iobroker.proscenic 0.3.0 → 0.4.0

package/build/domain/live-map.js

@@ -84,7 +84,8 @@ function transitionLiveMapTaskState(state, mode, cleaningActivityActive) {
   if (mode === "sweep") {
     return {
       state: { dockedSinceLastCleaning: false, returningToDock: false, cleaningTaskActive: true },
-      resetTrail: state.dockedSinceLastCleaning
+      resetTrail: state.dockedSinceLastCleaning,
+      completedTask: false
     };
   }
   if (mode === "backcharge") {
@@ -94,18 +95,20 @@ function transitionLiveMapTaskState(state, mode, cleaningActivityActive) {
         returningToDock: true,
         cleaningTaskActive: state.cleaningTaskActive
       },
-      resetTrail: false
+      resetTrail: false,
+      completedTask: false
     };
   }
   if (mode === "charge" || mode === "fullcharge") {
     if (state.returningToDock || !state.cleaningTaskActive && !cleaningActivityActive) {
       return {
         state: { dockedSinceLastCleaning: true, returningToDock: false, cleaningTaskActive: false },
-        resetTrail: false
+        resetTrail: false,
+        completedTask: state.cleaningTaskActive
       };
     }
   }
-  return { state, resetTrail: false };
+  return { state, resetTrail: false, completedTask: false };
 }
 function renderLiveMapImage20002(data, poses = [], options = {}) {
   var _a, _b, _c, _d;
@@ -141,7 +144,15 @@ function renderLiveMapImage20002(data, poses = [], options = {}) {
   }
   const fallbackPng = encodeRgbPng(sample.width, sample.height, fallbackPixels);
   const pngDataUrl = `data:image/png;base64,${fallbackPng.toString("base64")}`;
-  const svg = renderLiveMapSvg(sample.width, sample.height, basePng, runtime, options.animateRobot !== false);
+  const areas = summarizeRenderedAreas(sample);
+  const svg = renderLiveMapSvg(
+    sample.width,
+    sample.height,
+    basePng,
+    runtime,
+    options.animateRobot !== false,
+    options.showZoneOverlays !== false ? areas : []
+  );
   const svgDataUrl = `data:image/svg+xml;base64,${Buffer.from(svg, "utf8").toString("base64")}`;
   if (Buffer.byteLength(svgDataUrl, "utf8") > MAX_LIVE_MAP_DATA_URL_BYTES || Buffer.byteLength(pngDataUrl, "utf8") > MAX_LIVE_MAP_DATA_URL_BYTES) {
     return void 0;
@@ -153,7 +164,7 @@ function renderLiveMapImage20002(data, poses = [], options = {}) {
     format: "svg",
     width: sample.width,
     height: sample.height,
-    areas: summarizeRenderedAreas(sample),
+    areas,
     poseCount: runtime.projectedPoseCount,
     rawPoseCount: poses.length,
     pathLineSegments: runtime.pathLineSegments,
@@ -393,16 +404,31 @@ function drawRobotMarker(pixels, width, height, pose) {
   const endY = Math.round(pose.point[1] - Math.sin(angle) * headingLength);
   drawLine(pixels, width, height, pose.point[0], pose.point[1], endX, endY, COLOR_HEADING);
 }
-function renderLiveMapSvg(width, height, basePng, runtime, animateRobot) {
+function renderLiveMapSvg(width, height, basePng, runtime, animateRobot, areas) {
   const marker = runtime.latest ? renderSvgRobotMarker(runtime.latest, runtime.latestMotionPath, animateRobot) : "";
+  const zoneLabels = renderSvgZoneLabels(areas);
   const embeddedPng = `data:image/png;base64,${basePng.toString("base64")}`;
   return [
     `<svg xmlns="http://www.w3.org/2000/svg" width="${width}" height="${height}" viewBox="0 0 ${width} ${height}" preserveAspectRatio="xMidYMid meet">`,
     `<image href="${embeddedPng}" width="${width}" height="${height}"/>`,
+    zoneLabels,
     marker,
     "</svg>"
   ].join("");
 }
+function renderSvgZoneLabels(areas) {
+  return areas.filter(
+    (area) => area.kind === "zone" && area.label !== void 0 && area.bounds !== void 0
+  ).map((area) => {
+    var _a, _b, _c, _d;
+    const x = (_b = (_a = area.center) == null ? void 0 : _a.x) != null ? _b : (area.bounds.minX + area.bounds.maxX) / 2;
+    const y = (_d = (_c = area.center) == null ? void 0 : _c.y) != null ? _d : (area.bounds.minY + area.bounds.maxY) / 2;
+    return `<text data-zone-label="true" x="${roundSvgNumber(x)}" y="${roundSvgNumber(y)}" text-anchor="middle" dominant-baseline="middle" font-family="system-ui, sans-serif" font-size="9" font-weight="600" fill="#263b4a" stroke="#ffffff" stroke-width="2" stroke-linejoin="round" paint-order="stroke">${escapeSvgText(area.label)}</text>`;
+  }).join("");
+}
+function escapeSvgText(value) {
+  return value.replaceAll("&", "&amp;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
+}
 function renderSvgRobotMarker(latest, motionPath, animateRobot) {
   const path = animateRobot && motionPath && motionPath.length > 1 ? motionPath : [latest.point];
   const finalRotation = latest.phi === void 0 ? 0 : -latest.phi / 1e3 / Math.PI * 180;
@@ -626,6 +652,7 @@ function summarizeRenderedAreas(sample) {
       kind: area.kind,
       ...id !== void 0 ? { id } : {},
       ...label !== void 0 ? { label } : {},
+      ...projected.length > 0 ? { center: polygonCenter(projected) } : {},
       ...projected.length > 0 ? { bounds: boundsFor(projected) } : {}
     };
   });
@@ -633,7 +660,7 @@ function summarizeRenderedAreas(sample) {
 function firstUsefulLabel(...values) {
   for (const value of values) {
     if (typeof value === "string" && value.trim().length > 0) {
-      return value;
+      return value.trim().replace(/[\p{Cc}\p{Cf}]/gu, " ").slice(0, 128);
     }
   }
   return void 0;
@@ -648,6 +675,29 @@ function boundsFor(points) {
     maxY: Math.max(...ys)
   };
 }
+function polygonCenter(points) {
+  let twiceArea = 0;
+  let weightedX = 0;
+  let weightedY = 0;
+  for (let index = 0; index < points.length; index++) {
+    const [x1, y1] = points[index];
+    const [x2, y2] = points[(index + 1) % points.length];
+    const cross = x1 * y2 - x2 * y1;
+    twiceArea += cross;
+    weightedX += (x1 + x2) * cross;
+    weightedY += (y1 + y2) * cross;
+  }
+  if (Math.abs(twiceArea) > Number.EPSILON) {
+    return {
+      x: roundSvgNumber(weightedX / (3 * twiceArea)),
+      y: roundSvgNumber(weightedY / (3 * twiceArea))
+    };
+  }
+  return {
+    x: roundSvgNumber(points.reduce((sum, [x]) => sum + x, 0) / points.length),
+    y: roundSvgNumber(points.reduce((sum, [, y]) => sum + y, 0) / points.length)
+  };
+}
 function normalizeMapAreaMetadata(value) {
   var _a;
   if (!Array.isArray(value)) {

package/build/domain/live-map.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../src/domain/live-map.ts"],
-  "sourcesContent": ["import { deflateSync } from \"node:zlib\";\n\nexport interface RobotPose {\n\tpos: [number, number];\n\tphi?: number;\n}\n\nexport interface LiveMapImage {\n\tdataUrl: string;\n\tsvgDataUrl: string;\n\tpngDataUrl: string;\n\tformat: \"svg\";\n\twidth: number;\n\theight: number;\n\tareas: LiveMapRenderedArea[];\n\tposeCount: number;\n\trawPoseCount: number;\n\tpathLineSegments: number;\n\tskippedPathSegments: number;\n\trenderedForbiddenAreaCount: number;\n\trenderedZoneAreaCount: number;\n\trenderedRoomAreaCount: number;\n\torientation: \"flip-y\";\n\tdecompressedBytes: number;\n}\n\nexport interface LiveMapRenderOptions {\n\tcanvasBackgroundColor?: string;\n\tmapBackgroundColor?: string;\n\tbackgroundColor?: string;\n\tanimateRobot?: boolean;\n\tshowZoneOverlays?: boolean;\n\tselectedZoneIds?: readonly number[];\n}\n\nexport interface LiveMapTaskState {\n\tdockedSinceLastCleaning: boolean;\n\treturningToDock: boolean;\n\tcleaningTaskActive: boolean;\n}\n\nexport interface LiveMapTaskTransition {\n\tstate: LiveMapTaskState;\n\tresetTrail: boolean;\n}\n\nexport type LiveMapAreaKind = \"forbidden\" | \"zone\" | \"unknown\";\n\nexport interface LiveMapAreaMetadata {\n\tkey: string;\n\tkind: LiveMapAreaKind;\n\tsource: Record<string, unknown>;\n}\n\nexport interface LiveMapCoordinateMetadata {\n\tmapId?: number;\n\tarea?: LiveMapAreaMetadata[];\n\tchargeHandlePos?: [number, number];\n}\n\nexport interface LiveMapRenderedArea {\n\tkey: string;\n\tkind: LiveMapAreaKind;\n\tid?: number | string;\n\tlabel?: string;\n\tbounds?: {\n\t\tminX: number;\n\t\tminY: number;\n\t\tmaxX: number;\n\t\tmaxY: number;\n\t};\n}\n\ninterface MapSample {\n\tencoded: string;\n\twidth: number;\n\theight: number;\n\tresolution?: number;\n\txMin?: number;\n\tyMin?: number;\n\tareas: MapArea[];\n\tchargeHandlePos?: [number, number];\n}\n\ninterface MapArea {\n\tkey: string;\n\tvertices: Array<[number, number]>;\n\tkind: LiveMapAreaKind;\n\tsource: Record<string, unknown>;\n}\n\ntype Color = readonly [number, number, number];\n\nconst PNG_SIGNATURE = Buffer.from([0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a]);\nconst CRC_TABLE = createCrcTable();\nconst MAX_LIVE_MAP_PIXELS = 512 * 512;\nconst MAX_LIVE_MAP_DATA_URL_BYTES = 256 * 1024;\nexport const DEFAULT_LIVE_MAP_BACKGROUND_COLOR = \"#b8ccd8\";\nexport const DEFAULT_LIVE_MAP_CANVAS_BACKGROUND_COLOR = \"#d9d9d9\";\nconst COLOR_UNKNOWN: Color = [184, 204, 216];\nconst COLOR_CANVAS_BACKGROUND: Color = [217, 217, 217];\nconst COLOR_WALL: Color = [56, 130, 188];\nconst COLOR_OBSTACLE: Color = [82, 82, 82];\nconst COLOR_FORBIDDEN_AREA: Color = [209, 106, 133];\nconst COLOR_FORBIDDEN_OUTLINE: Color = [175, 68, 103];\nconst FORBIDDEN_AREA_ALPHA = 0.45;\nconst COLOR_ZONE_AREA: Color = [255, 255, 255];\nconst COLOR_ZONE_AREA_OUTLINE: Color = [72, 128, 162];\nconst COLOR_SELECTED_ZONE_AREA: Color = [126, 216, 96];\nconst COLOR_SELECTED_ZONE_AREA_OUTLINE: Color = [72, 168, 54];\nconst ZONE_AREA_ALPHA = 0.26;\nconst SELECTED_ZONE_AREA_ALPHA = 0.45;\nconst COLOR_DOCK: Color = [92, 92, 92];\nconst COLOR_ROBOT: Color = [39, 139, 61];\nconst COLOR_PATH: Color = [126, 216, 96];\nconst COLOR_HEADING: Color = [20, 20, 20];\nconst MIN_PATH_SEGMENT_DISTANCE_SQUARED = 1.5 ** 2;\nconst MAX_PATH_SEGMENT_DISTANCE_SQUARED = 90 ** 2;\nconst ROUTED_PATH_PADDING_PIXELS = 24;\nconst MAX_ROUTED_PATH_CELLS = 20_000;\nconst PATH_LINE_RADIUS = 1;\nconst ROBOT_GLIDE_DURATION_MS = 1_600;\n\ninterface ProjectedRobotPose {\n\tpoint: [number, number];\n\tphi: number | undefined;\n}\n\ninterface RobotRuntimeRenderResult {\n\tprojectedPoseCount: number;\n\tpathLineSegments: number;\n\tskippedPathSegments: number;\n\tlatest?: ProjectedRobotPose;\n\tlatestMotionPath?: Array<[number, number]>;\n}\n\nexport function extractRobotPose20001(data: unknown): RobotPose | undefined {\n\tconst record = getRecord(data);\n\tconst pos = parsePoint(record?.pos);\n\tif (!pos) {\n\t\treturn undefined;\n\t}\n\n\treturn {\n\t\tpos,\n\t\tphi: typeof record?.phi === \"number\" ? record.phi : undefined,\n\t};\n}\n\nexport function normalizeLiveMapBackgroundColor(value: unknown): string | undefined {\n\tif (typeof value !== \"string\") {\n\t\treturn undefined;\n\t}\n\tconst trimmed = value.trim();\n\treturn /^#[0-9a-f]{6}$/iu.test(trimmed) ? trimmed.toLowerCase() : undefined;\n}\n\nexport function transitionLiveMapTaskState(\n\tstate: LiveMapTaskState,\n\tmode: string | undefined,\n\tcleaningActivityActive: boolean,\n): LiveMapTaskTransition {\n\tif (mode === \"sweep\") {\n\t\treturn {\n\t\t\tstate: { dockedSinceLastCleaning: false, returningToDock: false, cleaningTaskActive: true },\n\t\t\tresetTrail: state.dockedSinceLastCleaning,\n\t\t};\n\t}\n\n\tif (mode === \"backcharge\") {\n\t\treturn {\n\t\t\tstate: {\n\t\t\t\tdockedSinceLastCleaning: state.dockedSinceLastCleaning,\n\t\t\t\treturningToDock: true,\n\t\t\t\tcleaningTaskActive: state.cleaningTaskActive,\n\t\t\t},\n\t\t\tresetTrail: false,\n\t\t};\n\t}\n\n\tif (mode === \"charge\" || mode === \"fullcharge\") {\n\t\tif (state.returningToDock || (!state.cleaningTaskActive && !cleaningActivityActive)) {\n\t\t\treturn {\n\t\t\t\tstate: { dockedSinceLastCleaning: true, returningToDock: false, cleaningTaskActive: false },\n\t\t\t\tresetTrail: false,\n\t\t\t};\n\t\t}\n\t}\n\n\treturn { state, resetTrail: false };\n}\n\nexport function renderLiveMapImage20002(\n\tdata: unknown,\n\tposes: readonly RobotPose[] = [],\n\toptions: LiveMapRenderOptions = {},\n): LiveMapImage | undefined {\n\tconst sample = parseMapSample(data);\n\tif (!sample) {\n\t\treturn undefined;\n\t}\n\n\tconst compressed = decodeMapPayload(sample.encoded);\n\tconst occupancy = decompressLz4Block(compressed, sample.width * sample.height);\n\tif (occupancy.length !== sample.width * sample.height) {\n\t\treturn undefined;\n\t}\n\n\tconst mapBackgroundColor = colorFromHex(options.mapBackgroundColor ?? options.backgroundColor) ?? COLOR_UNKNOWN;\n\tconst canvasBackgroundColor = colorFromHex(options.canvasBackgroundColor) ?? COLOR_CANVAS_BACKGROUND;\n\tconst basePixels = renderOccupancy(\n\t\tsample.width,\n\t\tsample.height,\n\t\toccupancy,\n\t\tmapBackgroundColor,\n\t\tcanvasBackgroundColor,\n\t);\n\tconst coordinateMetadata = drawCoordinateMetadata(\n\t\tsample,\n\t\tbasePixels,\n\t\toptions.showZoneOverlays !== false,\n\t\tnew Set(options.selectedZoneIds ?? []),\n\t);\n\tconst runtime = drawRobotRuntime(sample, occupancy, basePixels, poses);\n\tconst basePng = encodeRgbPng(sample.width, sample.height, basePixels);\n\tconst fallbackPixels = Buffer.from(basePixels);\n\tif (runtime.latest) {\n\t\tdrawRobotMarker(fallbackPixels, sample.width, sample.height, runtime.latest);\n\t}\n\tconst fallbackPng = encodeRgbPng(sample.width, sample.height, fallbackPixels);\n\tconst pngDataUrl = `data:image/png;base64,${fallbackPng.toString(\"base64\")}`;\n\tconst svg = renderLiveMapSvg(sample.width, sample.height, basePng, runtime, options.animateRobot !== false);\n\tconst svgDataUrl = `data:image/svg+xml;base64,${Buffer.from(svg, \"utf8\").toString(\"base64\")}`;\n\tif (\n\t\tBuffer.byteLength(svgDataUrl, \"utf8\") > MAX_LIVE_MAP_DATA_URL_BYTES ||\n\t\tBuffer.byteLength(pngDataUrl, \"utf8\") > MAX_LIVE_MAP_DATA_URL_BYTES\n\t) {\n\t\treturn undefined;\n\t}\n\n\treturn {\n\t\tdataUrl: svgDataUrl,\n\t\tsvgDataUrl,\n\t\tpngDataUrl,\n\t\tformat: \"svg\",\n\t\twidth: sample.width,\n\t\theight: sample.height,\n\t\tareas: summarizeRenderedAreas(sample),\n\t\tposeCount: runtime.projectedPoseCount,\n\t\trawPoseCount: poses.length,\n\t\tpathLineSegments: runtime.pathLineSegments,\n\t\tskippedPathSegments: runtime.skippedPathSegments,\n\t\trenderedForbiddenAreaCount: coordinateMetadata.renderedForbiddenAreaCount,\n\t\trenderedZoneAreaCount: coordinateMetadata.renderedZoneAreaCount,\n\t\t// Kept as a compatibility alias while consumers migrate to the accurate zone name.\n\t\trenderedRoomAreaCount: coordinateMetadata.renderedRoomAreaCount,\n\t\torientation: \"flip-y\",\n\t\tdecompressedBytes: occupancy.length,\n\t};\n}\n\nexport function extractLiveMapCoordinateMetadata20002(data: unknown): LiveMapCoordinateMetadata | undefined {\n\tconst record = getRecord(data);\n\tif (!record) {\n\t\treturn undefined;\n\t}\n\n\tconst metadata: LiveMapCoordinateMetadata = {};\n\tif (typeof record.mapId === \"number\") {\n\t\tmetadata.mapId = record.mapId;\n\t}\n\tconst chargeHandlePos = parsePoint(record.chargeHandlePos);\n\tif (chargeHandlePos) {\n\t\tmetadata.chargeHandlePos = chargeHandlePos;\n\t}\n\n\treturn metadata.mapId !== undefined || metadata.area !== undefined || metadata.chargeHandlePos !== undefined\n\t\t? metadata\n\t\t: undefined;\n}\n\nexport function extractLiveMapZoneCatalog21004(data: unknown): LiveMapCoordinateMetadata | undefined {\n\tconst record = getRecord(data);\n\tif (\n\t\t!record ||\n\t\t!Number.isSafeInteger(record.mapId) ||\n\t\t(record.mapId as number) < 0 ||\n\t\t!Array.isArray(record.value)\n\t) {\n\t\treturn undefined;\n\t}\n\n\tconst areas = normalizeMapZoneCatalog(record.value);\n\tif (areas.length !== record.value.length) {\n\t\treturn undefined;\n\t}\n\n\treturn {\n\t\tmapId: record.mapId as number,\n\t\tarea: areas,\n\t};\n}\n\nexport function replaceLiveMapZoneCatalog(\n\tprevious: LiveMapCoordinateMetadata | undefined,\n\tcatalog: LiveMapCoordinateMetadata,\n): LiveMapCoordinateMetadata {\n\tconst sameMap = previous?.mapId === undefined || previous.mapId === catalog.mapId;\n\treturn {\n\t\tmapId: catalog.mapId,\n\t\tarea: catalog.area ?? [],\n\t\tchargeHandlePos: sameMap ? previous?.chargeHandlePos : undefined,\n\t};\n}\n\nexport function mergeLiveMapCoordinateMetadata20002(\n\tdata: unknown,\n\tmetadata: LiveMapCoordinateMetadata | undefined,\n): unknown {\n\tconst record = getRecord(data);\n\tif (!record || !metadata) {\n\t\treturn data;\n\t}\n\n\tif (metadata.mapId !== undefined && typeof record.mapId === \"number\" && metadata.mapId !== record.mapId) {\n\t\treturn data;\n\t}\n\n\tconst merged = { ...record };\n\tmerged.area = (metadata.area ?? []).map(area => ({\n\t\t...area.source,\n\t\t__proscenicKind: area.kind,\n\t}));\n\tif (metadata.chargeHandlePos && !parsePoint(record.chargeHandlePos)) {\n\t\tmerged.chargeHandlePos = metadata.chargeHandlePos;\n\t}\n\treturn merged;\n}\n\nexport function countLiveMapAreas20002(data: unknown): number {\n\tconst record = getRecord(data);\n\treturn Array.isArray(record?.area) ? record.area.length : 0;\n}\n\nexport function mergeLiveMapCoordinateMetadataCache(\n\tprevious: LiveMapCoordinateMetadata | undefined,\n\tnext: LiveMapCoordinateMetadata,\n): LiveMapCoordinateMetadata {\n\tconst sameMap = previous?.mapId === undefined || next.mapId === undefined || previous.mapId === next.mapId;\n\tconst previousAreas = sameMap ? (previous?.area ?? []) : [];\n\n\treturn {\n\t\tmapId: next.mapId ?? previous?.mapId,\n\t\tarea: mergeAreaMetadata(previousAreas, next.area ?? []),\n\t\tchargeHandlePos: next.chargeHandlePos ?? (sameMap ? previous?.chargeHandlePos : undefined),\n\t};\n}\n\nfunction parseMapSample(data: unknown): MapSample | undefined {\n\tconst record = getRecord(data);\n\tif (!record) {\n\t\treturn undefined;\n\t}\n\n\tconst encoded = record.map;\n\tconst width = record.width;\n\tconst height = record.height;\n\tif (typeof encoded !== \"string\" || typeof width !== \"number\" || typeof height !== \"number\") {\n\t\treturn undefined;\n\t}\n\tif (!Number.isSafeInteger(width) || !Number.isSafeInteger(height) || width <= 0 || height <= 0) {\n\t\treturn undefined;\n\t}\n\tif (width * height > MAX_LIVE_MAP_PIXELS) {\n\t\treturn undefined;\n\t}\n\n\treturn {\n\t\tencoded,\n\t\twidth,\n\t\theight,\n\t\tresolution: typeof record.resolution === \"number\" ? record.resolution : undefined,\n\t\txMin: typeof record.x_min === \"number\" ? record.x_min : undefined,\n\t\tyMin: typeof record.y_min === \"number\" ? record.y_min : undefined,\n\t\tareas: parseMapAreas(record.area),\n\t\tchargeHandlePos: parsePoint(record.chargeHandlePos),\n\t};\n}\n\nfunction renderOccupancy(\n\twidth: number,\n\theight: number,\n\toccupancy: Buffer,\n\tmapBackgroundColor: Color,\n\tcanvasBackgroundColor: Color,\n): Buffer {\n\tconst pixels = Buffer.alloc(width * height * 3);\n\tfor (let index = 0; index < occupancy.length; index++) {\n\t\tconst sourceX = index % width;\n\t\tconst sourceY = Math.floor(index / width);\n\t\tconst targetY = height - 1 - sourceY;\n\t\tconst value = occupancy[index];\n\t\tif (value === 0) {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, COLOR_WALL);\n\t\t} else if (value === 127) {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, canvasBackgroundColor);\n\t\t} else if (value === 255) {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, mapBackgroundColor);\n\t\t} else {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, value < 127 ? COLOR_OBSTACLE : canvasBackgroundColor);\n\t\t}\n\t}\n\treturn pixels;\n}\n\nfunction colorFromHex(value: string | undefined): Color | undefined {\n\tconst normalized = normalizeLiveMapBackgroundColor(value);\n\tif (!normalized) {\n\t\treturn undefined;\n\t}\n\treturn [\n\t\tNumber.parseInt(normalized.slice(1, 3), 16),\n\t\tNumber.parseInt(normalized.slice(3, 5), 16),\n\t\tNumber.parseInt(normalized.slice(5, 7), 16),\n\t];\n}\n\nfunction drawCoordinateMetadata(\n\tsample: MapSample,\n\tpixels: Buffer,\n\tshowZoneOverlays: boolean,\n\tselectedZoneIds: ReadonlySet<number>,\n): { renderedForbiddenAreaCount: number; renderedZoneAreaCount: number; renderedRoomAreaCount: number } {\n\tlet renderedForbiddenAreaCount = 0;\n\tlet renderedZoneAreaCount = 0;\n\tfor (const area of showZoneOverlays ? sample.areas : []) {\n\t\tconst projected = area.vertices\n\t\t\t.map(vertex => projectRobotCoordinate(sample, vertex))\n\t\t\t.filter((vertex): vertex is [number, number] => vertex !== undefined);\n\t\tif (projected.length >= 3) {\n\t\t\tif (area.kind === \"zone\") {\n\t\t\t\tconst selected = typeof area.source.id === \"number\" && selectedZoneIds.has(area.source.id);\n\t\t\t\tfillPolygon(\n\t\t\t\t\tpixels,\n\t\t\t\t\tsample.width,\n\t\t\t\t\tsample.height,\n\t\t\t\t\tprojected,\n\t\t\t\t\tselected ? COLOR_SELECTED_ZONE_AREA : COLOR_ZONE_AREA,\n\t\t\t\t\tselected ? SELECTED_ZONE_AREA_ALPHA : ZONE_AREA_ALPHA,\n\t\t\t\t);\n\t\t\t\tdrawPolygon(\n\t\t\t\t\tpixels,\n\t\t\t\t\tsample.width,\n\t\t\t\t\tsample.height,\n\t\t\t\t\tprojected,\n\t\t\t\t\tselected ? COLOR_SELECTED_ZONE_AREA_OUTLINE : COLOR_ZONE_AREA_OUTLINE,\n\t\t\t\t\t1,\n\t\t\t\t);\n\t\t\t\trenderedZoneAreaCount += 1;\n\t\t\t} else if (area.kind === \"forbidden\") {\n\t\t\t\tfillPolygon(pixels, sample.width, sample.height, projected, COLOR_FORBIDDEN_AREA, FORBIDDEN_AREA_ALPHA);\n\t\t\t\tdrawPolygon(pixels, sample.width, sample.height, projected, COLOR_FORBIDDEN_OUTLINE);\n\t\t\t\trenderedForbiddenAreaCount += 1;\n\t\t\t}\n\t\t}\n\t}\n\n\tif (sample.chargeHandlePos) {\n\t\tconst charge = projectRobotCoordinate(sample, sample.chargeHandlePos);\n\t\tif (charge) {\n\t\t\tplotMarker(pixels, sample.width, sample.height, charge[0], charge[1], 5, COLOR_DOCK);\n\t\t}\n\t}\n\n\treturn {\n\t\trenderedForbiddenAreaCount,\n\t\trenderedZoneAreaCount,\n\t\trenderedRoomAreaCount: renderedZoneAreaCount,\n\t};\n}\n\nfunction drawRobotRuntime(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tpixels: Buffer,\n\tposes: readonly RobotPose[],\n): RobotRuntimeRenderResult {\n\tconst projected = poses\n\t\t.map(pose => ({\n\t\t\tpoint: projectRobotCoordinate(sample, pose.pos),\n\t\t\tphi: pose.phi,\n\t\t}))\n\t\t.filter((pose): pose is { point: [number, number]; phi: number | undefined } => pose.point !== undefined);\n\n\tlet pathLineSegments = 0;\n\tlet skippedPathSegments = 0;\n\tlet latestMotionPath: Array<[number, number]> | undefined;\n\n\tfor (let index = 1; index < projected.length; index++) {\n\t\tconst previous = projected[index - 1].point;\n\t\tconst current = projected[index].point;\n\t\tconst segmentDistanceSquared = distanceSquared(previous, current);\n\t\tif (\n\t\t\tsegmentDistanceSquared >= MIN_PATH_SEGMENT_DISTANCE_SQUARED &&\n\t\t\tsegmentDistanceSquared <= MAX_PATH_SEGMENT_DISTANCE_SQUARED\n\t\t) {\n\t\t\tconst routedPath = findDrawablePath(sample, occupancy, previous, current);\n\t\t\tif (routedPath) {\n\t\t\t\tdrawAdaptivePathPolyline(sample, occupancy, pixels, sample.width, sample.height, routedPath);\n\t\t\t\tpathLineSegments += 1;\n\t\t\t\tif (index === projected.length - 1) {\n\t\t\t\t\tlatestMotionPath = routedPath;\n\t\t\t\t}\n\t\t\t} else {\n\t\t\t\tskippedPathSegments += 1;\n\t\t\t}\n\t\t} else {\n\t\t\tskippedPathSegments += 1;\n\t\t}\n\t}\n\n\tconst latest = projected.at(-1);\n\tif (!latest) {\n\t\treturn {\n\t\t\tprojectedPoseCount: 0,\n\t\t\tpathLineSegments,\n\t\t\tskippedPathSegments,\n\t\t};\n\t}\n\n\treturn {\n\t\tprojectedPoseCount: projected.length,\n\t\tpathLineSegments,\n\t\tskippedPathSegments,\n\t\tlatest,\n\t\tlatestMotionPath,\n\t};\n}\n\nfunction drawRobotMarker(pixels: Buffer, width: number, height: number, pose: ProjectedRobotPose): void {\n\tplotMarker(pixels, width, height, pose.point[0], pose.point[1], 5, COLOR_ROBOT);\n\tif (pose.phi === undefined) {\n\t\treturn;\n\t}\n\tconst angle = pose.phi / 1000;\n\tconst headingLength = 10;\n\tconst endX = Math.round(pose.point[0] + Math.cos(angle) * headingLength);\n\tconst endY = Math.round(pose.point[1] - Math.sin(angle) * headingLength);\n\tdrawLine(pixels, width, height, pose.point[0], pose.point[1], endX, endY, COLOR_HEADING);\n}\n\nfunction renderLiveMapSvg(\n\twidth: number,\n\theight: number,\n\tbasePng: Buffer,\n\truntime: RobotRuntimeRenderResult,\n\tanimateRobot: boolean,\n): string {\n\tconst marker = runtime.latest ? renderSvgRobotMarker(runtime.latest, runtime.latestMotionPath, animateRobot) : \"\";\n\tconst embeddedPng = `data:image/png;base64,${basePng.toString(\"base64\")}`;\n\treturn [\n\t\t`<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"${width}\" height=\"${height}\" viewBox=\"0 0 ${width} ${height}\" preserveAspectRatio=\"xMidYMid meet\">`,\n\t\t`<image href=\"${embeddedPng}\" width=\"${width}\" height=\"${height}\"/>`,\n\t\tmarker,\n\t\t\"</svg>\",\n\t].join(\"\");\n}\n\nfunction renderSvgRobotMarker(\n\tlatest: ProjectedRobotPose,\n\tmotionPath: readonly [number, number][] | undefined,\n\tanimateRobot: boolean,\n): string {\n\tconst path = animateRobot && motionPath && motionPath.length > 1 ? motionPath : [latest.point];\n\tconst finalRotation = latest.phi === undefined ? 0 : (-latest.phi / 1000 / Math.PI) * 180;\n\tconst marker = [\n\t\t`<circle cx=\"0\" cy=\"0\" r=\"5\" fill=\"#278b3d\" stroke=\"#145f2b\" stroke-width=\"1\"/>`,\n\t\t`<line x1=\"0\" y1=\"0\" x2=\"10\" y2=\"0\" stroke=\"#141414\" stroke-width=\"2\" stroke-linecap=\"round\" transform=\"rotate(${roundSvgNumber(finalRotation)})\"/>`,\n\t].join(\"\");\n\tif (path.length === 1) {\n\t\treturn `<g transform=\"translate(${path[0][0]} ${path[0][1]})\">${marker}</g>`;\n\t}\n\tconst svgPath = path.map((point, index) => `${index === 0 ? \"M\" : \"L\"}${point[0]} ${point[1]}`).join(\" \");\n\treturn `<g>${marker}<animateMotion dur=\"${ROBOT_GLIDE_DURATION_MS}ms\" path=\"${svgPath}\" calcMode=\"paced\" fill=\"freeze\"/></g>`;\n}\n\nfunction roundSvgNumber(value: number): number {\n\treturn Math.round(value * 100) / 100;\n}\n\nfunction drawAdaptivePathLine(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcanDraw?: (x: number, y: number) => boolean,\n): void {\n\tdrawLineWithPixelColor(pixels, width, height, x1, y1, x2, y2, (x, y) =>\n\t\tcanDraw && !canDraw(x, y) ? undefined : COLOR_PATH,\n\t);\n\tdrawLineNeighbors(pixels, width, height, x1, y1, x2, y2, canDraw);\n}\n\nfunction drawAdaptivePathPolyline(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tpoints: readonly [number, number][],\n): void {\n\tconst canDraw = (x: number, y: number): boolean => isTraversableMapPixel(sample, occupancy, x, y);\n\tfor (let index = 1; index < points.length; index++) {\n\t\tconst [x1, y1] = points[index - 1];\n\t\tconst [x2, y2] = points[index];\n\t\tdrawAdaptivePathLine(pixels, width, height, x1, y1, x2, y2, canDraw);\n\t}\n}\n\nfunction findDrawablePath(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tstart: [number, number],\n\tend: [number, number],\n): Array<[number, number]> | undefined {\n\tif (isDirectPathTraversable(sample, occupancy, start, end)) {\n\t\treturn [start, end];\n\t}\n\n\treturn findRoutedPath(sample, occupancy, start, end);\n}\n\nfunction isDirectPathTraversable(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tstart: [number, number],\n\tend: [number, number],\n): boolean {\n\tlet traversedCells = 0;\n\tlet blockedCells = 0;\n\tforEachLinePoint(start[0], start[1], end[0], end[1], (x, y) => {\n\t\ttraversedCells += 1;\n\t\tif (!isTraversableMapPixel(sample, occupancy, x, y)) {\n\t\t\tblockedCells += 1;\n\t\t}\n\t});\n\treturn traversedCells > 0 && blockedCells === 0;\n}\n\nfunction findRoutedPath(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tstart: [number, number],\n\tend: [number, number],\n): Array<[number, number]> | undefined {\n\tconst routeStart = nearestTraversablePoint(sample, occupancy, start);\n\tconst routeEnd = nearestTraversablePoint(sample, occupancy, end);\n\tif (!routeStart || !routeEnd) {\n\t\treturn undefined;\n\t}\n\n\tconst minX = Math.max(0, Math.min(routeStart[0], routeEnd[0]) - ROUTED_PATH_PADDING_PIXELS);\n\tconst maxX = Math.min(sample.width - 1, Math.max(routeStart[0], routeEnd[0]) + ROUTED_PATH_PADDING_PIXELS);\n\tconst minY = Math.max(0, Math.min(routeStart[1], routeEnd[1]) - ROUTED_PATH_PADDING_PIXELS);\n\tconst maxY = Math.min(sample.height - 1, Math.max(routeStart[1], routeEnd[1]) + ROUTED_PATH_PADDING_PIXELS);\n\tconst searchWidth = maxX - minX + 1;\n\tconst searchHeight = maxY - minY + 1;\n\tif (searchWidth * searchHeight > MAX_ROUTED_PATH_CELLS) {\n\t\treturn undefined;\n\t}\n\n\tconst distance = new Map<number, number>();\n\tconst previous = new Map<number, number>();\n\tconst queue: Array<{ key: number; score: number }> = [];\n\tconst startKey = localPointKey(routeStart[0], routeStart[1], minX, minY, searchWidth);\n\tconst endKey = localPointKey(routeEnd[0], routeEnd[1], minX, minY, searchWidth);\n\tdistance.set(startKey, 0);\n\tqueue.push({ key: startKey, score: heuristic(routeStart, routeEnd) });\n\n\twhile (queue.length > 0) {\n\t\tqueue.sort((left, right) => left.score - right.score);\n\t\tconst current = queue.shift();\n\t\tif (!current) {\n\t\t\tbreak;\n\t\t}\n\t\tif (current.key === endKey) {\n\t\t\treturn restoreRoutedPath(previous, current.key, minX, minY, searchWidth);\n\t\t}\n\n\t\tconst [currentX, currentY] = pointFromLocalKey(current.key, minX, minY, searchWidth);\n\t\tconst currentDistance = distance.get(current.key) ?? Number.POSITIVE_INFINITY;\n\t\tfor (let dy = -1; dy <= 1; dy++) {\n\t\t\tfor (let dx = -1; dx <= 1; dx++) {\n\t\t\t\tif (dx === 0 && dy === 0) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tconst nextX = currentX + dx;\n\t\t\t\tconst nextY = currentY + dy;\n\t\t\t\tif (\n\t\t\t\t\tnextX < minX ||\n\t\t\t\t\tnextX > maxX ||\n\t\t\t\t\tnextY < minY ||\n\t\t\t\t\tnextY > maxY ||\n\t\t\t\t\t!isTraversableMapPixel(sample, occupancy, nextX, nextY)\n\t\t\t\t) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\n\t\t\t\tconst nextKey = localPointKey(nextX, nextY, minX, minY, searchWidth);\n\t\t\t\tconst nextDistance = currentDistance + (dx !== 0 && dy !== 0 ? Math.SQRT2 : 1);\n\t\t\t\tif (nextDistance >= (distance.get(nextKey) ?? Number.POSITIVE_INFINITY)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tdistance.set(nextKey, nextDistance);\n\t\t\t\tprevious.set(nextKey, current.key);\n\t\t\t\tqueue.push({ key: nextKey, score: nextDistance + heuristic([nextX, nextY], routeEnd) });\n\t\t\t}\n\t\t}\n\t}\n\n\treturn undefined;\n}\n\nfunction restoreRoutedPath(\n\tprevious: ReadonlyMap<number, number>,\n\tendKey: number,\n\tminX: number,\n\tminY: number,\n\twidth: number,\n): Array<[number, number]> {\n\tconst keys = [endKey];\n\tlet current = endKey;\n\twhile (previous.has(current)) {\n\t\tcurrent = previous.get(current) ?? current;\n\t\tkeys.push(current);\n\t}\n\treturn simplifyPath(keys.reverse().map(key => pointFromLocalKey(key, minX, minY, width)));\n}\n\nfunction simplifyPath(points: Array<[number, number]>): Array<[number, number]> {\n\tif (points.length <= 2) {\n\t\treturn points;\n\t}\n\tconst simplified: Array<[number, number]> = [points[0]];\n\tlet previousDirection: [number, number] | undefined;\n\tfor (let index = 1; index < points.length; index++) {\n\t\tconst direction: [number, number] = [\n\t\t\tMath.sign(points[index][0] - points[index - 1][0]),\n\t\t\tMath.sign(points[index][1] - points[index - 1][1]),\n\t\t];\n\t\tif (previousDirection && (direction[0] !== previousDirection[0] || direction[1] !== previousDirection[1])) {\n\t\t\tsimplified.push(points[index - 1]);\n\t\t}\n\t\tpreviousDirection = direction;\n\t}\n\tsimplified.push(points.at(-1) ?? points[0]);\n\treturn simplified;\n}\n\nfunction nearestTraversablePoint(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tpoint: [number, number],\n): [number, number] | undefined {\n\tif (isTraversableMapPixel(sample, occupancy, point[0], point[1])) {\n\t\treturn point;\n\t}\n\tfor (let radius = 1; radius <= 3; radius++) {\n\t\tfor (let y = point[1] - radius; y <= point[1] + radius; y++) {\n\t\t\tfor (let x = point[0] - radius; x <= point[0] + radius; x++) {\n\t\t\t\tif (isTraversableMapPixel(sample, occupancy, x, y)) {\n\t\t\t\t\treturn [x, y];\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\treturn undefined;\n}\n\nfunction isTraversableMapPixel(sample: MapSample, occupancy: Buffer, x: number, y: number): boolean {\n\tif (x < 0 || x >= sample.width || y < 0 || y >= sample.height) {\n\t\treturn false;\n\t}\n\tconst sourceY = sample.height - 1 - y;\n\tconst value = occupancy[sourceY * sample.width + x];\n\treturn value >= 127;\n}\n\nfunction localPointKey(x: number, y: number, minX: number, minY: number, width: number): number {\n\treturn (y - minY) * width + (x - minX);\n}\n\nfunction pointFromLocalKey(key: number, minX: number, minY: number, width: number): [number, number] {\n\treturn [minX + (key % width), minY + Math.floor(key / width)];\n}\n\nfunction heuristic(left: [number, number], right: [number, number]): number {\n\treturn Math.hypot(left[0] - right[0], left[1] - right[1]);\n}\n\nfunction drawLineNeighbors(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcanDraw?: (x: number, y: number) => boolean,\n): void {\n\tfor (let dy = -PATH_LINE_RADIUS; dy <= PATH_LINE_RADIUS; dy++) {\n\t\tfor (let dx = -PATH_LINE_RADIUS; dx <= PATH_LINE_RADIUS; dx++) {\n\t\t\tif ((dx === 0 && dy === 0) || dx * dx + dy * dy > PATH_LINE_RADIUS * PATH_LINE_RADIUS) {\n\t\t\t\tcontinue;\n\t\t\t}\n\t\t\tdrawLineWithPixelColor(pixels, width, height, x1 + dx, y1 + dy, x2 + dx, y2 + dy, (x, y) =>\n\t\t\t\tcanDraw && !canDraw(x, y) ? undefined : COLOR_PATH,\n\t\t\t);\n\t\t}\n\t}\n}\n\nfunction projectRobotCoordinate(sample: MapSample, point: [number, number]): [number, number] | undefined {\n\tif (sample.resolution === undefined || sample.xMin === undefined || sample.yMin === undefined) {\n\t\treturn undefined;\n\t}\n\n\tconst xMeters = point[0] / 1000;\n\tconst yMeters = point[1] / 1000;\n\tconst x = Math.round((xMeters - sample.xMin) / sample.resolution);\n\tconst y = sample.height - 1 - Math.round((yMeters - sample.yMin) / sample.resolution);\n\tif (x < 0 || x >= sample.width || y < 0 || y >= sample.height) {\n\t\treturn undefined;\n\t}\n\treturn [x, y];\n}\n\nfunction parseMapAreas(value: unknown): MapArea[] {\n\treturn normalizeMapAreaMetadata(value).map(area => ({\n\t\tkey: area.key,\n\t\tvertices: parseVertices(area.source.vertexs),\n\t\tkind: area.kind,\n\t\tsource: area.source,\n\t}));\n}\n\nfunction summarizeRenderedAreas(sample: MapSample): LiveMapRenderedArea[] {\n\treturn sample.areas.map(area => {\n\t\tconst projected = area.vertices\n\t\t\t.map(point => projectRobotCoordinate(sample, point))\n\t\t\t.filter((point): point is [number, number] => point !== undefined);\n\t\tconst id =\n\t\t\ttypeof area.source.id === \"number\" || typeof area.source.id === \"string\" ? area.source.id : undefined;\n\t\tconst label = firstUsefulLabel(area.source.tag, area.source.name);\n\n\t\treturn {\n\t\t\tkey: area.key,\n\t\t\tkind: area.kind,\n\t\t\t...(id !== undefined ? { id } : {}),\n\t\t\t...(label !== undefined ? { label } : {}),\n\t\t\t...(projected.length > 0 ? { bounds: boundsFor(projected) } : {}),\n\t\t};\n\t});\n}\n\nfunction firstUsefulLabel(...values: unknown[]): string | undefined {\n\tfor (const value of values) {\n\t\tif (typeof value === \"string\" && value.trim().length > 0) {\n\t\t\treturn value;\n\t\t}\n\t}\n\treturn undefined;\n}\n\nfunction boundsFor(points: readonly [number, number][]): LiveMapRenderedArea[\"bounds\"] {\n\tconst xs = points.map(([x]) => x);\n\tconst ys = points.map(([, y]) => y);\n\treturn {\n\t\tminX: Math.min(...xs),\n\t\tminY: Math.min(...ys),\n\t\tmaxX: Math.max(...xs),\n\t\tmaxY: Math.max(...ys),\n\t};\n}\n\nfunction normalizeMapAreaMetadata(value: unknown): LiveMapAreaMetadata[] {\n\tif (!Array.isArray(value)) {\n\t\treturn [];\n\t}\n\n\tconst candidates = value\n\t\t.map(entry => {\n\t\t\tconst record = getRecord(entry);\n\t\t\tif (!record) {\n\t\t\t\treturn undefined;\n\t\t\t}\n\t\t\tconst vertices = parseVertices(record.vertexs);\n\t\t\tif (vertices.length < 3) {\n\t\t\t\treturn undefined;\n\t\t\t}\n\t\t\tconst key = mapAreaKey(record, vertices);\n\t\t\tconst explicitKind = parseAreaKind(record.__proscenicKind);\n\t\t\treturn {\n\t\t\t\tkey,\n\t\t\t\texplicitKind,\n\t\t\t\tsource: record,\n\t\t\t};\n\t\t})\n\t\t.filter(\n\t\t\t(\n\t\t\t\tentry,\n\t\t\t): entry is {\n\t\t\t\tkey: string;\n\t\t\t\texplicitKind: LiveMapAreaKind | undefined;\n\t\t\t\tsource: Record<string, unknown>;\n\t\t\t} => entry !== undefined,\n\t\t);\n\n\tconst normalized = new Map<string, LiveMapAreaMetadata>();\n\tfor (const candidate of candidates) {\n\t\tconst kind = candidate.explicitKind ?? \"unknown\";\n\t\tconst existing = normalized.get(candidate.key);\n\t\tconst next = {\n\t\t\tkey: candidate.key,\n\t\t\tkind,\n\t\t\tsource: withoutInternalAreaMetadata(candidate.source),\n\t\t};\n\t\tnormalized.set(candidate.key, existing ? mergeAreaMetadataEntry(existing, next) : next);\n\t}\n\n\treturn [...normalized.values()];\n}\n\nfunction normalizeMapZoneCatalog(value: readonly unknown[]): LiveMapAreaMetadata[] {\n\tconst normalized = new Map<string, LiveMapAreaMetadata>();\n\tfor (const entry of value) {\n\t\tconst record = getRecord(entry);\n\t\tif (!record) {\n\t\t\tcontinue;\n\t\t}\n\t\tconst vertices = parseVertices(record.vertexs);\n\t\tif (vertices.length < 3) {\n\t\t\tcontinue;\n\t\t}\n\t\tconst id = record.id;\n\t\tif (!(typeof id === \"string\" || (typeof id === \"number\" && Number.isSafeInteger(id)))) {\n\t\t\tcontinue;\n\t\t}\n\n\t\tconst source: Record<string, unknown> = {\n\t\t\tid,\n\t\t\tvertexs: vertices,\n\t\t};\n\t\tfor (const field of [\"active\", \"mode\", \"name\", \"tag\"] as const) {\n\t\t\tif (typeof record[field] === \"string\") {\n\t\t\t\tsource[field] = record[field];\n\t\t\t}\n\t\t}\n\t\tconst key = mapAreaKey(source, vertices);\n\t\tnormalized.set(key, {\n\t\t\tkey,\n\t\t\tkind: record.active === \"forbid\" ? \"forbidden\" : \"zone\",\n\t\t\tsource,\n\t\t});\n\t}\n\treturn [...normalized.values()];\n}\n\nfunction mergeAreaMetadata(\n\tprevious: readonly LiveMapAreaMetadata[],\n\tnext: readonly LiveMapAreaMetadata[],\n): LiveMapAreaMetadata[] {\n\tconst merged = new Map<string, LiveMapAreaMetadata>();\n\tfor (const area of [...previous, ...next]) {\n\t\tconst existing = merged.get(area.key);\n\t\tmerged.set(area.key, existing ? mergeAreaMetadataEntry(existing, area) : area);\n\t}\n\treturn [...merged.values()];\n}\n\nfunction mergeAreaMetadataEntry(left: LiveMapAreaMetadata, right: LiveMapAreaMetadata): LiveMapAreaMetadata {\n\treturn {\n\t\tkey: right.key,\n\t\tkind: strongestAreaKind(left.kind, right.kind),\n\t\tsource: right.source,\n\t};\n}\n\nfunction strongestAreaKind(left: LiveMapAreaKind, right: LiveMapAreaKind): LiveMapAreaKind {\n\tif (left === \"forbidden\" || right === \"forbidden\") {\n\t\treturn \"forbidden\";\n\t}\n\tif (left === \"zone\" || right === \"zone\") {\n\t\treturn \"zone\";\n\t}\n\treturn \"unknown\";\n}\n\nfunction parseAreaKind(value: unknown): LiveMapAreaKind | undefined {\n\tif (value === \"room\") {\n\t\treturn \"zone\";\n\t}\n\treturn value === \"forbidden\" || value === \"zone\" || value === \"unknown\" ? value : undefined;\n}\n\nfunction withoutInternalAreaMetadata(record: Record<string, unknown>): Record<string, unknown> {\n\tconst clone = { ...record };\n\tdelete clone.__proscenicKind;\n\treturn clone;\n}\n\nfunction parseVertices(value: unknown): Array<[number, number]> {\n\tif (!Array.isArray(value)) {\n\t\treturn [];\n\t}\n\treturn value.map(vertex => parsePoint(vertex)).filter((vertex): vertex is [number, number] => vertex !== undefined);\n}\n\nfunction mapAreaKey(record: Record<string, unknown>, vertices: readonly [number, number][]): string {\n\tconst id = record.id;\n\tif (typeof id === \"number\" || typeof id === \"string\") {\n\t\treturn `id:${String(id)}`;\n\t}\n\tconst xs = vertices.map(([x]) => x);\n\tconst ys = vertices.map(([, y]) => y);\n\treturn `shape:${vertices.length}:${Math.min(...xs)}:${Math.min(...ys)}:${Math.max(...xs)}:${Math.max(...ys)}`;\n}\n\nfunction parsePoint(value: unknown): [number, number] | undefined {\n\tif (Array.isArray(value) && value.length >= 2 && typeof value[0] === \"number\" && typeof value[1] === \"number\") {\n\t\treturn [value[0], value[1]];\n\t}\n\treturn undefined;\n}\n\nfunction getRecord(value: unknown): Record<string, unknown> | undefined {\n\treturn value !== null && typeof value === \"object\" && !Array.isArray(value)\n\t\t? (value as Record<string, unknown>)\n\t\t: undefined;\n}\n\nfunction decodeMapPayload(encodedMap: string): Buffer {\n\treturn Buffer.from(encodedMap.replace(/\\s/gu, \"+\"), \"base64\");\n}\n\nfunction decompressLz4Block(input: Buffer, maxOutputBytes: number): Buffer {\n\tconst output = Buffer.alloc(maxOutputBytes);\n\tlet inputOffset = 0;\n\tlet outputOffset = 0;\n\n\twhile (inputOffset < input.length) {\n\t\tconst token = input[inputOffset++];\n\t\tlet literalLength = token >> 4;\n\t\tif (literalLength === 15) {\n\t\t\tlet next: number;\n\t\t\tdo {\n\t\t\t\tif (inputOffset >= input.length) {\n\t\t\t\t\tthrow new Error(\"literal length overflow\");\n\t\t\t\t}\n\t\t\t\tnext = input[inputOffset++];\n\t\t\t\tliteralLength += next;\n\t\t\t} while (next === 255);\n\t\t}\n\n\t\tif (inputOffset + literalLength > input.length || outputOffset + literalLength > output.length) {\n\t\t\tthrow new Error(\"literal overrun\");\n\t\t}\n\t\tinput.copy(output, outputOffset, inputOffset, inputOffset + literalLength);\n\t\tinputOffset += literalLength;\n\t\toutputOffset += literalLength;\n\n\t\tif (inputOffset >= input.length) {\n\t\t\tbreak;\n\t\t}\n\t\tif (inputOffset + 2 > input.length) {\n\t\t\tthrow new Error(\"offset overrun\");\n\t\t}\n\t\tconst matchOffset = input[inputOffset] | (input[inputOffset + 1] << 8);\n\t\tinputOffset += 2;\n\t\tif (matchOffset === 0 || matchOffset > outputOffset) {\n\t\t\tthrow new Error(\"bad match offset\");\n\t\t}\n\n\t\tlet matchLength = token & 0x0f;\n\t\tif (matchLength === 15) {\n\t\t\tlet next: number;\n\t\t\tdo {\n\t\t\t\tif (inputOffset >= input.length) {\n\t\t\t\t\tthrow new Error(\"match length overflow\");\n\t\t\t\t}\n\t\t\t\tnext = input[inputOffset++];\n\t\t\t\tmatchLength += next;\n\t\t\t} while (next === 255);\n\t\t}\n\t\tmatchLength += 4;\n\t\tif (outputOffset + matchLength > output.length) {\n\t\t\tthrow new Error(\"match overrun\");\n\t\t}\n\t\tfor (let index = 0; index < matchLength; index++) {\n\t\t\toutput[outputOffset + index] = output[outputOffset - matchOffset + index];\n\t\t}\n\t\toutputOffset += matchLength;\n\t}\n\n\treturn output.subarray(0, outputOffset);\n}\n\nfunction fillPolygon(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tpolygon: Array<[number, number]>,\n\tcolor: Color,\n\talpha = 1,\n): void {\n\tconst minY = Math.max(0, Math.min(...polygon.map(([, y]) => y)));\n\tconst maxY = Math.min(height - 1, Math.max(...polygon.map(([, y]) => y)));\n\n\tfor (let y = minY; y <= maxY; y++) {\n\t\tconst intersections: number[] = [];\n\t\tfor (let index = 0; index < polygon.length; index++) {\n\t\t\tconst [x1, y1] = polygon[index];\n\t\t\tconst [x2, y2] = polygon[(index + 1) % polygon.length];\n\t\t\tif ((y1 <= y && y2 > y) || (y2 <= y && y1 > y)) {\n\t\t\t\tconst x = x1 + ((y - y1) * (x2 - x1)) / (y2 - y1);\n\t\t\t\tintersections.push(Math.round(x));\n\t\t\t}\n\t\t}\n\n\t\tintersections.sort((left, right) => left - right);\n\t\tfor (let index = 0; index + 1 < intersections.length; index += 2) {\n\t\t\tconst start = Math.max(0, intersections[index]);\n\t\t\tconst end = Math.min(width - 1, intersections[index + 1]);\n\t\t\tfor (let x = start; x <= end; x++) {\n\t\t\t\tblendPixel(pixels, width, height, x, y, color, alpha);\n\t\t\t}\n\t\t}\n\t}\n}\n\nfunction drawPolygon(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tpolygon: Array<[number, number]>,\n\tcolor: Color,\n\tradius = 0,\n): void {\n\tfor (let index = 0; index < polygon.length; index++) {\n\t\tconst [x1, y1] = polygon[index];\n\t\tconst [x2, y2] = polygon[(index + 1) % polygon.length];\n\t\tfor (let offsetY = -radius; offsetY <= radius; offsetY++) {\n\t\t\tfor (let offsetX = -radius; offsetX <= radius; offsetX++) {\n\t\t\t\tdrawLine(pixels, width, height, x1 + offsetX, y1 + offsetY, x2 + offsetX, y2 + offsetY, color);\n\t\t\t}\n\t\t}\n\t}\n}\n\nfunction drawLine(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcolor: Color,\n): void {\n\tdrawLineWithPixelColor(pixels, width, height, x1, y1, x2, y2, () => color);\n}\n\nfunction forEachLinePoint(\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcallback: (x: number, y: number) => void,\n): void {\n\tconst dx = Math.abs(x2 - x1);\n\tconst sx = x1 < x2 ? 1 : -1;\n\tconst dy = -Math.abs(y2 - y1);\n\tconst sy = y1 < y2 ? 1 : -1;\n\tlet error = dx + dy;\n\tlet x = x1;\n\tlet y = y1;\n\n\twhile (true) {\n\t\tcallback(x, y);\n\t\tif (x === x2 && y === y2) {\n\t\t\tbreak;\n\t\t}\n\t\tconst error2 = 2 * error;\n\t\tif (error2 >= dy) {\n\t\t\terror += dy;\n\t\t\tx += sx;\n\t\t}\n\t\tif (error2 <= dx) {\n\t\t\terror += dx;\n\t\t\ty += sy;\n\t\t}\n\t}\n}\n\nfunction drawLineWithPixelColor(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tpickColor: (x: number, y: number) => Color | undefined,\n): void {\n\tconst dx = Math.abs(x2 - x1);\n\tconst sx = x1 < x2 ? 1 : -1;\n\tconst dy = -Math.abs(y2 - y1);\n\tconst sy = y1 < y2 ? 1 : -1;\n\tlet error = dx + dy;\n\tlet x = x1;\n\tlet y = y1;\n\n\twhile (true) {\n\t\tif (x >= 0 && x < width && y >= 0 && y < height) {\n\t\t\tconst color = pickColor(x, y);\n\t\t\tif (color) {\n\t\t\t\tsetPixel(pixels, width, height, x, y, color);\n\t\t\t}\n\t\t}\n\t\tif (x === x2 && y === y2) {\n\t\t\tbreak;\n\t\t}\n\t\tconst error2 = 2 * error;\n\t\tif (error2 >= dy) {\n\t\t\terror += dy;\n\t\t\tx += sx;\n\t\t}\n\t\tif (error2 <= dx) {\n\t\t\terror += dx;\n\t\t\ty += sy;\n\t\t}\n\t}\n}\n\nfunction plotMarker(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx: number,\n\ty: number,\n\tradius: number,\n\tcolor: Color,\n): void {\n\tfor (let dy = -radius; dy <= radius; dy++) {\n\t\tfor (let dx = -radius; dx <= radius; dx++) {\n\t\t\tconst px = x + dx;\n\t\t\tconst py = y + dy;\n\t\t\tif (px >= 0 && px < width && py >= 0 && py < height && dx * dx + dy * dy <= radius * radius) {\n\t\t\t\tsetPixel(pixels, width, height, px, py, color);\n\t\t\t}\n\t\t}\n\t}\n}\n\nfunction setPixel(pixels: Buffer, width: number, height: number, x: number, y: number, color: Color): void {\n\tif (x < 0 || x >= width || y < 0 || y >= height) {\n\t\treturn;\n\t}\n\n\tconst offset = (y * width + x) * 3;\n\tpixels[offset] = color[0];\n\tpixels[offset + 1] = color[1];\n\tpixels[offset + 2] = color[2];\n}\n\nfunction blendPixel(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx: number,\n\ty: number,\n\tcolor: Color,\n\talpha: number,\n): void {\n\tif (alpha >= 1) {\n\t\tsetPixel(pixels, width, height, x, y, color);\n\t\treturn;\n\t}\n\tif (x < 0 || x >= width || y < 0 || y >= height) {\n\t\treturn;\n\t}\n\n\tconst offset = (y * width + x) * 3;\n\tpixels[offset] = Math.round(pixels[offset] * (1 - alpha) + color[0] * alpha);\n\tpixels[offset + 1] = Math.round(pixels[offset + 1] * (1 - alpha) + color[1] * alpha);\n\tpixels[offset + 2] = Math.round(pixels[offset + 2] * (1 - alpha) + color[2] * alpha);\n}\n\nfunction distanceSquared(left: [number, number], right: [number, number]): number {\n\treturn (left[0] - right[0]) ** 2 + (left[1] - right[1]) ** 2;\n}\n\nfunction encodeRgbPng(width: number, height: number, pixels: Buffer): Buffer {\n\tif (pixels.length !== width * height * 3) {\n\t\tthrow new Error(`Expected ${width * height * 3} RGB pixels but received ${pixels.length}`);\n\t}\n\n\tconst header = Buffer.alloc(13);\n\theader.writeUInt32BE(width, 0);\n\theader.writeUInt32BE(height, 4);\n\theader[8] = 8;\n\theader[9] = 2;\n\n\tconst rowBytes = width * 3;\n\tconst scanlines = Buffer.alloc((rowBytes + 1) * height);\n\tfor (let y = 0; y < height; y++) {\n\t\tscanlines[y * (rowBytes + 1)] = 0;\n\t\tpixels.copy(scanlines, y * (rowBytes + 1) + 1, y * rowBytes, (y + 1) * rowBytes);\n\t}\n\n\treturn Buffer.concat([\n\t\tPNG_SIGNATURE,\n\t\tpngChunk(\"IHDR\", header),\n\t\tpngChunk(\"IDAT\", deflateSync(scanlines)),\n\t\tpngChunk(\"IEND\", Buffer.alloc(0)),\n\t]);\n}\n\nfunction pngChunk(type: string, data: Buffer): Buffer {\n\tconst typeBuffer = Buffer.from(type, \"ascii\");\n\tconst length = Buffer.alloc(4);\n\tlength.writeUInt32BE(data.length, 0);\n\tconst checksum = Buffer.alloc(4);\n\tchecksum.writeUInt32BE(crc32(Buffer.concat([typeBuffer, data])), 0);\n\treturn Buffer.concat([length, typeBuffer, data, checksum]);\n}\n\nfunction crc32(data: Buffer): number {\n\tlet crc = 0xffffffff;\n\tfor (const byte of data) {\n\t\tcrc = CRC_TABLE[(crc ^ byte) & 0xff] ^ (crc >>> 8);\n\t}\n\treturn (crc ^ 0xffffffff) >>> 0;\n}\n\nfunction createCrcTable(): readonly number[] {\n\treturn Array.from({ length: 256 }, (_, index) => {\n\t\tlet value = index;\n\t\tfor (let bit = 0; bit < 8; bit++) {\n\t\t\tvalue = value & 1 ? 0xedb88320 ^ (value >>> 1) : value >>> 1;\n\t\t}\n\t\treturn value >>> 0;\n\t});\n}\n"],
-  "mappings": 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[],\n\t\tchargeHandlePos: sameMap ? previous?.chargeHandlePos : undefined,\n\t};\n}\n\nexport function mergeLiveMapCoordinateMetadata20002(\n\tdata: unknown,\n\tmetadata: LiveMapCoordinateMetadata | undefined,\n): unknown {\n\tconst record = getRecord(data);\n\tif (!record || !metadata) {\n\t\treturn data;\n\t}\n\n\tif (metadata.mapId !== undefined && typeof record.mapId === \"number\" && metadata.mapId !== record.mapId) {\n\t\treturn data;\n\t}\n\n\tconst merged = { ...record };\n\tmerged.area = (metadata.area ?? []).map(area => ({\n\t\t...area.source,\n\t\t__proscenicKind: area.kind,\n\t}));\n\tif (metadata.chargeHandlePos && !parsePoint(record.chargeHandlePos)) {\n\t\tmerged.chargeHandlePos = metadata.chargeHandlePos;\n\t}\n\treturn merged;\n}\n\nexport function countLiveMapAreas20002(data: unknown): number {\n\tconst record = getRecord(data);\n\treturn Array.isArray(record?.area) ? record.area.length : 0;\n}\n\nexport function mergeLiveMapCoordinateMetadataCache(\n\tprevious: LiveMapCoordinateMetadata | undefined,\n\tnext: LiveMapCoordinateMetadata,\n): LiveMapCoordinateMetadata {\n\tconst sameMap = previous?.mapId === undefined || next.mapId === undefined || previous.mapId === next.mapId;\n\tconst previousAreas = sameMap ? (previous?.area ?? []) : [];\n\n\treturn {\n\t\tmapId: next.mapId ?? previous?.mapId,\n\t\tarea: mergeAreaMetadata(previousAreas, next.area ?? []),\n\t\tchargeHandlePos: next.chargeHandlePos ?? (sameMap ? previous?.chargeHandlePos : undefined),\n\t};\n}\n\nfunction parseMapSample(data: unknown): MapSample | undefined {\n\tconst record = getRecord(data);\n\tif (!record) {\n\t\treturn undefined;\n\t}\n\n\tconst encoded = record.map;\n\tconst width = record.width;\n\tconst height = record.height;\n\tif (typeof encoded !== \"string\" || typeof width !== \"number\" || typeof height !== \"number\") {\n\t\treturn undefined;\n\t}\n\tif (!Number.isSafeInteger(width) || !Number.isSafeInteger(height) || width <= 0 || height <= 0) {\n\t\treturn undefined;\n\t}\n\tif (width * height > MAX_LIVE_MAP_PIXELS) {\n\t\treturn undefined;\n\t}\n\n\treturn {\n\t\tencoded,\n\t\twidth,\n\t\theight,\n\t\tresolution: typeof record.resolution === \"number\" ? record.resolution : undefined,\n\t\txMin: typeof record.x_min === \"number\" ? record.x_min : undefined,\n\t\tyMin: typeof record.y_min === \"number\" ? record.y_min : undefined,\n\t\tareas: parseMapAreas(record.area),\n\t\tchargeHandlePos: parsePoint(record.chargeHandlePos),\n\t};\n}\n\nfunction renderOccupancy(\n\twidth: number,\n\theight: number,\n\toccupancy: Buffer,\n\tmapBackgroundColor: Color,\n\tcanvasBackgroundColor: Color,\n): Buffer {\n\tconst pixels = Buffer.alloc(width * height * 3);\n\tfor (let index = 0; index < occupancy.length; index++) {\n\t\tconst sourceX = index % width;\n\t\tconst sourceY = Math.floor(index / width);\n\t\tconst targetY = height - 1 - sourceY;\n\t\tconst value = occupancy[index];\n\t\tif (value === 0) {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, COLOR_WALL);\n\t\t} else if (value === 127) {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, canvasBackgroundColor);\n\t\t} else if (value === 255) {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, mapBackgroundColor);\n\t\t} else {\n\t\t\tsetPixel(pixels, width, height, sourceX, targetY, value < 127 ? COLOR_OBSTACLE : canvasBackgroundColor);\n\t\t}\n\t}\n\treturn pixels;\n}\n\nfunction colorFromHex(value: string | undefined): Color | undefined {\n\tconst normalized = normalizeLiveMapBackgroundColor(value);\n\tif (!normalized) {\n\t\treturn undefined;\n\t}\n\treturn [\n\t\tNumber.parseInt(normalized.slice(1, 3), 16),\n\t\tNumber.parseInt(normalized.slice(3, 5), 16),\n\t\tNumber.parseInt(normalized.slice(5, 7), 16),\n\t];\n}\n\nfunction drawCoordinateMetadata(\n\tsample: MapSample,\n\tpixels: Buffer,\n\tshowZoneOverlays: boolean,\n\tselectedZoneIds: ReadonlySet<number>,\n): { renderedForbiddenAreaCount: number; renderedZoneAreaCount: number; renderedRoomAreaCount: number } {\n\tlet renderedForbiddenAreaCount = 0;\n\tlet renderedZoneAreaCount = 0;\n\tfor (const area of showZoneOverlays ? sample.areas : []) {\n\t\tconst projected = area.vertices\n\t\t\t.map(vertex => projectRobotCoordinate(sample, vertex))\n\t\t\t.filter((vertex): vertex is [number, number] => vertex !== undefined);\n\t\tif (projected.length >= 3) {\n\t\t\tif (area.kind === \"zone\") {\n\t\t\t\tconst selected = typeof area.source.id === \"number\" && selectedZoneIds.has(area.source.id);\n\t\t\t\tfillPolygon(\n\t\t\t\t\tpixels,\n\t\t\t\t\tsample.width,\n\t\t\t\t\tsample.height,\n\t\t\t\t\tprojected,\n\t\t\t\t\tselected ? COLOR_SELECTED_ZONE_AREA : COLOR_ZONE_AREA,\n\t\t\t\t\tselected ? SELECTED_ZONE_AREA_ALPHA : ZONE_AREA_ALPHA,\n\t\t\t\t);\n\t\t\t\tdrawPolygon(\n\t\t\t\t\tpixels,\n\t\t\t\t\tsample.width,\n\t\t\t\t\tsample.height,\n\t\t\t\t\tprojected,\n\t\t\t\t\tselected ? COLOR_SELECTED_ZONE_AREA_OUTLINE : COLOR_ZONE_AREA_OUTLINE,\n\t\t\t\t\t1,\n\t\t\t\t);\n\t\t\t\trenderedZoneAreaCount += 1;\n\t\t\t} else if (area.kind === \"forbidden\") {\n\t\t\t\tfillPolygon(pixels, sample.width, sample.height, projected, COLOR_FORBIDDEN_AREA, FORBIDDEN_AREA_ALPHA);\n\t\t\t\tdrawPolygon(pixels, sample.width, sample.height, projected, COLOR_FORBIDDEN_OUTLINE);\n\t\t\t\trenderedForbiddenAreaCount += 1;\n\t\t\t}\n\t\t}\n\t}\n\n\tif (sample.chargeHandlePos) {\n\t\tconst charge = projectRobotCoordinate(sample, sample.chargeHandlePos);\n\t\tif (charge) {\n\t\t\tplotMarker(pixels, sample.width, sample.height, charge[0], charge[1], 5, COLOR_DOCK);\n\t\t}\n\t}\n\n\treturn {\n\t\trenderedForbiddenAreaCount,\n\t\trenderedZoneAreaCount,\n\t\trenderedRoomAreaCount: renderedZoneAreaCount,\n\t};\n}\n\nfunction drawRobotRuntime(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tpixels: Buffer,\n\tposes: readonly RobotPose[],\n): RobotRuntimeRenderResult {\n\tconst projected = poses\n\t\t.map(pose => ({\n\t\t\tpoint: projectRobotCoordinate(sample, pose.pos),\n\t\t\tphi: pose.phi,\n\t\t}))\n\t\t.filter((pose): pose is { point: [number, number]; phi: number | undefined } => pose.point !== undefined);\n\n\tlet pathLineSegments = 0;\n\tlet skippedPathSegments = 0;\n\tlet latestMotionPath: Array<[number, number]> | undefined;\n\n\tfor (let index = 1; index < projected.length; index++) {\n\t\tconst previous = projected[index - 1].point;\n\t\tconst current = projected[index].point;\n\t\tconst segmentDistanceSquared = distanceSquared(previous, current);\n\t\tif (\n\t\t\tsegmentDistanceSquared >= MIN_PATH_SEGMENT_DISTANCE_SQUARED &&\n\t\t\tsegmentDistanceSquared <= MAX_PATH_SEGMENT_DISTANCE_SQUARED\n\t\t) {\n\t\t\tconst routedPath = findDrawablePath(sample, occupancy, previous, current);\n\t\t\tif (routedPath) {\n\t\t\t\tdrawAdaptivePathPolyline(sample, occupancy, pixels, sample.width, sample.height, routedPath);\n\t\t\t\tpathLineSegments += 1;\n\t\t\t\tif (index === projected.length - 1) {\n\t\t\t\t\tlatestMotionPath = routedPath;\n\t\t\t\t}\n\t\t\t} else {\n\t\t\t\tskippedPathSegments += 1;\n\t\t\t}\n\t\t} else {\n\t\t\tskippedPathSegments += 1;\n\t\t}\n\t}\n\n\tconst latest = projected.at(-1);\n\tif (!latest) {\n\t\treturn {\n\t\t\tprojectedPoseCount: 0,\n\t\t\tpathLineSegments,\n\t\t\tskippedPathSegments,\n\t\t};\n\t}\n\n\treturn {\n\t\tprojectedPoseCount: projected.length,\n\t\tpathLineSegments,\n\t\tskippedPathSegments,\n\t\tlatest,\n\t\tlatestMotionPath,\n\t};\n}\n\nfunction drawRobotMarker(pixels: Buffer, width: number, height: number, pose: ProjectedRobotPose): void {\n\tplotMarker(pixels, width, height, pose.point[0], pose.point[1], 5, COLOR_ROBOT);\n\tif (pose.phi === undefined) {\n\t\treturn;\n\t}\n\tconst angle = pose.phi / 1000;\n\tconst headingLength = 10;\n\tconst endX = Math.round(pose.point[0] + Math.cos(angle) * headingLength);\n\tconst endY = Math.round(pose.point[1] - Math.sin(angle) * headingLength);\n\tdrawLine(pixels, width, height, pose.point[0], pose.point[1], endX, endY, COLOR_HEADING);\n}\n\nfunction renderLiveMapSvg(\n\twidth: number,\n\theight: number,\n\tbasePng: Buffer,\n\truntime: RobotRuntimeRenderResult,\n\tanimateRobot: boolean,\n\tareas: readonly LiveMapRenderedArea[],\n): string {\n\tconst marker = runtime.latest ? renderSvgRobotMarker(runtime.latest, runtime.latestMotionPath, animateRobot) : \"\";\n\tconst zoneLabels = renderSvgZoneLabels(areas);\n\tconst embeddedPng = `data:image/png;base64,${basePng.toString(\"base64\")}`;\n\treturn [\n\t\t`<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"${width}\" height=\"${height}\" viewBox=\"0 0 ${width} ${height}\" preserveAspectRatio=\"xMidYMid meet\">`,\n\t\t`<image href=\"${embeddedPng}\" width=\"${width}\" height=\"${height}\"/>`,\n\t\tzoneLabels,\n\t\tmarker,\n\t\t\"</svg>\",\n\t].join(\"\");\n}\n\nfunction renderSvgZoneLabels(areas: readonly LiveMapRenderedArea[]): string {\n\treturn areas\n\t\t.filter(\n\t\t\t(\n\t\t\t\tarea,\n\t\t\t): area is LiveMapRenderedArea & { label: string; bounds: NonNullable<LiveMapRenderedArea[\"bounds\"]> } =>\n\t\t\t\tarea.kind === \"zone\" && area.label !== undefined && area.bounds !== undefined,\n\t\t)\n\t\t.map(area => {\n\t\t\tconst x = area.center?.x ?? (area.bounds.minX + area.bounds.maxX) / 2;\n\t\t\tconst y = area.center?.y ?? (area.bounds.minY + area.bounds.maxY) / 2;\n\t\t\treturn `<text data-zone-label=\"true\" x=\"${roundSvgNumber(x)}\" y=\"${roundSvgNumber(y)}\" text-anchor=\"middle\" dominant-baseline=\"middle\" font-family=\"system-ui, sans-serif\" font-size=\"9\" font-weight=\"600\" fill=\"#263b4a\" stroke=\"#ffffff\" stroke-width=\"2\" stroke-linejoin=\"round\" paint-order=\"stroke\">${escapeSvgText(area.label)}</text>`;\n\t\t})\n\t\t.join(\"\");\n}\n\nfunction escapeSvgText(value: string): string {\n\treturn value.replaceAll(\"&\", \"&amp;\").replaceAll(\"<\", \"&lt;\").replaceAll(\">\", \"&gt;\");\n}\n\nfunction renderSvgRobotMarker(\n\tlatest: ProjectedRobotPose,\n\tmotionPath: readonly [number, number][] | undefined,\n\tanimateRobot: boolean,\n): string {\n\tconst path = animateRobot && motionPath && motionPath.length > 1 ? motionPath : [latest.point];\n\tconst finalRotation = latest.phi === undefined ? 0 : (-latest.phi / 1000 / Math.PI) * 180;\n\tconst marker = [\n\t\t`<circle cx=\"0\" cy=\"0\" r=\"5\" fill=\"#278b3d\" stroke=\"#145f2b\" stroke-width=\"1\"/>`,\n\t\t`<line x1=\"0\" y1=\"0\" x2=\"10\" y2=\"0\" stroke=\"#141414\" stroke-width=\"2\" stroke-linecap=\"round\" transform=\"rotate(${roundSvgNumber(finalRotation)})\"/>`,\n\t].join(\"\");\n\tif (path.length === 1) {\n\t\treturn `<g transform=\"translate(${path[0][0]} ${path[0][1]})\">${marker}</g>`;\n\t}\n\tconst svgPath = path.map((point, index) => `${index === 0 ? \"M\" : \"L\"}${point[0]} ${point[1]}`).join(\" \");\n\treturn `<g>${marker}<animateMotion dur=\"${ROBOT_GLIDE_DURATION_MS}ms\" path=\"${svgPath}\" calcMode=\"paced\" fill=\"freeze\"/></g>`;\n}\n\nfunction roundSvgNumber(value: number): number {\n\treturn Math.round(value * 100) / 100;\n}\n\nfunction drawAdaptivePathLine(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcanDraw?: (x: number, y: number) => boolean,\n): void {\n\tdrawLineWithPixelColor(pixels, width, height, x1, y1, x2, y2, (x, y) =>\n\t\tcanDraw && !canDraw(x, y) ? undefined : COLOR_PATH,\n\t);\n\tdrawLineNeighbors(pixels, width, height, x1, y1, x2, y2, canDraw);\n}\n\nfunction drawAdaptivePathPolyline(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tpoints: readonly [number, number][],\n): void {\n\tconst canDraw = (x: number, y: number): boolean => isTraversableMapPixel(sample, occupancy, x, y);\n\tfor (let index = 1; index < points.length; index++) {\n\t\tconst [x1, y1] = points[index - 1];\n\t\tconst [x2, y2] = points[index];\n\t\tdrawAdaptivePathLine(pixels, width, height, x1, y1, x2, y2, canDraw);\n\t}\n}\n\nfunction findDrawablePath(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tstart: [number, number],\n\tend: [number, number],\n): Array<[number, number]> | undefined {\n\tif (isDirectPathTraversable(sample, occupancy, start, end)) {\n\t\treturn [start, end];\n\t}\n\n\treturn findRoutedPath(sample, occupancy, start, end);\n}\n\nfunction isDirectPathTraversable(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tstart: [number, number],\n\tend: [number, number],\n): boolean {\n\tlet traversedCells = 0;\n\tlet blockedCells = 0;\n\tforEachLinePoint(start[0], start[1], end[0], end[1], (x, y) => {\n\t\ttraversedCells += 1;\n\t\tif (!isTraversableMapPixel(sample, occupancy, x, y)) {\n\t\t\tblockedCells += 1;\n\t\t}\n\t});\n\treturn traversedCells > 0 && blockedCells === 0;\n}\n\nfunction findRoutedPath(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tstart: [number, number],\n\tend: [number, number],\n): Array<[number, number]> | undefined {\n\tconst routeStart = nearestTraversablePoint(sample, occupancy, start);\n\tconst routeEnd = nearestTraversablePoint(sample, occupancy, end);\n\tif (!routeStart || !routeEnd) {\n\t\treturn undefined;\n\t}\n\n\tconst minX = Math.max(0, Math.min(routeStart[0], routeEnd[0]) - ROUTED_PATH_PADDING_PIXELS);\n\tconst maxX = Math.min(sample.width - 1, Math.max(routeStart[0], routeEnd[0]) + ROUTED_PATH_PADDING_PIXELS);\n\tconst minY = Math.max(0, Math.min(routeStart[1], routeEnd[1]) - ROUTED_PATH_PADDING_PIXELS);\n\tconst maxY = Math.min(sample.height - 1, Math.max(routeStart[1], routeEnd[1]) + ROUTED_PATH_PADDING_PIXELS);\n\tconst searchWidth = maxX - minX + 1;\n\tconst searchHeight = maxY - minY + 1;\n\tif (searchWidth * searchHeight > MAX_ROUTED_PATH_CELLS) {\n\t\treturn undefined;\n\t}\n\n\tconst distance = new Map<number, number>();\n\tconst previous = new Map<number, number>();\n\tconst queue: Array<{ key: number; score: number }> = [];\n\tconst startKey = localPointKey(routeStart[0], routeStart[1], minX, minY, searchWidth);\n\tconst endKey = localPointKey(routeEnd[0], routeEnd[1], minX, minY, searchWidth);\n\tdistance.set(startKey, 0);\n\tqueue.push({ key: startKey, score: heuristic(routeStart, routeEnd) });\n\n\twhile (queue.length > 0) {\n\t\tqueue.sort((left, right) => left.score - right.score);\n\t\tconst current = queue.shift();\n\t\tif (!current) {\n\t\t\tbreak;\n\t\t}\n\t\tif (current.key === endKey) {\n\t\t\treturn restoreRoutedPath(previous, current.key, minX, minY, searchWidth);\n\t\t}\n\n\t\tconst [currentX, currentY] = pointFromLocalKey(current.key, minX, minY, searchWidth);\n\t\tconst currentDistance = distance.get(current.key) ?? Number.POSITIVE_INFINITY;\n\t\tfor (let dy = -1; dy <= 1; dy++) {\n\t\t\tfor (let dx = -1; dx <= 1; dx++) {\n\t\t\t\tif (dx === 0 && dy === 0) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tconst nextX = currentX + dx;\n\t\t\t\tconst nextY = currentY + dy;\n\t\t\t\tif (\n\t\t\t\t\tnextX < minX ||\n\t\t\t\t\tnextX > maxX ||\n\t\t\t\t\tnextY < minY ||\n\t\t\t\t\tnextY > maxY ||\n\t\t\t\t\t!isTraversableMapPixel(sample, occupancy, nextX, nextY)\n\t\t\t\t) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\n\t\t\t\tconst nextKey = localPointKey(nextX, nextY, minX, minY, searchWidth);\n\t\t\t\tconst nextDistance = currentDistance + (dx !== 0 && dy !== 0 ? Math.SQRT2 : 1);\n\t\t\t\tif (nextDistance >= (distance.get(nextKey) ?? Number.POSITIVE_INFINITY)) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\t\t\t\tdistance.set(nextKey, nextDistance);\n\t\t\t\tprevious.set(nextKey, current.key);\n\t\t\t\tqueue.push({ key: nextKey, score: nextDistance + heuristic([nextX, nextY], routeEnd) });\n\t\t\t}\n\t\t}\n\t}\n\n\treturn undefined;\n}\n\nfunction restoreRoutedPath(\n\tprevious: ReadonlyMap<number, number>,\n\tendKey: number,\n\tminX: number,\n\tminY: number,\n\twidth: number,\n): Array<[number, number]> {\n\tconst keys = [endKey];\n\tlet current = endKey;\n\twhile (previous.has(current)) {\n\t\tcurrent = previous.get(current) ?? current;\n\t\tkeys.push(current);\n\t}\n\treturn simplifyPath(keys.reverse().map(key => pointFromLocalKey(key, minX, minY, width)));\n}\n\nfunction simplifyPath(points: Array<[number, number]>): Array<[number, number]> {\n\tif (points.length <= 2) {\n\t\treturn points;\n\t}\n\tconst simplified: Array<[number, number]> = [points[0]];\n\tlet previousDirection: [number, number] | undefined;\n\tfor (let index = 1; index < points.length; index++) {\n\t\tconst direction: [number, number] = [\n\t\t\tMath.sign(points[index][0] - points[index - 1][0]),\n\t\t\tMath.sign(points[index][1] - points[index - 1][1]),\n\t\t];\n\t\tif (previousDirection && (direction[0] !== previousDirection[0] || direction[1] !== previousDirection[1])) {\n\t\t\tsimplified.push(points[index - 1]);\n\t\t}\n\t\tpreviousDirection = direction;\n\t}\n\tsimplified.push(points.at(-1) ?? points[0]);\n\treturn simplified;\n}\n\nfunction nearestTraversablePoint(\n\tsample: MapSample,\n\toccupancy: Buffer,\n\tpoint: [number, number],\n): [number, number] | undefined {\n\tif (isTraversableMapPixel(sample, occupancy, point[0], point[1])) {\n\t\treturn point;\n\t}\n\tfor (let radius = 1; radius <= 3; radius++) {\n\t\tfor (let y = point[1] - radius; y <= point[1] + radius; y++) {\n\t\t\tfor (let x = point[0] - radius; x <= point[0] + radius; x++) {\n\t\t\t\tif (isTraversableMapPixel(sample, occupancy, x, y)) {\n\t\t\t\t\treturn [x, y];\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\treturn undefined;\n}\n\nfunction isTraversableMapPixel(sample: MapSample, occupancy: Buffer, x: number, y: number): boolean {\n\tif (x < 0 || x >= sample.width || y < 0 || y >= sample.height) {\n\t\treturn false;\n\t}\n\tconst sourceY = sample.height - 1 - y;\n\tconst value = occupancy[sourceY * sample.width + x];\n\treturn value >= 127;\n}\n\nfunction localPointKey(x: number, y: number, minX: number, minY: number, width: number): number {\n\treturn (y - minY) * width + (x - minX);\n}\n\nfunction pointFromLocalKey(key: number, minX: number, minY: number, width: number): [number, number] {\n\treturn [minX + (key % width), minY + Math.floor(key / width)];\n}\n\nfunction heuristic(left: [number, number], right: [number, number]): number {\n\treturn Math.hypot(left[0] - right[0], left[1] - right[1]);\n}\n\nfunction drawLineNeighbors(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcanDraw?: (x: number, y: number) => boolean,\n): void {\n\tfor (let dy = -PATH_LINE_RADIUS; dy <= PATH_LINE_RADIUS; dy++) {\n\t\tfor (let dx = -PATH_LINE_RADIUS; dx <= PATH_LINE_RADIUS; dx++) {\n\t\t\tif ((dx === 0 && dy === 0) || dx * dx + dy * dy > PATH_LINE_RADIUS * PATH_LINE_RADIUS) {\n\t\t\t\tcontinue;\n\t\t\t}\n\t\t\tdrawLineWithPixelColor(pixels, width, height, x1 + dx, y1 + dy, x2 + dx, y2 + dy, (x, y) =>\n\t\t\t\tcanDraw && !canDraw(x, y) ? undefined : COLOR_PATH,\n\t\t\t);\n\t\t}\n\t}\n}\n\nfunction projectRobotCoordinate(sample: MapSample, point: [number, number]): [number, number] | undefined {\n\tif (sample.resolution === undefined || sample.xMin === undefined || sample.yMin === undefined) {\n\t\treturn undefined;\n\t}\n\n\tconst xMeters = point[0] / 1000;\n\tconst yMeters = point[1] / 1000;\n\tconst x = Math.round((xMeters - sample.xMin) / sample.resolution);\n\tconst y = sample.height - 1 - Math.round((yMeters - sample.yMin) / sample.resolution);\n\tif (x < 0 || x >= sample.width || y < 0 || y >= sample.height) {\n\t\treturn undefined;\n\t}\n\treturn [x, y];\n}\n\nfunction parseMapAreas(value: unknown): MapArea[] {\n\treturn normalizeMapAreaMetadata(value).map(area => ({\n\t\tkey: area.key,\n\t\tvertices: parseVertices(area.source.vertexs),\n\t\tkind: area.kind,\n\t\tsource: area.source,\n\t}));\n}\n\nfunction summarizeRenderedAreas(sample: MapSample): LiveMapRenderedArea[] {\n\treturn sample.areas.map(area => {\n\t\tconst projected = area.vertices\n\t\t\t.map(point => projectRobotCoordinate(sample, point))\n\t\t\t.filter((point): point is [number, number] => point !== undefined);\n\t\tconst id =\n\t\t\ttypeof area.source.id === \"number\" || typeof area.source.id === \"string\" ? area.source.id : undefined;\n\t\tconst label = firstUsefulLabel(area.source.tag, area.source.name);\n\n\t\treturn {\n\t\t\tkey: area.key,\n\t\t\tkind: area.kind,\n\t\t\t...(id !== undefined ? { id } : {}),\n\t\t\t...(label !== undefined ? { label } : {}),\n\t\t\t...(projected.length > 0 ? { center: polygonCenter(projected) } : {}),\n\t\t\t...(projected.length > 0 ? { bounds: boundsFor(projected) } : {}),\n\t\t};\n\t});\n}\n\nfunction firstUsefulLabel(...values: unknown[]): string | undefined {\n\tfor (const value of values) {\n\t\tif (typeof value === \"string\" && value.trim().length > 0) {\n\t\t\treturn value\n\t\t\t\t.trim()\n\t\t\t\t.replace(/[\\p{Cc}\\p{Cf}]/gu, \" \")\n\t\t\t\t.slice(0, 128);\n\t\t}\n\t}\n\treturn undefined;\n}\n\nfunction boundsFor(points: readonly [number, number][]): LiveMapRenderedArea[\"bounds\"] {\n\tconst xs = points.map(([x]) => x);\n\tconst ys = points.map(([, y]) => y);\n\treturn {\n\t\tminX: Math.min(...xs),\n\t\tminY: Math.min(...ys),\n\t\tmaxX: Math.max(...xs),\n\t\tmaxY: Math.max(...ys),\n\t};\n}\n\nfunction polygonCenter(points: readonly [number, number][]): { x: number; y: number } {\n\tlet twiceArea = 0;\n\tlet weightedX = 0;\n\tlet weightedY = 0;\n\tfor (let index = 0; index < points.length; index++) {\n\t\tconst [x1, y1] = points[index];\n\t\tconst [x2, y2] = points[(index + 1) % points.length];\n\t\tconst cross = x1 * y2 - x2 * y1;\n\t\ttwiceArea += cross;\n\t\tweightedX += (x1 + x2) * cross;\n\t\tweightedY += (y1 + y2) * cross;\n\t}\n\n\tif (Math.abs(twiceArea) > Number.EPSILON) {\n\t\treturn {\n\t\t\tx: roundSvgNumber(weightedX / (3 * twiceArea)),\n\t\t\ty: roundSvgNumber(weightedY / (3 * twiceArea)),\n\t\t};\n\t}\n\n\treturn {\n\t\tx: roundSvgNumber(points.reduce((sum, [x]) => sum + x, 0) / points.length),\n\t\ty: roundSvgNumber(points.reduce((sum, [, y]) => sum + y, 0) / points.length),\n\t};\n}\n\nfunction normalizeMapAreaMetadata(value: unknown): LiveMapAreaMetadata[] {\n\tif (!Array.isArray(value)) {\n\t\treturn [];\n\t}\n\n\tconst candidates = value\n\t\t.map(entry => {\n\t\t\tconst record = getRecord(entry);\n\t\t\tif (!record) {\n\t\t\t\treturn undefined;\n\t\t\t}\n\t\t\tconst vertices = parseVertices(record.vertexs);\n\t\t\tif (vertices.length < 3) {\n\t\t\t\treturn undefined;\n\t\t\t}\n\t\t\tconst key = mapAreaKey(record, vertices);\n\t\t\tconst explicitKind = parseAreaKind(record.__proscenicKind);\n\t\t\treturn {\n\t\t\t\tkey,\n\t\t\t\texplicitKind,\n\t\t\t\tsource: record,\n\t\t\t};\n\t\t})\n\t\t.filter(\n\t\t\t(\n\t\t\t\tentry,\n\t\t\t): entry is {\n\t\t\t\tkey: string;\n\t\t\t\texplicitKind: LiveMapAreaKind | undefined;\n\t\t\t\tsource: Record<string, unknown>;\n\t\t\t} => entry !== undefined,\n\t\t);\n\n\tconst normalized = new Map<string, LiveMapAreaMetadata>();\n\tfor (const candidate of candidates) {\n\t\tconst kind = candidate.explicitKind ?? \"unknown\";\n\t\tconst existing = normalized.get(candidate.key);\n\t\tconst next = {\n\t\t\tkey: candidate.key,\n\t\t\tkind,\n\t\t\tsource: withoutInternalAreaMetadata(candidate.source),\n\t\t};\n\t\tnormalized.set(candidate.key, existing ? mergeAreaMetadataEntry(existing, next) : next);\n\t}\n\n\treturn [...normalized.values()];\n}\n\nfunction normalizeMapZoneCatalog(value: readonly unknown[]): LiveMapAreaMetadata[] {\n\tconst normalized = new Map<string, LiveMapAreaMetadata>();\n\tfor (const entry of value) {\n\t\tconst record = getRecord(entry);\n\t\tif (!record) {\n\t\t\tcontinue;\n\t\t}\n\t\tconst vertices = parseVertices(record.vertexs);\n\t\tif (vertices.length < 3) {\n\t\t\tcontinue;\n\t\t}\n\t\tconst id = record.id;\n\t\tif (!(typeof id === \"string\" || (typeof id === \"number\" && Number.isSafeInteger(id)))) {\n\t\t\tcontinue;\n\t\t}\n\n\t\tconst source: Record<string, unknown> = {\n\t\t\tid,\n\t\t\tvertexs: vertices,\n\t\t};\n\t\tfor (const field of [\"active\", \"mode\", \"name\", \"tag\"] as const) {\n\t\t\tif (typeof record[field] === \"string\") {\n\t\t\t\tsource[field] = record[field];\n\t\t\t}\n\t\t}\n\t\tconst key = mapAreaKey(source, vertices);\n\t\tnormalized.set(key, {\n\t\t\tkey,\n\t\t\tkind: record.active === \"forbid\" ? \"forbidden\" : \"zone\",\n\t\t\tsource,\n\t\t});\n\t}\n\treturn [...normalized.values()];\n}\n\nfunction mergeAreaMetadata(\n\tprevious: readonly LiveMapAreaMetadata[],\n\tnext: readonly LiveMapAreaMetadata[],\n): LiveMapAreaMetadata[] {\n\tconst merged = new Map<string, LiveMapAreaMetadata>();\n\tfor (const area of [...previous, ...next]) {\n\t\tconst existing = merged.get(area.key);\n\t\tmerged.set(area.key, existing ? mergeAreaMetadataEntry(existing, area) : area);\n\t}\n\treturn [...merged.values()];\n}\n\nfunction mergeAreaMetadataEntry(left: LiveMapAreaMetadata, right: LiveMapAreaMetadata): LiveMapAreaMetadata {\n\treturn {\n\t\tkey: right.key,\n\t\tkind: strongestAreaKind(left.kind, right.kind),\n\t\tsource: right.source,\n\t};\n}\n\nfunction strongestAreaKind(left: LiveMapAreaKind, right: LiveMapAreaKind): LiveMapAreaKind {\n\tif (left === \"forbidden\" || right === \"forbidden\") {\n\t\treturn \"forbidden\";\n\t}\n\tif (left === \"zone\" || right === \"zone\") {\n\t\treturn \"zone\";\n\t}\n\treturn \"unknown\";\n}\n\nfunction parseAreaKind(value: unknown): LiveMapAreaKind | undefined {\n\tif (value === \"room\") {\n\t\treturn \"zone\";\n\t}\n\treturn value === \"forbidden\" || value === \"zone\" || value === \"unknown\" ? value : undefined;\n}\n\nfunction withoutInternalAreaMetadata(record: Record<string, unknown>): Record<string, unknown> {\n\tconst clone = { ...record };\n\tdelete clone.__proscenicKind;\n\treturn clone;\n}\n\nfunction parseVertices(value: unknown): Array<[number, number]> {\n\tif (!Array.isArray(value)) {\n\t\treturn [];\n\t}\n\treturn value.map(vertex => parsePoint(vertex)).filter((vertex): vertex is [number, number] => vertex !== undefined);\n}\n\nfunction mapAreaKey(record: Record<string, unknown>, vertices: readonly [number, number][]): string {\n\tconst id = record.id;\n\tif (typeof id === \"number\" || typeof id === \"string\") {\n\t\treturn `id:${String(id)}`;\n\t}\n\tconst xs = vertices.map(([x]) => x);\n\tconst ys = vertices.map(([, y]) => y);\n\treturn `shape:${vertices.length}:${Math.min(...xs)}:${Math.min(...ys)}:${Math.max(...xs)}:${Math.max(...ys)}`;\n}\n\nfunction parsePoint(value: unknown): [number, number] | undefined {\n\tif (Array.isArray(value) && value.length >= 2 && typeof value[0] === \"number\" && typeof value[1] === \"number\") {\n\t\treturn [value[0], value[1]];\n\t}\n\treturn undefined;\n}\n\nfunction getRecord(value: unknown): Record<string, unknown> | undefined {\n\treturn value !== null && typeof value === \"object\" && !Array.isArray(value)\n\t\t? (value as Record<string, unknown>)\n\t\t: undefined;\n}\n\nfunction decodeMapPayload(encodedMap: string): Buffer {\n\treturn Buffer.from(encodedMap.replace(/\\s/gu, \"+\"), \"base64\");\n}\n\nfunction decompressLz4Block(input: Buffer, maxOutputBytes: number): Buffer {\n\tconst output = Buffer.alloc(maxOutputBytes);\n\tlet inputOffset = 0;\n\tlet outputOffset = 0;\n\n\twhile (inputOffset < input.length) {\n\t\tconst token = input[inputOffset++];\n\t\tlet literalLength = token >> 4;\n\t\tif (literalLength === 15) {\n\t\t\tlet next: number;\n\t\t\tdo {\n\t\t\t\tif (inputOffset >= input.length) {\n\t\t\t\t\tthrow new Error(\"literal length overflow\");\n\t\t\t\t}\n\t\t\t\tnext = input[inputOffset++];\n\t\t\t\tliteralLength += next;\n\t\t\t} while (next === 255);\n\t\t}\n\n\t\tif (inputOffset + literalLength > input.length || outputOffset + literalLength > output.length) {\n\t\t\tthrow new Error(\"literal overrun\");\n\t\t}\n\t\tinput.copy(output, outputOffset, inputOffset, inputOffset + literalLength);\n\t\tinputOffset += literalLength;\n\t\toutputOffset += literalLength;\n\n\t\tif (inputOffset >= input.length) {\n\t\t\tbreak;\n\t\t}\n\t\tif (inputOffset + 2 > input.length) {\n\t\t\tthrow new Error(\"offset overrun\");\n\t\t}\n\t\tconst matchOffset = input[inputOffset] | (input[inputOffset + 1] << 8);\n\t\tinputOffset += 2;\n\t\tif (matchOffset === 0 || matchOffset > outputOffset) {\n\t\t\tthrow new Error(\"bad match offset\");\n\t\t}\n\n\t\tlet matchLength = token & 0x0f;\n\t\tif (matchLength === 15) {\n\t\t\tlet next: number;\n\t\t\tdo {\n\t\t\t\tif (inputOffset >= input.length) {\n\t\t\t\t\tthrow new Error(\"match length overflow\");\n\t\t\t\t}\n\t\t\t\tnext = input[inputOffset++];\n\t\t\t\tmatchLength += next;\n\t\t\t} while (next === 255);\n\t\t}\n\t\tmatchLength += 4;\n\t\tif (outputOffset + matchLength > output.length) {\n\t\t\tthrow new Error(\"match overrun\");\n\t\t}\n\t\tfor (let index = 0; index < matchLength; index++) {\n\t\t\toutput[outputOffset + index] = output[outputOffset - matchOffset + index];\n\t\t}\n\t\toutputOffset += matchLength;\n\t}\n\n\treturn output.subarray(0, outputOffset);\n}\n\nfunction fillPolygon(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tpolygon: Array<[number, number]>,\n\tcolor: Color,\n\talpha = 1,\n): void {\n\tconst minY = Math.max(0, Math.min(...polygon.map(([, y]) => y)));\n\tconst maxY = Math.min(height - 1, Math.max(...polygon.map(([, y]) => y)));\n\n\tfor (let y = minY; y <= maxY; y++) {\n\t\tconst intersections: number[] = [];\n\t\tfor (let index = 0; index < polygon.length; index++) {\n\t\t\tconst [x1, y1] = polygon[index];\n\t\t\tconst [x2, y2] = polygon[(index + 1) % polygon.length];\n\t\t\tif ((y1 <= y && y2 > y) || (y2 <= y && y1 > y)) {\n\t\t\t\tconst x = x1 + ((y - y1) * (x2 - x1)) / (y2 - y1);\n\t\t\t\tintersections.push(Math.round(x));\n\t\t\t}\n\t\t}\n\n\t\tintersections.sort((left, right) => left - right);\n\t\tfor (let index = 0; index + 1 < intersections.length; index += 2) {\n\t\t\tconst start = Math.max(0, intersections[index]);\n\t\t\tconst end = Math.min(width - 1, intersections[index + 1]);\n\t\t\tfor (let x = start; x <= end; x++) {\n\t\t\t\tblendPixel(pixels, width, height, x, y, color, alpha);\n\t\t\t}\n\t\t}\n\t}\n}\n\nfunction drawPolygon(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tpolygon: Array<[number, number]>,\n\tcolor: Color,\n\tradius = 0,\n): void {\n\tfor (let index = 0; index < polygon.length; index++) {\n\t\tconst [x1, y1] = polygon[index];\n\t\tconst [x2, y2] = polygon[(index + 1) % polygon.length];\n\t\tfor (let offsetY = -radius; offsetY <= radius; offsetY++) {\n\t\t\tfor (let offsetX = -radius; offsetX <= radius; offsetX++) {\n\t\t\t\tdrawLine(pixels, width, height, x1 + offsetX, y1 + offsetY, x2 + offsetX, y2 + offsetY, color);\n\t\t\t}\n\t\t}\n\t}\n}\n\nfunction drawLine(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcolor: Color,\n): void {\n\tdrawLineWithPixelColor(pixels, width, height, x1, y1, x2, y2, () => color);\n}\n\nfunction forEachLinePoint(\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tcallback: (x: number, y: number) => void,\n): void {\n\tconst dx = Math.abs(x2 - x1);\n\tconst sx = x1 < x2 ? 1 : -1;\n\tconst dy = -Math.abs(y2 - y1);\n\tconst sy = y1 < y2 ? 1 : -1;\n\tlet error = dx + dy;\n\tlet x = x1;\n\tlet y = y1;\n\n\twhile (true) {\n\t\tcallback(x, y);\n\t\tif (x === x2 && y === y2) {\n\t\t\tbreak;\n\t\t}\n\t\tconst error2 = 2 * error;\n\t\tif (error2 >= dy) {\n\t\t\terror += dy;\n\t\t\tx += sx;\n\t\t}\n\t\tif (error2 <= dx) {\n\t\t\terror += dx;\n\t\t\ty += sy;\n\t\t}\n\t}\n}\n\nfunction drawLineWithPixelColor(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx1: number,\n\ty1: number,\n\tx2: number,\n\ty2: number,\n\tpickColor: (x: number, y: number) => Color | undefined,\n): void {\n\tconst dx = Math.abs(x2 - x1);\n\tconst sx = x1 < x2 ? 1 : -1;\n\tconst dy = -Math.abs(y2 - y1);\n\tconst sy = y1 < y2 ? 1 : -1;\n\tlet error = dx + dy;\n\tlet x = x1;\n\tlet y = y1;\n\n\twhile (true) {\n\t\tif (x >= 0 && x < width && y >= 0 && y < height) {\n\t\t\tconst color = pickColor(x, y);\n\t\t\tif (color) {\n\t\t\t\tsetPixel(pixels, width, height, x, y, color);\n\t\t\t}\n\t\t}\n\t\tif (x === x2 && y === y2) {\n\t\t\tbreak;\n\t\t}\n\t\tconst error2 = 2 * error;\n\t\tif (error2 >= dy) {\n\t\t\terror += dy;\n\t\t\tx += sx;\n\t\t}\n\t\tif (error2 <= dx) {\n\t\t\terror += dx;\n\t\t\ty += sy;\n\t\t}\n\t}\n}\n\nfunction plotMarker(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx: number,\n\ty: number,\n\tradius: number,\n\tcolor: Color,\n): void {\n\tfor (let dy = -radius; dy <= radius; dy++) {\n\t\tfor (let dx = -radius; dx <= radius; dx++) {\n\t\t\tconst px = x + dx;\n\t\t\tconst py = y + dy;\n\t\t\tif (px >= 0 && px < width && py >= 0 && py < height && dx * dx + dy * dy <= radius * radius) {\n\t\t\t\tsetPixel(pixels, width, height, px, py, color);\n\t\t\t}\n\t\t}\n\t}\n}\n\nfunction setPixel(pixels: Buffer, width: number, height: number, x: number, y: number, color: Color): void {\n\tif (x < 0 || x >= width || y < 0 || y >= height) {\n\t\treturn;\n\t}\n\n\tconst offset = (y * width + x) * 3;\n\tpixels[offset] = color[0];\n\tpixels[offset + 1] = color[1];\n\tpixels[offset + 2] = color[2];\n}\n\nfunction blendPixel(\n\tpixels: Buffer,\n\twidth: number,\n\theight: number,\n\tx: number,\n\ty: number,\n\tcolor: Color,\n\talpha: number,\n): void {\n\tif (alpha >= 1) {\n\t\tsetPixel(pixels, width, height, x, y, color);\n\t\treturn;\n\t}\n\tif (x < 0 || x >= width || y < 0 || y >= height) {\n\t\treturn;\n\t}\n\n\tconst offset = (y * width + x) * 3;\n\tpixels[offset] = Math.round(pixels[offset] * (1 - alpha) + color[0] * alpha);\n\tpixels[offset + 1] = Math.round(pixels[offset + 1] * (1 - alpha) + color[1] * alpha);\n\tpixels[offset + 2] = Math.round(pixels[offset + 2] * (1 - alpha) + color[2] * alpha);\n}\n\nfunction distanceSquared(left: [number, number], right: [number, number]): number {\n\treturn (left[0] - right[0]) ** 2 + (left[1] - right[1]) ** 2;\n}\n\nfunction encodeRgbPng(width: number, height: number, pixels: Buffer): Buffer {\n\tif (pixels.length !== width * height * 3) {\n\t\tthrow new Error(`Expected ${width * height * 3} RGB pixels but received ${pixels.length}`);\n\t}\n\n\tconst header = Buffer.alloc(13);\n\theader.writeUInt32BE(width, 0);\n\theader.writeUInt32BE(height, 4);\n\theader[8] = 8;\n\theader[9] = 2;\n\n\tconst rowBytes = width * 3;\n\tconst scanlines = Buffer.alloc((rowBytes + 1) * height);\n\tfor (let y = 0; y < height; y++) {\n\t\tscanlines[y * (rowBytes + 1)] = 0;\n\t\tpixels.copy(scanlines, y * (rowBytes + 1) + 1, y * rowBytes, (y + 1) * rowBytes);\n\t}\n\n\treturn Buffer.concat([\n\t\tPNG_SIGNATURE,\n\t\tpngChunk(\"IHDR\", header),\n\t\tpngChunk(\"IDAT\", deflateSync(scanlines)),\n\t\tpngChunk(\"IEND\", Buffer.alloc(0)),\n\t]);\n}\n\nfunction pngChunk(type: string, data: Buffer): Buffer {\n\tconst typeBuffer = Buffer.from(type, \"ascii\");\n\tconst length = Buffer.alloc(4);\n\tlength.writeUInt32BE(data.length, 0);\n\tconst checksum = Buffer.alloc(4);\n\tchecksum.writeUInt32BE(crc32(Buffer.concat([typeBuffer, data])), 0);\n\treturn Buffer.concat([length, typeBuffer, data, checksum]);\n}\n\nfunction crc32(data: Buffer): number {\n\tlet crc = 0xffffffff;\n\tfor (const byte of data) {\n\t\tcrc = CRC_TABLE[(crc ^ byte) & 0xff] ^ (crc >>> 8);\n\t}\n\treturn (crc ^ 0xffffffff) >>> 0;\n}\n\nfunction createCrcTable(): readonly number[] {\n\treturn Array.from({ length: 256 }, (_, index) => {\n\t\tlet value = index;\n\t\tfor (let bit = 0; bit < 8; bit++) {\n\t\t\tvalue = value & 1 ? 0xedb88320 ^ (value >>> 1) : value >>> 1;\n\t\t}\n\t\treturn value >>> 0;\n\t});\n}\n"],
+  "mappings": 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   "names": []
 }

package/build/domain/zone-cleaning.js

@@ -20,12 +20,21 @@ var zone_cleaning_exports = {};
 __export(zone_cleaning_exports, {
   buildZoneCleaningRequest: () => buildZoneCleaningRequest,
   normalizeZoneSelection: () => normalizeZoneSelection,
+  shouldRecoverPendingZoneCleaningSelection: () => shouldRecoverPendingZoneCleaningSelection,
   validateZoneCleaningSelection: () => validateZoneCleaningSelection,
   zoneCleaningOptions: () => zoneCleaningOptions
 });
 module.exports = __toCommonJS(zone_cleaning_exports);
 const MAX_SELECTED_ZONES = 20;
 const MAX_ZONE_LABEL_LENGTH = 128;
+const ACCEPTED_ZONE_CLEANING_RESULTS = /* @__PURE__ */ new Set(["api-accepted", "api-accepted-unconfirmed", "status-confirmed"]);
+function shouldRecoverPendingZoneCleaningSelection(selectedZoneCount, selectionChangedAtMs, lastCommand, lastResult, lastExecution) {
+  if (selectedZoneCount <= 0 || selectionChangedAtMs === void 0 || lastCommand !== "zoneCleaning" || typeof lastResult !== "string" || !ACCEPTED_ZONE_CLEANING_RESULTS.has(lastResult) || typeof lastExecution !== "string") {
+    return false;
+  }
+  const executionAtMs = Date.parse(lastExecution);
+  return Number.isFinite(executionAtMs) && executionAtMs >= selectionChangedAtMs;
+}
 function normalizeZoneSelection(value) {
   if (value === null || value === void 0) {
     return [];
@@ -109,6 +118,7 @@ function firstLabel(...values) {
 0 && (module.exports = {
   buildZoneCleaningRequest,
   normalizeZoneSelection,
+  shouldRecoverPendingZoneCleaningSelection,
   validateZoneCleaningSelection,
   zoneCleaningOptions
 });

package/build/domain/zone-cleaning.js.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../src/domain/zone-cleaning.ts"],
-  "sourcesContent": ["import type { CommandRequest } from \"./commands\";\nimport type { LiveMapCoordinateMetadata } from \"./live-map\";\n\nconst MAX_SELECTED_ZONES = 20;\nconst MAX_ZONE_LABEL_LENGTH = 128;\n\nexport interface ZoneCleaningSelection {\n\tmapId: number;\n\tzoneIds: number[];\n}\n\nexport interface ZoneCleaningOption {\n\tid: number;\n\tlabel?: string;\n}\n\nexport function normalizeZoneSelection(value: ioBroker.StateValue | undefined): number[] | undefined {\n\tif (value === null || value === undefined) {\n\t\treturn [];\n\t}\n\tif (typeof value !== \"string\") {\n\t\treturn undefined;\n\t}\n\n\tconst trimmed = value.trim();\n\tif (trimmed === \"\") {\n\t\treturn [];\n\t}\n\n\tlet parsed: unknown;\n\ttry {\n\t\tparsed = trimmed.startsWith(\"[\") ? JSON.parse(trimmed) : trimmed.split(\",\").map(entry => entry.trim());\n\t} catch {\n\t\treturn undefined;\n\t}\n\tif (!Array.isArray(parsed) || parsed.length > MAX_SELECTED_ZONES) {\n\t\treturn undefined;\n\t}\n\n\tconst ids: number[] = [];\n\tfor (const candidate of parsed) {\n\t\tconst id = typeof candidate === \"number\" ? candidate : Number(candidate);\n\t\tif (!Number.isSafeInteger(id) || id < 0 || ids.includes(id)) {\n\t\t\treturn undefined;\n\t\t}\n\t\tids.push(id);\n\t}\n\treturn ids;\n}\n\nexport function zoneCleaningOptions(catalog: LiveMapCoordinateMetadata | undefined): ZoneCleaningOption[] {\n\treturn (catalog?.area ?? []).flatMap(area => {\n\t\tif (area.kind !== \"zone\") {\n\t\t\treturn [];\n\t\t}\n\t\tconst id = normalizeZoneId(area.source.id);\n\t\tif (id === undefined) {\n\t\t\treturn [];\n\t\t}\n\t\tconst label = firstLabel(area.source.name, area.source.tag);\n\t\treturn [{ id, ...(label ? { label } : {}) }];\n\t});\n}\n\nexport function validateZoneCleaningSelection(\n\tzoneIds: readonly number[],\n\tmapId: number | undefined,\n\tcatalog: LiveMapCoordinateMetadata | undefined,\n): ZoneCleaningSelection {\n\tif (zoneIds.length === 0) {\n\t\tthrow new Error(\"No map zones are selected\");\n\t}\n\tif (!Number.isSafeInteger(mapId) || (mapId as number) < 0) {\n\t\tthrow new Error(\"No active map is available for zone cleaning\");\n\t}\n\tif (catalog?.mapId !== mapId) {\n\t\tthrow new Error(\"The map zone catalog does not match the active map\");\n\t}\n\n\tconst available = new Set(zoneCleaningOptions(catalog).map(option => option.id));\n\tif (zoneIds.some(id => !available.has(id))) {\n\t\tthrow new Error(\"The selected map zones are no longer available\");\n\t}\n\n\treturn { mapId: mapId as number, zoneIds: [...zoneIds] };\n}\n\nexport function buildZoneCleaningRequest(\n\tselection: ZoneCleaningSelection,\n\tserial: string,\n\tusername: string,\n): CommandRequest {\n\treturn {\n\t\tpath: `/instructions/cmd30000/${encodeURIComponent(serial)}/${selection.mapId}?username=${encodeURIComponent(username)}&part=true`,\n\t\tcontentType: \"application/json;charset=UTF-8\",\n\t\tbody: JSON.stringify(selection.zoneIds),\n\t};\n}\n\nfunction normalizeZoneId(value: unknown): number | undefined {\n\tconst id = typeof value === \"number\" ? value : typeof value === \"string\" ? Number(value) : Number.NaN;\n\treturn Number.isSafeInteger(id) && id >= 0 ? id : undefined;\n}\n\nfunction firstLabel(...values: unknown[]): string | undefined {\n\tfor (const value of values) {\n\t\tif (typeof value === \"string\" && value.trim() !== \"\") {\n\t\t\treturn value\n\t\t\t\t.trim()\n\t\t\t\t.replace(/[\\p{Cc}\\p{Cf}]/gu, \" \")\n\t\t\t\t.slice(0, MAX_ZONE_LABEL_LENGTH);\n\t\t}\n\t}\n\treturn undefined;\n}\n"],
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+  "sourcesContent": ["import type { CommandRequest } from \"./commands\";\nimport type { LiveMapCoordinateMetadata } from \"./live-map\";\n\nconst MAX_SELECTED_ZONES = 20;\nconst MAX_ZONE_LABEL_LENGTH = 128;\n\nexport interface ZoneCleaningSelection {\n\tmapId: number;\n\tzoneIds: number[];\n}\n\nexport interface ZoneCleaningOption {\n\tid: number;\n\tlabel?: string;\n}\n\nconst ACCEPTED_ZONE_CLEANING_RESULTS = new Set([\"api-accepted\", \"api-accepted-unconfirmed\", \"status-confirmed\"]);\n\nexport function shouldRecoverPendingZoneCleaningSelection(\n\tselectedZoneCount: number,\n\tselectionChangedAtMs: number | undefined,\n\tlastCommand: unknown,\n\tlastResult: unknown,\n\tlastExecution: unknown,\n): boolean {\n\tif (\n\t\tselectedZoneCount <= 0 ||\n\t\tselectionChangedAtMs === undefined ||\n\t\tlastCommand !== \"zoneCleaning\" ||\n\t\ttypeof lastResult !== \"string\" ||\n\t\t!ACCEPTED_ZONE_CLEANING_RESULTS.has(lastResult) ||\n\t\ttypeof lastExecution !== \"string\"\n\t) {\n\t\treturn false;\n\t}\n\n\tconst executionAtMs = Date.parse(lastExecution);\n\treturn Number.isFinite(executionAtMs) && executionAtMs >= selectionChangedAtMs;\n}\n\nexport function normalizeZoneSelection(value: ioBroker.StateValue | undefined): number[] | undefined {\n\tif (value === null || value === undefined) {\n\t\treturn [];\n\t}\n\tif (typeof value !== \"string\") {\n\t\treturn undefined;\n\t}\n\n\tconst trimmed = value.trim();\n\tif (trimmed === \"\") {\n\t\treturn [];\n\t}\n\n\tlet parsed: unknown;\n\ttry {\n\t\tparsed = trimmed.startsWith(\"[\") ? JSON.parse(trimmed) : trimmed.split(\",\").map(entry => entry.trim());\n\t} catch {\n\t\treturn undefined;\n\t}\n\tif (!Array.isArray(parsed) || parsed.length > MAX_SELECTED_ZONES) {\n\t\treturn undefined;\n\t}\n\n\tconst ids: number[] = [];\n\tfor (const candidate of parsed) {\n\t\tconst id = typeof candidate === \"number\" ? candidate : Number(candidate);\n\t\tif (!Number.isSafeInteger(id) || id < 0 || ids.includes(id)) {\n\t\t\treturn undefined;\n\t\t}\n\t\tids.push(id);\n\t}\n\treturn ids;\n}\n\nexport function zoneCleaningOptions(catalog: LiveMapCoordinateMetadata | undefined): ZoneCleaningOption[] {\n\treturn (catalog?.area ?? []).flatMap(area => {\n\t\tif (area.kind !== \"zone\") {\n\t\t\treturn [];\n\t\t}\n\t\tconst id = normalizeZoneId(area.source.id);\n\t\tif (id === undefined) {\n\t\t\treturn [];\n\t\t}\n\t\tconst label = firstLabel(area.source.name, area.source.tag);\n\t\treturn [{ id, ...(label ? { label } : {}) }];\n\t});\n}\n\nexport function validateZoneCleaningSelection(\n\tzoneIds: readonly number[],\n\tmapId: number | undefined,\n\tcatalog: LiveMapCoordinateMetadata | undefined,\n): ZoneCleaningSelection {\n\tif (zoneIds.length === 0) {\n\t\tthrow new Error(\"No map zones are selected\");\n\t}\n\tif (!Number.isSafeInteger(mapId) || (mapId as number) < 0) {\n\t\tthrow new Error(\"No active map is available for zone cleaning\");\n\t}\n\tif (catalog?.mapId !== mapId) {\n\t\tthrow new Error(\"The map zone catalog does not match the active map\");\n\t}\n\n\tconst available = new Set(zoneCleaningOptions(catalog).map(option => option.id));\n\tif (zoneIds.some(id => !available.has(id))) {\n\t\tthrow new Error(\"The selected map zones are no longer available\");\n\t}\n\n\treturn { mapId: mapId as number, zoneIds: [...zoneIds] };\n}\n\nexport function buildZoneCleaningRequest(\n\tselection: ZoneCleaningSelection,\n\tserial: string,\n\tusername: string,\n): CommandRequest {\n\treturn {\n\t\tpath: `/instructions/cmd30000/${encodeURIComponent(serial)}/${selection.mapId}?username=${encodeURIComponent(username)}&part=true`,\n\t\tcontentType: \"application/json;charset=UTF-8\",\n\t\tbody: JSON.stringify(selection.zoneIds),\n\t};\n}\n\nfunction normalizeZoneId(value: unknown): number | undefined {\n\tconst id = typeof value === \"number\" ? value : typeof value === \"string\" ? Number(value) : Number.NaN;\n\treturn Number.isSafeInteger(id) && id >= 0 ? id : undefined;\n}\n\nfunction firstLabel(...values: unknown[]): string | undefined {\n\tfor (const value of values) {\n\t\tif (typeof value === \"string\" && value.trim() !== \"\") {\n\t\t\treturn value\n\t\t\t\t.trim()\n\t\t\t\t.replace(/[\\p{Cc}\\p{Cf}]/gu, \" \")\n\t\t\t\t.slice(0, MAX_ZONE_LABEL_LENGTH);\n\t\t}\n\t}\n\treturn undefined;\n}\n"],
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