atriusmaps-node-sdk 1.0.0 → 3.2.28

package/lib/plugins/wayfinder/src/findRoute.js

@@ -1,134 +1 @@
-import * as R from 'ramda';
-import { SecurityLaneType } from './wayfinder.js';
-
-const getEdgeTo = dst => node => R.find(e => e.dst === dst, node.edges);
-
-/**
- * Returns the shortest route (or path) from start to end.
- * @param  {Object} start must include {floorId, lat, lng}
- * @param  {Object} end must include {floorId, lat, lng}
- * @param  {Object} options optional settings for choosing route
- * @param  {boolean} options.requiresAccessibility if true, only accessible routes are returned (no stairs or escalators)
- * @returns {[nodes]} array of NavGraph nodes OR null if no route exists
- * @throws if start or end is not defined
- */
-const calculateRoute = (graph, start, end, options) => {
-  if (!start || !end)
-    throw Error('bad calculate Route request!')
-  return graph.findShortestPath(start, end, options)
-};
-
-/**
- * @typedef Waypoint
- * @property {FullPosition} position
- * @property {number} distance
- * @property {number} eta
- * @property {boolean} isSecurityCheckpoint
- * @property {boolean} isPortal
- * @property {string} portalType
- * @property {number} levelDifference
- * @property {boolean} isDestination
- * @property {SecurityWaitTime|null} securityWaitTimes
- * @property {SecurityLane|null} securityLane
- * @property {CurvedPath|null} curvedPathForward
- *
- * @typedef SecurityLane
- * @property {string} id
- * @property {string} type
- *
- * @typedef FullPosition
- * @property {string} floorId
- * @property {string} lat
- * @property {number} lng
- * @property {number} ordinal
- * @property {string} structureId
- *
- * @typedef {Array.<CurvedPoint>} CurvedPath
- *
- * @typedef CurvedPoint
- * @property {ObjCoordinate} end
- * @property {ObjCoordinate} in
- * @property {ObjCoordinate} out
- * @property {ObjCoordinate} start
- *
- * @typedef {{lng: number, lat: number}} ObjCoordinate
- *
- * Returns the shortest route (or path) from start to end.
- * @param graph
- * @param {Endpoint} start
- * @param {Endpoint} destination
- * @param {RouteOptions} options
- * @return {{waypoints: Array.<Waypoint>}|null}
- */
-// todo refactor
-const findRoute = (graph, start, destination, options = {}) => {
-  const waypoints = [];
-  const queues = [];
-
-  let hasSecurity = false;
-  let hasImmigration = false;
-
-  const routeNodes = calculateRoute(graph, start, destination, options);
-
-  if (routeNodes === null)
-    return null
-
-  let previousRouteNode = null;
-  for (let i = 0; i < routeNodes.length; i++) {
-    const waypoint = {
-      distance: 0,
-      eta: 0
-    };
-
-    if (previousRouteNode) {
-      const edgeUsed = getEdgeTo(routeNodes[i].id)(previousRouteNode);
-      if (edgeUsed != null) {
-        waypoint.distance = edgeUsed.distance;
-        waypoint.eta = edgeUsed.transitTime;
-
-        if (edgeUsed.type !== 'Ground') {
-          waypoint.portalType = edgeUsed.type;
-          waypoint.isPortal = true;
-        }
-
-        if (edgeUsed.o)
-          waypoint.poiId = edgeUsed.o;
-
-        if (edgeUsed.path)
-          waypoint.curvedPathForward = edgeUsed.path;
-        if (edgeUsed.securityWaitTimes) {
-          waypoint.securityWaitTimes = edgeUsed.securityWaitTimes;
-          waypoint.eta = waypoint.securityWaitTimes.queueTime;
-        }
-
-        if (edgeUsed.securityLane) {
-          waypoint.securityLane = edgeUsed.securityLane;
-          waypoint.isSecurityCheckpoint = true;
-          if (edgeUsed.securityLane.type === SecurityLaneType.SECURITY)
-            hasSecurity = true;
-          if (edgeUsed.securityLane.type === SecurityLaneType.IMMIGRATION)
-            hasImmigration = true;
-          if (edgeUsed.o)
-            queues.push(edgeUsed.o);
-        }
-      }
-    }
-
-    waypoint.levelDifference = previousRouteNode ? routeNodes[i].ordinal - previousRouteNode.ordinal : 0;
-    waypoint.position = R.omit(['edges', 'id'], { ...routeNodes[i] });
-
-    waypoints.push(waypoint);
-
-    previousRouteNode = routeNodes[i];
-  }
-  R.last(waypoints).isDestination = true;
-
-  return {
-    waypoints,
-    queues,
-    hasSecurity,
-    hasImmigration
-  }
-};
-
-export { findRoute };
+import*as e from"ramda";import{SecurityLaneType as t}from"./wayfinder.js";const i=t=>i=>e.find((e=>e.dst===t),i.edges),r=(r,s,a,n={})=>{const o=[],u=[];let c=!1,l=!1;const d=((e,t,i,r)=>{if(!t||!i)throw Error("bad calculate Route request!");return e.findShortestPath(t,i,r)})(r,s,a,n);if(null===d)return null;let y=null;for(let r=0;r<d.length;r++){const s={distance:0,eta:0};if(y){const e=i(d[r].id)(y);null!=e&&(s.distance=e.distance,s.eta=e.transitTime,"Ground"!==e.type&&(s.portalType=e.type,s.isPortal=!0),e.o&&(s.poiId=e.o),e.path&&(s.curvedPathForward=e.path),e.securityWaitTimes&&(s.securityWaitTimes=e.securityWaitTimes,s.eta=s.securityWaitTimes.queueTime),e.securityLane&&(s.securityLane=e.securityLane,s.isSecurityCheckpoint=!0,e.securityLane.type===t.SECURITY&&(c=!0),e.securityLane.type===t.IMMIGRATION&&(l=!0),e.o&&u.push(e.o)))}s.levelDifference=y?d[r].ordinal-y.ordinal:0,s.position=e.omit(["edges","id"],{...d[r]}),o.push(s),y=d[r]}return e.last(o).isDestination=!0,{waypoints:o,queues:u,hasSecurity:c,hasImmigration:l}};export{r as findRoute};

package/lib/plugins/wayfinder/src/minPriorityQueue.js

@@ -1,89 +1 @@
-class MinPriorityQueue {
-  constructor () {
-    this.heap = [null]; // array representation of binary heap
-    this.heapMap = {};
-  }
-
-  offerWithPriority (node, priority) {
-    const index = this.heap.push([node, priority]) - 1;
-
-    this.heapMap[node] = index;
-    this.bubble(index);
-  }
-
-  raisePriority (node, priority) {
-    const index = this.heapMap[node];
-    this.heap[index][1] = priority;
-
-    this.bubble(index);
-  }
-
-  poll () {
-    if (this.heap.length === 1) {
-      return null
-    }
-    if (this.heap.length === 2) {
-      const value = this.heap.pop()[0];
-      delete this.heapMap[value];
-      return value
-    }
-
-    const value = this.heap[1][0];
-    delete this.heapMap[value];
-
-    this.heap[1] = this.heap.pop();
-    this.heapMap[this.heap[1][0]] = 1;
-
-    this.sink(1);
-
-    return value
-  }
-
-  isEmpty () {
-    return this.heap.length === 1
-  }
-
-  bubble (i) {
-    while (i > 1) {
-      const parentIndex = i >> 1; // floor(i/2)
-
-      if (!this.isHigherPriority(i, parentIndex)) {
-        break
-      }
-
-      this.swap(i, parentIndex);
-      i = parentIndex;
-    }
-  }
-
-  sink (i) {
-    while (i * 2 < this.heap.length) {
-      const isRightChildHigherPriority = (this.heap[i * 2 + 1] === undefined)
-        ? false
-        : this.isHigherPriority(i * 2 + 1, i * 2); // i*2 +1 might be null
-      const childIndex = isRightChildHigherPriority ? i * 2 + 1 : i * 2;
-
-      if (this.isHigherPriority(i, childIndex)) {
-        break
-      }
-
-      this.swap(i, childIndex);
-      i = childIndex;
-    }
-  }
-
-  swap (i, j) {
-    this.heapMap[this.heap[i][0]] = j;
-    this.heapMap[this.heap[j][0]] = i;
-
-    const temp = this.heap[i];
-    this.heap[i] = this.heap[j];
-    this.heap[j] = temp;
-  }
-
-  isHigherPriority (i, j) {
-    return this.heap[i][1] < this.heap[j][1] // lower score -> higher priority
-  }
-}
-
-export default MinPriorityQueue;
+class h{constructor(){this.heap=[null],this.heapMap={}}offerWithPriority(h,i){const t=this.heap.push([h,i])-1;this.heapMap[h]=t,this.bubble(t)}raisePriority(h,i){const t=this.heapMap[h];this.heap[t][1]=i,this.bubble(t)}poll(){if(1===this.heap.length)return null;if(2===this.heap.length){const h=this.heap.pop()[0];return delete this.heapMap[h],h}const h=this.heap[1][0];return delete this.heapMap[h],this.heap[1]=this.heap.pop(),this.heapMap[this.heap[1][0]]=1,this.sink(1),h}isEmpty(){return 1===this.heap.length}bubble(h){for(;h>1;){const i=h>>1;if(!this.isHigherPriority(h,i))break;this.swap(h,i),h=i}}sink(h){for(;2*h<this.heap.length;){const i=void 0!==this.heap[2*h+1]&&this.isHigherPriority(2*h+1,2*h)?2*h+1:2*h;if(this.isHigherPriority(h,i))break;this.swap(h,i),h=i}}swap(h,i){this.heapMap[this.heap[h][0]]=i,this.heapMap[this.heap[i][0]]=h;const t=this.heap[h];this.heap[h]=this.heap[i],this.heap[i]=t}isHigherPriority(h,i){return this.heap[h][1]<this.heap[i][1]}}export{h as default};

package/lib/plugins/wayfinder/src/navGraph.js

@@ -1,370 +1 @@
-import { pick, isNil, map, omit, path } from 'ramda';
-import { encode, calculateAdjacent } from '../../../src/extModules/geohasher.js';
-import { distance } from '../../../src/utils/geodesy.js';
-import MinPriorityQueue from './minPriorityQueue.js';
-
-const DEFAULT_WALKING_SPEED_M_PER_MIN = 60;
-const CLOSED_CHECKPOINT_EDGE_WEIGHT = 9999;
-
-/**
- * @typedef NavNode
- * @property {number} ordinal
- * @property {Array.<NavEdge>} edges
- * @property {string} id
- * @property {number} lat
- * @property {number} lng
- * @property {string} floorId
- * @property {structureId} structureId
- *
- * @typedef NavEdge
- * @property {string} dst - id of node at edge end
- * @property {string} src - id of node at edge start
- * @property {number} distance
- * @property {string|undefined} o - id of security lane POI associated with this edge
- * @property {CurvedPath|null} path - list of Bezier points if edge represents curve
- * @property {boolean} isAccessible
- * @property {boolean} isDriveway - true if edge points to POI, false if edge just connects other edges
- * @property {number} transitTime
- * @property {string} type
- * @property {number} weight - value used by Dijkstra algorithm (usually edge time or distance)
- *
- * @param {RawNavGraph} data
- * @param {function} floorIdToOrdinal
- * @param {function} floorIdToStructureId
- * @param {Array.<SecurityLane>} securityLanesMap - list of security lanes
- * @return {Object}
- */
-// todo remove dead commented code
-function createNavGraph (data, floorIdToOrdinal, floorIdToStructureId, securityLanesMap) {
-  const nodes = { };
-  const geoDb = { };
-  let securityWaitTimes = {};
-
-  data.nodes.forEach(nodeData => {
-    const ordinal = floorIdToOrdinal(nodeData.floorId);
-    const structureId = floorIdToStructureId(nodeData.floorId);
-    const node = {
-      ...pick(['id', 'lat', 'lng', 'floorId'], nodeData),
-      edges: [],
-      ordinal,
-      structureId
-    };
-    addNode(node);
-  });
-
-  data.edges.forEach(ed => nodes[ed.s].edges.push(createEdge(ed, nodes)));
-
-  function addNode (node) {
-    const largeGeo = node.floorId + ':' + encode(node.lat, node.lng).substr(0, 7);
-    const mediumGeo = node.floorId + ':' + encode(node.lat, node.lng).substr(0, 8);
-
-    if (!geoDb[largeGeo])
-      geoDb[largeGeo] = [];
-
-    geoDb[largeGeo].push(node);
-
-    if (!geoDb[mediumGeo])
-      geoDb[mediumGeo] = [];
-
-    geoDb[mediumGeo].push(node);
-
-    nodes[node.id] = node;
-  }
-
-  function createEdge (data, nodes) {
-    const type = getEdgeType(data);
-    const isAccessible = type.toLowerCase() !== 'escalator' && type.toLowerCase() !== 'stairs';
-    // todo consider calculating edge distance with 'path' differently
-    const distance = distanceBetweenNodes(data.s, data.d, nodes);
-    const transitTime = data.l || distance / DEFAULT_WALKING_SPEED_M_PER_MIN;
-
-    const buildCurvedPath = points => points.map(point => {
-      return {
-        start: { lat: point.s[0], lng: point.s[1] },
-        out: { lat: point.o[0], lng: point.o[1] },
-        in: { lat: point.i[0], lng: point.i[1] },
-        end: { lat: point.e[0], lng: point.e[1] }
-      }
-    });
-
-    const path = data.p ? buildCurvedPath(data.p) : null;
-
-    return {
-      distance,
-      dst: data.d,
-      o: data.o,
-      isAccessible,
-      isDriveway: !isNil(data.h) && !data.h,
-      src: data.s,
-      transitTime,
-      type,
-      path,
-      weight: transitTime
-    }
-  }
-
-  function getEdgeType (data) {
-    if (data.x) return 'Security Checkpoint'
-    if (data.t === '') return 'Ground'
-    return data.t
-  }
-
-  function findShortestPathEntry (start, end, nodes, options = {}) {
-    const startNode = findClosestNode(start.floorId, start.lat, start.lng, geoDb, nodes);
-    const endNode = findClosestNode(end.floorId, end.lat, end.lng, geoDb, nodes);
-
-    // This code section does improve performance by about 10-20%, but comes at a cost
-    // of making the caching unusable in some cases
-    // if (start.structureId === end.structureId) {
-    //   options.minOrd = Math.min(start.ordinal, end.ordinal)
-    //   options.maxOrd = Math.max(start.ordinal, end.ordinal)
-    //   options.structureId = start.structureId
-    // }
-    return findShortestPath(startNode, endNode, nodes, securityWaitTimes, securityLanesMap, options)
-  }
-  /**
-   * @param  {Endpoint} start - start endpoint
-   * @param  {Array.<Endpoint>} destArray - list of destinations
-   * @param  {RouteOptions} options extra options (such as requireAccessibility)
-   * @returns {Array.<Array.<NavNode>>} array of routes corresponding to destinations specified
-   */
-  function findAllShortestPaths (start, destArray, options) {
-    const lat = start.lat || start.latitude; // handle bluedot location
-    const lng = start.lng || start.longitude; // handle bluedot location
-    const startNode = findClosestNode(start.floorId, lat, lng, geoDb, nodes);
-    const destNodeArray = destArray.map(dest => findClosestNode(dest.floorId, dest.lat, dest.lng, geoDb, nodes));
-    if (!startNode || !destNodeArray.length) return []
-    return findAllShortestPathsImpl(startNode, destNodeArray, nodes, securityWaitTimes, securityLanesMap, options)
-  }
-
-  function updateWithSecurityWaitTime (waitTimesData) {
-    securityWaitTimes = map(omit(['lastUpdated']), waitTimesData);
-    clearCache();
-  }
-
-  return {
-    _nodes: nodes,
-    _geoDb: geoDb,
-    findShortestPath: (start, end, options) => findShortestPathEntry(start, end, nodes, options),
-    findAllShortestPaths,
-    floorIdToOrdinal, // todo lets get rid of this...
-    floorIdToStructureId, // todo lets get rid of this...,
-    updateWithSecurityWaitTime,
-    clearCache
-  }
-}
-
-function distanceBetweenNodes (n1, n2, nodes) {
-  const node1 = nodes[n1];
-  const node2 = nodes[n2];
-  const distance$1 = distance(node1.lat, node1.lng, node2.lat, node2.lng);
-  return distance$1
-}
-
-/**
- * @param {Object.<Node>} start - a node in the navGraph to start on
- * @param {Array.<Node>} destinations - array of nodes to find path to
- * @param {Object.<string, NavNode>} nodes - dictionary of nodes by id
- * @param {Object.<string, SecurityWaitTime>} securityWaitTimes - map of POI id to security wait time
- * @param {Object.<string, SecurityLane>} securityLanesMap - map of POI id to security lane
- * @param  {RouteOptions} [options={}] extra options (such as requireAccessibility)
- * @returns {Array.<Array.<Node>>} list of shortest path to each destination
- */
-function findAllShortestPathsImpl (start, destinations, nodes, securityWaitTimes = {}, securityLanesMap = {}, options = {}) {
-  // const previous = findPaths(start, start, nodes, options)
-
-  // const backtrackPath = node => buildBacktrackPath(nodes, previous, node)
-  // const poiNodeTuples = Array.from(destinations.entries())
-
-  // const poiPathTuples = poiNodeTuples.map(([poi, node]) => [poi, backtrackPath(node)])
-  // return new Map(poiPathTuples)
-  return destinations.map(d => findShortestPath(start, d, nodes, securityWaitTimes, securityLanesMap, options))
-}
-
-let cost, prev, visited, visitQueue, lastStartId, lastOptionsStr;
-
-const clearCache = () => {
-  cost = { };
-  prev = { };
-  visited = { };
-  visitQueue = new MinPriorityQueue();
-  lastStartId = null;
-  lastOptionsStr = {};
-};
-
-// This is a temporary name during a "probation" period - then I will
-// ditch findShortestPath and rewrite findAllShortestPaths and ditch
-// backtrackPath, etc.
-// NOTE: export just for testing
-/**
- * @param  {Object<Node>} start a node in the navGraph to start on
- * @param  {Object<Node>} end a node in the navGraph to find path to
- * @param  {Object.<string, Node>} nodes dictionary of nodes by id
- * @param {Object.<string, SecurityWaitTime>} securityWaitTimes - map of POI id to security wait time
- * @param {Object.<string, SecurityLane>} securityLanesMap - map of POI id to security lane
- * @param  {RouteOptions} options={} extra options (such as requireAccessibility)
- * @returns {Array.<Node>} an array of nodes that represent the shortest route from start to end. null if no route exists.
- */
-function findShortestPath (start, end, nodes, securityWaitTimes = {}, securityLanesMap = {}, options = { }) {
-  if (start.id !== lastStartId || lastOptionsStr !== JSON.stringify(options)) {
-    clearCache();
-    visitQueue.offerWithPriority(start.id, 0);
-    cost[start.id] = 0;
-    visited[start.id] = true;
-
-    lastStartId = start.id;
-    lastOptionsStr = JSON.stringify(options);
-  }
-
-  // continue crawling paths - but stop once we found destination
-  while (!visitQueue.isEmpty() && !visited[end.id]) {
-    const node = nodes[visitQueue.poll()]; // pop
-    const ccost = cost[node.id]; // current cost to this node
-    for (let ei = 0; ei < node.edges.length; ei++) {
-      const e = node.edges[ei]; // next edge from this node
-
-      if (visited[e.dst])
-        continue
-
-      if (options.requiresAccessibility && !e.isAccessible) {
-        // ignore not accessible edges if we're looking for an accessible route
-        continue
-      }
-
-      // This code section does improve performance by about 10-20%, but comes at a cost
-      // of making the caching unusable in some cases
-      // if ((options.minOrd !== undefined && nodes[e.dst].ordinal < options.minOrd) ||
-      //   (options.maxOrd !== undefined && nodes[e.dst].ordinal > options.maxOrd) ||
-      //   (options.structureId !== undefined && nodes[e.dst].structureId !== options.structureId))
-      //   continue
-
-      let weight = e.weight;
-      if (e.o && securityWaitTimes[e.o]) {
-        const dynamicData = securityWaitTimes[e.o];
-        if (dynamicData.queueTime) weight = dynamicData.queueTime;
-        if (dynamicData.isTemporarilyClosed) weight = CLOSED_CHECKPOINT_EDGE_WEIGHT;
-        e.securityWaitTimes = dynamicData;
-      }
-
-      if (e.o && securityLanesMap[e.o]) {
-        e.securityLane = securityLanesMap[e.o];
-        const { type, id } = securityLanesMap[e.o];
-        const securityLanesIds = path(['selectedSecurityLanes', type], options);
-        if (securityLanesIds && !securityLanesIds.includes(id))
-          continue
-      }
-
-      if (cost[e.dst] === undefined) {
-        prev[e.dst] = node;
-        cost[e.dst] = ccost + weight;
-        visitQueue.offerWithPriority(e.dst, ccost + weight); // add node to the toCheck array
-      } else
-      if (cost[e.dst] > (ccost + weight)) { // is this a shorter path? Relaxation...
-        // if so, update the cost and parent
-        cost[e.dst] = ccost + weight;
-        prev[e.dst] = node;
-        visitQueue.raisePriority(e.dst, ccost + weight);
-      }
-    }
-    visited[node.id] = true; // we have now been selected
-  }
-
-  if (!visited[end.id]) // if we never found our endpoint, it was inaccessible
-    return null
-
-  // build the path and return it
-  const path$1 = [];
-  let node = end;
-  while (node) {
-    path$1.push(node);
-    node = prev[node.id];
-  }
-  return path$1.reverse()
-}
-
-function geohashSearch (floorId, geohash, geoDb, size) {
-  const geohashPrefix = geohash.substr(0, size);
-
-  const searchGeos = [];
-  searchGeos.push(floorId + ':' + calculateAdjacent(calculateAdjacent(geohashPrefix, 'top'), 'left'));
-  searchGeos.push(floorId + ':' + calculateAdjacent(geohashPrefix, 'top'));
-  searchGeos.push(floorId + ':' + calculateAdjacent(calculateAdjacent(geohashPrefix, 'top'), 'right'));
-  searchGeos.push(floorId + ':' + calculateAdjacent(geohashPrefix, 'left'));
-  searchGeos.push(floorId + ':' + geohashPrefix);
-  searchGeos.push(floorId + ':' + calculateAdjacent(geohashPrefix, 'right'));
-  searchGeos.push(floorId + ':' + calculateAdjacent(calculateAdjacent(geohashPrefix, 'bottom'), 'left'));
-  searchGeos.push(floorId + ':' + calculateAdjacent(geohashPrefix, 'bottom'));
-  searchGeos.push(floorId + ':' + calculateAdjacent(calculateAdjacent(geohashPrefix, 'bottom'), 'right'));
-
-  const nodes = [];
-  for (let i = 0; i < searchGeos.length; i++) {
-    const nodesFound = geoDb[searchGeos[i]];
-    if (nodesFound) {
-      for (let j = 0; j < nodesFound.length; j++)
-        nodes.push(nodesFound[j]);
-    }
-  }
-
-  return nodes
-}
-
-function findNodesByGeohash (floorId, geohash, geoDb, nodes) {
-  let foundNodes = geohashSearch(floorId, geohash, geoDb, 8);
-  if (foundNodes.length > 0)
-    return foundNodes
-
-  // broaden our search a bit and try again...
-  foundNodes = geohashSearch(floorId, geohash, geoDb, 7);
-  if (foundNodes.length > 0)
-    return foundNodes
-
-  // punt!
-  return Object.values(nodes)
-}
-
-/**
- * @param floorId
- * @param lat
- * @param lng
- * @param geoDb
- * @param {Object<string, NavNode>} nodes - dictionary of node id to node object
- * @return {NavNode} - node that is on the same floor and closest to the lat,lng point
- */
-function findClosestNode (floorId, lat, lng, geoDb, nodes) {
-  const cnodes = findNodesByGeohash(floorId, encode(lat, lng), geoDb, nodes);
-
-  const nodeWithDistance = [];
-  for (let i = 0; i < cnodes.length; i++) {
-    // Attached distance to each node from the origin.
-    const distance$1 = distance(lat, lng, cnodes[i].lat, cnodes[i].lng);
-    nodeWithDistance.push([cnodes[i], distance$1]);
-  }
-  // todo do not sort, just find min node
-  // Sort by distance.
-  nodeWithDistance.sort(function (a, b) { return a[1] - b[1] });
-  const nodesSortedByDistance = [];
-  for (let i = 0; i < nodeWithDistance.length; i++)
-    nodesSortedByDistance.push(nodeWithDistance[i][0]);
-
-  return nodesSortedByDistance[0]
-}
-
-// A slightly slower alternative to findClosestNode (an experiment - its simpler, but slower)
-// function findClosestNode2 (floorId, lat, lng, nodes) {
-//   return selectShortest(Object.values(nodes)
-//     .filter(n => n.floorId === floorId)
-//     .map(n => [n, getGeoDistance([n.lat, n.lng], [lat, lng])]))
-// }
-
-// companion to above function - it returns closest node
-// ar is 2-dim array - ar[i][0] = node, ar[i][1] = distance
-// TODO: use this approach in findClosestNode - no need to sort first!
-// function selectShortest (ar) {
-//   let shortest = ar[0]
-//   for (let i = 1; i < ar.length; i++)
-//     if (ar[i][1] < shortest[1]) shortest = ar[i]
-
-//   return shortest[0]
-// }
-
-export { createNavGraph, findShortestPath };
+import{pick as t,isNil as o,map as e,omit as n,path as r}from"ramda";import{encode as s,calculateAdjacent as i}from"../../../src/extModules/geohasher.js";import{distance as l}from"../../../src/utils/geodesy.js";import u from"./minPriorityQueue.js";function d(r,i,l,u){const d={},c={};let a={};return r.nodes.forEach((o=>{const e=i(o.floorId),n=l(o.floorId);!function(t){const o=t.floorId+":"+s(t.lat,t.lng).substr(0,7),e=t.floorId+":"+s(t.lat,t.lng).substr(0,8);c[o]||(c[o]=[]);c[o].push(t),c[e]||(c[e]=[]);c[e].push(t),d[t.id]=t}({...t(["id","lat","lng","floorId"],o),edges:[],ordinal:e,structureId:n})})),r.edges.forEach((t=>d[t.s].edges.push(function(t,e){const n=function(t){return t.x?"Security Checkpoint":""===t.t?"Ground":t.t}(t),r="escalator"!==n.toLowerCase()&&"stairs"!==n.toLowerCase(),s=f(t.s,t.d,e),i=t.l||s/60,l=t=>t.map((t=>({start:{lat:t.s[0],lng:t.s[1]},out:{lat:t.o[0],lng:t.o[1]},in:{lat:t.i[0],lng:t.i[1]},end:{lat:t.e[0],lng:t.e[1]}}))),u=t.p?l(t.p):null;return{distance:s,dst:t.d,o:t.o,isAccessible:r,isDriveway:!o(t.h)&&!t.h,src:t.s,transitTime:i,type:n,path:u,weight:i}}(t,d)))),{_nodes:d,_geoDb:c,findClosestNode:(t,o,e)=>w(t,o,e,c,d),findShortestPath:(t,o,e)=>function(t,o,e,n={}){return I(w(t.floorId,t.lat,t.lng,c,e),w(o.floorId,o.lat,o.lng,c,e),e,a,u,n)}(t,o,d,e),findAllShortestPaths:function(t,o,e){if(!t.floorId)throw Error("attempt to find a shortest path with null floorId");const n=t.lat||t.latitude,r=t.lng||t.longitude,s=w(t.floorId,n,r,c,d),i=o.map((t=>w(t.floorId,t.lat,t.lng,c,d)));return s&&i.length?function(t,o,e,n={},r={},s={}){return o.map((o=>{try{return I(t,o,e,n,r,s)}catch(t){return null}}))}(s,i,d,a,u,e):[]},floorIdToOrdinal:i,floorIdToStructureId:l,updateWithSecurityWaitTime:function(t){a=e(n(["lastUpdated"]),t),y()},clearCache:y}}function f(t,o,e){const n=e[t],r=e[o];return l(n.lat,n.lng,r.lat,r.lng)}let c,a,h,g,p,m;const y=()=>{c={},a={},h={},g=new u,p=null,m={}};function I(t,o,e,n={},s={},i={}){for(t.id===p&&m===JSON.stringify(i)||(y(),g.offerWithPriority(t.id,0),c[t.id]=0,h[t.id]=!0,p=t.id,m=JSON.stringify(i));!g.isEmpty()&&!h[o.id];){const t=e[g.poll()],o=c[t.id];for(let e=0;e<t.edges.length;e++){const l=t.edges[e];if(h[l.dst])continue;if(i.requiresAccessibility&&!l.isAccessible)continue;let u=l.weight;if(l.o&&n[l.o]){const t=n[l.o];t.queueTime&&(u=t.queueTime),t.isTemporarilyClosed&&(u=9999),l.securityWaitTimes=t}if(l.o&&s[l.o]){l.securityLane=s[l.o];const{type:t,id:o}=s[l.o],e=r(["selectedSecurityLanes",t],i);if(e&&!e.includes(o))continue}void 0===c[l.dst]?(a[l.dst]=t,c[l.dst]=o+u,g.offerWithPriority(l.dst,o+u)):c[l.dst]>o+u&&(c[l.dst]=o+u,a[l.dst]=t,g.raisePriority(l.dst,o+u))}h[t.id]=!0}if(!h[o.id])return null;const l=[];let u=o;for(;u;)l.push(u),u=a[u.id];return l.reverse()}function b(t,o,e,n){const r=o.substr(0,n),s=[];s.push(t+":"+i(i(r,"top"),"left")),s.push(t+":"+i(r,"top")),s.push(t+":"+i(i(r,"top"),"right")),s.push(t+":"+i(r,"left")),s.push(t+":"+r),s.push(t+":"+i(r,"right")),s.push(t+":"+i(i(r,"bottom"),"left")),s.push(t+":"+i(r,"bottom")),s.push(t+":"+i(i(r,"bottom"),"right"));const l=[];for(let t=0;t<s.length;t++){const o=e[s[t]];if(o)for(let t=0;t<o.length;t++)l.push(o[t])}return l}function w(t,o,e,n,r){const i=function(t,o,e,n){let r=b(t,o,e,8);return r.length>0?r:(r=b(t,o,e,7),r.length>0?r:null)}(t,s(o,e),n)||function(t,o,e,n){const r=Object.values(n).filter((o=>o.floorId===t)).map((t=>[t,l([t.lat,t.lng],[o,e])]));if(!r.length)throw Error(`findClosestNode2 found no nodes on floor ${t}`);return function(t){let o=t[0];for(let e=1;e<t.length;e++)t[e][1]<o[1]&&(o=t[e]);return o[0]}(r)}(t,o,e,r),u=[];for(let t=0;t<i.length;t++){const n=l(o,e,i[t].lat,i[t].lng);u.push([i[t],n])}u.sort((function(t,o){return t[1]-o[1]}));const d=[];for(let t=0;t<u.length;t++)d.push(u[t][0]);return d[0]}export{d as createNavGraph,I as findShortestPath};