cubing 0.59.2 → 0.60.0

package/dist/lib/cubing/bluetooth/index.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../../../src/cubing/bluetooth/debug.ts", "../../../../src/cubing/bluetooth/transformer.ts", "../../../../src/cubing/bluetooth/smart-puzzle/bluetooth-puzzle.ts", "../../../../src/cubing/bluetooth/keyboard.ts", "../../../../src/cubing/bluetooth/connect/index.ts", "../../../../src/cubing/bluetooth/smart-puzzle/gan.ts", "../../../../src/cubing/vendor/public-domain/unsafe-raw-aes/unsafe-raw-aes.ts", "../../../../src/cubing/bluetooth/smart-puzzle/common.ts", "../../../../src/cubing/bluetooth/smart-puzzle/giiker.ts", "../../../../src/cubing/bluetooth/smart-puzzle/gocube.ts", "../../../../src/cubing/bluetooth/smart-puzzle/endianness.ts", "../../../../src/cubing/bluetooth/smart-puzzle/Heykube.ts", "../../../../src/cubing/bluetooth/smart-puzzle/qiyi.ts", "../../../../src/cubing/bluetooth/smart-puzzle/connect.ts", "../../../../src/cubing/bluetooth/smart-robot/GanRobot.ts", "../../../../src/cubing/bluetooth/smart-robot/index.ts", "../../../../src/cubing/bluetooth/smart-timer/GanTimer.ts", "../../../../src/cubing/bluetooth/smart-timer/index.ts"],
-  "sourcesContent": ["let DEBUG_LOGGING_ENABLED = false;\n\nexport function enableDebugLogging(enable: boolean): void {\n  DEBUG_LOGGING_ENABLED = enable;\n}\n\n// TODO: Remove this.\nexport function debugLog(...args: any[]): void {\n  if (!DEBUG_LOGGING_ENABLED) {\n    return;\n  }\n\n  if (console.info) {\n    console.info(...args);\n  } else {\n    console.log(...args);\n  }\n}\n", "import { Quaternion } from \"three/src/math/Quaternion.js\";\nimport { Vector3 } from \"three/src/math/Vector3.js\";\nimport type {\n  AlgLeafEvent,\n  OrientationEvent,\n} from \"./smart-puzzle/bluetooth-puzzle\";\n\n// TODO: Combine orientation and alg leaves into a single event to handle quaternion remapping.\nexport interface StreamTransformer {\n  // Modifies the input.\n  transformAlgLeaf(algLeafEvent: AlgLeafEvent): void;\n  // Modifies the input.\n  transformOrientation(orientationEvent: OrientationEvent): void;\n}\n\nfunction maxAxis(v: Vector3): string {\n  const maxVal = Math.max(Math.abs(v.x), Math.abs(v.y), Math.abs(v.z));\n  switch (maxVal) {\n    case v.x:\n      return \"x\";\n    case -v.x:\n      return \"-x\";\n    case v.y:\n      return \"y\";\n    case -v.y:\n      return \"-y\";\n    case v.z:\n      return \"z\";\n    case -v.z:\n      return \"-z\";\n    default:\n      throw new Error(\"Uh-oh.\");\n  }\n}\n\nconst s2 = Math.sqrt(0.5);\n\nconst m: { [s: string]: Quaternion } = {\n  \"y z\": new Quaternion(0, 0, 0, 1),\n  \"-z y\": new Quaternion(s2, 0, 0, s2),\n  \"x z\": new Quaternion(0, 0, -s2, s2),\n  \"-x z\": new Quaternion(0, 0, s2, s2),\n};\n\nexport class BasicRotationTransformer implements StreamTransformer {\n  // private reorientQuat = new Quaternion();\n\n  public transformAlgLeaf(_algLeafEvent: AlgLeafEvent): void {\n    // Nothing to do.\n  }\n\n  public transformOrientation(orientationEvent: OrientationEvent): void {\n    const { x, y, z, w } = orientationEvent.quaternion;\n    const quat = new Quaternion(x, y, z, w);\n\n    const U = new Vector3(0, 1, 0);\n    const F = new Vector3(0, 0, 1);\n    const maxU = maxAxis(U.applyQuaternion(quat));\n    const maxF = maxAxis(F.applyQuaternion(quat));\n\n    const oriQuat = m[`${maxU} ${maxF}`] || m[\"y z\"];\n\n    console.log(quat);\n    console.log(oriQuat);\n    const q2 = quat.premultiply(oriQuat);\n\n    // console.log(maxAxis(U.applyQuaternion(quat)), maxAxis(F.applyQuaternion(quat)));\n    console.log(q2);\n\n    orientationEvent.quaternion = quat;\n\n    console.log(orientationEvent.quaternion);\n  }\n}\n", "import type { AlgLeaf } from \"../../alg/alg-nodes/AlgNode\";\nimport type { KPattern } from \"../../kpuzzle/KPattern\";\nimport {\n  BasicRotationTransformer,\n  type StreamTransformer,\n} from \"../transformer\";\n\n/******** BluetoothPuzzle ********/\n\n// TODO: Use actual `CustomEvent`s?\n// https://developer.mozilla.org/en-US/docs/Web/API/CustomEvent\n/** @category Smart Puzzles */\nexport interface AlgLeafEvent {\n  latestAlgLeaf: AlgLeaf;\n  timeStamp: number;\n  debug?: Record<string, unknown>;\n  pattern?: KPattern;\n  quaternion?: any; // TODO: Unused\n}\n\n// TODO: Only use the `quaternion` field in the `AlgLeafEvent`?\n/** @category Smart Puzzles */\nexport interface OrientationEvent {\n  quaternion: {\n    x: number;\n    y: number;\n    z: number;\n    w: number;\n  };\n  timeStamp: number;\n  debug?: Record<string, unknown>;\n}\n\nexport interface BluetoothConfig<T> {\n  connect:\n    | ((\n        server: BluetoothRemoteGATTServer,\n        device: BluetoothDevice,\n      ) => Promise<T>)\n    | ((\n        server: BluetoothRemoteGATTServer,\n        device?: BluetoothDevice,\n      ) => Promise<T>);\n  // TODO: Can we reuse `filters`?\n  prefixes: string[]; // `[\"\"]` for GiiKER\n  filters: BluetoothLEScanFilter[];\n  optionalServices: BluetoothServiceUUID[];\n}\n\n// TODO: Expose device name (and/or globally unique identifier)?\n\n/** @category Smart Puzzles */\nexport abstract class BluetoothPuzzle extends EventTarget {\n  public transformers: StreamTransformer[] = [];\n  protected listeners: Array<(e: AlgLeafEvent) => void> = []; // TODO: type\n  protected orientationListeners: Array<(e: OrientationEvent) => void> = []; // TODO: type\n\n  public abstract name(): string | undefined;\n  public abstract disconnect(): void; // TODO: Can we make this reutrn (async) on success?\n\n  // TODO: require subclasses to implement this?\n  public async getPattern(): Promise<KPattern> {\n    throw new Error(\"cannot get pattern\");\n  }\n\n  public addAlgLeafListener(listener: (e: AlgLeafEvent) => void): void {\n    this.listeners.push(listener);\n  }\n\n  public addOrientationListener(listener: (e: OrientationEvent) => void): void {\n    this.orientationListeners.push(listener);\n  }\n\n  public experimentalAddBasicRotationTransformer(): void {\n    this.transformers.push(new BasicRotationTransformer());\n  }\n\n  protected dispatchAlgLeaf(algLeaf: AlgLeafEvent): void {\n    for (const transformer of this.transformers) {\n      transformer.transformAlgLeaf(algLeaf);\n    }\n    for (const l of this.listeners) {\n      l(algLeaf);\n    }\n  }\n\n  protected dispatchOrientation(orientationEvent: OrientationEvent): void {\n    for (const transformer of this.transformers) {\n      transformer.transformOrientation(orientationEvent);\n    }\n    const { x, y, z, w } = orientationEvent.quaternion;\n    // TODO: can we avoid mutating the source event?\n    orientationEvent.quaternion = {\n      x,\n      y,\n      z,\n      w,\n    };\n    for (const l of this.orientationListeners) {\n      // TODO: Convert quaternion.\n      l(orientationEvent);\n    }\n  }\n}\n", "import { Alg, keyToMove } from \"../alg\";\nimport type { KPattern } from \"../kpuzzle/KPattern\";\nimport type { PuzzleLoader } from \"../puzzles\";\nimport type { KeyMapping } from \"../puzzles/cubing-private\";\nimport type { PuzzleID } from \"../twisty\";\nimport { BluetoothPuzzle } from \"./smart-puzzle/bluetooth-puzzle\";\n\n/** @category Keyboard Puzzles */\nexport class KeyboardPuzzle extends BluetoothPuzzle {\n  private keyMappingAndPatternPromise: Promise<\n    [KeyMapping | undefined, KPattern]\n  >;\n\n  listener: EventListener; // (e: KeyboardEvent) => Promise<void>;\n\n  // TODO: Decide on the right arguments.\n  // TODO: support tying the puzzle to a TwistyPlayer.\n  constructor(\n    private target: Element,\n    puzzle: PuzzleID | PuzzleLoader = \"3x3x3\",\n  ) {\n    super();\n    // TODO: Filter out repeated keydown?\n    // TODO: how do we avoid this awkward cast?\n    this.listener = this.onKeyDown.bind(this) as any as EventListener;\n    target.addEventListener(\"keydown\", this.listener);\n    this.keyMappingAndPatternPromise = this.setPuzzleInternal(puzzle);\n  }\n\n  public name(): string | undefined {\n    return \"Keyboard Input\";\n  }\n\n  async setPuzzleInternal(\n    puzzle: PuzzleID | PuzzleLoader,\n  ): Promise<[KeyMapping | undefined, KPattern]> {\n    const puzzleLoader = await (async () =>\n      typeof puzzle === \"string\"\n        ? (await import(\"../puzzles\")).puzzles[puzzle]\n        : puzzle)();\n    const kpuzzle = await (async () => puzzleLoader.kpuzzle())();\n    return Promise.all([puzzleLoader.keyMapping?.(), kpuzzle.defaultPattern()]);\n  }\n\n  disconnect() {\n    this.target.removeEventListener(\"keydown\", this.listener as EventListener);\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    return (await this.keyMappingAndPatternPromise)[1];\n  }\n\n  private async onKeyDown(e: KeyboardEvent): Promise<void> {\n    if (e.altKey || e.ctrlKey || e.metaKey || e.shiftKey) {\n      return;\n    }\n\n    this.keyMappingAndPatternPromise = (async () => {\n      const [keyMapping, pattern] = await this.keyMappingAndPatternPromise;\n      const algLeaf = keyToMove(keyMapping, e);\n      let newPattern: KPattern | undefined;\n      if (algLeaf) {\n        newPattern = pattern.applyAlg(new Alg([algLeaf])); // TODO\n        this.dispatchAlgLeaf({\n          latestAlgLeaf: algLeaf,\n          timeStamp: e.timeStamp,\n          pattern: newPattern,\n        });\n        e.preventDefault();\n      }\n      return [keyMapping, newPattern ?? pattern];\n    })();\n  }\n}\n\n// TODO: Type\n/** @category Keyboard Puzzles */\nexport async function debugKeyboardConnect(\n  target: any = window,\n  puzzle: PuzzleID | PuzzleLoader = \"3x3x3\",\n): Promise<KeyboardPuzzle> {\n  return new KeyboardPuzzle(target, puzzle);\n}\n", "import { debugLog } from \"../debug\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\n\n/******** requestOptions ********/\n\nfunction requestOptions<T>(\n  configs: BluetoothConfig<T>[],\n  acceptAllDevices: boolean = false,\n): RequestDeviceOptions {\n  const options = acceptAllDevices\n    ? {\n        acceptAllDevices: true,\n        optionalServices: [] as BluetoothServiceUUID[],\n      }\n    : {\n        filters: [] as BluetoothLEScanFilter[],\n        optionalServices: [] as BluetoothServiceUUID[],\n      };\n  for (const config of configs) {\n    if (!acceptAllDevices) {\n      options.filters = options.filters!.concat(config.filters);\n    }\n    options.optionalServices = options.optionalServices.concat(\n      config.optionalServices,\n    );\n  }\n  debugLog({ requestOptions: options });\n  return options;\n}\n\n/******** connect() ********/\n\nexport interface BluetoothConnectOptions {\n  acceptAllDevices?: boolean;\n}\n\n// We globally track the number of connection failures,\n// in order to offer the user recourse (accept all devices) if they're having issues.\n// This allows us to future-proof situations where a device might not show up in\n// the chooser, but works if we connect.\nlet consecutiveFailures = 0;\nconst MAX_FAILURES_BEFORE_ACCEPT_ALL_FALLBACK = 2;\n\n// TODO: Debug options to allow connecting to any device?\nexport async function bluetoothConnect<T>(\n  configs: BluetoothConfig<T>[],\n  options: BluetoothConnectOptions = {},\n): Promise<T> {\n  debugLog(\"Attempting to pair.\");\n  let device: BluetoothDevice;\n  try {\n    let acceptAllDevices = options.acceptAllDevices;\n    if (\n      !acceptAllDevices &&\n      consecutiveFailures >= MAX_FAILURES_BEFORE_ACCEPT_ALL_FALLBACK\n    ) {\n      console.info(\n        `The last ${MAX_FAILURES_BEFORE_ACCEPT_ALL_FALLBACK} Bluetooth puzzle connection attempts failed. This time, the Bluetooth prompt will show all possible devices.`,\n      );\n      acceptAllDevices = true;\n    }\n    device = await navigator.bluetooth.requestDevice(\n      requestOptions<T>(configs, acceptAllDevices),\n    );\n    consecutiveFailures = 0;\n  } catch (e) {\n    consecutiveFailures++;\n    throw e;\n  }\n  debugLog(\"Device:\", device);\n\n  if (typeof device.gatt === \"undefined\") {\n    return Promise.reject(\"Device did not have a GATT server.\");\n  }\n\n  const server = await device.gatt.connect();\n  debugLog(\"Server:\", server);\n\n  const name = server.device?.name || \"\";\n\n  // TODO by reading supported matched filters or provided services.\n\n  for (const config of configs) {\n    for (const prefix of config.prefixes) {\n      if (name?.startsWith(prefix)) {\n        return config.connect(server, device);\n      }\n    }\n  }\n\n  throw Error(\"Unknown Bluetooth devive.\");\n}\n", "/* tslint:disable no-bitwise */\n\nimport { Quaternion } from \"three/src/math/Quaternion.js\";\nimport { Move } from \"../../alg\";\nimport { KPattern, type KPuzzle } from \"../../kpuzzle\";\nimport { puzzles } from \"../../puzzles\";\nimport {\n  importKey,\n  unsafeDecryptBlock,\n} from \"../../vendor/public-domain/unsafe-raw-aes/unsafe-raw-aes\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { getPatternData } from \"./common\";\n\n// This needs to be short enough to capture 6 moves (OBQTM).\nconst DEFAULT_INTERVAL_MS = 150;\n// Number of latest moves provided by the Gan 356i.\nconst MAX_LATEST_MOVES = 6;\n\nconst ganMoveToBlockMove: { [i: number]: Move } = {\n  0 /*  0x00 */: new Move(\"U\"),\n  2 /*  0x02 */: new Move(\"U\", -1),\n  3 /*  0x03 */: new Move(\"R\"),\n  5 /*  0x05 */: new Move(\"R\", -1),\n  6 /*  0x06 */: new Move(\"F\"),\n  8 /*  0x08 */: new Move(\"F\", -1),\n  9 /*  0x09 */: new Move(\"D\"),\n  11 /* 0x0b */: new Move(\"D\", -1),\n  12 /* 0x0c */: new Move(\"L\"),\n  14 /* 0x0e */: new Move(\"L\", -1),\n  15 /* 0x0f */: new Move(\"B\"),\n  17 /* 0x11 */: new Move(\"B\", -1),\n};\n\nlet homeQuatInverse: Quaternion | null = null;\n\nfunction probablyDecodedCorrectly(data: Uint8Array): boolean {\n  return (\n    data[13] < 0x12 &&\n    data[14] < 0x12 &&\n    data[15] < 0x12 &&\n    data[16] < 0x12 &&\n    data[17] < 0x12 &&\n    data[18] < 0x12\n  );\n}\n\nconst key10 = new Uint8Array([\n  198, 202, 21, 223, 79, 110, 19, 182, 119, 13, 230, 89, 58, 175, 186, 162,\n]);\nconst key11 = new Uint8Array([\n  67, 226, 91, 214, 125, 220, 120, 216, 7, 96, 163, 218, 130, 60, 1, 241,\n]);\n\n// Clean-room reverse-engineered\nasync function decryptPattern(\n  data: Uint8Array,\n  aesKey: CryptoKey | null,\n): Promise<Uint8Array> {\n  if (aesKey === null) {\n    return data;\n  }\n\n  const copy = new Uint8Array(data);\n  copy.set(new Uint8Array(await unsafeDecryptBlock(aesKey, copy.slice(3))), 3);\n  copy.set(\n    new Uint8Array(await unsafeDecryptBlock(aesKey, copy.slice(0, 16))),\n    0,\n  );\n\n  if (probablyDecodedCorrectly(copy)) {\n    return copy;\n  }\n\n  throw new Error(\"Invalid Gan cube pattern\");\n}\n\nclass PhysicalState {\n  public static async read(\n    characteristic: BluetoothRemoteGATTCharacteristic,\n    aesKey: CryptoKey | null,\n  ): Promise<PhysicalState> {\n    const value = await decryptPattern(\n      new Uint8Array((await characteristic.readValue()).buffer),\n      aesKey,\n    );\n    const timeStamp = Date.now();\n    // console.log(value);\n    return new PhysicalState(new DataView(value.buffer), timeStamp);\n  }\n\n  private arr: Uint8Array;\n  private arrLen = 19;\n  private constructor(\n    private dataView: DataView,\n    public timeStamp: number,\n  ) {\n    this.arr = new Uint8Array(dataView.buffer);\n    if (this.arr.length !== this.arrLen) {\n      throw new Error(\"Unexpected array length\");\n    }\n  }\n\n  public rotQuat(): Quaternion {\n    let x = this.dataView.getInt16(0, true) / 16384;\n    let y = this.dataView.getInt16(2, true) / 16384;\n    let z = this.dataView.getInt16(4, true) / 16384;\n    [x, y, z] = [-y, z, -x];\n    const wSquared = 1 - (x * x + y * y + z * z);\n    const w = wSquared > 0 ? Math.sqrt(wSquared) : 0;\n    const quat = new Quaternion(x, y, z, w);\n\n    if (!homeQuatInverse) {\n      homeQuatInverse = quat.clone().invert();\n    }\n\n    return quat.clone().multiply(homeQuatInverse.clone());\n  }\n\n  // Loops from 255 to 0.\n  public moveCounter(): number {\n    return this.arr[12];\n  }\n\n  public numMovesSince(previousMoveCounter: number): number {\n    return (this.moveCounter() - previousMoveCounter) & 0xff;\n  }\n\n  // Due to the design of the Gan356i protocol, it's common to query for the\n  // latest physical state and find 0 moves have been performed since the last\n  // query. Therefore, it's useful to allow 0 as an argument.\n  public latestMoves(n: number): Move[] {\n    if (n < 0 || n > MAX_LATEST_MOVES) {\n      throw new Error(`Must ask for 0 to 6 latest moves. (Asked for ${n})`);\n    }\n    return Array.from(this.arr.slice(19 - n, 19)).map(\n      (i) => ganMoveToBlockMove[i],\n    );\n  }\n\n  public debugInfo(): { arr: Uint8Array } {\n    return {\n      arr: this.arr,\n    };\n  }\n}\n\n// TODO: Short IDs\nconst UUIDs = {\n  ganCubeService: \"0000fff0-0000-1000-8000-00805f9b34fb\",\n  physicalStateCharacteristic: \"0000fff5-0000-1000-8000-00805f9b34fb\",\n  actualAngleAndBatteryCharacteristic: \"0000fff7-0000-1000-8000-00805f9b34fb\",\n  faceletStatus1Characteristic: \"0000fff2-0000-1000-8000-00805f9b34fb\",\n  faceletStatus2Characteristic: \"0000fff3-0000-1000-8000-00805f9b34fb\",\n  infoService: \"0000180a-0000-1000-8000-00805f9b34fb\",\n  systemIDCharacteristic: \"00002a23-0000-1000-8000-00805f9b34fb\",\n  versionCharacteristic: \"00002a28-0000-1000-8000-00805f9b34fb\",\n};\n\nconst commands: { [cmd: string]: BufferSource } = {\n  reset: new Uint8Array([\n    0x00, 0x00, 0x24, 0x00, 0x49, 0x92, 0x24, 0x49, 0x6d, 0x92, 0xdb, 0xb6,\n    0x49, 0x92, 0xb6, 0x24, 0x6d, 0xdb,\n  ]),\n};\n\nfunction buf2hex(buffer: ArrayBufferLike): string {\n  // buffer is an ArrayBuffer\n  return (\n    Array.prototype.map.call(new Uint8Array(buffer), (x: number) =>\n      `00${x.toString(16)}`.slice(-2),\n    ) as string[]\n  ).join(\" \");\n}\n\nconst gan356iCornerMappings = [\n  [0, 21, 15],\n  [5, 13, 47],\n  [7, 45, 39],\n  [2, 37, 23],\n  [29, 10, 16],\n  [31, 18, 32],\n  [26, 34, 40],\n  [24, 42, 8],\n];\n\nconst gan356iEdgeMappings = [\n  [1, 22],\n  [3, 14],\n  [6, 46],\n  [4, 38],\n  [30, 17],\n  [27, 9],\n  [25, 41],\n  [28, 33],\n  [19, 12],\n  [20, 35],\n  [44, 11],\n  [43, 36],\n];\nconst faceOrder = \"URFDLB\";\n\nasync function getKey(\n  server: BluetoothRemoteGATTServer,\n): Promise<CryptoKey | null> {\n  const infoService = await server.getPrimaryService(UUIDs.infoService);\n\n  const versionCharacteristic = await infoService.getCharacteristic(\n    UUIDs.versionCharacteristic,\n  );\n  const versionBuffer = new Uint8Array(\n    (await versionCharacteristic.readValue()).buffer,\n  );\n\n  const versionValue =\n    (((versionBuffer[0] << 8) + versionBuffer[1]) << 8) + versionBuffer[2];\n  if (versionValue < 0x01_00_08) {\n    return null;\n  }\n\n  const keyXor = versionValue < 0x01_01_00 ? key10 : key11;\n\n  const systemIDCharacteristic = await infoService.getCharacteristic(\n    UUIDs.systemIDCharacteristic,\n  );\n  const systemID = new Uint8Array(\n    (await systemIDCharacteristic.readValue()).buffer,\n  ).reverse();\n\n  const key = new Uint8Array(keyXor);\n  for (let i = 0; i < systemID.length; i++) {\n    key[i] = (key[i] + systemID[i]) % 256;\n  }\n\n  return importKey(key);\n}\n\n/** @category Smart Puzzles */\nexport class GanCube extends BluetoothPuzzle {\n  // We have to perform async operations before we call the constructor.\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<GanCube> {\n    const ganCubeService = await server.getPrimaryService(UUIDs.ganCubeService);\n    debugLog(\"Service:\", ganCubeService);\n\n    const physicalStateCharacteristic = await ganCubeService.getCharacteristic(\n      UUIDs.physicalStateCharacteristic,\n    );\n    debugLog(\"Characteristic:\", physicalStateCharacteristic);\n\n    const aesKey = await getKey(server);\n\n    const initialMoveCounter = (\n      await PhysicalState.read(physicalStateCharacteristic, aesKey)\n    ).moveCounter();\n    debugLog(\"Initial Move Counter:\", initialMoveCounter);\n    const cube = new GanCube(\n      await puzzles[\"3x3x3\"].kpuzzle(),\n      ganCubeService,\n      server,\n      physicalStateCharacteristic,\n      initialMoveCounter,\n      aesKey,\n    );\n    return cube;\n  }\n\n  public INTERVAL_MS: number = DEFAULT_INTERVAL_MS;\n  private intervalHandle: number | null = null;\n  private pattern: KPattern;\n  private cachedFaceletStatus1Characteristic:\n    | Promise<BluetoothRemoteGATTCharacteristic>\n    | undefined;\n\n  private cachedFaceletStatus2Characteristic:\n    | Promise<BluetoothRemoteGATTCharacteristic>\n    | undefined;\n\n  private cachedActualAngleAndBatteryCharacteristic:\n    | Promise<BluetoothRemoteGATTCharacteristic>\n    | undefined;\n\n  private constructor(\n    private kpuzzle: KPuzzle,\n    private service: BluetoothRemoteGATTService,\n    private server: BluetoothRemoteGATTServer,\n    private physicalStateCharacteristic: BluetoothRemoteGATTCharacteristic,\n    private lastMoveCounter: number,\n    private aesKey: CryptoKey | null,\n  ) {\n    super();\n    this.pattern = kpuzzle.defaultPattern();\n    this.startTrackingMoves();\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public startTrackingMoves(): void {\n    // `window.setInterval` instead of `setInterval`:\n    // https://github.com/Microsoft/TypeScript/issues/842#issuecomment-252445883\n    this.intervalHandle = window.setInterval(\n      this.intervalHandler.bind(this),\n      this.INTERVAL_MS,\n    );\n  }\n\n  public stopTrackingMoves(): void {\n    if (!this.intervalHandle) {\n      throw new Error(\"Not tracking moves!\");\n    }\n    clearInterval(this.intervalHandle);\n    this.intervalHandle = null;\n  }\n\n  // TODO: Can we ever receive async responses out of order?\n  public async intervalHandler(): Promise<void> {\n    const physicalState = await PhysicalState.read(\n      this.physicalStateCharacteristic,\n      this.aesKey,\n    );\n    let numInterveningMoves = physicalState.numMovesSince(this.lastMoveCounter);\n    // console.log(numInterveningMoves);\n    if (numInterveningMoves > MAX_LATEST_MOVES) {\n      debugLog(\n        `Too many moves! Dropping ${\n          numInterveningMoves - MAX_LATEST_MOVES\n        } moves`,\n      );\n      numInterveningMoves = MAX_LATEST_MOVES;\n    }\n    for (const move of physicalState.latestMoves(numInterveningMoves)) {\n      // console.log(move);\n      this.pattern = this.pattern.applyMove(move);\n      this.dispatchAlgLeaf({\n        latestAlgLeaf: move,\n        timeStamp: physicalState.timeStamp,\n        debug: physicalState.debugInfo(),\n        pattern: this.pattern,\n        // quaternion: physicalState.rotQuat(),\n      });\n    }\n    this.dispatchOrientation({\n      timeStamp: physicalState.timeStamp,\n      quaternion: physicalState.rotQuat(),\n    });\n    this.lastMoveCounter = physicalState.moveCounter();\n  }\n\n  public async getBattery(): Promise<number> {\n    return new Uint8Array(\n      await this.readActualAngleAndBatteryCharacteristic(),\n    )[7];\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    const arr: Uint8Array = await decryptPattern(\n      new Uint8Array(await this.readFaceletStatus1Characteristic()),\n      this.aesKey,\n    );\n    const stickers: number[] = [];\n    for (let i = 0; i < 18; i += 3) {\n      let v = (((arr[i ^ 1] << 8) + arr[(i + 1) ^ 1]) << 8) + arr[(i + 2) ^ 1];\n      for (let j = 0; j < 8; j++) {\n        stickers.push(v & 7);\n        v >>= 3;\n      }\n    }\n\n    return new KPattern(\n      this.kpuzzle,\n      getPatternData(\n        stickers,\n        faceOrder,\n        gan356iEdgeMappings,\n        gan356iCornerMappings,\n      ),\n    );\n  }\n\n  public async faceletStatus1Characteristic(): Promise<BluetoothRemoteGATTCharacteristic> {\n    this.cachedFaceletStatus1Characteristic =\n      this.cachedFaceletStatus1Characteristic ||\n      this.service.getCharacteristic(UUIDs.faceletStatus1Characteristic);\n    return this.cachedFaceletStatus1Characteristic;\n  }\n\n  public async faceletStatus2Characteristic(): Promise<BluetoothRemoteGATTCharacteristic> {\n    this.cachedFaceletStatus2Characteristic =\n      this.cachedFaceletStatus2Characteristic ||\n      this.service.getCharacteristic(UUIDs.faceletStatus2Characteristic);\n    return this.cachedFaceletStatus2Characteristic;\n  }\n\n  public async actualAngleAndBatteryCharacteristic(): Promise<BluetoothRemoteGATTCharacteristic> {\n    this.cachedActualAngleAndBatteryCharacteristic =\n      this.cachedActualAngleAndBatteryCharacteristic ||\n      this.service.getCharacteristic(UUIDs.actualAngleAndBatteryCharacteristic);\n    return this.cachedActualAngleAndBatteryCharacteristic;\n  }\n\n  public async reset(): Promise<void> {\n    const faceletStatus1Characteristic =\n      await this.faceletStatus1Characteristic();\n    await faceletStatus1Characteristic.writeValue(commands[\"reset\"]);\n  }\n\n  public async readFaceletStatus1Characteristic(): Promise<ArrayBufferLike> {\n    const faceletStatus1Characteristic =\n      await this.faceletStatus1Characteristic();\n    return (await faceletStatus1Characteristic.readValue()).buffer;\n  }\n\n  public async readFaceletStatus2Characteristic(): Promise<string> {\n    const faceletStatus2Characteristic =\n      await this.faceletStatus2Characteristic();\n    return buf2hex((await faceletStatus2Characteristic.readValue()).buffer);\n  }\n\n  public async readActualAngleAndBatteryCharacteristic(): Promise<ArrayBufferLike> {\n    const actualAngleAndBatteryCharacteristic =\n      await this.actualAngleAndBatteryCharacteristic();\n    return (await actualAngleAndBatteryCharacteristic.readValue()).buffer;\n  }\n  // TODO\n  // private onphysicalStateCharacteristicChanged(event: any): void {\n  //   var val = event.target.value;\n  //   debugLog(val);\n  // }\n}\n\n// // TODO: Move this into a factory?\nexport const ganConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: GanCube.connect.bind(GanCube),\n  prefixes: [\"GAN\"],\n  filters: [{ namePrefix: \"GAN\" }],\n  optionalServices: [UUIDs.ganCubeService, UUIDs.infoService],\n};\n", "// Note: we could use the `unsafe-raw-aes` npm package instead. But:\n//\n// 1. This is a rather small amount of code, thanks to a clever hack of the Web Crypto API.\n// 2. This code is used (and therefore loaded) only for smart cube decoding, and unlikely to be needed directly by projects using `cubing.js`.\n// 3. A dependency called `unsafe-raw-aes` would (rightfully) raise some eyebrows.\n//\n// So we just vendor the entire file instead.\n\nconst blockSize = 16;\nconst zeros = new Uint8Array(blockSize);\nconst paddingBlockPlaintext = new Uint8Array(\n  new Array(blockSize).fill(blockSize),\n);\nconst AES_CBC = \"AES-CBC\";\n\nexport async function importKey(\n  keyBytes: BufferSource | Uint8Array,\n): Promise<CryptoKey> {\n  return await crypto.subtle.importKey(\n    \"raw\",\n    keyBytes as BufferSource,\n    AES_CBC,\n    true,\n    [\"encrypt\", \"decrypt\"],\n  );\n}\n\nasync function unsafeEncryptBlockWithIV(\n  key: CryptoKey,\n  plaintextBlock: BufferSource | Uint8Array,\n  iv: BufferSource | Uint8Array,\n): Promise<ArrayBuffer> {\n  const cryptoResult: ArrayBuffer = await window.crypto.subtle.encrypt(\n    {\n      name: AES_CBC,\n      iv: iv as BufferSource,\n    },\n    key,\n    plaintextBlock as BufferSource,\n  );\n  return cryptoResult.slice(0, blockSize);\n}\n\nexport async function unsafeEncryptBlock(\n  key: CryptoKey,\n  plaintextBlock: BufferSource | Uint8Array,\n): Promise<ArrayBuffer> {\n  return (await unsafeEncryptBlockWithIV(key, plaintextBlock, zeros)).slice(\n    0,\n    blockSize,\n  );\n}\n\nexport async function unsafeDecryptBlock(\n  key: CryptoKey,\n  ciphertextBlock: BufferSource | Uint8Array,\n): Promise<ArrayBuffer> {\n  const paddingBlock = await unsafeEncryptBlockWithIV(\n    key,\n    paddingBlockPlaintext,\n    ciphertextBlock as BufferSource,\n  );\n\n  const cbcCiphertext = new Uint8Array(2 * blockSize);\n  cbcCiphertext.set(new Uint8Array(ciphertextBlock as Uint8Array), 0);\n  cbcCiphertext.set(new Uint8Array(paddingBlock), blockSize);\n\n  const cryptoResult: ArrayBuffer = await window.crypto.subtle.decrypt(\n    {\n      name: AES_CBC,\n      iv: zeros,\n    },\n    key,\n    cbcCiphertext,\n  );\n  return cryptoResult.slice(0, blockSize);\n}\n", "import type { KPatternData } from \"../../kpuzzle\";\n\nconst reidEdgeOrder = \"UF UR UB UL DF DR DB DL FR FL BR BL\".split(\" \");\nconst reidCornerOrder = \"UFR URB UBL ULF DRF DFL DLB DBR\".split(\" \");\n\ninterface PieceInfo {\n  piece: number;\n  orientation: number;\n}\n\nfunction rotateLeft(s: string, i: number): string {\n  return s.slice(i) + s.slice(0, i);\n}\n\nconst pieceMap: { [s: string]: PieceInfo } = {};\n// TODO: Condense the for loops.\nreidEdgeOrder.forEach((edge, idx) => {\n  for (let i = 0; i < 2; i++) {\n    pieceMap[rotateLeft(edge, i)] = { piece: idx, orientation: i };\n  }\n});\nreidCornerOrder.forEach((corner, idx) => {\n  for (let i = 0; i < 3; i++) {\n    pieceMap[rotateLeft(corner, i)] = { piece: idx, orientation: i };\n  }\n});\n\nexport function getPatternData(\n  stickers: number[],\n  faceOrder: string,\n  edgeMappings: number[][],\n  cornerMappings: number[][],\n): KPatternData {\n  const patternData: KPatternData = {\n    CORNERS: {\n      pieces: [],\n      orientation: [],\n    },\n    EDGES: {\n      pieces: [],\n      orientation: [],\n    },\n    CENTERS: {\n      pieces: [0, 1, 2, 3, 4, 5],\n      orientation: [0, 0, 0, 0, 0, 0],\n      orientationMod: [1, 1, 1, 1, 1, 1],\n    },\n  };\n\n  for (const cornerMapping of cornerMappings) {\n    const pieceInfo: PieceInfo =\n      pieceMap[cornerMapping.map((i) => faceOrder[stickers[i]]).join(\"\")];\n    patternData[\"CORNERS\"].pieces.push(pieceInfo.piece);\n    patternData[\"CORNERS\"].orientation.push(pieceInfo.orientation);\n  }\n\n  for (const edgeMapping of edgeMappings) {\n    const pieceInfo: PieceInfo =\n      pieceMap[edgeMapping.map((i) => faceOrder[stickers[i]]).join(\"\")];\n    patternData[\"EDGES\"].pieces.push(pieceInfo.piece);\n    patternData[\"EDGES\"].orientation.push(pieceInfo.orientation);\n  }\n\n  return patternData;\n}\n", "/* tslint:disable no-bitwise */\n\nimport { Move } from \"../../alg\";\nimport { KPattern, type KPatternData } from \"../../kpuzzle\";\nimport { experimental3x3x3KPuzzle } from \"../../puzzles/cubing-private\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\n\nconst MESSAGE_LENGTH = 20;\n\nconst UUIDs = {\n  cubeService: \"0000aadb-0000-1000-8000-00805f9b34fb\",\n  cubeCharacteristic: \"0000aadc-0000-1000-8000-00805f9b34fb\",\n};\n\n// TODO: Expose for testing.\nfunction giikerMoveToAlgMove(face: number, amount: number): Move {\n  switch (amount) {\n    case 3: {\n      amount = -1;\n      break;\n    }\n    case 9: {\n      debugLog(\"Encountered 9\", face, amount);\n      amount = -2;\n      break;\n    }\n  }\n\n  const family = [\"?\", \"B\", \"D\", \"L\", \"U\", \"R\", \"F\"][face];\n  return new Move(family, amount);\n}\n\nexport { giikerMoveToAlgMove as giikerMoveToAlgMoveForTesting };\n\nfunction giikerStateStr(giikerState: number[]): string {\n  let str = \"\";\n  str += giikerState.slice(0, 8).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(8, 16).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(16, 28).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(28, 32).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(32, 40).join(\".\");\n  return str;\n}\n\n// TODO\n// const Reid333Orbits = {\n//   \"EDGES\":   {\"numPieces\": 12, \"orientations\": 2},\n//   \"CORNERS\": {\"numPieces\": 8,  \"orientations\": 3},\n//   \"CENTERS\": {\"numPieces\": 6,  \"orientations\": 4}\n// };\n\nconst Reid333SolvedCenters = {\n  pieces: [0, 1, 2, 3, 4, 5],\n  orientation: [0, 0, 0, 0, 0, 0],\n  orientationMod: [1, 1, 1, 1, 1, 1], // TODO\n};\n\nconst epGiiKERtoReid333: number[] = [4, 8, 0, 9, 5, 1, 3, 7, 6, 10, 2, 11];\nconst epReid333toGiiKER: number[] = [2, 5, 10, 6, 0, 4, 8, 7, 1, 3, 9, 11];\n\nconst preEO: number[] = [1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0];\nconst postEO: number[] = [1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0];\n\nconst cpGiiKERtoReid333: number[] = [4, 0, 3, 5, 7, 1, 2, 6];\nconst cpReid333toGiiKER: number[] = [1, 5, 6, 2, 0, 3, 7, 4];\n\nconst preCO: number[] = [1, 2, 1, 2, 2, 1, 2, 1];\nconst postCO: number[] = [2, 1, 2, 1, 1, 2, 1, 2];\n\nconst coFlip: number[] = [-1, 1, -1, 1, 1, -1, 1, -1];\n\nfunction getNibble(val: Uint8Array, i: number): number {\n  if (i % 2 === 1) {\n    return val[(i / 2) | 0] % 16;\n  }\n  return 0 | (val[(i / 2) | 0] / 16);\n}\n\nfunction probablyEncrypted(data: Uint8Array): boolean {\n  return data[18] === 0xa7;\n}\n\nconst lookup = [\n  176, 81, 104, 224, 86, 137, 237, 119, 38, 26, 193, 161, 210, 126, 150, 81, 93,\n  13, 236, 249, 89, 235, 88, 24, 113, 81, 214, 131, 130, 199, 2, 169, 39, 165,\n  171, 41,\n];\n\nfunction decryptState(data: Uint8Array): Uint8Array {\n  const offset1 = getNibble(data, 38);\n  const offset2 = getNibble(data, 39);\n  const output = new Uint8Array(MESSAGE_LENGTH);\n  for (let i = 0; i < MESSAGE_LENGTH; i++) {\n    output[i] = data[i] + lookup[offset1 + i] + lookup[offset2 + i];\n  }\n  return output;\n}\n\n// TODO: Support caching which decoding strategy worked last time.\nasync function decodeState(data: Uint8Array): Promise<Uint8Array> {\n  if (!probablyEncrypted(data)) {\n    return data;\n  }\n  return decryptState(data);\n  // TODO: Check that the decrypted state is a valid staet.\n}\n\n/** @category Smart Puzzles */\nexport class GiiKERCube extends BluetoothPuzzle {\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<GiiKERCube> {\n    const cubeService = await server.getPrimaryService(UUIDs.cubeService);\n    debugLog(\"Service:\", cubeService);\n\n    const cubeCharacteristic = await cubeService.getCharacteristic(\n      UUIDs.cubeCharacteristic,\n    );\n    debugLog(\"Characteristic:\", cubeCharacteristic);\n\n    // TODO: Can we safely save the async promise instead of waiting for the response?\n\n    const originalValue = await decodeState(\n      new Uint8Array((await cubeCharacteristic.readValue()).buffer),\n    );\n    debugLog(\"Original value:\", originalValue);\n    const cube = new GiiKERCube(server, cubeCharacteristic, originalValue);\n\n    await cubeCharacteristic.startNotifications();\n    cubeCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      cube.onCubeCharacteristicChanged.bind(cube),\n    );\n\n    return cube;\n  }\n\n  private constructor(\n    private server: BluetoothRemoteGATTServer,\n    private cubeCharacteristic: BluetoothRemoteGATTCharacteristic,\n    private originalValue?: Uint8Array | null,\n  ) {\n    super();\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    return this.toReid333(\n      new Uint8Array((await this.cubeCharacteristic.readValue()).buffer),\n    );\n  }\n\n  private getBit(val: Uint8Array, i: number): number {\n    const n = (i / 8) | 0;\n    const shift = 7 - (i % 8);\n    return (val[n] >> shift) & 1;\n  }\n\n  private toReid333(val: Uint8Array): KPattern {\n    const patternData: KPatternData = {\n      EDGES: {\n        pieces: new Array(12),\n        orientation: new Array(12),\n      },\n      CORNERS: {\n        pieces: new Array(8),\n        orientation: new Array(8),\n      },\n      CENTERS: Reid333SolvedCenters,\n    };\n\n    for (let i = 0; i < 12; i++) {\n      const gi = epReid333toGiiKER[i];\n      patternData[\"EDGES\"].pieces[i] =\n        epGiiKERtoReid333[getNibble(val, gi + 16) - 1];\n      patternData[\"EDGES\"].orientation[i] =\n        this.getBit(val, gi + 112) ^\n        preEO[patternData[\"EDGES\"].pieces[i]] ^\n        postEO[i];\n    }\n    for (let i = 0; i < 8; i++) {\n      const gi = cpReid333toGiiKER[i];\n      patternData[\"CORNERS\"].pieces[i] =\n        cpGiiKERtoReid333[getNibble(val, gi) - 1];\n      patternData[\"CORNERS\"].orientation[i] =\n        (getNibble(val, gi + 8) * coFlip[gi] +\n          preCO[patternData[\"CORNERS\"].pieces[i]] +\n          postCO[i]) %\n        3;\n    }\n    return new KPattern(experimental3x3x3KPuzzle, patternData);\n  }\n\n  private async onCubeCharacteristicChanged(event: any): Promise<void> {\n    const val = await decodeState(new Uint8Array(event.target.value.buffer));\n    debugLog(val);\n    debugLog(val);\n\n    if (this.isRepeatedInitialValue(val)) {\n      debugLog(\"Skipping repeated initial value.\");\n      return;\n    }\n\n    const giikerState = [];\n    for (let i = 0; i < MESSAGE_LENGTH; i++) {\n      giikerState.push(Math.floor(val[i] / 16));\n      giikerState.push(val[i] % 16);\n    }\n    debugLog(giikerState);\n    const str = giikerStateStr(giikerState);\n    debugLog(str);\n\n    this.dispatchAlgLeaf({\n      latestAlgLeaf: giikerMoveToAlgMove(giikerState[32], giikerState[33]),\n      timeStamp: event.timeStamp,\n      debug: {\n        stateStr: str,\n      },\n      pattern: this.toReid333(val),\n    });\n  }\n\n  private isRepeatedInitialValue(val: Uint8Array): boolean {\n    if (typeof this.originalValue === \"undefined\") {\n      // TODO: Test this branch.\n      throw new Error(\"GiiKERCube has uninitialized original value.\");\n    }\n\n    if (this.originalValue === null) {\n      return false;\n    }\n\n    const originalValue = this.originalValue;\n    // Reset the value here, so we can return early below.\n    this.originalValue = null;\n\n    debugLog(\"Comparing against original value.\");\n    for (let i = 0; i < MESSAGE_LENGTH - 2; i++) {\n      if (originalValue[i] !== val[i]) {\n        debugLog(\"Different at index \", i);\n        return false;\n      }\n    }\n    return true;\n  }\n}\n\n// TODO: Move this into a factory?\nexport const giiKERConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: GiiKERCube.connect.bind(GiiKERCube),\n  prefixes: [\"Gi\", \"\", \"Mi\", \"Hi-\"], // Hack\n  filters: [\n    // Known prefixes: GiC, GiS (3x3x3), Gi2 (2x2x2)\n    // Suspected prefixes GiY, Gi3\n    { namePrefix: \"Gi\" },\n    { namePrefix: \"Mi\" },\n    { namePrefix: \"Hi-\" },\n    { services: [\"0000aadb-0000-1000-8000-00805f9b34fb\"] },\n    { services: [\"0000aaaa-0000-1000-8000-00805f9b34fb\"] },\n    { services: [\"0000fe95-0000-1000-8000-00805f9b34fb\"] },\n  ],\n  optionalServices: [\n    // \"00001530-1212-efde-1523-785feabcd123\",\n    // \"0000aaaa-0000-1000-8000-00805f9b34fb\",\n    UUIDs.cubeService,\n    // \"0000180f-0000-1000-8000-00805f9b34fb\",\n    // \"0000180a-0000-1000-8000-00805f9b34fb\"\n  ],\n};\n", "import { Quaternion } from \"three/src/math/Quaternion.js\";\nimport { Alg, experimentalAppendMove, Move } from \"../../alg\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\n\nconst UUIDs = {\n  goCubeService: \"6e400001-b5a3-f393-e0a9-e50e24dcca9e\",\n  goCubeStateCharacteristic: \"6e400003-b5a3-f393-e0a9-e50e24dcca9e\",\n};\n\n// https://stackoverflow.com/a/40031979\nfunction buf2hex(buffer: ArrayBuffer): string {\n  // buffer is an ArrayBuffer\n  return (\n    Array.prototype.map.call(new Uint8Array(buffer), (x: number) =>\n      `00${x.toString(16)}`.slice(-2),\n    ) as string[]\n  ).join(\" \");\n}\n\nfunction bufferToString(buffer: ArrayBuffer): string {\n  const byteView = new Uint8Array(buffer);\n  let str = \"\";\n  for (const charCode of byteView) {\n    str += String.fromCharCode(charCode);\n  }\n  return str;\n}\n\nconst moveMap: Move[] = [\n  new Move(\"B\", 1),\n  new Move(\"B\", -1),\n  new Move(\"F\", 1),\n  new Move(\"F\", -1),\n  new Move(\"U\", 1),\n  new Move(\"U\", -1),\n  new Move(\"D\", 1),\n  new Move(\"D\", -1),\n  new Move(\"R\", 1),\n  new Move(\"R\", -1),\n  new Move(\"L\", 1),\n  new Move(\"L\", -1),\n];\n\n/** @category Smart Puzzles */\nexport class GoCube extends BluetoothPuzzle {\n  // We have to perform async operations before we call the constructor.\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<GoCube> {\n    const service = await server.getPrimaryService(UUIDs.goCubeService);\n    debugLog({ service });\n    const goCubeStateCharacteristic = await service.getCharacteristic(\n      UUIDs.goCubeStateCharacteristic,\n    );\n    debugLog({ goCubeStateCharacteristic });\n\n    const cube = new GoCube(server, goCubeStateCharacteristic);\n\n    await goCubeStateCharacteristic.startNotifications();\n    goCubeStateCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      cube.onCubeCharacteristicChanged.bind(cube),\n    );\n\n    return cube;\n  }\n\n  // public async getState(): Promise<PuzzleState> {\n  //   return new Promise((resolve, reject) => {\n  //     this.resolve = (value: any) => {\n  //       resolve(buf2hex(value.buffer) as any);\n  //     };\n  //     this.goCubeStateCharacteristic.startNotifications();\n  //   });\n  // }\n\n  private recorded: any[][] = [];\n\n  private homeQuatInverse: Quaternion | null = null;\n  private lastRawQuat: Quaternion = new Quaternion(0, 0, 0, 1);\n  private currentQuat: Quaternion = new Quaternion(0, 0, 0, 1);\n  private lastTarget: Quaternion = new Quaternion(0, 0, 0, 1);\n  private alg: Alg = new Alg();\n\n  private constructor(\n    private server: BluetoothRemoteGATTServer,\n    public goCubeStateCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public reset(): void {\n    this.resetAlg();\n    this.resetOrientation();\n  }\n\n  public resetAlg(alg?: Alg): void {\n    this.alg = alg || new Alg();\n  }\n\n  public resetOrientation(): void {\n    this.homeQuatInverse = this.lastRawQuat.clone().invert();\n    this.currentQuat = new Quaternion(0, 0, 0, 1);\n    this.lastTarget = new Quaternion(0, 0, 0, 1);\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  private onCubeCharacteristicChanged(event: any): void {\n    const buffer: DataView<ArrayBuffer> = event.target.value;\n    this.recorded.push([event.timeStamp, buf2hex(buffer.buffer)]);\n    // TODO: read bytes from buffer instead of guessing meaning based on length.\n    if (buffer.byteLength < 16) {\n      for (let i = 3; i < buffer.byteLength - 4; i += 2) {\n        const move = moveMap[buffer.getUint8(i)];\n        this.alg = experimentalAppendMove(this.alg, move);\n        this.dispatchAlgLeaf({\n          latestAlgLeaf: moveMap[buffer.getUint8(i)],\n          timeStamp: event.timeStamp,\n          debug: {\n            stateStr: buf2hex(buffer.buffer),\n          },\n        });\n      }\n    } else {\n      const coords = bufferToString(\n        buffer.buffer.slice(3, buffer.byteLength - 3),\n      )\n        .split(\"#\")\n        .map((s) => parseInt(s, 10) / 16384);\n      const quat = new Quaternion(coords[0], coords[1], coords[2], coords[3]);\n\n      this.lastRawQuat = quat.clone();\n\n      if (!this.homeQuatInverse) {\n        this.homeQuatInverse = quat.clone().invert();\n      }\n\n      const targetQuat = quat.clone().multiply(this.homeQuatInverse.clone());\n      targetQuat.y = -targetQuat.y; // GoCube axis fix.\n\n      this.lastTarget.slerp(targetQuat, 0.5);\n      this.currentQuat.rotateTowards(this.lastTarget, rotateTowardsRate);\n\n      this.dispatchOrientation({\n        quaternion: this.currentQuat,\n        timeStamp: event.timeStamp,\n      });\n    }\n  }\n}\n\nconst rotateTowardsRate = 0.5;\n\n// TODO: Move this into a factory?\nexport const goCubeConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: GoCube.connect.bind(GoCube),\n  prefixes: [\"GoCube\", \"Rubik\"],\n  filters: [{ namePrefix: \"GoCube\" }, { namePrefix: \"Rubik\" }],\n  optionalServices: [UUIDs.goCubeService],\n};\n", "export function flipBitOrder(v: number, numBits: number): number {\n  let result = 0;\n  for (let i = 0; i < numBits; i++) {\n    const shiftLeft = numBits - 1 - 2 * i;\n    const unShiftedBit = v & (0b1 << i);\n    // console.log(\n    //   unShiftedBit,\n    //   shiftLeft,\n    //   shiftLeft < 0 ? unShiftedBit >> -shiftLeft : unShiftedBit << shiftLeft,\n    // );\n    result +=\n      shiftLeft < 0 ? unShiftedBit >> -shiftLeft : unShiftedBit << shiftLeft;\n  }\n  return result;\n}\n", "/* tslint:disable no-bitwise */\n\nimport { Move } from \"../../alg\";\nimport type { KPuzzle } from \"../../kpuzzle\";\nimport type { KPattern } from \"../../kpuzzle/KPattern\";\nimport {\n  experimentalBinaryComponentsToReid3x3x3,\n  experimentalTwizzleBinaryToBinaryComponents,\n} from \"../../protocol\";\nimport { puzzles } from \"../../puzzles\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { flipBitOrder } from \"./endianness\";\n\n// TODO: Short IDs\nconst UUIDs = {\n  heykubeService: \"b46a791a-8273-4fc1-9e67-94d3dc2aac1c\",\n  stateCharacteristic: \"a2f41a4e-0e31-4bbc-9389-4253475481fb\",\n  batteryCharacteristic: \"fd51b3ba-99c7-49c6-9f85-5644ff56a378\",\n};\n\n/** @category Smart Puzzles */\nexport class HeykubeCube extends BluetoothPuzzle {\n  // We have to perform async operations before we call the constructor.\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n  ): Promise<HeykubeCube> {\n    const service = await server.getPrimaryService(UUIDs.heykubeService);\n    debugLog(\"Service:\", service);\n\n    const stateCharacteristic = await service.getCharacteristic(\n      UUIDs.stateCharacteristic,\n    );\n    debugLog(\"Characteristic:\", stateCharacteristic);\n\n    const cube = new HeykubeCube(\n      await puzzles[\"3x3x3\"].kpuzzle(),\n      service,\n      device,\n      server,\n      stateCharacteristic,\n    );\n    return cube;\n  }\n\n  private constructor(\n    _kpuzzle: KPuzzle,\n    _service: BluetoothRemoteGATTService,\n    device: BluetoothDevice,\n    private server: BluetoothRemoteGATTServer,\n    private stateCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n\n    device.addEventListener(\n      \"gattserverdisconnected\",\n      this.onDisconnect.bind(this),\n    );\n\n    this.stateCharacteristic.startNotifications();\n    this.startTrackingMoves();\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  onDisconnect(): void {\n    this.dispatchEvent(new CustomEvent(\"disconnect\"));\n  }\n\n  public startTrackingMoves(): void {\n    this.stateCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      (e: any) => this.onStateCharacteristic(e),\n    ); // TODO\n  }\n\n  // public stopTrackingMoves(): void {}\n\n  // public async getBattery(): Promise<number> {\n  //   return new Uint8Array(\n  //     await this.readActualAngleAndBatteryCharacteristic(),\n  //   )[7];\n  // }srcElement: BluetoothRemoteGATTCharacteristic\n\n  private onStateCharacteristic(event: {\n    target: BluetoothRemoteGATTCharacteristic;\n    timeStamp: number;\n  }): void {\n    const state = this.decodeState(event.target.value!);\n    // console.log(event, state.latestMove.toString(), state);\n    this.dispatchAlgLeaf({\n      latestAlgLeaf: state.latestMove,\n      timeStamp: event.timeStamp,\n      pattern: state.pattern,\n    });\n  }\n\n  private decodeState(dv: DataView): { pattern: KPattern; latestMove: Move } {\n    const moves = [\n      new Move(\"U\"),\n      new Move(\"U'\"),\n      new Move(\"B\"),\n      new Move(\"B'\"),\n      new Move(\"F\"),\n      new Move(\"F'\"),\n      null,\n      null,\n      new Move(\"L\"),\n      new Move(\"L'\"),\n      new Move(\"D\"),\n      new Move(\"D'\"),\n      new Move(\"R\"),\n      new Move(\"R'\"),\n      // null,\n      // null,\n    ];\n\n    const b2 = new Uint8Array(dv.byteLength);\n    for (let i = 0; i < dv.byteLength; i++) {\n      b2[i] = flipBitOrder(dv.getUint8(i), 8);\n    }\n    const components1 = experimentalTwizzleBinaryToBinaryComponents(\n      b2.slice(0, 11),\n    );\n    // console.log(\"sliced\", dv.byteLength, bufferToSpacedHex(b2.slice(11)));\n    const components2 = {\n      epLex: flipBitOrder(components1.epLex, 29),\n      eoMask: flipBitOrder(components1.eoMask, 12),\n      cpLex: flipBitOrder(components1.cpLex, 16),\n      coMask: flipBitOrder(components1.coMask, 13),\n      poIdxL: 0,\n      poIdxU: 0b111,\n      moSupport: 0b1, // TODO\n      moMask: 0,\n    };\n    // console.log(components2, binaryComponentsToReid3x3x3(components2));\n\n    return {\n      pattern: experimentalBinaryComponentsToReid3x3x3(components2),\n      latestMove: moves[b2[20] & 0b00001111]!,\n    };\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    const b1 = await this.stateCharacteristic.readValue();\n    return this.decodeState(b1).pattern;\n  }\n}\n\n// // TODO: Move this into a factory?\nexport const heykubeConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: HeykubeCube.connect.bind(HeykubeCube),\n  prefixes: [\"HEYKUBE\"],\n  filters: [{ namePrefix: \"HEYKUBE\" }],\n  optionalServices: [UUIDs.heykubeService],\n};\n", "/* tslint:disable no-bitwise */\n\nimport { type AlgLeaf, Move } from \"../../alg\";\nimport { KPattern, type KPuzzle } from \"../../kpuzzle\";\nimport { puzzles } from \"../../puzzles\";\nimport {\n  importKey,\n  unsafeDecryptBlock,\n  unsafeEncryptBlock,\n} from \"../../vendor/public-domain/unsafe-raw-aes/unsafe-raw-aes\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { getPatternData } from \"./common\";\n\nconst UUIDs = {\n  qiyiMainService: 0xfff0,\n  qiyiMainCharacteristic: 0xfff6,\n};\n\nconst qiyiMoveToBlockMove: { [i: number]: Move } = {\n  1: new Move(\"L\", -1),\n  2: new Move(\"L\"),\n  3: new Move(\"R\", -1),\n  4: new Move(\"R\"),\n  5: new Move(\"D\", -1),\n  6: new Move(\"D\"),\n  7: new Move(\"U\", -1),\n  8: new Move(\"U\"),\n  9: new Move(\"F\", -1),\n  10: new Move(\"F\"),\n  11: new Move(\"B\", -1),\n  12: new Move(\"B\"),\n};\n\nconst faceOrder = \"LRDUFB\";\n\n//           \u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\n//           \u250200\u250201\u250202\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250203\u250204\u250205\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250206\u250207\u250208\u2502\n//           \u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\n// \u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\n// \u250236\u250237\u250238\u2502\u250218\u250219\u250220\u2502\u250209\u250210\u250211\u2502\u250245\u250246\u250247\u2502\n// \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n// \u250239\u250240\u250241\u2502\u250221\u250222\u250223\u2502\u250212\u250213\u250214\u2502\u250248\u250249\u250250\u2502\n// \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n// \u250242\u250243\u250244\u2502\u250224\u250225\u250226\u2502\u250215\u250216\u250217\u2502\u250251\u250252\u250253\u2502\n// \u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\n//           \u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\n//           \u250227\u250228\u250229\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250230\u250231\u250232\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250233\u250234\u250235\u2502\n//           \u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\n\nconst qiyiCornerMappings: number[][] = [\n  [8, 20, 9], // UFR,\n  [2, 11, 45], // URB,\n  [0, 47, 36], // UBL,\n  [6, 38, 18], // ULF,\n  [29, 15, 26], // DRF,\n  [27, 24, 44], // DFL,\n  [33, 42, 53], // DLB,\n  [35, 51, 17], // DBR,\n];\n\nconst qiyiEdgeMappings: number[][] = [\n  [7, 19], // UF,\n  [5, 10], // UR,\n  [1, 46], // UB,\n  [3, 37], // UL,\n  [28, 25], // DF,\n  [32, 16], // DR,\n  [34, 52], // DB,\n  [30, 43], // DL,\n  [23, 12], // FR,\n  [21, 41], // FL,\n  [48, 14], // BR,\n  [50, 39], // BL,\n];\n\n/**\n * Generates the checksum of the data using the CRC-16 MODBUS algorithm\n * @param data The array of data to generate the checksum for\n * @param length The length of the data, excluding any 0 padding\n */\nfunction generateChecksum(data: number[]) {\n  const TABLE = new Uint16Array([\n    0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241, 0xc601,\n    0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440, 0xcc01, 0x0cc0,\n    0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40, 0x0a00, 0xcac1, 0xcb81,\n    0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841, 0xd801, 0x18c0, 0x1980, 0xd941,\n    0x1b00, 0xdbc1, 0xda81, 0x1a40, 0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01,\n    0x1dc0, 0x1c80, 0xdc41, 0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0,\n    0x1680, 0xd641, 0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081,\n    0x1040, 0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240,\n    0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441, 0x3c00,\n    0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41, 0xfa01, 0x3ac0,\n    0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840, 0x2800, 0xe8c1, 0xe981,\n    0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41, 0xee01, 0x2ec0, 0x2f80, 0xef41,\n    0x2d00, 0xedc1, 0xec81, 0x2c40, 0xe401, 0x24c0, 0x2580, 0xe541, 0x2700,\n    0xe7c1, 0xe681, 0x2640, 0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0,\n    0x2080, 0xe041, 0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281,\n    0x6240, 0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441,\n    0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41, 0xaa01,\n    0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840, 0x7800, 0xb8c1,\n    0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41, 0xbe01, 0x7ec0, 0x7f80,\n    0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40, 0xb401, 0x74c0, 0x7580, 0xb541,\n    0x7700, 0xb7c1, 0xb681, 0x7640, 0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101,\n    0x71c0, 0x7080, 0xb041, 0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0,\n    0x5280, 0x9241, 0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481,\n    0x5440, 0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40,\n    0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841, 0x8801,\n    0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40, 0x4e00, 0x8ec1,\n    0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41, 0x4400, 0x84c1, 0x8581,\n    0x4540, 0x8701, 0x47c0, 0x4680, 0x8641, 0x8201, 0x42c0, 0x4380, 0x8341,\n    0x4100, 0x81c1, 0x8081, 0x4040,\n  ]);\n\n  let crc = 0xffff;\n  for (const dataPoint of data) {\n    const xor = (dataPoint ^ crc) & 0xff;\n    crc >>= 8;\n    crc ^= TABLE[xor];\n  }\n\n  return crc;\n}\n\n/**\n * Prepares a message to be sent from the app to the cube by adding a checksum,\n * padding the message, and encrypting it with AES-ECB.\n * @param message the message to be sent to the cube, without the checksum\n * @param aesKey AES-ECB encryption key\n * @returns prepared message (including checksum, padding, and encryption)\n */\nasync function prepareMessage(\n  message: number[],\n  aesKey: CryptoKey,\n): Promise<Uint8Array<ArrayBuffer>> {\n  // TODO: this directly inside the `ArrayBugger.`\n  const messageCopyForChecksum = structuredClone(message);\n  const checksum = generateChecksum(messageCopyForChecksum);\n  messageCopyForChecksum.push(checksum & 0xff);\n  messageCopyForChecksum.push(checksum >> 8);\n\n  const paddedLength = Math.ceil(messageCopyForChecksum.length / 16) * 16;\n  const paddedArray = new Uint8Array([\n    ...messageCopyForChecksum,\n    ...Array(paddedLength - messageCopyForChecksum.length).fill(0),\n  ]);\n\n  const encryptedMessage = new Uint8Array(paddedLength);\n  for (let i = 0; i < paddedArray.length / 16; i++) {\n    const encryptedBlock = new Uint8Array(\n      await unsafeEncryptBlock(aesKey, paddedArray.slice(i * 16, (i + 1) * 16)),\n    );\n    encryptedMessage.set(encryptedBlock, i * 16);\n  }\n  return encryptedMessage;\n}\n\n/**\n * Decrypts a message sent by the cube, using AES-EBC\n * @param encryptedMessage the encryped message sent by the cube\n * @param aesKey AES-EBC encryption key\n * @returns decrypted message\n */\nasync function decryptMessage(\n  encryptedMessage: Uint8Array,\n  aesKey: CryptoKey,\n): Promise<Uint8Array<ArrayBuffer>> {\n  const decryptedMessage = new Uint8Array(encryptedMessage.length);\n  for (let i = 0; i < encryptedMessage.length / 16; i++) {\n    const decryptedBlock = new Uint8Array(\n      await unsafeDecryptBlock(\n        aesKey,\n        encryptedMessage.slice(i * 16, (i + 1) * 16),\n      ),\n    );\n    decryptedMessage.set(decryptedBlock, i * 16);\n  }\n  return decryptedMessage;\n}\n\n/**\n * Guess the MAC address of the cube, based on its name.\n *\n * A QiYi smart cube device with the name 'QY-QYSC-S-A94B' has a MAC address of CC:A3:00:00:A9:4B.\n * @param device\n * @returns array of 8-bit integers equal to the MAC address in order\n */\nfunction getMacAddress(device: BluetoothDevice): number[] | undefined {\n  if (device.name === undefined) {\n    return;\n  }\n\n  return [\n    0xcc,\n    0xa3,\n    0x00,\n    0x00,\n    parseInt(device.name.slice(10, 12), 16),\n    parseInt(device.name.slice(12, 14), 16),\n  ];\n}\n\n/**\n * Maximum amount of timestamps stored, to limit memory usage, while\n * avoiding performing duplicate moves on the cube. 12 was chosen because\n * there are 55 bytes for previous moves (each one is five bytes), plus\n * one move, stored as the latest one.\n */\nconst MAX_TIMESTAMP_COUNT = 12;\nconst TIMESTAMP_SCALE = 1.6;\n\nconst CUBE_HELLO = 0x02;\nconst STATE_CHANGE = 0x03;\n/** @category Smart Puzzles */\nexport class QiyiCube extends BluetoothPuzzle {\n  private latestTimestamp: number | undefined;\n  private allTimeStamps: Set<number>; // Without this set, moves are constantly duplicated\n  private allTimeStampsQueue: number[];\n  private stickers: number[] = [\n    3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 4, 4, 4, 4, 4, 4, 4,\n    4, 4, 2, 2, 2, 2, 2, 2, 2, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5, 5, 5, 5, 5,\n    5, 5, 5, 5,\n  ];\n  private batteryLevel: number = 100;\n\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<BluetoothPuzzle> {\n    const aesKey = await importKey(\n      new Uint8Array([\n        87, 177, 249, 171, 205, 90, 232, 167, 156, 185, 140, 231, 87, 140, 81,\n        8,\n      ]),\n    );\n    return new QiyiCube(await puzzles[\"3x3x3\"].kpuzzle(), aesKey, server);\n  }\n\n  public constructor(\n    private kpuzzle: KPuzzle,\n    private aesKey: CryptoKey,\n    private server: BluetoothRemoteGATTServer,\n  ) {\n    super();\n    this.startNotifications().then(this.sendAppHello.bind(this));\n    this.allTimeStamps = new Set();\n    this.allTimeStampsQueue = [];\n  }\n\n  public async sendAppHello() {\n    const mainService = await this.server.getPrimaryService(\n      UUIDs.qiyiMainService,\n    );\n    const mainCharacteristic = await mainService.getCharacteristic(\n      UUIDs.qiyiMainCharacteristic,\n    );\n\n    // Values of `0x00` and `0x01` have been observed for the 4th byte of the\n    // MAC in the wild. We send some larger values for future-proofing, as the\n    // QiYi cube doesn't seem to mind.\n    for (let macGuessCounter = 0; macGuessCounter < 8; macGuessCounter++) {\n      const mac = getMacAddress(this.server.device)!;\n      mac[3] = macGuessCounter;\n      const reversedMac = mac.reverse();\n\n      const appHello = [\n        0xfe,\n        0x15,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        ...reversedMac,\n      ];\n\n      const appHelloMessage = await prepareMessage(appHello, this.aesKey);\n      await mainCharacteristic.writeValue(appHelloMessage);\n    }\n  }\n\n  public async startNotifications() {\n    const mainService = await this.server.getPrimaryService(\n      UUIDs.qiyiMainService,\n    );\n    const mainCharacteristic = await mainService.getCharacteristic(\n      UUIDs.qiyiMainCharacteristic,\n    );\n\n    mainCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      this.cubeMessageHandler.bind(this),\n    );\n    await mainCharacteristic.startNotifications();\n  }\n\n  public async cubeMessageHandler(event: Event) {\n    const characteristic = event.target as BluetoothRemoteGATTCharacteristic;\n    const decryptedMessage = await decryptMessage(\n      new Uint8Array(characteristic.value!.buffer),\n      this.aesKey,\n    );\n\n    const opCode = decryptedMessage[2];\n    let needsAck = false;\n    switch (opCode) {\n      case CUBE_HELLO: {\n        const initialState = decryptedMessage.slice(7, 34);\n        this.updateState(initialState);\n        this.batteryLevel = decryptedMessage[35];\n        needsAck = true;\n        break;\n      }\n\n      case STATE_CHANGE: {\n        const state = decryptedMessage.slice(7, 34);\n        this.updateState(state);\n\n        const latestMove = qiyiMoveToBlockMove[decryptedMessage[34]];\n        const latestTimestamp = new DataView(\n          decryptedMessage.slice(3, 7).buffer,\n        ).getInt32(0);\n\n        const moves = [[latestMove, latestTimestamp]];\n\n        const previousMoves = new DataView(\n          decryptedMessage.slice(36, 91).buffer,\n        );\n        for (\n          let i = previousMoves.byteLength - 1;\n          i > 0 && previousMoves.getUint8(i) !== 255;\n          i -= 5\n        ) {\n          const move = qiyiMoveToBlockMove[previousMoves.getUint8(i)];\n          const timestamp = previousMoves.getUint32(i - 4);\n\n          if (\n            this.latestTimestamp === undefined ||\n            timestamp <= this.latestTimestamp\n          ) {\n            continue;\n          }\n\n          moves.push([move, timestamp]);\n        }\n\n        moves.sort((a, b) => (a[1] as number) - (b[1] as number));\n\n        for (const move of moves) {\n          const latestAlgLeaf = move[0] as AlgLeaf;\n          const timeStamp = Math.round((move[1] as number) / TIMESTAMP_SCALE);\n          if (!this.allTimeStamps.has(timeStamp)) {\n            this.dispatchAlgLeaf({\n              latestAlgLeaf,\n              timeStamp,\n            });\n            this.allTimeStamps.add(timeStamp);\n            this.allTimeStampsQueue.push(timeStamp);\n            if (this.allTimeStampsQueue.length > MAX_TIMESTAMP_COUNT) {\n              this.allTimeStamps.delete(this.allTimeStampsQueue.shift()!);\n            }\n          }\n        }\n\n        this.latestTimestamp = latestTimestamp;\n\n        needsAck = decryptedMessage[91] === 1;\n        break;\n      }\n\n      default:\n        console.error(`Opcode not implemented: ${opCode}`);\n        break;\n    }\n\n    if (needsAck) {\n      await characteristic.writeValue(\n        await prepareMessage(\n          [0xfe, 0x09, ...decryptedMessage.slice(2, 7)],\n          this.aesKey,\n        ),\n      );\n    }\n  }\n\n  private updateState(state: Uint8Array) {\n    this.stickers = Array.from(state).flatMap((twoPieces) => [\n      twoPieces & 0xf,\n      twoPieces >> 4,\n    ]);\n  }\n\n  public override name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  public override disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    return new KPattern(\n      this.kpuzzle,\n      getPatternData(\n        this.stickers,\n        faceOrder,\n        qiyiEdgeMappings,\n        qiyiCornerMappings,\n      ),\n    );\n  }\n\n  public getBattery(): number {\n    return this.batteryLevel;\n  }\n}\n\nexport const qiyiConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: QiyiCube.connect.bind(QiyiCube),\n  prefixes: [\"QY-QYSC\"],\n  filters: [\n    {\n      namePrefix: \"QY-QYSC\",\n    },\n  ],\n  optionalServices: [UUIDs.qiyiMainService],\n};\n", "import { type BluetoothConnectOptions, bluetoothConnect } from \"../connect\";\nimport type { BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { ganConfig } from \"./gan\";\nimport { giiKERConfig } from \"./giiker\";\nimport { goCubeConfig } from \"./gocube\";\nimport { heykubeConfig } from \"./Heykube\";\nimport { qiyiConfig } from \"./qiyi\";\n\nconst smartPuzzleConfigs = [\n  ganConfig,\n  goCubeConfig,\n  heykubeConfig,\n  qiyiConfig,\n  giiKERConfig, // GiiKER must be last, due to Xiaomi naming. TODO: enforce this using tests.\n];\n\n/** @category Smart Puzzles */\nexport async function connectSmartPuzzle(\n  options?: BluetoothConnectOptions,\n): Promise<BluetoothPuzzle> {\n  return bluetoothConnect<BluetoothPuzzle>(smartPuzzleConfigs, options);\n}\n", "import { Alg, Move as AlgNode, Move } from \"../../alg\";\nimport { cube3x3x3 } from \"../../puzzles\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\n\n// TODO: Remove this. It's only used for debugging.\nfunction buf2hex(buffer: ArrayBuffer | Uint8Array): string {\n  // buffer is an ArrayBuffer\n  return (\n    Array.prototype.map.call(new Uint8Array(buffer), (x: number) =>\n      `00${x.toString(16)}`.slice(-2),\n    ) as string[]\n  ).join(\" \");\n}\n\nconst MAX_NIBBLES_PER_WRITE = 18 * 2;\nconst QUANTUM_TURN_DURATION_MS = 150;\nconst DOUBLE_TURN_DURATION_MS = 250;\n\nconst U_D_SWAP = new Alg(\"F B R2 L2 B' F'\");\nconst U_D_UNSWAP = U_D_SWAP.invert(); // TODO: make `cubing.js` clever enough to be able to reuse the regular swap.\nconst F_B_SWAP = new Alg(\"U D R2 L2 D' U'\");\nconst F_B_UNSWAP = F_B_SWAP.invert();\n\n// TODO: Short IDs\nconst UUIDs = {\n  ganRobotService: \"0000fff0-0000-1000-8000-00805f9b34fb\",\n  statusCharacteristic: \"0000fff2-0000-1000-8000-00805f9b34fb\",\n  moveCharacteristic: \"0000fff3-0000-1000-8000-00805f9b34fb\",\n};\n\nconst moveMap: Record<string, number> = {\n  R: 0,\n  R2: 1,\n  \"R2'\": 1,\n  \"R'\": 2,\n  F: 3,\n  F2: 4,\n  \"F2'\": 4,\n  \"F'\": 5,\n  D: 6,\n  D2: 7,\n  \"D2'\": 7,\n  \"D'\": 8,\n  L: 9,\n  L2: 10,\n  \"L2'\": 10,\n  \"L'\": 11,\n  B: 12,\n  B2: 13,\n  \"B2'\": 13,\n  \"B'\": 14,\n};\n\nconst moveMapX: Record<string, number> = {\n  R: 0,\n  R2: 1,\n  \"R2'\": 1,\n  \"R'\": 2,\n  U: 3,\n  U2: 4,\n  \"U2'\": 4,\n  \"U'\": 5,\n  F: 6,\n  F2: 7,\n  \"F2'\": 7,\n  \"F'\": 8,\n  L: 9,\n  L2: 10,\n  \"L2'\": 10,\n  \"L'\": 11,\n  D: 12,\n  D2: 13,\n  \"D2'\": 13,\n  \"D'\": 14,\n};\n\nfunction isDoubleTurnNibble(nibble: number): boolean {\n  return nibble % 3 === 1;\n}\n\nfunction nibbleDuration(nibble: number): number {\n  return isDoubleTurnNibble(nibble)\n    ? DOUBLE_TURN_DURATION_MS\n    : QUANTUM_TURN_DURATION_MS;\n}\n\nfunction throwInvalidAlgNode(algNode: AlgNode): never {\n  console.error(\"invalid alg node\", algNode, algNode.toString());\n  throw new Error(\"invalid alg node!\");\n}\n\nfunction sleep(ms: number): Promise<void> {\n  return new Promise((resolve) => setTimeout(resolve, ms));\n}\n\nexport interface GanRobotStatus {\n  movesRemaining: number;\n}\n\ninterface GanRobotOptions {\n  xAngle: boolean;\n  singleMoveFixHack: boolean;\n  bufferQueue: number;\n  postSleep: number;\n}\n\n/** @category Robots */\nexport class GanRobot extends EventTarget {\n  experimentalDebugOnSend: ((alg: Alg) => void) | null = null;\n  experimentalDebugLog: typeof console.log = () => {};\n\n  // Because our Bluetooth connection code is set up not to know what kind of device is connecting, we put these options directly on the class.\n  experimentalOptions: GanRobotOptions = {\n    xAngle: false,\n    singleMoveFixHack: false,\n    bufferQueue: 0,\n    postSleep: 0,\n  };\n\n  constructor(\n    _service: BluetoothRemoteGATTService,\n    private server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n    private statusCharacteristic: BluetoothRemoteGATTCharacteristic,\n    private moveCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n    device.addEventListener(\n      \"gattserverdisconnected\",\n      this.onDisconnect.bind(this),\n    );\n  }\n\n  // We have to perform async operations before we call the constructor.\n  static async connect(\n    server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n  ) {\n    const ganTimerService = await server.getPrimaryService(\n      UUIDs.ganRobotService,\n    );\n    const statusCharacteristic = await ganTimerService.getCharacteristic(\n      UUIDs.statusCharacteristic,\n    );\n    const moveCharacteristic = await ganTimerService.getCharacteristic(\n      UUIDs.moveCharacteristic,\n    );\n    const timer = new GanRobot(\n      ganTimerService,\n      server,\n      device,\n      statusCharacteristic,\n      moveCharacteristic,\n    );\n    return timer;\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  onDisconnect(): void {\n    this.dispatchEvent(new CustomEvent(\"disconnect\"));\n  }\n\n  private algNodeToNibble(algNode: AlgNode): number {\n    const move = algNode.as(AlgNode);\n    if (!move) {\n      throwInvalidAlgNode(algNode);\n    }\n    const nibble =\n      (this.experimentalOptions.xAngle ? moveMapX : moveMap)[move.toString()] ??\n      null;\n    if (nibble === null) {\n      throwInvalidAlgNode(move);\n    }\n    return nibble;\n  }\n\n  private async writeNibbles(nibbles: number[]): Promise<void> {\n    if (nibbles.length > MAX_NIBBLES_PER_WRITE) {\n      throw new Error(\n        `Can only write ${MAX_NIBBLES_PER_WRITE} nibbles at a time!`,\n      );\n    }\n    // const byteLength = Math.ceil(nibbles.length / 2);\n    const bytes = new Uint8Array(18);\n    let i: number;\n    for (i = 0; i < nibbles.length; i++) {\n      const byteIdx = Math.floor(i / 2);\n      bytes[byteIdx] += nibbles[i];\n      if (i % 2 === 0) {\n        bytes[byteIdx] *= 0x10;\n      }\n    }\n    if (nibbles.length % 2 === 1) {\n      bytes[Math.ceil(nibbles.length / 2) - 1] += 0xf;\n    }\n    for (let i = Math.ceil(nibbles.length / 2); i < 18; i++) {\n      bytes[i] = 0xff;\n    }\n    let sleepDuration = 0;\n    for (const nibble of nibbles) {\n      sleepDuration += nibbleDuration(nibble);\n    }\n    this.experimentalDebugLog(\"WRITING:\", buf2hex(bytes));\n    await this.moveCharacteristic.writeValue(bytes);\n    await sleep(sleepDuration * 0.75);\n    while ((await this.getStatus()).movesRemaining > 0) {\n      // repeat\n    }\n    await sleep(this.experimentalOptions.postSleep);\n  }\n\n  private async getStatus(): Promise<GanRobotStatus> {\n    const statusBytes = new Uint8Array(\n      (await this.statusCharacteristic.readValue()).buffer,\n    );\n    this.experimentalDebugLog(\"moves remaining:\", statusBytes[0]);\n    return {\n      movesRemaining: statusBytes[0],\n    };\n  }\n\n  locked: boolean = false;\n  processQueue(): void {}\n\n  private moveQueue: Alg = new Alg();\n  // TODO: Don't let this resolve until the move is done?\n  private async queueMoves(moves: Alg): Promise<void> {\n    this.moveQueue = this.moveQueue.concat(moves).experimentalSimplify({\n      puzzleSpecificSimplifyOptions: cube3x3x3.puzzleSpecificSimplifyOptions,\n    });\n    if (!this.locked) {\n      // TODO: We're currently iterating over alg nodes instead of leaves to avoid \"zip bomps\".\n      try {\n        this.locked = true;\n        if (this.moveQueue.experimentalNumChildAlgNodes() === 1) {\n          await sleep(this.experimentalOptions.bufferQueue);\n        }\n        // await this.writeNibbles([0xf, 0xf]);\n        while (this.moveQueue.experimentalNumChildAlgNodes() > 0) {\n          // @ts-expect-error: Is TypeScript just straight-up false positiving here?\n          let algNodes: AlgNode[] = Array.from(this.moveQueue.childAlgNodes());\n          if (\n            this.experimentalOptions.singleMoveFixHack &&\n            algNodes.length === 1\n          ) {\n            const move = algNodes[0].as(Move);\n            if (move) {\n              if (move.amount === 2) {\n                algNodes = [\n                  move.modified({ amount: 1 }) as AlgNode,\n                  move.modified({ amount: 1 }) as AlgNode,\n                ];\n              } else {\n                algNodes = [\n                  move.modified({ amount: -move.amount }),\n                  move.modified({ amount: 2 }) as AlgNode,\n                ];\n              }\n            }\n          }\n          const splicedAlgNodes: AlgNode[] = algNodes.splice(\n            0,\n            MAX_NIBBLES_PER_WRITE,\n          );\n          const nibbles: number[] = splicedAlgNodes.map(\n            this.algNodeToNibble.bind(this),\n          );\n          const sending = new Alg(splicedAlgNodes);\n          this.experimentalDebugLog(\"SENDING\", sending.toString());\n          if (this.experimentalDebugOnSend) {\n            this.experimentalDebugOnSend(sending);\n          }\n          const write = this.writeNibbles(nibbles);\n          this.moveQueue = new Alg(algNodes);\n          await write;\n        }\n      } finally {\n        this.locked = false;\n      }\n    }\n  }\n\n  async applyMoves(moves: Iterable<AlgNode>): Promise<void> {\n    // const nibbles: number[] = [];\n    for (const move of moves) {\n      const str = move.toString();\n      if (str in (this.experimentalOptions.xAngle ? moveMapX : moveMap)) {\n        await this.queueMoves(new Alg([move]));\n      } else if (\n        move.family === (this.experimentalOptions.xAngle ? \"B\" : \"U\")\n      ) {\n        // We purposely send just the swap, so that U2 will get cancelled\n        await Promise.all([\n          this.queueMoves(\n            this.experimentalOptions.xAngle ? F_B_SWAP : U_D_SWAP,\n          ),\n          this.queueMoves(\n            new Alg([\n              move.modified({\n                family: this.experimentalOptions.xAngle ? \"F\" : \"D\",\n              }),\n            ]).concat(\n              this.experimentalOptions.xAngle ? F_B_UNSWAP : U_D_UNSWAP,\n            ),\n          ),\n        ]);\n      }\n    }\n  }\n}\n\n// // TODO: Move this into a factory?\nexport const ganTimerConfig: BluetoothConfig<GanRobot> = {\n  connect: GanRobot.connect.bind(GanRobot),\n  prefixes: [\"GAN\"],\n  filters: [{ namePrefix: \"GAN\" }],\n  optionalServices: [UUIDs.ganRobotService],\n};\n", "import { type BluetoothConnectOptions, bluetoothConnect } from \"../connect\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\nimport { type GanRobot, ganTimerConfig } from \"./GanRobot\";\n\n/** @category Robots */\nexport type BluetoothRobot = GanRobot; // TODO\n\nconst smartRobotConfigs: BluetoothConfig<BluetoothRobot>[] = [ganTimerConfig];\n\n/** @category Robots */\nexport async function connectSmartRobot(\n  options?: BluetoothConnectOptions,\n): Promise<BluetoothRobot> {\n  return bluetoothConnect<BluetoothRobot>(smartRobotConfigs, options);\n}\n", "import type { MillisecondTimestamp } from \"../../twisty/controllers/AnimationTypes\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\n\n// TODO: Short IDs\nconst UUIDs = {\n  ganTimerService: \"0000fff0-0000-1000-8000-00805f9b34fb\",\n  timeCharacteristic: \"0000fff2-0000-1000-8000-00805f9b34fb\",\n};\n\ninterface GanTimerDetail {\n  currentTime: MillisecondTimestamp;\n  latestTimes: [\n    MillisecondTimestamp,\n    MillisecondTimestamp,\n    MillisecondTimestamp,\n  ];\n}\n\n/** @category Timers */\nexport class GanTimer extends EventTarget {\n  private polling = false;\n  private previousDetail: GanTimerDetail | null = null;\n\n  constructor(\n    _service: BluetoothRemoteGATTService,\n    private server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n    private timeCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n    this.startPolling();\n    console.log(server);\n    device.addEventListener(\n      \"gattserverdisconnected\",\n      this.onDisconnect.bind(this),\n    );\n  }\n\n  // We have to perform async operations before we call the constructor.\n  static async connect(\n    server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n  ) {\n    const ganTimerService = await server.getPrimaryService(\n      UUIDs.ganTimerService,\n    );\n    console.log(\"Service:\", ganTimerService);\n    const timeCharacteristic = await ganTimerService.getCharacteristic(\n      UUIDs.timeCharacteristic,\n    );\n    console.log(\"Characteristic:\", timeCharacteristic);\n    const timer = new GanTimer(\n      ganTimerService,\n      server,\n      device,\n      timeCharacteristic,\n    );\n    return timer;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  async poll() {\n    if (!this.polling) {\n      return;\n    }\n    const value = await this.getTimeCharacteristic();\n\n    const detail: GanTimerDetail = {\n      currentTime: this.decodeTimeMs(value.slice(0, 4)),\n      latestTimes: [\n        this.decodeTimeMs(value.slice(4, 8)),\n        this.decodeTimeMs(value.slice(8, 12)),\n        this.decodeTimeMs(value.slice(12, 16)),\n      ],\n    };\n\n    if (detail.currentTime === 0) {\n      if (this.previousDetail && this.previousDetail.currentTime !== 0) {\n        this.dispatchEvent(new CustomEvent(\"reset\"));\n      }\n    }\n\n    if (detail.currentTime !== 0 && this.previousDetail) {\n      if (this.previousDetail.currentTime === 0) {\n        this.dispatchEvent(new CustomEvent(\"start\"));\n      }\n\n      if (detail.currentTime !== this.previousDetail.currentTime) {\n        this.dispatchEvent(new CustomEvent(\"update\", { detail }));\n\n        if (\n          detail.currentTime === detail.latestTimes[0] &&\n          detail.latestTimes[1] === this.previousDetail.latestTimes[0] &&\n          detail.latestTimes[2] === this.previousDetail.latestTimes[1]\n        ) {\n          this.dispatchEvent(new CustomEvent(\"stop\", { detail }));\n        }\n      }\n    }\n\n    this.previousDetail = detail;\n\n    this.poll();\n  }\n\n  onDisconnect(): void {\n    this.dispatchEvent(new CustomEvent(\"disconnect\"));\n  }\n\n  async getTimeCharacteristic() {\n    return new Uint8Array((await this.timeCharacteristic.readValue()).buffer);\n  }\n\n  async getTime() {\n    const value = await this.getTimeCharacteristic();\n    return this.decodeTimeMs(value.slice(0, 4));\n  }\n\n  decodeTimeMs(bytes: Uint8Array) {\n    return (bytes[0] * 60 + bytes[1]) * 1000 + bytes[2] + bytes[3] * 256;\n  }\n\n  startPolling() {\n    this.polling = true;\n    this.poll();\n  }\n\n  stopPolling() {\n    this.polling = false;\n  }\n}\n\n// // TODO: Move this into a factory?\nexport const ganTimerConfig: BluetoothConfig<GanTimer> = {\n  connect: GanTimer.connect.bind(GanTimer),\n  prefixes: [\"GAN\"],\n  filters: [{ namePrefix: \"GAN\" }],\n  optionalServices: [UUIDs.ganTimerService],\n};\n", "import { type BluetoothConnectOptions, bluetoothConnect } from \"../connect\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\nimport { type GanTimer, ganTimerConfig } from \"./GanTimer\";\n\n/** @category Timers */\nexport type BluetoothTimer = GanTimer; // TODO\n\nconst smartTimerConfigs: BluetoothConfig<BluetoothTimer>[] = [ganTimerConfig];\n\n/** @category Timers */\nexport async function connectSmartTimer(\n  options?: BluetoothConnectOptions,\n): Promise<BluetoothTimer> {\n  return bluetoothConnect<BluetoothTimer>(smartTimerConfigs, options);\n}\n"],
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+  "sourcesContent": ["let DEBUG_LOGGING_ENABLED = false;\n\nexport function enableDebugLogging(enable: boolean): void {\n  DEBUG_LOGGING_ENABLED = enable;\n}\n\n// TODO: Remove this.\nexport function debugLog(...args: any[]): void {\n  if (!DEBUG_LOGGING_ENABLED) {\n    return;\n  }\n\n  if (console.info) {\n    console.info(...args);\n  } else {\n    console.log(...args);\n  }\n}\n", "import { Quaternion } from \"three/src/math/Quaternion.js\";\nimport { Vector3 } from \"three/src/math/Vector3.js\";\nimport type {\n  AlgLeafEvent,\n  OrientationEvent,\n} from \"./smart-puzzle/bluetooth-puzzle\";\n\n// TODO: Combine orientation and alg leaves into a single event to handle quaternion remapping.\nexport interface StreamTransformer {\n  // Modifies the input.\n  transformAlgLeaf(algLeafEvent: AlgLeafEvent): void;\n  // Modifies the input.\n  transformOrientation(orientationEvent: OrientationEvent): void;\n}\n\nfunction maxAxis(v: Vector3): string {\n  const maxVal = Math.max(Math.abs(v.x), Math.abs(v.y), Math.abs(v.z));\n  switch (maxVal) {\n    case v.x:\n      return \"x\";\n    case -v.x:\n      return \"-x\";\n    case v.y:\n      return \"y\";\n    case -v.y:\n      return \"-y\";\n    case v.z:\n      return \"z\";\n    case -v.z:\n      return \"-z\";\n    default:\n      throw new Error(\"Uh-oh.\");\n  }\n}\n\nconst s2 = Math.sqrt(0.5);\n\nconst m: { [s: string]: Quaternion } = {\n  \"y z\": new Quaternion(0, 0, 0, 1),\n  \"-z y\": new Quaternion(s2, 0, 0, s2),\n  \"x z\": new Quaternion(0, 0, -s2, s2),\n  \"-x z\": new Quaternion(0, 0, s2, s2),\n};\n\nexport class BasicRotationTransformer implements StreamTransformer {\n  // private reorientQuat = new Quaternion();\n\n  public transformAlgLeaf(_algLeafEvent: AlgLeafEvent): void {\n    // Nothing to do.\n  }\n\n  public transformOrientation(orientationEvent: OrientationEvent): void {\n    const { x, y, z, w } = orientationEvent.quaternion;\n    const quat = new Quaternion(x, y, z, w);\n\n    const U = new Vector3(0, 1, 0);\n    const F = new Vector3(0, 0, 1);\n    const maxU = maxAxis(U.applyQuaternion(quat));\n    const maxF = maxAxis(F.applyQuaternion(quat));\n\n    const oriQuat = m[`${maxU} ${maxF}`] || m[\"y z\"];\n\n    console.log(quat);\n    console.log(oriQuat);\n    const q2 = quat.premultiply(oriQuat);\n\n    // console.log(maxAxis(U.applyQuaternion(quat)), maxAxis(F.applyQuaternion(quat)));\n    console.log(q2);\n\n    orientationEvent.quaternion = quat;\n\n    console.log(orientationEvent.quaternion);\n  }\n}\n", "import type { AlgLeaf } from \"../../alg/alg-nodes/AlgNode\";\nimport type { KPattern } from \"../../kpuzzle/KPattern\";\nimport {\n  BasicRotationTransformer,\n  type StreamTransformer,\n} from \"../transformer\";\n\n/******** BluetoothPuzzle ********/\n\n// TODO: Use actual `CustomEvent`s?\n// https://developer.mozilla.org/en-US/docs/Web/API/CustomEvent\n/** @category Smart Puzzles */\nexport interface AlgLeafEvent {\n  latestAlgLeaf: AlgLeaf;\n  timeStamp: number;\n  debug?: Record<string, unknown>;\n  pattern?: KPattern;\n  quaternion?: any; // TODO: Unused\n}\n\n// TODO: Only use the `quaternion` field in the `AlgLeafEvent`?\n/** @category Smart Puzzles */\nexport interface OrientationEvent {\n  quaternion: {\n    x: number;\n    y: number;\n    z: number;\n    w: number;\n  };\n  timeStamp: number;\n  debug?: Record<string, unknown>;\n}\n\nexport interface BluetoothConfig<T> {\n  connect:\n    | ((\n        server: BluetoothRemoteGATTServer,\n        device: BluetoothDevice,\n      ) => Promise<T>)\n    | ((\n        server: BluetoothRemoteGATTServer,\n        device?: BluetoothDevice,\n      ) => Promise<T>);\n  // TODO: Can we reuse `filters`?\n  prefixes: string[]; // `[\"\"]` for GiiKER\n  filters: BluetoothLEScanFilter[];\n  optionalServices: BluetoothServiceUUID[];\n}\n\n// TODO: Expose device name (and/or globally unique identifier)?\n\n/** @category Smart Puzzles */\nexport abstract class BluetoothPuzzle extends EventTarget {\n  public transformers: StreamTransformer[] = [];\n  protected listeners: Array<(e: AlgLeafEvent) => void> = []; // TODO: type\n  protected orientationListeners: Array<(e: OrientationEvent) => void> = []; // TODO: type\n\n  public abstract name(): string | undefined;\n  public abstract disconnect(): void; // TODO: Can we make this reutrn (async) on success?\n\n  // TODO: require subclasses to implement this?\n  public async getPattern(): Promise<KPattern> {\n    throw new Error(\"cannot get pattern\");\n  }\n\n  public addAlgLeafListener(listener: (e: AlgLeafEvent) => void): void {\n    this.listeners.push(listener);\n  }\n\n  public addOrientationListener(listener: (e: OrientationEvent) => void): void {\n    this.orientationListeners.push(listener);\n  }\n\n  public experimentalAddBasicRotationTransformer(): void {\n    this.transformers.push(new BasicRotationTransformer());\n  }\n\n  protected dispatchAlgLeaf(algLeaf: AlgLeafEvent): void {\n    for (const transformer of this.transformers) {\n      transformer.transformAlgLeaf(algLeaf);\n    }\n    for (const l of this.listeners) {\n      l(algLeaf);\n    }\n  }\n\n  protected dispatchOrientation(orientationEvent: OrientationEvent): void {\n    for (const transformer of this.transformers) {\n      transformer.transformOrientation(orientationEvent);\n    }\n    const { x, y, z, w } = orientationEvent.quaternion;\n    // TODO: can we avoid mutating the source event?\n    orientationEvent.quaternion = {\n      x,\n      y,\n      z,\n      w,\n    };\n    for (const l of this.orientationListeners) {\n      // TODO: Convert quaternion.\n      l(orientationEvent);\n    }\n  }\n}\n", "import { Alg, keyToMove } from \"../alg\";\nimport type { KPattern } from \"../kpuzzle/KPattern\";\nimport type { PuzzleLoader } from \"../puzzles\";\nimport type { KeyMapping } from \"../puzzles/cubing-private\";\nimport type { PuzzleID } from \"../twisty\";\nimport { BluetoothPuzzle } from \"./smart-puzzle/bluetooth-puzzle\";\n\n/** @category Keyboard Puzzles */\nexport class KeyboardPuzzle extends BluetoothPuzzle {\n  private keyMappingAndPatternPromise: Promise<\n    [KeyMapping | undefined, KPattern]\n  >;\n\n  listener: EventListener; // (e: KeyboardEvent) => Promise<void>;\n\n  // TODO: Decide on the right arguments.\n  // TODO: support tying the puzzle to a TwistyPlayer.\n  constructor(\n    private target: Element,\n    puzzle: PuzzleID | PuzzleLoader = \"3x3x3\",\n  ) {\n    super();\n    // TODO: Filter out repeated keydown?\n    // TODO: how do we avoid this awkward cast?\n    this.listener = this.onKeyDown.bind(this) as any as EventListener;\n    target.addEventListener(\"keydown\", this.listener);\n    this.keyMappingAndPatternPromise = this.setPuzzleInternal(puzzle);\n  }\n\n  public name(): string | undefined {\n    return \"Keyboard Input\";\n  }\n\n  async setPuzzleInternal(\n    puzzle: PuzzleID | PuzzleLoader,\n  ): Promise<[KeyMapping | undefined, KPattern]> {\n    const puzzleLoader = await (async () =>\n      typeof puzzle === \"string\"\n        ? (await import(\"../puzzles\")).puzzles[puzzle]\n        : puzzle)();\n    const kpuzzle = await (async () => puzzleLoader.kpuzzle())();\n    return Promise.all([puzzleLoader.keyMapping?.(), kpuzzle.defaultPattern()]);\n  }\n\n  disconnect() {\n    this.target.removeEventListener(\"keydown\", this.listener as EventListener);\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    return (await this.keyMappingAndPatternPromise)[1];\n  }\n\n  private async onKeyDown(e: KeyboardEvent): Promise<void> {\n    if (e.altKey || e.ctrlKey || e.metaKey || e.shiftKey) {\n      return;\n    }\n\n    this.keyMappingAndPatternPromise = (async () => {\n      const [keyMapping, pattern] = await this.keyMappingAndPatternPromise;\n      const algLeaf = keyToMove(keyMapping, e);\n      let newPattern: KPattern | undefined;\n      if (algLeaf) {\n        newPattern = pattern.applyAlg(new Alg([algLeaf])); // TODO\n        this.dispatchAlgLeaf({\n          latestAlgLeaf: algLeaf,\n          timeStamp: e.timeStamp,\n          pattern: newPattern,\n        });\n        e.preventDefault();\n      }\n      return [keyMapping, newPattern ?? pattern];\n    })();\n  }\n}\n\n// TODO: Type\n/** @category Keyboard Puzzles */\nexport async function debugKeyboardConnect(\n  target: any = window,\n  puzzle: PuzzleID | PuzzleLoader = \"3x3x3\",\n): Promise<KeyboardPuzzle> {\n  return new KeyboardPuzzle(target, puzzle);\n}\n", "import { debugLog } from \"../debug\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\n\n/******** requestOptions ********/\n\nfunction requestOptions<T>(\n  configs: BluetoothConfig<T>[],\n  acceptAllDevices: boolean = false,\n): RequestDeviceOptions {\n  const options = acceptAllDevices\n    ? {\n        acceptAllDevices: true,\n        optionalServices: [] as BluetoothServiceUUID[],\n      }\n    : {\n        filters: [] as BluetoothLEScanFilter[],\n        optionalServices: [] as BluetoothServiceUUID[],\n      };\n  for (const config of configs) {\n    if (!acceptAllDevices) {\n      options.filters = options.filters!.concat(config.filters);\n    }\n    options.optionalServices = options.optionalServices.concat(\n      config.optionalServices,\n    );\n  }\n  debugLog({ requestOptions: options });\n  return options;\n}\n\n/******** connect() ********/\n\nexport interface BluetoothConnectOptions {\n  acceptAllDevices?: boolean;\n}\n\n// We globally track the number of connection failures,\n// in order to offer the user recourse (accept all devices) if they're having issues.\n// This allows us to future-proof situations where a device might not show up in\n// the chooser, but works if we connect.\nlet consecutiveFailures = 0;\nconst MAX_FAILURES_BEFORE_ACCEPT_ALL_FALLBACK = 2;\n\n// TODO: Debug options to allow connecting to any device?\nexport async function bluetoothConnect<T>(\n  configs: BluetoothConfig<T>[],\n  options: BluetoothConnectOptions = {},\n): Promise<T> {\n  debugLog(\"Attempting to pair.\");\n  let device: BluetoothDevice;\n  try {\n    let acceptAllDevices = options.acceptAllDevices;\n    if (\n      !acceptAllDevices &&\n      consecutiveFailures >= MAX_FAILURES_BEFORE_ACCEPT_ALL_FALLBACK\n    ) {\n      console.info(\n        `The last ${MAX_FAILURES_BEFORE_ACCEPT_ALL_FALLBACK} Bluetooth puzzle connection attempts failed. This time, the Bluetooth prompt will show all possible devices.`,\n      );\n      acceptAllDevices = true;\n    }\n    device = await navigator.bluetooth.requestDevice(\n      requestOptions<T>(configs, acceptAllDevices),\n    );\n    consecutiveFailures = 0;\n  } catch (e) {\n    consecutiveFailures++;\n    throw e;\n  }\n  debugLog(\"Device:\", device);\n\n  if (typeof device.gatt === \"undefined\") {\n    return Promise.reject(\"Device did not have a GATT server.\");\n  }\n\n  const server = await device.gatt.connect();\n  debugLog(\"Server:\", server);\n\n  const name = server.device?.name || \"\";\n\n  // TODO by reading supported matched filters or provided services.\n\n  for (const config of configs) {\n    for (const prefix of config.prefixes) {\n      if (name?.startsWith(prefix)) {\n        return config.connect(server, device);\n      }\n    }\n  }\n\n  throw Error(\"Unknown Bluetooth devive.\");\n}\n", "/* tslint:disable no-bitwise */\n\nimport { Quaternion } from \"three/src/math/Quaternion.js\";\nimport { Move } from \"../../alg\";\nimport { KPattern, type KPuzzle } from \"../../kpuzzle\";\nimport { puzzles } from \"../../puzzles\";\nimport {\n  importKey,\n  unsafeDecryptBlock,\n} from \"../../vendor/public-domain/unsafe-raw-aes/unsafe-raw-aes\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { getPatternData } from \"./common\";\n\n// This needs to be short enough to capture 6 moves (OBQTM).\nconst DEFAULT_INTERVAL_MS = 150;\n// Number of latest moves provided by the Gan 356i.\nconst MAX_LATEST_MOVES = 6;\n\nconst ganMoveToBlockMove: { [i: number]: Move } = {\n  0 /*  0x00 */: new Move(\"U\"),\n  2 /*  0x02 */: new Move(\"U\", -1),\n  3 /*  0x03 */: new Move(\"R\"),\n  5 /*  0x05 */: new Move(\"R\", -1),\n  6 /*  0x06 */: new Move(\"F\"),\n  8 /*  0x08 */: new Move(\"F\", -1),\n  9 /*  0x09 */: new Move(\"D\"),\n  11 /* 0x0b */: new Move(\"D\", -1),\n  12 /* 0x0c */: new Move(\"L\"),\n  14 /* 0x0e */: new Move(\"L\", -1),\n  15 /* 0x0f */: new Move(\"B\"),\n  17 /* 0x11 */: new Move(\"B\", -1),\n};\n\nlet homeQuatInverse: Quaternion | null = null;\n\nfunction probablyDecodedCorrectly(data: Uint8Array): boolean {\n  return (\n    data[13] < 0x12 &&\n    data[14] < 0x12 &&\n    data[15] < 0x12 &&\n    data[16] < 0x12 &&\n    data[17] < 0x12 &&\n    data[18] < 0x12\n  );\n}\n\nconst key10 = new Uint8Array([\n  198, 202, 21, 223, 79, 110, 19, 182, 119, 13, 230, 89, 58, 175, 186, 162,\n]);\nconst key11 = new Uint8Array([\n  67, 226, 91, 214, 125, 220, 120, 216, 7, 96, 163, 218, 130, 60, 1, 241,\n]);\n\n// Clean-room reverse-engineered\nasync function decryptPattern(\n  data: Uint8Array,\n  aesKey: CryptoKey | null,\n): Promise<Uint8Array> {\n  if (aesKey === null) {\n    return data;\n  }\n\n  const copy = new Uint8Array(data);\n  copy.set(new Uint8Array(await unsafeDecryptBlock(aesKey, copy.slice(3))), 3);\n  copy.set(\n    new Uint8Array(await unsafeDecryptBlock(aesKey, copy.slice(0, 16))),\n    0,\n  );\n\n  if (probablyDecodedCorrectly(copy)) {\n    return copy;\n  }\n\n  throw new Error(\"Invalid Gan cube pattern\");\n}\n\nclass PhysicalState {\n  public static async read(\n    characteristic: BluetoothRemoteGATTCharacteristic,\n    aesKey: CryptoKey | null,\n  ): Promise<PhysicalState> {\n    const value = await decryptPattern(\n      new Uint8Array((await characteristic.readValue()).buffer),\n      aesKey,\n    );\n    const timeStamp = Date.now();\n    // console.log(value);\n    return new PhysicalState(new DataView(value.buffer), timeStamp);\n  }\n\n  private arr: Uint8Array;\n  private arrLen = 19;\n  private constructor(\n    private dataView: DataView,\n    public timeStamp: number,\n  ) {\n    this.arr = new Uint8Array(dataView.buffer);\n    if (this.arr.length !== this.arrLen) {\n      throw new Error(\"Unexpected array length\");\n    }\n  }\n\n  public rotQuat(): Quaternion {\n    let x = this.dataView.getInt16(0, true) / 16384;\n    let y = this.dataView.getInt16(2, true) / 16384;\n    let z = this.dataView.getInt16(4, true) / 16384;\n    [x, y, z] = [-y, z, -x];\n    const wSquared = 1 - (x * x + y * y + z * z);\n    const w = wSquared > 0 ? Math.sqrt(wSquared) : 0;\n    const quat = new Quaternion(x, y, z, w);\n\n    if (!homeQuatInverse) {\n      homeQuatInverse = quat.clone().invert();\n    }\n\n    return quat.clone().multiply(homeQuatInverse.clone());\n  }\n\n  // Loops from 255 to 0.\n  public moveCounter(): number {\n    return this.arr[12];\n  }\n\n  public numMovesSince(previousMoveCounter: number): number {\n    return (this.moveCounter() - previousMoveCounter) & 0xff;\n  }\n\n  // Due to the design of the Gan356i protocol, it's common to query for the\n  // latest physical state and find 0 moves have been performed since the last\n  // query. Therefore, it's useful to allow 0 as an argument.\n  public latestMoves(n: number): Move[] {\n    if (n < 0 || n > MAX_LATEST_MOVES) {\n      throw new Error(`Must ask for 0 to 6 latest moves. (Asked for ${n})`);\n    }\n    return Array.from(this.arr.slice(19 - n, 19)).map(\n      (i) => ganMoveToBlockMove[i],\n    );\n  }\n\n  public debugInfo(): { arr: Uint8Array } {\n    return {\n      arr: this.arr,\n    };\n  }\n}\n\n// TODO: Short IDs\nconst UUIDs = {\n  ganCubeService: \"0000fff0-0000-1000-8000-00805f9b34fb\",\n  physicalStateCharacteristic: \"0000fff5-0000-1000-8000-00805f9b34fb\",\n  actualAngleAndBatteryCharacteristic: \"0000fff7-0000-1000-8000-00805f9b34fb\",\n  faceletStatus1Characteristic: \"0000fff2-0000-1000-8000-00805f9b34fb\",\n  faceletStatus2Characteristic: \"0000fff3-0000-1000-8000-00805f9b34fb\",\n  infoService: \"0000180a-0000-1000-8000-00805f9b34fb\",\n  systemIDCharacteristic: \"00002a23-0000-1000-8000-00805f9b34fb\",\n  versionCharacteristic: \"00002a28-0000-1000-8000-00805f9b34fb\",\n};\n\nconst commands: { [cmd: string]: BufferSource } = {\n  reset: new Uint8Array([\n    0x00, 0x00, 0x24, 0x00, 0x49, 0x92, 0x24, 0x49, 0x6d, 0x92, 0xdb, 0xb6,\n    0x49, 0x92, 0xb6, 0x24, 0x6d, 0xdb,\n  ]),\n};\n\nfunction buf2hex(buffer: ArrayBufferLike): string {\n  // buffer is an ArrayBuffer\n  return (\n    Array.prototype.map.call(new Uint8Array(buffer), (x: number) =>\n      `00${x.toString(16)}`.slice(-2),\n    ) as string[]\n  ).join(\" \");\n}\n\nconst gan356iCornerMappings = [\n  [0, 21, 15],\n  [5, 13, 47],\n  [7, 45, 39],\n  [2, 37, 23],\n  [29, 10, 16],\n  [31, 18, 32],\n  [26, 34, 40],\n  [24, 42, 8],\n];\n\nconst gan356iEdgeMappings = [\n  [1, 22],\n  [3, 14],\n  [6, 46],\n  [4, 38],\n  [30, 17],\n  [27, 9],\n  [25, 41],\n  [28, 33],\n  [19, 12],\n  [20, 35],\n  [44, 11],\n  [43, 36],\n];\nconst faceOrder = \"URFDLB\";\n\nasync function getKey(\n  server: BluetoothRemoteGATTServer,\n): Promise<CryptoKey | null> {\n  const infoService = await server.getPrimaryService(UUIDs.infoService);\n\n  const versionCharacteristic = await infoService.getCharacteristic(\n    UUIDs.versionCharacteristic,\n  );\n  const versionBuffer = new Uint8Array(\n    (await versionCharacteristic.readValue()).buffer,\n  );\n\n  const versionValue =\n    (((versionBuffer[0] << 8) + versionBuffer[1]) << 8) + versionBuffer[2];\n  if (versionValue < 0x01_00_08) {\n    return null;\n  }\n\n  const keyXor = versionValue < 0x01_01_00 ? key10 : key11;\n\n  const systemIDCharacteristic = await infoService.getCharacteristic(\n    UUIDs.systemIDCharacteristic,\n  );\n  const systemID = new Uint8Array(\n    (await systemIDCharacteristic.readValue()).buffer,\n  ).reverse();\n\n  const key = new Uint8Array(keyXor);\n  for (let i = 0; i < systemID.length; i++) {\n    key[i] = (key[i] + systemID[i]) % 256;\n  }\n\n  return importKey(key);\n}\n\n/** @category Smart Puzzles */\nexport class GanCube extends BluetoothPuzzle {\n  // We have to perform async operations before we call the constructor.\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<GanCube> {\n    const ganCubeService = await server.getPrimaryService(UUIDs.ganCubeService);\n    debugLog(\"Service:\", ganCubeService);\n\n    const physicalStateCharacteristic = await ganCubeService.getCharacteristic(\n      UUIDs.physicalStateCharacteristic,\n    );\n    debugLog(\"Characteristic:\", physicalStateCharacteristic);\n\n    const aesKey = await getKey(server);\n\n    const initialMoveCounter = (\n      await PhysicalState.read(physicalStateCharacteristic, aesKey)\n    ).moveCounter();\n    debugLog(\"Initial Move Counter:\", initialMoveCounter);\n    const cube = new GanCube(\n      await puzzles[\"3x3x3\"].kpuzzle(),\n      ganCubeService,\n      server,\n      physicalStateCharacteristic,\n      initialMoveCounter,\n      aesKey,\n    );\n    return cube;\n  }\n\n  public INTERVAL_MS: number = DEFAULT_INTERVAL_MS;\n  private intervalHandle: number | null = null;\n  private pattern: KPattern;\n  private cachedFaceletStatus1Characteristic:\n    | Promise<BluetoothRemoteGATTCharacteristic>\n    | undefined;\n\n  private cachedFaceletStatus2Characteristic:\n    | Promise<BluetoothRemoteGATTCharacteristic>\n    | undefined;\n\n  private cachedActualAngleAndBatteryCharacteristic:\n    | Promise<BluetoothRemoteGATTCharacteristic>\n    | undefined;\n\n  private constructor(\n    private kpuzzle: KPuzzle,\n    private service: BluetoothRemoteGATTService,\n    private server: BluetoothRemoteGATTServer,\n    private physicalStateCharacteristic: BluetoothRemoteGATTCharacteristic,\n    private lastMoveCounter: number,\n    private aesKey: CryptoKey | null,\n  ) {\n    super();\n    this.pattern = kpuzzle.defaultPattern();\n    this.startTrackingMoves();\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public startTrackingMoves(): void {\n    // `window.setInterval` instead of `setInterval`:\n    // https://github.com/Microsoft/TypeScript/issues/842#issuecomment-252445883\n    this.intervalHandle = window.setInterval(\n      this.intervalHandler.bind(this),\n      this.INTERVAL_MS,\n    );\n  }\n\n  public stopTrackingMoves(): void {\n    if (!this.intervalHandle) {\n      throw new Error(\"Not tracking moves!\");\n    }\n    clearInterval(this.intervalHandle);\n    this.intervalHandle = null;\n  }\n\n  // TODO: Can we ever receive async responses out of order?\n  public async intervalHandler(): Promise<void> {\n    const physicalState = await PhysicalState.read(\n      this.physicalStateCharacteristic,\n      this.aesKey,\n    );\n    let numInterveningMoves = physicalState.numMovesSince(this.lastMoveCounter);\n    // console.log(numInterveningMoves);\n    if (numInterveningMoves > MAX_LATEST_MOVES) {\n      debugLog(\n        `Too many moves! Dropping ${\n          numInterveningMoves - MAX_LATEST_MOVES\n        } moves`,\n      );\n      numInterveningMoves = MAX_LATEST_MOVES;\n    }\n    for (const move of physicalState.latestMoves(numInterveningMoves)) {\n      // console.log(move);\n      this.pattern = this.pattern.applyMove(move);\n      this.dispatchAlgLeaf({\n        latestAlgLeaf: move,\n        timeStamp: physicalState.timeStamp,\n        debug: physicalState.debugInfo(),\n        pattern: this.pattern,\n        // quaternion: physicalState.rotQuat(),\n      });\n    }\n    this.dispatchOrientation({\n      timeStamp: physicalState.timeStamp,\n      quaternion: physicalState.rotQuat(),\n    });\n    this.lastMoveCounter = physicalState.moveCounter();\n  }\n\n  public async getBattery(): Promise<number> {\n    return new Uint8Array(\n      await this.readActualAngleAndBatteryCharacteristic(),\n    )[7];\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    const arr: Uint8Array = await decryptPattern(\n      new Uint8Array(await this.readFaceletStatus1Characteristic()),\n      this.aesKey,\n    );\n    const stickers: number[] = [];\n    for (let i = 0; i < 18; i += 3) {\n      let v = (((arr[i ^ 1] << 8) + arr[(i + 1) ^ 1]) << 8) + arr[(i + 2) ^ 1];\n      for (let j = 0; j < 8; j++) {\n        stickers.push(v & 7);\n        v >>= 3;\n      }\n    }\n\n    return new KPattern(\n      this.kpuzzle,\n      getPatternData(\n        stickers,\n        faceOrder,\n        gan356iEdgeMappings,\n        gan356iCornerMappings,\n      ),\n    );\n  }\n\n  public async faceletStatus1Characteristic(): Promise<BluetoothRemoteGATTCharacteristic> {\n    this.cachedFaceletStatus1Characteristic =\n      this.cachedFaceletStatus1Characteristic ||\n      this.service.getCharacteristic(UUIDs.faceletStatus1Characteristic);\n    return this.cachedFaceletStatus1Characteristic;\n  }\n\n  public async faceletStatus2Characteristic(): Promise<BluetoothRemoteGATTCharacteristic> {\n    this.cachedFaceletStatus2Characteristic =\n      this.cachedFaceletStatus2Characteristic ||\n      this.service.getCharacteristic(UUIDs.faceletStatus2Characteristic);\n    return this.cachedFaceletStatus2Characteristic;\n  }\n\n  public async actualAngleAndBatteryCharacteristic(): Promise<BluetoothRemoteGATTCharacteristic> {\n    this.cachedActualAngleAndBatteryCharacteristic =\n      this.cachedActualAngleAndBatteryCharacteristic ||\n      this.service.getCharacteristic(UUIDs.actualAngleAndBatteryCharacteristic);\n    return this.cachedActualAngleAndBatteryCharacteristic;\n  }\n\n  public async reset(): Promise<void> {\n    const faceletStatus1Characteristic =\n      await this.faceletStatus1Characteristic();\n    await faceletStatus1Characteristic.writeValue(commands[\"reset\"]);\n  }\n\n  public async readFaceletStatus1Characteristic(): Promise<ArrayBufferLike> {\n    const faceletStatus1Characteristic =\n      await this.faceletStatus1Characteristic();\n    return (await faceletStatus1Characteristic.readValue()).buffer;\n  }\n\n  public async readFaceletStatus2Characteristic(): Promise<string> {\n    const faceletStatus2Characteristic =\n      await this.faceletStatus2Characteristic();\n    return buf2hex((await faceletStatus2Characteristic.readValue()).buffer);\n  }\n\n  public async readActualAngleAndBatteryCharacteristic(): Promise<ArrayBufferLike> {\n    const actualAngleAndBatteryCharacteristic =\n      await this.actualAngleAndBatteryCharacteristic();\n    return (await actualAngleAndBatteryCharacteristic.readValue()).buffer;\n  }\n  // TODO\n  // private onphysicalStateCharacteristicChanged(event: any): void {\n  //   var val = event.target.value;\n  //   debugLog(val);\n  // }\n}\n\n// // TODO: Move this into a factory?\nexport const ganConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: GanCube.connect.bind(GanCube),\n  prefixes: [\"GAN\"],\n  filters: [{ namePrefix: \"GAN\" }],\n  optionalServices: [UUIDs.ganCubeService, UUIDs.infoService],\n};\n", "// Note: we could use the `unsafe-raw-aes` npm package instead. But:\n//\n// 1. This is a rather small amount of code, thanks to a clever hack of the Web Crypto API.\n// 2. This code is used (and therefore loaded) only for smart cube decoding, and unlikely to be needed directly by projects using `cubing.js`.\n// 3. A dependency called `unsafe-raw-aes` would (rightfully) raise some eyebrows.\n//\n// So we just vendor the entire file instead.\n\nconst blockSize = 16;\nconst zeros = new Uint8Array(blockSize);\nconst paddingBlockPlaintext = new Uint8Array(\n  new Array(blockSize).fill(blockSize),\n);\nconst AES_CBC = \"AES-CBC\";\n\nexport async function importKey(\n  keyBytes: BufferSource | Uint8Array,\n): Promise<CryptoKey> {\n  return await crypto.subtle.importKey(\n    \"raw\",\n    keyBytes as BufferSource,\n    AES_CBC,\n    true,\n    [\"encrypt\", \"decrypt\"],\n  );\n}\n\nasync function unsafeEncryptBlockWithIV(\n  key: CryptoKey,\n  plaintextBlock: BufferSource | Uint8Array,\n  iv: BufferSource | Uint8Array,\n): Promise<ArrayBuffer> {\n  const cryptoResult: ArrayBuffer = await window.crypto.subtle.encrypt(\n    {\n      name: AES_CBC,\n      iv: iv as BufferSource,\n    },\n    key,\n    plaintextBlock as BufferSource,\n  );\n  return cryptoResult.slice(0, blockSize);\n}\n\nexport async function unsafeEncryptBlock(\n  key: CryptoKey,\n  plaintextBlock: BufferSource | Uint8Array,\n): Promise<ArrayBuffer> {\n  return (await unsafeEncryptBlockWithIV(key, plaintextBlock, zeros)).slice(\n    0,\n    blockSize,\n  );\n}\n\nexport async function unsafeDecryptBlock(\n  key: CryptoKey,\n  ciphertextBlock: BufferSource | Uint8Array,\n): Promise<ArrayBuffer> {\n  const paddingBlock = await unsafeEncryptBlockWithIV(\n    key,\n    paddingBlockPlaintext,\n    ciphertextBlock as BufferSource,\n  );\n\n  const cbcCiphertext = new Uint8Array(2 * blockSize);\n  cbcCiphertext.set(new Uint8Array(ciphertextBlock as Uint8Array), 0);\n  cbcCiphertext.set(new Uint8Array(paddingBlock), blockSize);\n\n  const cryptoResult: ArrayBuffer = await window.crypto.subtle.decrypt(\n    {\n      name: AES_CBC,\n      iv: zeros,\n    },\n    key,\n    cbcCiphertext,\n  );\n  return cryptoResult.slice(0, blockSize);\n}\n", "import type { KPatternData } from \"../../kpuzzle\";\n\nconst reidEdgeOrder = \"UF UR UB UL DF DR DB DL FR FL BR BL\".split(\" \");\nconst reidCornerOrder = \"UFR URB UBL ULF DRF DFL DLB DBR\".split(\" \");\n\ninterface PieceInfo {\n  piece: number;\n  orientation: number;\n}\n\nfunction rotateLeft(s: string, i: number): string {\n  return s.slice(i) + s.slice(0, i);\n}\n\nconst pieceMap: { [s: string]: PieceInfo } = {};\n// TODO: Condense the for loops.\nreidEdgeOrder.forEach((edge, idx) => {\n  for (let i = 0; i < 2; i++) {\n    pieceMap[rotateLeft(edge, i)] = { piece: idx, orientation: i };\n  }\n});\nreidCornerOrder.forEach((corner, idx) => {\n  for (let i = 0; i < 3; i++) {\n    pieceMap[rotateLeft(corner, i)] = { piece: idx, orientation: i };\n  }\n});\n\nexport function getPatternData(\n  stickers: number[],\n  faceOrder: string,\n  edgeMappings: number[][],\n  cornerMappings: number[][],\n): KPatternData {\n  const patternData: KPatternData = {\n    CORNERS: {\n      pieces: [],\n      orientation: [],\n    },\n    EDGES: {\n      pieces: [],\n      orientation: [],\n    },\n    CENTERS: {\n      pieces: [0, 1, 2, 3, 4, 5],\n      orientation: [0, 0, 0, 0, 0, 0],\n      orientationMod: [1, 1, 1, 1, 1, 1],\n    },\n  };\n\n  for (const cornerMapping of cornerMappings) {\n    const pieceInfo: PieceInfo =\n      pieceMap[cornerMapping.map((i) => faceOrder[stickers[i]]).join(\"\")];\n    patternData[\"CORNERS\"].pieces.push(pieceInfo.piece);\n    patternData[\"CORNERS\"].orientation.push(pieceInfo.orientation);\n  }\n\n  for (const edgeMapping of edgeMappings) {\n    const pieceInfo: PieceInfo =\n      pieceMap[edgeMapping.map((i) => faceOrder[stickers[i]]).join(\"\")];\n    patternData[\"EDGES\"].pieces.push(pieceInfo.piece);\n    patternData[\"EDGES\"].orientation.push(pieceInfo.orientation);\n  }\n\n  return patternData;\n}\n", "/* tslint:disable no-bitwise */\n\nimport { Move } from \"../../alg\";\nimport { KPattern, type KPatternData } from \"../../kpuzzle\";\nimport { experimental3x3x3KPuzzle } from \"../../puzzles/cubing-private\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\n\nconst MESSAGE_LENGTH = 20;\n\nconst UUIDs = {\n  cubeService: \"0000aadb-0000-1000-8000-00805f9b34fb\",\n  cubeCharacteristic: \"0000aadc-0000-1000-8000-00805f9b34fb\",\n};\n\n// TODO: Expose for testing.\nfunction giikerMoveToAlgMove(face: number, amount: number): Move {\n  switch (amount) {\n    case 3: {\n      amount = -1;\n      break;\n    }\n    case 9: {\n      debugLog(\"Encountered 9\", face, amount);\n      amount = -2;\n      break;\n    }\n  }\n\n  const family = [\"?\", \"B\", \"D\", \"L\", \"U\", \"R\", \"F\"][face];\n  return new Move(family, amount);\n}\n\nexport { giikerMoveToAlgMove as giikerMoveToAlgMoveForTesting };\n\nfunction giikerStateStr(giikerState: number[]): string {\n  let str = \"\";\n  str += giikerState.slice(0, 8).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(8, 16).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(16, 28).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(28, 32).join(\".\");\n  str += \"\\n\";\n  str += giikerState.slice(32, 40).join(\".\");\n  return str;\n}\n\n// TODO\n// const Reid333Orbits = {\n//   \"EDGES\":   {\"numPieces\": 12, \"orientations\": 2},\n//   \"CORNERS\": {\"numPieces\": 8,  \"orientations\": 3},\n//   \"CENTERS\": {\"numPieces\": 6,  \"orientations\": 4}\n// };\n\nconst Reid333SolvedCenters = {\n  pieces: [0, 1, 2, 3, 4, 5],\n  orientation: [0, 0, 0, 0, 0, 0],\n  orientationMod: [1, 1, 1, 1, 1, 1], // TODO\n};\n\nconst epGiiKERtoReid333: number[] = [4, 8, 0, 9, 5, 1, 3, 7, 6, 10, 2, 11];\nconst epReid333toGiiKER: number[] = [2, 5, 10, 6, 0, 4, 8, 7, 1, 3, 9, 11];\n\nconst preEO: number[] = [1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0];\nconst postEO: number[] = [1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0];\n\nconst cpGiiKERtoReid333: number[] = [4, 0, 3, 5, 7, 1, 2, 6];\nconst cpReid333toGiiKER: number[] = [1, 5, 6, 2, 0, 3, 7, 4];\n\nconst preCO: number[] = [1, 2, 1, 2, 2, 1, 2, 1];\nconst postCO: number[] = [2, 1, 2, 1, 1, 2, 1, 2];\n\nconst coFlip: number[] = [-1, 1, -1, 1, 1, -1, 1, -1];\n\nfunction getNibble(val: Uint8Array, i: number): number {\n  if (i % 2 === 1) {\n    return val[(i / 2) | 0] % 16;\n  }\n  return 0 | (val[(i / 2) | 0] / 16);\n}\n\nfunction probablyEncrypted(data: Uint8Array): boolean {\n  return data[18] === 0xa7;\n}\n\nconst lookup = [\n  176, 81, 104, 224, 86, 137, 237, 119, 38, 26, 193, 161, 210, 126, 150, 81, 93,\n  13, 236, 249, 89, 235, 88, 24, 113, 81, 214, 131, 130, 199, 2, 169, 39, 165,\n  171, 41,\n];\n\nfunction decryptState(data: Uint8Array): Uint8Array {\n  const offset1 = getNibble(data, 38);\n  const offset2 = getNibble(data, 39);\n  const output = new Uint8Array(MESSAGE_LENGTH);\n  for (let i = 0; i < MESSAGE_LENGTH; i++) {\n    output[i] = data[i] + lookup[offset1 + i] + lookup[offset2 + i];\n  }\n  return output;\n}\n\n// TODO: Support caching which decoding strategy worked last time.\nasync function decodeState(data: Uint8Array): Promise<Uint8Array> {\n  if (!probablyEncrypted(data)) {\n    return data;\n  }\n  return decryptState(data);\n  // TODO: Check that the decrypted state is a valid staet.\n}\n\n/** @category Smart Puzzles */\nexport class GiiKERCube extends BluetoothPuzzle {\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<GiiKERCube> {\n    const cubeService = await server.getPrimaryService(UUIDs.cubeService);\n    debugLog(\"Service:\", cubeService);\n\n    const cubeCharacteristic = await cubeService.getCharacteristic(\n      UUIDs.cubeCharacteristic,\n    );\n    debugLog(\"Characteristic:\", cubeCharacteristic);\n\n    // TODO: Can we safely save the async promise instead of waiting for the response?\n\n    const originalValue = await decodeState(\n      new Uint8Array((await cubeCharacteristic.readValue()).buffer),\n    );\n    debugLog(\"Original value:\", originalValue);\n    const cube = new GiiKERCube(server, cubeCharacteristic, originalValue);\n\n    await cubeCharacteristic.startNotifications();\n    cubeCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      cube.onCubeCharacteristicChanged.bind(cube),\n    );\n\n    return cube;\n  }\n\n  private constructor(\n    private server: BluetoothRemoteGATTServer,\n    private cubeCharacteristic: BluetoothRemoteGATTCharacteristic,\n    private originalValue?: Uint8Array | null,\n  ) {\n    super();\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    return this.toReid333(\n      new Uint8Array((await this.cubeCharacteristic.readValue()).buffer),\n    );\n  }\n\n  private getBit(val: Uint8Array, i: number): number {\n    const n = (i / 8) | 0;\n    const shift = 7 - (i % 8);\n    return (val[n] >> shift) & 1;\n  }\n\n  private toReid333(val: Uint8Array): KPattern {\n    const patternData: KPatternData = {\n      EDGES: {\n        pieces: new Array(12),\n        orientation: new Array(12),\n      },\n      CORNERS: {\n        pieces: new Array(8),\n        orientation: new Array(8),\n      },\n      CENTERS: Reid333SolvedCenters,\n    };\n\n    for (let i = 0; i < 12; i++) {\n      const gi = epReid333toGiiKER[i];\n      patternData[\"EDGES\"].pieces[i] =\n        epGiiKERtoReid333[getNibble(val, gi + 16) - 1];\n      patternData[\"EDGES\"].orientation[i] =\n        this.getBit(val, gi + 112) ^\n        preEO[patternData[\"EDGES\"].pieces[i]] ^\n        postEO[i];\n    }\n    for (let i = 0; i < 8; i++) {\n      const gi = cpReid333toGiiKER[i];\n      patternData[\"CORNERS\"].pieces[i] =\n        cpGiiKERtoReid333[getNibble(val, gi) - 1];\n      patternData[\"CORNERS\"].orientation[i] =\n        (getNibble(val, gi + 8) * coFlip[gi] +\n          preCO[patternData[\"CORNERS\"].pieces[i]] +\n          postCO[i]) %\n        3;\n    }\n    return new KPattern(experimental3x3x3KPuzzle, patternData);\n  }\n\n  private async onCubeCharacteristicChanged(event: any): Promise<void> {\n    const val = await decodeState(new Uint8Array(event.target.value.buffer));\n    debugLog(val);\n    debugLog(val);\n\n    if (this.isRepeatedInitialValue(val)) {\n      debugLog(\"Skipping repeated initial value.\");\n      return;\n    }\n\n    const giikerState = [];\n    for (let i = 0; i < MESSAGE_LENGTH; i++) {\n      giikerState.push(Math.floor(val[i] / 16));\n      giikerState.push(val[i] % 16);\n    }\n    debugLog(giikerState);\n    const str = giikerStateStr(giikerState);\n    debugLog(str);\n\n    this.dispatchAlgLeaf({\n      latestAlgLeaf: giikerMoveToAlgMove(giikerState[32], giikerState[33]),\n      timeStamp: event.timeStamp,\n      debug: {\n        stateStr: str,\n      },\n      pattern: this.toReid333(val),\n    });\n  }\n\n  private isRepeatedInitialValue(val: Uint8Array): boolean {\n    if (typeof this.originalValue === \"undefined\") {\n      // TODO: Test this branch.\n      throw new Error(\"GiiKERCube has uninitialized original value.\");\n    }\n\n    if (this.originalValue === null) {\n      return false;\n    }\n\n    const originalValue = this.originalValue;\n    // Reset the value here, so we can return early below.\n    this.originalValue = null;\n\n    debugLog(\"Comparing against original value.\");\n    for (let i = 0; i < MESSAGE_LENGTH - 2; i++) {\n      if (originalValue[i] !== val[i]) {\n        debugLog(\"Different at index \", i);\n        return false;\n      }\n    }\n    return true;\n  }\n}\n\n// TODO: Move this into a factory?\nexport const giiKERConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: GiiKERCube.connect.bind(GiiKERCube),\n  prefixes: [\"Gi\", \"\", \"Mi\", \"Hi-\"], // Hack\n  filters: [\n    // Known prefixes: GiC, GiS (3x3x3), Gi2 (2x2x2)\n    // Suspected prefixes GiY, Gi3\n    { namePrefix: \"Gi\" },\n    { namePrefix: \"Mi\" },\n    { namePrefix: \"Hi-\" },\n    { services: [\"0000aadb-0000-1000-8000-00805f9b34fb\"] },\n    { services: [\"0000aaaa-0000-1000-8000-00805f9b34fb\"] },\n    { services: [\"0000fe95-0000-1000-8000-00805f9b34fb\"] },\n  ],\n  optionalServices: [\n    // \"00001530-1212-efde-1523-785feabcd123\",\n    // \"0000aaaa-0000-1000-8000-00805f9b34fb\",\n    UUIDs.cubeService,\n    // \"0000180f-0000-1000-8000-00805f9b34fb\",\n    // \"0000180a-0000-1000-8000-00805f9b34fb\"\n  ],\n};\n", "import { Quaternion } from \"three/src/math/Quaternion.js\";\nimport { Alg, experimentalAppendMove, Move } from \"../../alg\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\n\nconst UUIDs = {\n  goCubeService: \"6e400001-b5a3-f393-e0a9-e50e24dcca9e\",\n  goCubeStateCharacteristic: \"6e400003-b5a3-f393-e0a9-e50e24dcca9e\",\n};\n\n// https://stackoverflow.com/a/40031979\nfunction buf2hex(buffer: ArrayBuffer): string {\n  // buffer is an ArrayBuffer\n  return (\n    Array.prototype.map.call(new Uint8Array(buffer), (x: number) =>\n      `00${x.toString(16)}`.slice(-2),\n    ) as string[]\n  ).join(\" \");\n}\n\nfunction bufferToString(buffer: ArrayBuffer): string {\n  const byteView = new Uint8Array(buffer);\n  let str = \"\";\n  for (const charCode of byteView) {\n    str += String.fromCharCode(charCode);\n  }\n  return str;\n}\n\nconst moveMap: Move[] = [\n  new Move(\"B\", 1),\n  new Move(\"B\", -1),\n  new Move(\"F\", 1),\n  new Move(\"F\", -1),\n  new Move(\"U\", 1),\n  new Move(\"U\", -1),\n  new Move(\"D\", 1),\n  new Move(\"D\", -1),\n  new Move(\"R\", 1),\n  new Move(\"R\", -1),\n  new Move(\"L\", 1),\n  new Move(\"L\", -1),\n];\n\n/** @category Smart Puzzles */\nexport class GoCube extends BluetoothPuzzle {\n  // We have to perform async operations before we call the constructor.\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<GoCube> {\n    const service = await server.getPrimaryService(UUIDs.goCubeService);\n    debugLog({ service });\n    const goCubeStateCharacteristic = await service.getCharacteristic(\n      UUIDs.goCubeStateCharacteristic,\n    );\n    debugLog({ goCubeStateCharacteristic });\n\n    const cube = new GoCube(server, goCubeStateCharacteristic);\n\n    await goCubeStateCharacteristic.startNotifications();\n    goCubeStateCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      cube.onCubeCharacteristicChanged.bind(cube),\n    );\n\n    return cube;\n  }\n\n  // public async getState(): Promise<PuzzleState> {\n  //   return new Promise((resolve, reject) => {\n  //     this.resolve = (value: any) => {\n  //       resolve(buf2hex(value.buffer) as any);\n  //     };\n  //     this.goCubeStateCharacteristic.startNotifications();\n  //   });\n  // }\n\n  private recorded: any[][] = [];\n\n  private homeQuatInverse: Quaternion | null = null;\n  private lastRawQuat: Quaternion = new Quaternion(0, 0, 0, 1);\n  private currentQuat: Quaternion = new Quaternion(0, 0, 0, 1);\n  private lastTarget: Quaternion = new Quaternion(0, 0, 0, 1);\n  private alg: Alg = new Alg();\n\n  private constructor(\n    private server: BluetoothRemoteGATTServer,\n    public goCubeStateCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public reset(): void {\n    this.resetAlg();\n    this.resetOrientation();\n  }\n\n  public resetAlg(alg?: Alg): void {\n    this.alg = alg || new Alg();\n  }\n\n  public resetOrientation(): void {\n    this.homeQuatInverse = this.lastRawQuat.clone().invert();\n    this.currentQuat = new Quaternion(0, 0, 0, 1);\n    this.lastTarget = new Quaternion(0, 0, 0, 1);\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  private onCubeCharacteristicChanged(event: any): void {\n    const buffer: DataView<ArrayBuffer> = event.target.value;\n    this.recorded.push([event.timeStamp, buf2hex(buffer.buffer)]);\n    // TODO: read bytes from buffer instead of guessing meaning based on length.\n    if (buffer.byteLength < 16) {\n      for (let i = 3; i < buffer.byteLength - 4; i += 2) {\n        const move = moveMap[buffer.getUint8(i)];\n        this.alg = experimentalAppendMove(this.alg, move);\n        this.dispatchAlgLeaf({\n          latestAlgLeaf: moveMap[buffer.getUint8(i)],\n          timeStamp: event.timeStamp,\n          debug: {\n            stateStr: buf2hex(buffer.buffer),\n          },\n        });\n      }\n    } else {\n      const coords = bufferToString(\n        buffer.buffer.slice(3, buffer.byteLength - 3),\n      )\n        .split(\"#\")\n        .map((s) => parseInt(s, 10) / 16384);\n      const quat = new Quaternion(coords[0], coords[1], coords[2], coords[3]);\n\n      this.lastRawQuat = quat.clone();\n\n      if (!this.homeQuatInverse) {\n        this.homeQuatInverse = quat.clone().invert();\n      }\n\n      const targetQuat = quat.clone().multiply(this.homeQuatInverse.clone());\n      targetQuat.y = -targetQuat.y; // GoCube axis fix.\n\n      this.lastTarget.slerp(targetQuat, 0.5);\n      this.currentQuat.rotateTowards(this.lastTarget, rotateTowardsRate);\n\n      this.dispatchOrientation({\n        quaternion: this.currentQuat,\n        timeStamp: event.timeStamp,\n      });\n    }\n  }\n}\n\nconst rotateTowardsRate = 0.5;\n\n// TODO: Move this into a factory?\nexport const goCubeConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: GoCube.connect.bind(GoCube),\n  prefixes: [\"GoCube\", \"Rubik\"],\n  filters: [{ namePrefix: \"GoCube\" }, { namePrefix: \"Rubik\" }],\n  optionalServices: [UUIDs.goCubeService],\n};\n", "export function flipBitOrder(v: number, numBits: number): number {\n  let result = 0;\n  for (let i = 0; i < numBits; i++) {\n    const shiftLeft = numBits - 1 - 2 * i;\n    const unShiftedBit = v & (0b1 << i);\n    // console.log(\n    //   unShiftedBit,\n    //   shiftLeft,\n    //   shiftLeft < 0 ? unShiftedBit >> -shiftLeft : unShiftedBit << shiftLeft,\n    // );\n    result +=\n      shiftLeft < 0 ? unShiftedBit >> -shiftLeft : unShiftedBit << shiftLeft;\n  }\n  return result;\n}\n", "/* tslint:disable no-bitwise */\n\nimport { Move } from \"../../alg\";\nimport type { KPuzzle } from \"../../kpuzzle\";\nimport type { KPattern } from \"../../kpuzzle/KPattern\";\nimport {\n  experimentalBinaryComponentsToReid3x3x3,\n  experimentalTwizzleBinaryToBinaryComponents,\n} from \"../../protocol\";\nimport { puzzles } from \"../../puzzles\";\nimport { debugLog } from \"../debug\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { flipBitOrder } from \"./endianness\";\n\n// TODO: Short IDs\nconst UUIDs = {\n  heykubeService: \"b46a791a-8273-4fc1-9e67-94d3dc2aac1c\",\n  stateCharacteristic: \"a2f41a4e-0e31-4bbc-9389-4253475481fb\",\n  batteryCharacteristic: \"fd51b3ba-99c7-49c6-9f85-5644ff56a378\",\n};\n\n/** @category Smart Puzzles */\nexport class HeykubeCube extends BluetoothPuzzle {\n  // We have to perform async operations before we call the constructor.\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n  ): Promise<HeykubeCube> {\n    const service = await server.getPrimaryService(UUIDs.heykubeService);\n    debugLog(\"Service:\", service);\n\n    const stateCharacteristic = await service.getCharacteristic(\n      UUIDs.stateCharacteristic,\n    );\n    debugLog(\"Characteristic:\", stateCharacteristic);\n\n    const cube = new HeykubeCube(\n      await puzzles[\"3x3x3\"].kpuzzle(),\n      service,\n      device,\n      server,\n      stateCharacteristic,\n    );\n    return cube;\n  }\n\n  private constructor(\n    _kpuzzle: KPuzzle,\n    _service: BluetoothRemoteGATTService,\n    device: BluetoothDevice,\n    private server: BluetoothRemoteGATTServer,\n    private stateCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n\n    device.addEventListener(\n      \"gattserverdisconnected\",\n      this.onDisconnect.bind(this),\n    );\n\n    this.stateCharacteristic.startNotifications();\n    this.startTrackingMoves();\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  onDisconnect(): void {\n    this.dispatchEvent(new CustomEvent(\"disconnect\"));\n  }\n\n  public startTrackingMoves(): void {\n    this.stateCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      (e: any) => this.onStateCharacteristic(e),\n    ); // TODO\n  }\n\n  // public stopTrackingMoves(): void {}\n\n  // public async getBattery(): Promise<number> {\n  //   return new Uint8Array(\n  //     await this.readActualAngleAndBatteryCharacteristic(),\n  //   )[7];\n  // }srcElement: BluetoothRemoteGATTCharacteristic\n\n  private onStateCharacteristic(event: {\n    target: BluetoothRemoteGATTCharacteristic;\n    timeStamp: number;\n  }): void {\n    const state = this.decodeState(event.target.value!);\n    // console.log(event, state.latestMove.toString(), state);\n    this.dispatchAlgLeaf({\n      latestAlgLeaf: state.latestMove,\n      timeStamp: event.timeStamp,\n      pattern: state.pattern,\n    });\n  }\n\n  private decodeState(dv: DataView): { pattern: KPattern; latestMove: Move } {\n    const moves = [\n      new Move(\"U\"),\n      new Move(\"U'\"),\n      new Move(\"B\"),\n      new Move(\"B'\"),\n      new Move(\"F\"),\n      new Move(\"F'\"),\n      null,\n      null,\n      new Move(\"L\"),\n      new Move(\"L'\"),\n      new Move(\"D\"),\n      new Move(\"D'\"),\n      new Move(\"R\"),\n      new Move(\"R'\"),\n      // null,\n      // null,\n    ];\n\n    const b2 = new Uint8Array(dv.byteLength);\n    for (let i = 0; i < dv.byteLength; i++) {\n      b2[i] = flipBitOrder(dv.getUint8(i), 8);\n    }\n    const components1 = experimentalTwizzleBinaryToBinaryComponents(\n      b2.slice(0, 11),\n    );\n    // console.log(\"sliced\", dv.byteLength, bufferToSpacedHex(b2.slice(11)));\n    const components2 = {\n      epLex: flipBitOrder(components1.epLex, 29),\n      eoMask: flipBitOrder(components1.eoMask, 12),\n      cpLex: flipBitOrder(components1.cpLex, 16),\n      coMask: flipBitOrder(components1.coMask, 13),\n      poIdxL: 0,\n      poIdxU: 0b111,\n      moSupport: 0b1, // TODO\n      moMask: 0,\n    };\n    // console.log(components2, binaryComponentsToReid3x3x3(components2));\n\n    return {\n      pattern: experimentalBinaryComponentsToReid3x3x3(components2),\n      latestMove: moves[b2[20] & 0b00001111]!,\n    };\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    const b1 = await this.stateCharacteristic.readValue();\n    return this.decodeState(b1).pattern;\n  }\n}\n\n// // TODO: Move this into a factory?\nexport const heykubeConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: HeykubeCube.connect.bind(HeykubeCube),\n  prefixes: [\"HEYKUBE\"],\n  filters: [{ namePrefix: \"HEYKUBE\" }],\n  optionalServices: [UUIDs.heykubeService],\n};\n", "/* tslint:disable no-bitwise */\n\nimport { type AlgLeaf, Move } from \"../../alg\";\nimport { KPattern, type KPuzzle } from \"../../kpuzzle\";\nimport { puzzles } from \"../../puzzles\";\nimport {\n  importKey,\n  unsafeDecryptBlock,\n  unsafeEncryptBlock,\n} from \"../../vendor/public-domain/unsafe-raw-aes/unsafe-raw-aes\";\nimport { type BluetoothConfig, BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { getPatternData } from \"./common\";\n\nconst UUIDs = {\n  qiyiMainService: 0xfff0,\n  qiyiMainCharacteristic: 0xfff6,\n};\n\nconst qiyiMoveToBlockMove: { [i: number]: Move } = {\n  1: new Move(\"L\", -1),\n  2: new Move(\"L\"),\n  3: new Move(\"R\", -1),\n  4: new Move(\"R\"),\n  5: new Move(\"D\", -1),\n  6: new Move(\"D\"),\n  7: new Move(\"U\", -1),\n  8: new Move(\"U\"),\n  9: new Move(\"F\", -1),\n  10: new Move(\"F\"),\n  11: new Move(\"B\", -1),\n  12: new Move(\"B\"),\n};\n\nconst faceOrder = \"LRDUFB\";\n\n//           \u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\n//           \u250200\u250201\u250202\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250203\u250204\u250205\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250206\u250207\u250208\u2502\n//           \u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\n// \u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\n// \u250236\u250237\u250238\u2502\u250218\u250219\u250220\u2502\u250209\u250210\u250211\u2502\u250245\u250246\u250247\u2502\n// \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n// \u250239\u250240\u250241\u2502\u250221\u250222\u250223\u2502\u250212\u250213\u250214\u2502\u250248\u250249\u250250\u2502\n// \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n// \u250242\u250243\u250244\u2502\u250224\u250225\u250226\u2502\u250215\u250216\u250217\u2502\u250251\u250252\u250253\u2502\n// \u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\n//           \u250C\u2500\u2500\u252C\u2500\u2500\u252C\u2500\u2500\u2510\n//           \u250227\u250228\u250229\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250230\u250231\u250232\u2502\n//           \u251C\u2500\u2500\u253C\u2500\u2500\u253C\u2500\u2500\u2524\n//           \u250233\u250234\u250235\u2502\n//           \u2514\u2500\u2500\u2534\u2500\u2500\u2534\u2500\u2500\u2518\n\nconst qiyiCornerMappings: number[][] = [\n  [8, 20, 9], // UFR,\n  [2, 11, 45], // URB,\n  [0, 47, 36], // UBL,\n  [6, 38, 18], // ULF,\n  [29, 15, 26], // DRF,\n  [27, 24, 44], // DFL,\n  [33, 42, 53], // DLB,\n  [35, 51, 17], // DBR,\n];\n\nconst qiyiEdgeMappings: number[][] = [\n  [7, 19], // UF,\n  [5, 10], // UR,\n  [1, 46], // UB,\n  [3, 37], // UL,\n  [28, 25], // DF,\n  [32, 16], // DR,\n  [34, 52], // DB,\n  [30, 43], // DL,\n  [23, 12], // FR,\n  [21, 41], // FL,\n  [48, 14], // BR,\n  [50, 39], // BL,\n];\n\n/**\n * Generates the checksum of the data using the CRC-16 MODBUS algorithm\n * @param data The array of data to generate the checksum for\n * @param length The length of the data, excluding any 0 padding\n */\nfunction generateChecksum(data: number[]) {\n  const TABLE = new Uint16Array([\n    0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241, 0xc601,\n    0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440, 0xcc01, 0x0cc0,\n    0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40, 0x0a00, 0xcac1, 0xcb81,\n    0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841, 0xd801, 0x18c0, 0x1980, 0xd941,\n    0x1b00, 0xdbc1, 0xda81, 0x1a40, 0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01,\n    0x1dc0, 0x1c80, 0xdc41, 0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0,\n    0x1680, 0xd641, 0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081,\n    0x1040, 0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240,\n    0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441, 0x3c00,\n    0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41, 0xfa01, 0x3ac0,\n    0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840, 0x2800, 0xe8c1, 0xe981,\n    0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41, 0xee01, 0x2ec0, 0x2f80, 0xef41,\n    0x2d00, 0xedc1, 0xec81, 0x2c40, 0xe401, 0x24c0, 0x2580, 0xe541, 0x2700,\n    0xe7c1, 0xe681, 0x2640, 0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0,\n    0x2080, 0xe041, 0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281,\n    0x6240, 0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441,\n    0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41, 0xaa01,\n    0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840, 0x7800, 0xb8c1,\n    0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41, 0xbe01, 0x7ec0, 0x7f80,\n    0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40, 0xb401, 0x74c0, 0x7580, 0xb541,\n    0x7700, 0xb7c1, 0xb681, 0x7640, 0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101,\n    0x71c0, 0x7080, 0xb041, 0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0,\n    0x5280, 0x9241, 0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481,\n    0x5440, 0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40,\n    0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841, 0x8801,\n    0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40, 0x4e00, 0x8ec1,\n    0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41, 0x4400, 0x84c1, 0x8581,\n    0x4540, 0x8701, 0x47c0, 0x4680, 0x8641, 0x8201, 0x42c0, 0x4380, 0x8341,\n    0x4100, 0x81c1, 0x8081, 0x4040,\n  ]);\n\n  let crc = 0xffff;\n  for (const dataPoint of data) {\n    const xor = (dataPoint ^ crc) & 0xff;\n    crc >>= 8;\n    crc ^= TABLE[xor];\n  }\n\n  return crc;\n}\n\n/**\n * Prepares a message to be sent from the app to the cube by adding a checksum,\n * padding the message, and encrypting it with AES-ECB.\n * @param message the message to be sent to the cube, without the checksum\n * @param aesKey AES-ECB encryption key\n * @returns prepared message (including checksum, padding, and encryption)\n */\nasync function prepareMessage(\n  message: number[],\n  aesKey: CryptoKey,\n): Promise<Uint8Array<ArrayBuffer>> {\n  // TODO: this directly inside the `ArrayBugger.`\n  const messageCopyForChecksum = structuredClone(message);\n  const checksum = generateChecksum(messageCopyForChecksum);\n  messageCopyForChecksum.push(checksum & 0xff);\n  messageCopyForChecksum.push(checksum >> 8);\n\n  const paddedLength = Math.ceil(messageCopyForChecksum.length / 16) * 16;\n  const paddedArray = new Uint8Array([\n    ...messageCopyForChecksum,\n    ...Array(paddedLength - messageCopyForChecksum.length).fill(0),\n  ]);\n\n  const encryptedMessage = new Uint8Array(paddedLength);\n  for (let i = 0; i < paddedArray.length / 16; i++) {\n    const encryptedBlock = new Uint8Array(\n      await unsafeEncryptBlock(aesKey, paddedArray.slice(i * 16, (i + 1) * 16)),\n    );\n    encryptedMessage.set(encryptedBlock, i * 16);\n  }\n  return encryptedMessage;\n}\n\n/**\n * Decrypts a message sent by the cube, using AES-EBC\n * @param encryptedMessage the encryped message sent by the cube\n * @param aesKey AES-EBC encryption key\n * @returns decrypted message\n */\nasync function decryptMessage(\n  encryptedMessage: Uint8Array,\n  aesKey: CryptoKey,\n): Promise<Uint8Array<ArrayBuffer>> {\n  const decryptedMessage = new Uint8Array(encryptedMessage.length);\n  for (let i = 0; i < encryptedMessage.length / 16; i++) {\n    const decryptedBlock = new Uint8Array(\n      await unsafeDecryptBlock(\n        aesKey,\n        encryptedMessage.slice(i * 16, (i + 1) * 16),\n      ),\n    );\n    decryptedMessage.set(decryptedBlock, i * 16);\n  }\n  return decryptedMessage;\n}\n\n/**\n * Guess the MAC address of the cube, based on its name.\n *\n * A QiYi smart cube device with the name 'QY-QYSC-S-A94B' has a MAC address of CC:A3:00:00:A9:4B.\n * @param device\n * @returns array of 8-bit integers equal to the MAC address in order\n */\nfunction getMacAddress(device: BluetoothDevice): number[] | undefined {\n  if (device.name === undefined) {\n    return;\n  }\n\n  return [\n    0xcc,\n    0xa3,\n    0x00,\n    0x00,\n    parseInt(device.name.slice(10, 12), 16),\n    parseInt(device.name.slice(12, 14), 16),\n  ];\n}\n\n/**\n * Maximum amount of timestamps stored, to limit memory usage, while\n * avoiding performing duplicate moves on the cube. 12 was chosen because\n * there are 55 bytes for previous moves (each one is five bytes), plus\n * one move, stored as the latest one.\n */\nconst MAX_TIMESTAMP_COUNT = 12;\nconst TIMESTAMP_SCALE = 1.6;\n\nconst CUBE_HELLO = 0x02;\nconst STATE_CHANGE = 0x03;\n/** @category Smart Puzzles */\nexport class QiyiCube extends BluetoothPuzzle {\n  private latestTimestamp: number | undefined;\n  private allTimeStamps: Set<number>; // Without this set, moves are constantly duplicated\n  private allTimeStampsQueue: number[];\n  private stickers: number[] = [\n    3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 4, 4, 4, 4, 4, 4, 4,\n    4, 4, 2, 2, 2, 2, 2, 2, 2, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5, 5, 5, 5, 5,\n    5, 5, 5, 5,\n  ];\n  private batteryLevel: number = 100;\n\n  public static async connect(\n    server: BluetoothRemoteGATTServer,\n  ): Promise<BluetoothPuzzle> {\n    const aesKey = await importKey(\n      new Uint8Array([\n        87, 177, 249, 171, 205, 90, 232, 167, 156, 185, 140, 231, 87, 140, 81,\n        8,\n      ]),\n    );\n    return new QiyiCube(await puzzles[\"3x3x3\"].kpuzzle(), aesKey, server);\n  }\n\n  public constructor(\n    private kpuzzle: KPuzzle,\n    private aesKey: CryptoKey,\n    private server: BluetoothRemoteGATTServer,\n  ) {\n    super();\n    this.startNotifications().then(this.sendAppHello.bind(this));\n    this.allTimeStamps = new Set();\n    this.allTimeStampsQueue = [];\n  }\n\n  public async sendAppHello() {\n    const mainService = await this.server.getPrimaryService(\n      UUIDs.qiyiMainService,\n    );\n    const mainCharacteristic = await mainService.getCharacteristic(\n      UUIDs.qiyiMainCharacteristic,\n    );\n\n    // Values of `0x00` and `0x01` have been observed for the 4th byte of the\n    // MAC in the wild. We send some larger values for future-proofing, as the\n    // QiYi cube doesn't seem to mind.\n    for (let macGuessCounter = 0; macGuessCounter < 8; macGuessCounter++) {\n      const mac = getMacAddress(this.server.device)!;\n      mac[3] = macGuessCounter;\n      const reversedMac = mac.reverse();\n\n      const appHello = [\n        0xfe,\n        0x15,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        0x00,\n        ...reversedMac,\n      ];\n\n      const appHelloMessage = await prepareMessage(appHello, this.aesKey);\n      await mainCharacteristic.writeValue(appHelloMessage);\n    }\n  }\n\n  public async startNotifications() {\n    const mainService = await this.server.getPrimaryService(\n      UUIDs.qiyiMainService,\n    );\n    const mainCharacteristic = await mainService.getCharacteristic(\n      UUIDs.qiyiMainCharacteristic,\n    );\n\n    mainCharacteristic.addEventListener(\n      \"characteristicvaluechanged\",\n      this.cubeMessageHandler.bind(this),\n    );\n    await mainCharacteristic.startNotifications();\n  }\n\n  public async cubeMessageHandler(event: Event) {\n    const characteristic = event.target as BluetoothRemoteGATTCharacteristic;\n    const decryptedMessage = await decryptMessage(\n      new Uint8Array(characteristic.value!.buffer),\n      this.aesKey,\n    );\n\n    const opCode = decryptedMessage[2];\n    let needsAck = false;\n    switch (opCode) {\n      case CUBE_HELLO: {\n        const initialState = decryptedMessage.slice(7, 34);\n        this.updateState(initialState);\n        this.batteryLevel = decryptedMessage[35];\n        needsAck = true;\n        break;\n      }\n\n      case STATE_CHANGE: {\n        const state = decryptedMessage.slice(7, 34);\n        this.updateState(state);\n\n        const latestMove = qiyiMoveToBlockMove[decryptedMessage[34]];\n        const latestTimestamp = new DataView(\n          decryptedMessage.slice(3, 7).buffer,\n        ).getInt32(0);\n\n        const moves = [[latestMove, latestTimestamp]];\n\n        const previousMoves = new DataView(\n          decryptedMessage.slice(36, 91).buffer,\n        );\n        for (\n          let i = previousMoves.byteLength - 1;\n          i > 0 && previousMoves.getUint8(i) !== 255;\n          i -= 5\n        ) {\n          const move = qiyiMoveToBlockMove[previousMoves.getUint8(i)];\n          const timestamp = previousMoves.getUint32(i - 4);\n\n          if (\n            this.latestTimestamp === undefined ||\n            timestamp <= this.latestTimestamp\n          ) {\n            continue;\n          }\n\n          moves.push([move, timestamp]);\n        }\n\n        moves.sort((a, b) => (a[1] as number) - (b[1] as number));\n\n        for (const move of moves) {\n          const latestAlgLeaf = move[0] as AlgLeaf;\n          const timeStamp = Math.round((move[1] as number) / TIMESTAMP_SCALE);\n          if (!this.allTimeStamps.has(timeStamp)) {\n            this.dispatchAlgLeaf({\n              latestAlgLeaf,\n              timeStamp,\n            });\n            this.allTimeStamps.add(timeStamp);\n            this.allTimeStampsQueue.push(timeStamp);\n            if (this.allTimeStampsQueue.length > MAX_TIMESTAMP_COUNT) {\n              this.allTimeStamps.delete(this.allTimeStampsQueue.shift()!);\n            }\n          }\n        }\n\n        this.latestTimestamp = latestTimestamp;\n\n        needsAck = decryptedMessage[91] === 1;\n        break;\n      }\n\n      default:\n        console.error(`Opcode not implemented: ${opCode}`);\n        break;\n    }\n\n    if (needsAck) {\n      await characteristic.writeValue(\n        await prepareMessage(\n          [0xfe, 0x09, ...decryptedMessage.slice(2, 7)],\n          this.aesKey,\n        ),\n      );\n    }\n  }\n\n  private updateState(state: Uint8Array) {\n    this.stickers = Array.from(state).flatMap((twoPieces) => [\n      twoPieces & 0xf,\n      twoPieces >> 4,\n    ]);\n  }\n\n  public override name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  public override disconnect(): void {\n    this.server.disconnect();\n  }\n\n  public override async getPattern(): Promise<KPattern> {\n    return new KPattern(\n      this.kpuzzle,\n      getPatternData(\n        this.stickers,\n        faceOrder,\n        qiyiEdgeMappings,\n        qiyiCornerMappings,\n      ),\n    );\n  }\n\n  public getBattery(): number {\n    return this.batteryLevel;\n  }\n}\n\nexport const qiyiConfig: BluetoothConfig<BluetoothPuzzle> = {\n  connect: QiyiCube.connect.bind(QiyiCube),\n  prefixes: [\"QY-QYSC\"],\n  filters: [\n    {\n      namePrefix: \"QY-QYSC\",\n    },\n  ],\n  optionalServices: [UUIDs.qiyiMainService],\n};\n", "import { type BluetoothConnectOptions, bluetoothConnect } from \"../connect\";\nimport type { BluetoothPuzzle } from \"./bluetooth-puzzle\";\nimport { ganConfig } from \"./gan\";\nimport { giiKERConfig } from \"./giiker\";\nimport { goCubeConfig } from \"./gocube\";\nimport { heykubeConfig } from \"./Heykube\";\nimport { qiyiConfig } from \"./qiyi\";\n\nconst smartPuzzleConfigs = [\n  ganConfig,\n  goCubeConfig,\n  heykubeConfig,\n  qiyiConfig,\n  giiKERConfig, // GiiKER must be last, due to Xiaomi naming. TODO: enforce this using tests.\n];\n\n/** @category Smart Puzzles */\nexport async function connectSmartPuzzle(\n  options?: BluetoothConnectOptions,\n): Promise<BluetoothPuzzle> {\n  return bluetoothConnect<BluetoothPuzzle>(smartPuzzleConfigs, options);\n}\n", "import { Alg, Move as AlgNode, Move } from \"../../alg\";\nimport { cube3x3x3 } from \"../../puzzles\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\n\n// TODO: Remove this. It's only used for debugging.\nfunction buf2hex(buffer: ArrayBuffer | Uint8Array): string {\n  // buffer is an ArrayBuffer\n  return (\n    Array.prototype.map.call(new Uint8Array(buffer), (x: number) =>\n      `00${x.toString(16)}`.slice(-2),\n    ) as string[]\n  ).join(\" \");\n}\n\nconst MAX_NIBBLES_PER_WRITE = 18 * 2;\nconst QUANTUM_TURN_DURATION_MS = 150;\nconst DOUBLE_TURN_DURATION_MS = 250;\n\nconst U_D_SWAP = new Alg(\"F B R2 L2 B' F'\");\nconst U_D_UNSWAP = U_D_SWAP.invert(); // TODO: make `cubing.js` clever enough to be able to reuse the regular swap.\nconst F_B_SWAP = new Alg(\"U D R2 L2 D' U'\");\nconst F_B_UNSWAP = F_B_SWAP.invert();\n\n// TODO: Short IDs\nconst UUIDs = {\n  ganRobotService: \"0000fff0-0000-1000-8000-00805f9b34fb\",\n  statusCharacteristic: \"0000fff2-0000-1000-8000-00805f9b34fb\",\n  moveCharacteristic: \"0000fff3-0000-1000-8000-00805f9b34fb\",\n};\n\nconst moveMap: Record<string, number> = {\n  R: 0,\n  R2: 1,\n  \"R2'\": 1,\n  \"R'\": 2,\n  F: 3,\n  F2: 4,\n  \"F2'\": 4,\n  \"F'\": 5,\n  D: 6,\n  D2: 7,\n  \"D2'\": 7,\n  \"D'\": 8,\n  L: 9,\n  L2: 10,\n  \"L2'\": 10,\n  \"L'\": 11,\n  B: 12,\n  B2: 13,\n  \"B2'\": 13,\n  \"B'\": 14,\n};\n\nconst moveMapX: Record<string, number> = {\n  R: 0,\n  R2: 1,\n  \"R2'\": 1,\n  \"R'\": 2,\n  U: 3,\n  U2: 4,\n  \"U2'\": 4,\n  \"U'\": 5,\n  F: 6,\n  F2: 7,\n  \"F2'\": 7,\n  \"F'\": 8,\n  L: 9,\n  L2: 10,\n  \"L2'\": 10,\n  \"L'\": 11,\n  D: 12,\n  D2: 13,\n  \"D2'\": 13,\n  \"D'\": 14,\n};\n\nfunction isDoubleTurnNibble(nibble: number): boolean {\n  return nibble % 3 === 1;\n}\n\nfunction nibbleDuration(nibble: number): number {\n  return isDoubleTurnNibble(nibble)\n    ? DOUBLE_TURN_DURATION_MS\n    : QUANTUM_TURN_DURATION_MS;\n}\n\nfunction throwInvalidAlgNode(algNode: AlgNode): never {\n  console.error(\"invalid alg node\", algNode, algNode.toString());\n  throw new Error(\"invalid alg node!\");\n}\n\nfunction sleep(ms: number): Promise<void> {\n  return new Promise((resolve) => setTimeout(resolve, ms));\n}\n\nexport interface GanRobotStatus {\n  movesRemaining: number;\n}\n\ninterface GanRobotOptions {\n  xAngle: boolean;\n  singleMoveFixHack: boolean;\n  bufferQueue: number;\n  postSleep: number;\n}\n\n/** @category Robots */\nexport class GanRobot extends EventTarget {\n  experimentalDebugOnSend: ((alg: Alg) => void) | null = null;\n  experimentalDebugLog: typeof console.log = () => {};\n\n  // Because our Bluetooth connection code is set up not to know what kind of device is connecting, we put these options directly on the class.\n  experimentalOptions: GanRobotOptions = {\n    xAngle: false,\n    singleMoveFixHack: false,\n    bufferQueue: 0,\n    postSleep: 0,\n  };\n\n  constructor(\n    _service: BluetoothRemoteGATTService,\n    private server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n    private statusCharacteristic: BluetoothRemoteGATTCharacteristic,\n    private moveCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n    device.addEventListener(\n      \"gattserverdisconnected\",\n      this.onDisconnect.bind(this),\n    );\n  }\n\n  // We have to perform async operations before we call the constructor.\n  static async connect(\n    server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n  ) {\n    const ganTimerService = await server.getPrimaryService(\n      UUIDs.ganRobotService,\n    );\n    const statusCharacteristic = await ganTimerService.getCharacteristic(\n      UUIDs.statusCharacteristic,\n    );\n    const moveCharacteristic = await ganTimerService.getCharacteristic(\n      UUIDs.moveCharacteristic,\n    );\n    const timer = new GanRobot(\n      ganTimerService,\n      server,\n      device,\n      statusCharacteristic,\n      moveCharacteristic,\n    );\n    return timer;\n  }\n\n  public name(): string | undefined {\n    return this.server.device.name;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  onDisconnect(): void {\n    this.dispatchEvent(new CustomEvent(\"disconnect\"));\n  }\n\n  private algNodeToNibble(algNode: AlgNode): number {\n    const move = algNode.as(AlgNode);\n    if (!move) {\n      throwInvalidAlgNode(algNode);\n    }\n    const nibble =\n      (this.experimentalOptions.xAngle ? moveMapX : moveMap)[move.toString()] ??\n      null;\n    if (nibble === null) {\n      throwInvalidAlgNode(move);\n    }\n    return nibble;\n  }\n\n  private async writeNibbles(nibbles: number[]): Promise<void> {\n    if (nibbles.length > MAX_NIBBLES_PER_WRITE) {\n      throw new Error(\n        `Can only write ${MAX_NIBBLES_PER_WRITE} nibbles at a time!`,\n      );\n    }\n    // const byteLength = Math.ceil(nibbles.length / 2);\n    const bytes = new Uint8Array(18);\n    let i: number;\n    for (i = 0; i < nibbles.length; i++) {\n      const byteIdx = Math.floor(i / 2);\n      bytes[byteIdx] += nibbles[i];\n      if (i % 2 === 0) {\n        bytes[byteIdx] *= 0x10;\n      }\n    }\n    if (nibbles.length % 2 === 1) {\n      bytes[Math.ceil(nibbles.length / 2) - 1] += 0xf;\n    }\n    for (let i = Math.ceil(nibbles.length / 2); i < 18; i++) {\n      bytes[i] = 0xff;\n    }\n    let sleepDuration = 0;\n    for (const nibble of nibbles) {\n      sleepDuration += nibbleDuration(nibble);\n    }\n    this.experimentalDebugLog(\"WRITING:\", buf2hex(bytes));\n    await this.moveCharacteristic.writeValue(bytes);\n    await sleep(sleepDuration * 0.75);\n    while ((await this.getStatus()).movesRemaining > 0) {\n      // repeat\n    }\n    await sleep(this.experimentalOptions.postSleep);\n  }\n\n  private async getStatus(): Promise<GanRobotStatus> {\n    const statusBytes = new Uint8Array(\n      (await this.statusCharacteristic.readValue()).buffer,\n    );\n    this.experimentalDebugLog(\"moves remaining:\", statusBytes[0]);\n    return {\n      movesRemaining: statusBytes[0],\n    };\n  }\n\n  locked: boolean = false;\n  processQueue(): void {}\n\n  private moveQueue: Alg = new Alg();\n  // TODO: Don't let this resolve until the move is done?\n  private async queueMoves(moves: Alg): Promise<void> {\n    this.moveQueue = this.moveQueue.concat(moves).experimentalSimplify({\n      puzzleSpecificSimplifyOptions: cube3x3x3.puzzleSpecificSimplifyOptions,\n    });\n    if (!this.locked) {\n      // TODO: We're currently iterating over alg nodes instead of leaves to avoid \"zip bomps\".\n      try {\n        this.locked = true;\n        if (this.moveQueue.experimentalNumChildAlgNodes() === 1) {\n          await sleep(this.experimentalOptions.bufferQueue);\n        }\n        // await this.writeNibbles([0xf, 0xf]);\n        while (this.moveQueue.experimentalNumChildAlgNodes() > 0) {\n          // @ts-expect-error: Is TypeScript just straight-up false positiving here?\n          let algNodes: AlgNode[] = Array.from(this.moveQueue.childAlgNodes());\n          if (\n            this.experimentalOptions.singleMoveFixHack &&\n            algNodes.length === 1\n          ) {\n            const move = algNodes[0].as(Move);\n            if (move) {\n              if (move.amount === 2) {\n                algNodes = [\n                  move.modified({ amount: 1 }) as AlgNode,\n                  move.modified({ amount: 1 }) as AlgNode,\n                ];\n              } else {\n                algNodes = [\n                  move.modified({ amount: -move.amount }),\n                  move.modified({ amount: 2 }) as AlgNode,\n                ];\n              }\n            }\n          }\n          const splicedAlgNodes: AlgNode[] = algNodes.splice(\n            0,\n            MAX_NIBBLES_PER_WRITE,\n          );\n          const nibbles: number[] = splicedAlgNodes.map(\n            this.algNodeToNibble.bind(this),\n          );\n          const sending = new Alg(splicedAlgNodes);\n          this.experimentalDebugLog(\"SENDING\", sending.toString());\n          if (this.experimentalDebugOnSend) {\n            this.experimentalDebugOnSend(sending);\n          }\n          const write = this.writeNibbles(nibbles);\n          this.moveQueue = new Alg(algNodes);\n          await write;\n        }\n      } finally {\n        this.locked = false;\n      }\n    }\n  }\n\n  async applyMoves(moves: Iterable<AlgNode>): Promise<void> {\n    // const nibbles: number[] = [];\n    for (const move of moves) {\n      const str = move.toString();\n      if (str in (this.experimentalOptions.xAngle ? moveMapX : moveMap)) {\n        await this.queueMoves(new Alg([move]));\n      } else if (\n        move.family === (this.experimentalOptions.xAngle ? \"B\" : \"U\")\n      ) {\n        // We purposely send just the swap, so that U2 will get cancelled\n        await Promise.all([\n          this.queueMoves(\n            this.experimentalOptions.xAngle ? F_B_SWAP : U_D_SWAP,\n          ),\n          this.queueMoves(\n            new Alg([\n              move.modified({\n                family: this.experimentalOptions.xAngle ? \"F\" : \"D\",\n              }),\n            ]).concat(\n              this.experimentalOptions.xAngle ? F_B_UNSWAP : U_D_UNSWAP,\n            ),\n          ),\n        ]);\n      }\n    }\n  }\n}\n\n// // TODO: Move this into a factory?\nexport const ganTimerConfig: BluetoothConfig<GanRobot> = {\n  connect: GanRobot.connect.bind(GanRobot),\n  prefixes: [\"GAN\"],\n  filters: [{ namePrefix: \"GAN\" }],\n  optionalServices: [UUIDs.ganRobotService],\n};\n", "import { type BluetoothConnectOptions, bluetoothConnect } from \"../connect\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\nimport { type GanRobot, ganTimerConfig } from \"./GanRobot\";\n\n/** @category Robots */\nexport type BluetoothRobot = GanRobot; // TODO\n\nconst smartRobotConfigs: BluetoothConfig<BluetoothRobot>[] = [ganTimerConfig];\n\n/** @category Robots */\nexport async function connectSmartRobot(\n  options?: BluetoothConnectOptions,\n): Promise<BluetoothRobot> {\n  return bluetoothConnect<BluetoothRobot>(smartRobotConfigs, options);\n}\n", "import type { MillisecondTimestamp } from \"../../twisty/controllers/AnimationTypes\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\n\n// TODO: Short IDs\nconst UUIDs = {\n  ganTimerService: \"0000fff0-0000-1000-8000-00805f9b34fb\",\n  timeCharacteristic: \"0000fff2-0000-1000-8000-00805f9b34fb\",\n};\n\ninterface GanTimerDetail {\n  currentTime: MillisecondTimestamp;\n  latestTimes: [\n    MillisecondTimestamp,\n    MillisecondTimestamp,\n    MillisecondTimestamp,\n  ];\n}\n\n/** @category Timers */\nexport class GanTimer extends EventTarget {\n  private polling = false;\n  private previousDetail: GanTimerDetail | null = null;\n\n  constructor(\n    _service: BluetoothRemoteGATTService,\n    private server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n    private timeCharacteristic: BluetoothRemoteGATTCharacteristic,\n  ) {\n    super();\n    this.startPolling();\n    console.log(server);\n    device.addEventListener(\n      \"gattserverdisconnected\",\n      this.onDisconnect.bind(this),\n    );\n  }\n\n  // We have to perform async operations before we call the constructor.\n  static async connect(\n    server: BluetoothRemoteGATTServer,\n    device: BluetoothDevice,\n  ) {\n    const ganTimerService = await server.getPrimaryService(\n      UUIDs.ganTimerService,\n    );\n    console.log(\"Service:\", ganTimerService);\n    const timeCharacteristic = await ganTimerService.getCharacteristic(\n      UUIDs.timeCharacteristic,\n    );\n    console.log(\"Characteristic:\", timeCharacteristic);\n    const timer = new GanTimer(\n      ganTimerService,\n      server,\n      device,\n      timeCharacteristic,\n    );\n    return timer;\n  }\n\n  disconnect(): void {\n    this.server.disconnect();\n  }\n\n  async poll() {\n    if (!this.polling) {\n      return;\n    }\n    const value = await this.getTimeCharacteristic();\n\n    const detail: GanTimerDetail = {\n      currentTime: this.decodeTimeMs(value.slice(0, 4)),\n      latestTimes: [\n        this.decodeTimeMs(value.slice(4, 8)),\n        this.decodeTimeMs(value.slice(8, 12)),\n        this.decodeTimeMs(value.slice(12, 16)),\n      ],\n    };\n\n    if (detail.currentTime === 0) {\n      if (this.previousDetail && this.previousDetail.currentTime !== 0) {\n        this.dispatchEvent(new CustomEvent(\"reset\"));\n      }\n    }\n\n    if (detail.currentTime !== 0 && this.previousDetail) {\n      if (this.previousDetail.currentTime === 0) {\n        this.dispatchEvent(new CustomEvent(\"start\"));\n      }\n\n      if (detail.currentTime !== this.previousDetail.currentTime) {\n        this.dispatchEvent(new CustomEvent(\"update\", { detail }));\n\n        if (\n          detail.currentTime === detail.latestTimes[0] &&\n          detail.latestTimes[1] === this.previousDetail.latestTimes[0] &&\n          detail.latestTimes[2] === this.previousDetail.latestTimes[1]\n        ) {\n          this.dispatchEvent(new CustomEvent(\"stop\", { detail }));\n        }\n      }\n    }\n\n    this.previousDetail = detail;\n\n    this.poll();\n  }\n\n  onDisconnect(): void {\n    this.dispatchEvent(new CustomEvent(\"disconnect\"));\n  }\n\n  async getTimeCharacteristic() {\n    return new Uint8Array((await this.timeCharacteristic.readValue()).buffer);\n  }\n\n  async getTime() {\n    const value = await this.getTimeCharacteristic();\n    return this.decodeTimeMs(value.slice(0, 4));\n  }\n\n  decodeTimeMs(bytes: Uint8Array): MillisecondTimestamp {\n    return ((bytes[0] * 60 + bytes[1]) * 1000 +\n      bytes[2] +\n      bytes[3] * 256) as MillisecondTimestamp;\n  }\n\n  startPolling() {\n    this.polling = true;\n    this.poll();\n  }\n\n  stopPolling() {\n    this.polling = false;\n  }\n}\n\n// // TODO: Move this into a factory?\nexport const ganTimerConfig: BluetoothConfig<GanTimer> = {\n  connect: GanTimer.connect.bind(GanTimer),\n  prefixes: [\"GAN\"],\n  filters: [{ namePrefix: \"GAN\" }],\n  optionalServices: [UUIDs.ganTimerService],\n};\n", "import { type BluetoothConnectOptions, bluetoothConnect } from \"../connect\";\nimport type { BluetoothConfig } from \"../smart-puzzle/bluetooth-puzzle\";\nimport { type GanTimer, ganTimerConfig } from \"./GanTimer\";\n\n/** @category Timers */\nexport type BluetoothTimer = GanTimer; // TODO\n\nconst smartTimerConfigs: BluetoothConfig<BluetoothTimer>[] = [ganTimerConfig];\n\n/** @category Timers */\nexport async function connectSmartTimer(\n  options?: BluetoothConnectOptions,\n): Promise<BluetoothTimer> {\n  return bluetoothConnect<BluetoothTimer>(smartTimerConfigs, options);\n}\n"],
+  "mappings": 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 }