pubo-utils 1.0.129 → 1.0.142

package/lib/filter/sensor.js

@@ -1,49 +1,55 @@
 "use strict";
 
-var __values = this && this.__values || function (o) {
-  var s = typeof Symbol === "function" && Symbol.iterator,
-    m = s && o[s],
-    i = 0;
-  if (m) return m.call(o);
-  if (o && typeof o.length === "number") return {
-    next: function next() {
-      if (o && i >= o.length) o = void 0;
-      return {
-        value: o && o[i++],
-        done: !o
-      };
-    }
-  };
-  throw new TypeError(s ? "Object is not iterable." : "Symbol.iterator is not defined.");
-};
+function _createForOfIteratorHelperLoose(o, allowArrayLike) { var it = typeof Symbol !== "undefined" && o[Symbol.iterator] || o["@@iterator"]; if (it) return (it = it.call(o)).next.bind(it); if (Array.isArray(o) || (it = _unsupportedIterableToArray(o)) || allowArrayLike && o && typeof o.length === "number") { if (it) o = it; var i = 0; return function () { if (i >= o.length) return { done: true }; return { done: false, value: o[i++] }; }; } throw new TypeError("Invalid attempt to iterate non-iterable instance.\nIn order to be iterable, non-array objects must have a [Symbol.iterator]() method."); }
+function _unsupportedIterableToArray(o, minLen) { if (!o) return; if (typeof o === "string") return _arrayLikeToArray(o, minLen); var n = Object.prototype.toString.call(o).slice(8, -1); if (n === "Object" && o.constructor) n = o.constructor.name; if (n === "Map" || n === "Set") return Array.from(o); if (n === "Arguments" || /^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(n)) return _arrayLikeToArray(o, minLen); }
+function _arrayLikeToArray(arr, len) { if (len == null || len > arr.length) len = arr.length; for (var i = 0, arr2 = new Array(len); i < len; i++) arr2[i] = arr[i]; return arr2; }
 Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.StringSplit = exports.SensorDataFilter = void 0;
 // 过滤跳变数据
-var SensorDataFilter = /** @class */function () {
-  function SensorDataFilter(_a) {
-    var _b = _a === void 0 ? {} : _a,
-      _c = _b.size,
-      size = _c === void 0 ? 5 : _c,
-      _d = _b.step,
-      step = _d === void 0 ? 5 : _d,
-      _e = _b.min,
-      min = _e === void 0 ? -Infinity : _e,
-      _f = _b.max,
-      max = _f === void 0 ? Infinity : _f;
-    // 缓冲区
+var SensorDataFilter = /*#__PURE__*/function () {
+  // 缓冲区
+
+  // 最大缓存
+
+  // 跳变步长
+
+  // 最小值
+
+  // 最大值
+
+  // 与缓冲区不一致的值连续出现的次数 (不一致指的是与缓冲区中数量最多的数值不同且差值大于步长)
+
+  // 与缓冲区不一致的值
+
+  // 上一次正确返回的值
+
+  function SensorDataFilter(_temp) {
+    var _ref = _temp === void 0 ? {} : _temp,
+      _ref$size = _ref.size,
+      size = _ref$size === void 0 ? 5 : _ref$size,
+      _ref$step = _ref.step,
+      step = _ref$step === void 0 ? 5 : _ref$step,
+      _ref$min = _ref.min,
+      min = _ref$min === void 0 ? -Infinity : _ref$min,
+      _ref$max = _ref.max,
+      max = _ref$max === void 0 ? Infinity : _ref$max;
     this.tmp = [];
-    // 与缓冲区不一致的值连续出现的次数 (不一致指的是与缓冲区中数量最多的数值不同且差值大于步长)
+    this.size = void 0;
+    this.step = void 0;
+    this.min = void 0;
+    this.max = void 0;
     this.count = 0;
-    // 与缓冲区不一致的值
     this.value = NaN;
+    this.old = void 0;
     this.size = size;
     this.step = step;
     this.min = min;
     this.max = max;
   }
-  SensorDataFilter.prototype.filter = function (n) {
+  var _proto = SensorDataFilter.prototype;
+  _proto.filter = function filter(n) {
     // 溢出范围的值将被忽略
     if (n < this.min || n > this.max) {
       return this.old;
@@ -52,7 +58,7 @@ var SensorDataFilter = /** @class */function () {
     this.old = this.calc(n);
     return this.old;
   };
-  SensorDataFilter.prototype.calc = function (n) {
+  _proto.calc = function calc(n) {
     // 缓冲区没有值时直接返回当前值
     if (this.tmp.length < 1) {
       return n;
@@ -60,9 +66,9 @@ var SensorDataFilter = /** @class */function () {
     if (this.tmp.length > this.size) {
       this.tmp.shift();
     }
-    var _a = this.getMostNumberOfTmp(),
-      res = _a.res,
-      dic = _a.dic;
+    var _this$getMostNumberOf = this.getMostNumberOfTmp(),
+      res = _this$getMostNumberOf.res,
+      dic = _this$getMostNumberOf.dic;
     // 当前值与缓冲区数量最多的值不一致且差值大于步长
     if (res !== n && Math.abs(res - n) > this.step) {
       // 累计跳变数据连续出现的次数
@@ -85,39 +91,26 @@ var SensorDataFilter = /** @class */function () {
       return n;
     }
     return res;
-  };
+  }
   /**
    * A function to calculate the most frequent element in the 'tmp' array and its frequency.
    *
    * @return {object} An object containing the most frequent element and its frequency.
-   */
-  SensorDataFilter.prototype.getMostNumberOfTmp = function () {
-    var e_1, _a;
+   */;
+  _proto.getMostNumberOfTmp = function getMostNumberOfTmp() {
     var a = {};
     var max = 0;
     var res;
-    try {
-      for (var _b = __values(this.tmp), _c = _b.next(); !_c.done; _c = _b.next()) {
-        var item = _c.value;
-        if (!a[item]) {
-          a[item] = 1;
-        } else {
-          a[item] += 1;
-        }
-        if (a[item] > max) {
-          max = a[item];
-          res = item;
-        }
+    for (var _iterator = _createForOfIteratorHelperLoose(this.tmp), _step; !(_step = _iterator()).done;) {
+      var item = _step.value;
+      if (!a[item]) {
+        a[item] = 1;
+      } else {
+        a[item] += 1;
       }
-    } catch (e_1_1) {
-      e_1 = {
-        error: e_1_1
-      };
-    } finally {
-      try {
-        if (_c && !_c.done && (_a = _b["return"])) _a.call(_b);
-      } finally {
-        if (e_1) throw e_1.error;
+      if (a[item] > max) {
+        max = a[item];
+        res = item;
       }
     }
     return {
@@ -134,12 +127,14 @@ exports.SensorDataFilter = SensorDataFilter;
  * @param {string} str - the input string to be split
  * @return {string[]} an array of substrings
  */
-var StringSplit = /** @class */function () {
+var StringSplit = /*#__PURE__*/function () {
   function StringSplit(splitSymbol) {
+    this._splitSymbol = void 0;
     this._cache = '';
     this._splitSymbol = splitSymbol;
   }
-  StringSplit.prototype.split = function (str) {
+  var _proto2 = StringSplit.prototype;
+  _proto2.split = function split(str) {
     var tmp = this._cache + str;
     var arr = tmp.split(this._splitSymbol);
     this._cache = arr.splice(arr.length - 1, 1)[0];

package/lib/level/index.js

@@ -4,12 +4,15 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.Level = void 0;
-var Level = /** @class */function () {
+var Level = /*#__PURE__*/function () {
   function Level(props) {
+    this.config = void 0;
+    this.step = void 0;
     this.config = props;
     this.step = (this.config.max - this.config.min) / (this.config.count - 2);
   }
-  Level.prototype.get = function (value) {
+  var _proto = Level.prototype;
+  _proto.get = function get(value) {
     if (value <= this.config.min) {
       return 1;
     }

package/lib/loop/index.d.ts

@@ -5,7 +5,7 @@
  * @param {number} time - The time interval in milliseconds for the loop.
  * @return {Function} The stop function that can be used to stop the loop.
  */
-export declare const loop: (cb: (stop: () => void) => Promise<void>, time: number) => () => void;
+export declare const loop: (cb: () => Promise<void>, time: number) => () => void;
 type WaitForBool = () => boolean | Promise<boolean>;
 /**
  * Waits for a boolean condition to be true, with optional timeouts for the check and the overall wait.

package/lib/loop/index.js

@@ -1,120 +1,55 @@
 "use strict";
 
-var __awaiter = this && this.__awaiter || function (thisArg, _arguments, P, generator) {
-  function adopt(value) {
-    return value instanceof P ? value : new P(function (resolve) {
-      resolve(value);
-    });
+function _empty() {}
+function _call(body, then, direct) {
+  if (direct) {
+    return then ? then(body()) : body();
   }
-  return new (P || (P = Promise))(function (resolve, reject) {
-    function fulfilled(value) {
-      try {
-        step(generator.next(value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-    function rejected(value) {
-      try {
-        step(generator["throw"](value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-    function step(result) {
-      result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected);
-    }
-    step((generator = generator.apply(thisArg, _arguments || [])).next());
-  });
-};
-var __generator = this && this.__generator || function (thisArg, body) {
-  var _ = {
-      label: 0,
-      sent: function sent() {
-        if (t[0] & 1) throw t[1];
-        return t[1];
-      },
-      trys: [],
-      ops: []
-    },
-    f,
-    y,
-    t,
-    g;
-  return g = {
-    next: verb(0),
-    "throw": verb(1),
-    "return": verb(2)
-  }, typeof Symbol === "function" && (g[Symbol.iterator] = function () {
-    return this;
-  }), g;
-  function verb(n) {
-    return function (v) {
-      return step([n, v]);
-    };
+  try {
+    var result = Promise.resolve(body());
+    return then ? result.then(then) : result;
+  } catch (e) {
+    return Promise.reject(e);
+  }
+}
+function _callIgnored(body, direct) {
+  return _call(body, _empty, direct);
+}
+function _catch(body, recover) {
+  try {
+    var result = body();
+  } catch (e) {
+    return recover(e);
+  }
+  if (result && result.then) {
+    return result.then(void 0, recover);
+  }
+  return result;
+}
+function _await(value, then, direct) {
+  if (direct) {
+    return then ? then(value) : value;
   }
-  function step(op) {
-    if (f) throw new TypeError("Generator is already executing.");
-    while (g && (g = 0, op[0] && (_ = 0)), _) try {
-      if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
-      if (y = 0, t) op = [op[0] & 2, t.value];
-      switch (op[0]) {
-        case 0:
-        case 1:
-          t = op;
-          break;
-        case 4:
-          _.label++;
-          return {
-            value: op[1],
-            done: false
-          };
-        case 5:
-          _.label++;
-          y = op[1];
-          op = [0];
-          continue;
-        case 7:
-          op = _.ops.pop();
-          _.trys.pop();
-          continue;
-        default:
-          if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) {
-            _ = 0;
-            continue;
-          }
-          if (op[0] === 3 && (!t || op[1] > t[0] && op[1] < t[3])) {
-            _.label = op[1];
-            break;
-          }
-          if (op[0] === 6 && _.label < t[1]) {
-            _.label = t[1];
-            t = op;
-            break;
-          }
-          if (t && _.label < t[2]) {
-            _.label = t[2];
-            _.ops.push(op);
-            break;
-          }
-          if (t[2]) _.ops.pop();
-          _.trys.pop();
-          continue;
-      }
-      op = body.call(thisArg, _);
+  if (!value || !value.then) {
+    value = Promise.resolve(value);
+  }
+  return then ? value.then(then) : value;
+}
+function _continue(value, then) {
+  return value && value.then ? value.then(then) : then(value);
+}
+function _async(f) {
+  return function () {
+    for (var args = [], i = 0; i < arguments.length; i++) {
+      args[i] = arguments[i];
+    }
+    try {
+      return Promise.resolve(f.apply(this, args));
     } catch (e) {
-      op = [6, e];
-      y = 0;
-    } finally {
-      f = t = 0;
+      return Promise.reject(e);
     }
-    if (op[0] & 5) throw op[1];
-    return {
-      value: op[0] ? op[1] : void 0,
-      done: true
-    };
-  }
-};
+  };
+}
 Object.defineProperty(exports, "__esModule", {
   value: true
 });
@@ -132,29 +67,26 @@ var loop = function loop(cb, time) {
   var stop = function stop() {
     onOff = false;
   };
-  var _fn = function fn() {
-    return __awaiter(void 0, void 0, void 0, function () {
-      return __generator(this, function (_a) {
-        switch (_a.label) {
-          case 0:
-            return [4 /*yield*/, cb(stop)];
-          case 1:
-            _a.sent();
-            return [4 /*yield*/, (0, sleep_1.sleep)(time)];
-          case 2:
-            _a.sent();
-            if (onOff) {
-              _fn();
-            } else {
-              _fn = null;
-            }
-            return [2 /*return*/];
+  var fn = _async(function () {
+    return _continue(_catch(function () {
+      return _callIgnored(cb);
+    }, function (err) {
+      console.log(err);
+    }), function () {
+      return _await((0, sleep_1.sleep)(time), function () {
+        if (onOff) {
+          fn();
+        } else {
+          fn = null;
+          cb = null;
+          stop = null;
+          onOff = null;
+          time = null;
         }
       });
     });
-  };
-
-  _fn();
+  });
+  fn();
   return stop;
 };
 exports.loop = loop;
@@ -167,33 +99,29 @@ exports.loop = loop;
  * @param {number} options.timeout - the maximum time to wait for the boolean condition to be true
  * @return {Promise<any>} a promise that resolves when the boolean condition is true or rejects with 'timeout' if the timeout is reached
  */
-var waitFor = function waitFor(bool, _a) {
-  var _b = _a === void 0 ? {} : _a,
-    checkTime = _b.checkTime,
-    timeout = _b.timeout;
+var waitFor = function waitFor(bool, _temp) {
+  var _ref = _temp === void 0 ? {} : _temp,
+    checkTime = _ref.checkTime,
+    timeout = _ref.timeout;
   return new Promise(function (resolve, reject) {
     var stop = (0, exports.loop)(function () {
-      return __awaiter(void 0, void 0, void 0, function () {
-        var res;
-        return __generator(this, function (_a) {
-          switch (_a.label) {
-            case 0:
-              return [4 /*yield*/, bool()];
-            case 1:
-              res = _a.sent();
-              if (res) {
-                stop();
-                resolve(res);
-              }
-              return [2 /*return*/];
-          }
-        });
+      return _call(bool, function (res) {
+        if (res) {
+          stop();
+          stop = null;
+          bool = null;
+          resolve(res);
+          resolve = null;
+        }
       });
     }, checkTime || 100);
     if (timeout) {
       setTimeout(function () {
         stop();
+        stop = null;
+        bool = null;
         reject('timeout');
+        reject = null;
       }, timeout);
     }
   });

package/lib/math/geometry.js

@@ -1,62 +1,9 @@
 "use strict";
 
-var __assign = this && this.__assign || function () {
-  __assign = Object.assign || function (t) {
-    for (var s, i = 1, n = arguments.length; i < n; i++) {
-      s = arguments[i];
-      for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
-    }
-    return t;
-  };
-  return __assign.apply(this, arguments);
-};
-var __values = this && this.__values || function (o) {
-  var s = typeof Symbol === "function" && Symbol.iterator,
-    m = s && o[s],
-    i = 0;
-  if (m) return m.call(o);
-  if (o && typeof o.length === "number") return {
-    next: function next() {
-      if (o && i >= o.length) o = void 0;
-      return {
-        value: o && o[i++],
-        done: !o
-      };
-    }
-  };
-  throw new TypeError(s ? "Object is not iterable." : "Symbol.iterator is not defined.");
-};
-var __read = this && this.__read || function (o, n) {
-  var m = typeof Symbol === "function" && o[Symbol.iterator];
-  if (!m) return o;
-  var i = m.call(o),
-    r,
-    ar = [],
-    e;
-  try {
-    while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);
-  } catch (error) {
-    e = {
-      error: error
-    };
-  } finally {
-    try {
-      if (r && !r.done && (m = i["return"])) m.call(i);
-    } finally {
-      if (e) throw e.error;
-    }
-  }
-  return ar;
-};
-var __spreadArray = this && this.__spreadArray || function (to, from, pack) {
-  if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {
-    if (ar || !(i in from)) {
-      if (!ar) ar = Array.prototype.slice.call(from, 0, i);
-      ar[i] = from[i];
-    }
-  }
-  return to.concat(ar || Array.prototype.slice.call(from));
-};
+function _extends() { _extends = Object.assign ? Object.assign.bind() : function (target) { for (var i = 1; i < arguments.length; i++) { var source = arguments[i]; for (var key in source) { if (Object.prototype.hasOwnProperty.call(source, key)) { target[key] = source[key]; } } } return target; }; return _extends.apply(this, arguments); }
+function _createForOfIteratorHelperLoose(o, allowArrayLike) { var it = typeof Symbol !== "undefined" && o[Symbol.iterator] || o["@@iterator"]; if (it) return (it = it.call(o)).next.bind(it); if (Array.isArray(o) || (it = _unsupportedIterableToArray(o)) || allowArrayLike && o && typeof o.length === "number") { if (it) o = it; var i = 0; return function () { if (i >= o.length) return { done: true }; return { done: false, value: o[i++] }; }; } throw new TypeError("Invalid attempt to iterate non-iterable instance.\nIn order to be iterable, non-array objects must have a [Symbol.iterator]() method."); }
+function _unsupportedIterableToArray(o, minLen) { if (!o) return; if (typeof o === "string") return _arrayLikeToArray(o, minLen); var n = Object.prototype.toString.call(o).slice(8, -1); if (n === "Object" && o.constructor) n = o.constructor.name; if (n === "Map" || n === "Set") return Array.from(o); if (n === "Arguments" || /^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(n)) return _arrayLikeToArray(o, minLen); }
+function _arrayLikeToArray(arr, len) { if (len == null || len > arr.length) len = arr.length; for (var i = 0, arr2 = new Array(len); i < len; i++) arr2[i] = arr[i]; return arr2; }
 Object.defineProperty(exports, "__esModule", {
   value: true
 });
@@ -77,9 +24,9 @@ var radians = function radians(deg) {
 };
 exports.radians = radians;
 // 获取三角形角度
-var getAngle = function getAngle(_a) {
-  var w = _a.w,
-    h = _a.h;
+var getAngle = function getAngle(_ref) {
+  var w = _ref.w,
+    h = _ref.h;
   return (0, exports.degrees)(Math.atan2(h, w));
 };
 exports.getAngle = getAngle;
@@ -103,28 +50,15 @@ function filterKeyPoints(list, len) {
 exports.filterKeyPoints = filterKeyPoints;
 // 获取中心点坐标
 function getCenter(list) {
-  var e_1, _a;
   var tmp = [0, 0];
-  try {
-    for (var list_1 = __values(list), list_1_1 = list_1.next(); !list_1_1.done; list_1_1 = list_1.next()) {
-      var item = list_1_1.value;
-      if (Array.isArray(item)) {
-        tmp[0] += item[0];
-        tmp[1] += item[1];
-      } else {
-        tmp[0] += item.x;
-        tmp[1] += item.y;
-      }
-    }
-  } catch (e_1_1) {
-    e_1 = {
-      error: e_1_1
-    };
-  } finally {
-    try {
-      if (list_1_1 && !list_1_1.done && (_a = list_1["return"])) _a.call(list_1);
-    } finally {
-      if (e_1) throw e_1.error;
+  for (var _iterator = _createForOfIteratorHelperLoose(list), _step; !(_step = _iterator()).done;) {
+    var item = _step.value;
+    if (Array.isArray(item)) {
+      tmp[0] += item[0];
+      tmp[1] += item[1];
+    } else {
+      tmp[0] += item.x;
+      tmp[1] += item.y;
     }
   }
   return {
@@ -151,38 +85,25 @@ var getPositionTheta = function getPositionTheta(a, b) {
 exports.getPositionTheta = getPositionTheta;
 // 获取距离和方向最佳的位置点
 var getBestPointIndex = function getBestPointIndex(points, pose) {
-  var e_2, _a;
   if (points.length < 2) {
     return 0;
   }
   var temp = [];
   var minDistance = Infinity;
   var index = 0;
-  try {
-    for (var points_1 = __values(points), points_1_1 = points_1.next(); !points_1_1.done; points_1_1 = points_1.next()) {
-      var item = points_1_1.value;
-      var distance = (0, exports.getDistance)(item, pose);
-      var theta = (0, exports.getPositionTheta)(pose, item) - pose.theta;
-      if (minDistance > distance) {
-        minDistance = distance;
-      }
-      temp.push(__assign(__assign({}, item), {
-        index: index,
-        distance: distance,
-        theta: theta
-      }));
-      index += 1;
-    }
-  } catch (e_2_1) {
-    e_2 = {
-      error: e_2_1
-    };
-  } finally {
-    try {
-      if (points_1_1 && !points_1_1.done && (_a = points_1["return"])) _a.call(points_1);
-    } finally {
-      if (e_2) throw e_2.error;
+  for (var _iterator2 = _createForOfIteratorHelperLoose(points), _step2; !(_step2 = _iterator2()).done;) {
+    var item = _step2.value;
+    var distance = (0, exports.getDistance)(item, pose);
+    var theta = (0, exports.getPositionTheta)(pose, item) - pose.theta;
+    if (minDistance > distance) {
+      minDistance = distance;
     }
+    temp.push(_extends({}, item, {
+      index: index,
+      distance: distance,
+      theta: theta
+    }));
+    index += 1;
   }
   var results = temp.filter(function (item) {
     return item.distance - minDistance < 0.1;
@@ -203,7 +124,7 @@ var orderByDistance = function orderByDistance(points, pose) {
   }
   var current = pose;
   var results = [];
-  var arr = __spreadArray([], __read(points), false);
+  var arr = [].concat(points);
   while (arr.length > 0) {
     var index = (0, exports.getBestPointIndex)(arr, current);
     results.push(arr[index]);