meta=o,this._emitted=!1}start(t){super.start(t),this._emitted=!1}update(t,e){return this._status!==It.RUNNING||this._emitted||(this._emitted=!0,e.eventBus&&"function"==typeof e.eventBus.emit&&e.eventBus.emit(this._channel,{message:this._message,meta:this._meta}),this._status=It.COMPLETED),this._status}reset(){super.reset(),this._emitted=!1}},ChargeTask:class extends Lt{constructor({stationId:t,minCharge:e=100,chargeRate:o=.02}={}){super({stationId:t,minCharge:e,chargeRate:o}),this._stationId=t,this._minCharge=e,this._chargeRate=o}start(t){super.start(t),t.phase=Q.CHARGING}update(t,e){return this._status!==It.RUNNING?this._status:(e.phase=Q.CHARGING,void 0===e.battery?(this._status=It.COMPLETED,this._status):(e.battery=Math.min(this._minCharge,(e.battery||0)+this._chargeRate*t),e.battery>=this._minCharge?(this._status=It.COMPLETED,this._status):It.RUNNING))}},Conditional:class extends Lt{constructor({condition:t,then:e,else:o}={}){super({condition:t,then:e,else:o}),this._condition=t,this._thenTask=e,this._elseTask=o||null,this._activeTask=null}start(t){super.start(t);const e=this._condition(t);this._activeTask=e?this._thenTask:this._elseTask,this._activeTask?this._activeTask.start(t):this._status=It.COMPLETED}update(t,e){if(this._status!==It.RUNNING)return this._status;if(!this._activeTask)return this._status=It.COMPLETED,this._status;const o=this._activeTask.update(t,e);return o===It.COMPLETED?this._status=It.COMPLETED:o!==It.FAILED&&o!==It.CANCELLED||(this._status=It.FAILED),this._status}cancel(t){this._activeTask&&this._activeTask.cancel(t),super.cancel(t)}reset(){super.reset(),this._activeTask=null,this._thenTask&&this._thenTask.reset(),this._elseTask&&this._elseTask.reset()}},DisplayManager:class{constructor(t={}){this._mode=t.mode||Rt.MODE_2D,this._renderer2d=t.renderer2d||null,this._renderer3d=t.renderer3d||null,this._robots=[]}setMode(t){const e="2d"===this._mode||"both"===this._mode,o="3d"===this._mode||"both"===this._mode;this._mode=t;const r="2d"===t||"both"===t,n="3d"===t||"both"===t;this._renderer2d&&(e&&!r&&this._renderer2d.clearRobots(),!e&&r&&this._renderer2d.updateRobots([...this._robots])),this._renderer3d&&(o&&!n&&this._renderer3d.clearRobots(),!o&&n&&this._renderer3d.updateRobots([...this._robots]))}getMode(){return this._mode}setRenderer2d(t){this._renderer2d=t}setRenderer3d(t){this._renderer3d=t}_r2d(){return"2d"===this._mode||"both"===this._mode?this._renderer2d:null}_r3d(){return"3d"===this._mode||"both"===this._mode?this._renderer3d:null}_findIdx(t){return"number"==typeof t?t:this._robots.findIndex((e=>e.id===t))}addRobot(t){var e,o;return this._robots.push(t),null==(e=this._r2d())||e.addRobot(t),null==(o=this._r3d())||o.addRobot(t),this._robots.length-1}updateRobot(t,e){var o,r;const n=this._findIdx(t);return!(n<0||n>=this._robots.length)&&(this._robots[n]={...this._robots[n],...e},null==(o=this._r2d())||o.updateRobot(t,e),null==(r=this._r3d())||r.updateRobot(t,e),!0)}updateRobots(t=[]){var e,o;this._robots=[...t],null==(e=this._r2d())||e.updateRobots(t),null==(o=this._r3d())||o.updateRobots(t)}removeRobot(t){var e,o;const r=this._findIdx(t);return!(r<0||r>=this._robots.length)&&(null==(e=this._r2d())||e.removeRobot(t),null==(o=this._r3d())||o.removeRobot(t),this._robots.splice(r,1),!0)}clearRobots(){var t,e;this._robots=[],null==(t=this._r2d())||t.clearRobots(),null==(e=this._r3d())||e.clearRobots()}getRobots(){return[...this._robots]}toggleLabels(t){var e,o;null==(e=this._r2d())||e.toggleLabels(t),null==(o=this._r3d())||o.toggleLabels(t)}remove(){var t,e;null==(t=this._renderer2d)||t.remove(),null==(e=this._renderer3d)||e.remove(),this._robots=[]}},DisplayMode:Rt,DockTask:class extends Lt{constructor({stationId:t,duration:e=3e3}={}){super({stationId:t,duration:e}),this._stationId=t,this._duration=e,this._elapsed=0}start(t){super.start(t),this._elapsed=0,t.phase=Q.DOCKING}update(t,e){return this._status!==It.RUNNING||(e.phase=Q.DOCKING,this._elapsed+=t,this._elapsed>=this._duration&&(this._status=It.COMPLETED)),this._status}reset(){super.reset(),this._elapsed=0}},EventBus:vt,Loop:class extends Lt{constructor({task:t,times:e=-1}={}){super({task:t,times:e}),this._task=t,this._times=e,this._iteration=0}start(t){super.start(t),this._iteration=0,0!==this._times?this._task.start(t):this._status=It.COMPLETED}update(t,e){if(this._status!==It.RUNNING)return this._status;const o=this._task.update(t,e);if(o===It.FAILED||o===It.CANCELLED)return this._status=It.FAILED,this._status;if(o===It.COMPLETED){if(this._iteration++,-1!==this._times&&this._iteration>=this._times)return this._status=It.COMPLETED,this._status;this._task.reset(),this._task.start(e)}return It.RUNNING}cancel(t){this._task.cancel(t),super.cancel(t)}reset(){super.reset(),this._iteration=0,this._task.reset()}getIteration(){return this._iteration}},MoveTask:St,PHASE_TRANSITIONS:tt,Parallel:class extends Lt{constructor(t=[],e={}){super({tasks:t,...e}),this._tasks=t,this._failFast=!1!==e.failFast}start(t){super.start(t);for(const e of this._tasks)e.start(t)}update(t,e){if(this._status!==It.RUNNING)return this._status;let o=!0;for(const r of this._tasks){const n=r.getStatus();if(n===It.COMPLETED)continue;if(n===It.FAILED||n===It.CANCELLED){if(this._failFast)return this._cancelAll(e),this._status=It.FAILED,this._status;continue}const i=r.update(t,e);if((i===It.FAILED||i===It.CANCELLED)&&this._failFast)return this._cancelAll(e),this._status=It.FAILED,this._status;i!==It.COMPLETED&&(o=!1)}return o&&(this._status=It.COMPLETED),this._status}cancel(t){this._cancelAll(t),super.cancel(t)}reset(){super.reset();for(const t of this._tasks)t.reset()}_cancelAll(t){for(const e of this._tasks){const o=e.getStatus();o!==It.RUNNING&&o!==It.PENDING||e.cancel(t)}}},ROBOT_PROFILE_TYPES:{GUIDE_INDOOR:"guide-indoor",PATROL_OUTDOOR:"patrol-outdoor",DELIVERY_INDOOR:"delivery-indoor"},ROBOT_STATUS:{IDLE:"idle",RUNNING:"running",CHARGING:"charging",ERROR:"error",RETURNING:"returning"},Race:class extends Lt{constructor(t=[]){super({tasks:t}),this._tasks=t}start(t){super.start(t);for(const e of this._tasks)e.start(t)}update(t,e){if(this._status!==It.RUNNING)return this._status;let o=!0;for(const r of this._tasks){const t=r.getStatus();if(t===It.COMPLETED)return this._cancelOthers(r,e),this._status=It.COMPLETED,this._status;t!==It.FAILED&&t!==It.CANCELLED&&(o=!1)}for(const r of this._tasks){const o=r.getStatus();if(o===It.RUNNING||o===It.PENDING){if(r.update(t,e)===It.COMPLETED)return this._cancelOthers(r,e),this._status=It.COMPLETED,this._status}}return o=this._tasks.every((t=>{const e=t.getStatus();return e===It.FAILED||e===It.CANCELLED})),o&&(this._status=It.FAILED),this._status}cancel(t){for(const e of this._tasks){const o=e.getStatus();o!==It.RUNNING&&o!==It.PENDING||e.cancel(t)}super.cancel(t)}reset(){super.reset();for(const t of this._tasks)t.reset()}_cancelOthers(t,e){for(const o of this._tasks){if(o===t)continue;const r=o.getStatus();r!==It.RUNNING&&r!==It.PENDING||o.cancel(e)}}},ResourceLock:wt,ResourceManager:Et,ResourceType:{ELEVATOR:"elevator",CHARGER:"charger",PATH_SEGMENT:"path_segment",GATE:"gate",ZONE:"zone"},Retry:class extends Lt{constructor({task:t,maxRetries:e=3}={}){super({task:t,maxRetries:e}),this._task=t,this._maxRetries=e,this._attempts=0}start(t){super.start(t),this._attempts=0,this._task.start(t)}update(t,e){if(this._status!==It.RUNNING)return this._status;const o=this._task.update(t,e);if(o===It.COMPLETED)return this._status=It.COMPLETED,this._status;if(o===It.FAILED||o===It.CANCELLED){if(this._attempts++,this._attempts>this._maxRetries)return this._status=It.FAILED,this._status;this._task.reset(),this._task.start(e)}return It.RUNNING}cancel(t){this._task.cancel(t),super.cancel(t)}reset(){super.reset(),this._attempts=0,this._task.reset()}getAttempts(){return this._attempts}},RobotController:kt,RobotEngine:class{constructor(t={}){this._config=t,this._robots=new Map,this._eventBus=new vt,this._resourceManager=new Et,this._waypointRegistry=new rt,this._running=!1,this._paused=!1,this._lastTickTime=0,this._maxDeltaTime=t.maxDeltaTime||100,this._animationFrameId=null}start(){this._running||(this._running=!0,this._paused=!1,this._lastTickTime=performance.now(),this._tickLoop())}stop(){this._running=!1,this._paused=!1,this._animationFrameId&&(cancelAnimationFrame(this._animationFrameId),this._animationFrameId=null)}pause(){this._paused=!0}resume(){this._running&&(this._paused=!1,this._lastTickTime=performance.now())}isRunning(){return this._running}isPaused(){return this._paused}_tickLoop(){if(!this._running)return;const t=performance.now(),e=Math.min(t-this._lastTickTime,this._maxDeltaTime);this._lastTickTime=t,this._paused||this.tick(e),this._animationFrameId=requestAnimationFrame((()=>this._tickLoop()))}tick(t){this._buildTickContext();for(const[o,r]of this._robots)try{r.tick(t)}catch(e){}}_buildTickContext(){const t={};for(const[e,o]of this._robots)t[e]={position:o.getPosition(),heading:o.getHeading(),phase:o.getPhase(),battery:o.getBattery()};return{robotStates:t,timestamp:Date.now()}}addRobot(t,e,o={}){if(this._robots.has(t))throw new Error(`Robot "${t}" already exists`);const r=new kt(t,e,o);return r.setEventBus(this._eventBus),r.setResourceManager(this._resourceManager),this._robots.set(t,r),r}removeRobot(t){const e=this._robots.get(t);e&&(e.cancelCurrentTask(),this._robots.delete(t))}getRobot(t){return this._robots.get(t)}getRobots(){return new Map(this._robots)}getRobotIds(){return Array.from(this._robots.keys())}assignMission(t,e){const o=this._robots.get(t);if(!o)throw new Error(`Robot "${t}" not found`);o.execute(e)}cancelMission(t){const e=this._robots.get(t);e&&e.cancelCurrentTask()}getMissionStatus(t){const e=this._robots.get(t);return e?e.getTaskStatus():"unknown"}emitSignal(t,e){this._eventBus.emit(t,e)}onSignal(t,e){return this._eventBus.on(t,e)}getEventBus(){return this._eventBus}getResourceManager(){return this._resourceManager}registerWaypointType(t,e){this._waypointRegistry.register(t,e)}getWaypointRegistry(){return this._waypointRegistry}registerConditionType(t,e){this._conditionFactories||(this._conditionFactories=new Map),this._conditionFactories.set(t,e)}getConditionFactory(t){var e;return null==(e=this._conditionFactories)?void 0:e.get(t)}registerActionType(t,e){this._actionHandlers||(this._actionHandlers=new Map),this._actionHandlers.set(t,e)}getActionHandler(t){var e;return null==(e=this._actionHandlers)?void 0:e.get(t)}},RobotPhase:Q,SensorTask:class extends Lt{constructor({sensor:t,action:e}={}){super({sensor:t,action:e}),this._sensor=t,this._action=e,this._launched=!1,this._resolved=!1,this._failed=!1}start(t){super.start(t),this._launched=!1,this._resolved=!1,this._failed=!1}update(t,e){if(this._status!==It.RUNNING)return this._status;if(!this._launched){this._launched=!0;try{const 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ve=["click","mouseenter","mouseleave","mousemove"];function we(t,e){const o=function(){const t=new Map;function e(e,r){return t.has(e)||t.set(e,new Set),t.get(e).add(r),()=>o(e,r)}function o(e,o){var r;null==(r=t.get(e))||r.delete(o)}return{on:e,off:o,once:function(t,r){const n=e=>{r(e),o(t,n)};return e(t,n)},emit:function(e,o){var r;null==(r=t.get(e))||r.forEach((t=>t(o)))},destroy:function(){t.clear()}}}(),r=new Map,n=[],i=new Map,a={};return ve.forEach((s=>{const l=t=>{var e,a,l,c;const u=(null==(e=t.features)?void 0:e[0])??null,d={feature:u,lngLat:t.lngLat,originalEvent:t};if(null!=u){null==(l=null==(a=r.get(String(u.id)))?void 0:a.get(s))||l.forEach((t=>t(d)));const 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